JP2016011088A - Vehicle control device, vehicle control method, and program for vehicle control - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device, etc. capable of increasing the possibility of avoiding a collision based on a relative relationship between a vehicle travelling ahead and a vehicle travelling behind, and a user's own vehicle.SOLUTION: A vehicle control device (20) includes: an object detection part (202) for detecting an object present around a user's own vehicle; a calculation part (206) for calculating an overlapping amount of a position in the lateral direction of the user's own vehicle and a position in the lateral direction of the object detected by the object detection part; a determination part (210) for determining whether or not a collision can be avoided by brake with the object detected by the object detection part; and a control part (216) for avoiding the object detected by the object detection part by braking the user's own vehicle and controlling the steering direction of the user's own vehicle based on the overlapping amount calculated by the calculation part when it is determined by the determination part that the collision can be avoided.

Description

  The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program.

  The following Patent Document 1 is known as a technique for trying to avoid a vehicle collision.

  Patent Document 1 describes that a control device is mounted on a plurality of vehicles and communicates with each other so that the collision avoidance direction of the vehicles is different between the front and rear vehicles. Further, Patent Document 1 describes that a plurality of vehicles communicate with each other, and the vehicle collision avoidance method is set so that the vehicle avoids collision by steering and the vehicle avoids collision by braking. Has been.

JP 2008-74210 A

  However, since the technique described in Patent Document 1 has different collision avoidance directions and collision avoidance methods for the preceding and following vehicles, it is possible to avoid collisions when the vehicle actually performs collision avoidance traveling. There are cases where it is not possible. For example, when the preceding vehicle is about to stop on the left side, if the host vehicle makes a collision avoidance run in the right direction, the following vehicle may make a collision avoidance run in the left direction. In this case, since the collision avoidance direction of the preceding vehicle and the following vehicle is the same, the following vehicle may collide with the preceding vehicle.

  The present invention has been made in consideration of such circumstances, and a vehicle control apparatus and a vehicle that can increase the possibility of avoiding a collision based on the relative relationship between the preceding vehicle and the following vehicle and the host vehicle. An object is to provide a control method and a vehicle control program.

  According to the first aspect of the present invention, there is provided an object detection unit (202) for detecting an object existing around the own vehicle, an area occupied by the object detected by the object detection unit in the road width direction, and a road of the own vehicle A calculation unit (206) that calculates an overlap amount with an area in the width direction, and a determination unit (210, 212) that determines whether or not a collision can be avoided by braking the object detected by the object detection unit. When the determination unit determines that a collision can be avoided, the vehicle is braked and the steering direction of the host vehicle is controlled based on the overlap amount calculated by the calculation unit. A vehicle control device (20) having a control unit (216) for avoiding an object detected by the detection unit.

  The invention according to claim 2 is the vehicle control device (20) according to claim 1, wherein the determination unit determines whether or not braking control can be performed on the object detected by the object detection unit. A determination unit (212); and a collision possibility determination unit (210) that determines a possibility of collision with the object detected by the object detection unit, wherein the control unit performs braking by the braking operation determination unit. When it is determined that the control can be performed and the collision possibility determination unit determines that there is no possibility of collision by the braking control, the steering direction of the host vehicle is controlled.

  A third aspect of the present invention is the vehicle control device (20) according to the first aspect, wherein the determination unit determines a possibility of a collision with an object detected by the object detection unit. A possibility determination unit (210) and a damage expansion possibility determination unit for determining the possibility of damage expansion when the host vehicle is steered, and the control unit may cause a collision by the collision possibility determination unit. If it is determined that there is no possibility of damage expansion by the damage expansion possibility determination unit, control of the steering direction of the host vehicle is permitted.

  A fourth aspect of the present invention is the vehicle control device (20) according to any one of the first to third aspects, wherein the object detecting means detects a preceding vehicle of the host vehicle as the object. The control unit controls the steering direction of the host vehicle so that the overlap amount becomes large.

  Invention of Claim 5 is a vehicle control apparatus (20) as described in any one of Claim 1 to 4, Comprising: The said object detection part detects the succeeding vehicle of the own vehicle as said object, The control unit controls the steering direction of the host vehicle so that the overlap amount is reduced.

  The invention according to claim 6 is the vehicle control device (20) according to any one of claims 1 to 5, wherein the control unit closes the side mirror when controlling the steering direction. To control.

  According to a seventh aspect of the present invention, an object existing around the host vehicle is detected, and an area occupied by the object detected by the object detection unit in the road width direction and an area occupied by the host vehicle in the road width direction are The amount of overlap is calculated, and based on the calculated amount of overlap, it is determined whether or not the detected object can collide by braking, and if it is determined that collision can be avoided, the host vehicle is braked A vehicle control method is also provided for controlling the steering direction of the host vehicle to avoid the detected object.

  The invention according to claim 8 causes a computer to calculate an overlap amount between an area of the object detected by the object detection unit in the road width direction and an area of the host vehicle in the road width direction, and the overlap amount. Based on the above, it is determined whether or not a collision can be avoided by braking the object, and when the own vehicle is determined to be able to avoid the object, the own vehicle is braked and the steering direction of the own vehicle is controlled. And a vehicle control program for avoiding the object.

  According to the invention described in claims 1, 2, 3, 7, and 8, when a collision can be avoided by braking the object, the own vehicle is braked and based on the amount of overlap with the object Since the steering direction is controlled, it is possible to increase the possibility of avoiding a collision based on the relative relationship between the preceding vehicle and the following vehicle and the host vehicle.

  According to the invention described in claim 4, since the steering direction of the host vehicle is controlled so that the host vehicle is braked and the amount of overlap with the preceding vehicle is increased, when the following vehicle avoids steering of the host vehicle, A preceding vehicle can be prevented from suddenly appearing in front of the following vehicle, and the safety of steering avoidance of the following vehicle can be improved.

