JP4664478B2 - Vehicle trajectory prediction device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention, for example, an ACC system (Adaptive Cruise Control System) that performs constant speed traveling at a preset vehicle speed when there is no preceding vehicle, and performs follow-up traveling while maintaining a preset inter-vehicle distance when there is a preceding vehicle. The present invention relates to a device for predicting the traveling locus of a host vehicle.
[0002]
[Prior art]
  A first traveling locus of the host vehicle is predicted based on the yaw rate, and a second traveling locus of the host vehicle is predicted based on the steering angle, and one of the first and second traveling tracks is determined as the driving state of the host vehicle. Japanese Patent Application Laid-Open No. 6-131596 discloses a method in which obstacle detection by a radar device is limited to a region along the selected traveling locus.
[0003]
[Problems to be solved by the invention]
  By the way, when the traveling locus of the own vehicle is predicted according to the yaw rate and the steering angle, the own vehicle and the preceding vehicle are traveling on a straight road, or the own vehicle and the preceding vehicle are traveling on a corner having a constant turning radius. If this is the case, there will be no problem. However, if the vehicle is traveling on a straight road before the corner, or if the vehicle is traveling on a corner before the straight road, the progress trajectory is accurately predicted. The radar device may lose sight of the preceding vehicle.
[0004]
  The reason will be described with reference to FIGS. FIG. 20 shows a case where the host vehicle and the preceding vehicle are traveling on a straight road in front of the corner. At this time, the yaw rate and the steering angle of the host vehicle are 0, so the lock-on range by the radar device is a straight road. The preceding vehicle can be detected without hindrance. FIG. 21 shows the case where the host vehicle is still traveling on a straight road but the preceding vehicle has entered the corner. At this time, the yaw rate and the steering angle of the host vehicle are 0, so the lock-on range by the radar device is The direction is along a straight road. Accordingly, the preceding vehicle that has entered the corner shifts to the right side from the lock-on range, and is erroneously recognized as a vehicle in the adjacent lane. FIG. 22 shows a case where the vehicle has entered the corner, but the preceding vehicle has already exited the corner and entered a straight road. At this time, the vehicle has a predicted trajectory because it has a right yaw rate and steering angle. Becomes a right turn, and the lock-on range by the radar device has a circular arc shape to the right. Therefore, the preceding vehicle that escapes from the corner shifts to the left from the lock-on range, and is erroneously recognized as a vehicle in the adjacent lane.
[0005]
  The present invention has been made in view of the above-described circumstances, and an object thereof is to accurately predict the traveling locus of the own vehicle using the detection result of the object detection device.
[0006]
[Means for Solving the Problems]
  The present invention achieves the above object by the configuration shown in the claim correspondence diagram of FIG.
[0007]
  That is, according to the first aspect of the present invention, the movement state detection means for detecting the movement state of the own vehicle, and the trajectory prediction means for predicting the traveling locus of the own vehicle based on the detection result of the movement state detection means, In the vehicular travel locus prediction apparatus comprising: an object detection device that detects an object by transmitting an electromagnetic wave toward a predetermined region in the traveling direction of the host vehicle and receiving a reflected signal reflected by the object. Multiple objects installed on the road based on the detection results of the device and the object detection deviceContinuity ofRoad installed object judging means for judgingContinuity of the plurality of objectsA road shape estimating means for estimating the road shape of the traveling direction of the vehicle based onWhen a plurality of travel path shapes are estimated by the travel path shape estimation means, a distance in the vehicle width direction that is the shortest distance from the travel path predicted by the trajectory prediction means with respect to the traveling path shape of the own vehicle is selected. The selection means to select and the selection means selectedTrajectory correction means for correcting the traveling trajectory of the host vehicle predicted by the trajectory prediction means based on the travel path shape.The distance in the vehicle width direction is the distance between the object closest to the host vehicle and the predicted travel locus of the host vehicle among the group of objects that form the travel path shape.There is proposed a vehicular travel trajectory prediction apparatus characterized by the above.
[0008]
  According to the above configuration, the trajectory predicting means predicts the traveling trajectory of the own vehicle based on the motion state of the own vehicle detected by the motion state detecting means. A plurality of objects on which road installation object judging means is installed on the road based on the detection result of the object detection deviceContinuity ofAnd determineContinuity of multiple objectsBased on this, the road shape estimation means estimates the road shape in the traveling direction of the vehicle. When a plurality of travel path shapes are estimated by the travel path shape estimation means, the distance in the vehicle width direction from the traveling path shape predicted by the trajectory prediction means by the selection means is selected from the plurality of travel path shapes. Choose the shortestAnd the trajectory correcting means corrects the traveling trajectory of the host vehicle based on the travel path shape.An appropriate travel path shape can be selected from a plurality of travel path shapes,The travel trajectory predicted by the trajectory prediction meanscorrectionAccuracy can be increased.At this time, since the distance in the vehicle width direction is the distance between the object closest to the host vehicle and the predicted traveling track of the host vehicle, an appropriate traveling path shape is accurately selected from a plurality of driving path shapes. can do.
