JP2021051546A - Operation support device - Google Patents

Operation support device Download PDF

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JP2021051546A
JP2021051546A JP2019174053A JP2019174053A JP2021051546A JP 2021051546 A JP2021051546 A JP 2021051546A JP 2019174053 A JP2019174053 A JP 2019174053A JP 2019174053 A JP2019174053 A JP 2019174053A JP 2021051546 A JP2021051546 A JP 2021051546A
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vehicle
obstacle
control unit
unit
support device
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JP7310488B2 (en
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渉 滝
Wataru Taki
渉 滝
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Suzuki Motor Corp
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Suzuki Motor Corp
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Priority to DE102020211435.8A priority patent/DE102020211435A1/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

To provide an operation support device capable of suppressing notification of an obstacle requiring no notification to a driver.SOLUTION: A vehicle includes: a millimeter wave radar 2 for detecting an obstacle at a vehicle rear side; an imaging unit 3 for capturing an image of a front of a vehicle 1; a notification unit 4 for notifying a driver of various kinds of information; and a controller 5 that can change a detection range of the millimeter wave radar 2 and causes the notification unit 4 to provide a notification of presence of the obstacle detected by the millimeter wave radar 2. When the vehicle 1 is moved backward from a state of obliquely parking, and when a plurality of obstacles that do not move backward of the vehicle 1 are detected by the millimeter wave radar 2, the controller reduces the detection range of the millimeter wave radar 2 in a width direction of a road behind the vehicle 1 according to a distance between an end of the vehicle 1 side of the obstacle closest to the vehicle 1 and the vehicle 1.SELECTED DRAWING: Figure 1

Description

本発明は、運転支援装置に関する。 The present invention relates to a driving support device.

特許文献１には、自車両が斜め駐車していて、シフトレバーの位置がリバースであるとき、自車両に略平行して隣接する駐車車両が後方の通路を通過する通過車両側に存在すると判断すると、後方の通路に突き出ているのとは反対側の後側方警報用センサの検知範囲を、後方の通路に突き出ている後側方警報用センサの検知範囲と交差するように変更することが記載されている。 According to Patent Document 1, when the own vehicle is parked diagonally and the position of the shift lever is reversed, it is determined that a parked vehicle substantially parallel to the own vehicle exists on the passing vehicle side passing through the rear passage. Then, change the detection range of the rear side warning sensor on the opposite side of the rear passage so that it intersects the detection range of the rear side warning sensor protruding into the rear passage. Is described.

特許５８６２３０７号公報Japanese Patent No. 5862307

特許文献１に記載のものでは、自車両に略平行して隣接する駐車車両が後方の通路を通過する通過車両側に存在する場合の後側方警報用センサの死角を低減することはできるが、検知範囲の拡大や検知範囲の位置の変更に伴って報知不要な障害物を検知し、不要な報知が増えてしまうおそれがある。 According to Patent Document 1, it is possible to reduce the blind spot of the rear side warning sensor when a parked vehicle substantially parallel to the own vehicle is present on the side of the passing vehicle passing through the rear passage. As the detection range is expanded or the position of the detection range is changed, obstacles that do not require notification may be detected, and unnecessary notification may increase.

そこで、本発明は、報知不要な障害物を運転者に報知することを抑制することができる運転支援装置を提供することを目的としている。 Therefore, an object of the present invention is to provide a driving support device capable of suppressing notifying a driver of an obstacle that does not require notification.

上記課題を解決するため本発明は、車両後側方の障害物を検出する障害物検出部と、各種情報を自車両の運転者に報知する報知部と、前記障害物検出部の検出範囲を変更可能であり前記障害物検出部が検出した障害物の存在を前記報知部により前記運転者に報知させる制御部と、を備える車両の運転支援装置であって、前記制御部は、前記車両が斜め駐車している状態から後退するとき、前記車両の後方に動きのない複数の障害物を検出した場合、前記車両に最も近い前記障害物の前記車両側の端部と前記車両との距離に応じて前記車両の後方の道路の幅方向に前記障害物検出部の検出範囲を縮小するものである。 In order to solve the above problems, the present invention defines an obstacle detection unit that detects an obstacle on the rear side of the vehicle, a notification unit that notifies the driver of the own vehicle of various information, and a detection range of the obstacle detection unit. A vehicle driving support device including a control unit that can be changed and notifies the driver of the presence of an obstacle detected by the obstacle detection unit by the notification unit, wherein the control unit is the vehicle. When reversing from an obliquely parked state, when a plurality of stationary obstacles are detected behind the vehicle, the distance between the vehicle-side end of the obstacle closest to the vehicle and the vehicle Accordingly, the detection range of the obstacle detection unit is reduced in the width direction of the road behind the vehicle.

このように、本発明によれば、報知不要な障害物を運転者に報知することを抑制することができる。 As described above, according to the present invention, it is possible to suppress notifying the driver of an obstacle that does not require notification.