  According to the fifth aspect of the present invention, since the steering direction of the host vehicle is controlled so that the host vehicle is braked and the amount of overlap with the following vehicle is reduced, the subsequent vehicle can easily avoid the steering of the host vehicle. This can improve the safety of avoiding steering of the following vehicle.

  According to the sixth aspect of the present invention, when the steering direction is controlled, the side mirror is controlled to be in the closed state, so that it is possible to prevent the following vehicle from coming into contact with the side mirror when the host vehicle avoids steering. it can.

It is a block diagram which shows schematic structure of the own vehicle M carrying the vehicle control apparatus 20 shown as 1st Embodiment of this invention. It is a block diagram which shows the functional structure in the driving assistance system 1 shown as 1st Embodiment of this invention. The relationship between the normal steering avoidance lower limit, the normal steering avoidance lower limit, the collision possibility determination line, the braking avoidance limit, the steering avoidance limit, and the collision determination line with respect to the relative speed referred to in the vehicle control device 20 shown as the first embodiment of the present invention is shown. FIG. It is a figure which shows an example of the vehicle control by the vehicle control apparatus 20 shown as 1st Embodiment of this invention, (A) is a top view which shows the condition where the own vehicle M started braking, (B) is the succeeding vehicle Mr. FIG. 6C is a top view showing a situation where steering is avoided, and FIG. 10C is a top view showing a situation where the host vehicle M controls the steering direction together with braking. It is a flowchart which shows the procedure of the vehicle control process in the vehicle control apparatus 20 shown as 1st Embodiment of this invention. It is a flowchart which shows the procedure which determines whether the own vehicle implements steering avoidance control in the vehicle control process in the vehicle control apparatus 20 shown as 1st Embodiment of this invention. It is a flowchart which shows the procedure which calculates the amount of lateral movement of the own vehicle in the vehicle control process in the vehicle control apparatus 20 shown as 1st Embodiment of this invention. It is a block diagram which shows the functional structure in the driving assistance system 1 shown as 2nd Embodiment of this invention. It is a figure which shows an example of the vehicle control by the vehicle control apparatus 20 shown as 2nd Embodiment of this invention, (A) is a top view which shows the condition where the own vehicle M started braking, (B) is the own vehicle M FIG. 4C is a top view showing a situation where steering is avoided by the host vehicle M and the following vehicle Mr. FIG. It is a flowchart which shows the procedure of the vehicle control process in the vehicle control apparatus 20 shown as 2nd Embodiment of this invention. It is a flowchart which shows the procedure of the vehicle control process in the vehicle control apparatus 20 shown as 3rd Embodiment of this invention. It is a flowchart which shows the procedure which calculates the overlap amount of a succeeding vehicle in the vehicle control process in the vehicle control apparatus 20 shown as 3rd Embodiment of this invention. It is a flowchart which shows the procedure which calculates the amount of lateral movement of the own vehicle in the vehicle control process in the vehicle control apparatus 20 shown as 3rd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
A driving support system 1 shown as a first embodiment to which the present invention is applied is mounted on a host vehicle M as shown in FIG. The driving support system 1 includes a front camera 12, a front radar 14, and a vehicle control device 20.

  The front camera 12 is a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The front camera 12 is attached to, for example, the upper part of the front windshield or the rear surface of the rearview mirror. The front camera 12 repeatedly captures the front of the host vehicle M at a predetermined cycle, for example, and outputs image data of the captured image to the vehicle control device 20.

  The front radar 14 is attached to, for example, the back side of the emblem of the host vehicle M, the periphery of the bumper, the front grille, and the like. For example, the front radar 14 emits a millimeter wave in front of the host vehicle M and receives a reflected wave reflected by an object. Thereby, the front radar 14 detects at least the position (distance and azimuth angle or lateral position) of the object. Further, the front radar 14 may be capable of detecting a relative speed with respect to an object. The forward radar 14 detects the position and speed of the object by, for example, FM-CW (Frequency-Modulated Continuous-Wave) method, and outputs the detection result to the vehicle control device 20.

  The vehicle control device 20 includes, for example, a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), A computer device in which a storage device such as a flash memory and a communication interface for communicating with other devices in a vehicle are connected by an internal bus.

  The vehicle control device 20 reads and executes the vehicle control program 84 stored in the storage unit 80 such as a ROM, HDD, or EEPROM. Thereby, the vehicle control apparatus 20 includes a functional unit as shown in FIG. 2 and the like, and realizes a vehicle control process to be described later.

  FIG. 2 is a diagram illustrating a functional configuration example of the driving support system 1. In the driving support system 1, a front-running vehicle detection external sensor 10, an ambient environment detection external sensor 30, and a vehicle state detection sensor 40 are connected to the vehicle control device 20.

  The preceding vehicle detection external sensor 10 is an external sensor that detects a preceding vehicle that travels in front of the host vehicle M. The front-running vehicle detection external sensor 10 may be the front camera 12 or the front radar 14 described above. In this embodiment, the front camera 12 captures a front image of the host vehicle M, and the front radar 14 detects the relative position and speed of the front vehicle. The signal detected by the preceding vehicle detection external sensor 10 is supplied to the vehicle control device 20 every predetermined time. In the present embodiment, the front-running vehicle detection external sensor 10 functions as an object detection unit that detects an object existing around the host vehicle.

  The ambient environment detection external sensor 30 is an external sensor that detects the ambient environment of the host vehicle M. This ambient environment detection external sensor 30 may be a camera device for detecting the position of the host vehicle M. The ambient environment detection external sensor 30 images, for example, a lane (white line) in which the host vehicle M travels and a situation outside the lane in which the host vehicle M travels. The ambient environment detection external sensor 30 may also be used as the front camera 12 in the preceding vehicle detection external sensor 10. A signal detected by the ambient environment detection external sensor 30 is supplied to the vehicle control device 20 every predetermined time.

