JP2023000573A - Vehicle control apparatus - Google Patents

Abstract

To reduce a possibility that unnecessary vehicle control is executed due to the false recognition of a stationary object, in position estimation processing (dead reckoning) of estimating the position, with respect to a vehicle, of an object which an object sensor has no longer detected.SOLUTION: When an object which an object sensor detected is no longer detected, a control unit executes position estimation processing of estimating an object position at and after a time point when the object is no longer detected by the object sensor. While the control unit is executing the position estimation processing at an OFF time point when the ignition of a vehicle is changed from an ON state to an OFF state, if the object is a stationary object, the control unit stores the object position of the stationary object at the OFF time point and the current position of the vehicle at the OFF time point. At an ON time point when the ignition is changed from the OFF state to the ON state, in a case where it is determined that the vehicle is moved within a period from the OFF time point to the ON time point, the control unit does not estimate the object position of the stationary object by the position estimation processing.SELECTED DRAWING: Figure 4

Description

The present invention relates to a vehicle control device that executes position estimation processing (dead reckoning) for estimating the position of an object with respect to a vehicle that is no longer detected by an object sensor.

2. Description of the Related Art Conventionally, there has been known a vehicle control device that estimates the position (object position) of an "object that is no longer detected by an object sensor (radar, camera, etc.)" relative to a vehicle by executing dead reckoning. For example, a vehicle control device (hereinafter referred to as a "conventional device") described in Patent Document 1, when detection information of another vehicle cannot be obtained, obtains the detection information until immediately before it becomes impossible to receive the detection information. dead reckoning to estimate the position of the vehicle based on the detection information obtained from the vehicle and the data obtained from various sensor groups of the vehicle. Then, the conventional device performs vehicle control based on the position of the other vehicle.

WO2013/153660

The inventors of the present invention have developed the following vehicle control device (hereinafter referred to as the "examined device") in order to recognize a stationary object using "dead reckoning results at the OFF time" at the ON time. Are considering.
The on time is the time when the vehicle ignition changes from the off state to the on state, i.e., when the vehicle ignition key switch changes from the off position to the on position. The off point is when the vehicle ignition changes from the on state to the off state, ie, when the vehicle ignition key switch changes from the on position to the off position.

The examination device stores the dead reckoning result (the position of the stationary object with respect to the vehicle) executed at the time of turning off in a non-volatile memory (for example, EEPROM). The device under consideration estimates the object position of the stationary object based on the dead reckoning result stored in the non-volatile memory at the ON time.

According to the examination device, the object position of the stationary object is estimated at the time when the ignition of the vehicle is turned on under the premise that the vehicle and the stationary object do not move while the ignition of the vehicle is in the OFF state. As a result, even if the stationary object is not detected by the object sensor at the ON time, the device under consideration can estimate the object position of the stationary object.

However, during the OFF period from the OFF time to the ON time, there are cases where the vehicle is moving due to towing or the like. In such a case, if the object position of the stationary object is estimated based on the dead reckoning results stored by the investigation device at the ON time, even if the stationary object does not exist around the vehicle after movement, However, there is a possibility of erroneously recognizing that a stationary object exists. Then, unnecessary vehicle control may be executed based on the erroneously recognized object position of the stationary object.

The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to prevent erroneous recognition of stationary objects that do not exist in the vicinity of the vehicle when the vehicle is moving during the OFF period, thereby possibly causing unnecessary vehicle control to be executed. It is an object of the present invention to provide a vehicle control device that reduces noise.

A vehicle control device of the present invention (hereinafter also referred to as "the device of the present invention") includes:
object sensors (21, 22) for detecting objects located in a predetermined detectable area (DA) around the vehicle (VA);
state value sensors (23, 24, 25) configured to detect driving state values relating to the driving state of the vehicle;
If at least the index value obtained based on the object position, which is the position of the object detected by the object sensor with respect to the vehicle, satisfies a predetermined control condition (step 635 "Yes"), predetermined vehicle control for the object is performed. a control unit (20, 30, 40) configured to perform (step 640);
Prepare.

The control unit is
If the object detected by the object sensor is positioned outside the detectable area and is no longer detected (step 525 "Yes"), the running state value and the object sensor detected executing position estimation processing for estimating the object position of the object that is no longer detected by the object sensor based on the object position of (step 545);
When the ignition of the vehicle is turned off ("Yes" in step 705) and the position estimation process is being performed ("Yes" in step 710), the position is estimated by the position estimation process. If the estimated object is a static object that is stationary (step 715 "Yes"), OFF position specifying information capable of specifying the object position of the stationary object at the OFF time and the position of the vehicle at the OFF time (step 720, step 730),
At the ON time point when the ignition changes from the OFF state to the ON state (step 845 "Yes"), the ON position specifying information capable of specifying the position of the vehicle at the ON time point and the OFF position specifying information. If it is determined that the vehicle has not moved during the period from the off time to the on time based on the above (step 830 "Yes"), the position estimation process estimates the object position of the stationary object (step 835),
If it is determined that the vehicle has moved during the period based on the on-position specifying information and the off-position specifying information at the on time point (step 830 "No"), the position estimation processing determines that the stationary object has moved. do not estimate the object position of (step 815);
is configured as

