JP3519617B2 - Control target sorting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting a position and a relative speed of a detected object in front of a vehicle and performing vehicle speed control or alarm for the detected object. In particular,
A control target sorting device that appropriately sorts a detection target to be controlled, such as determining whether the detection target collides with the own vehicle and determining whether the detection target is a stopped or moving object at low speed It is a thing.

[0002]

2. Description of the Related Art Conventionally, as a method of recognizing a preceding vehicle, there is a method described in Japanese Patent Laid-Open No. 6-295400.
The preceding vehicle recognition method disclosed in JP-A-6-295400 is
The scanning laser radar mounted on the car irradiates the object in front with laser light and calculates the distance from the vehicle to the object based on the time until the reflected light from the object is received. At this time, a method of recognizing whether the object is a preceding vehicle traveling in front of the same lane, and scanning the laser light by a predetermined angle in a direction orthogonal to the traveling direction of the own vehicle, The distance to the object is calculated, and the calculation result for each irradiation point is stored in each storage area of the storage means. In these stored data, there are a plurality of measurement points having substantially the same distance over the vehicle width. Depending on whether or not to do so, the vehicle candidate point group is detected, and the conformity function, which is a function of the number of measurement points included in the detected candidate point group, the distance between the measurement points located at both ends, etc. Table of certainty After calculating the certainty factor and setting a predetermined judgment window based on the position of the candidate point group in the coordinate system with the traveling direction and the traveling direction of the laser beam as the coordinate axis, the next measurement point by laser beam scanning The new vehicle candidate point group is searched based on the data of whether the existing vehicle candidate point group exists in the window, and if there is, the position of the previous vehicle candidate point group is set to the position of the new vehicle candidate point group. In addition, the certainty factor calculated this time is added to the previous certainty factor to obtain a new certainty factor, and when a new vehicle candidate point group does not exist in the window, a predetermined subtraction value from the previous certainty factor. To obtain a new confidence level,
A feature is that a new vehicle candidate point group is determined as a preceding vehicle when the new certainty factor is larger than the reference value.

[0003]

By the way, it is assumed that the vehicle 1 is traveling on a straight road as shown in FIG. 7 and the road ahead is a curved road or is traveling on a curved road. Generally, in such a road, a reflector 50 is attached to a curved portion. This reflector 50 seems to have the same width as the reflector width at the rear of the automobile depending on the curvature of the curved road. Also,
There is no great difference in the distance in the front-back direction as viewed from the host vehicle 1. At this time, according to the recognition method of Japanese Patent Laid-Open No. 6-295400, the preceding vehicle seems to be stopped in front of the own vehicle.

The present invention has been made in order to solve the above problems, and controls a reflector installed on a road, a guardrail, a curve mirror, an object around the road or an object moving at a low speed. An object of the present invention is to provide a device for discriminating a controlled object that is not mistaken for the object (leading vehicle).

[0005]

A control object according to claim 1
The invention of the sorting device determines the distance of an object existing in front of the vehicle.
The distance measuring means to be measured and the data obtained from the distance measuring means.
The object in front of the vehicle is recognized from the
Determine the position with respect to the vehicle and the relative speed with respect to the own vehicle
The object recognition means and the own vehicle obtained from the object recognition means
Movement of the detected object
A detection object movement path prediction means to predict the path, the vehicle
From the relative speed of the detected object to the
Detecting object collision time prediction means for predicting collision time, and detection
Of the object movement path prediction means and the detected object collision time prediction means
From the results, is it possible that the vehicle and the detected object will collide?
Collision determining means for determining whether or not there is a vehicle speed control
Control or alarm to notify that the detected object is dangerous.
Comprising starts selling control and alarm means, (1) the relative speed of the recognized detected object by object recognition means
The detected object moves at a stationary or slow speed based on the
It is determined whether or not it is a moving object, and (2) the detected object is a stationary object or an object that moves at a low speed.
If the object is not a body, the detected object is collided by the collision determination means.
Control with warning means without subjecting to collision judgment
The target of the alarm is (3) the detected object is a stationary object or an object that moves at a low speed.
If it is a body, the collision determination means detects the vehicle
It is determined whether there is a possibility that an object will collide, and (3a)
If it is determined that there is a possibility of collision,
The target of control / warning of the control / warning means is (3b) If it is determined that there is no possibility of collision, the relevant detection
Do not control the output object as the target of control / alarm means control / warning.
And are characterized.

