JP3372190B2 - Vehicle collision prevention device - Google Patents

Vehicle collision prevention device

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Publication number
JP3372190B2
JP3372190B2 JP19280597A JP19280597A JP3372190B2 JP 3372190 B2 JP3372190 B2 JP 3372190B2 JP 19280597 A JP19280597 A JP 19280597A JP 19280597 A JP19280597 A JP 19280597A JP 3372190 B2 JP3372190 B2 JP 3372190B2
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Japan
Prior art keywords
collision
dimensional object
vehicle
traveling
road
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JP19280597A
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JPH1139598A (en
Inventor
圭二 塙
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富士重工業株式会社
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Publication of JP3372190B2 publication Critical patent/JP3372190B2/en
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Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle on a traveling path.
Of vehicles that detect collisions by detecting
The present invention relates to a collision prevention device. [0002] 2. Description of the Related Art Recently, TV cameras and lasers have been used in automobiles.
・ Equipped with radar etc. to detect vehicles and obstacles ahead,
Determined the danger of colliding with them and alerted the driver
Automatically activate and stop the brakes, or
Automatically travels to maintain a safe distance from the vehicle ahead
ASV (Advanced Safety Vehicl)
e; advanced safety vehicles)
Is being used. A technique for preventing a collision between a preceding vehicle and a host vehicle.
Was detected by an in-vehicle TV camera, etc.
Recognizes the white lines on the left and right of the road as own lanes, and
Technology that targets three-dimensional objects that are close to the target for collision warning
And the running state of the vehicle such as vehicle speed, steering angle, yaw rate, etc.
Assuming that the current driving condition will continue in the future.
Estimates both travel routes and collides with a three-dimensional object on the travel route
Techniques and the like that are subject to alarms have been proposed. [0004] SUMMARY OF THE INVENTION However, the conventional
Anti-collision devices address well-maintained conditions such as highways.
There are many elephants, other vehicles such as residential areas, pedestrians,
Do not target narrow roads where pillars and other obstacles are dense.
No. On such narrow roads, the road is bent and there is no white line.
In many cases. [0005] That is, on a narrow road where there is no white line
Can not recognize the lane with the conventional device, the collision prevention function
Does not work. Also, on narrow curved roads, the steering wheel
Estimated travel route due to large and frequent operation
Is significantly displaced to the left and right and exists outside the actual travel route.
Accidentally selected a three-dimensional object
In addition, erroneous collision warnings may frequently occur. The present invention has been made in view of the above circumstances.
And running on a road where the road shape cannot be recognized
The possibility of collision with obstacles and vehicles ahead
To provide a vehicle collision prevention device capable of making a judgment.
And for the purpose. [0007] According to the first aspect of the present invention,
Recognition means for recognizing a three-dimensional object existing in front of the vehicle;road
Road shape recognition means for recognizing the road shape;
Recognition resultsRunning condition of own vehicleGeneral road or narrow road from
Or curved roadsEstimating means for estimating,General road above
Is estimated from the running state of the own vehicle.
First collision to determine a collision with a three-dimensional object on a traveling route
Select collision mode and estimate narrow or curved road
Are set, depending on the running condition of the host vehicle.
Multiple traveling routes and three-dimensional objects determined by the traveling pattern
The second method of determining a collision from the relationship with the position of an objectCollision judgment mode
Selection means for selecting a mode and a selected collision determination mode
In the case, the collision of the own vehicle with the recognized three-dimensional
Control means for judging the performance and performing anti-collision control
It is characterized by the following. [0008] The invention according to claim 2 provides the invention according to claim 1.
In the light,The control means controls the second collision determination mode.
If there is no three-dimensional object in one of the
No collision prevention controlIt is characterized by the following. The invention described in claim 3 is:Claim 1Description
In the light,The above plurality of traveling routes are not
First traveling route assuming that the current traveling state continues
After the set time has elapsed, return the steering angle to the neutral position and drive
Then, the second traveling route assumed, and after the elapse of the set time,
3rd run assuming that the vehicle turns in the straight direction
And the control means includes the second collision determination.
In the mode, there is a three-dimensional object on the first travel route
Also, if there is no three-dimensional object on the second or third travel route
No collision prevention control ifIt is characterized by the following. [0010] The invention according to claim 4 provides the invention according to claim 3.
In the light,The plurality of travel routes may have passed the set time.
Later, the steering angle is corrected to the right in the traveling direction by the set angle,
Traveling route assumed to travel with the steering angle maintained
After the above set time, the steering angle is set to the left in the traveling direction.
It is assumed that the vehicle is driven with the corrected steering angle
A fifth travel route, and wherein the control means includes:
Even if there is a three-dimensional object on the traveling route, the fourth or fifth
If there is no three-dimensional object on the traveling route of
The collision judgment is postponed for a predetermined delay time.