[0009]
  AlsoClaim 2According to the invention described inClaim 1In addition to the above-described configuration, the road installation object determination means includes, for a plurality of objects detected by the object detection device, positions of a reference object setting means for setting a reference object and a reference object set by the reference object setting means. A first proximity object determination means for determining the closest first proximity object; a positional relationship calculation means for determining a distance between the reference object and the first proximity object and a direction of the first proximity object with respect to the reference object; Predicted position setting means for setting a position where a second proximity object close to the first proximity object is predicted to exist based on the distance and direction obtained by the relationship calculation means, and the predicted position of the prediction position setting means And a second proximity object determination means for determining a second proximity object closest to the second object, and a plurality of object rules based on the determination results of the first proximity object determination means and the second proximity object determination means The vehicle traveling locus prediction device is proposed which is characterized by determining Do continuity.
[0010]
  According to the above configuration, the reference object setting unit sets the reference object for the plurality of objects detected by the object detection device, and the first proximity object determination unit determines the first proximity object closest to the reference object. The positional relationship calculation means obtains the distance between the reference object and the first proximity object and the direction of the first proximity object with respect to the reference object, and the predicted position setting means determines the first proximity object based on the distance and direction. Since the second predicted proximity object is set to a position where the second proximity object is predicted to be present, and the second proximity object determination means determines the second proximity object closest to the predicted position, Regular continuity of a plurality of objects can be determined based on the determination results of the first proximity object determination means and the second proximity object determination means.
[0011]
  AlsoClaim 3According to the invention described inClaim 2In addition to the above configuration, a vehicle travel locus prediction device is proposed in which the reference object setting means sets an object closer to the host vehicle as a reference object among a plurality of objects detected by the object detection device. The
[0012]
  According to the above configuration, since the reference object setting means sets an object closer to the own vehicle among the plurality of objects detected by the object detection device as the reference object, the travel path shape is estimated from the side closer to the own vehicle. be able to.
[0013]
  AlsoClaim 4According to the invention described inClaim 2OrClaim 3In addition to the above configuration, the first proximity object determining means is an object having the closest distance in the vehicle width direction from the reference object, and an angle formed between the direction connecting the object and the reference object and the vehicle traveling direction is A vehicular travel locus predicting device is proposed in which an object within a predetermined angle is determined as a first proximity object.
[0014]
  According to the above configuration, the first proximity object determination unit is configured to detect an object whose distance between the reference object and the vehicle width direction is the shortest and the angle between the direction connecting the object and the reference object and the vehicle traveling direction is small. Since it determines with a 1st proximity | contact object, the 1st proximity | contact object continuous with respect to a reference | standard object can be determined correctly.
[0015]
  AlsoClaim 5According to the invention described inClaim 2~Claim 4In addition to the configuration of any one of the items, the second proximity object determination unit is an object closest to the predicted position among the objects existing within the predetermined range of the predicted position set by the predicted position setting unit, And an object in which an angle between a direction connecting the object and the first proximity object and a direction connecting the reference object and the first proximity object is within a predetermined angle is determined as the second proximity object. A travel locus prediction device is proposed.
[0016]
  According to the above configuration, the second proximity object determination unit is closest to the predicted position among the objects existing within the predetermined range of the predicted position set by the predicted position setting unit, and the first proximity object and the first proximity object determination unit. Since an object having a small angle between the direction connecting the object and the direction connecting the reference object and the first proximity object is determined as the second proximity object, the second proximity object continuous to the first proximity object is determined. It can be determined accurately.
[0017]
  AlsoClaim 6According to the invention described inClaim 5In addition to the above configuration, there is proposed a vehicular travel trajectory prediction device characterized in that the predetermined range is set according to a distance between a reference object and a first proximity object.
[0018]
  According to the above configuration, since the predetermined range for determining the second proximity object is set according to the distance between the reference object and the first proximity object, the detection accuracy of the object detection device that decreases as the distance increases is compensated. can do.
[0019]
  AlsoClaim 7According to the invention described inClaim 5OrClaim 6In addition to the above configuration, the second proximity object determination unit sets the predicted position set by the predicted position setting unit when there is no object within a predetermined range based on the predicted position set by the predicted position setting unit. A vehicular travel trajectory prediction apparatus is proposed, which is characterized in that an object is present.