A controlled object selecting apparatus according to the invention of claim 2
Is recognized by the object recognition means in the invention of claim 1.
The distance PL between the detected object and the vehicle is within the predetermined distance PthL
It is determined whether or not there is the detected object within a predetermined distance PthL.
If not, the detected object collides with the collision determination means.
Control / warning by control / warning means without making judgment
As a target of information, the detected object is within a predetermined distance PthL
In this case, the detected object is a stationary object or moves at a low speed.
It is characterized by determining whether or not it is an object.

A controlled object selecting apparatus according to the invention of claim 3
Is a predetermined relative value in the invention of claim 1 or claim 2.
For detected objects approaching at speed Vth1 or higher, control /
It is special to exclude from control / alarm by alarm means.
To collect.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Prerequisite Technology 1. FIG. 1 is a block diagram showing the configuration of a controlled object selection device according to the premise technique of the present invention. As shown in the figure, the controlled object sorting apparatus 10 according to the precondition technique of the present invention recognizes a distance measuring means 11 for measuring the distance between the own vehicle and an object in front, and an object in front as one detected object to the own vehicle. An object recognition means 12 for calculating a relative position and a relative speed with respect to the own vehicle, a detected object movement path prediction means 13 for predicting a movement path of a detected object, and a detected object collision time prediction means 14 for predicting a collision time of the detected object. A collision determination means 15 for determining whether or not the own vehicle and the detected object collide, and a control / warning means 16 for notifying the vehicle speed of the own vehicle or the danger to the detected object determined to collide. It consists of and.

The distance measuring means 11 receives a transmitting device which emits a laser beam or a radio wave toward a specified viewing angle range in front of the host vehicle, a laser beam returned by reflection from an object in front of the host vehicle, and the like. It is equipped with a receiver and plays the role of measuring the distance between the vehicle and the object in front based on the time from the transmission of laser light or radio waves to the reception.

When there are a plurality of distance data obtained by the distance measuring means 11, the object recognizing means 12 determines whether they are separate objects or one object, and detects each object with respect to the own vehicle. The position and the relative speed with respect to the own vehicle are calculated. FIG. 2 shows an example of an object recognition method by the object recognition means 12, and a plurality of distance data detected by the distance measurement means 11 (laser radar or the like) (see FIG. 2).
The detection data group (detection data group B in FIG. 2: diagonally shaded square) is created by collecting the detection points A: black squares. The detection data group B thus obtained corresponds to the reflector mounted on the rear portion of the preceding vehicle, the reflector plate on the rear portion of the large truck, the delineator on the road shoulder, and the signboard. The grouping process is performed every time the distance is measured by the distance measuring means 11, and groups having similar positions and movements are further grouped (FIG. 2).
Detected object C: square in dotted frame). The detected objects C put together in this way correspond to an installed object such as a preceding vehicle or a reflective object on the road shoulder.

The detected object moving path predicting means 13 predicts the moving path of the object from the time series change of the position of the detected object recognized by the object recognizing means 12 with respect to the own vehicle. FIG. 3 is a diagram for explaining the prediction of the movement route by the detection object movement route prediction unit 13, and here, as an example, the movement route of the detection object 100 which is a road installation object is obtained. In the figure, first, the position of the detected object 100 recognized by the object recognition means 12 with respect to the host vehicle is stored in time series (t1, t2, t3). And the object 1
The black circle point (t1,
When the position of the detected object 100 at t2 and t3) is approximated by, for example, a quadratic expression, a quadratic curve of the dotted line in the figure is obtained as the predicted movement path of the object 100. That is, the detection object 100
The result of least-squares approximation of the black circle point, which is the locus of the time-series position of, is a white circle point, which is the expected position where the detected object 100 will pass. Although the predicted travel route is approximated by a quadratic curve here, it may be approximated by another curve. In particular,
It is preferable to approximate the clothoid curve used for the curve curve of highways.

The detected object collision time predicting means 14 calculates the time from the relative speed Vr between the detected object 100 and the own vehicle 1 until the object collides with the own vehicle. FIG. 4A is a diagram for explaining the prediction of the collision time by the detected object collision time prediction means 14, in which the speed of the host vehicle 1 is V.
s, the velocity of the detected object 100 is Vf, and the relative velocity Vr
Is defined by equation (1).

Vr = Vf-Vs (1) It should be noted that all of Vr, Vf and Vs are positive in the forward direction of the host vehicle (y direction).

In order to obtain the expected collision time between the vehicle 1 and the detected object 100, as shown in the figure, it is premised that the relationship of the vehicle speed Vs> the detected object speed Vf, that is, the relative speed Vr is negative. . At this time, it is detected that the detected object 100 approaches the host vehicle 1 at a relative speed of −Vr (m / s), and the detected object 100 is located at a distance L (m) from the host vehicle 1. As a result, the estimated collision time tx (s) between the host vehicle 1 and the detected object 100 can be calculated by the equation (2).