If the vehicle is moving during the OFF period from the OFF time to the ON time, there is a high possibility that the current position of the vehicle at the ON time is not within the predetermined range from the current position of the vehicle at the OFF time. In this case, since the positional relationship between the stationary object and the vehicle has changed, there is a high possibility that the stationary object does not exist around the vehicle. Therefore, according to the apparatus of the present invention, even if the object position of the stationary object is estimated by the position estimation process at the OFF time, the position of the stationary object is not estimated by the position estimation process at the ON time. Thus, when the vehicle is moving during the OFF period, the object position of the stationary object that does not exist around the vehicle is not estimated, so that the stationary object that does not exist around the vehicle can be prevented from being erroneously recognized. In addition, it is possible to reduce the possibility of executing unnecessary vehicle control due to erroneous recognition of a stationary object.

In the above description, in order to facilitate understanding of the invention, names and/or symbols used in the embodiments are added in parentheses to configurations of the invention corresponding to the embodiments described later. However, each component of the invention is not limited to the embodiments defined by the names and/or symbols.

FIG. 1 is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of detectable regions and non-detectable regions of the millimeter wave radar and the front camera shown in FIG. FIG. 3 is an explanatory diagram of dead reckoning by the vehicle control device according to the embodiment of the present invention. FIG. 4 is an explanatory diagram of the outline of the operation of the vehicle control device according to the embodiment of the present invention. FIG. 5 is a flow chart showing an object recognition routine executed by the CPU of the driving assistance ECU shown in FIG. 6 is a flowchart showing a vehicle control routine executed by the CPU of the driving assistance ECU shown in FIG. 1. FIG. FIG. 7 is a flowchart showing an off-time storage routine executed by the CPU of the driving assistance ECU shown in FIG. FIG. 8 is a flowchart showing an ON determination routine executed by the CPU of the driving assistance ECU shown in FIG.

<Configuration>
As shown in FIG. 1, a vehicle control device (hereinafter referred to as "this control device") 10 according to an embodiment of the present invention is mounted on a vehicle VA.

The control device 10 includes a driving support ECU 20, an engine ECU 30 and a brake ECU 40. The driving support ECU 20 is hereinafter referred to as "DSECU 20".

These ECUs are control units (Electronic Control Units) having microcomputers as main parts, and are also called "controllers" or "control units." The microcomputer includes a CPU, ROM, RAM, writable nonvolatile memory (EEPROM in this example), an interface (I/F), and the like. These ECUs are connected via a CAN (Controller Area Network) so as to be able to transmit and receive information to each other. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM. Some or all of these ECUs may be integrated into one ECU.

Further, the control device 10 includes a millimeter wave radar 21 , a front camera 22 , a wheel speed sensor 23 , an acceleration sensor 24 , a steering angle sensor 25 and a GNSS (Global Navigation Satellite System) receiver 26 . These are connected to the DSECU 20 so that data can be exchanged.

The millimeter wave radar 21 is a well-known sensor for detecting an object by transmitting millimeter waves ahead of the vehicle VA and receiving millimeter waves reflected by the object (reflected waves). The millimeter wave radar 21 calculates the distance to the object (object distance) L, the relative velocity of the object to the vehicle VA (object relative velocity) Vr, and the azimuth of the object based on the received reflected waves. Then, the millimeter wave radar 21 transmits "radar object information including the object distance L, the object relative velocity Vr, and the azimuth of the object" to the DSECU 20 every time a predetermined time elapses.

As shown in FIG. 2, the millimeter wave radar 21 is arranged at the center of the front end of the front grille FG of the vehicle VA. The millimeter-wave radar 21 has a predetermined angle θd in each of the left and right directions from "the central axis C1 extending in the front-rear direction Dx of the vehicle VA from the center of the front end" and extends from the center of the front end to the maximum detection distance Lmax. transmit millimeter waves that propagate in the region of . Therefore, the millimeter wave radar 21 can detect objects existing in the above area. However, the millimeter wave radar 21 cannot detect an object existing in the non-detectable area NDA which is less than the minimum detectable distance Lmin from the center of the front end. The millimeter wave radar 21 detects an object present in a detectable area DA that is at least the minimum detectable distance Lmin from the center of the front end and less than the maximum detectable distance Lmax.