[0020]
  According to the above configuration, the second proximity object determination unit estimates that the object is present at the predicted position when the object is not present within the predetermined range based on the predicted position. The object can be accurately interpolated.
[0021]
  AlsoClaim 8According to the invention described inClaim 7A predicted position is set based on a direction and a distance between the estimated object and the first proximity object, and an object close to the predicted position is determined as a third proximity object. A vehicle travel locus prediction apparatus is proposed.
[0022]
  According to the above configuration, the predicted position is set based on the direction and the distance formed by the estimated object and the first proximity object, and the object close to the prediction position is determined as the third proximity object. Even when the second proximity object is substituted with the interpolation data, the third proximity object can be determined without hindrance..
[0023]
  AlsoClaim 9According to the invention described inClaim 1~Claim 8In addition to the configuration of any one of the above, the vehicle further includes a distance calculation unit that calculates a distance in the vehicle width direction between the travel path shape selected by the selection unit and the traveling track of the host vehicle predicted by the track prediction unit. The correcting means corrects the traveling locus of the host vehicle predicted by the locus predicting means based on the traveling road shape selected by the selecting means and the distance calculated by the distance calculating means. A prediction device is proposed.
[0024]
  According to the above configuration, the distance in the vehicle width direction between the travel path shape selected by the selection means and the predicted travel path of the host vehicle is calculated, and the travel path of the host vehicle is calculated based on the travel path shape and the distance. Therefore, it is possible to accurately predict the travel locus of the corrected vehicle.
[0025]
  AlsoClaim 10According to the invention described in claim 1,Claim 9In addition to the configuration of any one of the above, a passing area setting means for setting a passing area of the own vehicle based on the traveling locus of the own vehicle corrected by the locus correcting means and the lane width of the own vehicle, and an object detection device Proposed is a vehicular travel trajectory predicting device comprising tracking target vehicle determination means for determining an object existing in a set passing area as a tracking target vehicle among the detected objects.
[0026]
  According to the above configuration, when the passing area setting means sets the passing area of the own vehicle based on the corrected traveling trajectory of the own vehicle and the lane width of the own vehicle, the follow target vehicle determining means is set in the set passing area. Since the existing object is determined as the tracking target vehicle, it is possible to accurately determine the tracking target vehicle and perform the tracking traveling.
[0027]
  In addition, although the said predetermined angle is set to 15 degrees in the Example, it is not limited to it. In the embodiment, the predetermined range is set to ± 3 m before and after the predicted position and ± (D × 0.1 + 1 m) in the left-right direction, but is not limited thereto.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings. 1 to 19 show an embodiment of the present invention. FIG. 1 is a block diagram of an object detection device, FIG. 2 is a perspective view of the object detection device, and FIG. 3 shows a memory configuration of a travel locus prediction device. 4 is a first part of a flowchart of the main routine, FIG. 5 is a second part of the flowchart of the main routine, FIG. 6 is a flowchart of the road shape recognition processing module, FIG. 7 is a flowchart of the trajectory calculation module, 8 is a first part of the flowchart of the continuity judgment module, FIG. 9 is a second part of the flowchart of the continuity judgment module, FIG. 10 is an explanatory diagram corresponding to step S1, and FIG. 11 corresponds to steps S3 to S7. FIG. 12 is an explanatory diagram corresponding to steps S31 to S39, FIG. 13 is an explanatory diagram corresponding to steps S50 to S55, and FIG. 14 is an explanatory diagram corresponding to step S56. FIG. 15, FIG. 15 is an explanatory diagram corresponding to steps S57 and S58, FIG. 16 is an explanatory diagram corresponding to steps S10 to S14, FIG. 17 is a diagram showing continuous target strings, and FIG. FIG. 19 is a claim correspondence diagram.
[0029]
  As shown in FIGS. 1 and 2, the object detection device St for detecting the distance and direction of an object ahead of the host vehicle includes a laser radar device, and includes a light transmission unit 1, a light transmission scanning unit 2, It comprises a light receiving unit 3, a light receiving scanning unit 4, and a distance measurement processing unit 5. The light transmission unit 1 includes a laser diode 11 integrally provided with a light transmission lens, and a laser diode drive circuit 12 that drives the laser diode 11. The light transmission scanning unit 2 includes a light transmission mirror 13 that reflects the laser output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 about the vertical axis 14, and a motor drive that controls the driving of the motor 15. Circuit 16. The light transmission beam emitted from the light transmission mirror 13 is limited in the left-right width and has an elongated pattern in the vertical direction, which reciprocates in the left-right direction in a predetermined cycle to scan the object.
