JP2012138080A - Collision detecting device, avoidance support device and alarm system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device mounted on a vehicle and equipped with a function to detect a possibility of collision against an object outside the own vehicle (external object), capable of appropriately determine whether or not the collision against the external object is to occur.SOLUTION: In a collision detecting device, an operation part (CPU) obtains travel direction information including information on whether an own vehicle is stopping, moving forward or moving backward (S110), and sets an object area where there is a possibility of collision against an external object if the external object exists when predicting a behavior of the own vehicle in near future, according to the travel direction information (S120 to S160). Thereafter, the operation part outputs that the own vehicle has the possibility of collision against the external object, if the external object exists within or approaches the object area (S330, S350, S360). With such an operation part, an appropriate range can be set as the object area according to a direction of travel.

Description

  The present invention relates to a collision detection device, an avoidance support device, and an alarm device that are mounted on a vehicle and detect that the host vehicle may collide with an object (external object) outside the host vehicle.

  As the above collision detection device (alarm device), an alarm area is set according to the relative speed with an external object, and when an external object enters this alarm area, an alarm is given that there is a risk of collision with the external object Is known (see, for example, Patent Document 1).

JP 2008-242544 A

  However, the collision detection device determines whether or not the vehicle collides with an external object on the assumption that the host vehicle travels in the same direction, such as when the host vehicle moves forward. For this reason, for example, when the host vehicle stops or starts from a stopped state, there is a possibility that it cannot be determined whether or not the vehicle collides with an external object appropriately when the traveling state (the direction of the movement vector) changes. In this case, it is determined that there is no possibility of collision (no alarm is required) and there is a possibility of collision with an external object.

  Accordingly, in view of such problems, in an apparatus mounted on a vehicle and having a function of detecting that there is a possibility of collision with an object outside the host vehicle (external object), whether or not to collide with an external object is appropriately determined. It is an object of the present invention to be able to make a judgment.

  In the collision detection device of the first configuration configured to achieve such an object, the traveling direction acquisition unit is configured to determine whether the host vehicle is stopped or about to stop, is moving forward or is about to move forward, Alternatively, it is possible to acquire traveling direction information including information indicating whether the vehicle is moving backward or is moving backward, and the target area setting unit may collide with the external object if the external object exists when predicting the behavior of the host vehicle in the near future. A target region that is a certain region is set according to the traveling direction information. The collision output means outputs that the host vehicle may collide with the external object if the external object exists or enters the target area.

  That is, in the present invention, when the own vehicle is stopped, moving forward, or moving backward (the same applies when moving in the left-right direction or diagonal direction), We focus on the different areas to be noted. Specifically, if the traveling direction information can be acquired, it is possible to predict to some extent in which area the host vehicle will exist in the near future. Therefore, this area is set as a target area where there is a risk of collision when an external object enters. It is determined whether or not there is a possibility of collision with an external object based on the presence or absence of the external object in the region.

  For example, when the host vehicle is stopped, it is unclear whether the vehicle will move forward or backward in the near future, but it is considered that the vehicle cannot be moved rapidly because it is currently stopped. Therefore, when the host vehicle is stopped, it can be said that only the region near the periphery of the host vehicle may be set as the target region.

In addition, when the host vehicle is moving forward (retreating), it is conceivable that the host vehicle will stop in the near future, but it is considered that the vehicle does not move backward (forward) from this state. Therefore, when the host vehicle is moving forward (retreating), it can be said that only the traveling direction side of the host vehicle should be set as the target region.

  According to such a collision detection device, an appropriate range can be set as a target region according to the traveling direction. As a result, an object that is unlikely to collide with the host vehicle and an object that is likely to collide with the host vehicle can be appropriately determined based on whether or not an external object exists or enters the target region. .

  By the way, in the collision detection device, as in the case of the collision detection device of the second configuration, a region where a collision cannot be avoided when an external object exists based on the moving speed of the own vehicle and the braking performance of the own vehicle. Inevitable area calculation means for obtaining the inevitable area, and the target area setting means may set the target area so as not to include the inevitable area.