Tx = L / (-Vr) (2)

The collision determination means 15 receives the results of the detected object movement route prediction means 13 and the detected object collision time prediction means 14 and determines whether or not the detected object 100 collides with the host vehicle 1. That is, in FIG. 3, the object recognition means 1
The position Ptx on the predicted movement path of the detected object 100, which is the result of the detected object moving path prediction means 13 at the collision predicted time tx which is the result of the detected object collision time prediction means 14 of the detected object 100 recognized by 2. If it is within the predetermined range R0, it is determined whether or not the position Ptx at that time is within the predetermined range R0 with the host vehicle 1, that is, whether the lateral deviation from the own vehicle 1 is within the predetermined range R0. It is determined to collide, and if it is more than that, it is determined not to collide.

The control / warning means 16 is a collision determination means 15
The detected object 100 determined to collide by
Control of the vehicle speed of the host vehicle 1 or control / warning for informing the driver that the object is dangerous is performed. This control
As an example of the alarm, when the preceding detection object 100 does not exist, constant speed traveling control, that is, the throttle or the like is controlled so that the vehicle speed set by the driver is reached. Further, when the detected object 100 approaches the host vehicle 1, the target inter-vehicle distance is obtained from the vehicle speed, and the throttle and the gear shift stage are controlled so that the inter-vehicle distance becomes stable at that value.
Further, when the relative speed of the approaching detection object 100 is very large and a braking operation is required, the throttle is controlled to decelerate and an alarm is issued to call the driver's attention.

In this way, the detected object movement path prediction means 1
3, the movement path of the detected object is predicted, the collision time of the detected object is predicted by the detected object collision time prediction means 14, and it is determined from the results that the own vehicle 1 and the detected object 100 collide, Since the detected object 100 that is determined to be activated is informed of the control of the vehicle speed of the host vehicle or the fact that it is dangerous, only the object that is truly dangerous to the host vehicle is controlled or alarmed. You can

Embodiment 1. The first embodiment of the present invention is an improvement of the above-described base technology.
Therefore, for stationary objects or detection objects moving at low speed
Only the above-mentioned collision determination operation is performed.
It

FIG. 5 is a flowchart showing the collision determination operation of the controlled object sorting apparatus according to the first embodiment .

First, the distance measuring means 11 measures the distance between the vehicle 1 and the object in front of it, and the object recognizing means 12 recognizes the detected objects 100 by grouping the distance data and the like, and detects each detected object 100. Then, the position with respect to the own vehicle 1 and the relative speed Vr with respect to the own vehicle are obtained. And S10
As shown in 1, the relative speed Vr is compared with the threshold value Vth1. Here, as shown in FIG. 4B, by setting the threshold value Vth1 to a value smaller than the negative value (-Vs) of the vehicle speed Vs, the detected object 100 with respect to the host vehicle 1 when Vr≤Vth1. It is determined that the object is an object (an oncoming vehicle) approaching and approaching. That is, V in S101
When r> Vth1 is determined to be NO, the detected object 100 is determined to be an oncoming vehicle, and the process of the present invention is not performed, and the process reaches END. On the other hand, if Vr> Vth1 is YES in S101, the process proceeds to S102.

In S102, Vth1 ≦ relative speed (Vr)
It is determined whether ≦ Vth2. Thresholds Vth1 and Vth2
Is set so that Vth1 ≦ −Vs ≦ Vth2, and here it is determined whether the detection object 100 is a stationary object or an object that moves at a low speed. Vth1 ≦ relative speed (Vr) ≦ Vth2
If the condition is satisfied, the detected object 100 is determined to be a stationary object or an object moving at a low speed, and if YES in S102, S
Proceed to 103. In the case of NO in S102, the detected object 10
0 is determined not to be a stationary object or a low-speed moving object, and S106
Then, the control / warning means 16 targets the vehicle speed of the host vehicle 1 corresponding to the detected object 100 or gives a warning to the driver.

In S103, the collision determination described in the first embodiment is performed on the detected object 100 which is determined to be a stationary object or a low speed moving object in S102. That is, the detected object movement route prediction means 13 predicts the movement route of the object 100 from the time series change of the position of the detected object 100 with respect to the own vehicle 1, and the detected object collision time prediction means 14 detects the detected object 100 and the own vehicle 1. The time tx from the relative speed Vr to the collision with the host vehicle 1 is calculated. Then, the collision determination means 15 detects the detected object 100 at the collision prediction time tx.
The position Ptx on the predicted travel route is determined and it is determined whether or not the position is within the predetermined range R0 with the host vehicle 1.

