JP2015210588A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable proper selection of a support target of driving support and to reduce occurrences of a situation where a timing of performing the driving support is delayed.SOLUTION: In a driving support device according to the present invention, a position of movable bodies that are present around a subject vehicle is detected using electromagnetic wave. A velocity of the detected movable bodies is measured. On the basis of the position of the movable bodies and the velocity of the movable bodies, it is determined whether or not the movable bodies are a support target that is present in a direction ahead of the subject vehicle and approaches the subject vehicle in a lateral direction. Of the movable bodies determined as the support target, a movable body is subjected to execution of driving support, the movable body in which intensity of electromagnetic wave at the time of detection of a position of the movable body is smaller than a first threshold and a velocity of the movable body is higher than a second threshold different from the first threshold, in a state where the detected position of the movable body is reversed relative to a travelling direction of the subject vehicle with a center of the subject vehicle in a vehicle width direction as a starting point.

Description

  The present invention relates to a driving support device.

  Conventionally, there has been reported a mobile body detection / notification system capable of performing appropriate notification according to the movement of a mobile body and capable of eliminating unnecessary notification (Patent Document 1, etc.). In addition, for example, Patent Document 2 discloses a vehicle object detection device that accurately determines a travel guide plate above a travel path where there is no possibility of collision of the host vehicle.

JP 2005-182256 A JP 2010-286246 A

  Here, when a moving body (for example, a partner vehicle or a pedestrian) existing around the subject vehicle is detected by an electromagnetic wave using a radar device mounted on the subject vehicle, the electromagnetic wave reflected from the partner vehicle is generally detected. The intensity is strong, and the intensity of electromagnetic waves reflected from pedestrians tends to be weak. This is because, unlike a pedestrian, the opponent vehicle is made of a metal or the like that has a high electromagnetic wave reflectance, and is a larger object than a pedestrian, so the surface area that can reflect electromagnetic waves is larger than that of a pedestrian. . In addition, since the speed of the moving body can be measured by the radar device, it can be said that the moving vehicle has a high possibility of being a counterpart vehicle, and the moving body has a low possibility of being a pedestrian.

  As described above, when the electromagnetic wave reflected from the moving body existing around the host vehicle is directly detected without passing through a reflector such as a wall, the speed of the opponent vehicle is high and the electromagnetic wave intensity is strong. There is a tendency, and for pedestrians, the speed is low and the electromagnetic wave intensity tends to be weak.

  By the way, as shown in FIG. 1, when the electromagnetic wave reflected from the opponent vehicle ((1) of FIG. 1) is indirectly detected via a reflector such as a wall, the position where the opponent vehicle does not originally exist ( An event (that is, an event for recognizing a virtual image of the opponent vehicle) is erroneously recognized that the opponent vehicle is present at the position (2) in FIG. For example, referring to FIG. 1, an electromagnetic wave reflected from a partner vehicle existing on the left front side of the host vehicle is indirectly detected by the host vehicle via a wall existing on the right side of the host vehicle. Thus, an event that is erroneously recognized that the other vehicle exists on the right front side of the host vehicle occurs. That is, in the situation shown in FIG. 1, the own vehicle misrecognizes that the opponent vehicle that is actually approaching from the left side is erroneously approaching from the right side.

  In addition, when indirectly detecting the opponent vehicle in this way, the intensity of the electromagnetic wave reflected from the opponent vehicle is weaker than when the opponent vehicle is directly detected by passing through the wall once. Tend to be. In other words, when a virtual image of the opponent vehicle ((2) in FIG. 1) is detected, the speed tends to increase and the electromagnetic wave intensity tends to decrease.

  Based on the result of electromagnetic waves detected indirectly via a reflector such as a wall, if a moving object that exists in the vicinity of the host vehicle is recognized, driving assistance is provided at a position that does not actually exist. An event of misrecognizing that the target exists will occur. Since such an event may cause a malfunction of driving assistance, in the prior art, the indirectly detected electromagnetic wave result has been excluded. On the other hand, it is important to provide driving support at an early stage before the vehicle enters the intersection at an intersection with poor visibility. However, if the detection information of the uncertain moving object that seems to have passed through another object is uniformly excluded as in the conventional technique, the timing for performing driving assistance is delayed.