  That is, even if an external object existing in the inevitable area is output that there is a possibility of a collision, the collision cannot be avoided. Further, there is a high possibility that the external object existing in the inevitable area has already been detected. In this case, the fact that there is a possibility of collision has already been output, and there is no need to newly output. Furthermore, the external object newly detected in the inevitable area without being detected in the target area is highly likely to be an erroneously detected object. For this reason, the present invention excludes the inevitable area from the target area and does not output the possibility of collision with an external object existing in the inevitable area.

  According to such a collision detection device, since an inevitable area where a collision cannot be avoided when an external object exists is excluded from the target area, it is possible to prevent unnecessary output (warning or the like) from being performed.

  Further, in the collision detection apparatus, as in the collision detection apparatus of the third configuration, the object detection means has directivity in the direction in which the external object is detected and can detect the external object while changing the direction. On the other hand, there may be provided direction instruction means for instructing a direction in which a wider area of the target area is a region detectable by the object detection means in accordance with the position of the target area.

  According to such a collision detection device, even when the object detection means has directivity, object detection is performed so that an external object in an appropriate range can be detected according to the set position of the target region. The direction of the means can be detected.

  Further, in the collision detection apparatus, as in the collision detection apparatus of the fourth configuration, the target area setting means determines whether or not a high-speed moving object that moves at a reference speed or higher among external objects collides with the host vehicle. A high-speed object region for determining whether or not the host vehicle collides with a low-speed moving object that moves at a speed lower than the reference speed among external objects separately from the high-speed object region. External object information acquisition means for setting and acquiring movement vector information of the external object, object speed determination means for determining whether the external object is a high-speed moving object or a low-speed moving object based on the acquired information, and a high-speed moving object A high-speed object movement determination unit that determines whether or not the vehicle moves to the high-speed object region, and a low-speed object presence determination unit that determines whether or not a low-speed moving object exists in the low-speed object region. Output means When the high-speed moving object moves to the high-speed object area or when the low-speed moving object exists in the low-speed object area, the fact that the own vehicle may collide with an external object may be output. .

That is, the possibility of collision is determined using different areas for an external object with a high moving speed and an external object with a low moving speed. This is because for a fast moving object, it is better to set the target area (high-speed object area) in consideration of the change of the trajectory of this object, and for a slow moving object (stationary This is because it is considered that the target region (low-speed object region) should be set without considering that the trajectory (position) changes for an object having a higher moving speed. Moreover, since the accuracy of whether or not the driver of the host vehicle is aware of the moving object differs depending on the speed of the moving object, it is considered preferable to set the region in consideration of this accuracy.

  According to such a collision detection device, it is possible to set an appropriate target area according to the moving speed of the external object, so that it is possible to improve the accuracy of detecting whether or not there is a possibility of a collision with the external object. Can do.

Further, in the collision detection apparatus, like the collision detection apparatus of the fifth configuration, the target area setting means may change the size or position of the target area according to the speed of the host vehicle.
According to such a collision detection device, since the target area is set in consideration of the speed of the host vehicle in addition to the traveling direction of the host vehicle, the accuracy of detecting whether or not there is a possibility of a collision with an external object. Can be improved.

  Further, in the collision detection apparatus, like the collision detection apparatus of the sixth configuration, the target area setting means may set the low-speed object area narrower as the host vehicle speed increases. This is because it becomes difficult for the host vehicle to stop as the speed of the host vehicle increases, and the meaning of detecting the possibility of a collision diminishes.

According to such a collision detection device, unnecessary output can be suppressed.
Further, in the collision detection apparatus, like the collision detection apparatus of the seventh configuration, the target area setting means may set the high-speed object area wider as the host vehicle speed increases. This is because the braking distance becomes longer as the host vehicle speed increases, and the area where the external object should be detected becomes wider in order to avoid a collision with the external object.

According to such a collision detection device, it is possible to set a target area having an appropriate size according to the speed, and therefore it is possible to appropriately perform output for avoiding a collision.
Further, in the collision detection device, as in the eighth configuration, the traveling direction acquisition unit acquires information including information on the shift position selected by the driver of the host vehicle as the traveling direction information. Good.

  According to such a collision detection device, it is possible to simplify the process for the traveling direction information. In addition, as a specific example of the traveling direction information, any one of information such as a vehicle speed, a shift position, and a movement history, or a combination of a plurality of these can be given.

