JP2013220809A - Driving support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device for a vehicle, capable of suppressing unnecessary notification.SOLUTION: A driving support device calculates and stores a retreat locus prediction range when own vehicle starts a retreat travel (S10-S14). Then, the device sets and stores a limit alarm range (S16-S18). The device determines the position of the one's own vehicle (S20). If the position of the one's own vehicle is within the retreat locus prediction range, the limit alarm range is set as an alarm range and alert starts (S22-S24). If the position of the one's own vehicle is not within the retreat locus prediction range, a normal alarm range is set as an alarm range and alert starts (S30). Then, when the one's own vehicle finishes the retreat travel, the alert ends if the alarm range is the normal alarm range (S32). If the alarm range is the limit alarm range, the alert ends after setting the alarm range as the normal alarm range (S26-S28).

Description

  The present invention relates to a driving support device for a vehicle, and more particularly, to a warning notification when a vehicle is moving backward.

In recent years, there has been an increase in parking lots where vehicles are parked forward so that the front of the vehicle is on the wall, fence or tree side in order to prevent dirt and dirt on the walls and fences due to exhaust gas and planting. ing.
Therefore, in forward-facing parking of a vehicle, it is necessary to make the vehicle run backward when leaving the vehicle. When the vehicle is traveling backward, the driving operation becomes difficult due to the relationship between the rear space of the vehicle and obstacles such as left and right other vehicles and walls, which may increase the burden on the driver.

  Therefore, an obstacle sensor and an in-vehicle camera are installed at the rear of the vehicle, the position information of the space behind the vehicle and the left and right obstacles is acquired, and the exit method including the vehicle turning direction when the vehicle is traveling backward is notified to the driver. (Patent Document 1).

JP 2008-12987 A

In such a vehicle driving apparatus of Patent Document 1, the driver is notified when an obstacle is detected by the obstacle sensor while the vehicle is traveling backward.
However, the obstacle detected by the obstacle sensor is an obstacle that is not likely to come into contact with the vehicle even if the driver performs a driving operation so as to avoid the obstacle by recognizing the obstacle. May also be included.

It is not preferable that such a driver recognizes and notifies the driver of an obstacle that is not likely to come into contact with the vehicle, because it prevents the driver from concentrating on driving.
The present invention has been made to solve such problems, and an object of the present invention is to provide a vehicle driving support device that can suppress unnecessary notification.

  In order to achieve the above object, in the vehicle driving support device according to claim 1, obstacle detection means for detecting the presence and position of an obstacle at the rear and rear sides of the vehicle, and the obstacle to the driver. A vehicle driving support device for detecting an obstacle within a predetermined range on the rear and rear sides of the vehicle and notifying the driver when the vehicle is traveling backwards. A travel locus range predicting means for predicting a travel locus range in the backward travel when the vehicle starts to travel backward, a notification restriction range setting means for setting a notification restriction range when the vehicle starts traveling backward, and the vehicle When the vehicle is within the travel locus range during reverse travel of the vehicle, the obstacle that is within the notification restriction range is notified, and when the vehicle is not within the travel locus range when the vehicle is traveling backward Is the predetermined Control means for controlling the notifying means so as to notify the obstacle in the surroundings, and the notification limiting range is predetermined with respect to the predetermined range as the travel locus range outside the rotation direction of the vehicle. It is characterized by being set by adding values.

  According to a second aspect of the present invention, there is provided the vehicle driving support apparatus according to the first aspect, wherein the travel locus range predicting means includes the obstacle detecting means, a handle angle detecting means for detecting a handle angle of the vehicle, Vehicle characteristic storage means for storing a minimum turning radius; and the traveling locus calculation means for calculating the traveling locus range based on the position of the obstacle, the handle angle, and the minimum turning radius. And

  According to the first aspect of the present invention, when the vehicle is in the traveling locus range when the vehicle is traveling backward, the outer side in the rotational direction of the vehicle is set by adding a predetermined value to the traveling locus range with respect to the predetermined range. When the obstacle is in the notification limit range that is set to be the same as the predetermined range except for the outside in the rotation direction of the vehicle and is set to a range smaller than the predetermined range, and the vehicle is not within the travel locus range when traveling backward In this case, an obstacle within a predetermined range is notified.

