JP2014093040A - Collision avoidance support device and collision avoidance support method - Google Patents

Collision avoidance support device and collision avoidance support method Download PDF

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JP2014093040A
JP2014093040A JP2012244620A JP2012244620A JP2014093040A JP 2014093040 A JP2014093040 A JP 2014093040A JP 2012244620 A JP2012244620 A JP 2012244620A JP 2012244620 A JP2012244620 A JP 2012244620A JP 2014093040 A JP2014093040 A JP 2014093040A
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vehicle
pedestrian crossing
information
moving
pedestrian
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Shoichi Hayasaka
祥一 早坂
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Toyota Motor Corp
トヨタ自動車株式会社
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Abstract

It is an object of the present invention to provide a collision avoidance support apparatus and method that can perform appropriate collision avoidance support in consideration of the positional relationship with a pedestrian crossing that exists on the course of a vehicle.
Vehicle movement information is detected, movement information of a moving object (pedestrian, etc.) is detected (S1), position information of a pedestrian crossing is acquired (S1), vehicle movement information and a position of a pedestrian crossing The arrival time of the vehicle on the pedestrian crossing is calculated based on the information (S3), and the arrival time of the moving object on the pedestrian crossing is calculated based on the movement information of the moving object and the position information of the pedestrian crossing ( S5) When determining whether or not the vehicle and the moving object approach on the pedestrian crossing (possibility of collision) based on the arrival time of the vehicle and the arrival time of the moving object (S6) The collision avoidance support is performed (S7), and when it is not determined that the vehicle is approaching, the collision avoidance support is suppressed more than when it is determined that the vehicle is approaching (S8).
[Selection] Figure 3

Description

  The present invention relates to a collision avoidance support apparatus and a collision start support method that perform support for avoiding a collision between a vehicle and a moving object.

  Various technologies have been developed to assist a vehicle driver, for example, driving assistance for avoiding a collision between a vehicle and a moving object (such as a pedestrian). Patent Document 1 discloses that a collision prediction time TTC [time to collision] until the vehicle collides with an obstacle existing in the traveling direction is calculated, and collision avoidance support is performed based on the TTC. In addition, the intersection between the traveling direction of the vehicle and the traveling direction of the moving object is calculated, and the estimated arrival time until the vehicle reaches the intersection and the estimated arrival time until the moving object reaches the intersection are calculated. However, there is also a technique for performing collision avoidance support based on these two predicted arrival times.

JP 2008-308024 A JP 2011-195082 A JP 2009-271766 A

  When there is a pedestrian crossing on the road on which the vehicle is traveling, a pedestrian who is trying to cross the road normally uses the pedestrian crossing. For this reason, the pedestrian is less likely to jump out of the road other than the pedestrian crossing. If unnecessary support is implemented in such an environment, there is a possibility that the driver may be bothered. For example, when assistance is provided to a person who is traveling alongside a vehicle at a position away from a pedestrian crossing, the driver may feel annoyed with the assistance. In addition, if assistance is not provided for a person who reaches a pedestrian crossing almost simultaneously, the driver may be distrusted by the system.

  Therefore, an object of the present invention is to provide a collision avoidance support device and a collision avoidance support method that can implement appropriate collision avoidance support in consideration of the positional relationship with a pedestrian crossing that exists on the course of the vehicle.

  A collision avoidance assistance apparatus according to the present invention is a collision avoidance assistance apparatus that performs assistance for avoiding a collision between a vehicle and a moving object, and includes vehicle information detection means for detecting movement information of the vehicle, and around the vehicle. Moving object information detection means for detecting movement information of a moving moving object, pedestrian crossing information acquisition means for acquiring position information of a pedestrian crossing existing on the course of the vehicle, and vehicle movement information detected by the vehicle information detection means And the moving object approach on the pedestrian crossing on the course of the vehicle based on the movement information of the moving object detected by the moving object information detection means and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition means If it is determined that the approach is on the pedestrian crossing by the determination means and the determination means, the collision avoidance support is performed, and the determination means does not determine that the approach is on the pedestrian crossing. Characterized in that it comprises a suppressing support unit collision avoidance assistance than when it is determined that the closer to the case.

