JP2018111335A - Collision avoidance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision avoidance system that is able to perform an appropriate driving assistance by making the collision avoidance operation less likely to be performed when the collision object is a moving pedestrian or bicycle.SOLUTION: In a case where it is detected that an object present in an area of a footway 38 in an image 40 photographed by a camera is a pedestrian 36 and the pedestrian is moving toward a driveway 34 from the footway 36, a control device calculates a distance Dbetween the pedestrian 36 and an outside line 32a. In a case where the calculated distance Dis equal to or longer than a reference distance DS, the control device determines whether to perform a collision avoidance operation or not by using a threshold value higher than a regular threshold value serving as a collision determination value. Therefore, when the pedestrian 36 moving toward the driveway 34 is away from the driveway 34 by the reference distance DSor longer, the collision avoidance operation is made less likely to be performed.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a collision avoidance device that acquires a situation around a running vehicle and avoids a collision with an object as necessary.

  The situation around the running vehicle is acquired with a camera, etc., and the possibility of the vehicle colliding with an object such as a pedestrian is determined from the acquired information. 2. Description of the Related Art A collision avoidance device that performs a collision avoidance operation for avoiding a collision by controlling notification or vehicle operation is known. Patent Document 1 discloses a technique for detecting a signal state, a vehicle state in front of a pedestrian crossing, a road type, a traveling lane, and the like and determining a possibility that the vehicle collides with an object.

JP 2008-143387 A

  By the way, a moving pedestrian or bicycle can stop immediately before colliding with a vehicle. In the collision avoidance apparatus as described above, the collision avoidance operation is executed by uniformly determining the possibility of collision for all detected collision objects. Therefore, it is not considered that a moving pedestrian or bicycle stops immediately before a collision, and appropriate driving support may not be performed.

  An object of the present invention is to provide a collision avoidance device that can perform appropriate driving assistance by making it difficult for the collision avoidance operation to be performed when the collision target is a moving pedestrian or bicycle. is there.

  In order to solve the above-described problems, in the present invention, a lane in which the vehicle is traveling is detected based on a camera mounted on the vehicle and photographing the front of the vehicle and an image photographed by the camera. A moving object detecting unit that detects a moving object that moves in a direction approaching the lane based on an image captured by the camera; and the moving object and the lane that are moving in a direction approaching the lane A collision avoidance operation executing unit for executing a collision avoidance operation for avoiding a collision with the vehicle traveling on the vehicle, wherein the collision avoidance operation executing unit is configured such that the moving object is separated from the lane by a predetermined value. In the state where the moving object is a pedestrian or a bicycle, the collision avoidance operation is executed more than when the moving object is other than the pedestrian and the bicycle. Kukusuru collision avoidance device can be realized.

The collision avoiding operation executing unit executes a collision avoiding operation for avoiding a collision between the moving object detected by the moving object detecting unit and the vehicle. However, the pedestrian or the bicycle may stop at a point away from the lane when moving in a direction approaching the lane. Therefore, the possibility that the pedestrian or the bicycle, which is a moving object that is moving, collides with the vehicle is lower than that of a moving object other than the pedestrian or the bicycle.
In this device, when the moving object is the pedestrian or the bicycle in a state where the moving object is away from the set value from the lane, the moving object is The collision avoidance operation is less likely to be executed as compared to a case other than a pedestrian or the bicycle. As a result, when the pedestrian or the bicycle is moving in the direction approaching the lane, but is away from the set value from the lane, the collision avoidance operation is less likely to be performed.

  By configuring as described above, when a pedestrian or bicycle moving in the direction toward the lane is away from the set value or more, the collision avoidance operation becomes difficult to be performed, so that appropriate driving assistance can be performed. .

It is a block diagram which shows the whole structure of the collision avoidance apparatus of 1st Embodiment. It is a figure which shows the distance of the vehicle of 1st Embodiment, and an outer side line. It is a figure which shows the distance of the vehicle of 1st Embodiment, and an outer side line. It is a flowchart which shows the process which the control apparatus of 1st Embodiment performs. It is a flowchart which shows the process which the control apparatus of the modification 1 of 1st Embodiment performs.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of a collision avoidance device 2 mounted on a vehicle. As shown in FIG. 1, the collision avoidance device 2 includes a control device 10, a camera 12, a radar 14, a vehicle speed sensor 16, a brake control device 18, a buzzer 20, and a collision avoidance operation control execution switch 22.