In FIG. 2, the direction indicated by symbol Dx is the front-rear direction of the vehicle VA as described above, and is referred to as "the front-rear direction Dx". The direction indicated by symbol Dy is the width direction of the vehicle VA and is referred to as "vehicle width direction Dy".

The front camera 22 is arranged in the upper center of the front window FW in the vehicle interior of the vehicle VA, and acquires an image (hereinafter also referred to as a "front image") of a front area of the vehicle VA. The front camera 22 obtains the distance to the object and the orientation of the object based on the front image. The front camera 22 transmits camera object information including these to the DSECU 20 every time a predetermined time elapses.
As shown in FIG. 2, the front camera 22 cannot detect an object existing in the non-detection area NDA' which is less than the minimum detection distance Lmin' from the front camera 22. FIG. The front camera 22 detects an object present in a detectable area DA' that is at least the minimum detection distance Lmin' from the front camera 22 and less than the maximum detection distance Lmax'.
In this example, as shown in FIG. 2, the distance Lmin of the undetectable area NDA from the front end of the vehicle VA is shorter than the distance of the undetectable area NDA' from the front end of the vehicle VA. Therefore, if an object is located in an area less than the minimum detection distance Lmin, neither the millimeter wave radar 21 nor the front camera 22 can detect the object, so the DSECU 20 cannot recognize the object.

The wheel speed sensor 23 is provided for each wheel of the vehicle VA. Each wheel speed sensor 23 generates one wheel pulse signal each time the corresponding wheel rotates by a predetermined angle. The DSECU 20 counts the number of pulses per unit time of the wheel pulse signal received from each wheel speed sensor 23, and acquires the rotation speed of each wheel based on the number of pulses. Then, the DSECU 20 acquires the vehicle speed Vs indicating the speed of the vehicle VA based on the wheel speed of each wheel. As an example, the DSECU 20 obtains the average value of the wheel speeds of four wheels as the vehicle speed Vs.

The acceleration sensor 24 measures the acceleration Gx of the vehicle VA in the longitudinal direction Dx and the acceleration Gy of the vehicle VA in the vehicle width direction Dy, and generates detection signals representing the acceleration Gx and the acceleration Gy. The DSECU 10 identifies acceleration Gx and acceleration Gy of the vehicle VA by receiving detection signals from the acceleration sensor 24 .

The steering angle sensor 25 detects a steering angle θ, which is a rotation angle of a steering wheel (not shown) of the vehicle VA with respect to a neutral position, and generates a detection signal representing the steering angle θ. The DSECU 10 identifies the steering angle θ by receiving a detection signal from the steering angle sensor 25 .

The wheel speed sensor 23, the acceleration sensor 24, and the steering angle sensor 25 are sensors for detecting running state values relating to the running state of the vehicle VA, and are sometimes called "state value sensors".

The GNSS receiver 26 receives "signals from artificial satellites (GNSS signals)" and identifies the current position (latitude, longitude) of the vehicle VA based on the GNSS signals. The GNSS receiver 26 transmits a signal representing the current position of the vehicle VA to the DSECU 10 each time a predetermined time period elapses.

The engine ECU 30 is connected to an engine actuator (engine Act) 32 . Engine actuator 32 includes a throttle valve actuator that changes the opening of a throttle valve of engine (E/G) 34 . The engine ECU 30 can change the torque generated by the engine (internal combustion engine) 34 by driving the engine actuator 32 . Torque generated by the engine 34 is transmitted to drive wheels via a transmission (not shown). Therefore, the engine ECU 30 can control the driving force of the vehicle VA and change the acceleration Gx by controlling the engine actuator 32 .

When the vehicle VA is a hybrid vehicle, the engine ECU 30 controls the driving force of the vehicle VA generated by one or both of the "engine and electric motor" as the vehicle driving source. Furthermore, when the vehicle VA is an electric vehicle, the engine ECU 30 controls the driving force of the vehicle VA generated by the electric motor as the vehicle driving source.

The brake ECU 40 is connected to a brake actuator (brake Act) 42 . The brake actuator 42 is provided in a hydraulic circuit between a master cylinder (not shown) that pressurizes hydraulic oil by depressing a brake pedal (not shown) of the vehicle VA and a friction brake mechanism 44 provided for each wheel of the vehicle VA. The friction brake mechanism 44 includes a brake disc 44a fixed to the wheel and a brake caliper 44b fixed to the vehicle body.

The brake actuator 42 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake caliper 44b according to a command from the brake ECU 40, and operates the wheel cylinder with the hydraulic pressure. As a result, the brake actuator 42 presses the brake pad against the brake disc 44a to generate a frictional braking force. Therefore, the brake ECU 40 can control the braking force of the vehicle VA by controlling the brake actuator 42 to change the acceleration Gx (negative acceleration Gx).