[0030]
  The light receiving unit 3 includes a light receiving lens 17, a photodiode 18 that receives a reflected wave converged by the light receiving lens 17 and converts it into an electrical signal, and a light receiving amplifier circuit 19 that amplifies an output signal of the photodiode 18. The light receiving scanning unit 4 controls the driving of the light receiving mirror 20 that reflects the reflected wave from the object and guides it to the photodiode 18, the motor 22 that reciprocates the light receiving mirror 20 around the left and right axis 21, and the driving of the motor 22. And a motor drive circuit 23. The light receiving area having a vertically narrowed pattern with a narrow vertical width is scanned back and forth in the vertical direction by the light receiving mirror 20 in a predetermined cycle.
[0031]
  The distance measurement processing unit 5 includes a communication circuit 26 that performs communication between the control circuit 24 that controls the laser diode drive circuit 12 and the motor drive circuits 16 and 23 and the electronic control unit 25 that controls the adaptive cruise control device. A counter circuit 27 that counts the time from laser light transmission to light reception, and a central processing unit 28 that calculates the distance to the object and the direction of the object.
[0032]
  Thus, the portion where the light transmission area elongated in the vertical direction and the light receiving area elongated in the left-right direction becomes an instantaneous detection area, and this detection area has a horizontal width equal to the horizontal scanning width of the light transmission beam, The entire detection area having the vertical width equal to the vertical scanning width of the light receiving area is moved zigzag to scan the object. The distance to the object is detected based on the time from when the light transmission beam is transmitted to when the reflected wave reflected by the object is received, and the instantaneous detection area at that time is detected. The direction of the object is detected based on the direction.
[0033]
  FIG. 3 shows a memory configuration of the traveling locus prediction apparatus of the present embodiment. A target memory for storing a target detected by the object detection device St, a moving object memory for selecting and storing a moving object in the target memory, and , A stop object memory for selecting and storing a stop object in the target memory, a trajectory memory for storing a travel path of the own vehicle predicted from the yaw rate (or rudder angle) and the vehicle speed of the own vehicle, and a stop object memory A road shape memory for storing a plurality of road shapes predicted from data continuity, a trajectory correction buffer for selecting and storing road data on which the vehicle is likely to travel from the data in the road shape memory, and a trajectory A correction trajectory memory that stores the travel trajectory of the vehicle, which is obtained by correcting the data in the memory with the data in the trajectory correction buffer, and the correction trajectory memory from the target in the moving object memory. And a preceding vehicle memory to select and store as a preceding car in line with progress locus.
[0034]
  In the flowcharts of the main routines of FIGS. 4 and 5, first, in step S1, all the targets in the detection area are detected by the object detection device St and stored in the target memory (see FIG. 10). The target in this case is a leading vehicle T1 on the main line that curves to the right of the highway, a parallel running vehicle T2 that branches to the left, and eight delineators T3 to T10 provided on the guardrail on the road side. is there.
[0035]
  In subsequent step S2, the vehicle speed and yaw rate (or rudder angle) of the host vehicle are read, and in step S3, the target position and relative speed are read from the target memory. In step S4, it is determined whether the read target is a moving object or a stopped object. If it is a moving object, it is stored in the moving object memory in step S5. If it is a stopped object, it is stored in the stopped object memory in step S6. Remember. Whether the target is a moving object or a stationary object is determined as a moving object when its absolute speed (that is, the absolute value of the sum of the vehicle speed and the relative speed of the target) exceeds 20 km / h. / H or less, it can be determined as a stationary object. Steps S3 to S6 are repeated until all the targets in the target memory are read in step S7. As shown in FIG. 11, the preceding vehicle T1 and the parallel running vehicle T2 are moving objects, and the delineators T3 to T10 are stopping objects.
[0036]
  In the subsequent step S8, the road shape recognition processing module is executed, and in step S9, the trajectory calculation module is executed to predict the traveling trajectory of the host vehicle. The specific contents of step S8 and step S9 will be described later in detail using the flowcharts of FIGS.
[0037]
  In step S10, the target data is read from the moving object memory. In step S11, the read target data is within a predetermined lateral width (for example, 1.8 m to the left and right) from the corrected trajectory of the vehicle, and In step S12, if the distance of the target data in the preceding vehicle memory exceeds the distance of the target data read this time, the current target data is stored in the preceding vehicle memory as the preceding vehicle in step S13, thereby The vehicle with the shortest inter-vehicle distance among the front running vehicles is the preceding vehicle. Steps S10 to S13 are repeated until all the targets in the target memory are read in step S14.