  The vehicle state detection sensor 40 acquires position information of the host vehicle M. A signal detected by the vehicle state detection sensor 40 is supplied to the vehicle control device 20 every predetermined time.

  The vehicle control device 20 includes a preceding vehicle trajectory calculation unit 202, a host vehicle trajectory calculation unit 204, a preceding vehicle overlap amount calculation unit 206, a host vehicle lateral movement amount calculation unit 208, a collision possibility determination unit 210, and a control execution determination. Unit 212, brake operation determination unit 214, and vehicle control unit 216.

  The preceding vehicle trajectory calculation unit 202 is connected to the preceding vehicle detection external sensor 10. The preceding vehicle trajectory calculation unit 202 detects the front object information from the signal detected by the preceding vehicle detection external sensor 10. The preceding object information includes the relative position and relative speed of the preceding vehicle with respect to the host vehicle M. The preceding vehicle trajectory calculation unit 202 calculates the trajectory of the preceding vehicle from the temporally continuous forward object information.

  The own vehicle locus calculation unit 204 is connected to the vehicle state detection sensor 40. The own vehicle trajectory calculation unit 204 acquires a signal from the vehicle state detection sensor 40 as position information of the own vehicle M. The own vehicle trajectory calculation unit 204 calculates the trajectory of the own vehicle M from the positional information of the own vehicle M that is temporally continuous.

  The functions of the preceding vehicle trajectory calculation unit 202 and the own vehicle trajectory calculation unit 204 may be devices provided on the road or may be provided in the own vehicle M.

  The preceding vehicle overlap amount calculation unit 206 performs the preceding run based on the preceding vehicle trajectory supplied from the preceding vehicle trajectory calculation unit 202 and the own vehicle M trajectory supplied from the own vehicle trajectory calculation unit 204. Calculate the overlap amount of the vehicle. The overlap amount is an overlap amount between a region occupied by the object detected by the object detection unit in the road width direction and a region occupied by the host vehicle in the road width direction. Details of the overlap amount will be described with reference to FIG.

  The own vehicle lateral movement amount calculation unit 208 is configured to detect the lateral direction of the own vehicle M based on the surrounding environment detected by the surrounding environment detection external sensor 30 and the locus of the own vehicle M supplied from the own vehicle locus calculation unit 204. The movement amount (lateral movement amount) at is calculated. The own vehicle lateral movement amount calculation unit 208 calculates, for example, a change in the position of the own vehicle M with respect to the white line as the lateral movement amount. Thereby, the own vehicle lateral movement amount calculation unit 208 calculates the lateral movement amount of the own vehicle M as a control result when the behavior of the own vehicle M is controlled by the vehicle control unit 216.

  The collision possibility determination unit 210 determines whether or not a collision can be avoided by braking the preceding vehicle detected by the preceding vehicle trajectory calculation unit 202. At this time, the collision possibility determination unit 210 refers to the table data 82 based on a preset relationship as shown in FIG.

  As shown in FIG. 3, the table data 82 represents a correspondence relationship between the relative speed and TTC (time to collision) for the preceding vehicle or the following vehicle. The table data 82 includes a braking avoidance limit [sec], a steering avoidance limit [sec], a collision determination line [sec], a normal braking avoidance lower limit [sec], and a normal steering avoidance lower limit corresponding to the relative speed and TTC. [Sec], collision possibility judgment line [sec] is set.

  The braking avoidance limit refers to the shortest predicted collision time (TTC) for each relative speed at which a collision between the host vehicle M and the preceding vehicle can be avoided by driver braking. The steering avoidance limit refers to the shortest collision prediction time for each relative speed at which a collision between the host vehicle M and the preceding vehicle can be avoided by the driver's steering. The collision determination line refers to the smaller one of the braking avoidance limit and the steering avoidance limit at the same relative speed.

  The normal braking avoidance lower limit is the minimum for each relative speed at which the driver can start a braking operation in order to avoid a collision by braking when the host vehicle M may collide with a preceding vehicle. The collision prediction time. The normal steering avoidance lower limit is the minimum for each relative speed at which the driver can start a steering operation in order to avoid a collision by steering when the host vehicle M may collide with a preceding vehicle. The collision prediction time. The collision possibility determination line means a smaller one of the normal braking avoidance lower limit and the normal steering avoidance lower limit at the same relative speed.

  In the present embodiment, the control determination line for determining whether the host vehicle M collides with the preceding vehicle may be the normal steering avoidance lower limit and the normal braking avoidance lower limit, or may be the steering avoidance limit and the brake avoidance limit. Good. In the following description, the control determination line will be described as a normal braking avoidance lower limit and a braking avoidance limit. As shown in FIG. 3, the normal braking avoidance lower limit is a value larger than the braking avoidance limit. In other words, the normal braking avoidance lower limit is a value that has a margin for avoiding traveling than the braking avoidance limit.

  The collision possibility determination unit 210 compares the TTC for the preceding vehicle (the preceding vehicle TTC) with the normal braking avoidance lower limit and the braking avoidance limit. The collision possibility determination unit 210 determines that there is a possibility of collision when the preceding vehicle TTC falls below the braking avoidance limit. The collision possibility determination unit 210 determines that there is no collision possibility when the preceding vehicle TTC is equal to or less than the normal braking avoidance lower limit but larger than the braking avoidance limit.

  At this time, the collision possibility determination unit 210 calculates the preceding vehicle TTC. The collision possibility determination unit 210 calculates the preceding vehicle TTC from the traveling locus of the preceding vehicle calculated by the preceding vehicle locus calculation unit 202 and the traveling locus of the own vehicle M calculated by the own vehicle locus calculation unit 204. calculate. The preceding vehicle TTC is obtained by dividing the inter-vehicle distance by the relative speed.