  In this collision avoidance support device, vehicle information detection means detects vehicle movement information (speed, movement direction, etc.), and moving object information detection means detects movement object movement information (position, speed, movement direction, etc. relative to the vehicle). Is detected. Further, in the collision avoidance support device, the pedestrian crossing information acquisition unit acquires the position information of the pedestrian crossing existing on the course of the vehicle. Then, in the collision avoidance support device, the judging means uses the relationship between the movement information of the vehicle and the position information of the pedestrian crossing and the relationship between the movement information of the moving object and the position information of the pedestrian crossing, so that It is determined whether or not the vehicle and the moving object approach on the sidewalk (possibility of collision). In the collision avoidance support device, if it is determined that the approach is close on the pedestrian crossing, the support means performs collision avoidance support, and if it is not determined that the approach is close, than if it is determined that the approach is close Suppress collision avoidance support. If there is a pedestrian crossing on the road where the vehicle is traveling, moving objects such as pedestrians usually use the pedestrian crossing when crossing the road, so there is a possibility of jumping out of the road other than the pedestrian crossing Is low. Therefore, collision avoidance assistance is performed when the possibility that the vehicle and the moving object approach on the pedestrian crossing (the possibility of collision) is high, and collision avoidance assistance is suppressed when the other possibility is low. As described above, in the collision avoidance assistance device, it is less likely that a moving object will jump out in the course of the vehicle by determining the execution of the collision avoidance support in consideration of the positional relationship between the pedestrian crossing, the vehicle, and the moving object. Support in the environment can be suppressed, and appropriate collision avoidance support considering the positional relationship with the pedestrian crossing can be implemented. As a result, support for a moving object that exists at a position away from the pedestrian crossing is suppressed, and it can be reduced that the driver is bothered by unnecessary support. In addition, support is provided for moving objects that may collide on a pedestrian crossing, and the driver can be given confidence in the system.

  Note that the moving object is, for example, a pedestrian, a bicycle, an electric or a manual wheelchair. The pedestrian crossing includes not only general pedestrian crossings but also bicycle crosswalks. On the pedestrian crossing, not only strictly within the pedestrian crossing but also the vicinity of the pedestrian crossing. Examples of the suppression of collision avoidance support include, for example, delaying the support timing, narrowing the support target detection range, increasing the support implementation threshold (stricting implementation conditions), and lowering the level of support content. (For example, braking intervention is changed to an alarm by HMI), and support may not be performed.

  In the collision avoidance assistance device of the present invention, the vehicle until the vehicle reaches the pedestrian crossing based on the movement information of the vehicle detected by the vehicle information detection unit and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition unit. Based on the vehicle arrival time calculation means for calculating the time, the movement information of the moving object detected by the moving object information detection means, and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition means, the moving object A moving object arrival time calculating means for calculating a time until the vehicle reaches the course, and the determining means is the vehicle arrival time calculated by the vehicle arrival time calculating means and the movement calculated by the moving object arrival time calculating means. Based on the arrival time of the object, it is determined whether or not the vehicle and the front animal body approach each other on a pedestrian crossing on the course of the vehicle.

  In this collision avoidance support device, the time required for the vehicle to reach the pedestrian crossing is calculated by the vehicle arrival time calculating means, and the moving object reaches the course of the vehicle on the pedestrian crossing by the moving object arrival time calculating means. Calculate the time required to complete the process. In the collision avoidance assistance device, the determination means determines whether the vehicle and the moving object approach on the pedestrian crossing based on the arrival time of the vehicle on the pedestrian crossing and the arrival time of the moving object on the pedestrian crossing. judge. In this way, the collision avoidance support device uses the arrival time of the vehicle on the pedestrian crossing and the arrival time of the moving object on the pedestrian crossing to determine whether the vehicle and the moving object approach on the pedestrian crossing. Can be determined accurately and easily.

  In the collision avoidance assistance apparatus according to the present invention, the determination means sets a moving object approaching a pedestrian crossing on the course of the vehicle as a determination target. In this way, in the collision avoidance support device, a moving object that does not approach the pedestrian crossing has no possibility of crossing the pedestrian crossing, so that the processing load can be reduced by excluding it from the determination target.

  A collision avoidance support method according to the present invention is a collision avoidance support method for performing support for avoiding a collision between a vehicle and a moving object, and includes a vehicle information detection step for detecting vehicle movement information, A moving object information detection step for detecting movement information of a moving object that moves, a pedestrian crossing information acquisition step for acquiring position information of a pedestrian crossing existing on the vehicle path, and vehicle movement information detected in the vehicle information detection step And the moving object approach on the pedestrian crossing on the course of the vehicle based on the movement information of the moving object detected in the moving object information detection step and the position information of the pedestrian crossing acquired in the pedestrian crossing information acquisition step. Judgment step to determine whether or not, and if it is determined to approach on the pedestrian crossing in the determination step, collision avoidance support is performed, and the determination step If it is not determined that the approach on the road, characterized in that it comprises a suppressing support steps collision avoidance assistance than when it is determined that approach. This collision avoidance support method achieves the operations and effects of the collision avoidance support device by performing the operations of each step.

