JP4149429B2 - Vehicle travel safety device - Google Patents

Description

  The present invention relates to a vehicle travel safety device.

Conventionally, for example, when the result of detecting the state of a running road by an imaging device such as a CCD camera does not match the road condition detected based on road map information stored in advance, the vehicle is decelerated or the like 2. Description of the Related Art A vehicle motion control device that stops a control operation that controls a behavior or reduces a control amount of the control operation is known (for example, see Patent Document 1).
Japanese Patent Laid-Open No. 11-211492

By the way, in the vehicle motion control device according to the above-described prior art, there is a case where it is difficult for an imaging device such as a CCD camera, for example, to accurately detect a road condition according to a shooting environment such as weather or light irradiation state. Yes, since the road map information stored in advance may not reflect temporary road regulations or the latest road information, it is simply included in the detection result of the imaging device and the road map information. If the control of the vehicle behavior is simply stopped or the control amount is reduced when the detection result based on the result does not match, there is a possibility that the execution frequency or the control amount of the control operation may be excessively reduced. In particular, in a state where detection by an imaging device is difficult (for example, backlighting, rainfall, snowfall, etc.), it is highly likely that it is difficult for the driver to visually recognize the road, and the need to control vehicle behavior by deceleration or the like increases. Nevertheless, there is a problem that the running safety of the vehicle cannot be improved due to a decrease in the execution frequency and control amount of the control operation.
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a vehicle travel safety device capable of appropriately operating a safety device when passing a curve existing ahead in the traveling direction of the vehicle. It is said.

  In order to solve the above problems and achieve the object, the vehicle travel safety device according to the first aspect of the present invention is a storage means for storing road data (for example, the map data storage unit 23 in the embodiment). ), Own vehicle position detecting means for detecting the position of the own vehicle (for example, the current position detecting unit 21 in the embodiment), and vehicle state detecting means for detecting the vehicle state of the own vehicle (for example, in the embodiment). First gyro sensor 32, vehicle speed sensor 33) and first curve recognizing means for recognizing the shape of the curve existing in the traveling direction of the host vehicle based on the road data stored in the storage means (for example, in the embodiment) A first curve recognizing unit 61a), a photographing means provided in the own vehicle and photographing the traveling direction of the own vehicle (for example, the external sensor 16 in the embodiment), and the own vehicle based on the photographed image of the photographing means. In the direction of travel Based on the second curve recognition means for recognizing the shape of the existing curve (for example, the second curve recognition unit 61b in the embodiment) and the shape of the curve recognized by the first and second curve recognition means. Appropriate vehicle state setting means (for example, an appropriate vehicle speed setting unit 62 in the embodiment) for setting an appropriate vehicle state that can appropriately pass through the curve, the vehicle state detected by the vehicle state detection means, and the appropriate state Comparing means (for example, the comparison unit 63 in the embodiment) that compares the appropriate vehicle state set by the vehicle state setting means, and in the comparison result by the comparing means, the vehicle state of the host vehicle becomes the appropriate vehicle state. When there is no vehicle, the vehicle is provided with an operating means (for example, the operating unit 64 in the embodiment) that operates a safety device (for example, the safety device in the embodiment) provided in the host vehicle. An apparatus for detecting at least one of a photographing environment of the photographing means and quality of the photographing result (for example, an environment detecting unit 65 in the embodiment), and a detection result of the environment detecting means. Distance setting means for variably setting the set distance in the traveling direction of the host vehicle (for example, step S05, step S06 in the embodiment), and the operation means sets the distance from the host vehicle to the curve. If the distance is greater than or equal to the set distance set by the means, the distance from the vehicle to the curve is less than or equal to the set distance set by the distance setting means based on the recognition result of the first curve recognition means In this case, the safety device is activated based on the recognition result of the second curve recognition means.