  In addition, although the collision possibility determination unit 210 in the present embodiment makes the determination with reference to the table data 82, the normal braking avoidance lower limit and the braking avoidance limit may be derived using a preset function.

The control execution determination unit 212 determines whether to brake the host vehicle M and to control the steering direction based on the possibility of collision supplied from the collision possibility determination unit 210.
The control execution determination unit 212 brakes the host vehicle M and determines the steering direction of the host vehicle M based on the overlap amount with the preceding vehicle when the collision possibility determination unit 210 determines that there is no collision possibility. Determine to control. The control execution determination unit 212 determines that the host vehicle M is braked but the steering direction of the host vehicle M is not controlled when the collision possibility determination unit 210 determines that there is a collision possibility.

  The brake operation determination unit 214 determines whether the vehicle M is to operate the brake in order to avoid a collision with the preceding vehicle amount. The brake activation determination unit 214 automatically activates the brake when the TTC of the preceding vehicle reaches the normal braking avoidance lower limit. That is, the normal braking avoidance lower limit is a trigger for automatic braking operation. Thereby, the vehicle control device 20 operates the brake with a margin before the preceding vehicle TTC reaches the braking avoidance limit.

  The vehicle control unit 216 controls each part of the host vehicle M based on the determination results of the brake operation determination unit 214 and the control execution determination unit 212. In the present embodiment, the vehicle control unit 216 controls the throttle actuator 50, the brake actuator 52, and the steering actuator 54. Further, the vehicle control unit 216 controls the alarm device 60 in order to warn the driver of the host vehicle M. Furthermore, the vehicle control unit 216 controls the side mirror actuator 70 in order to avoid contact with the side mirror.

  The vehicle control unit 216 controls the throttle actuator 50, the brake actuator 52, and the steering actuator 54 to control the traveling of the host vehicle M. The traveling control of the host vehicle M controls braking and steering of the host vehicle M. Thereby, the vehicle control part 216 changes the avoidance space for the preceding vehicle TTC and the following vehicle Mr, as shown in FIG. For this purpose, the vehicle control unit 216 outputs a control signal to each part of the vehicle. In the present embodiment, the control signal is supplied to the throttle actuator 50, the brake actuator 52, and the steering actuator 54 for traveling control of the host vehicle M.

  The throttle actuator 50 adjusts the opening of a throttle valve (not shown) according to a control signal from the vehicle control unit 216. In the present embodiment, the throttle actuator 50 adjusts the throttle opening so as to adjust the propulsive force of the host vehicle M so that the host vehicle M avoids a collision with the preceding vehicle.

  The brake actuator 52 adjusts so that a brake torque having a magnitude indicated by the control signal is output to each wheel in accordance with a control signal from the vehicle control unit 216. In the present embodiment, the brake actuator 52 adjusts the braking pressure of the host vehicle M by adjusting the brake pressure so that the host vehicle M avoids a collision with the preceding vehicle.

  The steering actuator 54 adjusts the steering torque applied to the steered wheels according to the control signal from the vehicle control unit 216. In the present embodiment, the steering actuator 54 adjusts the steering torque so as to adjust the overlap amount with the preceding vehicle Mf and the overlap amount with the following vehicle Mr.

  The vehicle control unit 216 controls the lateral position of the host vehicle M with respect to the preceding vehicle or the following vehicle by controlling the throttle actuator 50, the brake actuator 52, and the steering actuator 54 with each other.

  The alarm device 60 outputs an alarm to the driver of the host vehicle M in response to a control signal from the vehicle control unit 216. The alarm device 60 is various speakers, a monitor screen, a display device and the like mounted on the host vehicle M. The alarm device 60 may notify the driver of a braking operation or a steering operation for the host vehicle M.

  The side mirror actuator 70 is built in the side mirror. The side mirror actuator 70 receives a control signal from the vehicle control unit 216 and controls the drive from the open state in which the side mirror main body is open to the vehicle body to the closed state in which the side mirror main body is close to the vehicle body. Further, the side mirror actuator 70 may be driven and controlled to open automatically in accordance with a manual operation after the side mirror body is closed.

  Next, vehicle control by the vehicle control device 20 in the above-described travel support system 1 will be described.

  As shown in FIG. 4A, in the situation where the preceding vehicle Mf and the following vehicle Mr are traveling before and after the host vehicle M, the brake operation determination unit 214 and the control execution determination unit 212 determine each predetermined period. Has been implemented. In FIG. 4A, the overlap amount between the host vehicle M and the preceding vehicle Mf is βa. This overlap amount β is defined as the amount of overlap between the area occupied in the road width direction of the preceding vehicle Mf and the area occupied in the road width direction of the host vehicle M.

  When the preceding vehicle TTC reaches the normal braking avoidance lower limit, the brake operation determination unit 214 determines to perform brake control, and the vehicle control unit 216 controls the brake actuator 52 to operate the brake. Then, as shown in FIG. 4B, the inter-vehicle distance between the host vehicle M and the following vehicle Mr becomes shorter.

  At this time, the collision possibility determination unit 210 determines whether or not there is a possibility of collision by braking against the preceding vehicle Mf by determining whether or not the TTC of the preceding vehicle is larger than the braking avoidance limit. To do. When the TTC of the preceding vehicle is larger than the braking avoidance limit, the host vehicle M is braked, and the collision with the preceding vehicle Mf can be avoided without steering. When the host vehicle M can avoid the preceding vehicle Mf by braking, the vehicle control unit 216 reduces the overlap amount with the preceding vehicle Mf from βb as shown in FIG. 4 (B) to βc in FIG. 4 (C). Steer to make it bigger. In the state where the overlap amount βb is small as shown in FIG. 4B, the steering limit lines Ll and Lr of the following vehicle Mr overlap the host vehicle M. On the other hand, as shown in FIG. 4C, when the overlap amount βc with the preceding vehicle Mf is increased, the space for the subsequent vehicle Mr to avoid steering the host vehicle M and the preceding vehicle Mf can be expanded.