Normally, when the driver moves the vehicle backward, the driver operates the steering wheel so as to avoid an obstacle that can be recognized by the driver at the start of the backward driving, and starts the backward driving. That is, the obstacle that the driver can recognize in advance is out of the travel locus range at the start of reverse travel.
Therefore, when the vehicle is traveling within the travel locus range, by notifying only obstacles within the notification limit range, there is a risk that the driver will recognize in advance that the vehicle is outside the notification limit range. Obstacles with no error can be excluded from notification.

Therefore, it is possible to notify obstacles close to the travel locus range by providing a predetermined margin in the travel locus range outside the rotation direction of the vehicle, and notify the obstacle that the driver recognizes in advance and does not cause contact. By eliminating, unnecessary notification can be suppressed.
According to the invention of claim 2, the travel locus range predicting means comprises an obstacle detection means, a handle angle detection means, a vehicle characteristic storage means, a travel locus calculation means, and an obstacle at the start of reverse running of the vehicle. Based on the position of the object, the handle angle, and the minimum turning radius, the travel locus range is calculated at the start of reverse travel, the travel locus range can be set with high accuracy, and the notification restriction range can be set appropriately. Therefore, an obstacle that is outside the notification limit range and is recognized by the driver in advance and has no fear of contact can be reliably excluded from the notification target.

It is a schematic block diagram of the driving assistance device for vehicles concerning the present invention. It is a figure which shows an example of the condition where reverse running assistance control is implemented. It is a flowchart which shows the control routine of reverse running assistance control in the controller which concerns on this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a vehicle driving support apparatus according to the present invention. Hereinafter, the configuration of the vehicle driving support apparatus will be described. FIG. 2 is a diagram illustrating an example of a situation in which reverse travel support control is performed. The thick solid pentagon indicates the position of the host vehicle 100 (corresponding to the vehicle of the present invention) at the start of reverse traveling, and the bold one-dot chain pentagon indicates the predicted position of the host vehicle 100 after movement, which is a bold broken pentagon. The other vehicle (corresponding to the obstacle of the present invention) 200 that does not have a possibility of contact with the host vehicle 100 at the start of backward travel, and the pentagonal line indicated by a thin broken line enters the backward trajectory prediction range during backward travel. And other vehicles (corresponding to the obstacles of the present invention) 300 that are likely to come into contact with each other. The front in the figure indicates the front direction of each vehicle. The arrows in the figure indicate the traveling directions of the respective vehicles, and the hatched portion indicates a backward trajectory prediction range (travel trajectory range) calculated from the minimum turning radius of the vehicle 100 and the steering angle of the steering at the start of reverse travel. ). Moreover, the area | region enclosed with a thin two-dot chain line shows the normal alarm range (predetermined range), and the area | region enclosed with the thick two-dot chain line has shown the restriction | limiting alarm range (notification restriction | limiting range). In addition, although the location where the thick two-dot chain line and the thin two-dot chain line in FIG. 2 overlap is actually the same position, the respective regions are described in parallel for clarity.

  As shown in FIG. 2, the normal alarm range is set so that the rear of the vehicle 100 can be alarmed in a wide area. The limit alarm range is set so that the region outside the rotation direction of the vehicle 100 is larger than the backward trajectory prediction range by a predetermined value outside the rotation direction of the vehicle 100, and the other region is the same as the normal alarm range. Is set to That is, the limit alarm range is set to be included in the normal alarm range.

  As shown in FIG. 1, a driving support apparatus 1 includes a right rear radar (obstacle detection means) 11, a left rear radar (obstacle detection means) 12, an electric power steering electronic control unit (hereinafter referred to as an electric power steering ECU). (Handle angle detection means) 14, a transmission electronic control unit (hereinafter referred to as transmission ECU) 15, a speaker (notification means) 22 that utters an alarm, a display (notification means) 23 that displays an alarm, a meter An electronic control unit (hereinafter referred to as meter ECU) (notification means) 21 and a controller 30 are configured. These various devices and various sensors are electrically connected.