  According to the above vehicle safety device, the second curve recognizing unit for recognizing the curve based on the photographed image has a recognizable distance relative to the first curve recognizing unit for recognizing the curve based on the road data. Although it is set to be short, the reliability of curve recognition is relatively high. Therefore, when the distance from the vehicle to the curve is greater than the set distance, the safety device is activated based on the recognition result of the first curve recognition means. By doing so, it is possible to prevent the safety device from being delayed in operation or to be inoperative. In addition, if the safety device is operated based on the recognition result of the second curve recognition means below the set distance, The reliability with respect to the operation control of the apparatus can be improved.

  Furthermore, in the vehicle travel safety device according to the second aspect of the present invention, the environment detection unit detects an environment related to the shooting environment of the shooting unit, and determines the degree of quality of the environment, The actuating means recognizes the recognition result of the second curve recognizing means when the environment detecting means determines that the environment is defective when the distance from the host vehicle to the curve is equal to or less than the set distance. Instead, the safety device is activated based on the recognition result of the first curve recognition means.

  According to the vehicle safety device described above, when the recognition accuracy of the second curve recognizing unit for recognizing the curve based on the photographed image is lowered or cannot be recognized, the recognition result of the second curve recognizing unit is Instead, by operating the safety device based on the recognition result of the first curve recognition means, the safety device is improperly controlled while preventing the safety device from being delayed or inoperative. Can be prevented.

  Furthermore, in the vehicle travel safety device according to the third aspect of the present invention, the environment detection unit detects an environment related to the shooting environment of the shooting unit, and determines the degree of quality of the environment, The actuating means includes the first and second curve recognizing means according to the degree of quality of the environment determined by the environment detecting means when the distance from the host vehicle to the curve is equal to or less than the set distance. Each recognition result is weighted, and the safety device is operated based on the weight.

  According to the vehicle travel safety device described above, the safety device can be appropriately controlled in accordance with the reliability of the recognition result of each curve recognition means and the recognizable distance.

As described above, according to the vehicle travel safety device of the present invention described in claim 1, when the distance from the host vehicle to the curve is greater than or equal to the set distance, the safety device is delayed or deactivated. In addition, the reliability of the operation control of the safety device can be improved below the set distance.
Furthermore, according to the vehicle travel safety device of the present invention as set forth in claim 2, it is possible to prevent the safety device from being improperly controlled while preventing the operation delay or inactivation of the safety device from occurring. can do.
Furthermore, according to the vehicle travel safety device of the present invention described in claim 3, it is possible to appropriately control the operation of the safety device according to the reliability of the recognition result of each curve recognition means and the recognizable distance.

  Hereinafter, a vehicle travel safety apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 1, the vehicle travel safety device 10 according to the present embodiment, for example, transmits the driving force of the internal combustion engine 11 to a transmission (T / T) such as an automatic transmission (AT) or a continuously variable automatic transmission (CVT). M) a safety device (not shown) that is mounted on a vehicle that transmits to the drive wheels of the vehicle via 12 and includes a navigation device 13, a control device 14, a brake actuator 15 and an alarm device (not shown); The camera 16a is composed of a CCD camera, a C-MOS camera, or the like that can capture an image in the visible light region, and an external sensor 16 having an image processing unit 16b.

The navigation device 13 includes, for example, a current position detection unit 21, a navigation processing unit 22, a map data storage unit 23, an input unit 24, and a display unit 25.
Further, the current position detection unit 21 corrects an error in the GPS signal using, for example, a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite or an appropriate base station, for example. A positioning signal receiving unit 31 that receives a positioning signal such as a D (Differential) GPS signal for improving positioning accuracy, and an inclination angle (for example, a longitudinal axis of the vehicle) A gyro sensor 32 that detects a tilt angle with respect to the vertical direction and a yaw angle that is a rotation angle of the center of gravity of the vehicle about the vertical axis, and a change amount of the tilt angle (for example, a yaw rate) and a vehicle speed (vehicle speed) are detected. A vehicle speed sensor 33, and the current position of the vehicle by a received positioning signal or by an autonomous navigation calculation process based on a detection signal such as a vehicle speed or a yaw rate. The position is calculated.