<Object recognition>
The DSECU 10 identifies the position of the object Ob with respect to the vehicle VA (hereinafter referred to as "object position P") based on the radar object information and the camera object information every time a predetermined time elapses. Since the object Ob is located in the detectable area DA at time ta shown in FIG. 3, the millimeter wave radar 21 can detect the object Ob. The DSECU 10 identifies the object position Pta at time ta based on the radar object information and the camera object information. The DSECU 10 estimates the object position P'ta+1 at time ta+1 after a predetermined time has elapsed from time ta.

Specifically, first, the DSECU 10 determines the position of the object Ob at time ta+1 when it is assumed that the object Ob moves for a predetermined time along the movement direction of the object Ob at time ta at the absolute velocity Va of the object Ob at time ta. Ask for The moving direction of the object Ob is specified based on the "history of the object position P (Pta-1, Pta-2)" and the "vehicle It is identified based on the “trajectory of VA”. Absolute velocity Va at time ta is specified based on object relative velocity Vr at time ta and vehicle speed Vs at time ta.
Next, the DSECU 10 obtains the position of the vehicle VA at time ta+1 based on the acceleration Gx, acceleration Gy, and vehicle speed Vs at time ta. Further, the DSECU 10 obtains the orientation of the vehicle VA at time ta+1 based on the steering angle θ at time ta.
Then, the DSECU 10 estimates the object position P'ta+1 based on the position of the object Ob, the position of the vehicle VA, and the orientation of the vehicle VA at time ta+1.

At time ta+1, the object Ob is positioned in the undetectable area NDA, so neither the millimeter wave radar 21 nor the front camera 22 can detect the object Ob, and the DSECU 20 cannot recognize the object Ob. Therefore, the DSECU 10 cannot find the object Ob within a predetermined range from the object position P'ta+1. The DSECU 10 identifies this object Ob as a lost object, and executes dead reckoning (position estimation processing) for estimating the position of the object Ob with respect to the vehicle VA, thereby estimating the object position Pta+1 at time ta+1. Dead reckoning is substantially the same as the process of estimating the object position P'ta+1 at time ta. However, in dead reckoning, the DSECU 10 specifies the position of the vehicle VA at time t1 based on the actual "acceleration Gx, acceleration Gy, and vehicle speed Vs of the vehicle VA" during the period from time ta to time ta+1. different from processing.

At time ta+2, the DSECU 20 cannot recognize the object Ob as at time ta+1. Therefore, the DSECU 10 estimates the object position Pta+2 at time ta+2 by dead reckoning.

The DSECU 10 continues the dead reckoning of the disappearing object until the object position P estimated by the dead reckoning is behind a predetermined position (for example, the front end) of the vehicle VA. That is, the DSECU 10 starts dead reckoning when an object Ob becomes a lost object, and ends dead reckoning when the object position P of the lost object reaches a predetermined position of the vehicle VA.

<Vehicle control>
The DSECU 10 acquires an index value based on at least the object position P, and performs predetermined vehicle control when the index value satisfies a predetermined control condition.

As an example, the index value is TTC (Time To Collision). TTC is a value representing the time it takes for an object and the vehicle VA to collide (time required for collision). The DSECU 10 acquires the TTC based on the relative velocity Vr and the object position P of the object.

When the TTC is equal to or less than the threshold time Tth, the DSECU 10 determines that the index value satisfies the control condition, and executes braking control as vehicle control. In this braking control, the DSECU 10 transmits a predetermined target acceleration Gxt (Gxt<0) in the longitudinal direction Dx to the engine ECU 30 and the brake ECU 40 . The engine ECU 30 and the brake ECU 40 respectively control the engine actuator 32 and the brake actuator 42 so that the actual acceleration Gx matches the target acceleration Gxt.

The index value and the vehicle control are not limited to the examples described above. Other examples of the index value and the vehicle control will be described later.

(Outline of operation)
As shown in FIG. 4, the DSECU 10 determines whether or not dead reckoning is being performed at an OFF time toff when the ignition key switch (not shown) of the vehicle VA is changed from the ON position to the OFF position. If the ignition key switch is in the ON position, the ignition of the vehicle VA is in the ON state (i.e., the vehicle drive source is activated), and if the ignition key switch is in the ON position, the vehicle VA is on. The ignition is off (that is, the vehicle drive source is not activated).
When executing dead reckoning, the DSECU 20 determines whether the object Ob whose object position P is estimated by dead reckoning is a "stationary stationary object". Specifically, the DSECU 10 acquires the moving speed of the object Ob based on the last detected object relative speed Vr and the vehicle speed Vs of the object Ob. It is determined that the object Ob is a stationary object.
When the object Ob is a stationary object, the DSECU 10 stores the object position P of the object Ob estimated by dead reckoning and the current position Pvoff of the vehicle VA in the EEPROM at the off time toff. Below, the object position P estimated by dead reckoning is referred to as "object position Pdr". Information that can specify the current position Pvoff of the vehicle VA stored in the EEPROM may be referred to as "off position specifying information".