[0038]
  When there is a preceding vehicle in subsequent step S15, if the actual inter-vehicle distance of the preceding vehicle exceeds the set inter-vehicle distance in step S16, acceleration control is executed in step S17, and the actual inter-vehicle distance of the preceding vehicle in step S16. Is equal to the set inter-vehicle distance, constant speed control is executed in step S18. If the actual inter-vehicle distance of the preceding vehicle is less than the set inter-vehicle distance in step S16, deceleration control is executed in step S19. This makes the inter-vehicle distance coincide with the set inter-vehicle distance. If there is no preceding vehicle in step S15, if the own vehicle speed exceeds the set vehicle speed in step S20, deceleration control is executed in step S21. If the own vehicle speed matches the set vehicle speed in step S20, in step S22. Constant speed control is executed, and if the host vehicle speed is less than the set vehicle speed in step S20, the speed increase control is executed in step S23, thereby matching the host vehicle speed with the set vehicle speed.
[0039]
  Next, the contents of the road shape recognition processing module in step S8 will be described based on the flowchart of FIG.
[0040]
  First, if the target data in the stationary object memory is less than 3 in step S31, road shape recognition processing is impossible, and steps S32 to S39 are not executed. If there are three or more target data in the stationary object memory in step S31, the target data in the stationary object memory is sorted in the order of closest distance in step S32, and the closest target data in the stationary object memory in step S33. Is read as a starting target (reference object of the present invention), and further, in step S34, target data closest to the starting point target in the left-right position is read as a second target (first proximity object of the present invention).
[0041]
  In the subsequent step S35, a vector (D1, θ1) between the starting point target and the second target is calculated. In subsequent step S36, if the direction θ1 of the vector (D1, θ1) (angle with respect to the longitudinal axis of the vehicle body) is less than ± 15 °, the continuity determination module is executed in step S37, and in step S38. Steps S34 to S37 are repeated until all target data far from the starting target is read. The steps S33 to S38 are repeated until all target data in the stationary object memory is read as the starting point target in step S39.
[0042]
  FIG. 12 shows two road shapes determined by the road shape recognition processing module, that is, two data strings R1 and R2 having continuity. The data string R1 corresponds to the ramp way and is composed of four target data D1 to D4, and the data string R2 corresponds to the main line and is composed of seven target data D1 to D7. The target data D4 in the data string R1 and the target data D5 and D7 in the data string R2 are not actual target data but interpolation data that compensates for the missing target data.
[0043]
  Next, the contents of the continuity determination module in step S37 will be described based on the flowcharts of FIGS.
[0044]
  First, as shown in FIG. 18, in step S101, a position P1 extended by the vector (D1, θ1) from the position of the second target is obtained. The position P1 is the position of the tip when the base end of the vector (D1, θ1) is moved to the position of the second target. In subsequent step S102, a range of ± 3 m before and after the obtained position P1 and ± (D1 × 0.1 + 1m) from the left and right are defined, and it is determined whether or not there is another target in this rectangular determination region. The reason why the left and right width of the determination region centered on the position P1 is defined by the length D1 of the vector (D1, θ1) is that the length D1 of the vector (D1, θ1) becomes longer (that is, the target This is because the detection error in the left-right direction of the object detection device St increases as the distance increases.
[0045]
  In the subsequent step S103, the target closest to the position P1 in the determination region is read as the third target (second proximity object of the present invention), and in step S104, the vector between the second target and the third target (D2, θ2). Is calculated. If the angle θ2 of the vector (D2, θ2) (the angle with respect to the direction of the vector (D1, θ1)) is less than ± 15 ° in step S105, the position of the third target is set as the starting point in step S106. A position P2 extended by the vector (D2, θ2) is obtained. In the following step S107, a range of ± 3 m before and after the obtained position and ± (D2 × 0.1 + 1m) from the left and right are defined, and it is determined whether or not there is another target in this rectangular determination region. If there is another target in step S107, the above operation is sequentially repeated up to the n-th target in steps S111 to S114.
[0046]
  On the other hand, if there is no other target in step S107, an interpolation target serving as a substitute for the third target is added to the position P1 in step S108. In subsequent step S109, a position P2 extended by the vector (D1, θ1) is obtained with reference to the position P1 of the interpolation target, and in step S110, a determination area of ± 3 m before and after the obtained position P2 and left and right D1 × 0.1 + 1m. It is determined whether or not there is another target. As a result, if there is no other target in the determination region centered on the position P2, it is determined that the continuous target sequence has been interrupted, and the continuous target sequence up to that point is stored in the road shape memory in step S117. On the other hand, if there is another target in step S110, the process proceeds to step S111 to sequentially extend the target row. Therefore, there cannot be two consecutive interpolation targets, and if there are no consecutive real targets twice, the target sequence is interrupted at that time.
