JP3333716B2 - Actuator control method for vehicle with contrast object recognition function - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control object recognizing function in which one of control objects located in front of a vehicle is set as a specific control object and the operation of an actuator can be controlled based on the data of the specific control object. TECHNICAL FIELD The present invention relates to a vehicle with a handle, and more particularly to an improvement in a control method of an actuator.

[0002]

2. Description of the Related Art Conventionally, such a vehicle with a contrast object recognizing function has been already known, for example, from Japanese Patent Application Laid-Open No. 5-180933.

[0003]

However, there are cases where the rear part of a contrast object such as a vehicle located immediately before the own vehicle is difficult to be detected by a contrast object detection sensor due to, for example, dirt. When a part of the control object that is further ahead of the control object is hidden, the vehicle that is further ahead of the control object that is difficult to detect is selected as the specific control object by the above-described conventional method, and the actuator is controlled by the actuator. Although the operation of the vehicle is controlled, it is difficult for the driver of the vehicle to recognize which control object is being used as the specific control object and to control the actuator. An abnormal approach to the car will occur.

The present invention has been made in view of such circumstances, and it has been determined that a control object located immediately before a host vehicle is a control object which is difficult to be detected by a control object detection sensor. It is an object of the present invention to provide a method of controlling an actuator in a vehicle with a contrast object recognition function which allows a vehicle driver to give a time margin for taking some measures so that a driver can understand.

[0005]

In order to achieve the above object, a first object of the present invention is to provide an object detection sensor for detecting the position of an object in front of a vehicle and a sensor for detecting the position of the object based on the output of the sensor. comprising a control object detection unit to obtain the data of the control object, and a specific control object judging unit for selecting one of the control product to give the data in the control object detection unit as a specific counterpart Te, the vehicle and the Keep the distance between specific controls constant
De The operation of the actuator for the particular counterparts
In a vehicle with a control object recognition function that can be controlled based on data, a specific control object is determined in order to determine whether a control object that is difficult to be detected by the control object detection sensor exists between the specific control object and the vehicle or not. It is determined whether the width of the specific control object is equal to or greater than the predetermined value, and when it is determined that the specific control object has the width equal to or greater than the predetermined value, the operation control of the actuator is performed. The operation control is stopped.

According to a second aspect of the present invention, there is provided a vehicle in front of a vehicle.
Control object detection sensor for detecting the position of the control object, and the sensor
Object detection unit that obtains object data based on the output of
And Tsu DOO, counterparts to obtain a data at the counterpart sensing unit
Specific control judgment to select one of them as a specific control
Unit and the distance between the vehicle and the specific object
To apply automatic braking when
Actuator operation based on the data of the specified control object
Vehicle with a control object recognition function
The control object that is difficult to detect with the illuminated object detection sensor
Identify to determine if it does or does not exist between own vehicles
It is determined whether or not the control object has a width equal to or greater than a predetermined value.
When it is determined that the constant control object has a width equal to or greater than a predetermined value.
Performs actuator operation control, but is less than the specified value
Actuation of the actuator when it is determined that the
The control is stopped.

According to a third aspect of the present invention, there is provided a vehicle in front of a vehicle.
Control object detection sensor for detecting the position of the control object, and the sensor
Object detection unit that obtains object data based on the output of
And the control object whose data was obtained by the control object detection unit.
Specific control judgment to select one of them as a specific control
Unit and the distance between the vehicle and the specific object
Warning to the vehicle driver when
The actuation of the actuator for issuing a report
Vehicle with control object recognition function that can be controlled based on object data
In both cases, a control object that is difficult to detect with the control object detection sensor is
Judge whether there is or not between the constant control object and the own vehicle
Whether the specified control has a width greater than the specified value
If the specific control object has a width equal to or greater than the predetermined value,
Executes actuator operation control when determined
Is activated when it is determined that the width is less than the specified value.
The operation control of the heater is stopped.