After that, at the ON time ton when the ignition key switch is changed from the OFF position to the ON position, the DSECU 10 detects if the object position Pdr of the stationary object is stored in the EEPROM (that is, at the OFF time toff If the object position Pdr of the stationary object is estimated by dead reckoning), the current position Pvon of the vehicle VA at the ON time ton is acquired. Information that can specify the current position Pvon of the vehicle VA at the ON time ton may be referred to as "ON position specifying information".
Then, the DSECU 10 acquires the distance Loff between this current position Pvon and "the current position Pvoff of the vehicle VA stored in the EEPROM". This distance Loff is the distance traveled by the vehicle VA during the OFF period when the ignition key switch was in the OFF position, and is referred to as "travel distance Loff".

When the movement distance Loff is equal to or less than the threshold distance Lth (that is, when the current position Pvon of the vehicle VA is within a predetermined range from the current position Pvoff of the vehicle VA), the DSECU 10 determines that the vehicle VA did not move during the OFF period. do. In this case, the DSECU 10 continues the dead reckoning of the stationary object on the assumption that the object Ob (stationary object) is positioned at the object position Ptoff stored in the EEPROM.

When the vehicle VA moves forward by depressing the accelerator pedal or releasing the brake pedal after the ON time ton, the index value of the object Ob satisfies the control condition, and the vehicle control is performed.

On the other hand, when the movement distance Loff is longer than the threshold distance Lth (that is, when the current position Pvon of the vehicle VA is not within the predetermined range from the current position Pvoff of the vehicle VA), the DSECU 10 is towed during the OFF period. It is determined that the vehicle VA has moved. In this case, the DSECU 10 does not perform dead reckoning. That is, the DSECU 10 determines that the object Ob is not positioned at the object position Ptoff. Therefore, even if the driver of the vehicle VA depresses the accelerator pedal or releases the brake pedal after the ON time ton, the index value of the object Ob never satisfies the control condition. As a result, when the situation around the vehicle VA at the ON time ton has changed from the OFF time toff due to movement of the vehicle VA during the OFF period, the DSECU 10 does not use the dead reckoning result at the OFF time toff. First, the object Ob is recognized based on the radar object information and the camera object information after the ON time ton. Therefore, the DSECU 10 can prevent erroneous recognition of the object Ob that no longer exists at the ON time ton, and can prevent unnecessary vehicle control.

(Specific operation)
<Object recognition routine>
The CPU of the DSECU 10 (hereinafter referred to as "CPU" refers to the CPU of the DSECU 10 unless otherwise specified) executes an object recognition routine shown in the flowchart of FIG. 5 every time a predetermined time elapses.

Accordingly, at a predetermined timing, the CPU starts processing from step 500 in FIG. 5 and executes steps 505 to 525 in order.

Step 505 : The CPU acquires radar object information from the millimeter wave radar 21 .
Step 510 : The CPU acquires camera object information from the front camera 22 .
Step 515: The CPU identifies the object position P based on the radar object information and the camera object information.
The CPU identifies the distance L to the object Ob based on the radar object information, and identifies the azimuth of the object Ob based on the camera object information. That is, the CPU specifies the position of the object Ob in the longitudinal direction Dx with respect to the vehicle VA based on the radar object, and specifies the position of the object Ob in the vehicle width direction Dy with respect to the vehicle VA based on the camera object information. Note that the CPU specifies the object relative velocity Vr based on the radar object information.

Step 520: The CPU predicts the object position P', which is the object position P of the object Ob after the predetermined time has elapsed, as described above.
Step 525: The CPU determines whether there is a new disappearing object.
Specifically, when the object Ob predicted to exist at "the object position P' predicted in step 520 when this routine was last executed" is not detected within a predetermined range from the object position P', the CPU , the object Ob is identified as a new lost object.

If there is no new lost object, the CPU determines "No" in step 525 and determines whether the value of the dead reckoning flag Xdr is "1".
The value of the dead reckoning flag Xdr is set to "1" when dead reckoning is performed, and is set to "0" when dead reckoning is not performed.

When the value of the dead reckoning flag Xdr is "0", the CPU determines "No" at step 530, proceeds to step 595, and terminates this routine.

If there is a new disappearing object when the CPU proceeds to step 525 , the CPU determines “Yes” in step 525 and proceeds to step 535 . At step 535, the CPU determines whether or not the value of the dead reckoning flag Xdr is "0".
When the value of the dead reckoning flag Xdr is "0", the CPU determines "Yes" in step 535, and executes steps 540 to 550 in order.

