JP2014071012A - Control object detection device and emergency automatic braking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow exclusion, from control objects, specific ghost objects generated in a closed space of consecutive structures such as below a viaduct, in a tunnel, and at a tollgate.SOLUTION: A control object detection device includes: control object candidate selection means 31a which selects, as control object candidates, objects of which the distances derived from relative position information of the objects detected by a radar device 2 are a reference distance or shorter; ghost object determination means 31b which, if a relative acceleration of an object as a control object candidate, which is derived from the relative position information, is a reference acceleration or higher and the temporal change in distance of the object is a preliminarily set reference value or smaller, determines this object to be a ghost object; and control object selection means 31c which takes objects of control object candidates other than ghost objects, as control objects.

Description

  The present invention relates to a control object detection device for detecting an object to be controlled by a vehicle based on detection information of an object ahead of the vehicle obtained from a radar device, and an emergency automatic braking device using the same. is there.

  Advanced Emergency Braking System (AEBS) is becoming popular as a preventive safety technology that prevents accidents and reduces damage. In this AEBS, a front obstacle is detected using a radio wave radar or the like, and if there is a possibility of a collision, an alarm is issued to warn the driver, and an automatic brake is activated if the possibility of a collision increases.

  By the way, radio radars that detect obstacles in front are rarely present under the influence of electrical noise, reflected waves from leaked radio waves, etc. under the viaduct or in closed spaces such as tunnels and toll booths. An object that is not likely to be present (also referred to as a ghost object or a virtual image) may be misrecognized as an object that has a high possibility of being present, which is a cause of malfunction of AEBS.

  In this regard, Patent Document 1 estimates the previous position and the next position from the current detection position of the target object detected at a certain reception level or higher, and the estimated previous position is within a predetermined distance from the detection area. There has been proposed a technique for determining a control target object when the next position is within a detection area. That is, in this technique, objects other than those existing in the detection area in the previous, current, and next three control cycles are excluded from the control target as ghost objects.

  Further, in Patent Document 2, when a second object is detected between the detected first object and the host vehicle, the host vehicle, the first object, and the second object have a specific relationship. In some cases, a technique for determining that the first object is a ghost object generated by the second object has been proposed.

JP 2007-292541 A JP 2007-304069 A

  However, some ghost objects continue to exist in the detection area for a certain period of time, and others do not detect another object between the host vehicle and the target object by the radar. In the case of such a ghost object, it cannot be excluded as a ghost object by the techniques of Patent Literature 1 and Patent Literature 2.

  For example, since the technique of Patent Document 1 determines only by an element related to the position of the target object other than the determination based on the reception level, it is excluded when the ghost object continues to exist in the detection area for a certain period of time. I can't. In addition, the technique of Patent Document 2 can exclude a specific ghost object under a specific condition in which another object is detected between the subject vehicle and the target object to be determined. Now you can't eliminate ghost objects.

  The present invention can discriminate a specific ghost object generated in a closed space of a continuous structure such as a viaduct or a tunnel or a toll gate, and eliminate the ghost object from the object to be controlled. An object of the present invention is to provide a control object detection device and an emergency automatic braking device using the control object detection device.

  (1) For this reason, the control object detection device of the present invention is equipped in a vehicle, detects an object by transmitting an electromagnetic wave in front of the vehicle, and receiving a reflected wave reflected by the object. A control object detection device that detects an object to be controlled by the vehicle based on detection information from a radar apparatus that detects the object derived from relative position information of the object detected by the radar apparatus Control object candidate selecting means for selecting the object within a reference distance set in advance as the distance of the object from the vehicle as a control object candidate, and the control object candidate object derived from the relative position information When the relative acceleration with respect to the vehicle is equal to or greater than a preset first reference acceleration and the time change of the distance is equal to or less than a preset first reference value, the object is a ghost. A ghost object determining unit that determines that the object is a object, and a control object selecting unit that uses the object determined as the ghost object from the objects selected as the control object candidate as the control object; It is characterized by having.

  (2) The ghost object determining means may be configured such that the relative acceleration is equal to or greater than a second reference acceleration set in advance and the time change of the distance is equal to or less than a second reference value set in advance and the relative position information When the moving direction of the target object derived from 1 with respect to the vehicle is a fixed direction, it is preferable to determine that the target object is a ghost object.