According to such a feature, when it is determined that the control object selected as the specific control object does not have a width equal to or greater than a predetermined value, a detection is made between the specific control object and the own vehicle by the control object detection sensor. It is possible to judge that there is a difficult control object, and in such a case, the actuator (especially
In claim 1, the distance between the vehicle and the specific control object is kept constant.
An actuator for maintaining the vehicle,
Automatically when the distance between the
Actuator for applying dynamic braking, in claim 3
Means that the distance between the vehicle and the specific control object is less than the specified value.
A for issuing the alert alarm to the vehicle OPERATION who at the time was
By stopping the operation control of the actuator , the vehicle driver can be informed that the object in front of the vehicle is difficult to be detected by the object detection sensor. , A time margin for taking some action such as an avoidance operation on the control object immediately before the time is generated.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below based on one embodiment of the present invention shown in the accompanying drawings.

FIGS. 1 to 9 show an embodiment in which the present invention is applied to a vehicle adapted to follow a preceding vehicle at a fixed distance. FIG. 1 is a diagram showing the overall configuration, and FIG.
FIG. 3 is a block diagram showing the main configuration of the electronic control unit, and FIG.
FIG. 4 is a flowchart showing a main routine of determination processing in the target determination unit, FIG. 5 is a flowchart showing a subroutine of width calculation processing, and FIG. 6 is a flowchart showing a four-wheel determination subroutine. FIG. 7 is a diagram showing a state in which a vehicle that is difficult to detect in a straight running state is interrupted, FIG. 8 is a diagram showing a state in which a small vehicle such as a motorcycle that is difficult to detect is interrupted, and FIG. It is a figure which shows the state which the difficult vehicle interrupted.

[0011] First, in FIG. 1, the left front wheel W _FL and the front right wheel W _FR of the front wheel drive vehicle disc brake B _FL and the right front wheel disc brake B _FR for the left front wheel is mounted, the left rear wheels W _RL and rear right The wheel W _RR is equipped with a left rear wheel disc brake B _RL and a right rear wheel disc brake B _RR .

An oil passage 2 connected to an output port 1 of a master cylinder M for outputting a braking oil pressure according to a depression operation of a brake pedal P, and respective disk brakes B _FL , B _FR , B _RL ,
A brake actuator A ₁ is provided between the oil passages 3 _FL , 3 _FR , 3 _RL , and 3 _RR individually connected to the B _RR .
When the brake actuator A ₁ is not operating, the brake actuator A _{1 communicates} between the oil passage 2 and the oil passages 3 _FL , 3 _FR , 3 _RL , and 3 _RR to apply the braking oil pressure from the master cylinder M to each of the disk brakes B _FL , B _FR , B _RL , B _RR and the hydraulic pressure output by the brake actuator A ₁ while the oil passage 2 and the oil passages 3 _FL , 3 _FR , 3 _RL , 3 _RR are cut off during operation and the hydraulic pressure output by the brake actuator A ₁ are applied to each disc brake B _FL. , B _FR , B _RL , and B _RR .

A throttle valve 5 provided in an intake passage 4 of an engine (not shown) has a throttle actuator A _2.
Connected to the throttle actuator A ₂
Controls the opening of the throttle valve 4, that is, the output of the engine.

At the front of the vehicle, it is possible to transmit a signal from the own vehicle to the front and to receive a reflected signal from a contrasting object in front of the own vehicle. A contrast object detection sensor 6 such as a laser radar capable of calculating the position of the contrast object with respect to the own vehicle based on time is mounted. The contrast object detection sensor 6 scans in the vehicle width direction to scan the vehicle width direction. The position of the control object with respect to the own vehicle in a certain range can be detected.

The left and right rear wheels which are driven wheels have wheel speed sensors 7 _RL , 7 _RR for individually detecting their wheel speeds.
Are respectively attached. Thus, the control object detection sensor 6,
The signals from the wheel speed sensors 7 _RL , 7 _RR and the yaw rate sensor 8 for detecting the yaw rate of the vehicle are input to an electronic control unit C, and the electronic control unit C receives the signals from the sensors 6, 7 _RL , 7 _RR , 8. controls the operation of the brake actuator a ₁ and the throttle actuator a ₂ based on the signal.

In FIG. 2, an electronic control unit C includes a vehicle speed calculating means 10, a control object detection unit 11, and a target determination unit 1 as a specific control object determination unit.
2, a lock-on processing unit 13, and an inter-vehicle control unit 14.

The own vehicle speed calculating means 10 calculates the own vehicle speed V based on the detected values of the wheel speed sensors 7 _RL and 7 _RR for detecting the driven wheel speed.