Step 540: The CPU sets the value of the dead reckoning flag Xdr to "1".
Step 545: The CPU estimates the object position Pdr of the disappearing object by dead reckoning.
Step 550: The CPU determines whether or not the termination condition is satisfied for all the disappearing objects at the present time.
The end condition for each disappearing object is a condition that is met when the object position Pdr of the disappearing object is behind the front end of the vehicle VA.
The CPU does not treat the object for which the end condition is satisfied as a lost object thereafter, and does not estimate the object position Pdr by dead reckoning the next time this routine is executed.

If there is a disappearing object for which the termination condition is not satisfied, the CPU determines "No" in step 550, proceeds to step 595, and temporarily terminates this routine.

When this routine is executed after the value of the dead reckoning flag Xdr is set to "1" in step 540 and the CPU proceeds to step 525, if there is no new lost object, the CPU proceeds to step 525. , the determination is "No", and the process proceeds to step 530. Then, the CPU determines "Yes" in step 530, proceeds to step 545, and estimates the object position Pdr of the disappearing object by dead reckoning.
If there is a new disappearing object in the above case, the CPU determines "Yes" in step 525, proceeds to step 545, and estimates the object position Pdr of the disappearing object by dead reckoning.

When the CPU proceeds to step 550 , if the end condition is satisfied for all the disappearing objects, the CPU determines “Yes” in step 550 and proceeds to step 555 . At step 555, the CPU sets the value of the dead reckoning flag Xdr to "0". After that, the CPU proceeds to step 595 and once terminates this routine.

<Vehicle control routine>
The CPU executes the vehicle control routine shown in the flow chart in FIG. 6 each time a predetermined period of time elapses.

Accordingly, at a predetermined timing, the CPU starts processing from step 600 in FIG. 6 and executes steps 605 and 610 in order.

Step 605: The CPU acquires the object position P identified in the immediately preceding object recognition routine.
Step 610: The CPU determines whether or not the value of the dead reckoning flag Xdr is "1".

When the value of the dead reckoning flag Xdr is "0", the CPU determines "No" in step 610, and executes steps 615 to 625 in order.
Step 615: The CPU estimates the movement direction of the object Ob based on the history of the predetermined number of object positions of the object Ob.
Step 620: The CPU estimates the predicted movement route of the vehicle VA based on the steering angle θ and the vehicle speed Vs.
Step 625: Based on the moving direction of the object Ob and the predicted moving route of the vehicle VA, the CPU determines whether or not there is an obstacle, which is an object that may collide with the vehicle VA.

If no obstacle exists, the CPU makes a "No" determination in step 625, proceeds to step 695, and temporarily terminates this routine.
On the other hand, if an obstacle exists, the CPU determines "Yes" in step 625, and executes steps 630 and 635 in order.

Step 630: The CPU obtains the TTC of the obstacle.
Step 635: The CPU determines whether TTC is less than or equal to the threshold time Tth.

If the TTC is greater than the threshold time Tth, the CPU makes a "No" determination in step 635, proceeds to step 695, and temporarily terminates this routine.
On the other hand, if the TTC is equal to or less than the threshold time Tth, the CPU determines “Yes” in step 635 and proceeds to step 640 . At step 640 , the CPU transmits a predetermined target acceleration Gxt (Gxt<0) in the longitudinal direction Dx to the engine ECU 30 and the brake ECU 40 . After that, the CPU proceeds to step 695 and once terminates this routine.

If the value of the dead reckoning flag Xdr is “1” when the CPU proceeds to step 610 , the CPU determines “Yes” in step 610 and proceeds to step 645 . At step 645, the CPU acquires the object position Pdr estimated by dead reckoning. After that, the CPU executes the processing from step 615 onwards.

<Off time memory routine>
The CPU executes the off-time storage routine shown in the flow chart of FIG. 7 every time a predetermined period of time elapses.

Accordingly, at a predetermined timing, the CPU starts processing from step 700 in FIG. 7 and proceeds to step 705. FIG. At step 705, the CPU determines whether the ignition key switch has been changed from the ON position to the OFF position.

If the ignition key switch has not been changed from the ON position to the OFF position, the CPU determines "No" at step 705, proceeds to step 795, and terminates this routine.

On the other hand, if the ignition key switch has been changed from the ON position to the OFF position, the CPU determines “Yes” at step 705 and proceeds to step 710 . At step 710, the CPU determines whether or not the value of the dead reckoning flag Xdr is "1".

When the value of the dead reckoning flag Xdr is “1”, the CPU determines “Yes” in step 710 and proceeds to step 715 . At step 715, the CPU determines whether a stationary object exists among the objects Ob whose object position Pdr has been estimated by dead reckoning.