  According to the present invention, in consideration of the positional relationship between the pedestrian crossing, the vehicle, and the moving object, it is determined whether the collision avoidance support is performed. Support can be suppressed, and appropriate collision avoidance support considering the positional relationship with the pedestrian crossing can be implemented.

It is a block diagram of the collision avoidance assistance apparatus which concerns on this Embodiment. It is an example of the positional relationship of the own vehicle, a pedestrian, and a pedestrian crossing. It is a flowchart which shows the flow of operation | movement of the collision avoidance assistance apparatus which concerns on this Embodiment.

  Embodiments of a collision avoidance assistance device and a collision avoidance assistance method according to the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  The collision avoidance assistance device according to the present embodiment is mounted on a vehicle and performs collision avoidance assistance between the vehicle and a pedestrian. The collision avoidance assistance device according to the present embodiment obtains a risk of collision between a vehicle and a pedestrian, and performs support (HMI [Human Machine Interface] or intervention control) to reduce the risk in the case of high risk. . In particular, the collision avoidance assistance device according to the present embodiment can prevent a pedestrian who has a possibility of crossing a pedestrian crossing without a traffic light on the course of the vehicle (especially a person who advances in parallel with the own vehicle). Targeted are collisions between vehicles and pedestrians on pedestrian crossings (including pedestrian crossings). The target parallel advancers include not only pedestrians whose traveling direction is the same as that of the own vehicle on the near side of the pedestrian crossing but also pedestrians whose traveling direction is opposite to that of the own vehicle on the far side of the pedestrian crossing.

  With reference to FIG.1 and FIG.2, the collision avoidance assistance apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a collision avoidance assistance device. FIG. 2 is an example of the positional relationship between the host vehicle, the pedestrian, and the pedestrian crossing.

  The collision avoidance support device 1 determines whether or not the host vehicle and the pedestrian may collide with each other on the pedestrian crossing (whether or not they are approaching) when the person traveling in parallel approaches the pedestrian crossing existing on the course of the own vehicle. Judgment is made and assistance is provided if there is a possibility of collision. In particular, the collision avoidance assistance device 1 provides assistance when the difference between the arrival time of the host vehicle on the pedestrian crossing and the arrival time of the parallel advancer on the pedestrian crossing is small (when there is a possibility of a collision). If the difference is large (the possibility of collision is low or low), the support is suppressed (the support is not executed or the support is weakened).

  For this purpose, the collision avoidance assistance device 1 includes an external sensor 10, an internal sensor 11, an HMI device 20, an intervention control ECU [Electronic Control Unit] 21, and an ECU 30. In the present embodiment, the outside sensor 10 corresponds to the moving object information detecting unit and the pedestrian crossing information acquiring unit described in the claims, and the inside sensor 11 is the vehicle information detecting unit described in the claims. It corresponds to.

  The external sensor 10 is a sensor that detects information of the external environment ahead of the host vehicle. Examples of the external world to be detected include pedestrians and pedestrian crossings. Examples of the external sensor 10 include a radar sensor such as a millimeter wave radar and a laser radar, a camera sensor including a camera and an image processing device, and both the radar sensor and the camera sensor may be used. Conventional techniques are applied to detection by these radar sensors and camera sensors. Incidentally, even in the case of a radar sensor, a crosswalk can be detected with a laser radar. When the detection target is a pedestrian, the relative speed (for example, the relative distance and the relative lateral position) from the own vehicle, the movement speed, the movement direction, and the like are detected from changes in the relative position. When the detection target is a pedestrian crossing, the relative position from the own vehicle is detected as information. The outside world sensor 10 detects the outside world at regular intervals, and the outside world detection information (if there is a pedestrian, if there is a pedestrian, information for each pedestrian, if there is a pedestrian crossing, if there is a pedestrian crossing, Transmits information on the pedestrian crossing) to the ECU 30.

