JP5104604B2 - Collision judgment device - Google Patents

Description

  The present invention relates to a collision determination device that determines a collision risk between a preceding vehicle and a host vehicle and notifies a driver of the collision risk.

As a conventional collision determination device, there is known a device that determines a location where a vehicle exists and changes a threshold value as a determination criterion for performing a collision avoidance process when the vehicle is in the vicinity of an intersection (Patent Document 1). ). In this apparatus, the distance between an obstacle such as a preceding vehicle and the host vehicle is used as a determination criterion, and a distance longer than normal is set as a threshold in the vicinity of the intersection. For this reason, the collision avoidance process is performed near the intersection at a timing earlier than usual. This collision avoidance processing is, for example, an alarm output to the driver.
Japanese Patent Laid-Open No. 5-310058

  When a preceding vehicle makes a right or left turn at an intersection, the host vehicle may pass through the intersection and pass straight while passing the preceding vehicle. Since the distance between the host vehicle and the preceding vehicle is reduced during this overtaking, the conventional technology issues an alarm even though the driver is not in a state of danger. The driver feels such an alarm annoying. This is especially the case at large intersections where there is enough space to overtake.

  Thus, an object of the present invention is to provide a collision determination device that can suppress the generation of an unnecessary alarm that causes the driver to feel troublesome.

  The present invention calculates a collision risk between the preceding vehicle and the host vehicle, and determines that the collision risk is high when the collision risk is equal to or higher than a predetermined threshold. A collision determination device comprising a notification means for notifying the driver of the vehicle of the fact when the risk is determined to be high, an intersection information acquisition means for acquiring information relating to an intersection ahead of the vehicle, and an intersection And changing means for changing the threshold value using information related to the above.

  In the collision determination device according to the present invention, when it is detected that there is an intersection ahead of the host vehicle, the threshold value that is a criterion for determining the risk of collision is appropriately changed based on the information related to the intersection. Since the risk of a collision between the preceding vehicle and the host vehicle is determined based on the threshold value thus changed, the risk of a collision when passing through an intersection while overtaking the preceding vehicle about to turn left or right is determined. It is difficult to make a high notification. Therefore, it is possible to suppress the occurrence of an unnecessary alarm that causes the driver to feel troublesome.

  Preferably, the changing means determines whether there is an intersection having a size greater than or equal to a predetermined size in front of the host vehicle based on information related to the intersection. It is characterized by increasing.

  At large intersections, even if there is a preceding vehicle that is about to turn left or right, there is enough space to pass the vehicle and go straight ahead. In the collision judgment device of the present invention, when there is an intersection of a predetermined size or larger in front of the host vehicle, the threshold value used as the judgment criterion of the collision risk is changed to a large value, so that the risk of collision is high. It becomes difficult to be alerted. Therefore, the generation of an alarm unnecessary for the driver is surely suppressed.

  The present invention further includes preceding vehicle information acquisition means for acquiring information relating to the preceding vehicle, and the changing means is operating the direction indicator of the preceding vehicle based on the information relating to the intersection and the information relating to the preceding vehicle. Whether the direction indicator is in operation or not, the threshold value is increased.

  When the direction indicator of the preceding vehicle is operating at the intersection, there is a high possibility that the host vehicle will pass the preceding vehicle and go straight ahead. In the collision determination device of the present invention, when the operation of the direction indicator of the preceding vehicle is detected, the threshold value that is a criterion for determining the risk of collision is changed to a large value, so that a notification that the risk of collision is high is issued. It becomes difficult. Therefore, the generation of an alarm unnecessary for the driver is surely suppressed.

  According to the present invention, it is possible to suppress the generation of an unnecessary alarm that makes the driver feel bothersome. As a result, it becomes possible to provide driving assistance to a more effective driver.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a collision determination device according to the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

  FIG. 1 is a schematic configuration diagram showing an embodiment of a collision determination device according to the present invention. As shown in FIG. 1, the collision determination apparatus 1 of this embodiment includes a car navigation apparatus 10, an infrastructure information reception apparatus 11, a camera 12, an image processing ECU (Electronic Control Unit) 13, a millimeter wave radar 14, a collision determination ECU 15, and a notification. A unit 16 and a speed sensor 17 are provided. The collision determination ECU 15 includes a CPU, a ROM, a RAM, an input / output interface, and the like.

