JP5054547B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device that recognizes an environment outside the vehicle and performs driving support control of the host vehicle based on the recognized vehicle environment information.

  In recent years, on-board radar means such as millimeter wave radar and infrared laser radar, imaging means such as stereo cameras and monocular cameras, or combination of these radar means and imaging means recognizes information outside the vehicle and recognizes outside the vehicle. Various proposals have been made for driving support devices that perform various types of vehicle control based on information.

In this type of driving support device, the own vehicle traveling path is generally estimated based on the yaw rate, rudder angle, white line, guardrail, and the like acting on the own vehicle. For example, Patent Document 1 discloses a cruise control with an inter-vehicle distance control (ACC;) that selectively performs a follow-up running control and a constant speed running control according to the capture (detection) state of a preceding vehicle in front of the own vehicle running path. In a vehicle control apparatus having an Adaptive Cruise Control function, a technique for predicting a traveling path (own vehicle traveling path) based on signals from a steering angle sensor and a yaw rate sensor is disclosed.
JP 2006-347507 A

  However, when estimating the own vehicle travel path based on the yaw rate, the rudder angle, or the like as in the technique disclosed in Patent Document 1 described above, an area different from the actual road shape is estimated as the own vehicle travel path. There is a fear.

  On the other hand, when the host vehicle travel route is estimated based on a white line, a guardrail, or the like, there is a possibility that the host vehicle travel route cannot be estimated in a situation where it is difficult to recognize the white line or the like.

  Furthermore, when driving support control such as ACC control is performed based on the vehicle traveling path estimated as described above, when an obstacle is detected on the vehicle traveling path, There is a possibility that driving support control far from the feeling of the driver may be performed, for example, excessive deceleration control is performed even though a detourable area exists adjacent to the own vehicle traveling path.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle driving support device capable of realizing driving support control that matches the actual outside environment and the driver's feeling.

A vehicle driving support device according to an aspect of the present invention includes a vehicle outside information recognition unit that recognizes information related to a white line and information related to a three-dimensional object as information on an object ahead of the vehicle, and a risk that the white line exerts on the vehicle. Calculating the distribution of potential, calculating the distribution of risk potential exerted by the three-dimensional object on the own vehicle, calculating the distribution of these total risk potentials, and the vehicle in front of the own vehicle Coordinate point setting means for setting different sets of coordinate points according to the relative position of the vehicle, and a predetermined driving probability set immediately before the host vehicle, and the driving probability is distributed according to the distribution state of the total risk potential According to the ratio, the vehicle is sequentially shifted from a coordinate point of the coordinate point group in the vicinity of the host vehicle to a plurality of coordinate points of the coordinate point group that are distantly adjacent to each other. A traveling probability setting means for setting a, which regions traveling probability of the coordinate point is continuous with the front of the vehicle above the threshold and a travel area setting means for setting a travel area which can be the vehicle is traveling It is.

  According to the vehicle driving support device of the present invention, it is possible to realize driving support control that matches the actual outside environment and the driver's feeling.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to an embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a vehicle equipped with a driving support device, FIG. 2 is a flowchart showing a travel region setting routine, and FIG. 3 is a flowchart showing a risk potential distribution calculation subroutine. 4 is a flowchart showing a driving probability calculation subroutine for each coordinate point, FIG. 5 is an explanatory diagram showing an example of a risk map ahead of the host vehicle, and FIG. 6 is an explanation showing an example of coordinate points set on the risk map ahead of the host vehicle. FIG. 7 is an explanatory diagram illustrating an example of a method for calculating a travel probability, and FIG. 8 is an explanatory diagram illustrating an example of a travel region set based on the travel probability of each coordinate point.

  In FIG. 1, reference numeral 1 denotes a vehicle such as an automobile (own vehicle), and a driving support device 2 is mounted on the vehicle 1. The driving support device 2 is configured with, for example, a stereo camera 3, a stereo image recognition device 4, a control unit 5 and the like as main parts.

  In addition, the host vehicle 1 is provided with a vehicle speed sensor 11 that detects the host vehicle speed V, a main switch 13 to which an ON / OFF signal for driving support control is input, and the host vehicle speed V is the same as that of the stereo image recognition device 4. An ON-OFF signal and the like for driving support control are input to the control unit 5 and input to the control unit.

