JP2017202802A5 - - Google Patents
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- JP2017202802A5 JP2017202802A5 JP2016097258A JP2016097258A JP2017202802A5 JP 2017202802 A5 JP2017202802 A5 JP 2017202802A5 JP 2016097258 A JP2016097258 A JP 2016097258A JP 2016097258 A JP2016097258 A JP 2016097258A JP 2017202802 A5 JP2017202802 A5 JP 2017202802A5
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Description
請求項１記載の発明は、車両の周囲の物体と前記車両との相対的な位置関係を認識する認識部と、前記認識部により位置関係が認識された物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転制御部と、前記認識部により位置関係が認識された物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測する予測部と、前記接近物体と前記車両とが衝突すると前記予測部により予測された場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する作動部と、を備える車両制御システムである。
請求項２記載の発明は、請求項１に記載の車両制御システムにおいて、前記予測部が、前記接近物体に対して前記車両が衝突する衝突方向、または前記車両に対して前記接近物体が衝突する衝突方向を予測し、前記予測部により予測された衝突方向に基づいて、前記車両内に設けられた複数のエアバッグの中から、前記作動部に作動させる作動対象のエアバッグを選択する選択部を更に備えるものである。
The invention according to claim 1 is a recognition unit that recognizes a relative positional relationship between an object around the vehicle and the vehicle, and speed control of the vehicle based on the object whose positional relationship is recognized by the recognition unit. and automatically line the Hare automatic operation control unit at least one of the steering control, out of the objects positional relationship is recognized by the prior SL recognition unit extracts the approaching object to be relatively close to the vehicle, a prediction unit that predicts that the extracted approaching object and said vehicle collides, when the approaching object and said vehicle is predicted by the prediction unit and the collision, the approaching object and said vehicle collides Before, it is a vehicle control system provided with the action | operation part which act | operates the airbag provided in the said vehicle .
According to a second aspect of the present invention, in the vehicle control system according to the first aspect, the prediction unit causes a collision direction in which the vehicle collides with the approaching object, or the approaching object collides with the vehicle. A selection unit that predicts a collision direction and selects an airbag to be operated by the operation unit from a plurality of airbags provided in the vehicle based on the collision direction predicted by the prediction unit. Is further provided.
請求項３記載の発明は、請求項２に記載の車両制御システムにおいて、前記予測部が、前記接近物体と前記車両とが衝突するタイミングを予測し、前記作動部が、前記自動運転制御部により前記車両の速度制御と操舵制御とのうち少なくとも一方が行われる場合に、前記予測部により予測されたタイミング以前に、前記選択部により選択された作動対象のエアバッグを作動させるものである。 According to a third aspect of the invention, in the vehicle control system according to claim 2, wherein the prediction unit predicts the timing at which the approaching object and said vehicle collides, the actuating portion, by the automatic driving control section when at least one is made out of the steering control and the speed control of the vehicle, the previously predicted timing by the prediction unit, also of a is Ru actuates the air bag actuation object selected by the selection unit.
請求項４記載の発明は、請求項３に記載の車両制御システムにおいて、前記作動部が、前記自動運転制御部により前記車両の速度制御および操舵制御が行われていない間に前記作動対象のエアバッグを作動させるタイミングに比して、前記自動運転制御部により前記車両の速度制御と操舵制御とのうち少なくとも一方が行われている間に前記作動対象のエアバッグを作動させるタイミングを早くするものである。 According to a fourth aspect of the present invention, in the vehicle control system according to the third aspect , the operating unit is configured to operate the air to be operated while the speed control and steering control of the vehicle are not performed by the automatic driving control unit. As compared with the timing for operating the bag, the timing for operating the airbag to be activated is advanced while at least one of speed control and steering control of the vehicle is performed by the automatic operation control unit. It is.
請求項５記載の発明は、請求項３または４に記載の車両制御システムにおいて、前記選択部が、前記予測部により予測された衝突方向が前記車両の前方側から前記車両に向かう方向である場合、少なくともフロントウィンドウとの接触から前記車両の乗員を保護するためのエアバッグを、前記作動対象のエアバッグとして選択するものである。 According to a fifth aspect of the present invention, in the vehicle control system according to the third or fourth aspect , the selection unit is configured such that the collision direction predicted by the prediction unit is a direction from the front side of the vehicle toward the vehicle. The airbag for protecting the vehicle occupant from at least contact with the front window is selected as the airbag to be actuated.