  The collision determination device 1 detects a collision target existing on the course of the own vehicle, and determines the possibility of collision between the own vehicle and the collision target. When the collision target is a preceding vehicle, information such as the distance between the own vehicle and the preceding vehicle and the relative speed of the preceding vehicle with respect to the own vehicle is acquired from the detection values of various sensors such as the millimeter wave radar 14, and these Based on the information, the risk of collision between the host vehicle and the preceding vehicle is calculated. This risk of collision can be calculated based on the lateral position of the preceding vehicle, for example. The lateral position of the preceding vehicle is a lateral distance from the center line of the own vehicle to the preceding vehicle. In this case, the collision risk increases as the lateral position decreases. When the collision risk is equal to or higher than a predetermined threshold, the collision determination device 1 notifies the driver to that effect.

  The car navigation device 10 is a device that detects the current position and traveling direction of the vehicle and provides route guidance to the destination based on the position information and map data of the vehicle obtained from the GPS. Here, the car navigation apparatus 10 acquires information related to an intersection ahead of the host vehicle. The information regarding the intersection includes information regarding the presence / absence of the intersection and the size of the intersection. In addition, the car navigation device 10 sends information related to the intersection to the collision determination ECU 15.

  The infrastructure information receiving device 11 is a device that receives infrastructure information transmitted from the infrastructure. The infrastructure information includes information about the intersection such as the presence / absence of the intersection and the size of the intersection. Further, the infrastructure information receiving device 11 sends the received infrastructure information to the collision determination ECU 15.

  The camera 12 captures the front of the vehicle and acquires a captured image in front of the host vehicle. In addition, the camera 12 sends the acquired captured image in front of the host vehicle to the image processing ECU 13. The camera 12 is preferably a stereo camera.

  The image processing ECU 13 inputs a captured image sent from the camera 12, extracts an object from a captured image acquired by image recognition such as edge extraction or pattern recognition processing, and the presence / absence of an object, discrimination of the object, size of the object, Information such as the distance to the object and whether or not the object is a stationary object is acquired as detection information. Here, image processing ECU13 can acquire the information regarding an intersection, such as the presence or absence of the intersection ahead of the own vehicle, the magnitude | size of an intersection, and the distance to an intersection. Further, the image processing ECU 13 acquires information related to the preceding vehicle such as the presence / absence of the preceding vehicle, the lateral position of the preceding vehicle, the distance to the preceding vehicle, the relative speed of the preceding vehicle with respect to the host vehicle, and the operating state of the direction indicator of the preceding vehicle. be able to.

  When a stereo camera is adopted as the camera 12, the image processing ECU 13 can obtain the distance and direction from the object by the triangulation method based on the difference in the position of the object in the left and right acquired images. Further, the image processing ECU 13 can obtain the relative speed from the amount of change with respect to the distance obtained from the image at the previous time. When a stereo camera is not employed as the camera 12, the image processing ECU 13 can estimate the distance and direction based on the position of the object in the image. Further, the image processing ECU 13 sends the acquired various types of information to the collision determination ECU 15. The image processing ECU 13 includes a CPU, ROM, RAM, an input / output interface, and the like. The image processing ECU 13 is configured as an ECU different from the collision determination ECU 15 in the present embodiment, but may be configured integrally with the collision determination ECU 15.

  The millimeter wave radar 14 emits radio waves in front of the host vehicle, receives radio waves reflected from the surface of the object, receives the presence of an object from the frequency change of the received signal, the direction of the object viewed from the vehicle, and from the vehicle to the object. Information such as distance, the size of the object, and the relative speed of the object with respect to the vehicle is acquired. Here, the millimeter wave radar 14 can acquire information related to the preceding vehicle such as the presence / absence of the preceding vehicle, the lateral position of the preceding vehicle, the distance to the preceding vehicle, and the relative speed of the preceding vehicle with respect to the host vehicle. Further, the millimeter wave radar 14 sends information related to the preceding vehicle to the collision determination ECU 15.

  The collision determination ECU 15 acquires information related to an intersection ahead of the host vehicle and information related to a preceding vehicle that are sent from the car navigation device 10, the infrastructure information receiving device 11, the image processing ECU 13, and the millimeter wave radar 14. Further, the collision determination ECU 15 calculates the risk of collision between the host vehicle and the preceding vehicle based on information related to the preceding vehicle. When the collision risk is equal to or higher than a predetermined threshold, the collision determination ECU 15 notifies the driver that the risk of collision is high via the notification unit 16. Further, the collision determination ECU 15 changes the threshold value of the collision risk, which is a determination criterion for the necessity of notification, based on the information related to the intersection ahead of the host vehicle and the operating state of the direction indicator of the preceding vehicle. The change of the threshold will be described later.

  When the collision determination ECU 15 determines that the risk of a collision with the preceding vehicle is high, the notification unit 16 has a function of notifying the driver of that fact. This function is, for example, a function that generates an alarm sound from a speaker or displays that the risk of collision is high on a display device.