If a stationary object exists, the CPU determines "Yes" in step 715 and executes steps 720 to 730 in order.
Step 720: The CPU stores the object position Pdr of the stationary object in the EEPROM.
Step 725: The CPU acquires the current position of the vehicle VA as the off-time vehicle position Pvoff.
Step 730: The CPU stores the off-state vehicle position Pvoff in the EEPROM as off-position specifying information.
After that, the CPU proceeds to step 795 and once terminates this routine.

If the value of the dead reckoning flag Xdr is "0" when the CPU proceeds to step 710, the CPU determines "No" in step 710, proceeds to step 795, and terminates this routine.

If the stationary object does not exist when the CPU proceeds to step 715, the CPU determines "No" in step 715, proceeds to step 795, and terminates this routine.

<On time determination routine>
The CPU executes the off-time storage routine shown in the flowchart of FIG. 8 each time a predetermined time elapses.

Accordingly, at a predetermined timing, the CPU starts processing from step 800 in FIG. 8 and proceeds to step 805. FIG. At step 805, the CPU determines whether the ignition key switch has been changed from the OFF position to the ON position.

If the ignition key switch has not been changed from the OFF position to the ON position, the CPU determines "No" in step 805, proceeds to step 895, and terminates this routine.

On the other hand, if the ignition key switch has been changed from the OFF position to the ON position, the CPU determines “Yes” at step 805 and proceeds to step 810 . At step 810, the CPU determines whether or not the object position Pdr of the stationary object is stored in the EEPROM.

If the object position Pdr of the stationary object is not stored in the EEPROM, the CPU determines “No” in step 810 and proceeds to step 815 . At step 815, the CPU sets the value of the dead reckoning flag Xdr to "0". After that, the CPU proceeds to step 895 and once terminates this routine.

On the other hand, when the object position Pdr of the stationary object is stored in the EEPROM, the CPU determines "Yes" in step 810 and executes steps 820 to 830 in order.

Step 820: The CPU acquires the current position of the vehicle VA as the on-time vehicle position Pvon (on-position specifying information).
Step 825: The CPU acquires the movement distance Loff of the vehicle VA during the off period based on the on-time vehicle position Pvon and the off-time vehicle position Pvoff.
Step 830: The CPU determines whether or not the movement distance Loff is equal to or less than the threshold distance Lth.

If the movement distance Loff is equal to or less than the threshold distance Lth, the CPU determines “Yes” in step 830 and proceeds to step 835 . At step 835, the CPU sets the value of the dead reckoning flag Xdr to "1". After that, the CPU proceeds to step 895 and once terminates this routine. When the movement distance Loff is equal to or less than the threshold distance Lth (that is, when the vehicle VA does not move during the OFF period), the positional relationship between the vehicle VA and the stationary object does not change between the OFF time and the ON time. Therefore, the estimation of the object position Pdr of the stationary object by dead reckoning is continued even after the ON time.
More specifically, the object position Pdr of the stationary object is estimated at step 545 of the object recognition routine shown in FIG. be.

On the other hand, if the movement distance Loff is greater than the threshold distance Lth, the CPU determines "No" in step 830, proceeds to step 815, and sets the value of the dead reckoning flag Xdr to "0". After that, the CPU proceeds to step 895 and once terminates this routine. When the movement distance Loff is greater than the threshold distance Lth (that is, when the vehicle VA moves during the OFF period), the positional relationship between the vehicle VA and the stationary object changes between the ON time and the OFF time. Therefore, after the ON time, the object position Pdr of the stationary object is not estimated by dead reckoning.
More specifically, step 545 is not executed in the object recognition routine shown in FIG. Therefore, the object position Pdr of the stationary object is not estimated.

As can be understood from the above, according to the present control device, when the vehicle VA moves during the OFF period, the object position Pdr of the stationary object is not estimated by dead reckoning. can be prevented from erroneously recognizing

The present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

(First modification)
The distance Lmin of the non-detectable area NDA from the front end of the vehicle VA may be longer than the distance of the non-detectable area NDA' from the front end of the vehicle VA. In this case, the DSECU 20 cannot recognize the object Ob located in the undetectable area NDA', determines such an object Ob as a lost object, and estimates the object position Pdr by dead reckoning.
The vehicle control device 10 may include at least one of the millimeter wave radar 21 and the front camera 22, and the "sensor for detecting an object" provided in the control device 10 may be referred to as an "object sensor". .
The millimeter wave radar 21 may be any remote sensing device capable of detecting a target by transmitting a wireless medium instead of millimeter waves and receiving the reflected wireless medium.