You. [0011] [0012] That is,The invention according to claim 1Is your vehicle
While recognizing the three-dimensional object existing in frontRecognize road shape
I do. And the recognition result of this road shapeRunning of own vehicle
StatusFrom general roads, narrow roads and curved roadsEstimation
AndWhen it is estimated that the vehicle is on a general road,
Collision with a three-dimensional object on the travel route estimated from
Select the first collision determination mode to
When it is estimated that the road is
Multiple runs determined by multiple running patterns
The second to determine the collision from the relationship between the line route and the position of the three-dimensional object
ofSelect the collision judgment mode. And the selected collision
In the judgment mode, the own vehicle with respect to the recognized three-dimensional object
The collision prevention control is performed by determining the possibility of collision. [0014] [0015]When the second collision determination mode is selected
Will collide if there is no three-dimensional object in any of the multiple travel routes
Desirably not preventive control, multiple driving routes are set
The first assuming that the current driving state continues after the elapse of time
Return the steering angle to the neutral position
After a lapse of a set time and a second traveling route assumed to be traveling
The third run assuming that the vehicle runs in the direction of the straight road
In the case of the second collision determination mode, the first
Even if there is a three-dimensional object on the travel route,
If there is no three-dimensional object on the line route, collision prevention control may not be performed
desirable. [0016]Furthermore, the above-mentioned plurality of traveling routes are set at a set time.
After the lapse of time, correct the steering angle to the right
The fourth travel path assuming that the vehicle travels while maintaining the corrected steering angle
Set the road and the steering angle to the left in the traveling direction after the time set above
Suppose that you have corrected the angle and run with the corrected steering angle.
In the second collision determination mode.
Means that even if there is a three-dimensional object on the first travel route,
If there is no three-dimensional object on the fifth traveling route,
It is desirable to delay the collision judgment for the specified time
Good. [0017] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
An embodiment will be described. 1 to 10 show a second embodiment of the present invention.
FIG. 1 is an overall configuration diagram and diagram of a collision prevention device according to one embodiment.
2 is a circuit block diagram of the collision prevention device, and FIGS.
FIG. 5 is a flowchart of a collision determination process.
FIG. 6 shows the relationship between the own vehicle speed and the warning inter-vehicle distance.
FIG. 7 is an explanatory diagram showing an avoidance situation for a pedestrian.
FIG. 8 and FIG. 8 are explanatory diagrams showing the driving situation on a curved road.
9 is an explanatory diagram showing the avoidance situation for the preceding vehicle, and FIG.
It is explanatory drawing which shows the avoidance situation with respect to a parked vehicle. In FIG. 1, reference numeral 1 denotes a vehicle such as an automobile.
There is an obstacle or a preceding vehicle existing in the traveling direction
Recognize vehicles and judge the danger of collision, and
If there is, there is a collision
The collision prevention device 2 is mounted. The above-described collision prevention device 2 is used to detect an object outside the vehicle.
Stereo optical system 10 for imaging from a certain position,
By processing the image captured by the stereo optical system 10,
An image processing unit 50 for recognizing a preceding vehicle and the like;
Based on the data of obstacles and preceding vehicles recognized by the processing unit 50,
And a collision judging unit 60 for judging the possibility of collision.
The image processing unit 50 and the collision determination unit 60 include a vehicle speed sensor.
4. Current vehicle such as yaw rate sensor 5, steering angle sensor 6, etc.
A sensor for detecting the driving state of the
The collision judging unit 6 is displayed on the display 9 installed in front of the vehicle.
The collision warning etc. output from 0 is displayed
I have. The above-mentioned stereo optical system 10 is used for an object outside the vehicle.
It consists of a pair of left and right cameras as an imaging system
The image processing unit 50 captures an image using the stereo optical system 10.
The correlation between a pair of images is calculated, and parallax for the same object is calculated.
The distance based on the principle of triangulation from
The three-dimensional distance distribution over the entire image is calculated by the e method,
From the distance distribution information, road shapes and three-dimensional objects (vehicles and obstacles)
) Is detected at high speed. The collision judging section 60 includes the image processing section 5
0, the vehicle speed sensor 4, the yaw rate sensor
Based on the input data from the sensor 5 and the steering angle sensor 6,
Set the future travel route of the vehicle, and
Vehicles or obstacles that must be followed by a preceding vehicle or collision danger
Identify steep three-dimensional objects. And these vehicles and obstacles
Based on the data on the harmful substance, make a collision warning
When it is determined that there is a danger of
To warn the driver and operate a brake (not shown).
Prompt or actuation signal to automatic brake device etc. not shown
Is output. The image processing unit 50 and the collision judging unit 6
0 is specifically the hardware configuration shown in FIG.
And the stereo connected to the image processing unit 50
The optical system 10 is a solid-state such as a charge-coupled device (CCD).