  (3) Another control object detection device according to the present invention is mounted on a vehicle and detects the object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. A control object detection device that detects an object to be controlled by the vehicle based on detection information from a radar apparatus that detects the object derived from relative position information of the object detected by the radar apparatus Control object candidate selecting means for selecting the object within a reference distance set in advance as the distance of the object from the vehicle as a control object candidate, and the control object candidate object derived from the relative position information The relative acceleration with respect to the vehicle is equal to or greater than a preset reference acceleration, and the time change of the distance is equal to or less than a preset reference value and is derived from the relative position information. A ghost object determining means for determining that the target object is a ghost object when the moving direction of the target object with respect to the vehicle is a fixed direction; and the ghost from among the targets selected as the control target candidates And a control target selecting means for controlling the object excluding the object determined to be an object.

  (4) Further, the ghost object determination means is configured such that the distance at the start of detection of the object by the radar device is not more than the reference distance, and the relative acceleration is not less than a preset third reference acceleration. In some cases, it is also preferable to determine that the object is a ghost object. In addition, “the distance at the start of detection of the object by the radar device is equal to or less than a reference distance” means, in other words, “the object suddenly falls within a short distance of the vehicle (within a predetermined range of distance in the front-rear direction). It can also be expressed as “appeared”.

  (5) Another control object detection device according to the present invention is mounted on a vehicle and detects the object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. A control object detection device that detects an object to be controlled by the vehicle based on detection information from a radar apparatus that detects the object derived from relative position information of the object detected by the radar apparatus Control object candidate selecting means for selecting the object within a reference distance set in advance as the distance of the object from the vehicle, and the distance at the start of detection of the object by the radar device is the reference When the relative acceleration with respect to the vehicle of the object to be controlled derived from the relative position information is equal to or greater than a third reference acceleration set in advance Ghost object determination means for determining that the object is a ghost object, and the control object obtained by removing the object determined to be the ghost object from the control object candidates and the selected object And a controlled object selecting means.

  (6) The emergency automatic braking device according to the present invention is a radar device that is mounted on a vehicle and detects the object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. And the control object detection device according to any one of (1) to (5) above, and the vehicle collides with the control target object based on information from the radar device and the control object detection device. A collision predicting unit that predicts whether to perform collision avoidance control that avoids the collision when the vehicle is predicted to collide with the object by the collision predicting unit. Yes.

  (7) When the collision prediction means estimates a collision prediction time until the vehicle and the object collide, and compares the estimated collision prediction time with a threshold value, the collision prediction time is equal to or less than the threshold value. The vehicle is predicted to collide with the object, a first threshold value and a second threshold value smaller than the first threshold value are set as the threshold values. When the collision is predicted by comparison with a threshold value, an alarm is issued to the driver of the vehicle, and when the collision prediction means predicts the collision by comparison with the second threshold value, the vehicle is equipped with It is preferable to actuate a braking device that has been adapted.

  (1) According to the control target detection device of the present invention, when the radar device detects the target, the ghost object determination means has a relative acceleration of the target control target candidate equal to or higher than a preset reference acceleration, and When the time change of the distance of the object with respect to the vehicle is equal to or less than a preset reference value, it is determined that the object is a ghost object.

  (2, 3) Further, according to the control object detection device of the present invention, when the radar device detects the object, the ghost object determination means uses the reference in which the relative acceleration of the control object candidate object to the vehicle is set in advance. A target object is a ghost object when the time change of the distance of the target object relative to the vehicle is equal to or less than a predetermined reference value and the moving direction of the target object relative to the vehicle is a constant direction. Judge that it is.

  (4, 5) Further, according to the control object detection device of the present invention, when the radar device detects the object, the ghost object determination means determines that the distance at the start of detection of the object by the radar device is equal to or less than the reference distance. If the relative acceleration of the object with respect to the vehicle is equal to or higher than a preset reference acceleration, it is determined that the object is a ghost object.

  A normal single ghost object is detected as a target only for a short time, but a ghost object captured by reflection from a continuous structure under a viaduct or a tunnel or tollgate is a different part of a continuous structure. It is considered that this is a result of erroneously determining that they are one object by detecting them one after another. As a feature of the input information of the ghost object in this case, the object suddenly appears at a close distance of the vehicle (within a predetermined range of the distance in the front-rear direction), and then the change in the distance in the front-rear direction is small even though the speed changes greatly. It is considered that there is a characteristic that it is in a state, and there is a characteristic that it moves in a certain direction including not only the front-rear direction but also an oblique direction and a horizontal direction.

Therefore, the ghost object by such a continuous structure is specified by the ghost object determination means.
The ghost object determination means specifies the ghost object in this way, and the control target selection means sets the control target as the control target candidate and the target object determined as the ghost object from the selected target objects. Thus, it is possible to appropriately select the control target of the vehicle.

  (6) According to the emergency automatic braking device of the present invention, a collision is predicted with respect to an object to be controlled appropriately from which the ghost object is excluded, and an alarm is generated or the braking device is operated. Since collision avoidance control is performed, it is possible to prevent the occurrence of a false alarm and the operation of the braking device due to the ghost object.