請求項６記載の発明は、請求項５に記載の車両制御システムにおいて、前記フロントウィンドウとの接触から前記車両の乗員を保護するためのエアバッグは、展開することで前記車両の乗員の前方視野を遮蔽するエアバッグであり、前記自動運転制御部が、前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードであって、前記車両の乗員に対して前記車両の周辺を監視する義務が課されない自動運転モードを実行し、前記選択部が、前記自動運転制御部により前記車両の周辺を監視する義務が課されない前記自動運転モードが実行される場合に、前記フロントウィンドウとの接触から前記車両の乗員を保護するためのエアバッグを作動対象のエアバッグとして選択するものである。 According to a sixth aspect of the present invention, in the vehicle control system according to the fifth aspect , the airbag for protecting the occupant of the vehicle from contact with the front window is deployed so that the front view of the occupant of the vehicle is expanded. An automatic operation mode in which the automatic operation control unit automatically performs at least one of speed control and steering control of the vehicle, and the vehicle occupant is in an automatic operation mode. When the automatic driving mode in which the duty to monitor the periphery is not imposed is executed, and the automatic driving mode in which the selection unit is not obligated to monitor the periphery of the vehicle is executed, the front The airbag for protecting the vehicle occupant from contact with the window is selected as the airbag to be activated.
請求項７記載の発明は、請求項３から６のうちいずれか１項に記載の車両制御システムにおいて、情報を出力する出力部と、前記予測部により予測されたタイミング以前に、前記出力部を用いて、前記車両の乗員に危険を知らせる情報を出力する出力制御部と、を更に備えるものである。 The invention according to claim 7 is the vehicle control system according to any one of claims 3 to 6 , wherein the output unit is configured to output the information before the timing predicted by the prediction unit. And an output control unit that outputs information notifying the passenger of the vehicle of the danger.
請求項８記載の発明は、請求項３に記載の車両制御システムにおいて、前記自動運転制御部が、前記予測部により予測されたタイミング以前において、前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードを実行している場合、前記予測部により予測された衝突が発生した後、前記自動運転モードを実行可能であるか否かを判定し、前記自動運転モードを実行可能である場合に、前記自動運転モードを継続して実行するものである。 According to an eighth aspect of the present invention, in the vehicle control system according to the third aspect , at least one of speed control and steering control of the vehicle before the timing when the automatic driving control unit is predicted by the prediction unit. When the automatic operation mode for automatically performing is performed, it is determined whether or not the automatic operation mode can be executed after the collision predicted by the prediction unit occurs, and the automatic operation mode is executed. When possible, the automatic operation mode is continuously executed.
請求項９記載の発明は、請求項８に記載の車両制御システムにおいて、前記認識部が、前記車両の周囲の物体を検知する検知デバイスの検知結果に基づいて、前記車両の周囲の物体と前記車両との相対的な位置関係を認識し、前記自動運転制御部が、前記認識部が使用する検知デバイスの状態に基づいて、前記自動運転モードを実行可能であるか否かを判定するものである。 According to a ninth aspect of the present invention, in the vehicle control system according to the eighth aspect , the recognition unit is configured to detect the object around the vehicle based on a detection result of a detection device that detects an object around the vehicle. Recognizing a relative positional relationship with a vehicle, the automatic driving control unit determines whether or not the automatic driving mode can be executed based on a state of a detection device used by the recognition unit. is there.
請求項１０記載の発明は、請求項８または９に記載の車両制御システムにおいて、前記自動運転制御部が、前記自動運転モードを実行可能である場合に、前記継続して実行する自動運転モードにおいて、二次衝突を回避する制御を行うものである。 According to a tenth aspect of the present invention, in the vehicle control system according to the eighth or ninth aspect , in the automatic operation mode that is continuously executed when the automatic operation control unit can execute the automatic operation mode. The control for avoiding the secondary collision is performed.
請求項１１記載の発明は、車載コンピュータが、車両の周囲の物体と前記車両との相対的な位置関係を認識し、前記位置関係を認識した物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行い、前記位置関係を認識した物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測し、前記接近物体と前記車両とが衝突すると予測した場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する、車両制御方法である。 According to an eleventh aspect of the present invention, the in-vehicle computer recognizes a relative positional relationship between an object around the vehicle and the vehicle, and performs speed control and steering control of the vehicle based on the recognized object. at least one automatically have rows, before Symbol positional relationship among the recognized object and extracts the approaching object to be relatively close to the vehicle, said extracted approaching object and said vehicle collides among The vehicle control method operates an airbag provided in the vehicle before the approaching object and the vehicle collide when the approaching object and the vehicle collide. .