  The control device 10 includes a CPU, a ROM, an EEPROM, a RAM, a control IC, a communication interface, and the like, and performs various controls by executing a program recorded in the ROM on the CPU. A camera 12, a radar 14, a vehicle speed sensor 16, a brake control device 18, a buzzer 20, and a collision avoidance operation control execution switch 22 are communicably connected to the control device 10. The control device 10 outputs a signal related to the control amount to the brake control device 18 as necessary based on the image taken by the camera 12 and information on the objects around the vehicle detected by the radar 14.

  The camera 12 is provided in the vicinity of the room mirror in the vehicle interior and captures at least an image in the visible light region. For example, a CCD camera is used. When the collision avoidance operation control execution switch 22 is ON, the camera 12 captures an image ahead of the vehicle in the traveling direction of the vehicle, and transmits a signal related to the captured image data to the control device 10 every predetermined time. Images captured by the camera 12 include roads on which the vehicle is traveling, road ends of the roads, stationary objects such as stationary vehicles and pedestrians, and moving objects such as moving vehicles, pedestrians, and bicycles. include. Examples of the road edge include an outer line, a guardrail, a curb, and the like that separate the road on which the vehicle is traveling from the roadside belt and the sidewalk.

The radar 14 is arranged at the head of the vehicle and detects an object around the vehicle. For example, a millimeter wave radar that radiates a millimeter wave around the vehicle and detects an object around the vehicle is used. The radar 14 detects the distance between the detected object and the vehicle, and the relative position and relative speed of the detected object with respect to the vehicle. The radar 14 transmits a signal to the control device 10 according to the detection result.
The vehicle speed sensor 16 detects the speed of the vehicle. For example, a wheel speed sensor that is attached in the vicinity of each wheel and detects the rotational speed of the wheel is used. The vehicle speed sensor 16 outputs a speed pulse corresponding to the detected vehicle speed to the control device 10.

The brake control device 18 controls the brake motor 24 based on a detection signal of a brake pedal sensor (not shown) that detects the operation amount of the brake pedal or a signal related to the control amount that is output by the control device 10, and determines the braking state of the brake. Control.
When the signal output from the control device 10 becomes an ON signal, the buzzer 20 emits a warning sound and notifies the driver.
The collision avoidance operation control execution switch 22 outputs an ON signal to the control device 10 when turned on by the driver, and outputs an OFF signal to the control device 10 when turned off. When the collision avoidance operation control execution switch 22 is turned ON, the control of the collision avoidance operation is executed by the control device 10.

<Collision avoidance operation control>
The collision avoidance operation control executed in the collision avoidance device 2 having the above configuration will be described. 2A is a diagram illustrating a positional relationship between a pedestrian and a vehicle, and FIG. 2B is a diagram illustrating an image captured by the camera 12 of the vehicle illustrated in FIG. 2A. 3A is a diagram illustrating a positional relationship between a pedestrian and a vehicle, and FIG. 3B is a diagram illustrating an image captured by the camera 12 of the vehicle illustrated in FIG. 3A.
In the collision avoidance operation control, it is determined whether or not it is necessary to perform a collision avoidance operation, and when it is determined to be necessary, the collision avoidance operation is executed. Further, the collision avoidance operation is an operation executed in order to avoid the collision between the vehicle 30 and the collision target object when the brake control device 18 is operated by the control device 10.

  In FIG. 2A, the vehicle 30 travels on a roadway 34 defined by outer lines 32 a and 32 b, and a pedestrian 36 passes a sidewalk 38 provided along the roadway 34. The control apparatus 10 acquires the image 40 image | photographed with the camera 12 shown to FIG. 2B. Next, image processing such as pattern matching is performed on the acquired image 40, and the outer lines 32a and 32b and the sidewalk 38 are detected. The outer lines 32a and 32b distinguish and partition the roadway 34 and the sidewalk 38. The control device 10 can also detect the road facility instead of the outer lines 32a and 32b and recognize the roadway 34. Examples of road equipment include curbs and guardrails provided along the roadway 34.