  The inner sensor 11 is a sensor that detects information about the host vehicle. Examples of the internal sensor 11 include a vehicle speed sensor that detects the vehicle speed of the host vehicle, a yaw rate sensor that detects the yaw rate of the host vehicle, and a steering angle sensor that detects the steering angle of the steering wheel (or steered wheels). The inner world sensor 11 detects various information (vehicle speed, yaw rate, rudder angle, etc.) of the host vehicle at regular intervals, and transmits the host vehicle information to the ECU 30.

  The HMI device 20 is a device that is used when alarming or alerting a driver. Examples of the HMI device 20 include voice output means such as a speaker, display means such as a HUD [Head Up Display], a display of a navigation system, and a combination meter. When the HMI device 20 receives an alarm instruction signal or a warning instruction signal from the ECU 30, it performs HMI according to each instruction signal. For example, to alert the driver that a pedestrian may collide with a pedestrian on a pedestrian crossing, output a warning message sound, display a warning message, or turn on a warning lamp (light stimulus) To do. In particular, it is possible to set the strength of each alarm. For example, in the case of an alarm message, a strong alarm may collide with a pedestrian on the pedestrian crossing, so stop before the pedestrian crossing, and a weak alarm may cause the pedestrian to cross the pedestrian crossing. Please slow down. In the case of an alarm lamp, as a strong alarm, the lamp is blinked with a short period or is lit with strong light, and as a weak alarm, the lamp is blinked with a long period or is lit with weak light. Further, in order to alert the driver that there is a pedestrian approaching the pedestrian crossing, the voice of the alert message is output or the alert message is displayed.

  Intervention control ECU21 is ECU which performs intervention control in the own vehicle. The intervention control ECU 21 includes a brake ECU (not shown), a steering ECU (not shown), and the like. When the intervention control ECU 21 receives an intervention control signal from the ECU 30, the intervention control ECU 21 controls a brake actuator (not shown) and a steering actuator (not shown) according to a control amount included in the intervention control signal, and performs automatic intervention control (deceleration control). And stop control and steering control). In particular, it is possible to set the strength of each intervention control. For example, in the case of automatic intervention braking, the strong intervention control is automatically stopped before the pedestrian crossing, and the weak vehicle is decelerated as the weak intervention control.

  The ECU 30 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the collision avoidance support device 1. In the ECU 30, by loading an application program stored in the ROM into the RAM and executing it by the CPU, a pedestrian crossing determination function, an own vehicle arrival time calculation function, a pedestrian arrival time calculation function, a collision possibility determination function, a support function Etc. And ECU30 receives the external field detection information from the external sensor 10 and the own vehicle information from the internal sensor 11 for every fixed time, and processes each function using each information. Further, the ECU 30 transmits a control signal to the HMI device 20 and the intervention control ECU 21 when providing support. In the present embodiment, the support function in the HMI device 20, the intervention control ECU 21 and the ECU 30 corresponds to the support means described in the claims, and the own vehicle arrival time calculation function in the ECU 30 is in the claims. The pedestrian arrival time calculation function in the ECU 30 corresponds to the moving object arrival time calculation means described in the claims, and the collision possibility determination function in the ECU 30 claims. It corresponds to the determination means described in the range.

  The pedestrian crossing determination function will be described. Based on the relative position information of the pedestrian crossing from the external sensor 10, the ECU 30 determines whether there is a pedestrian crossing on the course of the host vehicle (in front of the road on which the host vehicle is currently traveling). As for the course of the host vehicle, for example, the course (traveling direction) is determined from the yaw rate or rudder angle of the host vehicle information from the internal sensor 11. In the ECU 30, when it is determined that a pedestrian crossing exists, the following functions are performed.

  The own vehicle arrival time calculation function will be described. The ECU 30 calculates a distance Lc from the host vehicle to the pedestrian crossing (the center position in the width direction of the pedestrian crossing) based on the relative position information of the pedestrian crossing from the external sensor 10. Here, in addition to the relative distance from the host vehicle to the pedestrian crossing, the relative distance between the host vehicle and the pedestrian crossing, the yaw rate and rudder angle of the host vehicle information, etc. are used to determine the distance on the road on which the host vehicle is traveling. Is calculated. You may use the road information etc. of map data. Then, the ECU 30 uses the speed Vc of the host vehicle from the internal sensor 11 and the distance Lc from the host vehicle to the pedestrian crossing to calculate the predicted time Tc (= Lc / Vc) until the host vehicle reaches the pedestrian crossing. calculate. The arrival time Tc of the own vehicle corresponds to the TTC on the own vehicle side when it is assumed that the vehicle collides with a pedestrian on a pedestrian crossing. In the case of the example shown in FIG. 2, the estimated time until the pedestrian crossing C exists on the course of the host vehicle MV traveling at the speed Vc and the host vehicle MV reaches the center position I in the width direction of the pedestrian crossing C. Tc (= Lc / Vc) is obtained.