If YES in S103, the detection object 100 is predicted and determined to collide, and the process proceeds to S104, where the control / warning means 16 sets the subject vehicle 1 for speed control or warning. If NO in S103, the detection object 100 is predicted and determined not to collide, and the process proceeds to S105, where the speed control of the host vehicle 1 by the control / warning means 16 or the warning is not performed.

As described above, according to the first embodiment, it is determined whether or not the object collides only with an approaching object at a predetermined relative speed (Vth1≤Vr≤Vth2), and thus a stationary object or a low speed object is detected. Since the collision determination is performed only on the moving object, the control target selection process can be simplified and the load can be reduced.

Further, when the distance measuring means 11 samples the distance at a predetermined time cycle, the moving position prediction accuracy of the object with respect to a stationary object or an object moving at a low speed becomes high, and such a movement is performed. By determining the collision of an object whose position prediction accuracy is high, the movement can be predicted with high accuracy.

Furthermore, the items that are likely to be road installations are excluded from the alarm / control targets, and false alarms / controls for them are eliminated. Sanawa
Chi, a road installed object reflector, guardrail, Kabumi
Traffic, control objects around the road or objects moving at low speed
It will not be mistaken for the target (preceding vehicle).

Embodiment 2. In the above embodiment, when there is a curved road ahead of the host vehicle traveling on a straight road and there is a road installation on the curved road portion or an object around the road on the curved road portion, these road installations or roads The surrounding objects appear to approach the host vehicle, and the collision determination is performed. However, in the third embodiment, the collision determination is performed only on the objects within a predetermined distance, which causes the above-mentioned inconvenience. Is to avoid.

In the second embodiment, it is judged whether or not the distance PL between the detected object 100 recognized by the object recognizing means 12 and the vehicle 1 is within a predetermined distance PthL, and only when the distance PL is within the predetermined distance PthL. The prediction path of the detection object is predicted by the prediction object movement path prediction means 13 and the collision time of the detection object is predicted by the detection object collision time prediction means 14 described in the base technology or the first embodiment , and the collision determination means 15 performs the prediction. A collision between the host vehicle 1 and the detected object 100 is determined.

[0030] FIG. 6 shows an example of the control object selection processing according to the embodiment 2, a flow chart example based on the second embodiment.

First, the distance measuring means 11 measures the distance between the vehicle 1 and the object in front of it, and the object recognizing means 12 recognizes the detected objects 100 by grouping the distance data and the like, and detects each detected object 100. Then, the position with respect to the own vehicle 1 and the relative speed Vr with respect to the own vehicle are obtained. And S10
As shown in 1, the relative speed Vr is compared with the threshold value Vth1. When Vr ≦ Vth1, the detected object 100 is the own vehicle 1
It is determined that the object is an object (an oncoming vehicle) approaching with respect to, and the process of the present invention is not performed, and the process reaches END. On the other hand, if Vr> Vth1 is YES in S101, S
Proceed to 201.

In S201, it is determined whether or not the distance PL between the detected object 100 recognized by the object recognition means 12 and the vehicle 1 is within a predetermined distance PthL, and the detected object 100 is detected.
Is within the predetermined distance PthL, the process proceeds to S102. When the detected object 100 is present farther than the predetermined distance PthL, the process proceeds to S106, and the control / warning means 16 performs a normal control / warning operation.

The processes from S102 onward are the same as the processes described in the first embodiment, and will be omitted.

As described above, according to the second embodiment, when there is a curved road ahead of the host vehicle traveling on a straight road, there is a road installation on the curved road portion or an object around the road on the curved road portion. When present, these road installations or objects around the road appear to approach the host vehicle, but by performing collision judgment only on detected objects within a prescribed distance, that is, limiting the distance. As a result, a collision judgment is made only when the road installation or an object around the road approaches the host vehicle, that is, when the host vehicle approaches a curved road portion, and false alarm / control is performed. To do.

[0035]

According to the controlled object sorting apparatus of the first aspect of the present invention, it is determined whether or not the object collides only with an approaching object at a predetermined relative speed (Vth1≤Vr≤Vth2).
The collision determination is performed only on a stationary object or an object that moves at a low speed, and the load of control target selection processing can be reduced. Further, when the distance measuring means samples the distance in a predetermined time cycle, the moving position prediction accuracy of an object with respect to a stationary object or an object moving at a low speed becomes high, and such a moving position prediction accuracy is high. By determining the collision of an object having a high value, the movement can be predicted with high accuracy. Furthermore, the items that are likely to be road installations are excluded from the alarm / control targets, which has the effect of eliminating false alarms / controls for them.