  The control device 10 detects an object present in an area on the sidewalk 38 in the image 40 taken by the camera 12. The control device 10 performs image processing on the image 40 and determines whether the detected object is a pedestrian or a bicycle, or a pedestrian or a bicycle. Thereby, the pedestrian 36 is detected. Based on the detection value of the radar 14, the control device 10 determines whether or not the pedestrian 36 is a moving object moving in the direction from the sidewalk 38 toward the roadway 34.

When the pedestrian 36 is a moving object, the control device 10 calculates the distance between the pedestrian 36 and the roadway 34 in the image 40 captured by the camera 12. The distance between the pedestrian 36 and the roadway 34 is a distance D ₁ between a point P ₁ on the outer line 32a and a foot tip F ₁ of the pedestrian 36 in a direction perpendicular to the direction in which the outer line 32a extends, as shown in FIG. or, shown in Figure 3A, it is calculated based on the distance D ₃ between the foot F ₂ with a pedestrian 42 point P ₂ on the outer line 44a in a direction parallel to the moving direction of the pedestrian 42.

(I) Calculation Method of Distance D _{1 As} shown in FIG. 2B, the control device 10 specifies the foot tip F ₁ of the pedestrian 36 by image processing in the image 40. Position of P ₁ and pedestrian foot F ₁ point on outer line 32a in the image 40, the coordinates on the X-axis extending laterally from an end portion of the image 40, and on the Y-axis extending vertically coordinates Specified by. Point P ₁ is a point on the outer line 32a when the Y-coordinate is the same value as the pedestrian foot F ₁ of the Y-coordinate. The distance D ₁ includes the distance D ₂ between the X coordinate of the foot tip F _{1 and} the X coordinate of the point P ₁ , the correlation previously obtained (the distance D ₂ on the X coordinate of the image 40, and FIG. 2A). It is calculated on the basis of the actual correlation between the outer line 32a and the distance D ₁ of the pedestrian 36) shown.

  This correlation is obtained, for example, by placing two objects in a position separated from each other in the vehicle width direction of the vehicle 30 at a position separated from the vehicle 30 by a predetermined distance, and between the two objects in the image 40. It is obtained by measuring the distance and the actual distance between the two objects. The predetermined distance is, for example, the same distance as the distance between the vehicle 30 and the pedestrian 36 shown in FIG. 2A, that is, the distance between the vehicle 30 and the pedestrian 36 detected by the radar 14.

(Ii) Calculation Method of Distance D _{3 In} FIG. 3B, the control device 10 includes the coordinates of the position φ ₁ of the pedestrian's foot F ₂ in the image 50 taken by the camera 12 of the vehicle 48 traveling on the roadway 46; identifying each pedestrian position phi ₂ of the coordinates of the foot F ₂ in the captured image before a predetermined time, obtains a straight line L passing through the position phi ₁ and position phi _2. Next, the control unit 10 causes the image 50, the intersection _{P 2} of a straight line L and the outer line 44a, and calculates the distance between the position phi _1. The distance D ₃ between the actual foot tip F ₂ and the point P ₂ is equal to the distance D ₄ between the intersection P ₂ and the position φ _{1 in} the image 50 and the correlation (distance on the image 50) obtained in advance. and D _4, is calculated based on the correlation) between the distance _{D 3} of pedestrians 42 and the actual outer line 44a shown in Figure 3A. This correlation is obtained as with the correlation between the distance above D ₁ and the distance D _2.

Hereinafter, the collision avoidance operation control will be described based on the distance D _1. Controller 10, when the moving object is not one of the pedestrian or bicycle, and, when the distance D ₁ which moving object is calculated a pedestrian or a bicycle is less than the reference distance DS ₁ is the collision determination value It is determined whether or not the collision avoidance operation is executed by comparing the threshold value with the normal threshold value.