図１は、本発明の一実施例に係る運転支援装置のブロック図である。FIG. 1 is a block diagram of a driving support device according to an embodiment of the present invention. 図２は、本発明の一実施例に係る運転支援装置の斜め駐車時の検出範囲の変化を示す図である。FIG. 2 is a diagram showing a change in the detection range when the driving support device according to an embodiment of the present invention is parked diagonally. 図３は、本発明の一実施例に係る運転支援装置の縦列駐車時の検出範囲の変化を示す図である。FIG. 3 is a diagram showing a change in the detection range of the driving support device according to the embodiment of the present invention when parallel parking. 図４は、本発明の一実施例に係る運転支援装置の検出範囲変更処理の手順を示すフローチャートである。FIG. 4 is a flowchart showing a procedure for changing the detection range of the driving support device according to the embodiment of the present invention. 図５は、本発明の一実施例に係る運転支援装置の一方通行による検出禁止処理の手順を示すフローチャートである。FIG. 5 is a flowchart showing a procedure of detection prohibition processing by one-way driving support device according to an embodiment of the present invention. 図６は、本発明の一実施例に係る運転支援装置の歩道による検出禁止処理の手順を示すフローチャートである。FIG. 6 is a flowchart showing a procedure of detection prohibition processing by the sidewalk of the driving support device according to the embodiment of the present invention.

本発明の一実施の形態に係る運転支援装置は、車両後側方の障害物を検出する障害物検出部と、各種情報を自車両の運転者に報知する報知部と、障害物検出部の検出範囲を変更可能であり障害物検出部が検出した障害物の存在を報知部により運転者に報知させる制御部と、を備える車両の運転支援装置であって、制御部は、車両が斜め駐車している状態から後退するとき、車両の後方に動きのない複数の障害物を検出した場合、車両に最も近い障害物の車両側の端部と車両との距離に応じて車両の後方の道路の幅方向に障害物検出部の検出範囲を縮小するよう構成されている。 The driving support device according to the embodiment of the present invention includes an obstacle detection unit that detects an obstacle on the rear side of the vehicle, a notification unit that notifies the driver of the own vehicle of various information, and an obstacle detection unit. It is a vehicle driving support device including a control unit that can change the detection range and notifies the driver of the existence of an obstacle detected by the obstacle detection unit by the notification unit. The control unit is a vehicle driving support device in which the vehicle is parked diagonally. If multiple stationary obstacles are detected behind the vehicle when reversing from the state of being in a state of being, the road behind the vehicle depends on the distance between the vehicle-side end of the obstacle closest to the vehicle and the vehicle. It is configured to reduce the detection range of the obstacle detection unit in the width direction of.

これにより、本発明の一実施の形態に係る運転支援装置は、報知不要な障害物を運転者に報知することを抑制することができる。 As a result, the driving support device according to the embodiment of the present invention can suppress notifying the driver of an obstacle that does not need to be notified.

以下、図面を参照して、本発明の実施例に係る運転支援装置について詳細に説明する。
図１において、本発明の一実施例に係る運転支援装置を搭載した車両１は、障害物検出部としてのミリ波レーダー２と、撮像部３と、報知部４と、制御部５と、を含んで構成される。 Hereinafter, the driving support device according to the embodiment of the present invention will be described in detail with reference to the drawings.
In FIG. 1, a vehicle 1 equipped with a driving support device according to an embodiment of the present invention includes a millimeter-wave radar 2 as an obstacle detection unit, an imaging unit 3, a notification unit 4, and a control unit 5. Consists of including.

ミリ波レーダー２は、例えば、車両１の後部の左右の二箇所に設けられ、ミリ波を送信し、ミリ波の反射波に基づいて、車両１周辺に存在する障害物を検出する。ミリ波レーダー２は、車両１の後側方の障害物を検出する。ミリ波レーダー２は、例えば、障害物の有無やその位置や速度の情報を制御部５に出力する。ミリ波レーダー２の検出範囲は、制御部５により変更可能になっている。 For example, the millimeter wave radar 2 is provided at two locations on the left and right sides of the rear part of the vehicle 1, transmits millimeter waves, and detects obstacles existing around the vehicle 1 based on the reflected waves of the millimeter waves. The millimeter wave radar 2 detects an obstacle on the rear side of the vehicle 1. The millimeter-wave radar 2 outputs, for example, information on the presence / absence of an obstacle, its position, and its speed to the control unit 5. The detection range of the millimeter wave radar 2 can be changed by the control unit 5.