  The pedestrian arrival time calculation function will be described. In ECU30, when the pedestrian is detected based on the information regarding the pedestrian from the external sensor 10, the following processes are performed for every pedestrian. For each pedestrian, the ECU 30 determines whether or not the pedestrian approaches the pedestrian crossing based on the relative position information and the moving direction information of the pedestrian from the external sensor 10 and the relative position information of the pedestrian crossing. To do. Here, based on the moving direction of the pedestrian, it is determined whether it is the same direction as the traveling direction of the host vehicle or in the opposite direction, and it is determined whether the pedestrian is walking in parallel with the automobile. Further, it is determined whether or not the pedestrian is approaching the pedestrian crossing based on the relationship between the relative position of the pedestrian and the relative position of the pedestrian crossing and the moving direction of the pedestrian.

  In the case of a pedestrian who is approaching the pedestrian crossing, the ECU 30 determines whether the pedestrian crosses the pedestrian crossing (especially based on the relative position information of the pedestrian crossing from the external sensor 10 and the relative position information of the pedestrian from the external sensor 10). The distance Lp to the own vehicle on the pedestrian crossing is calculated. Here, when the pedestrian reaches the pedestrian crossing, the pedestrian P1 and P2 cross the pedestrian crossing so as to draw an arc, as shown in FIG. The distance Lp may be calculated on the assumption that the vehicle bends in the direction. For the calculation of the distance Lp including such a curve, a calculation formula is prepared in advance by performing experiments, simulations, or the like. The ECU 30 uses the speed Vp of the pedestrian from the external sensor 10 and the distance Lp from the pedestrian to the pedestrian crossing to estimate the time required for the pedestrian to reach the position on the course of the vehicle on the pedestrian crossing. Tp (= Lp / Vp) is calculated. The arrival time Tp of the pedestrian corresponds to the pedestrian side TTC when it is assumed that the vehicle collides with the host vehicle on the pedestrian crossing. In the case of the example shown in FIG. 2, when a pedestrian P1 who is traveling in parallel at a speed Vp1 (that is, walking along a road) approaches the pedestrian crossing C and the pedestrian P1 crosses the pedestrian crossing C, The predicted time Tp1 (= Lp1 / Vp1) until the vehicle MV on the pedestrian crossing C reaches the position I on the course is obtained. In addition, when a pedestrian P2 who is traveling in parallel at speed Vp2 approaches the pedestrian crossing C and the pedestrian P2 crosses the pedestrian crossing C, the vehicle reaches the position I on the course of the vehicle MV on the pedestrian crossing C. Estimated time Tp2 (= Lp2 / Vp2) until this is obtained. This position I corresponds to the intersection of the course of the host vehicle MV and each course of the pedestrians P1 and P2 when it is assumed that the pedestrians P1 and P2 have crossed the pedestrian crossing C.

  The collision possibility determination function will be described. In the case of a pedestrian who is approaching a pedestrian crossing, the ECU 30 calculates an arrival time difference | Tc−Tp | as a collision risk using the arrival time Tc of the host vehicle MV and the arrival time Tp of the pedestrian. The smaller this arrival time difference | Tc−Tp | is, the higher the possibility that the own vehicle and the pedestrian approach and collide with each other on the pedestrian crossing. Accordingly, the ECU 30 determines whether or not the arrival time difference | Tc−Tp | The threshold value Th is a threshold value for determining the possibility of a collision based on the arrival time difference on the pedestrian crossing, and is set in advance by experiments, simulations, or the like. When | Tc−Tp | is equal to or less than the threshold Th (when the host vehicle and the pedestrian approach on a pedestrian crossing), the ECU 30 determines that the possibility of a collision is high (high risk), and provides support by the support function. To give permission. When | Tc−Tp | is larger than the threshold value Th (when the host vehicle and the pedestrian do not approach on the pedestrian crossing), the ECU 30 determines that there is no possibility of collision or low (low risk), and depends on the support function. Suppose that support is not possible or support is weakened. In the case of the example shown in FIG. 2, in the case of the pedestrian P1, | Tc−Tp1 | is equal to or less than the threshold Th, and when the pedestrian P1 crosses the pedestrian crossing C, there is a possibility of colliding with the own vehicle MV. Support for P1 is implemented. In the case of the pedestrian P2, | Tc−Tp2 | is larger than Th, and even if the pedestrian P2 crosses the pedestrian crossing C, there is a low possibility of colliding with the own vehicle MV. Or weak assistance is implemented.