One set of left and right CCD cameras 10a, 10 using an image sensor
b. The image processing unit 50 and the collision determination unit 60
Processes an image captured by the stereo optical system 10,
Distance distribution data (distance image) in the form of an image
Output image processor 20, and the image processor
By processing the distance image from the Sessa 20, the road shape and multiple
Detects three-dimensional objects, identifies preceding vehicles, obstacles, etc., and issues a collision warning
From the image processing computer 30 that performs the judgment processing
It is configured. The image processor 20 includes
For two stereo image pairs captured by the Leo optical system 10
Search for the part where the same object appears in each micro area,
Calculate the distance to the object by calculating the amount of displacement of the corresponding position
Distance detection circuit 20a, and the output of the distance detection circuit 20a.
Distance image memory 20 for storing distance distribution data as force
b. The image processing computer 30
Is a micro-processor that mainly performs processing to detect road shapes.
Processor 30a and mainly detecting individual solid objects
A microprocessor 30b for performing processing,
Identify vehicles and obstacles and perform collision risk judgment processing
The microprocessor 30c and the system bus 31
Multi-microprocessor system connected in parallel
It has a system configuration. The system bus 31 has the above
An interface circuit connected to the distance image memory 20b
A path 32, a ROM 33 for storing a control program,
A RAM 34 for storing various parameters during the arithmetic processing,
An output memory 35 for storing processing result parameters;
A display for controlling the display (DISP) 9
Spray controller (DISP.CONT.) 36
And the vehicle speed sensor 4, the yaw rate sensor 5,
I / O interface for inputting signals from the steering angle sensor 6 etc.
Base circuit 37 is connected. Road by the microprocessor 30a
In the detection processing, the distance stored in the distance image memory 20b is used.
On the actual road using three-dimensional position information by images
Only the white line of the road model is separated and extracted.
Modify and change the parameters to match the actual road shape
To recognize the road shape. The above road model is used to determine the road to the recognition target range.
The road's own lane is divided into multiple sections according to the set distance.
In each section, the left and right white lines are approximated by a three-dimensional linear equation.
This is a three-dimensional linear expression
The parameters are obtained, and a straight line equation that approximates the road shape is obtained.
In practice, the left and right white lines are approximated by linear equations.
Therefore, for each section,
And the white line on the right side in the traveling direction
Find the parameters of the linear equation for the line. Also, the microprocessor 30b
In the three-dimensional object detection process, the distance images are
In each area, there is a possibility that it will be a obstacle to running for each area
Select only the data of three-dimensional objects and calculate the detection distance
And the difference in the detection distance to the three-dimensional object in the adjacent area
Is less than the set value, it is regarded as the same three-dimensional object.
If the value is more than the specified value, it is regarded as a separate three-dimensional object, and the detected
The contour image of the object is extracted. The above image processor
20 and a road from this distance image
The processing for detecting the road shape and the object is performed by the applicant.
Japanese Patent Application Laid-Open No. H5-26547 filed earlier.
Has been described. Further, the microprocessor 30c
In the collision determination process, the microprocessor 30a
Of the road shape by the vehicle speed sensor 4 and the steering angle sensor
From the driving state of the vehicle based on the input data from
Estimate the state of the road on which the vehicle is traveling and take the
The travel route of the own vehicle is set accordingly. Soshi
Then, the three-dimensional object hanging on the area set on this travel route is
Position of three-dimensional object detected by microprocessor 30b
It extracts based on the location data and determines the possibility of collision. Hereinafter, the microprocessor 30c will be described.
3 and FIG.
It will be described according to. In the program for this collision judgment processing,
First, in step S101, the microprocessor 30a
Check the recognition result of the road shape and check the steering angle sensor 6
The steering angle by these signals, the car by the signal from the vehicle speed sensor 4
The speed and the like are read to check the current driving state of the own vehicle. Next, the process proceeds to step S102, where the road shape is
Based on the recognition result and the driving state of the vehicle, the vehicle is running.
The road conditions. The estimation of this road condition is as follows
Are performed according to the conditions J1 to J3, and the conditions J1 to J3
If there is at least one condition that does not hold,
It is estimated that the vehicle is traveling, and from step S102
Proceeding to step S103 and subsequent steps,
Mode, and when all the conditions J1 to J3 are satisfied
Means that the vehicle runs on narrow or curved roads such as residential areas
It is estimated that the situation is
Proceed to step S105 and beyond to enter collision judgment mode on narrow roads
Switch. Condition J1: The road shape cannot be recognized. Condition J2: The vehicle speed is a set value (for example, 30 to
40 km / h) or less. Condition J3: The operating angle of the steering wheel is the set angle
(For example, 20 °) or more is the set number of times (for example,
For example, 5 times / min) or more. Collision on general road after step S103
In the determination mode, in step S103, the vehicle
The travel route is estimated, and in step S104,
The three-dimensional object hanging on the set traveling area is extracted. For example,
Running assuming that the current steering angle and vehicle speed of the own vehicle are maintained
The route is estimated, and the road shape
Set a traveling route that extends along. And stele
Image processing (three-dimensional object by microprocessor 30b)
And stored in the output memory 35.