  (7) Estimating the collision prediction time, predicting that the vehicle will collide with the object when the estimated collision prediction time is equal to or less than the threshold, and setting a first threshold and a second threshold smaller than this as the threshold When a collision is predicted by comparison with the first threshold value, an alarm is generated, and when a collision is predicted by comparison with the second threshold value, if the braking device is operated, stepwise control is performed. Due to the early response of the driver, the operation of the braking device can be avoided.

It is a block diagram which shows the control object detection apparatus and emergency automatic braking apparatus concerning 1st Embodiment of this invention. It is a time chart explaining the characteristic of the ghost object in the controlled object detection device concerning a 1st embodiment of the present invention. It is a flowchart explaining the detection of the control object by the control object detection apparatus concerning 1st Embodiment of this invention. It is a flowchart explaining the collision avoidance control by the emergency automatic braking device concerning 1st Embodiment of this invention. It is a flowchart explaining the detection of the control object by the control object detection apparatus concerning 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 4 are diagrams showing a control object detection device and an emergency automatic braking device according to a first embodiment of the present invention. With reference to these drawings, a control object detection device and an emergency automatic braking device according to the first embodiment are shown. The apparatus will be described. FIG. 5 is a view showing a controlled object detection apparatus according to the second embodiment of the present invention. The controlled object detection apparatus according to the second embodiment will be described with reference to FIG.

<First Embodiment>
First, the configuration of the control target detection device and the emergency automatic braking device according to the present embodiment will be described.
As shown in FIG. 1, the emergency automatic braking device includes a vehicle ECU 1, a radar device 2, and a control ECU 3, all of which are mounted on a vehicle (hereinafter also referred to as a host vehicle). The vehicle ECU 1 and the control ECU 3 are connected by a vehicle CAN 11, and the radar device 2 and the control ECU 3 are connected by a radar CAN 12.

The vehicle ECU 1 and the control ECU 3 are computers including a memory (ROM, RAM), a CPU, and the like, and have a built-in timer.
Vehicle information such as a vehicle speed and a steering angle is input to the vehicle ECU 1, and the vehicle information is also input to the control ECU 3 through the vehicle CAN 11.

  The radar device 2 is installed in the front part of the vehicle, detects a target object by transmitting a millimeter-wave radio wave toward the front of the vehicle, and receiving a reflected wave reflected by the target object. When the object is present (when a reflected wave is received), the radar apparatus 2 detects the relative position information of the object, that is, the direction and distance of the object with respect to the radio wave transmission / reception point of the radar apparatus 2. And the relative position information (direction and distance with respect to the transmission / reception point of the radio wave) of the object is output at a predetermined cycle.

  Here, the radar device 2 is provided with a function (derivation means) 2a for deriving the relative acceleration of the object with respect to the own vehicle, the distance of the object from the own vehicle, and the moving direction of the object with respect to the vehicle. And The derivation means 2a determines the relative acceleration of the target object and the target vehicle in a predetermined cycle from the relative position information of the target object detected by the radar device 2 (direction and distance to the transmission / reception point of the radio wave). A distance from the own vehicle and a moving direction of the object with respect to the own vehicle are derived. However, this function (derivation means) 2 a may be provided outside the radar device 2, for example, provided in the control ECU 3.

  The control ECU 3 includes an input information processing unit 31 that processes input vehicle information and detection information from the radar device 2, and a situation determination unit 32 that determines the status of the vehicle from the information processed by the input information processing unit 31. The control determination unit 33 that determines the control mode of the vehicle from the determination result by the situation determination unit 32 and the output signal generation unit that generates an output signal to be output to each control target unit of the vehicle according to the determination result by the control determination unit 33 34 as a functional element.

  The input information processing unit 31 includes a control target candidate selection unit 31a that selects a specific target object as a control target candidate, a ghost object determination unit 31b that determines whether the target object is a ghost object, and a control target candidate target. A control object selection means 31c for selecting a control object that is obtained by removing a ghost object from an object. Each of these means 31a to 31c constitutes a controlled object detection apparatus according to the present embodiment.

  Based on the distance from the host vehicle of the target derived by the deriving unit 2a (front-rear direction distance), the control target candidate selection unit 31a selects a target within the reference distance set in advance as a control target candidate. To do. This is because the control according to the present embodiment is for avoiding or reducing a collision with an object in front of the own vehicle (usually, the preceding vehicle). This is because the object close to a certain distance (reference distance) is specified.