The right rear radar 11 is disposed on the right rear side of the vehicle, and detects obstacles such as vehicles and people in the rear and right rear direction of the vehicle.
The left rear radar 12 is disposed on the left rear side of the vehicle, and detects obstacles such as vehicles and people in the rear and left rear direction of the vehicle.
The electric power steering ECU 14 includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. An electric power steering device that assists the steering force of the steering 13 is connected to the input side of the electric power steering ECU 14. On the other hand, an electric power steering device and a controller 30 are connected to the output side of the electric power steering ECU 14. The electric power steering ECU 14 controls the electric power steering device that assists the steering force of the steering wheel 13 in accordance with the steering angle of the steering wheel 13 of the vehicle input from the electric power steering device. The direction and the steering angle are output to the controller 30.

  As with the electric power steering ECU 14, the transmission ECU 15 includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. A vehicle electronic control unit (hereinafter referred to as a vehicle ECU) that comprehensively controls the vehicle is connected to the input side of the transmission ECU 15. On the other hand, an automatic transmission 16 and a controller 30 mounted on the vehicle are connected to the output side of the transmission ECU 15. The transmission ECU 15 controls the shift of the automatic transmission 16 mounted on the vehicle on the basis of the vehicle speed of the vehicle, the rotational speed of the engine, and the like. The shift information such as the position is output to the controller 30.

  As with the electric power steering ECU 14, the meter ECU 21 includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. Connected to the input side of the meter ECU 21 is a vehicle electronic control unit (hereinafter referred to as a vehicle ECU) for comprehensively controlling the vehicle and a controller 30. On the other hand, a speaker 22 and a display 23 are connected to the output side of the meter ECU 21. The meter ECU 21 controls speech on the speaker 22 and display on the display 23 based on a signal input from the controller 30.

  Like the electric power steering ECU 14, the controller 30 includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. FIG. 1 shows a normal alarm range storage unit 31 and a backward trajectory prediction range calculation unit (vehicle characteristic storage means, travel trajectory range prediction means) 32 as processing function parts in the storage device and central processing unit of the controller 30. A backward trajectory prediction range storage unit (running trajectory range prediction unit) 33, a limit alarm range setting unit (notification limit range setting unit) 34, a limit alarm range storage unit (notification limit range setting unit) 35, and the host vehicle The position calculation unit 36, the approaching obstacle detection unit (obstacle detection unit) 37, the alarm determination unit (control unit) 38, and the alarm instruction unit (notification unit) 39 are shown in a block state.

The normal warning range storage unit 31 stores in advance a normal warning range (predetermined range) that is a range in which normal warning is given during reverse travel shown in FIG.
The backward trajectory prediction range calculation unit 32 stores the minimum turning radius of the host vehicle 100 stored in advance in the backward trajectory prediction range calculation unit 32 and the steering angle (handle) of the steering wheel 13 at the start of reverse traveling output from the electric power steering ECU 14. 2) and a backward trajectory prediction range (running trajectory range) shown in FIG. 2 based on the obstacle approach information in the approaching obstacle detection unit 37.

The backward locus prediction range storage unit 33 stores the backward locus prediction range calculated by the backward locus prediction range calculation unit 32.
The limit alarm range setting unit 34 is based on the backward trajectory prediction range stored in the backward trajectory prediction range storage unit 33 and the operation direction of the steering wheel 13 when the reverse travel starts from the electric power steering ECU 14, that is, the rotation direction of the vehicle. The limit alarm range (notification limit range) is set. Specifically, as shown in FIG. 2, the limit alarm range is set to a predetermined value (outside the vehicle rotation direction of the backward trajectory prediction range) with respect to the normal warning range stored in the normal alarm range storage unit 31. For example, it is set by adding 1 m). In addition, except the outside of the limit warning range in the vehicle rotation direction, the normal warning range is set.