Is set on the travel route from the position data of the object
The three-dimensional object hanging in the traveling area is
Extracted as a car and proceed to step S116 and later to determine collision
Processing and alarm output processing based on the collision determination result.
U. This collision judgment processing and alarm output processing will be described later.
I will describe. On the other hand, on narrow roads after step S105,
In the collision judgment mode on a curved road,
In step S105, the travel route from the current time to after the set time T0
A certain 0th travel route is set as a basic travel route, and
In addition, different traveling extending beyond the 0th traveling route
The first to fifth traveling routes of the pattern are respectively set.
The traveling route referred to here is a track through which the center point of the vehicle passes.
It is a trace. The 0th travel route is detected by the vehicle speed sensor 4.
From the vehicle speed and the steering angle detected by the steering angle sensor 6.
If the calculated current turning radius R of the own vehicle is held,
It is a traveling route when the turning radius R is held.
From the present, the set time T0 (for example, about 1 second,
(However, the optimum value differs depending on the characteristics of the driver.)
The range in which the vehicle travels is defined as the 0th travel route. The turning radius R
Are the signals from the yaw rate sensor 5 and the vehicle speed sensor 4.
May be calculated based on the above signal. On the other hand, the first traveling route is based on the current turning radius R.
Is assumed to be maintained after the set time T0.
In the second traveling route, the steering angle is set to 0 ° after the set time T0.
(Neutral position), and thereafter, the steering angle returns to the neutral position.
This is a traveling route that is assumed to go straight in the traveling direction at the time.
To determine this second travel route, first,
The coordinates (Zp, Xp) of the end point P are calculated by the following equations (1) and (2).
And then the tangential direction θp of the arc of radius R at the end point P
Is calculated by the following equation (3). And through the end point P
A straight line having a slope θp is calculated, and this straight line is
(See FIG. 5). Zp = R · sin (Ve · T0 / R) (1) Xp = R. (1-cos (Ve.T0 / R)) (2) θp = Ve · T0 / R (3) Where Ve is the traveling speed of the vehicle. [0041] The third traveling route is set after the set time T0.
Return to the same direction as the current direction and go straight
It is assumed that the traveling route passes through the end point P, and the inclination is 0.
Is a third traveling route. Further, the fourth and fifth traveling routes correspond to the first traveling route.
This is the driving route when a slight steering correction is performed on the road.
You. In other words, the fourth traveling route has the steering angle after the set time T0.
Set the angle to the right in the direction of θ4 (correction
(Only about + 10 ° on the steering wheel within the steering range)
And calculate the turning radius R4 in that state.
Is a traveling route assumed to travel while maintaining the turning radius R4.
It is. Similarly, in the fifth traveling route, the steering angle is set to the left.
Set angle θ5 (the range of corrected steering that the driver unconsciously performs
Assuming that it has been corrected by only -10 degrees on the handle)
Then, the turning radius R5 in that state is calculated, and thereafter, the turning radius is calculated.
The traveling route is assumed to travel while maintaining the diameter R5. After setting the 0th to 5th driving routes,
Proceeding from step S105 to step S106, the stereo image
Image processing (three-dimensional object detection processing by microprocessor 30b)
And stored in the output memory 35.
Data of a plurality of three-dimensional objects, that is, distances Zi from the own vehicle
, The leftmost position XiR, the rightmost position XiR,
The running speed Vi and the like are read, and for each of the six types of running routes,
A three-dimensional object to be processed is extracted. The extraction of the three-dimensional object is performed for each traveling route.
Set the area, and the three-dimensional object hanging in this running area
By extracting the one that is closest to the host vehicle
Is That is, first, the n-th travel path at the distance Zi
The X coordinate Xni of the road is obtained (n is the number of the traveling route: n = 0 to
5) The X coordinate Xni is a little less than half the width of the host vehicle.
Left and right margin α / 2 (for example, 0.2m to 0.8m)
The added area is defined as a traveling area. Thereby, as shown in FIG.
Thus, for the 0th to 5th travel routes, the 0th to 5th travel regions are
Is set. Next, for each of the 0th to 5th running areas,
The position of the left end of the three-dimensional object at a distance Zi from the host vehicle
XiL, the right end position XiR, and the left at the distance Zi of the traveling area.
Compare the edge and the right edge, and
Extract as candidates. And among the three-dimensional objects that became candidates
The object closest to the vehicle in the target area
It is extracted as a body object, and the number Lin of the three-dimensional object is recorded in the memory.
Remember Thereafter, the process proceeds to step S107, in which the
Check if there is a three-dimensional object in the area, and if there is a three-dimensional object, collide
Extracted as a three-dimensional object to be judged and collided from step S107
The process jumps to step S116 of the judgment and alarm output process.