  The present invention has been made in view of the above circumstances, and provides a driving support device that can appropriately select a driving support target and can reduce the occurrence of a delay in the timing of driving support. With the goal.

  The driving support device of the present invention includes a moving body detection unit that detects the position of a moving body that exists in the vicinity of the host vehicle using electromagnetic waves, and a speed that measures the speed of the moving body detected by the moving body detection unit. Based on the measuring means, the position of the moving body, and the speed of the moving body, is the moving body present in the front direction of the host vehicle and is a support target that approaches the host vehicle from the lateral direction? Among the mobile objects determined to be the support target by the support target determination means for determining whether or not the support target determination means, the intensity of the electromagnetic wave when the position of the mobile body is detected is more than a first threshold value. For a moving body that is small and has a speed that is greater than a second threshold different from the first threshold, a reversing target specifying unit that identifies the reversing target, and a position at which the moving body corresponding to the reversing target is detected. The vehicle A position reversing means for reversing the traveling direction of the host vehicle starting from the center in the vehicle width direction, and the support target including the moving body corresponding to the reversing target whose position is reversed by the position reversing means On the other hand, it is provided with the support implementation means which implements driving assistance.

  In the above-described driving support device, it is preferable that the driving support includes support indicating that the position of the support target exists in any of left and right directions with respect to the host vehicle.

  In the driving assistance apparatus, the first threshold value is smaller than the intensity of the electromagnetic wave when the moving body is directly detected using the electromagnetic wave, and passes through the reflector twice or more times. Then, it is preferably set to a value larger than the intensity of the electromagnetic wave detected indirectly.

  In the driving support apparatus, the support target determination unit calculates a speed vector corresponding to the traveling direction of the moving body based on the position and speed of the moving body, and calculates the speed vector and the vehicle width direction of the host vehicle. A moving object that satisfies the condition that the speed vector crossing angle is within a predetermined range is calculated as a crossing angle formed by the traveling direction of the host vehicle starting from the center, and the target is the support target. Is preferably determined.

  The driving support device according to the present invention can estimate the position of a driving support support target to be originally recognized based on the result of electromagnetic waves indirectly detected via a reflector such as a wall or a guardrail. it can. As a result, according to the driving support apparatus of the present invention, it is possible to appropriately select a driving support target and to reduce the occurrence of a situation where the timing of driving support is delayed.

FIG. 1 is a diagram illustrating an example of a situation in which the problem of the present invention occurs. FIG. 2 is a diagram illustrating an example of the configuration of the driving support apparatus according to the embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a target narrowing process. FIG. 4 is a diagram illustrating an example of support target narrowing processing. FIG. 5 is a diagram illustrating an example of the first threshold value and the second threshold value. FIG. 6 is a diagram illustrating an example of the first threshold value and the second threshold value. FIG. 7 is a diagram illustrating an example of the risk determination process. FIG. 8 is a diagram illustrating an example of the risk determination process. FIG. 9 is a flowchart illustrating an example of the driving support process according to the embodiment of the present invention.

  Embodiments of a driving support apparatus according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

Embodiment
With reference to FIG. 2 thru | or FIG. 8, the structure of the driving assistance device which concerns on embodiment of this invention is demonstrated. FIG. 2 is a diagram illustrating an example of the configuration of the driving support apparatus according to the embodiment of the present invention.

  As shown in FIG. 2, the driving assistance device 1 in this embodiment includes an ECU 2, a radar 11, a wheel speed sensor 12, a yaw rate sensor 13, a rudder angle sensor 14, a display device 31, a speaker 32, An actuator 33 is provided. The driving support device 1 is mounted on a vehicle (own vehicle).

  The ECU 2 is connected to a radar 11 as a sensor for measuring the surrounding environment. The radar 11 is a device for detecting objects around the host vehicle. The periphery of the host vehicle is at least the front, and also detects the side and rear objects as necessary. Examples of the radar 11 include a laser radar and a millimeter wave radar. The radar 11 scans and transmits electromagnetic waves (including radio waves and light waves (lasers)) within the scanning range of the radar 11, receives reflected waves that are reflected back to the object, and detects information related to the transmission and reception. To do. The radar 11 transmits the detected transmission / reception information to the ECU 2 as a radar signal.