[0047]
  If θn is ± 15 ° or more in step S113, the target is considered not to be a continuous target, and the data is deleted in step S115. If the immediately preceding target is an interpolation target in the next step S116, it is determined that the continuous target sequence has been interrupted, and the continuous target sequence up to that point is stored in the road shape memory in step S117. If the previous target is not an interpolation target in step S116, the process returns to step S108 to add an interpolation target.
[0048]
  Next, the contents of the trajectory calculation module in step S9 will be described based on the flowchart of FIG.
[0049]
  First, in step S50, the traveling trajectory of the host vehicle is estimated from the host vehicle speed and the yaw rate (or the steering angle), and in step S51, a data string exists in the road shape memory, and in step S52, the data string in the road shape memory is stored. If there are a plurality, a data string having the smallest left-right distance between the starting point target and the trajectory of the host vehicle is selected in step S53. At this time, if the vehicle is traveling straight with the yaw rate (or rudder angle) = 0, the traveling locus is a straight line along the longitudinal axis of the vehicle body. In the example illustrated in FIG. 13, the distance between the data string R1 and the travel locus is larger than the distance between the data string R2 and the travel locus, so the data string R2 is selected. On the other hand, if there is a single data string in the road shape memory in step S52, the single data string is selected in step S54. In step S55, the selected data string R2 is stored in the locus correction buffer (see FIG. 13).
[0050]
  In the subsequent step S56, the left-right distance (offset) from the trajectory of the own vehicle (straight line along the longitudinal axis of the vehicle body) is calculated from the starting data (data D1) of the data string (see FIG. 14). In step S57, the left / right distance obtained in step S56 is added to the left / right positions of all data D1 to D7 in the locus correction buffer, and the corrected left / right positions are calculated and stored. In step S58, when a smooth trajectory passing through the corrected left and right positions of the data D1 to D7 obtained in step S57 is calculated, this becomes a predicted traveling trajectory of the corrected vehicle (see FIG. 15). Thus, as shown in FIG. 16, a lock-on area to which a predetermined width (for example, ± 1.8 m is added) is set on the left and right sides of the predicted traveling locus of the corrected vehicle, and the same in the lock-on area. The closest vehicle traveling in the direction is set as the preceding vehicle, and the preceding vehicle is caused to follow the preceding vehicle at a set inter-vehicle distance.
[0051]
  As described above, the traveling trajectory of the host vehicle predicted based on the yaw rate (or rudder angle) and the vehicle speed is corrected with the road shape obtained from the continuous state of the plurality of stationary objects detected by the object detection device St. It is possible to prevent the preceding vehicle from coming off from the t lock-on region of the object detection device S at the transition portion from the road to the corner or the transition portion from the corner to the straight road.
[0052]
  As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0053]
  For example, in the flowchart of the continuity determination module in FIG. 8, steps S108, S109, S110, and S116 can be eliminated and target interpolation can be omitted. The object detection device St of the embodiment includes a laser radar device, but may include a millimeter wave radar device.
[0054]
【The invention's effect】
  As described above, according to the first aspect of the present invention, the trajectory predicting means predicts the traveling trajectory of the own vehicle based on the motion state of the own vehicle detected by the motion state detecting means. A plurality of objects on which road installation object judging means is installed on the road based on the detection result of the object detection deviceContinuity ofAnd determineContinuity of multiple objectsBased on this, the road shape estimation means estimates the road shape in the traveling direction of the vehicle. When a plurality of travel path shapes are estimated by the travel path shape estimation means, the distance in the vehicle width direction from the traveling path shape predicted by the trajectory prediction means by the selection means is selected from the plurality of travel path shapes. Choose the shortestAnd the trajectory correcting means corrects the traveling trajectory of the host vehicle based on the travel path shape.An appropriate travel path shape can be selected from a plurality of travel path shapes,The travel trajectory predicted by the trajectory prediction meanscorrectionAccuracy can be increased.At this time, since the distance in the vehicle width direction is the distance between the object closest to the host vehicle and the predicted traveling track of the host vehicle, an appropriate traveling path shape is accurately selected from a plurality of driving path shapes. can do.
[0055]
  AlsoClaim 2According to the invention described in the above, the reference object setting means sets the reference object for the plurality of objects detected by the object detection device, and the first proximity object determination means has the first position closest to the reference object. The proximity object is determined, the positional relationship calculation means obtains the distance between the reference object and the first proximity object and the direction of the first proximity object with respect to the reference object, and the predicted position setting means determines the first based on the distance and direction. Since a position where a second proximity object close to the proximity object is predicted to exist is set, and the second proximity object determination unit determines the second proximity object closest to the predicted position, the installed object on the road The determination means can determine regular continuity of a plurality of objects based on the determination results of the first proximity object determination means and the second proximity object determination means.