  The speed sensor 17 detects the speed of the host vehicle, and sends the detected speed to the collision determination ECU 15 as speed information.

  FIG. 2 is a flowchart showing a processing procedure executed by the collision determination ECU 15.

  First, in step S10, information regarding a preceding vehicle is acquired. Information regarding the preceding vehicle is transmitted from one or both of the image processing ECU 13 and the millimeter wave radar 14. The information related to the preceding vehicle includes information such as the presence / absence of the preceding vehicle, the lateral position of the preceding vehicle, the distance to the preceding vehicle, and the relative speed of the preceding vehicle with respect to the host vehicle.

  Subsequently, in step 11, own vehicle information and information ahead of the own vehicle are acquired. The own vehicle information is speed information of the own vehicle sent from the speed sensor 17, for example. Moreover, the information ahead of the own vehicle includes information about the intersection. Information regarding the intersection ahead of the host vehicle is transmitted from any one or more of the car navigation device 10, the infrastructure information receiving device 11, and the image processing ECU 13. The information regarding the intersection includes information such as the presence / absence of an intersection ahead of the host vehicle, the size of the intersection, and the distance to the intersection.

  Here, the traveling of the host vehicle when there is a preceding vehicle at the intersection will be described with reference to FIG. When the preceding vehicle 20 makes a left turn at the intersection as indicated by the arrow 20a, the host vehicle 21 may travel in the direction indicated by the arrow 21a, pass through the intersection while passing the preceding vehicle 20, and may go straight ahead. . Since the distance between the own vehicle 21 and the preceding vehicle 20 is reduced during this overtaking, an alarm for notifying that the risk of a collision is high even though the driver is not in a state of danger. Be emitted. In particular, there are many cases of traveling in this way at large intersections where there is sufficient space to overtake. Since the driver feels such an alarm troublesome, suppression of the alarm is desired. This is the same when the preceding vehicle makes a right turn. In the present embodiment, the alarm is suppressed by changing the threshold value of the collision risk that is a criterion for determining whether notification is necessary. Steps S12 to S14 in FIG. 2 are processes for changing the threshold value.

  In step S12, based on the information ahead of the vehicle acquired in step S11, it is determined whether or not there is an intersection ahead of the vehicle. If it is determined that there is an intersection, the process proceeds to step S13. If it is determined that there is no intersection, there is no need to change the threshold value, and the process proceeds to step S15.

  In step S13, based on the information acquired in step S11, it is determined whether or not the size of the intersection is greater than or equal to a predetermined size (the space to be overtaken is sufficiently large). If the size of the intersection is greater than or equal to the predetermined size, it is highly likely that the own vehicle will pass the intersection while overtaking the preceding vehicle, and the process proceeds to step S14. If the size of the intersection is not larger than the predetermined size, it is not necessary to change the threshold value, and the process proceeds to step S15.

  In step S14, the threshold value of the collision risk that is a criterion for determining whether notification is necessary is changed. Specifically, the threshold value is changed to a larger value than before the change. The changed threshold value is, for example, a value defined in advance. Further, the changed threshold value may be determined based on the size of the intersection. For example, when the collision risk is calculated using the lateral position of the preceding vehicle, increasing the collision risk threshold is equivalent to decreasing the threshold for the lateral position.

  In step S15, the collision risk is calculated based on the information related to the preceding vehicle. If the calculated collision risk is equal to or greater than the threshold, the driver is notified that the risk of collision is high via the notification unit 16. .

Thus, the collision determination ECU 15 ends the process for determining the risk of collision between the host vehicle and the preceding vehicle.
In the above, step S15 of the collision determination ECU 15 calculates a collision risk between the preceding vehicle and the own vehicle, and determines a collision determination means for determining that the collision risk is high when the collision risk is equal to or higher than a predetermined threshold. Constitute. When the collision determination unit determines that the risk of collision is high, the notification unit 16 configures a notification unit that notifies the driver to that effect. Step S11 of the car navigation device 10, the infrastructure information receiving device 11, the camera 12, the image processing ECU 13, and the collision determination ECU 15 constitutes an intersection information acquisition unit that acquires information related to an intersection ahead of the host vehicle. Steps S12 to S14 of the collision determination ECU 15 constitute changing means for changing the threshold value using information related to the intersection.

  As described above, in the collision determination apparatus 1 according to the present embodiment, when there is an intersection in front of the host vehicle and the size of the intersection is greater than or equal to a predetermined size, it becomes a criterion for determining the risk of collision. Since the threshold value is changed to a large value, when passing an intersection while overtaking a preceding vehicle that is going to turn left or right, it is difficult to issue a notification that the risk of collision is high. Therefore, it is possible to suppress the generation of an unnecessary alarm that makes the driver feel bothersome.