On the other hand, in the above step S107, no three-dimensional object is detected
In this case, the process proceeds from step S107 to step S108 and subsequent steps.
No. In step S108 and subsequent steps, the presence / absence, position, and
Evaluate the running speed, etc., and extract the three-dimensional object
Put out. For this reason, first, in step S108, the first
3D objects of the third travel area are integrated. Integration of this three-dimensional object
Is first performed for the second and third travel areas, and then
The integration result of the second and third travel areas is compared with the first travel area.
Integrate three-dimensional objects in the area The integration of the three-dimensional objects in the second and third travel areas is as follows:
The number of the three-dimensional object in the second traveling area is Li2,
The body number is Li3, and the object of collision judgment in the previous process
Let Liq be the number of the three-dimensional object that became
Do (1) When Li2 = Li3, ie, the same
Are extracted in the second traveling area and the third traveling area
In this case, the three-dimensional object Li23 is integrated. (2) If Li2 ≠ Li3, refer to Table 1 below.
Then, the three-dimensional object resulting from the integration is set to Li23.
In addition, according to the integration result shown in Table 1, the second traveling region and the third traveling region
If there is no three-dimensional object in any of the driving areas,
Inverters can avoid collisions through a three-dimensional object-free travel route
Therefore, the three-dimensional object resulting from the integration is not detected. [0052]Next, the result of integration of the second and third travel regions will be described.
Then, the three-dimensional object in the first traveling area is integrated by the following processing
I do. (3) If Li1 = Li23, that is,
If one solid object has been extracted, this solid object is integrated.
Then, the three-dimensional object resulting from the integration is set to Li123. (4) If Li1 ≠ Li23, the following Table 2
Integrate in the light, and let the three-dimensional object resulting from the integration be Li123.
You. [0056] In this case, first, the three-dimensional object L in the first traveling area
i1 is the solid object Liq that was the target of collision determination in the previous process.
If they are the same, the three-dimensional object Li1 is taken as the integration result. Next,
If there is no three-dimensional object in one of the traveling areas, the driver of the own vehicle
Can avoid collision through a three-dimensional running path
No detection. In addition, the first and second traveling areas have the first
When there is a three-dimensional object different from the traveling area, the first traveling
The three-dimensional object Li1 of the region is set as the integration result. Further, the integrated standing in the second and third traveling areas.
The body object Li23 is the same as the target three-dimensional object Liq for the collision determination in the previous processing.
When they match, the traveling speed Vi23 of the three-dimensional object Li23 is adjusted.
In addition, the traveling speed Vi23 is equal to the set speed (the traveling speed V of the own vehicle).
e), the three-dimensional object Li23 is
Judge as both. And the driver of own vehicle is the preceding vehicle
It is presumed that the vehicle will travel following the three-dimensional object Li23.
Is a three-dimensional object Li123 as a result of integration. On the other hand, the traveling speed Vi23 is lower than the set speed.
When the three-dimensional object Li23 is an obstacle such as a telephone pole or a pedestrian
The driver operates the steering wheel after the set time T0.
Do not go in the direction of these three-dimensional objects
Is extracted, the result of extracting the three-dimensional object in the first traveling area
To obtain a three-dimensional object Li123. As described above, the three-dimensional object in the first to third traveling regions
Are integrated, the process proceeds from step S108 to step S109.
The three-dimensional object Li123 as the integration result is detected
Check if it is not detected, and if no detection
Concluded that there is nothing, skip the routine from step S109
This processing ends. That is, the first to third travel regions
If there is no three-dimensional object in any of the
Collision can be avoided through a clear travel route,
There are no three-dimensional objects to be determined. On the other hand, in step S109, the first to third running
As a result of integrating the three-dimensional objects in the line area, the three-dimensional object Li123 is detected.
If it is, the steps S109 to S110 are performed.
And the three-dimensional object Li123 as a result of the integration
It is determined whether or not the target three-dimensional object Liq is Li123 = Liq.
In the case of,
Jump to step S116, and when Li123 ≠ Liq,
Proceed to step S111. In step S111, the first to third travel regions
The three-dimensional object Li123 resulting from the integration is the three-dimensional object Li1 in the first traveling area.
Check if there is. As a result, when Li123 ≠ Li1
Determines this three-dimensional object as the object of collision determination, and
Jump from step S111 to step S116, where Li123 = Li1
At this time, the process proceeds from step S111 to step S112 and thereafter.
The three-dimensional objects in the fourth and fifth traveling areas are integrated, and the fourth and fifth traveling areas are integrated.
The three-dimensional object Li123 is referred to by referring to the integration result of the three-dimensional object in the traveling area.