  Further, a wheel speed sensor 12, a yaw rate sensor 13, and a rudder angle sensor 14 are connected to the ECU 2. The wheel speed sensor 12 is a sensor that detects the rotational speed of the wheel of the host vehicle. The wheel speed sensor 12 transmits the detected rotation speed of the wheel to the ECU 2 as a wheel speed signal. The yaw rate sensor 13 is a sensor that detects the yaw rate of the host vehicle. The yaw rate sensor 13 transmits the detected yaw rate to the ECU 2 as a yaw rate signal. The steering angle sensor 14 is a sensor that detects the steering angle of the host vehicle. For example, the steering angle sensor 14 detects the steering angle of the host vehicle by detecting the rotation angle (steering angle) of the steering shaft. The steering angle sensor 14 transmits the detected steering angle to the ECU 2 as a steering angle signal.

  The display device 31 is a display installed in the vehicle, displays various information according to the driving support signal output from the ECU 2, and notifies the driver. The speaker 32 outputs a predetermined sound according to the driving support signal from the ECU 2. Thus, the display device 31 and the speaker 32 perform screen display and audio output as an HMI (Human Machine Interface) such as HUD (Head-Up Display). The actuator 33 is a brake actuator, accelerator actuator, or steering actuator that intervenes in the driving operation of the driver based on the driving support signal from the ECU 2 and drives the brake, accelerator, and steering of the host vehicle. Although not shown, in the present embodiment, the vibration device may be mounted at a predetermined position such as a steering handle or a driving seat. In this case, the vibration device vibrates the steering handle or the driving seat in accordance with the driving support signal output from the ECU 2, so that the driver can be alerted.

  The ECU 2 includes a CPU (Central Processing Unit), various memories, and the like, and performs overall control of the driving support device 1. The ECU 2 loads each application program stored in the memory and executes it by the CPU, whereby the moving body detecting unit 21, the speed measuring unit 22, the support target determining unit 23, the reversing target specifying unit 24, the position reversing unit 25, A support execution unit 26 is configured. In this embodiment, the moving body detection unit 21 is the moving body detection unit described in the claims, the speed measurement unit 22 is the speed measurement unit, the support target determination unit 23 is the support target determination unit, and the inversion target. The specifying unit 24 corresponds to the reversal target specifying means, the position reversing unit 25 corresponds to the position reversing means, and the support execution unit 26 corresponds to the support execution means.

  Of the ECU 2, the mobile body detection unit 21 is a mobile body detection unit that detects the position of a mobile body that exists in the vicinity of the host vehicle using electromagnetic waves. Specifically, the moving body detection unit 21 detects the position of an object existing around the host vehicle based on a radar signal corresponding to electromagnetic wave transmission / reception information detected by the radar 11, and the position of the object is predetermined. After recognizing an object that changes within a period of time as a moving object, the position of the moving object is detected. For example, the moving body detection unit 21 detects the direction of the electromagnetic wave received by the radar 11 mounted on the host vehicle as the direction in which the moving body exists based on the radar signal. And the mobile body detection part 21 detects the distance from the own vehicle to a mobile body based on the time required for the electromagnetic wave emitted in the direction where a mobile body exists to reflect and return to a mobile body. . And the mobile body detection part 21 detects the position of the mobile body with respect to the own vehicle based on the direction of the detected mobile body and the distance from the own vehicle to the mobile body.

  In the ECU 2, the speed measuring unit 22 is a speed measuring unit that measures the speed of the moving body detected by the moving body detecting unit 21. The distance between the two points is measured from the position of at least two points of the moving object detected by the moving object detection unit 21, and the distance between the two measured points is calculated from the time required for the target moving object to move. Measure the speed of the moving object.

  In the ECU 2, the support target determination unit 23 determines that the target mobile body is based on the position of the mobile body detected by the mobile body detection unit 21 and the speed of the mobile body measured by the speed measurement unit 22. It is a support object determination means which determines whether it is the support object which exists in the forward direction of this, and approaches the own vehicle from a horizontal direction. In the present embodiment, the moving body includes, for example, a partner vehicle that is a vehicle other than the host vehicle, a pedestrian, and the like.