  Furthermore, in order to achieve the above object, as in the avoidance support device of the ninth configuration, a collision detection means for detecting an external object that may collide with the host vehicle, and an outside that may collide with the host vehicle. And an avoidance support unit that performs support for collision avoidance when an object is detected. The collision detection unit is configured as the collision detection device according to any one of claims 1 to 8. May be.

According to such an avoidance assist device, it is possible to assist the host vehicle so as not to collide with an external object.
Further, in the avoidance support device, as in the tenth configuration, the avoidance support means may issue a warning to the driver as support for collision avoidance.

According to such an avoidance support device, it is possible to prompt the driver to perform a collision avoidance operation by issuing an alarm.
Further, in the avoidance assistance device, as in the eleventh configuration, the avoidance assistance means may perform braking on the host vehicle as assistance for collision avoidance.

According to such an avoidance support device, it is possible to avoid a collision with an external object by braking the host vehicle.
In order to achieve the above object, a collision detection means for detecting an external object that may collide with the host vehicle and an external object that may collide with the host vehicle, such as an alarm device of the twelfth configuration. Alarm means that issues an alarm when the signal is detected, and the collision detection means may be configured as the collision detection device according to any one of the above.

  According to such an alarm device, it is possible to issue an alarm when the host vehicle may collide with an external object, and the above-described collision detection device performs detection of the external object. Can be improved.

1 is a block diagram showing a schematic configuration of a collision prevention system 1. FIG. It is a flowchart which shows an avoidance process. It is a bird's-eye view which shows the relationship between a shift position and the area | region which determines the presence or absence of a surrounding object. FIG. 6 is an explanatory diagram showing a region A. FIG. 6 is an explanatory diagram showing a region B. It is explanatory drawing (the 1) which shows the area | region set in a modification. It is explanatory drawing (the 2) which shows the area | region set in a modification.

Embodiments according to the present invention will be described below with reference to the drawings.
[Configuration of this embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a collision prevention system 1 to which the present invention is applied. The collision prevention system 1 is mounted on a vehicle such as a passenger car, for example, and whether or not there is a possibility of collision between a vehicle (the host vehicle) on which the system 1 is mounted and an object (a surrounding object or an external object) outside the host vehicle. Is a system that performs collision avoidance control and warning when it is determined that there is a possibility of collision.

  Specifically, as shown in FIG. 1, the collision prevention system 1 includes a calculation unit 10, a surrounding object detection unit 21, a host vehicle state detection unit 22, a collision avoidance control execution unit 24, an alarm notification unit 25, It has. Note that only one of the collision avoidance control execution unit 24 and the alarm notification unit 25 may be provided.

  The calculation unit 10 is configured as a known microcomputer including a CPU, a ROM, a RAM, and the like. The calculation unit 10 (CPU) uses a program stored in the ROM, a program loaded in the RAM, and detection results of the surrounding object detection unit 21 and the own vehicle state detection unit 22 to perform an avoidance process described later. Perform various processes.

  The surrounding object detection unit 21 has a function as, for example, a well-known radar device or sonar device. The surrounding object detection unit 21 transmits a transmission wave including an electromagnetic wave such as a light wave or a radio wave or a sound wave, and receives the reflected wave to thereby surround the object. The relative movement vector (position, speed, direction) of the vehicle is detected. In addition to the functions as the radar device and the sonar device, the surrounding object detection unit 21 exchanges information on the position, traveling direction, and moving speed of the vehicle with other vehicles by communication. It has a function as a device. The surrounding object detection unit 21 sends the detection result of the surrounding object obtained by using these functions to the calculation unit 10.

  Here, in the function as a radar device / sonar device in the surrounding object detection unit 21 of the present embodiment, for example, transmission waves are transmitted within a range of 60 degrees to the left and right from the direction of the central axis when transmitting the transmission waves. However, it has a function of displacing the direction of the central axis (see FIGS. 3A and 3B). Although the configuration for displacing the direction of the central axis is not described here, a known configuration (for example, a configuration for displacing the direction of the antenna) can be adopted as the configuration for displacing the direction of the central axis.