  Next, a processing procedure when the collision determination ECU 15 determines whether or not the threshold value needs to be changed based on the operating state of the direction indicator of the preceding vehicle will be described with reference to FIG.

  In step S20, in addition to information such as the presence / absence of the preceding vehicle, the lateral position of the preceding vehicle, the distance to the preceding vehicle, and the relative speed of the preceding vehicle with respect to the host vehicle, information related to the operating state of the direction indicator of the preceding vehicle is acquired. Information about the operating state of the direction indicator is sent from the image processing ECU 13.

  The process of steps S21 to S22 is common to the process of steps S11 to S12 of the process procedure shown in FIG.

  In step S23, based on the information acquired in step S20, it is determined whether or not the direction indicator of the preceding vehicle is operating. When the direction indicator is in operation, it is highly likely that the own vehicle will pass the intersection while overtaking the preceding vehicle, and the process proceeds to step S24. If the direction indicator is not in operation, there is no need to change the threshold value, and the process proceeds to step S25.

  The processes in steps S24 to S25 are the same as the processes in steps S14 to S15 in the process procedure shown in FIG.

  In the above, step S25 of the collision determination ECU 15 calculates the collision risk between the preceding vehicle and the own vehicle, and determines a collision determination means for determining that the collision risk is high when the collision risk is equal to or higher than a predetermined threshold. Constitute. When the collision determination unit determines that the risk of collision is high, the notification unit 16 configures a notification unit that notifies the driver to that effect. Step S20 of the camera 12, the image processing ECU 13, the millimeter wave radar 14, and the collision determination ECU 15 constitutes preceding vehicle information acquisition means for acquiring information related to the preceding vehicle. Step S21 of the car navigation device 10, the infrastructure information receiving device 11, the camera 12, the image processing ECU 13, and the collision determination ECU 15 constitutes an intersection information acquisition unit that acquires information related to an intersection ahead of the host vehicle. Steps S22 to S24 of the collision determination ECU 15 constitute changing means for changing the threshold value using information related to the intersection.

  As described above, when the direction indicator of the preceding vehicle is operating at the intersection, the threshold value that is the criterion for determining the risk of collision is changed to a large value. When passing the intersection while overtaking, it is difficult to give a notification that the risk of collision is high. Therefore, occurrence of an alarm unnecessary for the driver is suppressed.

  In the description of the flowchart of FIG. 4, the process of step S23 is executed instead of the process of step S13 of FIG. 2, but both the processes of step S13 and step S23 may be executed. . In this case, the possibility that the own vehicle passes the intersection while overtaking the preceding vehicle is determined with higher accuracy.

It is a schematic block diagram which shows one Embodiment of the collision judgment apparatus which concerns on this invention. It is a flowchart which shows the process sequence which collision judgment ECU performs. It is a conceptual diagram which shows driving | running | working of the own vehicle when a preceding vehicle is going to turn left in an intersection. It is a flowchart which shows the other process sequence which collision judgment ECU performs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Collision judgment apparatus, 10 ... Car navigation apparatus (intersection information acquisition means), 11 ... Infrastructure information reception apparatus (intersection information acquisition means), 12 ... Camera (intersection information acquisition means, preceding vehicle information acquisition means), 13 ... Image Processing ECU (intersection information acquisition means, preceding vehicle information acquisition means), 14 ... millimeter wave radar (preceding vehicle information acquisition means), 15 ... collision determination ECU (collision determination means, intersection information acquisition means, preceding vehicle information acquisition means, change) Means), 16 ... notification unit (notification means), 20 ... preceding vehicle, 21 ... own vehicle.

Claims (2)

A collision determination means for calculating a collision risk between the preceding vehicle and the host vehicle and determining that the collision risk is high when the collision risk is equal to or higher than a predetermined threshold;
When the collision determination means determines that the risk of a collision is high, the collision determination apparatus includes notification means for notifying the driver of the vehicle to that effect,
Intersection information acquisition means for acquiring information related to the intersection ahead of the host vehicle;
Changing means for changing the threshold using information about the intersection ,
The changing means determines whether there is an intersection having a size greater than or equal to a predetermined size in front of the host vehicle based on information about the intersection, and if it is determined that there is the intersection, the threshold value To increase the
The collision judgment apparatus characterized by the above-mentioned. It further comprises preceding vehicle information acquisition means for acquiring information relating to the preceding vehicle,
The changing means determines whether the direction indicator of the preceding vehicle is operating based on the information about the intersection and the information about the preceding vehicle, and determines that the direction indicator is operating. The collision determination device according to claim 1 , wherein the threshold value is increased in the event of a failure.

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