JP2018043691A - Vehicular drive support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support apparatus with cumbersomeness reduced by eliminating an unnecessary rear sideward proximity vehicle alarm when backward driving under a given condition.SOLUTION: A vehicular drive support apparatus 1, having rear sideward proximity vehicle detection means 11, 12 for detecting presence and position of a rear sideward proximity vehicle of a vehicle and notification means 21 for notifying a driver of an event where the proximity vehicle has approached within a given threshold, further includes: back-up parking operation detection means 23 for detecting that the vehicle is in a back-up parking operation; and threshold change means 22 for changing the given threshold of the notification means to a smaller value under a condition that the rear sideward proximity vehicle detection means has detected a back-up parking operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle driving support device, and more particularly, to a restriction on alarm notification when a vehicle is parked backward.

  In recent years, vehicles are equipped with various sensors for detecting surrounding obstacles for driving assistance. However, alarms by sensors may be troublesome under predetermined operating conditions.

  Thus, for example, a parking assistance device has been proposed that changes the warning threshold value of the corner sensor and omits the warning for obstacles recognized by the driver (see Patent Document 1). In addition, there is a vehicle driving support device that detects an obstacle recognized by the driver when the forward parked vehicle leaves the vehicle and does not notify an alarm about the obstacle (see Patent Document 2). .

  On the other hand, when there is a vehicle approaching the rear side of the vehicle, a rear side approaching vehicle warning (RCTA: Rear Cross Traffic Alert or BSW (Blind Spot Warning) is called. This rear side approaching vehicle warning uses a millimeter wave radar device, a rear view camera, or the like to notify the presence of an approaching vehicle in a relatively distant area. Such a rear side approaching vehicle warning is effective, for example, informing about a vehicle passing unexpectedly, such as when moving backward, but may also issue an unnecessary warning.

Japanese Patent No. 3888180 JP 2013-220809 A

  Therefore, an object of the present invention is to provide a driving support device that eliminates an unnecessary rear side approaching vehicle warning and reduces annoyance during reverse driving under a predetermined condition.

  The aspect of the present invention that achieves the above object includes a rear side approaching vehicle detection unit that detects the presence and position of an approaching vehicle on the rear side of the vehicle, and the approaching vehicle approaches the driver within a predetermined threshold. A vehicle driving support device comprising a notification means for notifying the vehicle, wherein a reverse parking operation detection means for detecting that the vehicle is in reverse parking operation and a rear side approaching vehicle detection means are provided for reverse parking operation. And a threshold value changing means for changing the predetermined threshold value of the notifying means to be small on condition that the vehicle is detected.

  In this aspect, the threshold value of the rear side approaching vehicle warning is changed during reverse parking driving, so that the driver is prevented from being bothered by unnecessary warnings.

  Here, the reverse parking driving detection means detects the reverse parking driving on the condition that the automatic parking function is activated.

  Thus, the reverse parking operation is reliably detected on condition that the automatic parking function is turned on.

  The reverse parking driving detection means detects reverse parking driving on the condition that the parking area is detected during the reverse driving.

  Thereby, even if an automatic parking function is not used, it can detect that it is reverse parking driving.

  Moreover, the said reverse parking driving | running detection means detects a parking area when detecting reverse parking driving, and changes the said predetermined threshold value small based on the said parking area.

  According to this, the threshold value of the rear side approaching vehicle warning in the reverse parking operation can be set to a more appropriate range.

  According to the present invention, since the threshold value of the rear side approaching vehicle warning is changed during the reverse parking driving, it is avoided that the driver is bothered by an unnecessary warning.

It is a schematic block diagram of the driving assistance device for vehicles concerning the present invention. It is a figure which shows an example of the condition where reverse running assistance control is implemented. It is a flowchart which shows the control routine of reverse running assistance control in the controller which concerns on this invention.

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

  FIG. 1 is a schematic configuration diagram of a vehicle driving support apparatus according to the present invention. Hereinafter, the configuration of the vehicle driving support apparatus will be described. FIG. 2 is a diagram illustrating an example of a state of control of the vehicle driving support device when the reverse parking operation is performed.

  As shown in FIG. 1, the vehicle driving assistance device 1 includes a right rear radar 11 and a left rear radar 12 that are rear side approaching vehicle detection means, a rear side approaching vehicle notification unit 13, a rear view camera 14, A vehicle speed sensor 15, an automatic parking switch 16, and a controller 20 are provided. These various devices and various sensors are electrically connected.

  The right rear radar 11 is disposed on the right rear side of the vehicle and detects an approaching vehicle in the right rear side direction of the vehicle.