  The support function will be described. In the ECU 30, when assistance is permitted, in order to avoid a collision with a pedestrian on a pedestrian crossing, for example, when performing an automatic brake intervention control, a target brake hydraulic pressure necessary for collision avoidance is calculated, When an intervention control signal indicating the target brake hydraulic pressure is transmitted to the intervention control ECU 21 or when an HMI of a strong alarm message is performed, a strong alarm message is generated, and an alarm instruction signal indicating the alarm message is transmitted to the HMI device 20. . Furthermore, in the case of intervention control, the strength of intervention control may be set according to the arrival time difference | Tc−Tp |. For example, when | Tc−Tp | The target brake hydraulic pressure of the automatic brake to be stopped is calculated. When | Tc−Tp | is small, the target brake hydraulic pressure of the automatic brake that decelerates the host vehicle is calculated. In the ECU 30, when only weak assistance is permitted, in order to alert the driver about a pedestrian who may cross a pedestrian crossing, for example, when performing an HMI of an alert message, an alert message is generated. , A warning instruction signal indicating the warning message is transmitted to the HMI device 20. The normal support and the weak support mentioned here are merely examples, and any support may be performed by combining intervention control and HMI. Incidentally, when the support is impossible, the processing by the support function is not performed.

  With reference to FIG. 1, operation | movement of the collision avoidance assistance apparatus 1 is demonstrated along the flowchart of FIG. FIG. 3 is a flowchart showing an operation flow of the collision avoidance assistance device. The collision avoidance assistance device 1 repeatedly performs the operations described below.

  The outside sensor 10 detects the outside world of the vehicle (in particular, a pedestrian and a pedestrian crossing) (S1), and transmits the outside world detection information to the ECU 30. The ECU 30 receives this external environment detection information. The inner sensor 11 detects information about the host vehicle and transmits the host vehicle information to the ECU 30. The ECU 30 receives the own vehicle information.

  The ECU 30 determines whether there is a pedestrian crossing on the course of the host vehicle based on the external environment detection information (S2). If it is determined in S2 that there is no pedestrian crossing, the ECU 30 ends the current process and waits for the next reception of outside world detection information. Incidentally, the external sensor 10 detects the external environment of the host vehicle at regular time intervals (S1), and transmits the external environment detection information to the ECU 30.

  When it is determined in S2 that there is a pedestrian crossing, the ECU 30 calculates a distance Lc to the pedestrian crossing of the own vehicle based on the own vehicle information and external environment detection information (particularly information on the pedestrian crossing), The arrival time Tc (= Lc / Vc) of the host vehicle is calculated from the distance Lc and the host vehicle speed Vc (S3).

  For each pedestrian that can be detected by the outside sensor 10, the ECU 30 uses the outside world detection information (especially pedestrian information and pedestrian crossing information) to walk the pedestrian toward the pedestrian crossing. (S4). Incidentally, when no pedestrian is detected by the external sensor 10, the processes of S4 to S9 are not performed.

  If it is determined in S4 that the pedestrian is approaching the pedestrian crossing, the ECU 30 determines whether the vehicle on the pedestrian crossing of the pedestrian is based on external environment detection information (especially pedestrian information, pedestrian crossing information). The distance Lp to the course is calculated, and the arrival time Tp (= Lp / Vp) of the pedestrian is calculated from the distance Lp and the walking speed Vp of the pedestrian (S5).

  Then, the ECU 30 determines whether or not the absolute value of the difference between the arrival time Tc of the host vehicle and the arrival time Tp of the pedestrian is equal to or less than a threshold Th (S6). When it is determined in S6 that the threshold value is equal to or less than the threshold Th (that is, when it is determined that there is a possibility of colliding with a pedestrian on a pedestrian crossing), the ECU 30 permits assistance and performs intervention control for avoiding the collision. An intervention control signal for performing the control is transmitted to the intervention control ECU 21 and an alarm instruction signal for alarming the driver is transmitted to the HMI device 20. Upon receiving this intervention control signal, the intervention control ECU 21 performs intervention control such as automatic braking based on the intervention control signal. When receiving this warning instruction signal, the HMI device 20 outputs a warning to the driver based on the warning instruction signal. If it is determined in S6 that the threshold value Th is greater than the threshold value Th (that is, the possibility of colliding with a pedestrian on the pedestrian crossing is low or the possibility is low), the ECU 30 cannot support or weakens the support. When the support is impossible, the support process is not performed, and when the weak support is performed, the alert instruction signal for alerting the driver is transmitted to the HMI device 20. When receiving this attention instructing signal, the HMI device 20 alerts the driver based on the attention instructing signal.