The limit alarm range calculated by the limit alarm range storage unit 35 and the limit alarm range setting unit 34 is stored.
The own vehicle position calculation unit 36 calculates the position of the own vehicle based on the steering angle of the steering wheel 13 output from the electric power steering ECU 14 at the start of reverse running and the vehicle speed output from the transmission ECU 15.

The approaching obstacle detection unit 37 detects the approach of an obstacle such as a vehicle or a person based on the obstacle detection information detected by the right rear radar 11 and the left rear radar 12 and outputs obstacle approach information.
The alarm determination unit 38 sets the limit alarm range or the normal alarm range as the alarm range according to the backward running state of the host vehicle 100, and sets the alarm range and the obstacle approach information output from the approaching obstacle detection unit 37. Based on this, the presence or absence of an obstacle within the alarm range is determined.

The warning instruction unit 39 instructs the meter ECU 21 to issue a warning from the speaker 22 and the display 23 to the driver when there is an obstacle within the warning range based on the determination result in the warning determination unit 38. Is.
A right rear radar 11, a left rear radar 12, an electric power steering ECU 14, and a transmission ECU 15 are connected to the input side of the controller 30. On the other hand, a meter ECU 21 is connected to the output side of the controller 30. Then, the controller 30 sets a range for alarming the possibility of contact with an obstacle based on an output signal from the transmission ECU 15, and alerts the driver from the speaker 22 and the display 23 when there is an obstacle in the range. Reverse travel support control is performed to output a signal to the meter ECU 21 so as to emit.

Hereinafter, the reverse running support control by the controller 30 according to the present invention configured as described above will be described.
FIG. 3 is a flowchart showing a control routine of reverse running support control by the controller 30 according to the present invention.
As shown in FIG. 3, in step S10, it is determined whether or not reverse running has been started. Specifically, it is determined from the shift information from the transmission ECU 15 whether or not the shift position has been set to the reverse (reverse) position by the driver. If the determination result is true (Yes) and the vehicle starts traveling backward, the process proceeds to step S12. Further, if the determination result is false (No) and the reverse running is not started, this routine is returned. That is, this control is started when the driver operates the shift position to the reverse position.

  In step S12, a backward trajectory prediction range is calculated. Specifically, in the backward trajectory prediction range calculation unit 32, the minimum turning radius of the host vehicle 100 stored in advance in the backward trajectory prediction range calculation unit 32 and the steering of the steering 13 at the start of reverse traveling output from the electric power steering ECU 14. Based on the angle and the obstacle approach information output from the approaching obstacle detection unit 37, the backward trajectory prediction range shown in FIG. 2 is calculated. Then, the process proceeds to step S14.

In step S14, the backward trajectory prediction range calculated in step S12 is stored in the backward trajectory prediction range storage unit 33. Then, the process proceeds to step S16.
In step S16, a limit alarm range is set. Specifically, the restriction is made based on the backward trajectory prediction range stored in the backward trajectory prediction range storage unit 33 in step S14 and the operation direction of the steering wheel 13 at the start of reverse travel from the electric power steering ECU 14, that is, the rotation direction of the vehicle. Set the alarm range. The limit alarm range is set by adding a predetermined value (for example, 1 m) to the outside of the backward trajectory prediction range only outside the vehicle rotation direction with respect to the normal alarm range stored in the normal alarm range storage unit 31. Is done. In addition, except the outside of the limit warning range in the vehicle rotation direction, the normal warning range is set. Then, the process proceeds to step S18.

In step S18, the limit alarm range set in step S16 is stored in the limit alarm range storage unit 35. Then, the process proceeds to Step 20.
In step S20, it is determined whether or not the vehicle position is within the predicted backward trajectory range. Specifically, the warning determination unit 38 determines whether or not the vehicle position calculated by the vehicle position calculation unit 36 is within the backward locus prediction range stored in the backward locus prediction range storage unit 33. If the determination result is true (Yes) and the vehicle position is within the backward trajectory prediction range, the process proceeds to step S22. If the determination result is false (No) and the vehicle position is not within the backward trajectory prediction range, the process proceeds to step S30.