  The map data storage unit 23 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 23 stores road data such as road width data, intersection angles of multiple roads, intersection shapes and positions, and the like as map data for displaying a map on the display unit 25, for example. Yes.

For example, for the road data acquired from the map data storage unit 23, the navigation processing unit 22 performs the positioning signal and / or autonomous navigation calculation processing in the current position detection unit 21 or the vehicle current obtained from either of them. Map matching is performed based on the position information, the result of position detection is corrected, and the current position of the detected vehicle, or an appropriate input input by the operator via the input unit 24 including various switches, a keyboard, etc. The map display on the display unit 25 is controlled with respect to the position of the vehicle.
In addition, the navigation processing unit 22 performs processing such as vehicle route search and route guidance, and displays, for example, route information to the destination and various additional information along with the road data acquired from the map data storage unit 23. To the unit 25.

  The control device 14 includes a speed control unit 41, an engine control unit 42, a shift control unit 43, and a brake control unit 44. The speed control unit 41 further includes a first curve recognition unit 61a, The second curve recognition unit 61b, an appropriate vehicle speed setting unit 62, a comparison unit 63, an operation unit 64, and an environment detection unit 65 are provided.

The first curve recognition unit 61a acquires the road data stored in the map data storage unit 23, and detects a curve existing on the road as the road shape in the traveling direction of the host vehicle based on the road data.
For example, the curve recognizing unit 61 is a node that is a basis of road data, that is, a point for grasping the road shape (for example, white circles and black circles shown in FIG. 2) and a link that connects each node (for example, FIG. 2). The shape of the curve is recognized based on the white circle and the black circle shown in FIG. Then, for example, a curve shape value including a curve diameter, a curvature and a polarity, a curve length (curve depth), a turning angle required for passing through the curve, and the like is calculated and output to the appropriate vehicle speed setting unit 62.
The second curve recognition unit 61b acquires the image processing data output from the external sensor 16, and detects a curve existing on the road as the road shape in the traveling direction of the host vehicle based on the image processing data.

The appropriate vehicle speed setting unit 62 calculates a vehicle speed (appropriate speed VS) that can appropriately pass through the curve based on the curve shape values recognized by the first and second curve recognition units 61a and 61b. Then, the appropriate vehicle speed setting unit 62 outputs data of the set appropriate speed VS to the comparison unit 63.
Here, the appropriate vehicle speed setting unit 62 includes a lateral acceleration calculation unit 62a that calculates acceleration (lateral acceleration) generated in the lateral direction of the vehicle when passing the curve. That is, first, the lateral acceleration calculation unit 62a calculates the lateral acceleration that is allowed when the curve is properly passed based on the shape of the curve recognized by the curve recognition unit 61. Next, the appropriate vehicle speed setting unit 62 calculates the speed of the vehicle that causes the vehicle to generate this lateral acceleration, and sets this speed as the appropriate speed VS.
Note that the lateral acceleration allowed for the host vehicle when passing the curve changes depending on the road surface condition, the tire condition, the loading condition, and the like. Therefore, the appropriate speed VS may be set in consideration of these factors.
In addition, when there is an ascending slope before the recognized curve shape, the appropriate speed VS is set to increase in accordance with the magnitude of the slope.
The comparison unit 63 compares the vehicle speed (current speed) VP detected by the vehicle speed sensor 33 of the current position detection unit 21 with the appropriate speed VS set by the appropriate vehicle speed setting unit 62, and compares the comparison result. Output to the operating unit 64.