  The collision determination value is a value for determining whether to perform a collision avoidance operation. The collision determination value is determined by, for example, values of items such as the lateral speed V of the pedestrian 36 (moving speed in the direction from the sidewalk 38 toward the roadway 34), the speed of the vehicle 30, and the distance between the pedestrian 36 and the vehicle 30. A score is assigned based on the value of each item, and the total score is a collision determination value. The control device 10 causes the collision avoidance operation to be executed when the collision determination value is equal to or greater than the normal threshold value, and does not execute the collision avoidance operation when the collision determination value is less than the normal threshold value.

On the other hand, the moving object is a pedestrian or a bicycle, and if the calculated distance D ₁ is the reference distance DS ₁ or more, the controller 10 uses the threshold value higher than the normal threshold of collision determination value To determine whether to perform the collision avoidance operation.
When the moving object is a pedestrian or a bicycle, there is a high possibility that the moving object stops before colliding with the vehicle 30. In such, when the distance D ₁ is ₁ is the reference distance DS ₁ or more, than the distance D ₁ is less than the reference distance DS ₁ also pedestrians 36 is further less likely to collide with the vehicle 30. Therefore, the control device 10 sets the threshold value of the collision determination value to a high value and makes it difficult for the collision avoidance operation to be performed.

  If it is determined that the collision avoidance operation is to be executed, the control device 10 calculates the control amount of the brake motor 24 based on the lateral speed V of the pedestrian 36, the speed of the vehicle 30, and the distance between the pedestrian 36 and the vehicle 30. To do. The brake control device 18 brakes the brake by the calculated control amount and reduces the speed of the vehicle 30, so that the collision between the vehicle 30 and the pedestrian 36 is avoided.

Next, a collision avoidance operation control process executed by the control device 10 will be described. FIG. 3 is a flowchart showing a collision avoidance operation control process executed by the control device 10. The control device 10 executes the processing by the flow after the collision avoidance operation control execution switch 22 is turned on by the driver. In a state where the collision avoidance operation control execution switch 22 is ON, the control device 10 acquires an image photographed by the camera 12 every predetermined time.
In step 1 (hereinafter abbreviated as S1. The same applies to other steps), the control device 10 detects the outer lines 32a and 32b and the sidewalk 38 in the image 40 acquired from the camera 12.

In S3, the control apparatus 10 detects the object which exists on the sidewalk 38 detected by S1 in the image 40, and determines whether the detected object is a pedestrian or a bicycle. If the object is a pedestrian or a bicycle, the process proceeds to S5. If the object is neither a pedestrian nor a bicycle, the process proceeds to S21.
Next, in S5, the control device 10 calculates the lateral speed V of the pedestrian 36 detected in S3. Subsequently, the control device 10 determines whether or not the calculated lateral speed V is greater than or equal to a set value. If the calculated lateral speed V is equal to or greater than the set value, it is determined that the pedestrian 36 is moving in the direction from the sidewalk 38 toward the roadway 34, and the process proceeds to S7. If the calculated lateral velocity V is less than the set value, it is determined that the pedestrian 36 is not moving in the direction from the sidewalk 38 toward the roadway 34, and the process proceeds to S23.

In S <b> 7, the control device 10 calculates the distance D <b> ₁ between the pedestrian 36 and the outer line 32 a based on the image 40 acquired from the camera 12. Next, the control unit 10, the distance _{D 1} is equal to or the reference distance DS ₁ or more. If the distance _{D 1} is the reference distance DS ₁ or advances to S11, when the distance _{D 1} is the reference distance DS ₁ is smaller than the flow proceeds to S25.
In S11, the control unit 10 sets the threshold value of collision determination value to a higher value TH ₂ than the normal threshold value TH _1. Next, the control unit 10 calculates the collision determination value, the calculated collision determination value based on whether the threshold value TH ₂ or more, it is determined whether to perform a collision avoidance operation. If collision determination value is the threshold value TH ₂ or more, determines to perform the collision avoidance operation, the process proceeds to S13. When the collision judgment value is less than the threshold TH ₂ determines not to execute the collision avoidance operation, the process proceeds to S15.

