JP2012221463A - Collision avoidance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision avoidance device allowing a driver to avoid an object to prevent collision with the object in unintended course changes.SOLUTION: A collision avoidance device, when a steering is operated by a driver (S10) and a winker lever is not operated by the driver (S12), performs course prediction of driver's vehicle (S14), and when a traveling lane of the vehicle is not recognizable (S16), or when there is no possibility of deviation from the traveling lane by driver's steering operation even if the traveling lane of the vehicle is recognizable (S24), issues an alarm from a speaker (S20) if there is any collision object on the route of the vehicle (S18), and operates a steering assist and a brake operation assist so as to avoid collision with the collision object (S22).

Description

  The present invention relates to a collision avoidance device, and more particularly, to a collision avoidance control during an operation unintended by a driver.

  In recent years, techniques for avoiding collisions with objects such as pedestrians, bicycles, and other vehicles have been developed to improve the safety of automobiles. For example, the collision avoidance device disclosed in Patent Document 1 acquires the road shape in the front and lateral directions of the host vehicle and the travel information of the host vehicle (the position of the host vehicle, the travel direction and the travel lane, etc.) Based on the acquisition result, the safety area is calculated. Then, when other vehicles and pedestrians are detected by a radar and a camera installed in the vehicle and the other vehicles enter or are predicted to enter the safety ensuring area, the speed and steering wheel are controlled to automatically The vehicle avoidance action is performed.

JP 2008-242544 A

In the collision avoidance device of Patent Document 1, the traveling direction of the host vehicle is obtained from a direction indicator and a steering wheel angle sensor.
However, when the traveling direction of the own vehicle is acquired from the direction indicator, for example, when the driver changes the driving lane without operating the direction indicator due to the driver's dozing or side-by-side driving, that is, driving without the driver's intention. When the lane is changed, even if there are objects such as pedestrians, bicycles, or other vehicles in the changed travel lane, there is a possibility that the safety avoidance area is not entered and the collision avoidance function cannot be exhibited.

  The present invention has been made to solve such a problem, and its purpose is to avoid an object and prevent a collision with the object in a course change not intended by the driver. It is an object of the present invention to provide a collision avoidance device that can do this.

  In order to achieve the above object, in the collision avoidance device according to claim 1, object detection means for detecting an object around the vehicle, intention detection means for detecting a course change intention of the driver of the vehicle, An operation detection means for detecting a course change operation of the driver, a position detection means for detecting the position of the vehicle, a collision avoidance means for avoiding a collision of the vehicle, and the operation detection means and the position detection means. The course determination means for determining the course of the vehicle based on the detection result and the intention detection means that the driver's intention to change the course is not detected, and the course of the vehicle determined by the course determination means is Lane departure warning means for warning the driver when it is estimated that the vehicle will deviate from the driving lane, and the intention detection means do not detect the driver's intention to change the course, and the route judgment A collision avoidance control means for operating the collision avoidance means when the object is present in the direction of the vehicle when it is estimated that the course of the vehicle determined by the means does not deviate from the travel lane. It is characterized by that.

Further, in the collision avoidance device according to claim 2, in claim 1, the collision avoidance control means is not detected by the intention detection means that the driver is willing to change the course, and the position detection means When the position of the vehicle cannot be detected, the collision avoiding means is operated when the object is present in the direction of the vehicle.
The collision avoidance device according to claim 3 is characterized in that, in claim 1 or 2, the collision avoidance means is alarm means for issuing an alarm to the driver.

According to a collision avoidance device of a fourth aspect, in any one of the first to third aspects, the collision avoidance means is a handle operation means that automatically performs a handle operation of the vehicle.
The collision avoidance device according to claim 5 is characterized in that, in any one of claims 1 to 4, the collision avoidance means is a braking means for braking the vehicle.