  Here, with reference to FIG. 3 and FIG. 4, an example of the support target narrowing process performed by the support target determination unit 23 will be described. 3 and 4 are diagrams illustrating an example of the support target narrowing process.

  As illustrated in FIG. 3, the support target determination unit 23 calculates a velocity vector corresponding to the traveling direction of the moving body based on the position and speed of the moving body. Then, the support target determination unit 23 calculates a speed vector intersection angle θ that is an intersection angle between the speed vector and the traveling direction of the host vehicle starting from the center in the vehicle width direction of the host vehicle. Then, the support target determination unit 23 determines that a moving object that satisfies the condition that the velocity vector crossing angle θ is within a predetermined range (θ1 <θ <θ2) is a driving support support target. Here, the traveling direction of the host vehicle is calculated based on the position and speed of the host vehicle in the same manner as the speed vector indicating the traveling direction of the moving body. Although not shown, the position of the host vehicle is measured by the ECU 2 using a host vehicle position specifying device such as a GPS (Global Positioning System) mounted on the host vehicle. The speed of the host vehicle is measured in the ECU 2 based on a wheel speed signal corresponding to the rotational speed of the wheel detected by the wheel speed sensor 12.

  In the present embodiment, the lower limit threshold θ1 and the upper limit threshold θ2 that define a predetermined range of the velocity vector crossing angle θ exclude moving objects that are approaching the host vehicle from directions other than the lateral direction from the support target. Is set to a possible angle. For example, when the moving body is a partner vehicle other than the host vehicle, for example, the angle of the threshold θ1 is at least the oncoming vehicle approaching from the front direction of the host vehicle and the vehicle approaching the host vehicle from the lateral direction of the vehicle. And an angle that can be distinguished from each other. In addition, the angle of the threshold θ2 is set to an angle that can distinguish at least a subsequent vehicle approaching from the rear direction of the host vehicle and a vehicle approaching the host vehicle from the lateral direction of the vehicle.

  Furthermore, as shown in FIG. 4, the support target determination unit 23 determines that the lateral position y of the moving body with respect to the host vehicle is in addition to the condition that the velocity vector crossing angle θ is within a predetermined range (θ1 <θ <θ2). A moving body that satisfies the condition (| y | <thY) of being within a predetermined threshold may be determined as the support target. Specifically, the support target determination unit 23 calculates a velocity vector corresponding to the traveling direction of the moving body based on the position and speed of the moving body. Then, the support target determination unit 23 calculates a speed vector intersection angle θ that is an intersection angle between the speed vector and the traveling direction of the host vehicle starting from the center in the vehicle width direction of the host vehicle. The support target determination unit 23 is a moving body that satisfies the condition (θ1 <θ <θ2) that the velocity vector crossing angle θ is within a predetermined range, and the lateral position y is within a predetermined threshold (| y A mobile object that satisfies the condition of | <thY) is determined to be a support target. In the present embodiment, the lateral position y is a distance corresponding to the shortest distance from the extension line indicating the traveling direction of the host vehicle to the position of the moving body. The predetermined threshold thY is a target for assisting a moving body that is approaching from the lateral direction with respect to the host vehicle and that is less likely to collide with the host vehicle because the distance from the host vehicle is relatively far. It is set to such a distance that it can be removed from.

  Returning to FIG. 2, in the ECU 2, the inversion target specifying unit 24 has the intensity of the electromagnetic wave when the position of the mobile body is detected among the mobile bodies determined to be the support target by the support target determination unit 23. A moving object that is smaller than the first threshold value α and whose moving body speed is greater than a second threshold value β that is different from the first threshold value α is an inversion target specifying unit that specifies an inversion target.