撮像部３は、例えば、カメラなどにより構成され、車両１の前方を撮像する。撮像部３は、撮像した画像を制御部５に出力する。制御部５は、撮像部３によって撮像された画像からエッジ検出及びパターンマッチングなどによって、車両１の前方の他車両を検出したり、車両１の前方の路面の状況を検出したりする。 The imaging unit 3 is composed of, for example, a camera or the like, and images the front of the vehicle 1. The image pickup unit 3 outputs the captured image to the control unit 5. The control unit 5 detects another vehicle in front of the vehicle 1 or detects the condition of the road surface in front of the vehicle 1 by edge detection, pattern matching, or the like from the image captured by the image pickup unit 3.

報知部４は、例えば、モニタ装置、スピーカ、ランプ、メータ、ブザーなどで構成され、視覚、聴覚などを通じて各種情報を運転者に報知する。 The notification unit 4 is composed of, for example, a monitor device, a speaker, a lamp, a meter, a buzzer, and the like, and notifies the driver of various information through visual and auditory senses.

制御部５は、ＣＰＵ（Central Processing Unit）と、ＲＡＭ（Random Access Memory）と、ＲＯＭ（Read Only Memory）と、フラッシュメモリと、入力ポートと、出力ポートとを備えたコンピュータユニットによって構成されている。 The control unit 5 is composed of a computer unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an input port, and an output port. ..

このコンピュータユニットのＲＯＭには、各種制御定数や各種マップ等とともに、当該コンピュータユニットを制御部５として機能させるためのプログラムが記憶されている。すなわち、ＣＰＵがＲＯＭに記憶されたプログラムを実行することにより、当該コンピュータユニットは、制御部５として機能する。 The ROM of the computer unit stores various control constants, various maps, and the like, as well as a program for causing the computer unit to function as the control unit 5. That is, when the CPU executes the program stored in the ROM, the computer unit functions as the control unit 5.

制御部５の入力ポートには、上述したミリ波レーダー２、撮像部３に加え、車速センサ１０１、シフトポジションセンサ１０２等の各種センサ類が接続されている。 In addition to the millimeter-wave radar 2 and the imaging unit 3 described above, various sensors such as the vehicle speed sensor 101 and the shift position sensor 102 are connected to the input port of the control unit 5.

車速センサ１０１は、車両１の速度を検出する。シフトポジションセンサ１０２は、運転者による不図示のシフトレバーの操作により選択されたシフト位置を検出する。シフト位置は、例えば、Ｐ（パーキング）レンジ、Ｒ（リバース）レンジ、Ｄ（ドライブ）レンジ、Ｌ（ロー）レンジあるいは、Ｍ（マニュアル）レンジのいずれかが選択される。 The vehicle speed sensor 101 detects the speed of the vehicle 1. The shift position sensor 102 detects a shift position selected by the driver's operation of a shift lever (not shown). For the shift position, for example, one of P (parking) range, R (reverse) range, D (drive) range, L (low) range, and M (manual) range is selected.

一方、制御部５の出力ポートには、上述した報知部４等の各種操作対象類が接続されている。 On the other hand, various operation targets such as the above-mentioned notification unit 4 are connected to the output port of the control unit 5.

本実施例において、制御部５は、車両１が斜め駐車をしているか否かを判定する。制御部５は、例えば、撮像部３の撮像した車両１の前方の画像から、図２に示すように、車両１の両脇にある線１１及び道路の境界線１２などを検出し、その位置関係から斜め駐車か否かを判定する。 In this embodiment, the control unit 5 determines whether or not the vehicle 1 is parked diagonally. As shown in FIG. 2, the control unit 5 detects, for example, the lines 11 on both sides of the vehicle 1 and the road boundary line 12 from the image in front of the vehicle 1 captured by the image pickup unit 3, and the positions thereof. Judge whether it is diagonal parking or not from the relationship.

図１において、制御部５は、車両１が斜め駐車している状態から、後退して出ていく場合、ミリ波レーダー２により車両１の後方側方の障害物を検出すると、報知部４により障害物の存在を報知させる。 In FIG. 1, when the control unit 5 detects an obstacle on the rear side of the vehicle 1 by the millimeter wave radar 2 when the vehicle 1 moves backward from the state where the vehicle 1 is parked diagonally, the notification unit 4 notifies the vehicle 1. Notify the presence of obstacles.

制御部５は、車両１が斜め駐車している状態から、後退して出ていくとき、ミリ波レーダー２により車両１の後方に動きのない連続して並んでいる複数の障害物を検出した場合、車両１に最も近い障害物の車両１側の端部と車両１との距離に応じて車両１の後方の道路の幅方向にミリ波レーダー２の検出範囲を縮小する。 The control unit 5 detects a plurality of stationary obstacles lined up behind the vehicle 1 by the millimeter wave radar 2 when the vehicle 1 is retracted and exits from the state where the vehicle 1 is parked diagonally. In this case, the detection range of the millimeter wave radar 2 is reduced in the width direction of the road behind the vehicle 1 according to the distance between the end of the obstacle on the vehicle 1 side closest to the vehicle 1 and the vehicle 1.