  According to the first aspect of the present invention, the driver is warned when the lane departure warning means estimates that the course of the vehicle deviates from the traveling lane, so that deviation from the traveling lane of the vehicle can be prevented. Thereby, the collision with respect to the target object outside the traveling lane can be prevented. In addition, when the driver changes the course so that the driver's intention to change the course is not detected and the driver does not intend to change the course, for example, the steering wheel operation is performed during the driver's sleep or aside driving. In such a case, if there are objects such as pedestrians, bicycles, and other vehicles in the course of the host vehicle, the collision avoiding means operates so as to avoid a collision with the object.

Therefore, even when it is difficult for the lane departure warning means to avoid the object, such as when the driver makes a course change that is not intended, the collision with the object can be prevented in advance. it can.
Further, according to the invention of claim 2, even when the position detecting means cannot detect the position of the vehicle and the lane departure warning means cannot be operated, the collision with the object existing in the course of the vehicle is detected. It can be prevented in advance.

Further, according to the invention of claim 3, the collision avoidance means is an alarm means for issuing an alarm to the driver, and the driver of the own vehicle is in front of a collision with an object such as a pedestrian, bicycle or other vehicle. Therefore, a collision between the host vehicle and the object can be prevented beforehand by operating the host vehicle by the driver.
Further, according to the invention of claim 4, the collision avoiding means is a handle operating means for performing a steering operation of the vehicle. For example, even when the driver does not notice the object, it does not depend on the driver's steering operation. Since the steering operation is automatically performed by the steering operation means and the vehicle can be automatically operated so as to avoid the target, the collision between the host vehicle and the target can be surely prevented. .

  Further, according to the invention of claim 5, the collision avoidance means is a braking means for braking the vehicle. For example, even when the driver does not notice the object, the host vehicle can be braked. The collision between the host vehicle and the object can be prevented more reliably in advance. In addition, even if the vehicle collides with the object, the vehicle speed of the host vehicle can be reduced, so that damage to the object can be minimized.

1 is a block diagram of a collision avoidance device according to an embodiment of the present invention. It is a flowchart which shows the control routine of the collision avoidance apparatus which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram of a collision avoidance device according to an embodiment of the present invention.
As shown in FIG. 1, a collision avoidance device 1 according to the present invention includes a snake angle sensor (operation detection means) 2, a winker switch (intention detection means) 3, a navigation system (position detection means) 4, a millimeter wave Radar (object detection means) 5, CCD camera (position detection means) 6, speaker (alarm means) 7, steering assist (handle operation means) 8, brake operation assist (braking means) 9, and electronic control unit (Hereinafter referred to as “ECU”) (route determination means, collision avoidance control means) 10.

The snake angle sensor 2 detects a snake angle which is an operation amount of a vehicle steering (not shown). The snake angle sensor 2 detects the presence or absence of a steering operation by detecting a change in the detected snake angle.
The turn signal switch 3 is a switch for switching the operation of a turn signal lamp provided outside the vehicle to inform the surroundings of the turning direction of the vehicle when the driver turns right or left. The winker switch 3 is switched by operating a winker lever (not shown) provided near the driver's seat in the vehicle.

The navigation system 4 has map information, and detects the position of the host vehicle from position information and map information from a GPS (Global Positioning System) (not shown) mounted on the vehicle.
The millimeter wave radar 5 is provided in front of the vehicle, and detects collision objects such as pedestrians, bicycles, and other vehicles existing in the forward direction of the vehicle.

The CCD camera 6 is an imaging device for photographing the front of the vehicle. The CCD camera 6 can accurately photograph not only an object in front of the vehicle but also a side edge of a traveling lane, that is, a white line or a yellow line that is a lane side edge on a road that divides the lane.
The speaker 7 may share a speaker of an audio device mounted on the vehicle, and may be any speaker that can transmit an alarm to the driver by voice.