  The operating unit 64 controls the operation of the engine control unit 42, the shift control unit 43, and the brake control unit 44 based on the comparison result in the comparison unit 63. For example, if the current speed VP detected by the vehicle speed sensor 33 is different from the appropriate speed VS set by the appropriate vehicle speed setting section 62 in the comparison result of the comparison unit 63, for example, the detected current speed VP of the vehicle is appropriate. When the vehicle is not in the proper vehicle state, such as a state higher than the speed VS, the alarm device is activated to alert the driver or the brake actuator 15 is activated via the brake control unit 44. Automatically decelerate the vehicle.

The operating unit 64 activates the safety device including the alarm device and the brake actuator 15 until the vehicle reaches the entrance position of the curve recognized by the first and second curve recognizing units 61a and 61b. It is set based on the time or distance required to decelerate from the speed VP to the appropriate speed VS.
For example, as shown in FIG. 2, when the vehicle A is traveling at a speed V1 (for example, speed V1> appropriate speed VS), in order to properly pass the curve C existing forward in the traveling direction, the curve C The vehicle speed is set to the appropriate speed VS at the entrance position CS.
At this time, for example, at a predetermined deceleration GS (for example, 0.2 G = 0.2 × 9.8 m / s ² ), the current speed V1 (for example, 100 km / h) to the appropriate speed VS (for example, 40 km / h). In the case of deceleration to h), the time T required for deceleration is obtained by T = (V1−VS) / GS. Then, based on this time T, the distance required for deceleration, that is, the required deceleration distance L0 is calculated, and the deceleration start position C0 (black circle C0 shown in FIG. 2) just before the required deceleration distance L0 from the entrance position CS of the curve C is calculated. Is set.

Furthermore, for example, a reaction time (for example, about 0.5 s) from when an alarm is issued to alert the driver until the driver actually reacts and depresses the brake, and after the driver depresses the brake. The reaction idling distance ΔL0 is calculated in consideration of the idling time (for example, about 0.3 s) until the brake actually starts to work. As a result, the alarm start position CW is set by the reaction idling distance ΔL0 from the deceleration start position C0 (black circle C0 shown in FIG. 2).
That is, when the vehicle A reaches the alarm start position CW set before the curve C, that is, the distance between the current position of the vehicle A and the entrance position CS of the curve C (distance Ln between deceleration target points) An alarm is issued when the required alarm distance LW is set as shown in the following formula (1).

In addition, when operating the safety device, the operating unit 64 detects the presence or absence of a driver's deceleration operation such as an accelerator pedal depressing operation or a brake pedal depressing operation by the driver, and according to the detection result. Set whether or not the safety device can be operated
For this reason, in addition to the detection signal output from the vehicle speed sensor 33, the speed control unit 41 includes an accelerator opening sensor 51 that detects an accelerator opening related to the amount of operation of the accelerator pedal by the driver, and a brake by the driver. The detection signals output from the brake pedal sensor 52 that detects the pedal operation amount and the throttle opening sensor 53 that detects the throttle opening are input.

The environment detection unit 65, for example, the state of the image processing data related to the quality of the recognition result when performing the recognition process on the image processing data output from the external sensor 16, that is, the quality of the imaging result, and, for example, rain, fog In addition, it detects at least one of the quality of the shooting environment according to weather such as snowfall, nighttime, backlit, and shadowed light.
Then, the operating unit 64 variably sets the recognizable distance LR in the traveling direction of the host vehicle based on the detection result of the environment detecting unit 65, and the distance from the current position of the host vehicle to the curve is greater than or equal to the recognizable distance LR. In some cases, the safety device is activated based on the recognition result of the first curve recognizing unit 16a, and when the distance is less than the recognizable distance LR, the safety device is activated based on the recognition result of the second curve recognizing unit 16b. Yes.
Further, the operating unit 64 determines that the imaging result or the imaging environment is poor by the environment detection unit 65 even when the distance from the current position of the host vehicle to the curve is equal to or less than the recognizable distance LR. In such a case, the safety device is activated based on the recognition result of the first curve recognition unit 16a instead of the recognition result of the second curve recognition unit 16b.