制御部５は、例えば、複数の障害物の障害物間の距離が所定間隔以下であると、障害物が並んでいると判定する。 For example, when the distance between obstacles of a plurality of obstacles is equal to or less than a predetermined distance, the control unit 5 determines that the obstacles are lined up.

制御部５は、例えば、車両１の後方に動きのない連続して並んでいる複数の障害物を検出すると、車両１に最も近い障害物の車両１側の端部と車両１との距離が所定距離以下の場合、車両１の後方の道路の幅方向のミリ波レーダー２検出範囲を、車両１に最も近い障害物の車両１側の端部よりも車両１側に縮小する。 For example, when the control unit 5 detects a plurality of obstacles that are not moving and are lined up continuously behind the vehicle 1, the distance between the end of the obstacle closest to the vehicle 1 on the vehicle 1 side and the vehicle 1 is set. When the distance is less than or equal to the predetermined distance, the millimeter-wave radar 2 detection range in the width direction of the road behind the vehicle 1 is reduced to the vehicle 1 side from the end of the obstacle closest to the vehicle 1 on the vehicle 1 side.

図２に示すように、Ａで示した枠は、車両１の左後方のミリ波レーダー２の標準の検出範囲であり、Ｂで示した枠は、車両１の右後方のミリ波レーダー２の標準の検出範囲である。 As shown in FIG. 2, the frame shown by A is the standard detection range of the millimeter wave radar 2 on the left rear side of the vehicle 1, and the frame shown by B is the millimeter wave radar 2 on the right rear side of the vehicle 1. This is the standard detection range.

図２において、車両１の後方の道路に駐車されている駐車車両２０は、動きのない連続して並んでいる複数の障害物として検出され、ミリ波レーダー２の検出範囲は、ｘで示す矢印のように、車両１に最も近い駐車車両２０の車両１側の端部よりも車両１側に縮小される。 In FIG. 2, the parked vehicle 20 parked on the road behind the vehicle 1 is detected as a plurality of stationary and continuously arranged obstacles, and the detection range of the millimeter wave radar 2 is indicated by an arrow indicated by x. As shown above, the parking vehicle 20 closest to the vehicle 1 is reduced to the vehicle 1 side rather than the end on the vehicle 1 side.

このようにすることで、車両１の後退時に検出したい走行車両３０の走行不可能な、駐車車両２０の存在する範囲や、歩道を検出範囲から外すことができ、歩道を走っている自転車４０などを検出して報知することを抑制することができる。 By doing so, it is possible to remove the range in which the parked vehicle 20 that cannot run the traveling vehicle 30 that is desired to be detected when the vehicle 1 is retracted, the sidewalk from the detection range, and the bicycle 40 running on the sidewalk. Can be suppressed from being detected and notified.

図１において、制御部５は、車両１が斜め駐車している状態から、後退して出ていくとき、車両１の後方の道路が一方通行である場合、一方通行の進行方向の下流側のミリ波レーダー２による一方通行の進行方向の下流側の検出範囲を、一方通行の進行方向の上流側に縮小する。 In FIG. 1, when the vehicle 1 is retracted from a state where the vehicle 1 is parked diagonally and exits, if the road behind the vehicle 1 is one-way, the control unit 5 is on the downstream side in the one-way traveling direction. The detection range on the downstream side in the one-way traveling direction by the millimeter-wave radar 2 is reduced to the upstream side in the one-way traveling direction.

制御部５は、例えば、駐車前の撮像部３の画像から、一方通行の標識を認識していた場合、車両１の後方の道路が一方通行であると判定する。制御部５は、例えば、ナビゲーションシステムなどの道路情報から車両１の後方の道路が一方通行であると判定してもよい。 For example, when the control unit 5 recognizes the one-way sign from the image of the image pickup unit 3 before parking, the control unit 5 determines that the road behind the vehicle 1 is a one-way street. The control unit 5 may determine, for example, that the road behind the vehicle 1 is a one-way street from road information such as a navigation system.

図２において、車両１の後方の道路が一方通行であると認識されると、一方通行の進行方向の下流側のミリ波レーダー２による一方通行の進行方向の下流側の検出範囲Ｂは、ｚで示す矢印のように、一方通行の進行方向の上流側に縮小される。 In FIG. 2, when the road behind the vehicle 1 is recognized as one-way, the detection range B on the downstream side in the one-way traveling direction by the millimeter-wave radar 2 on the downstream side in the one-way traveling direction is z. As shown by the arrow indicated by, it is reduced to the upstream side in the one-way direction of travel.

このようにすることで、一方通行で走行車両３０が来ることがない一方通行の進行方向の下流側の検出を制限することができ、報知不要な検出を抑制することができる。 By doing so, it is possible to limit the detection on the downstream side in the one-way traveling direction in which the traveling vehicle 30 does not come in one-way traffic, and it is possible to suppress the detection that does not require notification.