The steering assist 8 assists the driver's steering operation. The steering assist 8 is a steering actuator (not shown) that is attached to a steering shaft (not shown) of the vehicle and can apply an arbitrary rotational torque to the steering shaft by a control signal from the ECU 10.
The brake operation assist 9 assists the driver's brake pedal operation. The brake operation assist 9 is arranged between a master cylinder (not shown) and a wheel cylinder of each wheel (not shown) of the vehicle, and can arbitrarily increase or decrease the hydraulic pressure supplied to each wheel cylinder by a control signal from the ECU 10. This is a brake actuator (not shown).

  The ECU 10 is a control device for performing comprehensive control of the vehicle, and includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. The ECU 10 is electrically connected to various devices such as the snake angle sensor 2, the blinker switch 3, the navigation system 4, the millimeter wave radar 5, the CCD camera 6, the speaker 7, the steering assist 8 and the brake operation assist 9, and various sensors. It is connected to the. The ECU 10 assists the speaker 7 and the steering wheel operation with a sound warning to the driver based on information from various sensors such as the snake angle sensor 2, the blinker switch 3, the navigation system 4, the millimeter wave radar 5, and the CCD camera 6. The steering assist 8 and the brake operation assist 9 for assisting the brake operation are controlled to avoid the collision between the object and the vehicle.

Next, the control point of the collision avoidance device will be described.
FIG. 2 is a flowchart showing a control routine of the collision avoidance device according to the present invention.
As shown in FIG. 2, this routine is started by the steering operation by the driver (step S10), and the process proceeds to step S12.
In step S12, it is determined whether or not the winker is operated by the driver. That is, it is determined whether or not the driver has intentionally performed the steering operation based on the presence or absence of the driver's turn signal operation. If the determination result is true (Yes) and the winker is operated by the driver, that is, if the driver intentionally performs the steering operation, this routine is returned. If the determination result is false (No) and the winker is not operated by the driver, that is, the driver does not intentionally perform the steering operation, the process proceeds to step S14.

In step S14, the course of the host vehicle is predicted based on the detection result of the snake angle sensor 2. Then, the process proceeds to step S16.
In step S16, based on the detection results of the navigation system 4 and the CCD camera 6, it is determined whether or not the traveling lane in which the vehicle is traveling can be recognized. Specifically, it is determined whether or not the travel lane in which the host vehicle is traveling can be recognized from the position information of the host vehicle by the navigation system 4 and the presence or absence of a white line on the road by the CCD camera 6. If the determination result is true (Yes) and the traveling lane in which the vehicle is traveling can be recognized, the process proceeds to step S24. If the determination result is false (No) and the travel lane in which the vehicle is traveling cannot be recognized, the process proceeds to step S18.

  In step S18, based on the detection result of the millimeter wave radar 5, it is determined whether or not there is a collision target such as a pedestrian, a bicycle, or another vehicle on the course of the own vehicle. If the determination result is true (Yes) and there is a collision target on the course of the host vehicle, the process proceeds to step S20. If the determination result is false (No) and there is no object to be collided on the course of the host vehicle, the routine returns with no possibility of collision.

In step S20, an alarm is issued from the speaker 7 to the driver that there is a collision object on the course of the host vehicle. Then, the process proceeds to step S22.
In step S22, the steering assist 8 and the brake operation assist are operated so as to avoid a collision with the collision target. Then, this routine is returned.
In step S24, based on the predicted course of the host vehicle predicted in step S14, it is determined whether or not the host vehicle departs from the travel lane. If the determination result is true (Yes) and it is determined that the host vehicle deviates from the traveling lane, the process proceeds to step S26. If the determination result is false (No) and it is determined that the vehicle does not depart from the travel lane, the process returns to step S18.