請求項１２記載の発明は、車載コンピュータに、車両の周囲の物体と前記車両との相対的な位置関係を認識する処理と、前記位置関係を認識した物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う処理と、前記位置関係を認識した物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測する処理と、前記接近物体と前記車両とが衝突すると予測した場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する処理と、を実行させるための車両制御プログラムである。 Steering invention of claim 12 wherein, the in-vehicle computer, a process of recognizing the relative positional relationship between the objects around the vehicle with the vehicle, the speed control of the vehicle based on the object recognizing the positional relationship and automatically row intends processing at least one of the control, out of the objects recognized the positional relationship, the rewritable extracted approaching object to be relatively close to the vehicle, and the extracted approaching object and the vehicle operate but the process of predicting that a collision, when the approaching object and said vehicle is predicted to collide, before the approaching object and said vehicle collides, an air bag provided within said vehicle The vehicle control program for performing a process .
Claims (12)
前記認識部により位置関係が認識された物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転制御部と、
前記認識部により位置関係が認識された物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測する予測部と、
前記接近物体と前記車両とが衝突すると前記予測部により予測された場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する作動部と、
を備える車両制御システム。 A recognition unit for recognizing a relative positional relationship between an object around the vehicle and the vehicle;
And automatically line the Hare automatic operation control unit at least one of the steering control and the speed control of the vehicle based on the object position relation recognized by the recognition unit,
Out of the objects positional relationship is recognized by the prior SL recognition unit, a prediction unit that predicts that extracts the approaching object to be relatively close to the vehicle, the extracted approaching object and said vehicle collides,
An operation unit that operates an airbag provided in the vehicle before the approaching object and the vehicle collide when the prediction unit predicts that the approaching object and the vehicle collide;
A vehicle control system comprising:
前記予測部により予測された衝突方向に基づいて、前記車両内に設けられた複数のエアバッグの中から、前記作動部に作動させる作動対象のエアバッグを選択する選択部を更に備える、 A selection unit that selects an airbag to be activated to be activated by the actuation unit from a plurality of airbags provided in the vehicle based on the collision direction predicted by the prediction unit;
請求項１に記載の車両制御システム。 The vehicle control system according to claim 1.
前記作動部は、前記自動運転制御部により前記車両の速度制御と操舵制御とのうち少なくとも一方が行われる場合に、前記予測部により予測されたタイミング以前に、前記選択部により選択された作動対象のエアバッグを作動させる、
請求項２に記載の車両制御システム。 The prediction unit predicts a timing at which the approaching object and the vehicle collide ,
The operation unit is an operation target selected by the selection unit before the timing predicted by the prediction unit when at least one of speed control and steering control of the vehicle is performed by the automatic driving control unit. the air bag Ru is activated,
The vehicle control system according to claim 2 .
請求項３に記載の車両制御システム。 The operation unit is configured so that the automatic operation control unit performs the operation of the vehicle in comparison with the timing at which the air bag to be operated is operated while the speed control and steering control of the vehicle are not performed by the automatic operation control unit . A timing for activating the airbag to be activated while at least one of speed control and steering control is being performed ;
The vehicle control system according to claim 3 .
請求項３または４のうちいずれか１項に記載の車両制御システム。 When the collision direction predicted by the prediction unit is a direction from the front side of the vehicle toward the vehicle, the selection unit includes an airbag for protecting at least an occupant of the vehicle from contact with a front window, Select as the airbag to be actuated,
The vehicle control system according to any one of claims 3 and 4 .
前記自動運転制御部は、前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う自動運転モードであって、前記車両の乗員に対して前記車両の周辺を監視する義務が課されない自動運転モードを実行し、
前記選択部は、前記自動運転制御部により前記車両の周辺を監視する義務が課されない前記自動運転モードが実行される場合に、前記フロントウィンドウとの接触から前記車両の乗員を保護するためのエアバッグを作動対象のエアバッグとして選択する、
請求項５に記載の車両制御システム。 The airbag for protecting the vehicle occupant from contact with the front window is an airbag that shields the front view of the vehicle occupant by deploying,
The automatic driving control unit is an automatic driving mode in which at least one of speed control and steering control of the vehicle is automatically performed, and the vehicle occupant is not obligated to monitor the periphery of the vehicle. Run automatic operation mode,
The selection unit is configured to protect an occupant of the vehicle from contact with the front window when the automatic driving mode in which the duty to monitor the periphery of the vehicle is not imposed by the automatic driving control unit is executed. Selecting the bag as the airbag to be activated,
The vehicle control system according to claim 5 .