  The stereo camera 3 is composed of a set of (left and right) CCD cameras using a solid-state imaging device such as a charge coupled device (CCD) as a stereo optical system. These left and right CCD cameras are each mounted at a certain distance in front of the ceiling in the vehicle interior, take a stereo image of an object outside the vehicle from different viewpoints, and input image data to the stereo image recognition device 4.

  First, the stereo image recognition device 4 obtains distance information from a corresponding positional shift amount for a pair of stereo images in the traveling direction of the host vehicle 1 captured by the stereo camera 3 and generates a distance image. Then, based on this data, a well-known grouping process is performed and compared with frames (windows) such as three-dimensional road shape data, side wall data, and three-dimensional object data stored in advance. Side wall data such as guardrails and curbs that exist along the road are extracted, and three-dimensional objects are classified and extracted into other three-dimensional objects such as two-wheeled vehicles, ordinary vehicles, large vehicles, pedestrians, and utility poles.

  Each of the recognized data is calculated in a coordinate system in which the own vehicle 1 is the origin, the front-rear direction of the own vehicle 1 is the X axis, and the width direction is the Y axis. In the vehicle data of a vehicle or a large vehicle, the length in the front-rear direction is estimated in advance, for example, 3 m, 4.5 m, 10 m, etc., and the width direction uses the center position of the detected width, and the vehicle The currently existing center position is calculated with the coordinates (xobs, yobs). In addition, when the longitudinal length of the vehicle can be obtained with high accuracy by inter-vehicle communication or the like, the above-described center position may be calculated using the length data.

  Further, in the three-dimensional object data, a relative speed with respect to the host vehicle 1 is calculated from a change in the X-axis direction and a change in the Y-axis direction of the distance from the host vehicle 1, and based on the relative speed and the speed V of the host vehicle 1, The X-axis direction speed and Y-axis direction speed (vxobs, vyobs) of each three-dimensional object are calculated.

  Each information obtained in this way, ie white line data, guardrails existing along the road, side walls such as curbs, and three-dimensional object data (type, distance from own vehicle 1, center position (xobs, yobs), speed (Vxobs, vyobs) etc.) is input to the control unit 5. Thus, in the present embodiment, the stereo camera 3 and the stereo image recognition device 4 have a function as vehicle outside information recognition means.

  The control unit 5 includes the vehicle speed sensor 11 from the own vehicle speed V, the stereo image recognition device 4 from the white line data, guardrails existing along the road, side walls such as curbs, and three-dimensional object data (type, from the vehicle 1). Data such as distance, center position (xobs, yobs), speed (vxobs, vyobs), etc. are input, and the control unit 5 receives each object input from the stereo image recognition device 4 with respect to the own vehicle 1. In addition, the control unit 5 sets a plurality of sets of coordinate points in front of the host vehicle according to the relative position with respect to the host vehicle 1 (for example, the relative position in the X-axis direction). Furthermore, the control unit 5 sets a predetermined travel probability (for example, a travel probability of 100%) immediately before the host vehicle 1, and distributes the travel probability according to the distribution state of the risk potential in front of the host vehicle. And sequentially shifting from the coordinate point group of the coordinate point group near the host vehicle to a plurality of coordinate points of the coordinate point group distantly adjacent to each other to set the traveling probability of the host vehicle at each coordinate point. A region in which the traveling probability set at the coordinate point is equal to or greater than the threshold and continues in front of the host vehicle is set as a traveling region in which the host vehicle 1 can travel. Each function as a risk distribution calculation means, a coordinate point setting means, a travel probability setting means, and a travel area setting means is provided.