In step S26, a driving lane departure warning is issued to issue a warning from the speaker 7 to the driver that there is a possibility that the host vehicle will depart from the driving lane. Then, this routine is returned. (The processing in steps S24 and S26 corresponds to the lane departure warning means of the present invention.)
As described above, in the collision avoidance device according to the present invention, when the steering is operated by the driver and the winker lever is not operated by the driver, the course of the host vehicle is predicted. When the traveling lane in which the host vehicle is traveling can be recognized, it is determined whether or not the vehicle is likely to deviate, and an alarm is issued if the vehicle is likely to deviate.

  Furthermore, in the present embodiment, when the travel lane of the vehicle cannot be recognized, or even when the travel lane in which the host vehicle is traveling can be recognized, there is no possibility of deviating from the travel lane by the driver's steering operation. If there is a collision target on the course of the host vehicle, a warning is issued from the speaker 7, and the steering assist 8 and the brake operation assist 9 are operated so as to avoid a collision with the collision target.

Therefore, on a road without a boundary between the sidewalk and the roadway where the driving lane cannot be recognized, or on the driving lane of the road where the driving lane can be recognized in the course change that is not intended by the driver, such as a driver's sleep or aside driving Collisions with pedestrians, bicycles and other vehicles can be avoided.
Therefore, even if the driver makes an unintended course change, it is possible to avoid collision objects of pedestrians, bicycles, and other vehicles, and to prevent collision with the collision objects.

In addition, the brake operation assist 9 is activated when avoiding the collision object, and the vehicle speed of the host vehicle is decelerating, so that even if it collides with the collision object, damage to the collision object can be minimized. it can.
Although the description of the embodiment of the invention is finished as above, the embodiment of the present invention is not limited to the above embodiment.

  For example, in the above-described embodiment, in order to avoid a collision with a collision target object, an utterance of an alarm from the speaker 7 and an operation of the steering assist 8 and the brake operation assist 9 are performed, but the present invention is not limited to this. Instead of this, only the warning from the speaker 7 or only the operation of the steering assist 8 and the brake operation assist 9 may be performed. In this case, since the number of control devices can be reduced, an increase in cost due to the addition of the collision avoidance device can be suppressed.

1 Collision avoidance device 2 Snake angle sensor (operation detection means)
3 blinker switch (intention detection means)
4 Navigation system (position detection means)
5 Millimeter wave radar (object detection means)
6 CCD camera (position detection means)
7 Speaker (alarm means)
8 Steering assist (handle operation means)
9 Brake operation assist (braking means)
10 ECU (course determination means, collision avoidance control means)

Claims (5)

Object detection means for detecting objects around the vehicle;
Intention detection means for detecting a course change intention of the driver of the vehicle;
Operation detecting means for detecting the driver's course changing operation;
Position detecting means for detecting the position of the vehicle;
Collision avoidance means for avoiding a collision of the vehicle;
A course determination unit that determines a course of the vehicle based on detection results of the operation detection unit and the position detection unit;
The driver is warned when the intention detection means does not detect the driver's intention to change the course and the course of the vehicle determined by the course determination means is estimated to deviate from the driving lane. Lane departure warning means,
If it is not detected by the intention detection means that the driver has an intention to change the course, and it is estimated that the course of the vehicle determined by the course determination means does not deviate from the driving lane, the vehicle A collision avoidance control means for activating the collision avoidance means when the object is present in the course direction;
A collision avoidance device comprising:   The collision avoidance control means detects the subject in the course direction of the vehicle when the intention detection means does not detect the driver's intention to change the course and the position detection means cannot detect the position of the vehicle. The collision avoidance device according to claim 1, wherein the collision avoidance unit is activated when an object is present.   The collision avoidance device according to claim 1, wherein the collision avoidance unit is an alarm unit that issues an alarm to the driver.   The collision according to any one of claims 1 to 3, wherein the collision avoiding means is handle operating means that automatically performs a steering operation of the vehicle so that the vehicle avoids the object. Avoidance device.   The collision avoidance device according to any one of claims 1 to 4, wherein the collision avoidance means is a braking means for braking the vehicle.

Images