前記予測部により予測されたタイミング以前に、前記出力部を用いて、前記車両の乗員に危険を知らせる情報を出力する出力制御部と、を更に備える、
請求項３から６のうちいずれか１項に記載の車両制御システム。 An output unit for outputting information;
An output control unit that outputs information that informs the vehicle occupant of the danger using the output unit before the timing predicted by the prediction unit;
The vehicle control system according to any one of claims 3 to 6 .
請求項３に記載の車両制御システム。 When the automatic driving control unit is executing an automatic driving mode in which at least one of speed control and steering control of the vehicle is automatically performed before the timing predicted by the prediction unit, After the predicted collision occurs, it is determined whether or not the automatic operation mode can be executed, and when the automatic operation mode can be executed, the automatic operation mode is continuously executed.
The vehicle control system according to claim 3 .
前記自動運転制御部は、前記認識部が使用する検知デバイスの状態に基づいて、前記自動運転モードを実行可能であるか否かを判定する、
請求項８に記載の車両制御システム。 The recognizing unit recognizes a relative positional relationship between an object around the vehicle and the vehicle based on a detection result of a detection device that detects an object around the vehicle;
The automatic driving control unit determines whether the automatic driving mode can be executed based on a state of a detection device used by the recognition unit.
The vehicle control system according to claim 8 .
請求項８または９に記載の車両制御システム。 The automatic operation control unit performs control to avoid secondary collision in the automatic operation mode to be continuously executed when the automatic operation mode is executable.
The vehicle control system according to claim 8 or 9 .
車両の周囲の物体と前記車両との相対的な位置関係を認識し、
前記位置関係を認識した物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行い、
前記位置関係を認識した物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測し、
前記接近物体と前記車両とが衝突すると予測した場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する、
車両制御方法。 In-vehicle computer
Recognizing the relative positional relationship between an object around the vehicle and the vehicle,
Based on the object recognizing the positional relationship have automatically lines at least one of the steering control and the speed control of the vehicle,
Out of the objects recognized before Symbol positional relationship, it extracts the approaching object to be relatively close to the vehicle, the extracted approaching object and said vehicle is predicted to collide,
When it is predicted that the approaching object and the vehicle will collide, before the approaching object and the vehicle collide, the airbag provided in the vehicle is operated .
Vehicle control method.
車両の周囲の物体と前記車両との相対的な位置関係を認識する処理と、
前記位置関係を認識した物体に基づいて前記車両の速度制御と操舵制御とのうち少なくとも一方を自動的に行う処理と、
前記位置関係を認識した物体のうち、前記車両に相対的に接近する接近物体を抽出すると共に、前記抽出した接近物体と前記車両とが衝突することを予測する処理と、
前記接近物体と前記車両とが衝突すると予測した場合に、前記接近物体と前記車両とが衝突する前に、前記車両内に設けられたエアバックを作動する処理と、
を実行させるための車両制御プログラム。 On-board computer
A process of recognizing the relative positional relationship between the objects around the vehicle with the vehicle,
And automatically row intends processing at least one of a speed control and steering control of the vehicle based on the object recognizing the positional relationship,
Out of the objects recognized the positional relationship, a process of predicting that The rewritable extracted approaching object to be relatively close to the vehicle, the extracted approaching object and said vehicle collides,
A process of operating an airbag provided in the vehicle before the approaching object and the vehicle collide when the approaching object and the vehicle are predicted to collide ,
Vehicle control program for executing
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| JP7369077B2 (en) * | 2020-03-31 | 2023-10-25 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
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| JP3733914B2 (en) * | 2002-02-06 | 2006-01-11 | 株式会社日立製作所 | Vehicle object detection device, vehicle safety control method, automobile |
| JP2005149021A (en) * | 2003-11-13 | 2005-06-09 | Denso Corp | Device for assessing possibility of collision |
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| JP4193765B2 (en) * | 2004-01-28 | 2008-12-10 | トヨタ自動車株式会社 | Vehicle travel support device |
| JP2006219044A (en) * | 2005-02-14 | 2006-08-24 | Tkj Kk | Front curtain airbag device, and airbag system |
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| JP6299208B2 (en) * | 2013-12-26 | 2018-03-28 | トヨタ自動車株式会社 | Vehicle surrounding situation estimation device |
| JP6032195B2 (en) * | 2013-12-26 | 2016-11-24 | トヨタ自動車株式会社 | Sensor abnormality detection device |
| JP6036724B2 (en) * | 2014-02-17 | 2016-11-30 | トヨタ自動車株式会社 | Vehicle surrounding situation recognition device and vehicle control device |
| JP6412366B2 (en) * | 2014-08-07 | 2018-10-24 | 株式会社Ｓｕｂａｒｕ | Crew protection device |
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