  The ghost object determination unit 31b is a target of the control target candidate selected by the control target candidate selection unit 31a based on the relative acceleration of the target to the host vehicle derived by the deriving unit 2a and the distance of the target from the host vehicle. When the relative acceleration of the object is equal to or greater than a preset reference acceleration and the time change of this distance is equal to or less than a preset reference value, the object is determined to be a ghost object.

  The reason for this will be described with reference to FIG. FIG. 2 shows the relative acceleration of the object with respect to the own vehicle, the distance of the object from the own vehicle, the target, and the detection information obtained from the radar device 2 when the own vehicle travels under the viaduct. It is a time chart which shows the relative speed with respect to the own vehicle of a thing.

  As shown in FIG. 2, at a certain time t1 (near 13.7 on the horizontal axis scale in FIG. 2), the relative speed and distance of a certain object and the relative acceleration of the object change suddenly. Here, at the time point t1, the distance of the object suddenly decreases (that is, suddenly appears within a predetermined distance from the host vehicle), the relative speed of the object rapidly increases, and the relative acceleration of the object rapidly decreases. Thereafter, while the relative acceleration of the object changes rapidly (abrupt increase), the relative speed and distance of the object continue to change gently. Then, at the next certain time t2 (near 15.3 on the scale of the horizontal axis in FIG. 2), the relative speed and distance of the object and the relative acceleration of the object return to the level before the sudden change again.

  In the section from time t1 to time t2, the relative acceleration of the object increases rapidly, and if this is correct, the distance of the object should change suddenly. However, the distance to the object only changes slowly. In an actual object, there is no such relationship between speed change and distance change. Therefore, when the speed change and the distance change of the object do not correspond to each other from the data of the radar device 2 as described above, it is determined that the object is a ghost object. The determination of such ghost objects is, in particular, misjudging that they are one target object by detecting different locations of the structure one after another for the structure in which the radar device 2 continues continuously. This is effective as a countermeasure when output is

  Although not shown in FIG. 2, the object has a characteristic of moving in a certain direction in the section from time t1 to time t2. The certain direction may be the front-rear direction, the lateral direction (left-right direction), or the oblique direction (the combined direction of the front-rear direction and the left-right direction).

  On the other hand, when appearing as a result of misjudging that they are one object by detecting different places one after another in a closed space of a continuous structure such as under a viaduct or tunnel or toll gate A possible ghost object has the characteristic that it suddenly appears within a certain range of the distance in the front-rear direction, and then the change in the distance in the front-rear direction is small despite the large change in speed. It is considered that there is a characteristic of moving in a certain direction including the diagonal direction and the horizontal direction.

  Note that “the object suddenly appears within a certain range in the front-rear direction of the vehicle” means that “the object by the radar device 2 when the lateral position of the object is not more than a certain distance from the center in the lateral direction of the host vehicle”. It can be defined that the distance at the start of object detection is equal to or less than the reference distance. That is, when the object detected by the radar device 2 approaches the front of the own vehicle when the lateral position of the object is equal to or less than a certain distance from the center of the own vehicle in the lateral direction, The distance (front-rear direction distance) is within the reference distance and becomes a control target candidate. Since this reference distance is shorter than the detectable distance by the radar apparatus 2, the distance from the subject vehicle of the object should be larger than the reference distance at the start of detection of the object by the radar apparatus 2. When the object is detected by the radar device 2, the distance of the object from the host vehicle is within the reference distance, in other words, the object suddenly falls within a certain range (within the reference distance) in the longitudinal direction of the vehicle. It can never appear. Therefore, it can be determined from such characteristics that the object is a ghost object.

  Therefore, the ghost object determination unit 31b of the present embodiment pays attention to the relative acceleration of the object and the relative movement state (distance change over time and relative movement direction) of the object among the above characteristics. When the relative acceleration of an object is greater than or equal to a preset reference acceleration, the time change of this distance is less than or equal to a preset reference value, and the object is moving in a certain direction, the object is It is determined that the object is a ghost object. The time change of the distance to the object and the moving direction of the object can be obtained by periodically obtaining detection information from the radar device 2.

  The control target selection unit 31c controls a target obtained by removing the target determined as a ghost object by the ghost object determination unit 31b from the targets determined as the control target candidates selected by the control target candidate selection unit 31a. set to target.

The situation determination unit 32 is provided with a collision prediction unit 32a that predicts whether the host vehicle collides with an object to be controlled as a functional element.
The collision prediction unit 32a calculates a collision prediction time (TTC: Time to Collision) from the relative speed and relative distance between the host vehicle and the object to be controlled (front vehicle) based on the input information from the radar device 2. Then, the collision prediction time TTC is compared with a threshold value to determine whether or not the host vehicle and the target object collide.