In S <b> 13, the control device 10 acquires the relative speed of the pedestrian 36 with respect to the vehicle 30 and the distance between the vehicle 30 and the pedestrian 36 from the sensor value of the radar 14. Further, the control device 10 acquires the speed of the vehicle 30 from the value of the vehicle speed sensor 16. Next, the control device 10 calculates the control amount of the brake motor 24 using the acquired relative speed of the pedestrian 36 and the distance between the vehicle 30 and the pedestrian 36, and sends a signal related to the calculated control amount to the brake control device. 18 is output. At this time, the control device 10 outputs an ON signal to the buzzer 20.
In S15, the control device 10 determines whether or not the signal output from the collision avoidance operation control execution switch 22 is an OFF signal. If the signal of the collision avoidance operation control execution switch 22 is an ON signal, the process returns to S1, and if the signal is an OFF signal, the process by the flow is terminated.

  If the determination in S3 is NO, the process proceeds to S21. In S21, the control device 10 calculates the lateral velocity of the object detected in S3, and determines whether or not the vehicle is moving depending on whether or not the lateral velocity is equal to or higher than a set value. If the detected lateral velocity of the object is less than the set value, it is determined that the object is not moving, and the process proceeds to S23. If the detected lateral velocity of the object is greater than or equal to the set value, it is determined that the object is moving and the process proceeds to S25.

In S23, the control unit 10 calculates the pre突判value based on the relative position and the relative speed of the object and the vehicle 30 is a collision object, the calculated pre突判value is, is the threshold value TH ₀ or more Determine whether or not. If the front collision determination value is equal to or greater than the threshold TH ₀ , the process proceeds to S13, and if it is less than the threshold TH ₀ , the process proceeds to S15. The front collision determination includes items such as the speed of the vehicle 30, the relative position and relative speed of the object with respect to the vehicle 30, and the steering angle of the vehicle 30, and a score corresponding to the value is assigned to each item. The total score of the scores of each item becomes the front collision determination value. The control device 10 executes the collision avoidance operation when the front collision determination value is equal to or greater than the threshold value.

In S25, the control unit 10 calculates the collision determination value, the calculated collision determination value to determine whether it is normal threshold TH ₁ or more. Proceeds to step S13 if the collision determination value is usually the threshold value TH ₁ or more, if it is usually less than the threshold value TH ₁ proceeds to S15.
In S13, the control device 10 outputs a signal to the brake control device 18 to execute a collision avoidance operation, and then proceeds to S15.

If the determination in S5 is no, the process proceeds to S23. Controller 10, in S23, before突判value to determine whether a threshold TH ₀ or more. If the front collision determination value is equal to or greater than the threshold TH ₀ , the process proceeds to S13, and if it is less than the threshold TH ₀ , the process proceeds to S15.
In S13, the control device 10 outputs a signal to the brake control device 18 to execute a collision avoidance operation, and then proceeds to S15.

If the determination in S7 is NO, the process proceeds to S25. In S25, the control unit 10 calculates the collision determination value, the calculated collision determination value to determine whether it is normal threshold TH ₁ or more. Proceeds to step S13 if the collision determination value is usually the threshold value TH ₁ or more, if it is usually less than the threshold value TH ₁ proceeds to S15.
In S13, the control device 10 outputs a signal to the brake control device 18 to execute a collision avoidance operation, and then proceeds to S15.

As described above, in the present embodiment, the control device 10 determines whether an object in front of the vehicle 30 is a moving pedestrian or a bicycle. When the object is a moving pedestrian 36 and the distance D ₁ is equal to or greater than the reference distance DS ₁ , the moving pedestrian 36 may stop in front of the roadway 34. Therefore, the control device 10 sets the threshold value of the collision determination value that determines whether or not to perform the collision avoidance operation to a threshold value TH ₂ that is higher than the normal threshold value TH ₁ . That is, when the pedestrian 36 on the move is at a distance of the reference distance DS ₁ or more in size from the roadway 34, and if the moving object using the normal threshold value TH ₁ is other than pedestrians and bicycles, pedestrians distance D ₁ of the 36 and roadway 34 as compared with the case of less than the reference distance DS _1, comprising collision avoidance operation is hardly performed.