(= Li1) is evaluated. That is, the number of the three-dimensional object in the fourth traveling area is
Li4, the distance is Zi4, and the number of the three-dimensional object in the fifth traveling area
If the number is Li5 and the distance is Zi5, then in step S112
And the three-dimensional object in the fourth and fifth traveling areas by the following processing
To integrate. (5) Either the solid object Li4 or Li5 is detected
In the case of none, it is assumed that the solid object Li45 resulting from the integration is not detected.
You. (6) Both three-dimensional objects Li4 and Li5 are detected
The distance Zi4 is compared with the distance Zi5,
The larger three-dimensional object is defined as a three-dimensional object Li45 as a result of integration. Next, in step S113, the three-dimensional object Li45 is detected.
It is checked whether it is issued or not, and the three-dimensional object Li45 is detected.
If not, the process branches to step S115, and the
Grace time T1 (for example, 1
c) It is checked whether or not the solid object Li123 is detected continuously.
Bell. As a result, the three-dimensional object Li123 continues for the grace time T1 or longer.
If it is detected as a collision,
The process proceeds from step S115 to step S116, and the detection is deferred.
If the time is less than T1, there is no target object for collision judgment
And exit the routine. That is, the integration result of the fourth and fifth traveling areas
When the three-dimensional object Li45 is not detected as the
If no solid object is detected in any of the five driving areas
“)” Means that the driver of the own vehicle has the angle θ4 or the angle θ5.
Of the three-dimensional object Li123 (first driving area
This indicates that the three-dimensional object Li1) in the region can be avoided. Only
However, there is no correction of the steering angle,
If the three-dimensional object Li123 is detected by the
Judged that he did not recognize the danger of collision with Li123,
Make a decision. On the other hand, the result of integration of the fourth and fifth running areas is established.
If the body object Li45 has been detected, the process proceeds to step S11.
Proceeding from step 3 to step S114, the distance Zi45 of the three-dimensional object Li45
And the distance between the three-dimensional object Li123 and the distance Zi123 are the determination values (for example,
20m) or more, the three-dimensional object Li45 is more than the three-dimensional object Li123.
Find out if you are a minute away. As a result, the three-dimensional object Li45 and the three-dimensional object Li123
Is smaller than the judgment value, and the solid object Li45 is a solid object.
If it is close to Li123, avoid the solid object Li123 by correcting the steering angle
It is determined that it is difficult to perform
Steps S114 to S1 to be targeted for collision determination
Proceed to 16. The distance between the three-dimensional object Li45 and the three-dimensional object Li123 is
If the difference in separation is more than the judgment value and is sufficiently far away,
The driver of the three-dimensional object Li123 (No.
It is determined that the three-dimensional object Li1) in one travel area can be avoided, and
The process proceeds from step S114 to step S115 described above, and
The body object Li123 continues for a grace period T1 (for example, 1 second).
c) Check whether it is detected continuously, and drive the own vehicle.
The collision judgment is made according to the correction of the steering angle by the
Decide whether to target. Collision judgment and alarm output after step S116
In the process, in step S116, the collision with the traveling speed Ve of the own vehicle is performed.
The running speed Vit of the three-dimensional object Lit extracted as a collision determination target
Then, the relative speed Vr is calculated by the following equation (4),
For example, the warning inter-vehicle distance Dw is calculated according to the characteristics shown in FIG.
I will. Vr = Ve-Vit (4) Next, the routine proceeds to step S117, in which the warning
By comparing the distance Dw with the current inter-vehicle distance, the risk of collision
It is determined whether or not there is. And the distance Zit of the object is a warning
When the inter-vehicle distance Dw is smaller, there is a risk of collision.
And proceeds from step S117 to step S119,
Displays a collision warning on the display 9 and brakes the driver
Encourages operation and works with an automatic brake device (not shown)
Output the activation signal and exit the routine.
I can. On the other hand, the distance Zit of the target object is the warning inter-vehicle distance D.
If w is greater than or equal to
The process proceeds from step S117 to step S118, where a collision warning has already been issued.
If the risk of collision disappears in subsequent operations
Release the collision warning and activate the automatic braking system.
If it is running, release it and exit the routine.
You. As described above, the road shape can be recognized without the white line.
For driving on narrow or curved roads
The possibility of collision with obstacles and the preceding vehicle
Can be performed without causing unnecessary alarms.
The risk of collision can be determined. For example, as shown in FIG.
Turn right steering wheel to avoid pedestrians
Is usually set when the driver is aware of the pedestrian
Also notices the telephone pole on the right, and the driver
It is intended to pass between pillars. In this case, the first in the direction in which the handle is turned
In the conventional technology in which only the traveling area is subjected to a collision warning,
If there is a three-dimensional object such as a telephone pole in the first traveling area as shown in FIG.
In response to this, a collision warning is issued and the driver
Would be an excessive warning. However, the present invention
Then, the first and second traveling regions (see FIG.
7, a second travel area is not shown).
And a solid object exists in one of the second and third travel areas
If it is possible to pass, the power pole in the first traveling area is
It will not be the subject of the alert and will prevent excessive alerts. Further, a three-dimensional object also exists on the second and third traveling areas.