  Here, the collision prediction time TTC is a value obtained by dividing the relative distance Dr between the host vehicle and the front object (front vehicle) at a certain time by the relative speed Vr (TTC = Dr / Vr). A collision prediction time TTC can be used as an index for predicting a collision between the host vehicle and a front object. Here, a first threshold value TTC1 and a second threshold value TTC2 smaller (temporarily shorter) than the first threshold value TTC1 are set as threshold values, and the collision prediction unit 32a determines a collision for each threshold value. To do. This determination determines the control mode for the collision prediction.

  If it is predicted by the collision prediction means 32a that the own vehicle will collide with the object, the control determination unit 33 issues an alarm to the driver of the own vehicle and activates a braking device equipped on the own vehicle as collision avoidance control. Control means 33a is provided as a functional element. Hereinafter, braking in which the braking device is operated as collision avoidance control by the control means 33a of the control determination unit 33 is referred to as automatic braking. Specifically, the control means 33a generates a warning when the collision prediction means 32a predicts a collision by comparing the collision prediction time TTC and the first threshold value TTC1, and the collision prediction means 32a When a collision is predicted by comparing the time TTC with the second threshold value TTC2, the automatic brake is activated.

  When the output signal generation unit 34 determines that the control unit 33a generates an alarm, the output signal generation unit 34 generates a signal indicating that a required alarm or warning message is generated, and a sound generation unit (not shown) installed in the vehicle. Output to. In addition, when the control means 33a determines that the automatic brake is to be activated, the output signal generator 34 generates an automatic brake activation signal and outputs it to an automatic brake system (not shown) installed in the vehicle.

  Since the control target detection device and the emergency automatic braking device according to the first embodiment of the present invention are configured as described above, the control target detection device detects the control target as shown in the flowchart of FIG. 3, for example. To do. Note that the flowchart of FIG. 3 is executed in a predetermined cycle when the key switch of the vehicle is on.

  That is, first, the input information processing unit 31 of the control ECU 3 determines whether or not any object has been found in front of the host vehicle based on the information from the radar device 2 (step S10). Here, if there is an object in front of the own vehicle, based on information from the radar device 2, the distance from the object (distance of the object from the own vehicle), the relative acceleration of the object with respect to the own vehicle, the object A change in the distance of the object from the host vehicle (a change in the distance over time) and a moving direction of the object are derived (step S20).

  Next, it is determined whether the distance to the object is equal to or less than a preset reference distance (step S30). If the distance to the object is not less than the reference distance, that is, if the distance to the object is larger than the reference distance, there is no risk of collision with the object at this point, and the object is excluded from the control object ( Step S80). On the other hand, if the distance to the object is equal to or less than the reference distance, the object is determined as a control object candidate, and it is determined whether the relative acceleration of the object is equal to or greater than a preset reference acceleration (step S40).

  Here, if the relative acceleration of the object is not equal to or higher than the reference acceleration, that is, if the relative acceleration of the object is less than the reference acceleration, the object is set as a control target (step S90). On the other hand, if the relative acceleration of the object is greater than or equal to the reference acceleration, it is determined whether the amount of change in distance from the object is less than or equal to the reference value (step S50).

  If the distance change amount with respect to the object is not less than the reference value, that is, if the distance change amount with respect to the object is larger than the reference value, the object is set as a control target (step S90). On the other hand, if the amount of change in distance to the object is equal to or less than the reference value, it is determined whether the moving direction of the object is a constant direction (step S60).

  Here, if the moving direction of the object is not a fixed direction, that is, if the relative acceleration of the object is less than the reference acceleration, the object is set as a control object (step S90). On the other hand, if the moving direction of the object is a fixed direction, the object is determined to be a ghost object generated in a structure that continues continuously such as under a viaduct or in a tunnel or a toll booth (step S70). In this case, the object is excluded from the control objects (step S80).

  When the object to be controlled is detected in this way, the emergency automatic braking apparatus according to the present embodiment performs collision avoidance control on the object as shown in the flowchart of FIG. Note that the flowchart of FIG. 4 is executed at a predetermined cycle when the key switch of the vehicle is on.

  That is, first, it is determined whether an object to be controlled has been detected (step S100). If the target object to be controlled is detected, a collision prediction time TTC is calculated (step S110). Then, by comparing the collision prediction time TTC with the first threshold value TTC1, it is determined whether the collision prediction time TTC is equal to or less than the first threshold value TTC1 (step S120). If the collision prediction time TTC is not less than or equal to the first threshold value TTC1, it is assumed that there is no possibility of a collision at this time.