  Next, a processing procedure of vehicle control by the vehicle control device 20 described above will be described with reference to a flowchart of FIG. The process of FIG. 5 shows the entire process of the vehicle control process.

  First, in step S <b> 100, the vehicle control device 20 acquires information about the host vehicle M. At this time, the vehicle control device 20 acquires the position of the host vehicle M by the vehicle state detection sensor 40, and calculates the track of the host vehicle M by the host vehicle track calculation unit 204.

  In the next step S102, the vehicle control device 20 acquires the relative position and relative speed of the preceding vehicle Mf as the front object information. At this time, the vehicle control device 20 acquires the position information of the preceding vehicle Mf from the preceding vehicle detection external sensor 10, and calculates the locus of the preceding vehicle Mf by the preceding vehicle locus calculation unit 202.

  In the next step S104, the preceding vehicle overlap amount calculation unit 206 calculates an overlap amount, which is an overlap amount in the lateral direction between the host vehicle M and the preceding vehicle Mf. At this time, the preceding vehicle overlap amount calculation unit 206 compares the trajectory of the host vehicle M calculated in step S100 with the trajectory of the preceding vehicle Mf detected in step S102, and in the road width direction. The amount of overlap between the area where the host vehicle M travels and the area where the preceding vehicle Mf travels in the width direction of the roadway is calculated.

  In the next step S106, the brake operation determination unit 214 determines whether or not the brake operation condition is satisfied. This brake operating condition is that the TTC of the preceding vehicle of the host vehicle M has reached the normal braking avoidance lower limit. If the brake operation condition is satisfied, the process proceeds from step S108 to step S110. When the brake operation condition is not satisfied, the vehicle control device 20 ends without performing vehicle control.

  In step S <b> 110, the own vehicle lateral movement amount calculation unit 208 acquires the surrounding environment of the own vehicle M. At this time, the own vehicle lateral movement amount calculation unit 208 acquires the surrounding environment of the own vehicle M from the surrounding environment detection external sensor 30. Thereby, the own vehicle lateral movement amount calculation unit 208 can acquire the white line as the surrounding environment, and can calculate the lateral position of the own vehicle M with respect to the white line.

  In the next step S112, the collision possibility determination unit 210 and the control execution determination unit 212 determine whether to perform the steering avoidance control. As described above, this steering avoidance control avoids steering so as to increase the amount of overlap between the own vehicle M and the preceding vehicle Mf when the own vehicle M is not likely to collide with the preceding vehicle Mf due to braking. It is control to do. This determination process is performed according to the procedure shown in FIG.

  First, in step S130, the collision possibility determination unit 210 calculates a relative position between the host vehicle M and the preceding vehicle Mf after the brake is applied to the preceding vehicle Mf. At this time, the collision possibility determination unit 210 determines the relative position between the host vehicle M after braking and the preceding vehicle Mf based on the distance, relative speed, and deceleration of the host vehicle M with respect to the host vehicle M. Is calculated.

  In the next step S132, the collision possibility determination unit 210 compares the preceding vehicle TTC after the brake operation calculated in step S130 with the normal braking avoidance lower limit and the braking avoidance limit. The collision possibility determination unit 210 determines that there is no possibility of collision when the preceding vehicle TTC is equal to or less than the normal braking avoidance lower limit but larger than the braking avoidance limit. The collision possibility determination unit 210 determines that there is a possibility of collision when the preceding vehicle TTC is smaller than the braking avoidance limit.

  In the next step S134, the vehicle control device 20 determines whether or not there is no possibility of a collision according to the determination in step S132. If it is determined that there is no possibility of collision, the process proceeds to step S136. If it is determined that there is a possibility of collision, the process proceeds to step S138.

  In step S136, the control execution determination unit 212 permits the steering avoidance control of the host vehicle M so that the following vehicle Mr can easily avoid the host vehicle M. This determination result is supplied from the control execution determination unit 212 to the vehicle control unit 216.

  In step S138, the collision possibility determination unit 210 determines the damage situation of the host vehicle M when the host vehicle M collides with the preceding vehicle Mf. At this time, the collision possibility determination unit 210 determines a damage situation when the host vehicle M is steered so as to avoid a collision with the preceding vehicle Mf. Examples of the damage situation include that the own vehicle M falls off the traveling lane and that the own vehicle M has an offset collision with the preceding vehicle Mf.

  In the next step S140, the collision possibility determination unit 210 determines whether or not there is a possibility of damage expansion of the host vehicle M based on the damage situation determined in step S138 (damage expansion possibility determination unit). ). If there is no possibility that the damage of the own vehicle M such as a fall of the own vehicle M or an offset collision will increase, the process proceeds to step S136. Thereby, when there is no damage expansion of the own vehicle M, the control execution determination unit 212 permits the execution of the steering avoidance control.

  If it is determined in step S140 that there is a possibility of damage expansion, the process proceeds to step S142. In step S142, the control execution determination unit 212 does not permit the execution of the steering avoidance control of the host vehicle M. Thus, the vehicle control device 20 operates only the brake when there is a possibility of a collision. In this case, since the preceding vehicle TTC is smaller than the normal braking avoidance lower limit, the vehicle control device 20 automatically activates the brake. However, there is a situation where the preceding vehicle TTC of the host vehicle M is smaller than the braking avoidance limit according to the surrounding situation. In this situation, the vehicle control device 20 does not perform the steering control and operates only the brake. This situation includes, for example, a sudden interruption from the side to the own vehicle M from the side.