The operating unit 64 has a distance from the current position of the host vehicle to the curve that is less than or equal to the recognizable distance LR, and proceeds by both road shape recognition processing for road data and road shape recognition processing for image processing data. When it is determined that the surrounding environment related to the shooting environment is not good based on the detection result of the environment detection unit 65 in a state where the curve ahead of the direction is recognized, the recognition result of the road shape with respect to the road data and the image processing Weighting is performed on the road shape recognition result for the data. Then, the curve shape value calculated based on the set weight is calculated from the curve shape value recognized based on the road data and the curve shape value recognized based on the image processing data, and the curve can be appropriately passed by the calculated curve shape value. A proper appropriate speed VS is calculated.
For example, when the road data and the image processing data are weighted by r: (1-r) (where 0 ≦ r ≦ 1), the distance L1 to the curve recognized based on the road data, Based on the distance L2 to the curve recognized based on the image processing data, the distance to the curve is set as {L1 × r + L2 × (1-r)}.

  The vehicle travel safety device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel safety device 10 will be described with reference to the accompanying drawings.

First, in step S01 shown in FIG. 3, the current speed VP and the current position of the vehicle are acquired.
Next, in step S02, road data ahead in the traveling direction is acquired from the map data storage unit 23.
In step S03, image processing data output from the external sensor 16 is acquired.
Next, in step S04, for example, the quality of the image processing data, that is, the quality of the photographing result, and the quality of the photographing environment relating to the weather such as rain, fog, snow, etc. By doing so, it is determined whether or not the recognition result when the road shape recognition process is executed on the image processing data is good.
If this determination result is "YES", the process proceeds to step S05, and in this step S05, a relatively long predetermined distance #LL is set as the recognizable distance LR, and the process proceeds to step S07.
On the other hand, if this determination is “NO”, the flow proceeds to step S 06, and in this step S 06, a relatively short predetermined distance #LS is set as the recognizable distance LR, and the flow proceeds to step S 07.

In step S07, it is determined whether the distance from the current position of the host vehicle to the curve recognized based on the road data or the image processing data is greater than the recognizable distance LR.
If this determination is “NO”, the flow proceeds to step S 12 described later.
On the other hand, when the determination result is “YES”, it is determined that the curve recognition based on the image processing data is difficult or the reliability of the curve recognition result based on the image processing data is lowered, and the process proceeds to step S08. move on.
In step S08, it is determined whether or not a curve ahead in the traveling direction has been recognized by the road shape recognition process for the road data.
When the determination result of step S08 is “NO”, the process proceeds to step S14 described later.
On the other hand, if the determination result of step S08 is “YES”, the process proceeds to step S09.

In step S09, the curve recognized based on the road data includes, for example, the minimum diameter and maximum curvature and polarity of the curve, the length of the curve (the depth of the curve), the turning angle required for passing through the curve, and the like. A curve shape value is estimated, and an appropriate speed VS at which the curve can be properly passed is calculated based on the estimated curve shape value.
Next, in step S10, it is determined whether deceleration control is necessary, for example, by determining whether the current speed VP is greater than the appropriate speed VS of the curve.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S11, where deceleration control is executed so that the speed of the host vehicle becomes an appropriate speed VS that can pass through the curve appropriately, and the series of processes ends. .

In step S12, it is determined whether or not a curve ahead in the traveling direction is recognized by the road shape recognition process for the image processing data.
If this determination is “YES”, the flow proceeds to step S 15 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 13 described later.
In step S13, it is determined whether or not the surrounding environment related to the shooting environment including weather such as rain, fog, and snow and light irradiation such as nighttime, backlight, and shadow is good.
If the determination result in step S13 is “NO”, it is determined that it is difficult for the driver to visually recognize the curve even if a curve actually exists, and it is desirable to activate the safety device. The process proceeds to step S08 described above.
On the other hand, if the determination result in step S13 is “YES”, it is determined that the driver can visually recognize the curve even if the curve actually exists, and the process proceeds to step S14.
In step S14, it is determined that the curve is not recognized in the forward direction in the road shape recognition process for the road data and the image processing data, and the process ends.