  In step S22, the alarm range is set as the limit alarm range and warning is started. Specifically, the alarm determination unit 38 sets an alarm range, which is a range in which an obstacle is detected, to the limit alarm range stored in the limit alarm range storage unit 35 and starts warning. Then, if there is an obstacle such as the other vehicle 300 within the limit alarm range, the alarm instruction unit 39 instructs the meter ECU 21 to issue an alarm from the speaker 22 and the display 23 to the driver. Then, the process proceeds to step S24.

  In step S24, it is determined whether or not the backward running is finished. Specifically, it is determined from the shift information input from the transmission ECU 15 whether or not the shift position has been operated to a position other than the reverse (reverse) position. If the determination result is true (Yes) and the shift position is operated to a position other than the reverse (reverse) position and the reverse travel is finished, the process proceeds to step S26. On the other hand, if the determination result is false (No) and the shift position is operated to a position other than the reverse (reverse) position and the reverse travel has not ended, the process returns to step S20.

In step S26, the alarm range is reset. Specifically, the alarm range is set from the limit alarm range to the normal alarm range stored in the normal alarm range storage unit 31. Then, the process proceeds to step S28.
In step S28, the alert is terminated. Then, this routine is returned.
In step S30, the alarm range is set to the normal alarm range and warning is started. Specifically, the alarm determination unit 38 sets the alarm range, which is a range for detecting an obstacle, to the normal alarm range stored in the normal alarm range storage unit 31 and starts warning. Then, when an obstacle such as the other vehicle 200 and the other vehicle 300 exists within the normal alarm range, the alarm instruction unit 39 instructs the meter ECU 21 to issue an alarm from the speaker 22 and the display 23 to the driver. Then, the process proceeds to step S32.

  In step S32, as in step S24, it is determined whether or not the backward running is finished. If the determination result is true (Yes) and the shift position is operated to a position other than the reverse (reverse) position and the reverse travel is completed, the process proceeds to step S28. If the determination result is false (No) and the shift position is operated to a position other than the reverse (reverse) position and the reverse travel is not completed, the process returns to step S30.

  As described above, in the vehicle driving support device according to the present invention, when the host vehicle 100 starts to travel backward, the host vehicle 100 stored in advance in the backward track prediction range calculation unit 32 in the backward track prediction range calculation unit 32. 2 based on the minimum turning radius of 100, the steering angle of the steering wheel 13 at the start of reverse running output from the electric power steering ECU 14, and the obstacle approach information output from the approaching obstacle detection unit 27. Calculate and store the prediction range. Based on the backward trajectory prediction range stored in the backward trajectory prediction range storage unit 33 and the operation direction of the steering 13 at the start of reverse travel from the electric power steering ECU 14, that is, the rotation direction of the vehicle, Then, a limited alarm range is set and stored only by adding a predetermined value (for example, 1 m) to the vehicle rotation direction outside of the backward trajectory prediction range only in the vehicle rotation direction outside. If the vehicle position is within the backward trajectory prediction range, the limit alarm range is set as the alarm range and warning is started. If the vehicle position is not within the backward trajectory prediction range, the normal warning range is set as the warning range and warning is started. Then, when the host vehicle 100 finishes traveling backward, the warning is ended when the warning range is the normal warning range. When the warning range is the limited warning range, the warning range is set as the normal warning range. We are going to end the vigilance.