  The own vehicle state detection unit 22 includes a known speed sensor, a shift position sensor of the own vehicle (P: parking, R: reverse, D: a sensor that detects a drive, etc.) and the like, and at least information on the speed of the own vehicle and the own vehicle. Information on the shift position of the vehicle is sent to the calculation unit 10.

  The collision avoidance control execution unit 24 has a function of controlling the brake hydraulic pressure of the own vehicle and the tension of the seat belt. When receiving an instruction from the calculation unit 10 to execute the collision avoidance control, the collision avoidance control execution unit 24 stops the own vehicle (automatically In order to reduce the effects of braking and impact, the driver of the host vehicle is restrained by a seat belt.

  The alarm notification unit 25 includes a display and a speaker (not shown), and when receiving an instruction from the calculation unit 10 to perform an alarm, the alarm notification unit 25 displays an image on the display or outputs sound (including sound) from the speaker. By doing so, a warning is given to the driver of the host vehicle.

[Process of this embodiment]
Processing performed in the collision prevention system 1 will be described with reference to FIG. FIG. 2 is a flowchart showing avoidance processing executed by the CPU of the calculation unit 10.

The avoidance process is a process that is started, for example, when the power of the arithmetic unit 10 is turned on, and thereafter repeatedly performed periodically (for example, every 100 ms). In the avoidance process, first, own vehicle information is acquired (S110). In this process, information including information on the speed of the host vehicle and information on the shift position of the host vehicle is acquired from the host vehicle state detection unit 22. The shift position information represents information indicating whether the host vehicle is stopped, moving forward, or moving backward.

  Then, an alarm determination method is selected (S120). Here, in the present embodiment, in the processing described later, an area for area determination (area for warning about surrounding objects existing inside) A and an area for passage determination (pass through the inside) (I.e., an area for alarming a surrounding object that does not currently exist inside but will enter the inside from the outside in the near future) B is set according to the shift position of the vehicle, It is selected whether to use either area A or area B or both.

  Specifically, as shown in FIG. 3, when the shift position is R (see FIG. 3A), the shift position is D, and the traveling speed of the host vehicle is the host vehicle speed reference value (for example, 30 km / h). ) (See FIG. 3C), the area A and the area B are set to be used. When the shift position is P (see FIG. 3B), only the region B is set to be used, the shift position is D, and the traveling speed of the host vehicle is equal to or higher than the host vehicle speed reference value. At this time (see FIG. 3D), the setting is made so that only the area A is used.

  In the present embodiment, the reason why only the area A is used or only the area B is used is to eliminate a warning that is meaningless to the driver of the host vehicle. In other words, when the shift position is P, only the region B is used, but the host vehicle that is stopped even if an alarm is given to surrounding objects that come toward the host vehicle when the host vehicle is stopped. Then there is no way to avoid it, so no alarm is given. For this reason, when the shift position is P, it is not necessary to set the area A.

  Further, when the shift position is D and the traveling speed of the host vehicle is equal to or higher than the host vehicle speed reference value, only the area A is used, but when the host vehicle is traveling at a relatively high speed, it is close to the host vehicle. Even if an alarm is given to a surrounding object existing in the area, a collision cannot be avoided, and there is a possibility that the surrounding object that is the target of the alarm may be erroneously detected, so no alarm is given. For this reason, when the shift position is D and the traveling speed of the host vehicle is equal to or higher than the host vehicle speed reference value, it is not necessary to set the region B.

  Subsequently, it is determined whether or not the passage determination is performed based on the selected alarm determination method (S130). When the passage determination is performed (S130: YES), the area A is set (S140).

  Here, as shown in FIG. 3 (excluding FIG. 3B) and FIG. 4A, the region A is set on the traveling direction side of the vehicle. In particular, in the present embodiment, a region on the vehicle traveling direction side of the driver position is the region A with reference to the driver (driver) position of the host vehicle.

  When the host vehicle is moving forward (retreating), setting the region A in this way is considered that the host vehicle will stop in the near future, but will not move backward (forward) from this state. This is because it is sufficient to set only the traveling direction side of the host vehicle as the target area.