なお、検出範囲を縮小するのではなく、ミリ波レーダー２による検出を禁止するようにしてもよい。 Instead of reducing the detection range, detection by the millimeter wave radar 2 may be prohibited.

図１において、制御部５は、車両１が斜め駐車している状態から、後退して出ていくとき、車両１の進行方向のミリ波レーダー２による車両１の後方の道路の進行方向の上流側の検出範囲を、車両１の後方の道路の道路幅に応じて拡大する。 In FIG. 1, when the vehicle 1 is retracted from the state where the vehicle 1 is parked diagonally and exits, the control unit 5 is upstream in the traveling direction of the road behind the vehicle 1 by the millimeter wave radar 2 in the traveling direction of the vehicle 1. The detection range on the side is expanded according to the width of the road behind the vehicle 1.

制御部５は、例えば、駐車前の撮像部３の画像から、車両１の後方の道路の道路幅や進行方向を検出する。制御部５は、例えば、ナビゲーションシステムなどの道路情報から車両１の後方の道路の道路幅や進行方向を検出してもよい。 The control unit 5 detects, for example, the road width and the traveling direction of the road behind the vehicle 1 from the image of the image pickup unit 3 before parking. For example, the control unit 5 may detect the road width and the traveling direction of the road behind the vehicle 1 from the road information such as the navigation system.

図２において、車両１の進行方向のミリ波レーダー２の検出範囲Ａは、ｙで示す矢印のように、車両１の後方の道路の進行方向の上流側に車両１の後方の道路の道路幅に応じて拡大される。 In FIG. 2, the detection range A of the millimeter-wave radar 2 in the traveling direction of the vehicle 1 is the road width of the road behind the vehicle 1 on the upstream side of the traveling direction of the road behind the vehicle 1 as shown by the arrow indicated by y. It will be expanded accordingly.

道路幅が大きいということは、検出したい走行車両３０の走行速度域が高いと考えられるため、検出範囲を道路の進行方向の上流側に拡大することで、早期に走行車両３０を検出して報知することができる。 Since it is considered that the traveling speed range of the traveling vehicle 30 to be detected is high when the road width is large, the traveling vehicle 30 is detected and notified at an early stage by expanding the detection range to the upstream side in the traveling direction of the road. can do.

制御部５は、車両１が縦列駐車している状態において、後方の障害物を検出するとき、歩道側のミリ波レーダー２による検出を一時的に禁止する。 When the vehicle 1 is parallel parked and the control unit 5 detects an obstacle behind it, the control unit 5 temporarily prohibits the detection by the millimeter wave radar 2 on the sidewalk side.

制御部５は、例えば、撮像部３の撮像した車両１の前方の画像から、図３に示すように、道路の境界線１２や前方の駐車車両２０などを検出し、その位置関係から縦列駐車か否かや、歩道がどちら側にあるかを判定する。 As shown in FIG. 3, the control unit 5 detects a road boundary line 12, a parked vehicle 20 in front, and the like from an image in front of the vehicle 1 captured by the imaging unit 3, and parallel parks based on the positional relationship. Determine if or not and which side the sidewalk is on.

図３において、Ａで示した枠は、車両１の左後方のミリ波レーダー２の標準の検出範囲であり、Ｂで示した枠は、車両１の右後方のミリ波レーダー２の標準の検出範囲である。 In FIG. 3, the frame shown by A is the standard detection range of the millimeter wave radar 2 on the left rear side of the vehicle 1, and the frame shown by B is the standard detection range of the millimeter wave radar 2 on the right rear side of the vehicle 1. The range.

図３において、後方の障害物を検出するとき、歩道側のミリ波レーダー２の検出範囲Ａは、一時的に禁止される。 In FIG. 3, when detecting an obstacle behind, the detection range A of the millimeter wave radar 2 on the sidewalk side is temporarily prohibited.

このようにすることで、検出したい走行車両３０が来ることがない歩道側の検出を制限することができ、報知不要な検出を抑制することができる。 By doing so, it is possible to limit the detection on the sidewalk side where the traveling vehicle 30 to be detected does not come, and it is possible to suppress the detection that does not require notification.

以上のように構成された本実施例に係る運転支援装置による検出範囲変更処理について、図４を参照して説明する。なお、以下に説明する検出範囲変更処理は、車両１が斜め駐車している状態から、後退して出ていくとき、例えばシフト位置がＲレンジになったときに実行される。 The detection range changing process by the driving support device according to the present embodiment configured as described above will be described with reference to FIG. The detection range change process described below is executed when the vehicle 1 is obliquely parked and then moves backward, for example, when the shift position is in the R range.