  After determining whether to perform the steering avoidance control illustrated in FIG. 6, in step S <b> 114 in FIG. 5, the vehicle control device 20 determines whether to perform the steering avoidance control based on the determination result in step S <b> 112. If the steering avoidance control is to be performed, the process proceeds to step S116. If not, the process proceeds to step S120.

  In step S120, the vehicle control unit 216 performs brake control. At this time, the vehicle control unit 216 supplies a control signal to the brake actuator 52 so as to generate a braking force based on the distance from the preceding vehicle Mf and the relative speed.

  In step S116, the own vehicle lateral movement amount calculation unit 208 calculates the lateral movement amount of the own vehicle M. At this time, as shown in FIG. 7, first, the own vehicle lateral movement amount calculation unit 208 calculates the maximum lateral movement amount at the time of avoiding a collision with the preceding vehicle Mf in step S150.

  In the next step S152, the own vehicle lateral movement amount calculation unit 208 calculates the actual lateral movement amount based on the surrounding environment such as the current overlap amount Βa, the lane width, and the situation outside the lane, and the maximum lateral movement amount. To do. At this time, the own vehicle lateral movement amount calculation unit 208 calculates a lateral distance that can be laterally moved according to the surrounding environment from the current overlap amount Βa as an actual lateral movement amount.

  In step S118 of FIG. 5, the vehicle control unit 216 performs brake control and steering control of the host vehicle M. At this time, the vehicle control unit 216 performs brake control so as to avoid a collision with the preceding vehicle Mf. At the same time, the vehicle control unit 216 performs steering control so that the following vehicle Mr can easily avoid the steering of the host vehicle M. At this time, the vehicle control unit 216 controls the throttle actuator 50, the brake actuator 52, and the steering actuator 54 so that the lateral movement amount calculated in step S116 is obtained.

  In step S118, the vehicle control unit 216 may control the side mirror actuator 70 to close the side mirror of the host vehicle M. Thereby, when the following vehicle Mr travels so as to avoid the own vehicle M, the possibility that the side mirror of the own vehicle M contacts the following vehicle Mr is reduced.

  As described above, according to the vehicle control device 20, when a collision with the preceding vehicle Mf can be avoided by braking, the host vehicle M is braked and the steering direction of the host vehicle M is controlled. , Avoiding the preceding vehicle Mf. In particular, in this embodiment, the vehicle control device 20 controls the steering direction of the host vehicle M so that the amount of overlap with the preceding vehicle Mf increases.

  Thereby, according to the vehicle control apparatus 20, in the situation as shown in FIG. 4A, when the own vehicle M can avoid a collision with the preceding vehicle Mf by braking, the own vehicle M is in the preceding vehicle Mf. Steering control is performed so as to increase the amount of overlap. Thereby, when the succeeding vehicle Mr avoids steering the own vehicle M, the preceding vehicle Mf does not appear suddenly before the succeeding vehicle Mr. Thereby, the vehicle control apparatus 20 can improve the safety of steering avoidance of the succeeding vehicle Mr.

  Furthermore, according to the vehicle control device 20, when the braking control can be performed and there is no possibility of a collision by the braking control, the steering direction of the host vehicle is controlled. The steering direction can be controlled by determining that no collision occurs.

  Furthermore, according to the vehicle control device 20, even if there is a possibility of collision by braking, the control of the steering direction is permitted when there is no possibility of damage expansion, so damage due to collision can be reduced by steering.

[Second Embodiment]
Next, as a second embodiment to which the present invention is applied, the following vehicle Mr of the own vehicle M is detected as an object, and the steering direction of the own vehicle M is reduced by the vehicle control device 20 so that the amount of overlap with the following vehicle Mr is reduced. A driving support system 1 for controlling the vehicle will be described.

  As shown in FIG. 8, the driving support system 1 includes the following vehicle support external system 90, a subsequent vehicle trajectory calculation unit 218, and a subsequent vehicle overlap amount calculation unit 220. Different. Note that the driving support system 1 in the second embodiment may not include the preceding vehicle overlap amount calculation unit 206.

  The following vehicle detection external sensor 90 includes a rear camera that captures the rear of the host vehicle M and a rear radar that detects a rear object of the host vehicle M. The rear camera is attached to, for example, the upper part of the rear windshield. The rear camera repeatedly captures the rear of the host vehicle M at a predetermined cycle, for example, and outputs image data of the captured image to the vehicle control device 20. For example, the rear radar is attached above the rear bumper of the host vehicle M or at both ends of the rear bumper. The rear radar supplies a signal including the relative position and relative speed of the following vehicle to the subsequent vehicle locus calculation unit 218.

  The subsequent vehicle trajectory calculation unit 218 is connected to the subsequent vehicle detection outside world sensor 90. The following vehicle detection external sensor 90 may be either the rear camera or the rear radar described above. The subsequent vehicle trajectory calculation unit 218 detects rear object information from the signal detected by the subsequent vehicle detection external sensor 90. This rear object information indicates the relative position and relative speed of the following vehicle with respect to the host vehicle M. The subsequent vehicle trajectory calculation unit 218 calculates the trajectory of the subsequent vehicle from the temporally continuous rear object information.

  The following vehicle overlap amount calculation unit 220 overlaps the following vehicle based on the following vehicle locus supplied from the following vehicle locus calculation unit 218 and the own vehicle M locus supplied from the own vehicle locus calculation unit 204. Calculate the amount. This overlap amount is an overlap amount between the position in the lateral direction of the host vehicle M and the position in the lateral direction of the subsequent vehicle (object) detected by the subsequent vehicle trajectory calculation unit 218.

