JP2017033152A - Driving assist device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assist device of a vehicle that can set a travel locus suitable for avoiding a collision with an object for control on a travelling path of a subject vehicle by a simple and easy method.SOLUTION: A control unit 5 comprises: front gaze point setting means that sets a front gaze point changing in accordance with a speed of a subject vehicle on a travelling path of the subject vehicle; reflection means that, when it is determined that there is a high possibility of a subject vehicle 1 colliding with an object for control on the travelling path of the subject vehicle, sets a predicted collision plane with the subject vehicle 1 on the object for control and sets a reflected travelling path and a reflected gaze point which are obtained by reflecting the travelling path of the subject vehicle and the front gaze point on the predicted collision plane; and travel locus setting means that sets an arc of an inscribed circle being in contact with the travelling path of the subject vehicle, and in contact with the reflected travelling path at the reflected gaze point, as a travel locus for avoiding the collision with the object for control.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle driving support apparatus that performs control for avoiding contact with a front three-dimensional object detected by a stereo camera, a laser radar, or the like.

  2. Description of the Related Art In recent years, vehicles such as automobiles detect objects existing around a vehicle by analyzing images captured by a camera and reflected waves of radio waves emitted from a radar device, and based on information on the detected objects. Judgment is made on the possibility of collision between the vehicle and other objects, and if there is a possibility of collision, an alarm is sounded to alert the driver and automatic steering or braking control is performed to avoid the collision. A technique for performing driving support control such as performing is disclosed.

  For example, in Patent Document 1, an object that exists in front of the traveling direction is detected, and based on the detection result of the object and a predetermined contact determination condition, a determination related to the contact between the host vehicle and the object is performed, and the determination result is Accordingly, a technique for operating a throttle actuator, a brake actuator, a steering actuator, a notification device, etc. at an appropriate timing is disclosed.

JP 2010-260504 A

  By the way, in this type of driving support device, when the collision avoidance with the obstacle (control target object) on the own vehicle traveling path is performed by steering, the own vehicle is changed according to the relative relationship with the object which changes every moment. It is important to set a suitable travel locus to be taken by a simple method.

  The present invention has been made in view of the above circumstances, and provides a vehicle driving support device capable of setting a travel locus suitable for avoiding a collision with a controlled object on the own vehicle traveling path by a simple method. The purpose is to do.

  A vehicle driving support device according to an aspect of the present invention includes a front three-dimensional object detection unit that detects a three-dimensional object in front of the host vehicle, a host vehicle traveling path estimation unit that estimates a host vehicle traveling path, and the host vehicle traveling path. When the three-dimensional object is present, control object selection means for selecting a control object from the three-dimensional object, and a forward gazing point setting for setting a forward gazing point that changes according to the vehicle speed on the own vehicle traveling path When it is determined that there is a high possibility that the own vehicle will collide with the exiting means and the controlled object, a predicted collision surface with the own vehicle is set on the controlled object, and the own vehicle travels on the predicted collision surface. Reflecting means for setting a reflective traveling path and a reflective gazing point reflecting the road and the forward gazing point, and a circular arc of a tangent that is in contact with the own vehicle traveling path and in contact with the reflective traveling path at the reflective gazing point Running to avoid collision with the controlled object A running locus setting means for setting a trajectory, but with the.

  According to the vehicle driving support device of the present invention, a travel locus suitable for avoiding a collision with an object to be controlled on the own vehicle traveling path can be set by a simple method.

Schematic configuration diagram of the driving support device Explanatory drawing which shows the selection area of a solid thing Explanatory diagram showing the predicted collision surface and avoidance travel locus Explanatory diagram showing the predicted collision surface and avoidance travel locus Flowchart showing a collision avoidance control routine

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to an embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a driving support device, FIG. 2 is an explanatory diagram showing a selection area of a three-dimensional object, and FIGS. FIG. 5 is a flowchart showing a collision avoidance control routine.