  On the other hand, if the predicted collision time TTC is equal to or shorter than the first threshold value TTC1, an alarm is issued to the driver of the host vehicle that there is a risk of collision (step S130). If the driver of the host vehicle performs a collision avoidance operation such as deceleration by this warning, the predicted collision time TTC eventually becomes longer than the first threshold value TTC1 in the subsequent control cycle, thereby avoiding the possibility of a collision.

  In addition, alarm generation is started, and it is determined whether the collision prediction time TTC is equal to or less than the second threshold TTC2 by comparing the collision prediction time TTC with the second threshold TTC2 (step S140). If the above-described collision avoidance operation is performed, the collision prediction time TTC can be prevented from becoming the second threshold value TTC2 or less, but if the collision avoidance operation is neglected, the collision prediction time TTC can be equal to or less than the second threshold value TTC2. .

  Then, if the predicted collision time TTC is equal to or shorter than the second threshold value TTC2, it is determined that there is a greater possibility of a collision, and the automatic brake is activated (step S150). Thereby, collision avoidance or collision can be reduced, and collision damage can be avoided or reduced.

  This device eliminates such ghost objects from the object to be controlled by paying attention to the characteristics of ghost objects that occur in closed spaces of continuous structures such as tunnels and toll booths under the viaduct. Therefore, it is possible to avoid erroneous warnings and erroneous automatic braking operations in AEBS, which can contribute to improvement in acceptability of AEBS and suppression of secondary damage due to AEBS malfunction.

Second Embodiment
Next, a second embodiment of the present invention will be described.
In the present embodiment, the ghost object determination method of the control target detection device is different from that of the first embodiment, but the other components of the control target detection device and the configuration of the emergency automatic braking device are the same as in the first embodiment. The description is omitted.

  As described above, a ghost object that appears in a closed space of a structure that continues continuously has a characteristic that the distance in the front-rear direction at the start of object detection by the radar device 2 is equal to or less than the reference distance. (Suddenly appears within a certain range of the distance in the front-rear direction), and then there is a characteristic that the change in the distance in the front-rear direction is small despite the fact that the speed changes greatly. It is considered that there is a characteristic of moving in a certain direction including

  Therefore, the ghost object determination unit 31c of the present embodiment pays attention to each of the above characteristics, and if any of the following (condition 1), (condition 2), and (condition 3) is satisfied, the object of the control target candidate Is determined to be a ghost object.

  (Condition 1) When the lateral position of the object is equal to or less than a certain distance from the center in the lateral direction of the host vehicle, the longitudinal distance at the start of object detection by the radar device 2 is equal to or less than the reference distance (control target candidate) And the relative acceleration of the target object to be controlled is equal to or higher than a first reference acceleration (reference acceleration 1) set in advance, and the distance of the object Is less than a preset first reference value (reference value 1). This condition excludes the condition that the object is moving in a certain direction from the determination condition of the ghost object of the first embodiment.

  (Condition 2) When the lateral position of the object is not more than a certain distance from the lateral center of the host vehicle, the distance in the front-rear direction at the start of object detection by the radar device 2 is not more than the reference distance (control target candidate And the relative acceleration of the target object to be controlled is equal to or greater than a second reference acceleration (reference acceleration 2) set in advance, and the distance of the object. The time change (the longitudinal speed of the object relative to the host vehicle) is equal to or less than a second reference value (reference value 2) set in advance, and the object is moving in a certain direction. This condition corresponds to the ghost object determination condition of the first embodiment. (Condition 2) adds the condition that the object is moving in a certain direction to (Condition 1). Therefore, the reference acceleration 2 and the reference value 2 in (Condition 2) are the reference acceleration 1 and the reference value in (Condition 1). The condition is relaxed rather than the value 1. That is, the reference acceleration 2 is assumed to be smaller than the reference acceleration 1 (reference acceleration 2 <reference acceleration 1), and the reference value 2 is assumed to be larger than the reference value 1 (reference value 2> reference value 1).

  (Condition 3) When the lateral position of the object is equal to or less than a certain distance from the center in the lateral direction of the host vehicle, the distance in the front-rear direction at the start of object detection by the radar device 2 is equal to or less than the reference distance (control target candidate) And the relative acceleration of the target object to be controlled is equal to or higher than a preset third reference acceleration (reference acceleration 3). Since (Condition 3) is different from (Condition 1) in determining items, the reference acceleration 3 is different from the reference acceleration 1, but the reference acceleration 3 may be the same as the reference acceleration 1.

  Since the controlled object detection apparatus according to the second embodiment of the present invention is configured as described above, the controlled object detection apparatus detects the controlled object as shown in the flowchart of FIG. 5, for example. Note that the flowchart of FIG. 5 is executed at a predetermined cycle when the key switch of the vehicle is on.