  The own vehicle lateral movement amount calculation unit 208 in the vehicle control device 20 is based on the surrounding environment detected by the surrounding environment detection external sensor 30 and the locus of the own vehicle M supplied from the own vehicle locus calculation unit 204. A movement amount (lateral movement amount) in the lateral direction of the host vehicle M is calculated so as to adjust the overlap amount. The own vehicle lateral movement amount calculation unit 208 calculates the lateral movement amount of the own vehicle M as a control result when the behavior of the own vehicle M is controlled by the vehicle control device 20.

  The vehicle control device 20 detects the following vehicle of the own vehicle and controls the steering direction of the own vehicle M so that the amount of overlap with the following vehicle becomes small. Specifically, as shown in FIG. 9A, it is assumed that the host vehicle M starts brake control in order to avoid a collision with the preceding vehicle Mf. In this case, the following vehicle may be delayed in response to the braking of the host vehicle M due to the response time of the driver. On the other hand, as shown in FIG. 9B, the host vehicle M steers in a direction to reduce the overlap amount with the following vehicle Mr at the same time as braking. This overlap amount is defined as the overlap amount between the area occupied by the following vehicle Mr in the road width direction and the area occupied by the host vehicle M in the road width direction. As a result, as shown in FIG. 9C, the steering limit lines Ll and Lr of the following vehicle Mr are separated from the own vehicle M, and the following vehicle Mr can easily avoid a collision with the own vehicle M.

  Such vehicle control processing by the vehicle control device 20 is as shown in FIG. In the vehicle control process, the relative position and the relative speed of the succeeding vehicle Mr are acquired as the rear object information in step S102 '. At this time, the vehicle control device 20 acquires the position information of the subsequent vehicle Mr from the subsequent vehicle detection external sensor 90, and calculates the trajectory of the preceding vehicle Mf by the subsequent vehicle trajectory calculation unit 218.

  In the next step S104 ', the subsequent vehicle overlap amount calculation unit 220 calculates an overlap amount that is an overlap amount in the lateral direction between the host vehicle M and the subsequent vehicle Mr. At this time, the subsequent vehicle overlap amount calculation unit 220 compares the trajectory of the own vehicle M calculated in step S100 with the trajectory of the subsequent vehicle Mr detected in step S102 ′, and automatically determines in the width direction of the vehicle. The amount of overlap between the area where the vehicle M travels and the area where the subsequent vehicle Mr travels in the width direction of the roadway is calculated.

  Thereafter, when the host vehicle M performs brake control for avoiding a collision with the succeeding vehicle Mr in step S108, the processing after step S110 is performed. Thereby, in step S116 ', the steering direction is controlled so as to reduce the overlap amount with the subsequent vehicle Mr, simultaneously with the brake control for avoiding the collision of the own vehicle M with the subsequent vehicle Mr.

  According to such a vehicle control device 20, when a collision with the preceding vehicle Mf can be avoided by braking, the host vehicle M is braked and the steering direction of the own vehicle M is controlled, so that Avoid the vehicle Mf. In particular, in this embodiment, the vehicle control device 20 controls the steering direction of the host vehicle M so that the amount of overlap with the subsequent vehicle Mr is small. Thereby, even if the own vehicle M performs brake control, the vehicle control device 20 can make it easier for the following vehicle Mr to avoid steering the own vehicle M, and improve the safety of avoiding the steering of the following vehicle Mr. Can do.

[Third Embodiment]
Next, as a third embodiment to which the present invention is applied, the preceding vehicle Mf and the following vehicle Mr of the host vehicle M are detected as objects, and the vehicle controller 20 increases the amount of overlap with the preceding vehicle Mf. A travel support system 1 that controls the steering direction of the host vehicle M so that the amount of overlap with the subsequent vehicle Mr is reduced will be described.

  The driving support system 1 has the same configuration as that in the second embodiment described above. The vehicle control process of the vehicle control device 20 in the driving support system 1 is as shown in FIG.

  This vehicle control process performs steps S100 to S108 as in the first embodiment, and when it is determined that the host vehicle M performs brake control to avoid the preceding vehicle Mf, a subsequent vehicle trajectory calculation unit. In step S <b> 160, the relative position and the relative speed of the subsequent vehicle Mr are acquired as the rear object information in step S <b> 160.

  In the next step S162, the vehicle control device 20 determines whether or not there is a subsequent vehicle Mr by determining whether or not the subsequent vehicle Mr is detected in step S160. If there is a subsequent vehicle Mr, the vehicle control device 20 proceeds to step S112 to determine whether the subsequent vehicle Mr performs steering control of the own vehicle M so that the subsequent vehicle Mr can easily avoid the own vehicle M. When there is no subsequent vehicle Mr, the vehicle control device 20 performs brake control so that the host vehicle M does not collide with the preceding vehicle Mf in step S120.

  As a result of the determination in step S112, if it is determined in step S114 that the host vehicle M performs the steering avoidance control by the vehicle control device 20, the process proceeds to step S164. In step S164, the subsequent vehicle overlap amount calculation unit 220 calculates the overlap amount between the host vehicle M and the subsequent vehicle Mr.

  At this time, as shown in FIG. 12, first, in step S170, the succeeding vehicle trajectory calculation unit 218 travels the following vehicle Mr from the relative position and relative speed with respect to the following vehicle Mr detected by the following vehicle detection external sensor 90. Calculate the trajectory. In the next step S172, the subsequent vehicle overlap amount calculation unit 220 overlaps in the horizontal direction based on the travel locus of the host vehicle M calculated in step S100 and the travel locus of the subsequent vehicle Mr calculated in step S170. By calculating the amount, the overlap amount of the succeeding vehicle Mr with respect to the host vehicle M is calculated.