In the object detection unit 11, based on the signal from the object detection sensor 6, the position of the object is set at the origin (X = 0, Y = 0) as shown in FIG. The labels are expanded on the X and Y coordinates and the labels of the reference data that are close to each other on the coordinates are, for example, NO. 4,
8, 15,..., And the reference data close to each other are collected as the same reference having the same label. Thus, the contrast object detection unit 11 obtains the position P of the contrast object for each label by calculating the center of gravity position of each label, and calculates the temporal change amount of the position P of the contrast object for each label. Relative speed Δ of control object for each label with respect to own vehicle
V will be obtained.

The target determination unit 12 includes the own vehicle speed V obtained by the own vehicle speed calculating means 10 and the yaw rate sensor 8.
Rate of the yaw rate obtained in the above and the control object detection unit 1
The label L, the position P, and the relative velocity ΔV of each control object obtained in step 1 are input. Thus, based on these input values, the target determination unit 12 estimates the course of the host vehicle, for example, 100 m ahead from the host vehicle speed V and the yaw rate, assuming that the host vehicle makes a constant-speed circular motion. ,
The reference object with the label closest to the own vehicle on the estimated course is determined as the specific target object as the target to be followed.

In addition, in the target determination unit 12,
It is determined according to the procedure shown in FIG. 4 whether or not a control object that is difficult to be detected by the control object detection sensor 6 exists between the control object selected as the target and the vehicle.

In step S1 of FIG. 4, it is determined whether or not the preceding vehicle is being caught, that is, whether or not the target has been determined.
After sequentially passing through S3 and S4, the counters tB and tC are cleared, and the four-wheel flag is set to "0".

When it is determined in step S1 that the preceding vehicle is being captured, the calculation of the target width in step S5 is executed according to a subroutine shown in FIG. The subroutine of FIG. 5 calculates the width of the target so that erroneous determination does not occur due to the influence of the split of the target due to the detection of the body other than the reflecting member provided at the rear of the target. In S21, it is determined whether or not the control object is split. If the control object is split, the distance between the positions of the centers of gravity of the split control objects is determined as the width in step S22. In step S23, the width of the control object is used as it is.

In step S6 following step S5, the four-wheel judgment is executed in accordance with the subroutine shown in FIG. 6, and in step S31 in FIG. 6, the four-wheel flag is set to "0".
Determining whether a width in step S32 it is determined whether or not larger than a predetermined value W _C in the case was "0". Thus, if width> W _C , then step S
33, the counter tC is incremented, but width ≦ W _C
Is satisfied, the counter tC is cleared in step S34. Step S35 following steps S33 and S34
In the counter tC is determined whether exceeds a predetermined value T _C, the 4-wheel flag step S36 if it exceeds set to "1", if it does not exceed four-wheel flag step S37 " Set to "0".

In the subroutine shown in FIG. 6, it is determined that the target is a four-wheeled vehicle when the state where the target width is> W _C has been maintained for a relatively long time exceeding the predetermined count value T _C. , The four-wheel flag is set to "1", and once the four-wheel flag is set to "1", the state is maintained as long as the preceding vehicle is continuously captured.

Referring again to FIG. 4, it is determined in step S7 whether or not the four-wheel flag is "1". If the flag is "1", whether or not the target width is smaller than the predetermined width W in step S8. If width <W, the counter tB is incremented in step S9, and if width ≧ W, the counter tB is determined in step S10.
Is decremented. Thereafter, when it is determined in step S11 that the counter tB has exceeded the predetermined count value T,
Assuming that there is a control object that is difficult to be detected by the control object detection sensor 6 between the target and the host vehicle, the actuators A ₁ and A ₂
Is determined to be in a lock-off state in which the control of is stopped. In other words, when a state in which the target width is less than the predetermined width W has occurred a predetermined number of times or more, it is determined that a target object that is difficult to be detected by the target object detection sensor 6 exists between the target and the host vehicle.

Referring again to FIG. 2, the target determination unit 12 outputs a target label L _T , a relative speed ΔV _{T of} the target relative to the own vehicle, a distance D _T to the target, and a lock in accordance with the result of the target determination in the unit 12. OFF flag F _L is outputted, it is given to the lock-on processing unit 13.