ステップＳ１において、制御部５は、ミリ波レーダー２により自車両周辺の障害物を検出する。ステップＳ１の処理を実行した後、制御部５は、ステップＳ２の処理を実行する。 In step S1, the control unit 5 detects an obstacle around the own vehicle by the millimeter wave radar 2. After executing the process of step S1, the control unit 5 executes the process of step S2.

ステップＳ２において、制御部５は、自車両後方に連続する障害物があるか否かを判定する。連続した障害物がないと判定した場合、制御部５は、ステップＳ４の処理を実行する。連続した障害物があると判定した場合、制御部５は、ステップＳ３の処理を実行する。 In step S2, the control unit 5 determines whether or not there is a continuous obstacle behind the own vehicle. If it is determined that there are no continuous obstacles, the control unit 5 executes the process of step S4. When it is determined that there are continuous obstacles, the control unit 5 executes the process of step S3.

ステップＳ３において、制御部５は、自車両後方の道路の道路幅方向の障害物の検出範囲を、連続する障害物の自車両に最も近い障害物の自車両側の端部よりも自車両側に縮小する。ステップＳ３の処理を実行した後、制御部５は、ステップＳ４の処理を実行する。 In step S3, the control unit 5 sets the detection range of obstacles in the road width direction of the road behind the own vehicle to the own vehicle side of the end of the obstacle closest to the own vehicle of the continuous obstacle on the own vehicle side. Shrink to. After executing the process of step S3, the control unit 5 executes the process of step S4.

ステップＳ４において、制御部５は、障害物の検出範囲を、自車両後方の道路の進行方向の上流側に拡大する。ステップＳ４の処理を実行した後、制御部５は、検出範囲変更処理を終了する。 In step S4, the control unit 5 expands the obstacle detection range to the upstream side in the traveling direction of the road behind the own vehicle. After executing the process of step S4, the control unit 5 ends the detection range change process.

本実施例に係る運転支援装置による一方通行による検出禁止処理について、図５を参照して説明する。なお、以下に説明する一方通行による検出禁止処理は、車両１が斜め駐車している状態から、後退して出ていくとき、例えばシフト位置がＲレンジになったときに実行される。 The one-way detection prohibition process by the driving support device according to this embodiment will be described with reference to FIG. The one-way detection prohibition process described below is executed when the vehicle 1 is obliquely parked and then moves backward, for example, when the shift position is in the R range.

ステップＳ１１において、制御部５は、自車両後方の道路は一方通行であるか否かを判定する。自車両後方の道路は一方通行でないと判定した場合、制御部５は、一方通行による検出禁止処理を終了する。自車両後方の道路は一方通行であると判定した場合、制御部５は、ステップＳ１２の処理を実行する。 In step S11, the control unit 5 determines whether or not the road behind the own vehicle is a one-way street. When it is determined that the road behind the own vehicle is not one-way, the control unit 5 ends the detection prohibition process by one-way. When it is determined that the road behind the own vehicle is one-way, the control unit 5 executes the process of step S12.

ステップＳ１２において、制御部５は、一方通行の進行方向の下流側の障害物の検出を禁止する。ステップＳ１２の処理を実行した後、制御部５は、一方通行による検出禁止処理を終了する。 In step S12, the control unit 5 prohibits the detection of obstacles on the downstream side in the one-way traveling direction. After executing the process of step S12, the control unit 5 ends the one-way detection prohibition process.

本実施例に係る運転支援装置による歩道による検出禁止処理について、図６を参照して説明する。なお、以下に説明する歩道による検出禁止処理は、車両１が縦列駐車している状態で、後方の障害物を検出するとき、例えばシフト位置がＲレンジになったときに実行される。 The detection prohibition process by the sidewalk by the driving support device according to this embodiment will be described with reference to FIG. The sidewalk detection prohibition process described below is executed when the vehicle 1 is parallel parked and an obstacle behind it is detected, for example, when the shift position is in the R range.

ステップＳ２１において、制御部５は、自車両に隣接して歩道が有るか否かを判定する。歩道が無いと判定した場合、制御部５は、歩道による検出禁止処理を終了する。歩道が有ると判定した場合、制御部５は、ステップＳ２２の処理を実行する。 In step S21, the control unit 5 determines whether or not there is a sidewalk adjacent to the own vehicle. When it is determined that there is no sidewalk, the control unit 5 ends the detection prohibition process by the sidewalk. If it is determined that there is a sidewalk, the control unit 5 executes the process of step S22.

ステップＳ２２において、制御部５は、歩道側の障害物の検出を禁止する。ステップＳ２２の処理を実行した後、制御部５は、歩道による検出禁止処理を終了する。 In step S22, the control unit 5 prohibits the detection of obstacles on the sidewalk side. After executing the process of step S22, the control unit 5 ends the detection prohibition process by the sidewalk.