<Modification 1>
Hereinafter, Modification 1 of the first embodiment will be described. The configuration of the collision avoidance device according to this modification is the same as the configuration of the collision avoidance device 2 of the first embodiment, and a description thereof will be omitted. In the first embodiment, in the collision avoidance operation control process, the distance D ₁ of the between the outer line 32a in the direction perpendicular to the direction in which the outer line 32a extending pedestrian 36, the threshold value of collision determination value is determined. In this modification, as shown in FIG. 3A, the distance D ₃ between the pedestrian 42 and outer line 44a in a direction parallel to the moving direction of the pedestrian 42, the threshold value of collision determination value is determined.

FIG. 5 is a flowchart showing a collision avoidance operation control process executed by the control device 10 of the present modification. The control device 10 executes the processing by the flow after the collision avoidance operation control execution switch 22 is turned on by the driver. In a state where the collision avoidance operation control execution switch 22 is ON, the control device 10 acquires an image photographed by the camera 12 every predetermined time.
In S31, the control apparatus 10 detects the outer lines 44a and 44b and the sidewalk 52 as in S1 of the first embodiment.

Next, in S33, the control device 10 detects an object on the sidewalk 52, and determines whether the detected object is a pedestrian or a bicycle, or is neither a pedestrian nor a bicycle. If the detected object is a pedestrian or a bicycle, the process proceeds to S35, and if it is neither a pedestrian nor a bicycle, the process proceeds to S51.
In S35, the control device 10 calculates the lateral speed V of the pedestrian 42 detected in S33, and determines whether the calculated lateral speed V is equal to or greater than a set value. If the lateral speed V of the pedestrian 42 is greater than or equal to the set value, it is determined that the pedestrian 42 is moving in the direction from the sidewalk 52 toward the roadway 46, and the process proceeds to S37. If the lateral speed V of the pedestrian 42 is less than the set value, it is determined that the pedestrian 42 is not moving in the direction from the sidewalk 52 toward the roadway 46, and the process proceeds to S53.

In S37, the control unit 10, based on the image 50 obtained from the camera 12, to calculate a pedestrian 42 and a distance _{D 3} of outer line 44a. Next, the control unit 10, the distance _{D 3} is equal to or the reference distance DS ₂ or more. If the distance _{D 3} is the reference distance DS ₂ or more, the process proceeds to S41, the distance _{D 3} is advanced to the reference distance DS ₂ is smaller than the S55.
In S41, the control unit 10 sets the threshold value of collision determination value to a higher value TH ₂ than the normal threshold value TH _1. Next, the control unit 10 calculates the collision determination value, the calculated collision determination value based on whether the threshold value TH ₂ or more, it is determined whether to perform a collision avoidance operation. If collision determination value is the threshold value TH ₂ or more, determines to perform the collision avoidance operation, the process proceeds to S43. When the collision judgment value is less than the threshold TH ₂ determines not to execute the collision avoidance operation, the process proceeds to S45.

In S43, as in S13, the control device 10 calculates the control amount of the brake motor 24 based on the relative speed of the pedestrian 42 and the distance between the vehicle 48 and the pedestrian 42, and brakes a signal related to the calculated control amount. Output to the control device 18. At this time, the control device 10 outputs an ON signal to the buzzer 20.
In S45, the control device 10 determines whether or not the signal output from the collision avoidance operation control execution switch 22 is an OFF signal. If the signal of the collision avoidance operation control execution switch 22 is an ON signal, the process returns to S1, and if the signal is an OFF signal, the process by the flow is terminated.

  If the determination in S33 is no, the process proceeds to S51. In S51, the control device 10 calculates the lateral velocity of the object detected in S33, and determines whether or not the vehicle is moving depending on whether or not the lateral velocity is equal to or higher than a set value. If the detected lateral velocity of the object is less than the set value, it is determined that the object is not moving, and the process proceeds to S53. If the detected lateral velocity of the object is greater than or equal to the set value, it is determined that the object is moving and the process proceeds to S55.