  In the area A, the area from the left and right ends of the host vehicle to a position separated by 100% of the host vehicle width is set in the width direction of the host vehicle. A distance D corresponding to the speed of the host vehicle is set from the end of the vehicle. For example, as shown in FIG. 4B, the distance D is set to increase as the speed of the host vehicle increases. In particular, in the example shown in FIG. 4B, the accelerator opening is acquired, and the distance D is set to increase as the accelerator opening increases.

  In the example shown in FIG. 4A, the region A when the shift position is R is illustrated. However, when the shift position is D, the region A is similarly placed on the front side of the vehicle. Will be set. In the present embodiment, it has been described above that the area A is not necessary when the shift position is P. However, the area A may be set.

  In this case, as shown by the broken line in FIG. 4A, the area A is, for example, within the area from the left and right ends of the own vehicle to a position separated by 20% of the own vehicle width in the vehicle width direction. Is set, and an area up to a position separated by 10% of the length of the own vehicle may be set in the longitudinal direction of the vehicle. When the host vehicle is stopped, it is unknown whether to set the area A in this way, whether the vehicle will move forward or backward in the near future, but it is moving at a rapid distance because it is currently stopped. This is because it is considered impossible.

When the process of S140 is completed, the process proceeds to S150. Further, when the passage determination is not performed (S130: NO), the process immediately proceeds to S150.
Subsequently, it is determined whether or not to perform in-area determination (S150). When making an in-area determination (S150: YES), region B is set (S160).

Region B is set as a region different from region A, as shown in FIG. 3 (excluding FIG. 3D) and FIG. 5A. However, the region B may be the same region as the region A.
For example, when the shift position is P, the region B is separated from the left and right ends of the own vehicle by 100% of the own vehicle width in the width direction of the vehicle, for example, as shown by the broken line in FIG. The area up to the position where the vehicle is located is set, and the area up to the position separated by 50% of the length of the host vehicle is set in the longitudinal direction of the vehicle. In addition, when the shift position is R or D, an area in the width direction of the vehicle is set up to a position separated by 200% of the width of the own vehicle from the left and right ends of the own vehicle. A distance D corresponding to the speed of the host vehicle is set from the end in the traveling direction of the host vehicle.

  For example, as shown in FIG. 5B, the distance D is set to decrease stepwise as the speed of the host vehicle increases. As described above, the reason why the distance D is set to be smaller as the speed of the host vehicle is increased is that the driver determines that the speed is increased because the low-speed moving body is sufficiently confirmed by the driver, and the driver is not comfortable. This is to suppress the alarm.

When the process of S160 is completed, the process proceeds to S170. If the in-area determination is not performed (S150: NO), the process immediately proceeds to S170.
Subsequently, the azimuth for sensing is set (S170). In this processing, as shown in FIG. 3B and FIG. 3C, a wider range of the region A and the region B is included in the detection range of the surrounding object detection unit 21 (function as a radar device / sonar device). The direction of the surrounding object detection unit 21 is set so that the

  Then, information on surrounding objects is acquired (S180). Here, the surrounding object information includes the surrounding object detected by the surrounding object detection unit 21 using the function as the radar device and the sonar device, and the surrounding object detected by inter-vehicle communication. Includes information on relative movement vectors of surrounding objects. Note that when there is no surrounding object around the host vehicle, information about the surrounding object is not acquired.

Subsequently, it is determined whether or not the acquired information includes information on an unselected surrounding object (S210). If there is no unselected surrounding object information (S210: NO), the avoidance process is immediately terminated.
If there is unselected surrounding object information (S210: YES), one of the unselected surrounding objects is selected (S220). Based on the moving speed of the selected surrounding object (difference between the relative movement vector and the moving vector of the host vehicle), it is identified whether the surrounding object is a high-speed moving body or a low-speed moving body (S230).