  When it is determined that the pedestrian is not approaching the pedestrian crossing in the determination of S4 or when the process of S7 or S8 is completed, the ECU 30 completes the process for all the pedestrians that can be detected this time by the external sensor 10. It is determined whether or not (S9). If it is determined in S9 that the process has not yet been completed for all pedestrians, the ECU 30 returns to the determination process in S4 and performs the process for the next pedestrian. On the other hand, if it is determined in S9 that the process has been completed for all pedestrians, the ECU 30 ends the current process.

  According to the collision avoidance support device 1, the possibility of a pedestrian jumping out in the course of the own vehicle by determining the implementation of the collision avoidance support in consideration of the positional relationship between the crosswalk and the own vehicle and the pedestrian. Therefore, it is possible to suppress the support in an environment with a low level, and to implement appropriate collision avoidance support considering the positional relationship with the pedestrian crossing. As a result, support for pedestrians that are located away from the pedestrian crossing is suppressed, and it is possible to reduce the unnecessary inconvenience to the driver due to unnecessary support. In addition, support is provided for pedestrians who may collide on a pedestrian crossing, and the driver can be given confidence in the system.

  According to the collision avoidance support device 1, the absolute value of the difference in arrival time is determined as a threshold using the arrival time of the host vehicle on the crossing road and the arrival time of the host vehicle on the pedestrian crossing. Thus, the possibility of collision (whether or not the vehicle and the pedestrian collide on the pedestrian crossing) can be easily determined with high accuracy. Further, according to the collision avoidance support device 1, since a pedestrian who does not approach the pedestrian crossing has no possibility of crossing the pedestrian crossing, the processing load can be reduced by excluding the pedestrian from the determination target.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, the arrival time of the own vehicle on the pedestrian crossing and the arrival time of the own vehicle on the pedestrian's pedestrian crossing are calculated. Although it is configured to determine the possibility of collision (approach between the vehicle and pedestrian), the possibility of collision between the vehicle and pedestrian on the pedestrian crossing (approach between the vehicle and pedestrian) is determined. Other methods may be used as the method of performing. For example, although the determination is made with one threshold, the possibility of collision may be determined in a plurality of stages with two or more thresholds. In this case, the support is gradually reduced as the possibility of the collision is lower.

  In this embodiment, pedestrians are targeted as moving objects, but other moving objects such as bicycles, electric and manual wheelchairs may be targeted. In particular, in this embodiment, a parallel progressing person moving in parallel with the host vehicle is targeted as a moving object, but a pedestrian approaching a pedestrian crossing from another direction may be targeted in addition to the parallel progressing person.

  In the present embodiment, the position information of the pedestrian crossing is acquired by the external sensor. However, the information may be acquired by other means such as a map database in which the position information of the pedestrian crossing is stored and road-to-vehicle communication.

  In the present embodiment, the collision avoidance support is performed by intervention control and HMI. However, only one of intervention control and HMI may be used, or support may be performed by other collision avoidance means.

  In the present embodiment, the support content is changed as suppression of support (for example, intervention support + HMI (warning) only to HMI (warning) or no support is performed) or support is weakened (warning from warning by HMI). However, various other measures can be considered as suppression of support. For example, the support timing is delayed more than usual, the support implementation threshold is set higher (normal implementation conditions are stricter), and the support target is higher than usual. Narrow the object detection range.

  DESCRIPTION OF SYMBOLS 1 ... Collision avoidance assistance apparatus, 10 ... External sensor, 11 ... Internal sensor, 20 ... HMI apparatus, 21 ... Intervention control ECU, 30 ... ECU.