In S53, the control unit 10, similarly to S23, calculates the pre突判value based on the moving object and the vehicle 30 of the relative position and the relative speed, etc., the calculated pre突判value is the threshold value TH ₀ or more Judge whether there is. If before突判value is the threshold value TH ₀ or advances to S43, it is less than the threshold value TH _0, the process proceeds to S45.
In S55, the control unit 10 calculates the collision determination value, the calculated collision determination value to determine whether it is normal threshold TH ₁ or more. Advances to S43 if the collision determination value is usually the threshold value TH ₁ or more, if it is usually less than the threshold value TH ₁ proceeds to S45.

If the determination in S35 is NO, the process proceeds to S53. Controller 10, in S53, before突判value to determine whether a threshold TH ₀ or more. If before突判value is the threshold value TH ₀ or advances to S43, it is less than the threshold value TH _0, the process proceeds to S45.
If the determination in S37 is no, the process proceeds to S55. In S55, the control unit 10 calculates the collision determination value, the calculated collision determination value to determine whether it is normal threshold TH ₁ or more. Advances to S43 if the collision determination value is usually the threshold value TH ₁ or more, if it is usually less than the threshold value TH ₁ proceeds to S45.

As described above, when the pedestrian 42 is moving from the sidewalk 52 toward the roadway 46, the distance between the pedestrian 42 and the outer line 44a in the direction perpendicular to the direction in which the outer line 44a extends, The actual distance to reach the outer line 44a may be different. In this modification, in the collision avoidance operation control process to determine a threshold value of collision determination value by using the distance D ₃ between the outer line 44a pedestrians 42 in a direction parallel to the moving direction of the pedestrian 42. Thereby, the distance until the pedestrian 42 reaches the roadway 46 can be calculated with higher accuracy than when the threshold value of the collision determination value is determined using the distance in the direction perpendicular to the direction in which the outer line 44a extends. it can. Therefore, the collision avoidance operation can be controlled with higher accuracy than in the first embodiment.

  In the present embodiment and the first modification, the control device 10 that executes S1 and S31 is an example of a lane detection unit, and the control device 10 that executes S5 and S35 is an example of a moving object detection unit. Moreover, the control apparatus 10 which performs S13 and S43 is an example of a collision avoidance operation | movement execution part.

In addition, although the aspect of this invention was demonstrated as mentioned above, the collision avoidance apparatus 2 of this invention is not restricted to the above-mentioned aspect, In the range which does not deviate from the summary of this invention, various changes are performed. Is possible.
In this embodiment, in order to make it difficult to perform the collision avoidance operation, the threshold value of the collision determination value is set to a value higher than the normal threshold value, but the present invention is not limited to this. For example, regardless of the distance between the pedestrian and the roadway, the threshold for judging the collision and TH _1, when the distance between the pedestrian and the roadway is a reference distance or more, pedestrians and other than bicycles The collision avoidance operation may be less likely to be performed by calculating the collision determination value to be relatively smaller than when the distance between the moving object and the roadway is equal to or greater than the reference distance.

2: Collision avoidance device 10: Control device 12: Camera 14: Radar 16: Vehicle speed sensor 18: Brake control device 20: Buzzer 22: Collision avoidance operation control execution switch 24: Brake motor 30: Vehicle 32a, 32b: Outer line 34: Roadway 36: Pedestrian 38: Sidewalk 40: Image 42: Pedestrian 44a, 44b: Outside line 46: Roadway 48: Vehicle 50: Image 52: Sidewalk

Claims (1)

A camera mounted on a vehicle and photographing the front of the vehicle;
A lane detector that detects a lane in which the vehicle is traveling based on an image captured by the camera;
A moving object detector that detects a moving object that moves in a direction approaching the lane, based on an image captured by the camera;
A collision avoidance operation executing unit for executing a collision avoidance operation for avoiding a collision between the moving object moving in a direction approaching the lane and the vehicle traveling in the lane,
The collision avoidance operation execution unit
In a state where the moving object is farther than a set value from the lane, when the moving object is a pedestrian or a bicycle, the collision is greater than when the moving object is other than the pedestrian and the bicycle. A collision avoidance device that makes it difficult to perform an avoidance operation.

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