The discrimination between the high-speed moving body and the low-speed moving body may be made based on, for example, whether or not the moving speed of surrounding objects exceeds a preset object reference speed (for example, 20 km / h).
Subsequently, it is determined whether or not the selected surrounding object is a high-speed moving body (S310). Here, in the present embodiment, the low-speed moving body and the high-speed moving body are classified according to the speed of the surrounding objects. From the viewpoint of reducing false alarms, the trajectory of this object is It is preferable to use a target area (area A: high-speed object area) that takes into account changes, and for an object with a slower moving speed (including a stationary object), the trajectory (position) has a higher moving speed. This is because it is considered that a target region (region B: low-speed object region) that does not take into account changes should be used. Moreover, since the accuracy of whether or not the driver of the host vehicle is aware of the moving object differs depending on the speed of the moving object, it is considered preferable to set the region in consideration of this accuracy.

  If the selected surrounding object is a high-speed moving body (S310: YES), the estimated locus of this surrounding object is calculated (S320). For example, a line segment obtained by extending a movement vector of surrounding objects by a certain time is used as the estimated locus.

  Then, it is determined whether or not this estimated trajectory passes through the area A (S330). If the estimated trajectory passes through the region A (S330: YES), the process proceeds to S360 described later. If the estimated trajectory does not pass through the area A (S330: NO), the process returns to S210.

  In the process of S310, if the selected surrounding object is a low-speed moving body (S310: NO), the position (coordinates) of this surrounding object is calculated (extracted) (S340). Then, it is determined whether or not the position of the surrounding object is within the region B (S350).

  If the position of the surrounding object is not within the region B (S350: NO), the process returns to S210. If the position of the surrounding object is within the region B (S350: YES), a command is output to the collision avoidance control execution unit 24 and the alarm notification unit 25 so as to perform an alarm / avoidance operation (S360). When such processing ends, the avoidance processing ends.

[Effects of this embodiment]
In the collision prevention system 1 described in detail above, a calculation unit 10 that detects a surrounding object that may collide with the host vehicle and a warning when a surrounding object that may collide with the host vehicle is detected. An alarm notification unit 25 is provided. The calculation unit 10 (CPU) displays traveling direction information including information on whether the host vehicle is stopped or about to stop, moving forward or about to advance, or about to move backward or about to reverse. The target area, which is an area that is likely to collide with a surrounding object when a surrounding object exists when the behavior of the host vehicle in the near future is predicted, is set according to the traveling direction information. Then, the calculation unit 10 outputs that the host vehicle may collide with the surrounding object if the surrounding object exists or enters the target area.

  According to such a calculation unit 10, an appropriate range can be set as the target region according to the traveling direction. As a result, an object that is unlikely to collide with the host vehicle and an object that is likely to collide with the host vehicle can be appropriately determined based on whether or not a surrounding object exists or enters the target region. . Moreover, according to such a collision prevention system 1, it is possible to perform an alarm when there is a possibility that the host vehicle collides with a surrounding object, and the arithmetic unit 10 detects the surrounding object that may cause a collision. Therefore, it is possible to improve the accuracy when making an alarm.

In addition, the calculation unit 10 has a directivity in the direction in which the surrounding object is detected and can detect a wider range of the target region with respect to the surrounding object detection unit 21 that can detect the surrounding object while changing the direction. The direction of making the area detectable by the surrounding object detection unit 21 is instructed.

  According to such a calculation unit 10, even if the surrounding object detection unit 21 has directivity, it is possible to detect surrounding objects in an appropriate range according to the set position of the target region. The direction of the surrounding object detection unit 21 can be detected.

  Further, the calculation unit 10 separates the high-speed object area for determining whether or not the high-speed moving object moving at a reference speed or higher among the surrounding objects and the host vehicle collide with each other and the high-speed object area. A low-speed moving object that determines whether or not the low-speed moving object that moves below the reference speed and the host vehicle collide with each other is set, and information on movement vectors of surrounding objects is acquired. Based on the acquired information, the calculation unit 10 determines whether the surrounding object is a high-speed moving object or a low-speed moving object, and determines whether the high-speed moving object moves to the high-speed object region. Further, the calculation unit 10 determines whether or not the low-speed moving object exists in the low-speed object area, and when the high-speed moving object moves to the high-speed object area or the low-speed moving object exists in the low-speed object area. When the vehicle is in the vehicle, a message indicating that the host vehicle may collide with surrounding objects is output.

  According to such a calculation unit 10, it is possible to set an appropriate target area according to the moving speed of the surrounding object, so that it is possible to improve the accuracy of detecting whether or not there is a possibility of a collision with the surrounding object. Can do.