  As shown in FIG. 13, the process for calculating the lateral movement amount of the host vehicle M in the next step S116 is as follows. First, in step S150, the host vehicle lateral movement amount calculating unit 208 avoids a collision with the preceding vehicle Mf. The maximum lateral movement amount at is calculated. In the next step S180, the own vehicle lateral movement amount calculation unit 208 determines the surrounding environment such as the current overlap amount with the preceding vehicle Mf, the overlap amount with the following vehicle Mr, the lane width, or the situation outside the lane. The actual lateral movement amount is calculated based on the maximum lateral movement amount. At this time, the own vehicle lateral movement amount calculation unit 208 calculates the actual lateral movement from the overlap amount with the preceding vehicle Mf and the overlap amount with the succeeding vehicle Mr to the lateral distance that can be laterally moved according to the surrounding environment. Calculated as a quantity. In the present embodiment, the own vehicle lateral movement amount calculation unit 208 calculates the actual lateral movement amount so as to increase the overlap amount with the preceding vehicle Mf and reduce the overlap amount with the subsequent vehicle Mr. I want to see that.

  Here, if the overlap amount with the preceding vehicle Mf is increased, the overlap amount with the subsequent vehicle Mr may increase. Further, if the overlap amount with the following vehicle Mr is reduced, the overlap amount with the preceding vehicle Mf may be reduced. In this case, the own vehicle lateral movement amount calculation unit 208 gives priority to either the overlap amount with the preceding vehicle Mf or the overlap amount with the following vehicle Mr, and calculates the actual lateral movement amount of the own vehicle M. It may be calculated. In addition, the own vehicle lateral movement amount calculation unit 208 may calculate the actual lateral movement amount so that a value obtained by adding the overlap amount with the preceding vehicle Mf and the overlap amount with the subsequent vehicle Mr becomes small. .

  In the next step S118, the vehicle control unit 216 outputs a control signal so as to be the lateral movement amount calculated in step S180 in step S116. As a result, the vehicle control device 20 brakes the host vehicle M and avoids steering so that the following vehicle Mr can travel easily to avoid the host vehicle M.

  As described above, according to the vehicle control device 20 shown as the third embodiment, the host vehicle M brakes in consideration of both the overlap amount with the preceding vehicle Mf and the overlap amount with the subsequent vehicle Mr. The steering direction in avoidable situations can be controlled. Accordingly, the vehicle control device 20 can make it easier for the following vehicle Mr to avoid steering the own vehicle M by the brake control of the own vehicle M, and improve the safety of avoiding the steering of the following vehicle Mr. it can.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 10 ... Front-running vehicle detection external sensor, 12 ... Front camera, 14 ... Front radar, 20 ... Vehicle control device, 30 ... Ambient environment detection external sensor, 40 ... Vehicle state detection sensor, 50 ... Throttle actuator , 52 ... Brake actuator, 54 ... Steering actuator, 60 ... Alarm device, 70 ... Side mirror actuator, 80 ... Storage unit, 82 ... Table data, 84 ... Vehicle control program, 90 ... Subsequent vehicle detection external sensor, 202 ... Previous vehicle trajectory calculation unit, 204 ... host vehicle trajectory calculation unit, 206 ... previous vehicle overlap amount calculation unit, 208 ... own vehicle lateral movement amount calculation unit, 210 ... collision possibility determination unit, 212 ... control execution determination unit , 214 ... Brake operation determination unit, 216 ... Vehicle control unit, 218 ... Subsequent vehicle locus calculation unit, 220 ... After Vehicle overlap amount calculating unit

Claims (8)

An object detection unit for detecting an object present around the host vehicle;
A calculation unit for calculating an overlap amount between an area of the object detected by the object detection unit in the road width direction and an area of the host vehicle in the road width direction;
A determination unit that determines whether or not a collision can be avoided by braking the object detected by the object detection unit;
When the determination unit determines that a collision can be avoided, the object detection unit is configured to brake the host vehicle and control the steering direction of the host vehicle based on the overlap amount calculated by the calculation unit. A control unit for avoiding an object detected by
A vehicle control device comprising: The determination unit
A braking operation determination unit that determines whether or not braking control can be performed on the object detected by the object detection unit;
A collision possibility determination unit that determines the possibility of collision with the object detected by the object detection unit,
When the braking operation determination unit determines that the braking control can be performed and the collision possibility determination unit determines that there is no possibility of a collision by the braking control, the control unit Control steering direction,
The vehicle control device according to claim 1. The determination unit
A collision possibility determination unit that determines the possibility of collision with the object detected by the object detection unit;
A damage expansion possibility determination unit that determines the possibility of damage expansion when the host vehicle steers,
When the controller determines that there is a possibility of a collision, and the controller determines that there is no possibility of damage expansion by the damage expansion possibility determination unit, Allow control of the steering direction of the vehicle,
The vehicle control device according to claim 1. The object detection unit detects a preceding vehicle of the host vehicle as the object,
The control unit controls the steering direction of the host vehicle so that the amount of overlap increases.
The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device. The object detection unit detects a succeeding vehicle of the host vehicle as the object,
The control unit controls the steering direction of the host vehicle so that the overlap amount is small.
The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device.   The vehicle control device according to any one of claims 1 to 5, wherein the control unit controls the side mirror to be in a closed state when the steering direction is controlled. Detects objects around the vehicle,
Calculating the amount of overlap between the area detected in the road width direction of the object detected by the object detection unit and the area occupied in the road width direction of the host vehicle;
Based on the calculated overlap amount, it is determined whether or not a collision can be avoided by braking the detected object,
When it is determined that a collision can be avoided, the host vehicle is braked and the steering direction of the host vehicle is controlled to avoid the detected object.
The vehicle control method characterized by the above-mentioned. On the computer,
Calculating the amount of overlap between the area detected in the road width direction of the object detected by the object detection unit and the area occupied in the road width direction of the host vehicle;
Based on the overlap amount, it is determined whether or not a collision can be avoided by braking the object,
When it is determined that a collision can be avoided, the host vehicle is braked and the steering direction of the host vehicle is controlled to avoid the object.
A vehicle control program.

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