Normally, when the driver makes the host vehicle 100 travel backward, the driver operates the steering wheel so as to avoid the other vehicle 200 that the driver can recognize when starting the backward travel as shown in FIG. That is, the other vehicle 200 that can be recognized in advance by the driver is out of the predicted range of the backward trajectory when the backward travel is started.
Accordingly, when the host vehicle 100 is traveling in the backward trajectory prediction range, only the outside in the rotation direction of the own vehicle 100 is set by adding a predetermined value to the reverse trajectory prediction range with respect to the normal alarm range. By setting the same as the normal alarm range except for the outside in the rotation direction of the vehicle 100, only the obstacle such as the other vehicle 300 within the limit alarm range set to a range smaller than the normal alarm range is notified. An obstacle such as the other vehicle 200 that is outside the limit alarm range and recognized by the driver in advance and has no risk of contact can be excluded from the notification target.

Therefore, by providing a predetermined value margin in the range outside the rotation direction of the host vehicle 100 in the backward trajectory prediction range, it is possible to notify an obstacle such as the other vehicle 300 close to the backward trajectory prediction range, and the driver recognizes it in advance. Then, unnecessary notifications can be suppressed by eliminating the notification of obstacles such as the other vehicle 200 with no risk of contact.
Further, the backward trajectory prediction range is calculated at the start of the backward travel based on the position of the obstacle such as the other vehicle 200 at the start of the backward travel of the own vehicle 100, the steering wheel angle, and the minimum turning radius of the own vehicle 100, Since the backward trajectory prediction range can be set with high accuracy and the limit alarm range can be set appropriately, the vehicle is outside the limit alarm range and is recognized by the driver in advance and has no risk of contact, such as the other vehicle 200 Obstacles can be reliably excluded from notification.

This is the end of the description of the embodiment of the present invention. However, the embodiment of the present invention is not limited to the above embodiment.
In the above embodiment, the host vehicle 100 includes the electric power steering 14 and the automatic transmission 16, and information such as the steering direction and the steering angle of the steering 13, the vehicle speed and the shift position of the host vehicle 100 is acquired from these devices. However, the present invention is not limited to this, and such information may be acquired using a steering angle sensor, a vehicle speed sensor, a shift position sensor, or the like.

1 Driving support device 11 Right rear radar (obstacle detection means)
12 Left rear radar (obstacle detection means)
14 Electric power steering ECU (handle angle detection means)
21 Meter ECU (notification means)
22 Speaker (notification means)
23 Display (notification means)
30 Controller 31 Normal Alarm Range Storage Unit 32 Reverse Trajectory Prediction Range Calculation Unit (Vehicle Characteristic Storage Unit, Traveling Track Range Prediction Unit)
33 Backward trajectory prediction range storage unit (running trajectory range prediction means)
34 Limit alarm range setting section (notification limit range setting means)
35 Limit alarm range storage unit (notification limit range setting means)
36 Self-vehicle position calculation part 37 Approaching obstacle detection part (obstacle detection means)
38 Alarm judgment part (control means)
39 Alarm instruction section (notification means)

Claims (2)

Obstacle detection means for detecting the presence and position of obstacles at the rear and rear sides of the vehicle, and notification means for notifying the driver of the approach of the obstacle, and when the vehicle is traveling backward, In the vehicle driving support device that detects the obstacle in a predetermined range on the rear side and the rear side and notifies the driver,
A traveling locus range predicting means for predicting a traveling locus range in the backward traveling at the start of backward traveling of the vehicle;
Notification limit range setting means for setting a notification limit range at the start of reverse running of the vehicle;
When the vehicle is in the travel locus range when the vehicle is traveling backward, the obstacle in the notification restriction range is notified, and the vehicle is not in the travel locus range when the vehicle is traveling backward. A control means for controlling the notification means so as to notify the obstacle within the predetermined range,
The vehicle driving support apparatus according to claim 1, wherein the notification restriction range is set by adding a predetermined value to the travel locus range outside the rotation direction of the vehicle with respect to the predetermined range. The travel locus range prediction means includes
The obstacle detection means;
A handle angle detecting means for detecting a handle angle of the vehicle;
Vehicle characteristic storage means for storing a minimum turning radius of the vehicle;
The traveling locus calculating means for calculating the traveling locus range in the backward traveling based on the position of the obstacle, the steering wheel angle, and the minimum turning radius. The vehicle driving support device according to claim.

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