Further, in step S15, it is determined whether the surrounding environment related to the shooting environment including weather such as rain, fog, snow, or the like, or illumination conditions of light such as nighttime, backlighting, and shadows is acceptable.
When the determination result is “NO”, it is determined that the reliability of the curve recognition result based on the image processing data is relatively low, and the process proceeds to Step S17 described later.
On the other hand, if the determination result is “YES”, it is determined that the reliability of the curve recognition result based on the image processing data is relatively high, and the process proceeds to step S16.
In step S16, for the curve recognized based on the image processing data, for example, from the minimum diameter, maximum curvature and polarity of the curve, the length of the curve (the depth of the curve), the turning angle required for passing through the curve, and the like. The curve shape value is estimated, an appropriate speed VS that can pass through the curve appropriately is calculated based on the estimated curve shape value, and the process proceeds to step S10 described above.

In step S17, it is determined whether or not a curve ahead in the traveling direction has been recognized by the road shape recognition process for the road data.
When the determination result is “NO”, even if the reliability of the curve recognition result based on the image processing data is relatively low, it is difficult for the driver to visually recognize the curve, and the safety device is It is determined that it is desirable to operate, and the process proceeds to step S16 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S18.
In step S18, the road shape recognition result for the road data and the road shape recognition result for the image processing data are weighted according to the degree of quality of the surrounding environment determined in step S15.
In step S19, based on the weight set in step S18, an appropriate speed VS that can appropriately pass the recognized curve is calculated, and the process proceeds to step S10 described above.

For example, as shown in FIG. 4, in a state where it is determined that the recognition result when the road shape recognition process is performed on the image processing data is good, the curve C is a recognizable distance LR (= predetermined distance # LL), the brake actuator 15 is driven and controlled in accordance with the curve recognition result based on the road data, regardless of the image processing data.
On the other hand, as shown in FIG. 5, in a state where the recognition result when the road shape recognition process is executed on the image processing data is determined to be good, the curve C is a recognizable distance LR (= predetermined distance #). LL), the brake actuator 15 is driven and controlled in accordance with the curve recognition result based on the image processing data. However, if it is determined that the surrounding environment related to the shooting environment is not good, for example, the weighting is set to r = 1, and based on the recognition result of the road data instead of the image processing data, or the surrounding environment is good or bad The brake actuator 15 is driven and controlled based on the recognition result of the image processing data and the road data according to the weighting (0 <r <1) set according to the degree.

  As described above, according to the vehicle travel safety device 10 according to the present embodiment, when the distance from the host vehicle to the curve is longer than the recognizable distance LR, for example, the recognition of the curve based on the image processing data is performed. It is determined that it is difficult or the reliability of the curve recognition result based on the image processing data is lowered, and the appropriate speed VS is calculated according to the curve recognition result based on the road data, and the deceleration control is executed. Thereby, it is possible to prevent the operation delay or inactivation of the safety device from occurring. When operating the safety device only in accordance with the curve recognition result based on the road data, for example, by setting the maximum deceleration at the time of execution of the deceleration control to a relatively small value, the safety device operates. By setting so as to be relatively weak, it is possible to prevent the action of the safety device from excessively increasing.

Further, when the distance from the host vehicle to the curve is shorter than the recognizable distance LR, it is determined that the reliability of the curve recognition result based on the image processing data is increased, and the curve recognition result based on the image processing data is determined. Accordingly, the appropriate speed VS is calculated and the deceleration control is executed. Thereby, the reliability with respect to the operation control of the safety device can be improved. However, when it is determined that the surrounding environment related to the shooting environment is not good, the reliability of the curve recognition result based on the image processing data is relatively low, and it is difficult for the driver to visually recognize the curve. For example, the weighting is set to r = 1 in weighting, and the safety device is operated based on the recognition result of the road data instead of the image processing data, or the weighting set according to the degree of quality of the surrounding environment ( By operating the safety device according to 0 <r <1), it is possible to prevent the safety device from being inappropriately controlled while preventing the safety device from being delayed or inoperative. it can.
Moreover, the recognizable distance LR is determined based on, for example, the state of the image processing data, that is, the quality of the photographing result, and the quality of the photographing environment related to the weather such as rain, fog, snow, and the illumination state of light such as nighttime, backlight, and shadow. By setting to be variable according to the determination result, the reliability of the curve recognition result based on the image processing data can be improved.