  For example, as shown in FIG. 1, the case where a moving body is a partner vehicle and a pedestrian is assumed. In this case, the inversion target specifying unit 24 has a strength of electromagnetic waves when the position of the moving body is detected, which is smaller than the first threshold value α, among the moving bodies to be supported that are approaching from the lateral direction of the host vehicle. About a moving body, it recognizes that it is a pedestrian or a virtual image of an other party vehicle. Furthermore, the inversion target specifying unit 24 determines whether the speed is greater than the second threshold value β different from the first threshold value α for the moving body recognized as a virtual image of the pedestrian or the opponent vehicle, A moving body having a speed lower than the second threshold β is recognized as a pedestrian, and a moving body having a speed higher than the second threshold β is recognized as a virtual image of the opponent vehicle. In this way, the inversion target specifying unit 24 specifies the virtual image of the opponent vehicle as the inversion target.

  Here, a setting example of the first threshold value α and the second threshold value β used for the inversion target determination process by the inversion target specifying unit 24 will be described with reference to FIGS. 5 and 6. Here, FIG.5 and FIG.6 is a figure which shows an example of a 1st threshold value and a 2nd threshold value.

  As an example, assuming that the moving body is an opponent vehicle and a pedestrian as shown in FIG. 1, the inversion target is a virtual image of the opponent vehicle. Therefore, it is necessary to distinguish between the partner vehicle detected directly and the virtual image of the partner vehicle detected indirectly among the moving bodies determined as the support targets. Here, “directly detected” means that the electromagnetic wave emitted by the radar 11 is reflected by the moving object to be detected and then detected by the radar 11 without passing through a reflector such as a wall. . Indirect detection means that the electromagnetic wave emitted by the radar 11 is reflected by the moving object to be detected and then detected by the radar 11 at least once through a reflector such as a wall. .

  Therefore, as shown in FIG. 5, the first threshold value α distinguishes between a directly detected moving body (for example, a partner vehicle) and an indirectly detected moving body (for example, a virtual image of the partner vehicle). The strength is set to a possible level. In FIG. 5, a mobile object whose electromagnetic wave intensity is smaller than the first threshold value α includes a pedestrian that is not composed of a highly reflective metal or the like, in addition to the indirectly detected virtual image of the partner vehicle. Therefore, as shown in FIG. 5, the second threshold value β is such that a moving body having a high moving speed (for example, a virtual image of the opponent vehicle) and a moving body having a low moving speed (for example, a pedestrian) can be distinguished. Set to speed.

  Furthermore, as shown in FIG. 6, the first threshold value α may be provided with a lower limit α ′. The first threshold value α is clearly weaker than the reflection intensity (electromagnetic wave reception intensity) in the case of directly detecting a moving object to be supported such as the opponent vehicle, and is extremely small enough to pass through a wall or guardrail once. It is desirable to set it to a value that is not too much. This is because in some cases, the virtual image of the support target may be detected after the reflection of the electromagnetic wave is repeated by two or more different reflectors. Therefore, the lower limit α ′ of the first threshold value α ′ is indirectly detected after the electromagnetic wave emitted by the radar 11 is reflected from the moving body and returns through the reflector two or more times. The strength is set to such an extent that the moving body can be distinguished. Thus, in the present embodiment, the first threshold value α is a value smaller than the intensity of the electromagnetic wave when the moving body is directly detected using the electromagnetic wave, and is twice or more via the reflector. It is desirable to set a value larger than the intensity of the electromagnetic wave that is indirectly detected after passing through.

  Returning to FIG. 2, in the ECU 2, the position reversing unit 25 reverses the position where the moving body corresponding to the reversal target is detected with respect to the traveling direction of the own vehicle starting from the center in the vehicle width direction of the own vehicle. Position reversing means. The position reversing unit 25 determines the position of the moving body (for example, the virtual image of the opponent vehicle detected as existing right in front of the own vehicle as shown in FIG. 1) identified as the reversal target by the reversing target identifying unit 24. A position that is line symmetric with respect to the extension line corresponding to the traveling direction of the host vehicle as described above (for example, in the case of the situation shown in FIG. 1, the line symmetric with respect to the traveling direction of the host vehicle from the right front position) To the left front position).