  In FIG. 1, reference numeral 1 denotes a vehicle such as an automobile (own vehicle), and a driving support device 2 is mounted on the vehicle 1. The driving support device 2 includes, for example, a stereo camera 3, a stereo image recognition device 4, a control unit 5, and the like.

  The host vehicle 1 is connected to a vehicle speed sensor 11 that detects the host vehicle speed V, a yaw rate sensor 12 that detects the yaw rate γ, a main switch 13 that performs ON-OFF switching of various functions of driving support control, and the like, and a steering wheel. Steering angle sensor 14a that is opposed to the steering shaft and detects steering angle θst, steering torque sensor 14b that detects steering torque Tdrv, and accelerator opening sensor that detects the amount of accelerator pedal depression (accelerator opening) θacc by the driver 15 etc. are provided.

  The stereo camera 3 is constituted by a set of CCD cameras using a solid-state imaging device such as a charge coupled device (CCD) as a stereo image optical system. These left and right CCD cameras are each mounted at a certain distance in front of the ceiling in the vehicle interior, take a stereo image of an object outside the vehicle from different viewpoints, and output image data to the stereo image recognition device 4. In the following description, one image (for example, the right image) of the stereo images is referred to as a reference image, and the other image (for example, the left image) is referred to as a comparative image.

  First, the stereo image recognition device 4 divides the reference image into small regions of 4 × 4 pixels, compares the luminance or color pattern of each small region with the comparison image, finds the corresponding region, and creates the entire reference image. Find the distance distribution across. Further, the stereo image recognition device 4 examines the luminance difference between each pixel on the reference image and an adjacent pixel, extracts those whose luminance difference exceeds a threshold value as an edge point, and extracts the extracted pixel (edge A distance image (a distribution image of edge points having distance information) is generated by giving distance information to (point). Then, the stereo image recognition device 4 performs a well-known grouping process on the generated distance image and compares it with a pre-stored three-dimensional frame (window), so that a white line and a side wall in front of the vehicle Recognize three-dimensional objects.

  Here, the white line to be recognized in the present embodiment is, for example, a white line (single white line) configured with a single lane line or a white line (double line with an auxiliary lane line inside the lane line) (White line) is a general term for lines extending on the road and defining the vehicle traveling lane, and the form of each line includes a solid line, a broken line, and the like, and further includes a yellow line and the like. In the white line recognition of the present embodiment, even if the white line that exists on the road is a double white line, it is recognized by approximating it with a single approximate line on each of the left and right sides.

  Further, the stereo image recognition device 4 can detect the three-dimensional object in a three-dimensional object recognition based on, for example, a comparison result with a window or the like. And the like, and the three-dimensional object width and the like are recognized. When the stereo image recognition device 4 determines that the three-dimensional object detected in the distance cannot be distinguished as a normal vehicle, a large vehicle, a pedestrian, or the like, the stereo image recognition device 4 recognizes the three-dimensional object as another three-dimensional object. Thus, in this embodiment, the stereo image recognition apparatus 4 implement | achieves the function as a front three-dimensional object recognition means with the stereo camera 3. FIG.

  The control unit 5 receives driving environment information in front of the host vehicle 1 recognized by the stereo image recognition device 4. Further, the vehicle speed V from the vehicle speed sensor 11, the yaw rate γ from the yaw rate sensor 12, and the like are input to the control unit 5 as travel information of the host vehicle 1, and the operation input information by the driver from the main switch 13. An operation signal, a steering angle θst from the steering angle sensor 14a, a steering torque Tdrv from the steering torque sensor 14b, an accelerator opening θacc from the accelerator opening sensor 15, and the like are input.