If it exists and cannot pass, the driver
It is necessary to operate the brake to stop. In this case,
Promptly issues a collision warning for the utility pole in the first driving area.
Can be done. Furthermore, if the driver notices the telephone pole,
If you continue to drive toward the utility pole,
As soon as the utility pole approaches and enters the 0th travel zone,
Information is issued. For example, as shown in FIG.
Assuming that the vehicle is traveling on a curved road, the driver
Usually turns the handle to the right and bends the bend
After returning the steering wheel, continue running along the runway,
As before, only the direction in which the steering wheel is turned is subject to alarm
As shown in FIG. 8, in the device,
Collision warnings are issued, causing excessive warning for drivers
It will be information. Even in such a case, in the present invention,
Set the second travel area for the utility pole that runs on the first travel area
However, there is no other three-dimensional object in this second traveling area and it passes safely
If possible, utility poles in the first driving area are not subject to collision warning
And an excessive alarm is prevented. If there is a preceding vehicle, the driving
The driver usually runs following the preceding vehicle. Shown in FIG.
As described above, according to the present invention, the three-dimensional object in the second traveling area is
A three-dimensional object monitored as a target for collision warning
If the degree is as large as your vehicle,
Judgment that the vehicle is traveling
An alarm can be issued according to the intention of the diver. Further, as shown in FIG.
In situations where the driver avoids a parked vehicle in the left front of the
It is often difficult to perform the avoidance operation with a margin.
Therefore, the driver of the own vehicle must keep a distance from the parked vehicle to be avoided.
When the separation is large, perform rough steering operation, and
When approaching, there is a tendency to finely modify the handle and avoid
There is. In such a case, in the direction in which the steering wheel is turned,
In the conventional technology that only targets collision warning,
If part of the vehicle is still in the driving area, the driver of the vehicle
Is aware of a parked vehicle,
And a collision warning is issued. However, in the present invention,
Assuming that the steering wheel is turned right after the set time T0
4 is set, and the parked vehicle on the left front
If it doesn't cover the area, we will cancel the collision warning
To prevent warnings against the driver's intention.
Can be Also, if you drive as it is, you will park
Driver of own vehicle is unaware of contact with vehicle
In this case, after the grace period T1, the parked vehicle
Become a target, a collision warning is issued, and safety is ensured. FIG. 11 relates to a second embodiment of the present invention.
FIG. 1 is an overall configuration diagram of a collision prevention device. Collision prevention mounted on vehicle 100 of this embodiment
The device 101 is used for stereo image processing by two cameras.
Instead, a monocular CCD camera 102 and a predetermined scanning range
Scans the laser beam at regular intervals.
Combined with a self-contained laser radar 103,
It recognizes obstacles and preceding vehicles and makes collision judgments.
is there. For this reason, this embodiment is different from the first embodiment described above.
On the other hand, a monocular CC adopted in place of the stereo optical system 10
The signal from the D camera 102 and the scanning laser
The signal from the radar 103 is processed by the image processing unit 110,
The collision judging section 60 determines whether a preceding vehicle should follow the vehicle or the danger of a collision.
The collision determination with a three-dimensional object having a certain size is performed. That is, the image processing unit 110
The laser beam from the scanning laser radar 103
The laser beam projected on the object
From the time required to receive the incoming light to the object
By repeating the process of measuring the distance in the left and right direction,
The two-dimensional distribution of a plurality of obstacles and vehicles is obtained.
Analyze the image captured by the CD camera 102
The position of the white line is detected. Then, similar to the first embodiment, the collision determination
In the section 60, the information from the image processing section 110, the vehicle
Based on input data from the speed sensor 4 and the steering angle sensor 6
Estimate the condition of the road on which the vehicle is traveling
Switch to the appropriate collision judgment mode, there is a risk of collision
A collision with a three-dimensional object is determined. Also in this embodiment, the same as in the first embodiment described above.