[0056]
  AlsoClaim 3According to the invention described in the above, the reference object setting means sets, as the reference object, an object closer to the own vehicle among the plurality of objects detected by the object detection device. Can be estimated from
[0057]
  AlsoClaim 4According to the invention described in (1), the first proximity object determination means has the closest distance between the reference object and the vehicle width direction, and the angle formed between the direction connecting the object and the reference object and the vehicle traveling direction is Since the small object is determined as the first proximity object, the first proximity object continuous with the reference object can be accurately determined.
[0058]
  AlsoClaim 5According to the invention described in (2), the second proximity object determination unit is the closest to the predicted position among the objects existing within the predetermined range of the predicted position set by the predicted position setting unit, and Since an object having a small angle between the direction connecting the first proximity object and the direction connecting the reference object and the first proximity object is determined as the second proximity object, the second adjacent to the first proximity object is determined. Proximity objects can be determined accurately.
[0059]
  AlsoClaim 6According to the invention described above, since the predetermined range for determining the second proximity object is set according to the distance between the reference object and the first proximity object, the detection of the object detection device that decreases as the distance increases Accuracy can be compensated.
[0060]
  AlsoClaim 7According to the invention described in (2), since the second proximity object determination unit estimates that an object is present at the predicted position when the object does not exist within a predetermined range based on the predicted position, the object exists. When not, the object can be interpolated accurately.
[0061]
  AlsoClaim 8According to the invention described in the above, the predicted position is set based on the direction and the distance formed by the estimated object and the first proximity object, and the object close to the prediction position is determined as the third proximity object. Therefore, even when the second proximity object is substituted with interpolation data, the third proximity object can be determined without hindrance..
[0062]
  AlsoClaim 9According to the invention described in the above, the distance in the vehicle width direction between the travel path shape selected by the selection unit and the predicted travel path of the host vehicle is calculated, and the travel path of the host vehicle is calculated from the travel path shape and the distance. Therefore, it is possible to accurately predict the travel locus of the subject vehicle after the correction.
[0063]
  AlsoClaim 10According to the invention described in the above, when the passing area setting means sets the passing area of the own vehicle based on the corrected traveling locus of the own vehicle and the lane width of the own vehicle, the following target vehicle determining means is set as described above. Since the object existing in the passing area is determined as the tracking target vehicle, it is possible to accurately determine the tracking target vehicle and perform the tracking traveling.
[Brief description of the drawings]
FIG. 1 is a block diagram of an object detection device.
FIG. 2 is a perspective view of an object detection device.
FIG. 3 is a block diagram showing a memory configuration of the progress locus prediction apparatus.
FIG. 4 is a first part of a flowchart of a main routine.
FIG. 5 is a second part of the flowchart of the main routine.
FIG. 6 is a flowchart of a road shape recognition processing module.
FIG. 7 is a flowchart of a trajectory calculation module.
FIG. 8 is a first part of a flowchart of the continuity determination module.
FIG. 9 is a second part of a flowchart of the continuity determination module.
FIG. 10 is an explanatory diagram corresponding to step S1.
FIG. 11 is an explanatory diagram corresponding to steps S3 to S7.
FIG. 12 is an explanatory diagram corresponding to steps S31 to S39.
FIG. 13 is an explanatory diagram corresponding to steps S50 to S55.
FIG. 14 is an explanatory diagram corresponding to step S56.
FIG. 15 is an explanatory diagram corresponding to steps S57 and S58.
FIG. 16 is an explanatory diagram corresponding to steps S10 to S14.
FIG. 17 is a diagram showing a continuous target row
FIG. 18 is an explanatory diagram of how to obtain a target column
FIG. 19 Correspondence diagram
FIG. 20 is an explanatory diagram of problems in the conventional example.
FIG. 21 is an explanatory diagram of problems in the conventional example.
FIG. 22 is an explanatory diagram of problems in the conventional example.