  When traveling environment information including three-dimensional object information ahead of the host vehicle 1 is input from the stereo image recognition device 4, the control unit 5 selects a three-dimensional object to be controlled by various driving support controls. In selecting the three-dimensional object, for example, as shown in FIG. 2, the control unit 5 first estimates the own vehicle traveling path, and selects an area of a predetermined width along the estimated own vehicle traveling path as a three-dimensional object selection area. Set as As. The own vehicle traveling path is set based on, for example, the vehicle speed V and the yaw rate γ of the own vehicle 1. Then, the control unit 5 extracts the three-dimensional object wrapped in the set selection area As as a three-dimensional object on the own vehicle traveling path, and selects the three-dimensional object closest to the own vehicle 1 from the extracted three-dimensional object. Select as

  For example, when an execution of an ACC (Adaptive Cruise Control) function which is one of the functions of the driving support control is instructed through the operation of the main switch 13 by the driver, the control unit 5 is controlled on the own vehicle traveling path. It is determined whether a preceding vehicle (ordinary vehicle or large vehicle) is selected as an object. As a result, when the preceding vehicle is not selected as the control object, the control unit 5 maintains the vehicle speed V of the host vehicle 1 at the set vehicle speed set by the driver through the opening / closing control (engine output control) of the throttle valve 16. The constant speed running control is executed. On the other hand, when a preceding vehicle is selected as the control object and the vehicle speed of the preceding vehicle is equal to or lower than the set vehicle speed, the control unit 5 follows the traveling control for following the vehicle while converging the inter-vehicle distance with the preceding vehicle to the target inter-vehicle distance. Execute. In this follow-up running control, the control unit 5 basically converges the inter-vehicle distance to the target inter-vehicle distance through opening / closing control of the throttle valve 16 (engine output control).

  Further, when the control unit 5 determines that there is a high possibility of a collision with the control object (preceding vehicle, pedestrian, or other three-dimensional object such as a side wall), the control unit 5 performs the collision avoidance control for the control object. Run.

  This collision avoidance control is appropriately executed even during execution of the ACC, and the control unit 5 basically performs collision avoidance control with the object to be controlled using automatic intervention control of the brake. However, if the control unit 5 determines the possibility of collision avoidance with the controlled object by steering and determines that the collision avoidance by steering is possible, the control unit 5 performs the collision avoidance control using the automatic intervention control of steering. Executes with priority over automatic intervention control.

  More specifically, the control unit 5 determines the possibility of a collision with a control object existing in front of the host vehicle 1. Further, the control unit 5 sets a forward gazing point according to the vehicle speed V, for example, in front of the own vehicle traveling path. When the control unit 5 determines that there is a high possibility that the host vehicle 1 will collide with the controlled object, the control unit 5 sets a predicted collision surface with the own vehicle 1 for the controlled object, A reflection traveling path and a reflected gazing point obtained by reflecting the vehicle traveling path and the forward gazing point are calculated. Furthermore, the control unit 5 sets an arc of a contact circle that is in contact with the own vehicle traveling path and is in contact with the reflection traveling path at the reflection gazing point as a traveling locus for avoiding a collision with the control target object. For example, when the control unit 5 determines that the curvature radius of the set travel locus is a curvature radius that can safely turn in the current traveling state of the host vehicle 1 (vehicle speed V or the like), the electric power steering motor 18 The collision avoidance control by turning using the output control (automatic intervention control of steering) is performed. On the other hand, if the control unit 5 determines that the curvature radius of the set travel locus is not a curvature radius that can safely turn in the current traveling state of the host vehicle 1 (vehicle speed V or the like), for example, the output from the brake booster 17 Collision avoidance control is performed by deceleration using hydraulic pressure control (automatic brake control).

  Thus, in this embodiment, the control unit 5 implement | achieves each function as a own vehicle advancing path estimation means, a control target object selection means, a front gaze point setting means, a reflection means, and a travel locus setting means.

  Next, the collision avoidance control for the control object will be described according to the flowchart of the collision avoidance control routine shown in FIG. This routine is repeatedly executed every set time. When the routine starts, the control unit 5 first checks in step S101 whether or not a control object currently exists on the own vehicle traveling path.

  If it is determined in step S101 that there is no control object on the own vehicle traveling path, the control unit 5 directly exits the routine.