[0027] In the lock-on processing unit 13, when the lock-off flag F _L is "0", it is determined to continue the control process of both actuators A _1, A _2, also the lock-off flag F _L is " When it is "1", it is determined that the control processing of both actuators A ₁ and A ₂ is temporarily stopped. Thus, when F _L = 0, the relative velocity [Delta] V _T and the distance D _T for the vehicle of the target is given from the lock-on processing unit 13 to the vehicle control unit 14, control by the headway control unit 14 when the F _L = 1 From the lock-on processing unit 13 to the inter-vehicle control unit 1
4 given.

In addition to the signal from the lock-on processing unit 13, the inter-vehicle control unit 14 includes the own vehicle speed calculating means 1
The vehicle speed V obtained at 0 is input, and the brake actuator A ₁ and the throttle actuator A are controlled so that the distance between the vehicle and the target is maintained at a constant distance.
Control signal for controlling the _second actuation is given from the vehicle control unit 14 to both the actuator A _1, A _2.

Next, the operation of this embodiment will be described. As shown in FIG. 7, it is difficult for the contrast object detection sensor 6 to detect between the own vehicle 16 traveling on a straight path and the preceding vehicle 17 set as a target. As shown in FIG. 8, a small vehicle such as a two-wheel vehicle 19 or the like, which is difficult to be detected by the object detection sensor 6, between the own vehicle 16 and the preceding vehicle 17 defined as a target, with a part of the four-wheel vehicle 18 interrupting 9 and the own vehicle 16 and the preceding vehicle 17 set as a target while turning at a corner as shown in FIG.
When a part of the preceding vehicle is hidden, for example, when the four-wheel vehicle 18 that is difficult to be detected by the contrast object detection sensor 6 interrupts on the same turning locus between the vehicles, the preceding vehicle 17 selected as the target has a predetermined value. By judging that the object does not have a width equal to or larger than W, it is judged that there is a control object that is difficult to be detected by the control object detection sensor 6 between the preceding vehicle 17 and the own vehicle 16.

If it is determined that there is a control object that is difficult to detect, the operation control of the actuators A ₁ and A ₂ is stopped, and the control object 18 located immediately before the vehicle 16 is stopped.
Alternatively, the vehicle driver can be informed that 19 is difficult to be detected by the control object detection sensor 6, and the vehicle driver performs some operation such as avoidance operation on the control object 18 or 19 immediately before the own vehicle 16. There will be time to deal with.

As another embodiment of the present invention, instead of decrementing the counter tB in step S10 in the flowchart of FIG.
May be cleared, and if the state in which the width of the target is less than the predetermined width W has continued for a predetermined count value or more, a control object that is difficult to be detected by the control object detection sensor 6 is located between the target and the host vehicle. It will be determined that it exists. When the number of times that the width of the target becomes less than the predetermined width W is equal to or more than a certain value among the predetermined times, that is, when the frequency that the width of the target becomes less than the predetermined width W increases, the object detection sensor 6 detects the target. It may be determined that a hard-to-reach control object exists between the target and the vehicle.

Although the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

For example, in the above-described embodiment , the distance between the target and the host vehicle is kept constant so that the specific control object is set as the target and the traveling control following the target is performed.
Operation of the actuator to perform
Case has been described where the present invention is applied to a controllable and the vehicle on the basis of the data, the present invention is, because over <br/> automatic brake when the distance of the target and the self-vehicle is equal to or less than a predetermined value Operation of the target actuator
Applicable to vehicles that can be controlled based on data
And the distance between the target and the vehicle is a predetermined value.
It is issued an alert warning to the vehicle driver when it becomes equal to or less than
Data of the target for the operation of the actuator for
The present invention is also applicable to a vehicle that can be controlled based on the vehicle.

[0034]

As described above, according to the present invention, when it is determined that the control object selected as the specific control object does not have a width greater than a predetermined value, a control object detecting sensor is provided between the specific control object and the own vehicle. in so as to determine the detected hard counterpart is present, at the time of such determination actuator (JP
In claim 1, the distance between the own vehicle and the specific control object is fixed.
Actuator for maintaining the vehicle,
And when the distance between specific controls is less than a predetermined value
An actuator for applying an automatic brake, claim 3
In this case, the distance between the vehicle and the specific control object is less than a predetermined value.
Warning to alert the vehicle driver when
The operation control of the actuator) to that to stop
In, the stop of the operation control of the actuator, it counterparts located just before the vehicle is one that hardly detected in the control object detection sensor can be known to the vehicle driver and the vehicle driver vehicle Can give the vehicle driver time to take some action such as avoidance operation on the object immediately before the vehicle.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration.