  When the travel region is set in front of the host vehicle 1 in this way, the control unit 5 performs driving support control of the vehicle 1 based on the set travel region. In this embodiment, for example, ACC control is performed as the driving support control. In other words, when the main switch 13 is turned on, the control unit 5 detects the preceding vehicle on the traveling area based on the three-dimensional object data recognized by the stereo image recognition device 4 and travels at a constant speed where no preceding vehicle is detected. At the time of control, the set vehicle speed Vset set by the driver is set as the target vehicle speed Vtrgt, and the opening / closing control (engine output control) of the electronic control throttle valve 15 is performed, so that the host vehicle speed V is converged to the target vehicle speed Vtrgt. Further, when the control unit 5 determines that sufficient deceleration cannot be obtained only by the engine output control, the control unit 5 also uses the control of the output hydraulic pressure from the active booster 16 (automatic brake intervention control) to control the vehicle speed. V is converged to the target vehicle speed Vtrgt. Further, when the control unit 5 detects the preceding vehicle during the constant speed traveling control, the control unit 5 shifts to the following traveling control. When the control unit 5 shifts to the follow-up traveling control, the control unit 5 sets the target vehicle speed Vtrgt based on the follow-up target inter-vehicle distance Dtuiju, and performs opening / closing control (engine output control) of the electronic control throttle valve 15 to The distance Dnow is converged to the following target inter-vehicle distance Dtuiju. Further, when the control unit 5 determines that sufficient deceleration cannot be obtained only by the engine output control, the control unit 5 also uses the control of the output hydraulic pressure from the active booster 16 (the automatic intervention control of the brake), and the inter-vehicle distance Dnow is converged to the following target inter-vehicle distance Dtuiju. Here, the following target inter-vehicle distance Dtuiju is variably set according to the own vehicle speed V, for example. That is, for example, a map for setting a target tracking distance between vehicles is set and stored in advance in the control unit 5, and the control unit 5 refers to this map, and the tracking target vehicle distance Dtuiju increases as the vehicle speed V increases. Set a longer time.

  Next, the travel area setting performed by the control unit 5 will be described according to the travel area setting routine shown in FIG. This routine is repeatedly executed every set time. When the routine is started, the control unit 5 first acquires information outside the vehicle recognized by the stereo image recognition device 4 in step S101. That is, the control unit 5 includes white line data, side walls data such as guardrails and curbs that exist along the road, and solid object data (type, distance from the vehicle 1, center position (xobs, yobs), speed (vxobs). , Vyobs), etc.) is read from the stereo image recognition device 4.

In subsequent step S102, the control unit 5 calculates a risk potential distribution (risk map) ahead of the host vehicle based on the acquired outside-vehicle information. The calculation of the risk potential distribution is performed in accordance with, for example, the risk potential calculation subroutine shown in FIG. The current risk function Rline for ”is calculated by the following equation (1).
Rline = Kline · y ² (1)
Here, Kline is a preset gain. That is, the current risk function Rline for the white line is given by a quadratic function centered on the center of the travel path recognized by the left and right white lines (guardrails and side walls are also treated as white lines). In the present embodiment, the risk function Rline is a quadratic function. However, the risk function Rline may be a function that leads to a larger risk value as it approaches the white line from the center of the travel path. It can also be a 6th order function. In this embodiment, the guard rail and the side wall are also treated in the same way as the white line so as to give a secondary risk function Rline. A larger risk value than the white line may be derived. For example, when the risk function Rline for the left and right white lines is given as a quadratic function, the guardrail and the side wall are changed to a quartic or sixth-order function. Further, the gain Kline value may be changed to a large value even with the same quadratic function. Further, the risk function Rline for the white line is not limited to the example in which the center of the travel path is the central axis, but the central axis may be offset to make the risk values different between the left and right white lines.

Next, when proceeding to step S202, the control unit 5 determines the current risk function Robs for a three-dimensional object (two-wheeled vehicle, ordinary vehicle, large vehicle, pedestrian, utility pole, and other various three-dimensional objects) as follows: Calculation is performed according to equation (2).
Robs = Kobs · exp (− ((xobs−x) ² / (2 · σxobs ² ))
− ((Yobs−y) ² / (2 · σyobs ² ))) (2)
Here, Kobs is a preset gain. Also, σxobs indicates a preset dispersion in the X-axis direction of the object, σyobs indicates a preset dispersion in the Y-axis direction of the object, and these dispersions σxobs and σyobs are, for example, a stereo camera 3 may be set larger as the recognition accuracy by 3 is lower. The variances σxobs and σyobs should be set large when the target type is a pedestrian or two-wheeled vehicle, and small for other three-dimensional objects. May be. Furthermore, you may make it set according to the lap | wrap rate of the width direction of the own vehicle 1 and the target solid object.

  Further, in actual traveling, when the three-dimensional object is a moving object having a forward speed component with respect to the own vehicle 1 (forward moving object), the risk is small, and the three-dimensional object has a reverse speed with respect to the own vehicle 1. In the case of a moving object having a component (reverse direction moving object), it is considered that the risk increases. Therefore, in the above equation (2), the risk value is increased or decreased according to the relative speed with the own vehicle 1. It is desirable to add terms.