  On the other hand, if it is determined in step S101 that there is a control object on the own vehicle traveling path, the control unit 5 proceeds to step s102 and determines the possibility of a collision between the own vehicle 1 and the control object.

  That is, in step S102, for example, the control unit 5 calculates the relative distance Drel and the relative speed Vrel between the host vehicle 1 and the controlled object, and the value obtained by dividing the relative distance Drel by the relative speed Vrel is the collision prediction time TTC ( Time To Collision) Then, in step S102, the control unit 5 determines that the possibility of a collision between the host vehicle 1 and the controlled object is low when the calculated collision predicted time TTC is equal to or greater than a preset threshold value Tth, and performs the routine as it is. Exit.

  On the other hand, if the control unit 5 determines in step S102 that the calculated collision predicted time TTC is less than the threshold value Tth, the control unit 5 determines that there is a high possibility of a collision between the host vehicle 1 and the controlled object, and the process proceeds to step S103. move on.

  When the process proceeds from step S102 to step S103, the control unit 5 sets a forward gazing point in front of the own vehicle traveling path. That is, in step S103, for example, the control unit 5 calculates a distance obtained by multiplying the current vehicle speed V by the set time T0, and sets a point on the own vehicle traveling path that is separated forward by the distance as the forward gazing point. .

  In subsequent step S104, the control unit 5 sets a predicted collision surface when the host vehicle 1 collides with the control object. That is, for example, as shown in FIGS. 3 and 4, the control unit 5 includes edge point points distributed on the side facing the host vehicle 1 in a group of edge points on the distance image constituting the control object. Use the group to set the collision prediction plane. More specifically, in the present embodiment, the control unit 5 sets the collision prediction plane two-dimensionally on the road surface, and sets each edge point on the distance image constituting the control object on the road surface. Projection is performed, and a Hough straight line obtained from each projected edge point is set as a collision prediction plane.

  In subsequent step S105, the control unit 5 sets the reflection traveling path and the reflective gazing point by virtually reflecting the own vehicle traveling path and the forward gazing point on the collision prediction plane. That is, for example, as shown in FIGS. 3 and 4, the control unit 5 reflects the own vehicle traveling path and the forward gazing point with a reflection angle θ equal to the incident angle θ with respect to the collision prediction surface, thereby producing the reflection traveling path and Set the reflective gaze point.

  In subsequent step S106, the control unit 5 sets a travel locus for the host vehicle 1 to avoid a collision with the controlled object based on the host vehicle traveling path, the reflection traveling path, and the reflection gazing point. That is, for example, as shown in FIGS. 3 and 4, the control unit 5 avoids a collision with a control object by using an arc of a contact circle that is in contact with the own vehicle traveling path and that is in contact with the reflection traveling path at the reflection gazing point. It is uniquely set as a traveling locus for the purpose.

  Then, when the process proceeds from step S106 to step S107, the control unit 5 determines whether or not the curvature radius R of the traveling locus set in step S106 is a curvature radius that can safely turn in the current traveling state of the host vehicle 1. Check out. That is, for example, a curvature radius threshold value Rth (V) for each vehicle speed V at which the host vehicle 1 can turn safely is stored in advance in the control unit 5. By comparing the curvature radius R and the threshold value Rth (V), it is examined whether or not the host vehicle 1 can safely turn along the traveling locus.

  If it is determined in step S107 that the radius of curvature R of the travel locus is equal to or greater than the threshold value Rth (V) and the host vehicle 1 can turn safely, the control unit 5 proceeds to step S108, and the electric power steering is performed. After performing collision avoidance control by turning using output control (automatic intervention control of steering) of the motor 18, the routine is exited.

  On the other hand, when it is determined in step S107 that the radius of curvature R of the travel locus is less than the threshold value Rth (V) and the host vehicle 1 cannot turn safely, the control unit 5 proceeds to step S109, and from the brake booster 17 After performing collision avoidance control by deceleration using output hydraulic pressure control (automatic brake intervention control), the routine exits.