[Explanation of symbols]
M1 motion state detection means
M2 trajectory prediction means
M3 Road installation judgment means
M4 traveling road shape estimation means
M5 locus correction means
M6 reference object setting means
M7 first proximity object determination means
M8 positional relationship calculation means
M9 predicted position setting means
M10 Second proximity object determination means
M11 selection means
M12 distance calculation means
M13 Passing area setting means
M14 tracking target vehicle determination means
St object detection device

Claims (10)

Motion state detection means (M1) for detecting the motion state of the own vehicle;
A trajectory predicting means (M2) for predicting the travel trajectory of the own vehicle based on the detection result of the motion state detecting means (M1);
In the vehicular travel locus prediction device comprising:
An object detection device (St) for detecting the presence of an object by transmitting an electromagnetic wave toward a predetermined region in a traveling direction of the host vehicle and receiving a reflected signal of the electromagnetic wave reflected by the object;
A road installation object determination means (M3) for determining the continuity of a plurality of objects installed on the road based on the detection result of the object detection device (St);
Traveling path shape estimation means (M4) for estimating a traveling path shape in the traveling direction of the host vehicle based on the continuity of the plurality of objects ;
When a plurality of travel path shapes are estimated by the travel path shape estimation means (M4), a vehicle width direction with respect to the travel locus of the host vehicle predicted by the trajectory prediction means (M2) from among the plurality of travel path shapes Selecting means (M11) for selecting the one with the shortest distance;
A trajectory correcting means (M5) for correcting the traveling trajectory of the host vehicle predicted by the trajectory predicting means (M2) based on the traveling road shape selected by the selecting means (M11) ;
Equipped with a,
The distance in the vehicle width direction is a distance between an object closest to the host vehicle and a predicted travel track of the host vehicle among a group of objects that form a travel path shape. . Road installation thing judgment means (M3)
Reference object setting means (M6) for setting a reference object for a plurality of objects detected by the object detection device (St);
First proximity object determination means (M7) for determining a first proximity object that is closest to the reference object set by the reference object setting means (M6);
A positional relationship calculating means (M8) for obtaining a distance between the reference object and the first proximity object and a direction of the first proximity object with respect to the reference object;
A predicted position setting means (M9) for setting a position at which a second proximity object close to the first proximity object is predicted to exist based on the distance and direction determined by the positional relationship calculation means (M8);
Second proximity object determination means (M10) for determining a second proximity object closest to the predicted position of the prediction position setting means (M9);
Comprising a, and judging the regular continuity of the plurality of objects based on a first proximity object determination means (M7) and the second proximity object determination means (M10) of the determination result, claims the vehicle traveling trajectory prediction device according to 1. The vehicle object according to claim 2 , wherein the reference object setting means (M6) sets an object closer to the host vehicle as a reference object among a plurality of objects detected by the object detection device (St). Progression trajectory prediction device. The first proximity object determination means (M7) is an object having the closest distance in the own vehicle width direction from the reference object, and an angle formed by a direction connecting the object and the reference object and the own vehicle traveling direction is within a predetermined angle. The vehicle travel locus prediction apparatus according to claim 2 , wherein the object is determined as a first proximity object. The second proximity object determination means (M10) is the object closest to the predicted position among the objects existing within the predetermined range of the predicted position set by the predicted position setting means (M9), and wherein the angle formed between the direction connecting the direction and the reference object and the first proximity object connecting one of the proximity object is determined that the second proximity object the object within a predetermined angle, he claims 2 to 5. The vehicle travel locus prediction apparatus according to any one of 4 above. 6. The vehicle travel locus prediction apparatus according to claim 5 , wherein the predetermined range is set according to a distance between a reference object and a first proximity object. The second proximity object determining means (M10) is set by the predicted position setting means (M9) when there is no object within a predetermined range based on the predicted position set by the predicted position setting means (M9). The vehicle travel locus prediction apparatus according to claim 5 or 6 , wherein an object is estimated to exist at the predicted position. Set the predicted position based on the direction and distance formed by the said estimated object and the first proximity object, and judging the object in proximity to the predicted position and the third proximity object, claim 7 The vehicle travel locus prediction apparatus according to claim 1 . A distance calculation means (M12) for calculating a distance in the vehicle width direction between the traveling road shape selected by the selection means (M11) and the traveling locus of the host vehicle predicted by the trajectory prediction means (M2);
The trajectory correction means (M5) converts the travel trajectory of the host vehicle predicted by the trajectory prediction means (M2) into the travel path shape selected by the selection means (M11) and the distance calculated by the distance calculation means (M12). and correcting on the basis of vehicular traveling locus prediction device according to any one of claims 1 to 8. Passing area setting means (M13) for setting the passing area of the own vehicle based on the traveling locus of the own vehicle and the lane width of the own vehicle corrected by the trajectory correcting means (M5);
Tracking object vehicle determination means (M14) for determining an object existing in the set passing area among objects detected by the object detection device (St) as a tracking object vehicle;
The vehicle travel locus prediction device according to any one of claims 1 to 9 , characterized by comprising:

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