  Moreover, the calculating part 10 changes the magnitude | size or position of a target area | region according to the speed of the own vehicle. Specifically, the low-speed object area is set to be narrow as the host vehicle speed increases, and the high-speed object area is set to be wide as the host vehicle speed increases.

  According to such a calculation unit 10, since the target area is set in consideration of the speed of the host vehicle in addition to the traveling direction of the host vehicle, the accuracy of detecting whether or not there is a possibility of a collision with a surrounding object. Can be improved. And while being able to suppress an unnecessary output, the target area of a suitable area can be set according to speed, Therefore The output for avoiding a collision can be performed appropriately.

[Other Embodiments]
Embodiments of the present invention are not limited to the above-described embodiments, and can take various forms as long as they belong to the technical scope of the present invention.

  For example, when setting the region A or the region B of the above embodiment (S140 or S160), avoid collision when there is a surrounding object based on the moving speed of the host vehicle and the braking performance of the host vehicle. It is also possible to obtain an inevitable area that is an area that cannot be detected and set the target area so as not to include this inevitable area. Specifically, when the shift position of the host vehicle is D or R, the area defined by D2 and W2 shown in FIG.

  That is, even if a surrounding object existing in the inevitable area is output that there is a possibility of a collision, the collision cannot be avoided. In addition, it is highly possible that the surrounding objects existing in the inevitable area have already been detected, and the fact that there is a possibility of collision has already been output, and there is no need to newly output. Furthermore, the surrounding object newly detected in the inevitable area without being detected in the target area is highly likely to be an erroneously detected object. For this reason, it is considered that the inevitable area may be excluded from the target area so that there is no possibility of collision with surrounding objects existing in the inevitable area.

According to such a calculation unit 10, since an inevitable area where a collision cannot be avoided when a surrounding object is present is excluded from the target area, useless output (warning or the like) can be prevented from being performed.

  Note that the sizes of the region A and the region B (the length in the vehicle front-rear direction and the vehicle width direction) are changed according to the braking performance of the vehicle and other characteristics, as shown in FIG. 6B, for example. You may do it. In this case, as shown in FIG. 7A, the speed in the longitudinal direction of the host vehicle and the speed in the width direction of the host vehicle are set as Vx and Vy, respectively, and the relationship between the speed and the distance shown in FIG. D1, D2, W1, and W2 can be obtained from the graph.

  However, as shown in FIG. 6B, the function for obtaining D1 and W1 is set to be a stopping distance when the vehicle slowly decelerates at 0.4 G after idling for 0.7 s. Further, as shown in FIG. 6B, the function for obtaining D2 and W2 is set so as to be a stop distance in the case of immediately decelerating rapidly at 0.7G. For example, when Vx = 10 km / h and Vy = 5 km / h, D1 = 3.0 m, D2 = 0.5 m, W1 = 0.425 m, and W2 = 0.025 m can be obtained from FIG. it can.

Note that various numerical values such as the idle time and acceleration can be arbitrarily set according to the performance of the vehicle and the characteristics of the driver.
In the above-described embodiment, only the shift positions P, R, and D have been described. However, the areas A and B may be set similarly when the shift position is other than P, D, and R. For example, when the shift position is N (neutral), it may be the same as P, and when the shift position is S (second) or L (low), it may be the same as D. When other shift positions exist, the areas A and B may be set in the same manner as other shift positions having similar properties.

  In the above embodiment, the determination is performed using the region A for the high-speed moving object and the region B for the low-speed moving object. For example, the region A may be used, and the existing object may be determined using the region B.

  Further, in the processing of S160 in the above embodiment, a distance D corresponding to the speed of the host vehicle is set from the end in the traveling direction of the host vehicle in the front-rear direction of the vehicle, and in particular, the distance as the host vehicle speed increases. Although D is set to decrease stepwise, the distance D may be set to increase stepwise as the speed of the host vehicle increases.

  This is because the braking distance becomes longer as the host vehicle speed increases, and the area where the external object should be detected becomes wider in order to avoid a collision with the external object. According to such a collision detection device, it is possible to set a target area having an appropriate size according to the speed, and therefore it is possible to appropriately perform output for avoiding a collision.