  The left rear radar 12 is arranged on the left rear side of the vehicle and detects an approaching vehicle in the left rear direction of the vehicle.

  The controller 20 includes an input / output device, a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and the like. In FIG. 1, as a processing function part in the storage device and the central processing unit of the controller 20, the rear side approaching vehicle notification means 21, the threshold value changing means 22, and the reverse parking driving detection means 23 are blocked. Shown in state.

  The rear view camera 14 acquires an image behind the vehicle. Although details will be described later, based on the image of the rear view camera 14, the reverse parking driving detection means 23 determines whether or not the parking driving is performed by identifying the parking frame and the arrangement of the rear vehicle during the reverse driving.

  The automatic parking switch 16 activates an automatic parking operation function, and performs automatic parking by controlling the steering and transmission based on an electric power steering ECU and transmission ECU (not shown).

  The rear side approaching vehicle notification means 21 is based on the detection information of the approaching vehicle from the right rear radar 11 and the left rear radar 12 that are the rear side approaching vehicle detection means when the approaching vehicle approaches within a predetermined threshold. The presence of an approaching vehicle is notified via the rear side approaching vehicle notification unit 13. In addition, the rear side approaching vehicle notification unit 13 notifies the side mirror, the driver's seat panel, and the like visually, or in addition to this, notifies with a warning sound through a speaker (not shown). Here, the predetermined threshold is normally in the range of 6 to 10 m beyond the rear parking area, for example, 4 to 6 m.

  The threshold value changing unit 22 changes the predetermined threshold value of the rear side approaching vehicle notifying unit 21 to be small on condition that the reverse parking driving detecting unit 23 described later detects the reverse parking driving. The threshold value changed small is an area including the parking area or an area slightly larger than this, and is set to a predetermined value set in advance, such as 4 to 6 m.

  Here, the changed threshold value may be set to a range of the parking area or a slightly larger range based on the parking area detected by the reverse parking driving detection means 23.

  As will be described later, the reverse parking driving detection means 23 determines whether the reverse parking driving is performed based on whether automatic parking is started or a parking area is detected. In the latter case, the detected parking is detected. What is necessary is just to change a threshold value based on the range of an area | region. In addition, when it is detected that automatic parking has started, an image of the rear view camera 14 is further acquired, and a parking area such as a parking frame or a parking space between vehicles behind the vehicle is grasped from the image, What is necessary is just to set a threshold value based on the information of this parking area. The threshold value is set at the start of the reverse parking operation and may not be changed as it is, but may be changed sequentially during the reverse parking operation. By sequentially changing in the middle of the reverse parking operation, it is possible to eliminate an unnecessary alarm in the range where the parking frame protrudes while the reverse parking operation is continued.

  The reverse parking driving detection means 23 detects whether or not the driver is performing the reverse parking driving. One of the cases where it is determined that the vehicle is in reverse parking is when the automatic parking switch 16 is turned on. The other one is that the shift position is reverse (R), the rear view camera 14 is turned on, and the parking area such as the parking frame and the parking space between the rear vehicles is identified from the image of the rear view camera 14. This is the case. When it is determined that the vehicle is in reverse parking operation by identifying a parking area such as a parking frame or a parking space, the vehicle speed by the vehicle speed sensor 15 may be added to the determination material.

  Hereinafter, the driving assistance control in the vehicle driving assistance apparatus 1 according to the present invention configured as described above will be described.

  FIG. 3 is a flowchart showing a control routine in the vehicle driving support apparatus 1 according to the present invention.

  As shown in FIG. 3, it is a condition that the rear side approaching vehicle warning is on (step S1). In step S2, it is determined whether or not the shift position is reverse (R). When the shift position is reverse (R) (step S2; Yes), in step S3, the reverse parking driving detection means 23 is operated by an automatic parking switch. It is determined whether or not 16 is turned on and automatic parking is started.

  When the automatic parking is started (step S3; Yes), the reverse parking driving detection unit 23 determines that the reverse parking driving has started, and notifies the threshold changing unit 22 of the determination. The threshold value changing means 22 changes the predetermined threshold value of the rear side approaching vehicle notification means 21 to be small. As described above, the changed threshold value at this time is set to an area that is equal to or slightly larger than the parking area behind the vehicle.

  In FIG. 2, the situation of the reverse parking driving of the vehicle 31 is shown. The range of the predetermined threshold value of the rear side approaching vehicle notification means 21 is, for example, up to a range R1 indicated by a dotted line of the vehicle, and an alarm is notified when the rear side approaching vehicle 32 exists. However, this approaching vehicle 32 is irrelevant to the parking operation.