FIG. 2 is a block diagram illustrating a main configuration of an electronic control unit.

FIG. 3 is a coordinate development diagram of control object detection data.

FIG. 4 is a flowchart illustrating a main routine of a determination process in a target determination unit.

FIG. 5 is a flowchart illustrating a subroutine of a width calculation process.

FIG. 6 is a flowchart illustrating a subroutine of a four-wheel determination process.

FIG. 7 is a diagram illustrating a state in which a vehicle that is difficult to detect in a straight traveling state interrupts.

FIG. 8 is a diagram illustrating a state in which a small vehicle such as a motorcycle that is difficult to detect is interrupted.

FIG. 9 is a diagram showing a state in which a vehicle that is difficult to detect during a turning operation has interrupted the vehicle.

[Explanation of symbols]

6 ... counterpart detection sensor 11 ... counterparts target determination unit A ₁ ... brake actuator A ₂ ... throttle actuator as the detecting unit 12 ... specific control object determination unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G08G 1/16 B60R 21/00 621 G01S 13/93

Claims (3)

(57) [Claims] An object detection sensor (6) for detecting the position of an object in front of a vehicle and a object detection unit (1) for obtaining data of the object based on an output of the sensor (6).
1) and a specific control object determination unit (12) for selecting one of the control objects obtained in the control object detection unit (11) as a specific control object, and the own vehicle and the special feature.
Data based on the specific counterpart operation of the actuator <br/> data for maintaining a distance between the fixed counterparts constant (A _1, A ₂₎
In a vehicle having a control object recognition function that can be controlled based on the control information, a specific control object is determined to determine whether or not a control object that is difficult to be detected by the control object detection sensor (6) is present between the specific control object and the vehicle. It is determined whether or not the specific control object has a width equal to or greater than a predetermined value. When it is determined that the specific control object has a width equal to or greater than a predetermined value, the operation control of the actuators (A ₁ , A ₂ ) is executed. A method for controlling an actuator in a vehicle with a contrast object recognizing function, wherein the operation control of the actuator (A ₁ , A ₂ ) is stopped when it is determined that there is a vehicle. (2) Detects the position of the object in front of the vehicle
(6) and the output of the sensor (6)
A control object detection unit (1) that obtains control object data based on
1) and data was obtained by the control object detection unit (11).
A specific pair that selects one of the controls as a specific control
An illuminated object determination unit (12);
When the distance between fixed objects becomes less than the specified value, automatic blur
The operation of the actuator for applying the
With control object recognition function that can be controlled based on illuminant data
In the vehicle, The control object that is difficult to detect with the control object detection sensor (6) is the specific control
To determine whether or not there is between the object and the vehicle
In order to determine whether or not the specific control has a width that is
, When it is determined that the specific control has a width equal to or greater than a predetermined value
Controls the operation of the actuator, but the specified value is not
Actuator when it is determined that the width is full Data
With control object recognition function, characterized by stopping motion control
Control method of the actuator in the vehicle. (3) Detects the position of the object in front of the vehicle
(6) and the output of the sensor (6)
A control object detection unit (1) that obtains control object data based on
1) and data was obtained by the control object detection unit (11).
A specific pair that selects one of the controls as a specific control
An illuminated object determination unit (12);
Vehicle operation when the distance between the fixed objects becomes less than the specified value
Actuator for alerting the user
Control whose movement can be controlled based on the data of the specific control object.
In vehicles with object recognition function, The control object that is difficult to detect with the control object detection sensor (6) is the specific control
To determine whether or not there is between the object and the vehicle
In order to determine whether or not the specific control has a width that is
, When it is determined that the specific control has a width equal to or greater than a predetermined value
Controls the operation of the actuator, but the specified value is not
If it is determined that the full width is
With control object recognition function, characterized by stopping motion control
Control method of the actuator in the vehicle.