Narrow road or bend where there is no white line and road shape cannot be recognized
Even when driving on a rough road, obstacles and
It is possible to reliably determine the possibility of collision with
Accurately judge the danger of a collision without issuing an important alarm
Can be [0089] As described above, according to the present invention, the road
When driving on a road where the road shape cannot be recognized
Even if there is a collision with an obstacle or a preceding car
Collisions without the need for alarms
Excellent effects such as being able to judge the danger of
You.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of a collision prevention device according to a first embodiment of the present invention. FIG. 2 is a circuit block diagram of the collision prevention device. FIG. Flowchart of processing (No. 1) FIG. 4 Same as above, Flowchart of collision determination processing (No. 2) FIG. 5 Same as above, explanatory drawing showing the shape of the traveling route FIG. FIG. 7 is an explanatory diagram showing a pedestrian avoiding situation. FIG. 8 is an explanatory diagram showing a traveling situation on a curved road. FIG. 9 is an explanatory diagram showing an avoiding situation for a preceding vehicle. FIG. 10 is an explanatory view showing an avoidance situation for a parked vehicle. FIG. 11 is an overall configuration diagram of a collision prevention device according to a second embodiment of the present invention. Prevention device 10: stereo optical system 50: image Processing section 60 ... collision determination unit

────────────────────────────────────────────────── ─── Continued on the front page (51) Int.Cl. 7 Identification symbol FI // G08G 1/09 G08G 1/09 V (58) Investigated field (Int.Cl. 7 , DB name) G08G 1/09, 1/16 B60R 21/00

Claims (1)

  1. (57) and Patent Claims 1. A recognition means for recognizing the three-dimensional object existing ahead of the vehicle, and the road shape recognizing means for recognizing the road shape, the road shape recognition result of the vehicle General from running state
    Estimating means for estimating whether the road is a narrow road or a curved road;
    Collision with a three-dimensional object on the travel route estimated from
    Select the first collision determination mode to
    When it is estimated that the road is
    Multiple runs determined by multiple running patterns
    The second to determine the collision from the relationship between the line route and the position of the three-dimensional object
    Wherein a selection means, in the selected collision determination mode, further comprising a control means to determine the likelihood of a collision of the vehicle with respect to the recognized three-dimensional object performs collision prevention control for selecting a collision determination mode Vehicle collision prevention device. 2. The control device according to claim 1, wherein the control means includes a second collision determination mode.
    If there is no three-dimensional object in one of the
    2. The vehicle according to claim 1, wherein collision prevention control is not performed.
    Both anti-collision devices. 3. The method according to claim 1, wherein the plurality of traveling routes are maintained even after a set time has elapsed.
    First traveling route assuming that the current traveling state continues
    After the set time has elapsed, return the steering angle to the neutral position and drive
    Then, the second traveling route assumed, and after the elapse of the set time,
    3rd run assuming that the vehicle turns in the straight direction
    And the control means, when in the second collision determination mode,
    Even if there is a three-dimensional object on the first traveling route,
    Controls collision prevention if there is no three-dimensional object on the third travel route.
    2. The collision prevention device for a vehicle according to claim 1, wherein the collision prevention device is not provided.
    Place. 4. The method according to claim 1, wherein the plurality of travel routes are the same as the set time elapses.
    Later, the steering angle is corrected to the right in the traveling direction by the set angle,
    Traveling route assumed to travel with the steering angle maintained
    After the above set time, the steering angle is set to the left in the traveling direction.
    It is assumed that the vehicle is driven with the corrected steering angle
    A fifth traveling route, wherein the control means detects that a three-dimensional object is present on the first traveling route.
    However, there is no three-dimensional object on the fourth or fifth travel route.
    In Kere, but between predetermined grace 予時 collision determination with respect to the three-dimensional object
    The vehicle according to claim 3, wherein the vehicle is stopped.
    Anti-collision device.
JP19280597A 1997-07-17 1997-07-17 Vehicle collision prevention device Expired - Lifetime JP3372190B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP19280597A JP3372190B2 (en) 1997-07-17 1997-07-17 Vehicle collision prevention device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP19280597A JP3372190B2 (en) 1997-07-17 1997-07-17 Vehicle collision prevention device

Publications (2)

Publication Number Publication Date
JPH1139598A JPH1139598A (en) 1999-02-12
JP3372190B2 true JP3372190B2 (en) 2003-01-27

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008003666A1 (en) * 2008-01-09 2009-07-16 Robert Bosch Gmbh Method for controlling a driver assistance system and driver assistance system
JP5556077B2 (en) * 2009-07-28 2014-07-23 日産自動車株式会社 Driving support device
CN102275558B (en) * 2010-06-12 2013-01-23 财团法人车辆研究测试中心 Dual-vision preceding vehicle safety attention device and method
US8509982B2 (en) 2010-10-05 2013-08-13 Google Inc. Zone driving
JP5644477B2 (en) * 2010-12-22 2014-12-24 日産自動車株式会社 Driving support display device
GB2510167B (en) 2013-01-28 2017-04-19 Jaguar Land Rover Ltd Vehicle path prediction and obstacle indication system and method
US9321461B1 (en) 2014-08-29 2016-04-26 Google Inc. Change detection using curve alignment
US9248834B1 (en) 2014-10-02 2016-02-02 Google Inc. Predicting trajectories of objects based on contextual information
JP2017033962A (en) 2015-07-28 2017-02-09 株式会社東芝 Photodetector and rider device using the same
JP6477340B2 (en) * 2015-08-04 2019-03-06 日産自動車株式会社 Road boundary detection device, self-position estimation device, and road boundary detection method
CN106657781B (en) * 2016-12-19 2019-11-15 北京小米移动软件有限公司 The image pickup method and device of target object

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