  That is, first, the input information processing unit 31 of the control ECU 3 determines whether or not any object has been found in front of the host vehicle based on the information from the radar device 2 (step S10). Here, if there is an object in front of the own vehicle, based on information from the radar device 2, the distance from the object (distance of the object from the own vehicle), the relative acceleration of the object with respect to the own vehicle, the object A change in the distance of the object from the host vehicle (a change in the distance over time) and a moving direction of the object are derived (step S20).

  Next, it is determined whether the lateral position of the object is less than a certain distance from the center in the lateral direction of the host vehicle and the distance from the object is less than a preset reference distance (step S30). If the distance to the object is not less than the reference distance, that is, if the distance to the object is larger than the reference distance, there is no risk of collision with the object at this point, and the object is excluded from the control object ( Step S80). On the other hand, if the distance from the object is equal to or less than the reference distance, it is determined whether the object suddenly appears (step S32). If the object suddenly appears, it is determined whether the relative acceleration of the object is equal to or higher than a preset reference acceleration 3 (step S40).

  Here, if the relative acceleration of the object is greater than or equal to the reference acceleration 3, (Condition 3) is satisfied, and the ghost object is generated in a structure that continues continuously under a viaduct or in a tunnel or a toll booth. (Step S70). In this case, the object is excluded from the control objects (step S80). On the other hand, if the object does not suddenly appear or if the relative acceleration of the object is not equal to or greater than the reference acceleration 3, it is determined whether the relative acceleration of the object is equal to or greater than the preset reference acceleration 1 (step S42). ).

  Here, if the relative acceleration of the object is equal to or greater than the reference acceleration 1, it is determined whether the distance change amount with respect to the object is equal to or less than the reference value 1 (step S50). If the distance change with the target is less than or equal to the reference value 1, (Condition 1) is satisfied, and the target is a ghost object generated in a continuous structure such as under a viaduct or in a tunnel or a toll gate. Determine (step S70). In this case, the object is excluded from the control objects (step S80).

  If the relative acceleration of the object is not greater than or equal to the reference acceleration 1 or if the distance change with the object is not less than the reference value 1, that is, if the distance change with the object is greater than the reference value 1, It is determined whether the relative acceleration is greater than or equal to a preset reference acceleration 2 (step S44). If the relative acceleration of the object is greater than or equal to the reference acceleration 2 set in advance, it is determined whether the amount of change in distance from the object is less than or equal to the reference value 2 (step S52). If the amount of change in distance to the object is less than or equal to the reference value 2, it is determined whether the moving direction of the object is a constant direction (step S60).

Here, if the moving direction of the target object is a fixed direction, the target object is determined as a ghost object generated in a continuously continuing structure such as under a viaduct or in a tunnel or a toll booth (step S70). In this case, the object is excluded from the control objects (step S80).
On the other hand, if the relative acceleration of the object is not greater than or equal to the reference acceleration 2 set in advance, the distance change from the object is not less than the reference value 2, or the movement direction of the object is not a fixed direction, An object is controlled (step S90).

  When the target object to be controlled is detected in this way, the emergency automatic braking apparatus according to the present embodiment also applies to the target object as shown in the flowchart of FIG. 4, for example, as in the first embodiment. Perform collision damage reduction control. Note that the flowchart of FIG. 4 is executed at a predetermined cycle when the key switch of the vehicle is on.

  Therefore, depending on whether one of the conditions 1 to 3 is satisfied, a ghost object generated in a closed space of a continuous structure such as a viaduct or a tunnel or a toll booth is determined, and the control target By eliminating such ghost objects from the object, it is possible to avoid false alarms and false automatic braking operations in AEBS, and to improve the acceptability of AEBS and to suppress secondary damage caused by AEBS malfunctions. Can contribute.

<Others>
Although the embodiments of the present invention have been described above, the present invention can be implemented by appropriately changing the above embodiments without departing from the spirit of the present invention.
For example, the determination of a ghost object generated in a continuous structure such as under a viaduct or in a tunnel or a toll booth can be performed by using any one of the conditions 1 to 3 in the second embodiment alone or in an appropriate combination. It can also be used.

  Moreover, although the millimeter wave radar which uses a millimeter wave radio wave as an electromagnetic wave was illustrated as a radar apparatus, various things, such as a laser radar which uses a laser beam for an electromagnetic wave, can be applied as a radar apparatus, for example.

  Furthermore, if the control predicting unit 33 and the output signal generating unit 34 predict that the own vehicle will collide with the object by the collision predicting unit 32a, an alarm is given to the driver of the own vehicle as the collision avoidance control, and the possibility of collision is further increased. The automatic brake is actuated when the pressure increases, but if it is predicted that a collision will occur, the generation of an alarm and the operation of the automatic brake may be performed simultaneously. Further, the collision avoidance control is not limited to this. For example, the steering control may be automatically performed after confirming the safety of surrounding road conditions.