  Of the ECU 2, the support execution unit 26 is a support execution unit that performs driving support for a support target including a moving object corresponding to the reversal target whose position is reversed by the position reversing unit 25. The support execution unit 26 transmits a driving support signal corresponding to the content of the driving support to the display device 31, the speaker 32, and the actuator 33, and controls them to implement driving support. In the present embodiment, the driving assistance includes assistance indicating that the position of the assistance target exists in either the left or right direction with respect to the host vehicle. For example, the support execution unit 26 notifies the driver of whether the support target exists in the left-right direction by a warning display displayed on the display or an alarm sound output from a speaker. In addition, the support execution unit 26 may intervene in the driving operation and drive the brake, accelerator, and steering of the host vehicle to perform driving support that avoids a collision with the moving object determined as the support target. .

  Here, the support execution unit 26 may perform control so that the driving assistance is performed when the degree of danger is high after the degree of danger with respect to the support target is determined before the driving assistance is performed. Hereinafter, an example of the risk determination process performed by the support execution unit 26 will be described with reference to FIGS. 7 and 8. 7 and 8 are diagrams illustrating an example of the risk determination process. For example, as illustrated in FIG. 7, the support execution unit 26 determines the distance D between the support target approaching from the lateral direction of the host vehicle and the relative speed between the host vehicle and the support target (the partner vehicle in FIG. 7). A collision prediction time (D / V) is calculated based on V, and when the calculated collision prediction time is smaller than the predetermined threshold γ, it is determined that the degree of risk is high. The predetermined threshold γ is set to such a time that it is determined that there is a high possibility that a collision between the host vehicle and the support target cannot be avoided when driving support such as alerting the driver is not performed. In addition, as illustrated in FIG. 8, the support execution unit 26 may determine that the degree of risk is high when a support target exists in a risk area set in a predetermined range in front of the host vehicle.

  Then, an example of the process performed by the driving assistance apparatus which concerns on embodiment of this invention is demonstrated. FIG. 9 is a flowchart illustrating an example of the driving support process according to the embodiment of the present invention. The following process shown in FIG. 9 is repeatedly executed at predetermined intervals with a short calculation cycle.

  As shown in FIG. 9, the moving body detection unit 21 detects the position of a moving body existing around the host vehicle using electromagnetic waves (step S <b> 10). For example, taking the situation shown in FIG. 1 as an example, in step S10, the moving body detection unit 21 detects a pedestrian that exists in the front right of the host vehicle and a host vehicle that is actually present in the left front of the host vehicle. The position of the virtual image of the opponent vehicle detected as being present in the right front of the host vehicle is detected as the position of the moving body by the wall positioned on the right side being an electromagnetic wave reflector.

  The speed measuring unit 22 measures the speed of the moving body detected by the moving body detecting unit 21 in step S10 (step S20). In step S20, for example, as shown in FIG. 1, the speed measurement unit 22 detects the speed of the pedestrian existing in the right front of the own vehicle and the virtual image of the opponent vehicle detected as existing in the right front of the own vehicle. Measure speed.

  Based on the position of the moving body detected by the moving body detection unit 21 in step S10 and the speed of the moving body measured by the speed measurement unit 22 in step S20, the support target determination unit 23 Is determined to be a support target that exists in the forward direction of the host vehicle and approaches the host vehicle from the lateral direction (step S30). Specifically, in step S30, the support target determination unit 23 calculates a velocity vector corresponding to the traveling direction of the moving body based on the position and speed of the moving body, for example, as illustrated in FIG. Then, the support target determination unit 23 calculates a speed vector intersection angle θ that is an intersection angle between the speed vector and the traveling direction of the host vehicle starting from the center in the vehicle width direction of the host vehicle. Then, the support target determination unit 23 determines whether or not the condition that the velocity vector crossing angle θ is within a predetermined range (θ1 <θ <θ2) is satisfied.

  In step S30, when the support target determination unit 23 determines that the velocity vector crossing angle θ is not within the predetermined range (θ1 <θ <θ2) (step S30: No), the target moving body is located in front of the host vehicle. It determines with it not existing in the direction, and it is not the support object which approaches the own vehicle from the horizontal direction, and complete | finishes this process. On the other hand, when the support target determination unit 23 determines in step S30 that the velocity vector crossing angle θ is within a predetermined range (θ1 <θ <θ2) (step S30: Yes), the target mobile object is the host vehicle. It is determined that the object is a support target that is present in the forward direction and approaches the host vehicle from the lateral direction, and the process proceeds to the next step S40.