このように、上述の実施例では、車両１が斜め駐車している状態から、後退して出ていくとき、ミリ波レーダー２により車両１の後方に動きのない連続して並んでいる複数の障害物を検出した場合、車両１に最も近い障害物の車両１側の端部と車両１との距離に応じて車両１の後方の道路の幅方向にミリ波レーダー２の検出範囲を縮小する。 As described above, in the above-described embodiment, when the vehicle 1 is retracted and exits from the state where the vehicle 1 is parked diagonally, a plurality of vehicles 1 are continuously arranged behind the vehicle 1 by the millimeter wave radar 2. When an obstacle is detected, the detection range of the millimeter wave radar 2 is reduced in the width direction of the road behind the vehicle 1 according to the distance between the end of the obstacle on the vehicle 1 side closest to the vehicle 1 and the vehicle 1. ..

これにより、自車両周辺の状態に応じた適切な検出範囲を設定することができ、報知不要な障害物を運転者に報知することを抑制することができる。 As a result, an appropriate detection range can be set according to the state around the own vehicle, and it is possible to suppress notifying the driver of an obstacle that does not require notification.

また、車両１の後方に動きのない連続して並んでいる複数の障害物を検出すると、車両１に最も近い障害物の車両１側の端部と車両１との距離が所定距離以下の場合、車両１の後方の道路の幅方向のミリ波レーダー２の検出範囲を、車両１に最も近い障害物の車両１側の端部よりも車両１側に縮小する。 Further, when a plurality of obstacles that are not moving and are lined up continuously behind the vehicle 1 are detected, the distance between the end of the obstacle closest to the vehicle 1 on the vehicle 1 side and the vehicle 1 is less than or equal to a predetermined distance. , The detection range of the millimeter wave radar 2 in the width direction of the road behind the vehicle 1 is reduced to the vehicle 1 side from the end of the obstacle closest to the vehicle 1 on the vehicle 1 side.

これにより、車両が走行可能な範囲のみを検出範囲にすることができ、歩道などの道路外の障害物を検出して報知を行なうことを抑制することができる。 As a result, only the range in which the vehicle can travel can be set as the detection range, and it is possible to suppress the detection and notification of obstacles outside the road such as sidewalks.

また、車両１が斜め駐車している状態から、後退して出ていくとき、車両１の後方の道路が一方通行である場合、一方通行の進行方向の下流側のミリ波レーダー２による一方通行の進行方向の下流側の検出範囲を、一方通行の進行方向の上流側に縮小する。 Further, when the vehicle 1 is parked diagonally and then retreats and exits, if the road behind the vehicle 1 is one-way, one-way traffic is provided by the millimeter-wave radar 2 on the downstream side in the one-way traffic direction. The detection range on the downstream side in the traveling direction of is reduced to the upstream side in the one-way traveling direction.

これにより、一方通行で走行車両が来ることがない一方通行の進行方向の下流側の検出を制限することができ、報知不要な検出を抑制することができる。 As a result, it is possible to limit the detection on the downstream side in the traveling direction of the one-way street where the traveling vehicle does not come in the one-way street, and it is possible to suppress the detection that does not require notification.

また、車両１が斜め駐車している状態から、後退して出ていくとき、車両１の進行方向のミリ波レーダー２による車両１の後方の道路の進行方向の上流側の検出範囲を、車両１の後方の道路の道路幅に応じて拡大する。 Further, when the vehicle 1 is parked diagonally and then moves backward, the detection range on the upstream side in the traveling direction of the road behind the vehicle 1 by the millimeter-wave radar 2 in the traveling direction of the vehicle 1 is detected by the vehicle. It expands according to the width of the road behind 1.

道路幅が大きいということは、検出したい走行車両３０の走行速度域が高いと考えられるため、検出範囲を道路の進行方向の上流側に拡大することで、早期に走行車両３０を検出して報知することができる。 Since it is considered that the traveling speed range of the traveling vehicle 30 to be detected is high when the road width is large, the traveling vehicle 30 is detected and notified at an early stage by expanding the detection range to the upstream side in the traveling direction of the road. can do.

また、車両１が縦列駐車している状態において、後方の障害物を検出するとき、歩道側のミリ波レーダー２による検出を一時的に禁止する。 Further, when the vehicle 1 is parallel parked and an obstacle behind the vehicle is detected, the detection by the millimeter wave radar 2 on the sidewalk side is temporarily prohibited.

これにより、検出したい走行車両が来ることがない歩道側の検出を制限することができ、報知不要な検出を抑制することができる。 As a result, it is possible to limit the detection on the sidewalk side where the traveling vehicle to be detected does not come, and it is possible to suppress the detection that does not require notification.