(Second modification)
In the above embodiment, the TTC is obtained based on the relative velocity Vr of the object Ob and the object position P. However, the TTC may be obtained based on the relative acceleration Vr of the object Ob and the object position P good.
In the above embodiment, TTC was described as an example of the index value. However, the index value is not limited to TTC, and the index value may be the distance between the object Ob and the front end of the vehicle VA.
Furthermore, in the above embodiment, deceleration control has been described as an example of vehicle control. However, vehicle control is not limited to deceleration control, and vehicle control may be acceleration limit control, warning control, steering control, braking force maintenance control, and the like.
Acceleration limiting control Normally, the greater the depression amount of the accelerator pedal, the greater the driving force generated by the vehicle driving source (engine 34, etc.). Acceleration limit control is control for limiting the drive force generated by the vehicle drive source so that the drive force does not exceed a threshold drive force.
Warning Control Warning control is control for generating a buzzer sound from a speaker (not shown) to notify the driver of the existence of the object Ob. Note that the warning control may be control for displaying the position of the object Ob with respect to the vehicle VA on a display (not shown).
Steering Control The steering control is a control for avoiding a collision with the object Ob by changing the steering angle of the steered wheels of the vehicle VA by controlling a steering actuator (not shown).
Braking force maintenance control Braking force maintenance control is a control to keep the brake actuator 42 to generate a predetermined braking force even if the driver takes his/her foot off the brake pedal.

(Third modification)
In step 720 shown in FIG. 7, the DSECU 20 of this modification stores the front image captured by the front camera 22 at the time of OFF as the OFF position specifying information. Furthermore, in step 820 shown in FIG. 8, the DSECU 20 of this modified example acquires the front image captured by the front camera 22 at the ON time as the ON position specifying information. Then, the DSECU 20 of this modified example compares the front image at the ON time with the rear image at the OFF time to determine whether the vehicle VA has moved during the OFF period.
If a stationary object is located in the non-detectable area NDA at the time of OFF, there is a high possibility that only that stationary object will appear in the forward image. When the vehicle VA moves during the OFF period, the front camera 22 captures a different scene at the ON time than at the OFF time, so there is a high possibility that the forward image at the ON time and the forward image at the OFF time are significantly different.
On the other hand, when the vehicle VA is not moving during the OFF period, the front camera 22 captures the same scenery at the OFF time and the ON time, and therefore the forward image at the ON time and the forward image at the OFF time are the same. image.

As such, the off-position specifying information and the on-position specifying information need not be information that can accurately specify the current position of the vehicle VA at the time of turning off and the time of turning on, respectively. The OFF position specifying information and the ON position specifying information may be information indicating "the position of the vehicle VA for determining whether or not the vehicle VA has moved during the OFF period" like the above front image.

(Fourth modification)
In the above embodiment, when an object that has no possibility of colliding with the vehicle VA is no longer detected by the millimeter wave radar 21 and front camera 22, the DSECU 20 regards the object as a lost object and performs dead reckoning. When an object that has no possibility of colliding with the vehicle VA is no longer detected, the DSECU 20 of this modification does not regard the object as a lost object and does not perform dead reckoning. In other words, the DSECU 20 of this modification performs dead reckoning by regarding the object (obstacle) as a missing object only when the object (obstacle) that may collide with the vehicle VA is no longer detected.

(Fifth modification)
In the off-time storage routine, the storage device (storage medium) in which the object position Pdr of the stationary object and the off-time vehicle position Pvoff are stored may be a non-volatile storage medium, and is not limited to EEPROM.

DESCRIPTION OF SYMBOLS 10... Vehicle control apparatus, 20... Driving assistance ECU, 21... Millimeter wave radar, 22... Forward camera, 23... Wheel speed sensor, 24... Acceleration sensor, 25... Steering angle sensor, 26... GNSS receiver, 30... Engine ECU , 40 . . . brake ECU.

Claims (1)

an object sensor for detecting objects located in a predetermined detectable area around the vehicle;
a state value sensor configured to detect a driving state value related to the driving state of the vehicle;
Control configured to perform predetermined vehicle control for the object when at least an index value acquired based on an object position, which is the position of the object detected by the object sensor with respect to the vehicle, satisfies a predetermined control condition. a unit;
with
The control unit is
When an object that has been detected by the object sensor is positioned outside the detectable area and is no longer detected, based on the running state value and the position of the object when it was detected by the object sensor , performing position estimation processing for estimating the object position of the object that is no longer detected by the object sensor;
When the position estimation process is executed at the time when the ignition of the vehicle changes from the ON state to the OFF state, the object whose position is estimated by the position estimation process may be a stationary object. For example, storing OFF position specifying information capable of specifying the object position of the stationary object at the OFF time and the position of the vehicle at the OFF time;
At the on time when the ignition changes from the off state to the on state, from the off time based on the on position specifying information and the off position specifying information that can specify the position of the vehicle at the on time. estimating the object position of the stationary object by the position estimation process when it is determined that the vehicle has not moved in the period up to the ON time;
When it is determined that the vehicle has moved during the period based on the ON position specifying information and the OFF position specifying information at the ON time, the position estimation processing does not estimate the object position of the stationary object. ,
configured as
Vehicle controller.

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