  According to such an embodiment, the own vehicle 1 collides with the forward gazing point setting means for setting the forward gazing point that changes according to the own vehicle speed on the own vehicle traveling path, and the control object on the own vehicle traveling path. When it is determined that there is a high possibility that the vehicle will travel, a predicted collision surface with the host vehicle 1 is set as an object to be controlled, and a reflected traveling path and a reflected gazing point obtained by reflecting the own vehicle traveling path and the forward gazing point on the predicted collision surface are displayed. A reflecting means for setting, a traveling locus setting means for setting an arc of a contact circle that is in contact with the own vehicle traveling path and is in contact with the reflecting traveling path at the reflection gazing point as a traveling locus for avoiding a collision with the control object; By configuring the control unit 5 to include a traveling path suitable for avoiding a collision with a controlled object on the own vehicle traveling path, a simple method can be set.

  That is, the concept of a reflection traveling path and a reflection gazing point in which the own vehicle traveling path and the forward gazing point are virtually reflected with respect to the controlled object is introduced. Thus, the travel locus for avoiding the collision can be set by a simple method on the basis of the relative relationship with the controlled object that changes every moment.

  In this case, by tuning the set time T0 or the like so that the front gazing point is set to the optimum position, it is possible to easily realize the tuning of the traveling locus defined by the tangent arc at the reflection gazing point.

  Further, the reflection traveling path and the reflection gazing point change according to the inclination state of the predicted collision surface with respect to the own vehicle 1, and the more the predicted collision surface is facing the own vehicle 1, the more the reflected traveling path and reflection are. The reflection angle θ of the gazing point is increased, and the radius of curvature R of the traveling locus is set to be small. In this case, the collision avoidance control by turning is canceled and the collision avoidance control by braking is executed. Therefore, for a preceding vehicle or the like in which it is generally assumed that the predicted collision surface faces the own vehicle 1. Thus, it is possible to realize appropriate follow-up stop control and the like. On the other hand, the curvature radius R of the travel locus is set to be large for a side wall or the like where the predicted collision surface is assumed to be greatly inclined with respect to the host vehicle 1, so that collision avoidance control by turning is accurately executed. can do.

  In addition, this invention is not limited to each embodiment described above, A various deformation | transformation and change are possible, and they are also in the technical scope of this invention.

1 ... Vehicle (own vehicle)
2 ... Driving support device 3 ... Stereo camera (front three-dimensional object recognition means)
4 ... Stereo image recognition device (front three-dimensional object recognition means)
5 ... Control unit (own vehicle traveling path estimation means, control object selection means, forward gazing point setting means, reflection means, travel locus setting means)
DESCRIPTION OF SYMBOLS 11 ... Vehicle speed sensor 12 ... Yaw rate sensor 13 ... Main switch 14a ... Steering angle sensor 14b ... Steering torque sensor 15 ... Accelerator opening sensor 16 ... Throttle valve 17 ... Brake booster 18 ... Electric power steering motor

Claims (1)

A front three-dimensional object detection means for detecting a three-dimensional object in front of the host vehicle;
Own vehicle traveling path estimation means for estimating the own vehicle traveling path;
When the three-dimensional object is present on the own vehicle traveling path, a control object selecting means for selecting a control object from the three-dimensional object;
Forward gazing point setting means for setting a forward gazing point that changes in accordance with the own vehicle speed on the own vehicle traveling path;
When it is determined that there is a high possibility that the host vehicle will collide with the controlled object, a predicted collision surface with the own vehicle is set on the controlled object, and the own vehicle traveling path and the front side are set on the predicted collision surface. A reflection path for reflecting the gazing point and a reflection means for setting the reflection gazing point;
A travel locus setting means for setting an arc of a contact circle that is in contact with the own vehicle traveling path and is in contact with the reflection traveling path at the reflection gazing point as a traveling locus for avoiding a collision with the control object; A vehicle driving support device characterized by that.

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