According to the controlled object sorting apparatus of the present invention, when there is a curved road ahead of the vehicle running on a straight road, a curved road portion is installed on the curved road portion or a road surrounding the curved road portion. When there is an object, these road installations or objects around the road appear to approach the host vehicle, but by performing collision judgment only on detected objects within a prescribed distance, that is, distance limitation. By applying
Collision judgment will be made only when the road installation or an object around the road approaches the host vehicle, that is, when the host vehicle approaches the curved road portion, and false alarm / control is performed. Disappears.

According to the controlled object sorting apparatus of the third aspect of the present invention , a detected object approaching at a predetermined relative speed Vth1 or more, that is, an oncoming vehicle is excluded from the target of control / warning, and the present invention is applied. Eliminate unnecessary controls and alarms only for vehicles preceding For oncoming vehicles, the driver's attention should be given.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a controlled object selection device according to the present invention.

FIG. 2 is a diagram showing an example of an object recognition method by the object recognition means of the present invention.

FIG. 3 is a diagram for explaining prediction of a moving path and prediction of a collision time by a detected object moving path prediction means and a detected object collision time prediction means of the present invention.

FIG. 4 is a diagram for explaining a distance and a relative speed between a vehicle and a detected object according to the present invention.

FIG. 5 is a flowchart showing a processing flow of the controlled object selection device according to the first embodiment .

FIG. 6 is a flowchart showing a processing flow of the controlled object selection device according to the second embodiment .

FIG. 7 is a diagram assuming that the host vehicle is traveling on a straight road and the road ahead is a curved road or is traveling on a curved road.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 own vehicle, 10 control target selection device, 11 distance measuring means, 12 object recognition means, 13 detected object movement route prediction means, 14 detected object collision time prediction means, 15 collision determination means, 16 control / warning means, 100 detected object .

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI G01S 13/93 G01S 13/93 Z 17/93 17/88 A (56) Reference JP-A-7-262499 (JP, A) JP 10-187930 (JP, A) JP 10-172098 (JP, A) JP 10-143245 (JP, A) JP 10-129438 (JP, A) JP 10-119673 (JP, A) JP-A-8-124100 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/16 B60K 31/00 B60R 21/00

Claims (3)

(57) [Claims] 1. A distance measuring means for measuring a distance of an object existing in front of the own vehicle, an object in front of the own vehicle is recognized from data obtained from the distance measuring means, and a position of the detected object with respect to the own vehicle and an own object. An object recognition means for obtaining a relative speed with respect to the vehicle, a detected object moving path prediction means for predicting a moving path of the detected object from the relative movement of the detected object with respect to the own vehicle obtained from the object recognition means, and for the own vehicle From the results of the detected object collision time prediction means that predicts the collision time between the vehicle and the detected object from the relative speed of the detected object, and the detected object movement route prediction means and the detected object collision time prediction means, Collision determination means for determining whether or not there is a possibility of collision , control of the vehicle speed of the host vehicle, or detection that the detected object is dangerous
It is equipped with a control / warning means for performing control / warning, (1) Relative speed of the detected object recognized by the object recognition means
The detected object moves at a stationary or slow speed based on the
It is determined whether or not it is a moving object, and (2) the detected object is a stationary object or an object that moves at a low speed.
If the object is not a body, the detected object is collided by the collision determination means.
Control with warning means without subjecting to collision judgment
The target of the alarm is (3) the detected object is a stationary object or an object that moves at a low speed.
If it is a body, the collision determination means detects the vehicle
It is determined whether there is a possibility that an object will collide, and (3a)
If it is determined that there is a possibility of collision,
The target of control / warning of the control / warning means is (3b) If it is determined that there is no possibility of collision, the relevant detection
Do not control the output object as the target of control / alarm means control / warning.
And a controlled object selection device. 2. A detected object recognized by the object recognition means,
Determine whether the distance PL to your vehicle is within the predetermined distance PthL
Constant, and if the detected object is not within the predetermined distance PthL is the test
Do not target the output object for collision judgment by the collision judgment means
Then, if the detected object is within the predetermined distance PthL as the target of control / warning by the control / warning means ,
Whether the outgoing object is a stationary object or an object that moves at low speed
The control according to claim 1, wherein the determination is made.
Target sorting device. 3. A detection method for approaching at a predetermined relative speed Vth1 or more.
Controls / warnings by control / warning means
Claim 1 or claim characterized by being excluded from the target
Item 2. The controlled object selection device according to item 2.