Next, in step S203, the control unit 5 calculates the current total risk function R according to the following equation (3).
R = Rline + Robs (3)
Next, the process proceeds to step S204, and the position of the three-dimensional object (xobs (t), yobs (t)) after t seconds is estimated by the following equation (4).
(Xobs (t), yobs (t)) = (xobs + vxobs.t, yobs + vyobs.t) (4)
Next, the process proceeds to step S205, where the solid object position (xobs (t), yobs (t)) estimated after t seconds estimated in the above step S204 is calculated using the x and y of the total risk function R calculated in the above step S203. Respectively, and after setting the total risk function R (xobs (t), yobs (t)) after t seconds, the subroutine is exited. Thereby, for example, as shown in FIG. 5, a risk map is set in a region in front of the host vehicle 1.

  In the main routine, when the process proceeds from step S102 to step S103, the control unit 5 sets a plurality of coordinate points in the area in front of the vehicle where the risk map is set. In the present embodiment, each coordinate point is composed of, for example, lattice points on a mesh set at a set interval (for example, every 5 m) with the host vehicle 1 as a reference, and each coordinate point (lattice point) is Those having the same distance in the X-axis direction with respect to the vehicle 1 are grouped as lattice point groups G0, G1,..., Gmax (see, for example, FIG. 6).

  Next, in step S104, the control unit 5 calculates the probability that the host vehicle 1 will travel on each coordinate point. The calculation of the driving probability is performed, for example, according to the driving probability calculation subroutine shown in FIG. 4. When the subroutine starts, the control unit 5 first selects the coordinate point (0, G0) immediately before the own vehicle in step S301. Then, a predetermined traveling probability n (0, G0) (for example, traveling probability n (0, G0) = 100) is set at the coordinate point.

  In step S302, the next group coordinate point corresponding to the currently selected coordinate point is extracted. In the present embodiment, as coordinate points corresponding to the currently selected coordinate point, three coordinate points closest to the selected coordinate point in the next group (next coordinate point group G) are extracted. . That is, in FIG. 7, for example, when the currently selected coordinate point is (0, G0), (-1, G1), (0, G1) are selected from the coordinate point group G1 as corresponding coordinate points. , (1, G1) are extracted.

  In step S303, the control unit 5 reads the risk potential r at each extracted coordinate point, and extracts the running probability at the currently selected coordinate point from the next coordinate point group G in the subsequent step S304. Each coordinate point is distributed at a distribution ratio corresponding to each risk potential r.

For example, the running probability of the currently selected coordinate point is N, the running probability of each coordinate point extracted from the next coordinate point group G corresponding to the selected coordinate point is n1, n2, n3, and each extracted coordinate Assuming that the risk potential on the points is r1, r2, r3 and the maximum risk potential that can be taken on the risk map is 100, the respective driving probabilities n1 to n3 are calculated by the following equations (5) to (7). Is done.
n1 = N · (100−r1) / (300− (r1 + r2 + r3)) (5)
n2 = N · (100−r2) / (300− (r1 + r2 + r3)) (6)
n3 = N · (100−r3) / (300− (r1 + r2 + r3)) (7)
However, in this embodiment, when the risk potential at the extracted coordinate point is equal to or greater than a preset threshold value, the distribution of the travel probability to the coordinate point is canceled. When the travel probability is distributed, not only the risk potential, but also, for example, the turning direction of the host vehicle 1 is determined with reference to the steering angle, the yaw rate, etc., and a correction to increase the distribution rate of the determined turning direction is performed. You can go.

  In step S305, the control unit 5 checks whether all coordinate points in the same coordinate point group G have been selected. If it is determined that all coordinate points have not been selected, the control unit 5 proceeds to step S305. Proceeding to S306, after selecting a new coordinate point from the same coordinate point group G, the process returns to step S302.

  On the other hand, if it is determined in step S305 that all coordinate points of the same coordinate point group G have been selected, the control unit 5 proceeds to step S307, where the current coordinate point group is a G (max-1) coordinate point group. Check if there is any.

  If it is determined in step S307 that the current coordinate point group is not the G (max-1) coordinate point group, the control unit 5 proceeds to step S308, and the current coordinate point group G is far away from the host vehicle 1. After the coordinate point group adjacent to is newly selected, the process proceeds to step S306.

  On the other hand, if it is determined in step S307 that the current coordinate point group is G (max-1), the control unit 5 directly exits the subroutine.