  It can be widely used to reduce collision damage and avoid collision of vehicles, particularly automobiles, and can be widely applied not only to large vehicles such as buses and trucks but also to small vehicles such as passenger cars.

1 Vehicle ECU
2 Radar device 2a Deriving means 3 ECU for control (AEBS ECU)
11 Vehicle CAN
12 Radar CAN
31 Input Information Processing Unit 31a Control Target Candidate Selection Unit 31b Ghost Object Determination Unit 31c Control Target Selection Unit 32 Situation Determination Unit 32a Collision Prediction Unit 33 Control Determination Unit 33a Control Unit 34 Output Signal Generation Unit

Claims (7)

A control target of the vehicle based on detection information from a radar device that is mounted on a vehicle and detects an object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. A control object detection device for detecting an object to be taken,
Control target candidate selection means for selecting, as a control target candidate, the target object whose distance from the vehicle of the target object derived from the relative position information of the target object detected by the radar device is within a preset reference distance. When,
The relative acceleration of the object of the control target candidate derived from the relative position information with respect to the vehicle is equal to or greater than a first reference acceleration set in advance, and the time change of the distance is equal to or less than a preset first reference value. A ghost object determining means for determining that the object is a ghost object,
Control target detection apparatus comprising: a control target selection unit that sets the control target to be a target that has been determined as the ghost object from among the control target candidates and the selected target. . The ghost object determination means is derived from the relative position information when the relative acceleration is equal to or greater than a second reference acceleration set in advance and the time change of the distance is equal to or less than a second reference value set in advance. 2. The control object detection device according to claim 1, wherein when the moving direction of the object relative to the vehicle is a fixed direction, the object is determined to be a ghost object. A control target of the vehicle based on detection information from a radar device that is mounted on a vehicle and detects an object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. A control object detection device for detecting an object to be taken,
Control target candidate selection means for selecting, as a control target candidate, the target object whose distance from the vehicle of the target object derived from the relative position information of the target object detected by the radar device is within a preset reference distance. When,
The relative acceleration of the object of the control object candidate derived from the relative position information with respect to the vehicle is greater than or equal to a preset reference acceleration, and the time variation of the distance is less than or equal to a preset reference value; Ghost object determination means for determining that the object is a ghost object when the moving direction of the object with respect to the vehicle derived from the relative position information is a fixed direction;
Control target detection apparatus comprising: a control target selection unit that sets the control target to be a target that has been determined as the ghost object from among the control target candidates and the selected target. . The ghost object determination unit is configured to detect the target when the distance at the start of detection of the target by the radar device is equal to or less than the reference distance and the relative acceleration is equal to or greater than a preset third reference acceleration. The control object detection device according to claim 1, wherein the object is determined to be a ghost object. A control target of the vehicle based on detection information from a radar device that is mounted on a vehicle and detects an object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object. A control object detection device for detecting an object to be taken,
Control target candidate selection means for selecting, as a control target candidate, the target object whose distance from the vehicle of the target object derived from the relative position information of the target object detected by the radar device is within a preset reference distance. When,
The distance at the start of detection of the object by the radar device is equal to or less than the reference distance, and the relative acceleration of the object of the control target candidate derived from the relative position information is set in advance. A ghost object determination means for determining that the object is a ghost object when the acceleration is equal to or greater than three reference accelerations;
Control target detection apparatus comprising: a control target selection unit that sets the control target to be a target that has been determined as the ghost object from among the control target candidates and the selected target. . A radar device that is mounted on a vehicle and detects the object by transmitting an electromagnetic wave in front of the vehicle and receiving a reflected wave reflected by the object;
The control object detection device according to any one of claims 1 to 5,
Collision prediction means for predicting whether the vehicle collides with the object to be controlled based on information from the radar device and the control object detection device;
An emergency automatic braking apparatus comprising: control means for performing collision avoidance control for avoiding the collision when the vehicle is predicted to collide with the object by the collision prediction means. The collision prediction means estimates a collision prediction time until the vehicle and the object collide, and compares the estimated collision prediction time with a threshold value, and when the collision prediction time is equal to or less than the threshold value, the vehicle Is predicted to collide with the object, and as the threshold value, a first threshold value and a second threshold value smaller than the first threshold value are set,
The control means generates an alarm to the driver of the vehicle when the collision prediction means predicts the collision by comparing with the first threshold value, and the collision prediction means performs the comparison with the second threshold value. The emergency automatic braking device according to claim 6, wherein when the collision is predicted, a braking device installed in the vehicle is operated.

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