1 is a functional block diagram illustrating a configuration of a vehicle travel safety device according to an embodiment of the present invention. It is a figure which shows the action | operation timing of the alarm when a vehicle approachs a curve. It is a flowchart which shows operation | movement of the vehicle travel safety apparatus shown in FIG. It is a figure which shows an example of the relative position of the own vehicle and a curve. It is a figure which shows an example of the relative position of the own vehicle and a curve.

Explanation of symbols

10 Vehicle Safety Device 15 Brake Actuator (Decelerator)
16 External sensor (photographing means)
21 Current position detection unit (own vehicle position detection means)
23 Map data storage unit (storage means)
32 Gyro sensor (vehicle state detection means)
33 Vehicle speed sensor (vehicle state detection means)
61a First curve recognition unit (first curve recognition means)
61b Second curve recognition unit (second curve recognition means)
62 Appropriate vehicle speed setting section (appropriate vehicle state setting means)
63 Comparison part (comparison means)
64 Actuating part (actuating means)
65 Environment detection section (environment detection means)
Step S05, Step S06 Distance setting means

Claims (3)

Storage means for storing road data;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle state detection means for detecting the vehicle state of the host vehicle;
First curve recognition means for recognizing the shape of a curve existing in the traveling direction of the host vehicle based on the road data stored by the storage means;
Photographing means provided in the own vehicle and photographing the traveling direction of the own vehicle;
Second curve recognizing means for recognizing the shape of a curve existing in the traveling direction of the host vehicle based on a photographed image of the photographing means;
Appropriate vehicle state setting means for setting an appropriate vehicle state capable of appropriately passing through the curve based on the shape of the curve recognized by the first and second curve recognition means;
Comparison means for comparing the vehicle state detected by the vehicle state detection means with the appropriate vehicle state set by the appropriate vehicle state setting means;
A travel safety device for a vehicle comprising: an operating means for operating a safety device provided in the host vehicle when the vehicle state of the host vehicle is not in the appropriate vehicle state in the comparison result by the comparing unit;
Environment detection means for detecting at least one of the shooting environment of the shooting means and the quality of the shooting results;
A distance setting means for variably setting a set distance in the traveling direction of the host vehicle based on a detection result of the environment detection means;
When the distance from the host vehicle to the curve is equal to or greater than the set distance set by the distance setting unit, the actuating unit determines whether the vehicle to the curve is based on the recognition result of the first curve recognition unit. When the distance of the vehicle is equal to or less than the set distance set by the distance setting means, the safety device is operated based on the recognition result of the second curve recognition means. The environment detection unit detects an environment related to the shooting environment of the shooting unit and determines the quality of the environment.
The operating means recognizes the second curve recognizing means when the environment detecting means determines that the environment is bad when the distance from the host vehicle to the curve is equal to or less than the set distance. 2. The vehicle travel safety device according to claim 1, wherein a safety device is operated based on a recognition result of the first curve recognition means instead of the result. The environment detection unit detects an environment related to the shooting environment of the shooting unit and determines the quality of the environment.
The operating means includes the first and second curve recognizing means according to a degree of quality of the environment determined by the environment detecting means when a distance from the own vehicle to the curve is equal to or less than the set distance. The vehicle travel safety device according to claim 1, wherein each recognition result is weighted, and the safety device is operated based on the weight.

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