本実施例では、各種センサ情報に基づき制御部５が各種の判定や算出を行なう例について説明したが、これに限らず、車両１が外部サーバ等の車外装置と通信可能な通信部を備え、該通信部から送信された各種センサの検出情報に基づき車外装置によって各種の判定や算出が行なわれ、その判定結果や算出結果を通信部で受信して、その受信した判定結果や算出結果を用いて各種制御を行なってもよい。 In this embodiment, an example in which the control unit 5 performs various determinations and calculations based on various sensor information has been described, but the present invention is not limited to this, and the vehicle 1 is provided with a communication unit capable of communicating with an external device such as an external server. Various judgments and calculations are performed by the external device based on the detection information of various sensors transmitted from the communication unit, the judgment results and calculation results are received by the communication unit, and the received judgment results and calculation results are used. Various controls may be performed.

本発明の実施例を開示したが、当業者によっては本発明の範囲を逸脱することなく変更が加えられうることは明白である。すべてのこのような修正及び等価物が次の請求項に含まれることが意図されている。 Although the embodiments of the present invention have been disclosed, it is clear that some skilled in the art can make changes without departing from the scope of the present invention. All such modifications and equivalents are intended to be included in the following claims.

１ 車両
２ ミリ波レーダー（障害物検出部）
３ 撮像部
４ 報知部
５ 制御部
１０１ 車速センサ
１０２ シフトポジションセンサ 1 Vehicle 2 mm wave radar (obstacle detection unit)
3 Imaging unit 4 Notification unit 5 Control unit 101 Vehicle speed sensor 102 Shift position sensor

Claims (5)

車両後側方の障害物を検出する障害物検出部と、各種情報を自車両の運転者に報知する報知部と、前記障害物検出部の検出範囲を変更可能であり前記障害物検出部が検出した障害物の存在を前記報知部により前記運転者に報知させる制御部と、を備える車両の運転支援装置であって、
前記制御部は、前記車両が斜め駐車している状態から後退するとき、前記車両の後方に動きのない複数の障害物を検出した場合、前記車両に最も近い前記障害物の前記車両側の端部と前記車両との距離に応じて前記車両の後方の道路の幅方向に前記障害物検出部の検出範囲を縮小する運転支援装置。 The obstacle detection unit that detects obstacles on the rear side of the vehicle, the notification unit that notifies the driver of the own vehicle of various information, and the detection range of the obstacle detection unit can be changed by the obstacle detection unit. A vehicle driving support device including a control unit that notifies the driver of the presence of a detected obstacle by the notification unit.
When the control unit detects a plurality of stationary obstacles behind the vehicle when the vehicle is retracted from an obliquely parked state, the control unit may detect a plurality of stationary obstacles behind the vehicle, and the end of the obstacle closest to the vehicle on the vehicle side. A driving support device that reduces the detection range of the obstacle detection unit in the width direction of the road behind the vehicle according to the distance between the unit and the vehicle. 前記制御部は、前記車両に最も近い前記障害物の前記車両側の端部と前記車両との距離が所定距離以下の場合、前記車両の後方の道路の幅方向の前記障害物検出部の検出範囲を、前記車両に最も近い前記障害物の前記車両側の端部よりも前記車両側に縮小する請求項１に記載の運転支援装置。 When the distance between the vehicle-side end of the obstacle closest to the vehicle and the vehicle is less than or equal to a predetermined distance, the control unit detects the obstacle detection unit in the width direction of the road behind the vehicle. The driving support device according to claim 1, wherein the range is reduced toward the vehicle side from the end portion of the obstacle closest to the vehicle on the vehicle side. 前記制御部は、前記車両の後方の道路が一方通行である場合、前記障害物検出部による一方通行の進行方向の下流側の検出範囲を、一方通行の進行方向の上流側に縮小する請求項１または請求項２に記載の運転支援装置。 A claim that the control unit reduces the detection range on the downstream side in the one-way traveling direction by the obstacle detection unit to the upstream side in the one-way traveling direction when the road behind the vehicle is one-way. 1 or the driving support device according to claim 2. 前記制御部は、前記障害物検出部による前記車両の後方の道路の進行方向の上流側の検出範囲を、前記車両の後方の道路の道路幅に応じて拡大する請求項１から請求項３のいずれか１項に記載の運転支援装置。 The control unit has claims 1 to 3 that expand the detection range of the obstacle detection unit on the upstream side of the road behind the vehicle in the traveling direction according to the road width of the road behind the vehicle. The driving support device according to any one of the following items. 車両後側方の障害物を検出する障害物検出部を備える車両の運転支援装置であって、
前記障害物検出部の検出範囲を変更可能な制御部を備え、
前記制御部は、前記車両が縦列駐車をしている状態で前記車両の後方の障害物を検出するとき、歩道側の検出を一時的に禁止する運転支援装置。 A vehicle driving support device equipped with an obstacle detection unit that detects obstacles on the rear side of the vehicle.
A control unit capable of changing the detection range of the obstacle detection unit is provided.
The control unit is a driving support device that temporarily prohibits detection on the sidewalk side when detecting an obstacle behind the vehicle while the vehicle is parallel parked.
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