  The inversion target specifying unit 24 has a strength of electromagnetic waves that is smaller than the first threshold value α when the position of the moving body is detected among the moving bodies determined to be the support target by the support target determination unit 23 in step S30. It is determined whether there is a moving body (step S40).

  In step S40, when the inversion target specifying unit 24 determines that the electromagnetic wave intensity is equal to or higher than the first threshold value α (step S40: No), there is an inversion target such as a virtual image of the opponent vehicle as shown in FIG. Recognizing that it does not, the process proceeds to step S70 described later as the next process. On the other hand, when the inversion target specifying unit 24 determines in step S40 that the electromagnetic wave intensity is smaller than the first threshold value α (step S40: Yes), the process proceeds to the next step S50. Here, when it is determined Yes in step S40, the reversal target specifying unit 24 detects the position of the mobile body among the mobile bodies that are the support targets approaching from the lateral direction of the host vehicle. For a moving body whose electromagnetic wave intensity is smaller than the first threshold value α, for example, as shown in FIG. 1, the moving body is recognized as a pedestrian or a virtual image of the opponent vehicle.

  The inversion target specifying unit 24 further determines whether or not the speed of the moving object is greater than the second threshold value β for the moving object for which the electromagnetic wave intensity is determined to be smaller than the first threshold value α in Step S40 (Step S50). ).

  In step S50, when the reversal target specifying unit 24 determines that the speed of the target moving body is less than the second threshold value β (step S50: No), such as a virtual image of the opponent vehicle as shown in FIG. Recognizing that there is no inversion target, the process proceeds to the process of step S70 described later as the next process. On the other hand, if the reversal target specifying unit 24 determines in step S50 that the speed of the target moving body is greater than the second threshold value β (step S50: Yes), the reversing target specifying unit 24 specifies the moving body as a reversal target, and the next step The process proceeds to S60. Here, when it is determined Yes in step S50, the inversion target specifying unit 24 detects the electromagnetic wave when the position of the mobile body is detected among the mobile bodies to be supported that are approaching from the lateral direction of the host vehicle. For example, as shown in FIG. 1, a moving body having a lower intensity than the first threshold value α and a speed greater than the second threshold value β is recognized as a virtual image of the opponent vehicle to be reversed.

  The position reversing unit 25 has detected a moving body corresponding to the reversal target determined by the reversal target specifying unit 24 in steps S40 to S50 (that is, a mobile body that has been determined to be Yes in step S40 and Yes in step S50). The position is reversed with respect to the traveling direction of the host vehicle starting from the center in the vehicle width direction of the host vehicle (step S60). In step S <b> 60, the position reversing unit 25 determines the moving object identified as the reversal target by the reversal target identifying unit 24 (e.g., the virtual image of the opponent vehicle detected as being in the right front of the host vehicle as shown in FIG. ) At a position that is line-symmetric with respect to the extension line corresponding to the traveling direction of the host vehicle (for example, in the situation shown in FIG. 1, from the right front position to the traveling direction of the host vehicle). The position is reversed to the left front position where the line is symmetrical. The moving body whose position is reversed in step S60 is used as a driving support target of the support execution unit 26 in the following steps S70 to S80.

  As shown in FIG. 7, the support execution unit 26 determines the collision prediction time (D) based on the distance D between the support object approaching the host vehicle from the lateral direction and the relative speed V between the host vehicle and the support object. / V) is calculated, and it is determined whether or not the calculated collision prediction time is smaller than the predetermined threshold γ (step S70).

  In step S70, when the support execution unit 26 determines that the collision prediction time is equal to or greater than the predetermined threshold γ (step S70: No), the support execution unit 26 recognizes that the degree of risk is low and does not provide driving support for the support target. Finally, this process ends. On the other hand, if it is determined in step S70 that the predicted collision time is smaller than the predetermined threshold γ (step S70: Yes), the assistance execution unit 26 recognizes that the degree of risk is high and implements driving assistance for this assistance target. (Step S80). In step S80, the driving assistance implemented includes assistance indicating that the position of the assistance target exists in either the left or right direction with respect to the host vehicle. Thereafter, this process is terminated.