Claims (4)

  1. A collision avoidance assistance device that performs assistance for avoiding a collision between a vehicle and a moving object,
    Vehicle information detection means for detecting movement information of the vehicle;
    Moving object information detecting means for detecting movement information of a moving object moving around the vehicle;
    Pedestrian crossing information acquisition means for acquiring position information of a pedestrian crossing existing on the course of the vehicle;
    Based on the vehicle movement information detected by the vehicle information detection means, the movement information of the moving object detected by the moving object information detection means, and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition means, Determining means for determining whether or not the vehicle and the moving object approach on the pedestrian crossing on a course;
    Collision avoidance assistance is provided when the determination means determines that the vehicle approaches on a pedestrian crossing, and collision avoidance support is suppressed more than when the determination means determines that the vehicle approaches on a pedestrian crossing rather than approaching. Support means to
    A collision avoidance assistance device comprising:
  2. Vehicle arrival for calculating time until the vehicle arrives on the pedestrian crossing based on the movement information of the vehicle detected by the vehicle information detection means and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition means Time calculation means;
    Based on the movement information of the moving object detected by the moving object information detection means and the position information of the pedestrian crossing acquired by the pedestrian crossing information acquisition means, the moving object reaches the course of the vehicle on the pedestrian crossing. Moving object arrival time calculating means for calculating the time until
    With
    The determination means is based on the arrival time of the vehicle calculated by the vehicle arrival time calculation means and the arrival time of the moving object calculated by the moving object arrival time calculation means on the pedestrian crossing on the course of the vehicle. The collision avoidance assistance device according to claim 1, wherein it is determined whether or not the vehicle and the moving object approach each other.
  3.   The collision avoidance assistance device according to claim 1, wherein the determination unit sets a moving object approaching the pedestrian crossing on the course of the vehicle as a determination target.
  4. A collision avoidance support method for providing support for avoiding a collision between a vehicle and a moving object,
    Vehicle information detection step for detecting movement information of the vehicle;
    A moving object information detecting step of detecting movement information of a moving object moving around the vehicle;
    A pedestrian crossing information acquisition step of acquiring position information of a pedestrian crossing existing on the course of the vehicle;
    Based on the vehicle movement information detected in the vehicle information detection step, the movement information of the moving object detected in the moving object information detection step, and the position information of the pedestrian crossing acquired in the pedestrian crossing information acquisition step, A determination step of determining whether or not the vehicle and the moving object approach on the pedestrian crossing on a path;
    Collision avoidance assistance is performed when it is determined that the approach is on the pedestrian crossing in the determination step, and collision avoidance support is suppressed more than when it is determined that the approach is on the pedestrian crossing in the determination step. A support step to
    A collision avoidance support method comprising:
JP2012244620A 2012-11-06 2012-11-06 Collision avoidance support device and collision avoidance support method Pending JP2014093040A (en)

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EP3048021A1 (en) 2015-01-26 2016-07-27 Hitachi, Ltd. Vehicle travelling control device
WO2016193837A1 (en) * 2015-05-29 2016-12-08 Digitalbird Di Buttieri Michele A method for regulating a transit of wild animals along a crossing pathway of a public road
EP3156293A1 (en) 2015-10-16 2017-04-19 Toyota Jidosha Kabushiki Kaisha Brake control device for vehicle
US10124776B2 (en) 2015-10-16 2018-11-13 Toyota Jidosha Kabushiki Kaisha Brake control device for vehicle
WO2017130643A1 (en) 2016-01-29 2017-08-03 日産自動車株式会社 Method for controlling travel of vehicle, and device for controlling travel of vehicle
EP3410419A4 (en) * 2016-01-29 2019-02-20 Nissan Motor Co., Ltd. Method for controlling travel of vehicle, and device for controlling travel of vehicle
CN107792066A (en) * 2016-09-01 2018-03-13 马自达汽车株式会社 Controller of vehicle
JP2018041397A (en) * 2016-09-09 2018-03-15 本田技研工業株式会社 Vehicle control device, vehicle control method and vehicle control program
EP3361465A1 (en) 2017-02-09 2018-08-15 Panasonic Intellectual Property Corporation of America Information processing apparatus, information processing method, and program
US10611370B2 (en) 2017-02-09 2020-04-07 Panasonic Intellectual Property Corporation Of America Information processing apparatus, information processing method, and non-transitory recording medium
US20190100196A1 (en) * 2017-10-04 2019-04-04 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and storage medium
EP3556628A1 (en) 2018-04-16 2019-10-23 Toyota Jidosha Kabushiki Kaisha Driving support apparatus
CN108831144A (en) * 2018-07-05 2018-11-16 北京智行者科技有限公司 A kind of collision avoiding processing method
WO2020127689A1 (en) * 2018-12-20 2020-06-25 Robert Bosch Gmbh Method for the automated control of a vehicle at a pedestrian crosswalk, control unit

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