  Thereby, the driving | running | working probability of the own vehicle 1 is set on all the coordinate points set ahead of the own vehicle. As is clear from FIG. 7, for example, the running probability n (0, G2) at the coordinate point (0, G2) is expressed by the coordinate points (-1, G1), (0, G1), (1, G1). ) From the sum of the driving probabilities distributed. As described above, in the present embodiment, the driving probability at each coordinate point is that the driving probability n (0, G0) set at the coordinate point (0, G0) immediately before the host vehicle 1 is mixed and scattered at each coordinate point. However, it is set by shifting to a distant coordinate point group G.

  In the main routine, when the process proceeds from step S104 to step S105, the control unit 5 sets the travel area in which the host vehicle can travel based on the travel probability n set at each coordinate point in step S104, and then the routine. Exit. That is, for example, as shown in FIG. 8, the control unit 5 extracts coordinate points whose running probability is equal to or higher than a preset threshold value, and extracts the extracted coordinate points (for example, coordinate points marked with ○ in the figure). The area surrounded by is set as the travel area of the vehicle 1.

  According to such an embodiment, the risk potential distribution is generated based on the object recognized in front of the host vehicle 1, and a plurality of sets of coordinates different according to the relative position with the host vehicle 1 in front of the host vehicle. A point cloud is set, and the driving probability n (0, G0) set immediately before the vehicle 1 is adjacent to the coordinate point of the coordinate point group near the vehicle far away according to the distribution ratio according to the distribution state of the risk potential. By sequentially shifting to a plurality of coordinate points of the point group, the traveling probability of the vehicle 1 can be set at each coordinate point by a simple calculation. Then, based on each coordinate point where the travel probability is set in this way, an area in which the travel probability is equal to or greater than the threshold and the coordinate points continue in front of the host vehicle is set (estimated) as a travel region where the host vehicle 1 can travel. Thus, it is possible to realize suitable driving support control by setting a travel region that matches the actual outside environment and the driver's feeling.

  In this case, in particular, since the travel area can be set without depending only on the yaw rate or the white line or the like, it is possible to realize the setting of a suitable travel area even in various travel conditions and outside environments. In addition, since the travel region is estimated on the assumption that a high-risk region caused by an obstacle or the like is avoided, driving support control that matches the driver's feeling can be realized.

Schematic configuration diagram of a vehicle equipped with a driving support device Flowchart showing travel region setting routine Flow chart showing risk potential distribution calculation subroutine A flowchart showing a driving probability calculation subroutine for each coordinate point Explanatory drawing showing an example of the risk map ahead of the vehicle Explanatory drawing which shows an example of the coordinate point set on the risk map ahead of the own vehicle Explanatory drawing which shows an example of the calculation method of driving probability Explanatory drawing which shows an example of the driving | running | working area | region set based on the driving | running probability of each coordinate point.

Explanation of symbols

1 ... Vehicle (own vehicle)
2 ... Driving assistance device 3 ... Stereo camera (vehicle outside information recognition means)
4 ... Stereo image recognition device (external vehicle information recognition means)
5. Control unit (risk distribution calculation means, coordinate point setting means, travel probability setting means, travel area setting means)
DESCRIPTION OF SYMBOLS 11 ... Vehicle speed sensor 13 ... Main switch 15 ... Electronically controlled throttle valve 16 ... Active booster

Claims (1)

Vehicle information recognition means for recognizing white line information and solid object information as information on an object ahead of the vehicle;
Risk distribution calculation means for calculating the distribution of risk potential exerted by the white line on the own vehicle, calculating the distribution of risk potential exerted by the three-dimensional object on the own vehicle, and calculating the distribution of these total risk potentials When,
Coordinate point setting means for setting different sets of coordinate point groups in front of the host vehicle according to the relative position with the host vehicle;
A predetermined driving probability is set immediately before the host vehicle, and the driving probability is determined based on a distribution ratio according to the distribution state of the total risk potential, in the coordinate point group distantly adjacent to the coordinate point group of the coordinate point group near the host vehicle. Traveling probability setting means for sequentially shifting to a plurality of coordinate points and setting the traveling probability of the vehicle at each coordinate point;
And a driving area setting unit that sets a driving area in which the vehicle can travel in a region where the driving probability of the coordinate point is equal to or greater than a threshold and continues in front of the vehicle. .

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