  In addition, in step S30 of FIG. 9 described above, the support target determination unit 23 adds the condition (θ1 <θ <θ2) that the velocity vector crossing angle θ is within a predetermined range as shown in FIG. As shown, it may be determined whether or not a condition (| y | <thY) that the lateral position y of the moving body with respect to the host vehicle is within a predetermined threshold is satisfied. Here, in step S30, the support target determining unit 23 has the velocity vector crossing angle θ within a predetermined range (θ1 <θ <θ2), and the lateral position y of the moving body with respect to the host vehicle is within a predetermined threshold. When it is determined that the condition (| y | <thY) is satisfied, the process proceeds to the next step S40. On the other hand, in step S30, the support target determining unit 23 determines that the speed vector crossing angle θ is within a predetermined range (θ1 <θ <θ2) or the lateral position y of the moving body with respect to the host vehicle is within a predetermined threshold. If it is determined that any one of the conditions (| y | <thY) is not satisfied, the processing in FIG. 9 ends.

  Further, in step S70 of FIG. 9 described above, as shown in FIG. 8, the support execution unit 26, instead of the comparison process with the collision prediction time, or in addition to the comparison process, a predetermined range in front of the host vehicle. It may be determined whether or not there is a support target in the danger area set to “1”. Here, in step S70, if the support execution unit 26 determines that a support target exists in the dangerous area, the process proceeds to step S80. On the other hand, if the support execution unit 26 determines in step S70 that there is no support target in the dangerous area, the process of FIG. 9 ends.

  As described above, according to the driving support device according to the present embodiment, the driving support support target that should be originally recognized based on the result of the electromagnetic wave indirectly detected through the reflector such as the wall or the guardrail. Can be estimated. As a result, according to the driving support apparatus according to the present invention, it is possible to appropriately select a driving support target and reduce the occurrence of a situation where the timing of driving support is delayed.

1 Driving support device 2 ECU
DESCRIPTION OF SYMBOLS 11 Radar 12 Wheel speed sensor 13 Yaw rate sensor 14 Steering angle sensor 21 Moving body detection part 22 Speed measurement part 23 Support object determination part 24 Inversion object specific | specification part 25 Position inversion part 26 Support execution part 31 Display apparatus 32 Speaker 33 Actuator

Claims (4)

Mobile object detection means for detecting the position of a mobile object existing around the host vehicle using electromagnetic waves;
Speed measuring means for measuring the speed of the moving body detected by the moving body detecting means;
Based on the position of the moving body and the speed of the moving body, it is determined whether or not the moving body is a support target that exists in the front direction of the host vehicle and approaches the host vehicle from the lateral direction. A support target judging means for
Among the mobile bodies determined to be the support target by the support target determination unit, the intensity of the electromagnetic wave when the position of the mobile body is detected is smaller than a first threshold, and the speed of the mobile body is For a moving object larger than a second threshold different from the first threshold, an inversion target specifying means for specifying as an inversion target;
Position reversing means for reversing the position where the moving object corresponding to the reversal target is detected with respect to the traveling direction of the host vehicle starting from the center in the vehicle width direction of the host vehicle;
Assistance implementation means for implementing driving assistance for the assistance object including the moving body corresponding to the inversion object whose position is inverted by the position inversion means;
A driving support apparatus comprising:   The driving assistance device according to claim 1, wherein the driving assistance includes assistance indicating that a position of the assistance target exists in any of left and right directions with respect to the host vehicle.   The first threshold value is smaller than the intensity of the electromagnetic wave when the moving body is directly detected using the electromagnetic wave, and indirectly after passing through the reflector twice or more. The driving support device according to claim 1, wherein the driving support device is set to a value larger than the intensity of the detected electromagnetic wave.   The support target determination unit calculates a speed vector corresponding to the traveling direction of the moving body based on the position and speed of the moving body, and starts from the center of the speed vector and the vehicle width direction of the host vehicle. The speed vector crossing angle which is the crossing angle formed by the traveling direction of the host vehicle is calculated, and a moving body that satisfies the condition that the speed vector crossing angle is within a predetermined range is determined as the support target. The driving support device according to any one of?

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