  In the vehicle driving support apparatus 1 of the present invention, the threshold value changing means 22 changes the predetermined threshold value small as described above. The post-change threshold value in this case is, for example, a solid line range R2 behind the vehicle 31. When the threshold value is changed in this way, even if the approaching vehicle 32 is present, it is outside the range of the changed threshold value of the rear side approaching vehicle notification means 21, so that an alarm is not notified and the driver No need to worry about unnecessary alarms.

  In step S5, it is determined whether or not automatic parking has ended. If the automatic parking has ended (step S5; Yes), the threshold value of the rear side approaching vehicle warning is returned to the specified value in step S6, and the processing ends.

  On the other hand, when the automatic parking is not started in step S3 (step S3; No), the reverse parking operation detection unit 23 determines whether or not the reverse parking operation is performed based on the image information of the rear view camera 14 or the like. Specifically, when the parking frame 33 shown in FIG. 2 is detected from the image information or when a parking space between the parked vehicles is detected without the parking frame 33, it is determined that the vehicle is in reverse parking operation. To do. At this time, the determination may be made in consideration of the vehicle speed information from the vehicle speed sensor 15. Thus, the reverse parking driving detection means 23 determines that the reverse parking driving is performed on the condition that the parking area has been detected (step S7; Yes), and notifies the threshold changing means 22 of it. Similarly to step S4, the threshold value changing means 22 changes the predetermined threshold value of the rear side approaching vehicle notification means 21 to be smaller in step S8.

  As a result, as in the case of automatic parking, even if an approaching vehicle 32 as shown in FIG. 2 exists, it is outside the range of the changed threshold value of the rear side approaching vehicle notification means 21, and thus an alarm is notified. And the driver will not be bothered by unnecessary warnings.

  Thereafter, in step S9, it is determined whether or not the shift position has entered parking (P). If it becomes P (step S9; Yes), the process moves to step S6, and the threshold value for the rear side approaching vehicle warning is defined. Return to value and exit.

  If the shift position has not entered parking (P) in step S9 (step S9; No), it is determined in step S10 whether the direction has been changed. Step S9 is provided in order to quickly return the threshold value to the specified value when the direction is changed instead of the backward parking operation. For example, in the case shown in FIG. 2, there is a case where the direction is changed instead of parking. In the case of changing the direction, the shift position does not become P, and there is a possibility that the opportunity to return the threshold value to the specified value may be missed. There is. In this case, in step S10, it is determined whether or not the direction is changed. If the direction is changed (step S10; Yes), the process moves to step S6, and the threshold value of the rear side approaching vehicle warning is defined. Return to value and exit. If the direction change cannot be determined (step S10; No), the process returns to step S9.

  Here, the determination as to whether or not the direction change is made is not a turning-back state, but is determined that the normal operation has started, for example, whether the vehicle has advanced by a predetermined distance or more or a predetermined time or more, or whether the forward vehicle speed has exceeded a predetermined value. If it is, it is determined that the direction is changed.

  Although the embodiment of the present invention has been described above, the embodiment of the present invention is not limited to the above embodiment.

DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance apparatus 11 Right rear radar (rear side approaching vehicle detection means)
12 Left rear radar (rear side approaching vehicle detection means)
13 Rear side approaching vehicle notification unit 14 Rear view camera 15 Vehicle speed sensor 16 Automatic parking switch 20 Controller 21 Rear side approaching vehicle notification unit 22 Threshold change unit 23 Reverse parking operation detection unit

Claims (4)

A vehicle equipped with rear side approaching vehicle detection means for detecting the presence and position of an approaching vehicle on the rear side of the vehicle, and notification means for notifying the driver that the approaching vehicle has approached within a predetermined threshold. A driving support device,
The predetermined threshold value of the notification means is changed to be small on condition that the reverse parking driving detection means for detecting that the vehicle is in reverse parking driving and the rear side approaching vehicle detection means detect reverse parking driving. A vehicle driving support apparatus, comprising: a threshold value changing means. The vehicular driving support apparatus according to claim 1, wherein the reverse parking driving detection means detects reverse parking driving on condition that an automatic parking function is activated. The vehicular driving support device according to claim 1, wherein the reverse parking driving detection means detects reverse parking driving on condition that a parking area is detected during reverse driving. The said reverse parking driving detection means detects a parking area when detecting reverse parking driving, and changes the said predetermined threshold value small based on the said parking area, The one of Claims 1-3 characterized by the above-mentioned. The vehicle driving support device according to one item.

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