  DESCRIPTION OF SYMBOLS 1 ... Collision prevention system, 10 ... Calculation part, 21 ... Ambient object detection part, 22 ... Own vehicle state detection part, 24 ... Collision avoidance control execution part, 25 ... Alarm alerting | reporting part.

Claims (12)

A collision detection device that is mounted on a vehicle and detects that the host vehicle may collide with an object outside the host vehicle (hereinafter referred to as “external object”),
Traveling direction acquisition means for acquiring traveling direction information including information on whether the host vehicle is stopped or about to stop, moving forward or moving forward, or moving backward or backward;
Target area setting means for setting a target area, which is an area that may collide with an external object when an external object exists when predicting the behavior of the host vehicle in the near future, according to the traveling direction information;
A collision output means for outputting that the vehicle may collide with the external object if an external object exists or enters the target area;
A collision detection apparatus comprising: The collision detection apparatus according to claim 1,
Based on the moving speed of the host vehicle and the braking performance of the host vehicle, inevitable area calculation means for obtaining an inevitable area that is an area where a collision cannot be avoided when an external object exists,
The target area setting means sets the target area so as not to include the inevitable area. In the collision detection device according to claim 1 or 2,
The object detection means can detect a wider range of the target area than the object detection means having the directivity in the direction in which the external object is detected and capable of detecting the external object while changing the direction. Direction indicating means for instructing the direction to make a region,
A collision detection apparatus comprising: In the collision detection device according to any one of claims 1 to 3,
The target area setting means includes a high-speed object area for determining whether or not a high-speed moving object that moves at a reference speed or higher among external objects collides with the host vehicle, and an external object separately from the high-speed object area. A low-speed moving object that moves below the reference speed and a low-speed object region for determining whether or not the host vehicle collides,
The collision detection device is
An external object information acquisition means for acquiring information on a movement vector of the external object;
Object speed determination means for determining whether an external object is the high-speed moving object or the low-speed moving object based on the acquired information;
High-speed object movement determining means for determining whether or not the high-speed moving object moves to the high-speed object region;
Low-speed object presence determining means for determining whether or not the low-speed moving object is present in the low-speed object region;
With
The collision output means may cause the host vehicle to collide with an external object when the high-speed moving object moves to the high-speed object area or when the low-speed moving object exists in the low-speed object area. A collision detection device characterized by outputting an effect. In the collision detection device according to any one of claims 1 to 4,
The target area setting means changes the size or position of the target area according to the speed of the host vehicle. The collision detection device according to claim 5,
The target region setting means sets the low-speed object region to be narrow as the host vehicle speed increases. In the collision detection device according to claim 5 or 6,
The target area setting means sets the high-speed object area wider as the host vehicle speed increases. In the collision detection device according to any one of claims 1 to 7,
The collision detection apparatus, wherein the traveling direction acquisition unit acquires information including information on a shift position selected by a driver of the host vehicle as the traveling direction information. An avoidance support device that is installed in a vehicle and that supports collision avoidance when there is a risk of collision of the host vehicle with an object outside the host vehicle (hereinafter referred to as “external object”),
Collision detection means for detecting an external object that may collide with the host vehicle;
Avoidance support means for performing support for collision avoidance when an external object that may collide with the host vehicle is detected;
With
The avoidance assistance device, wherein the collision detection unit is configured as the collision detection device according to any one of claims 1 to 8. In the avoidance assistance device according to claim 9,
The avoidance support device, wherein the avoidance support means issues a warning to the driver as support for the collision avoidance. In the avoidance assistance device according to claim 9 or 10,
The avoidance assisting device performs braking on the host vehicle as assist for avoiding the collision. An alarm device that is mounted on a vehicle and issues an alarm when there is a risk that the host vehicle may collide with an object outside the host vehicle (hereinafter referred to as “external object”),
Collision detection means for detecting an external object that may collide with the host vehicle;
Alarm means for alarming when an external object that may collide with the host vehicle is detected;
With
The said collision detection means is comprised as a collision detection apparatus of any one of Claims 1-8, The alarm device characterized by the above-mentioned.