JP5113539B2 - Vehicle contact avoidance support device - Google Patents

Description

  The present invention relates to a vehicle contact avoidance support device, and more specifically, to support avoidance of contact with an object such as an oncoming vehicle around the vehicle (own vehicle) and to suppress excessive contact avoidance support operation. Related to the device.

A device that performs contact avoidance support operation when a radar that transmits electromagnetic waves is installed in a vehicle to detect and recognize an object such as an oncoming vehicle and it is determined that there is a possibility of contact with it is known. As an example, the technique described in Patent Document 1 can be given. In the technique described in Patent Document 1, the lateral position deviation between the host vehicle and the oncoming vehicle is obtained, and the possibility of contact is determined based on the deviation.
Japanese Patent No. 3986683

  The technology described in Patent Document 1 avoids contact with the oncoming vehicle by configuring as described above. However, when both the own vehicle and the oncoming vehicle turn right at the intersection or right turn lane, the vehicle is in the right position until just before that. On the other hand, the contact avoidance assisting operation may become excessive due to the approach.

  Therefore, an object of the present invention is to provide a vehicle contact avoidance support device that solves the above-described problems and prevents the contact avoidance support operation from becoming excessive at an intersection or a right turn lane.

In order to solve the above-mentioned object, according to claim 1, object detection means for detecting an object existing around the own vehicle, movement state detection means for detecting the movement state of the own vehicle, and the object detection When the oncoming vehicle is detected based on the output of the means and the movement state detection means, the course of the host vehicle is predicted based on the output of the movement state detection means, and the oncoming vehicle is determined based on the output of the object detection means. A contact possibility determination means for recognizing the oncoming vehicle as an obstacle and determining the possibility of contact with the own vehicle when the predicted paths overlap, and there is a possibility of the contact In the vehicle contact avoidance assistance device comprising contact avoidance support means for executing contact avoidance support operation for assisting contact avoidance with the oncoming vehicle, the vehicle travels at or near an intersection. Running to determine whether or not A location determination unit, when the vehicle is determined to be traveling intersection or in the vicinity thereof and a suppressing contact avoidance assistance operation suppressing means the execution of the contact avoidance assistance operation, the contact avoidance assistance inhibition means , calculates the amount of avoidance is assumed that the vehicle and the oncoming vehicle both to avoid the right, and configured as you suppress the execution of the contact avoidance assistance operation based on the avoidance amount the calculated.

In claim 2, the object detection means for detecting an object existing around the own vehicle, the movement state detection means for detecting the movement state of the own vehicle, and the outputs of the object detection means and the movement state detection means When the oncoming vehicle is detected based on the output of the motion state detecting means, the course of the own vehicle is predicted, and the course of the oncoming vehicle is predicted based on the output of the object detecting means, and the predicted If it is determined that there is a possibility of contact, contact possibility determining means for recognizing the oncoming vehicle as an obstacle and determining the possibility of contact with the own vehicle, In a vehicle contact avoidance assistance device comprising contact avoidance support means for performing contact avoidance support operation for supporting contact avoidance with the vehicle, a travel lane determination means for determining whether or not the vehicle is traveling in a right turn lane, The vehicle is driving on the right turn lane When it is determined that, a suppressing contact avoidance assistance operation suppressing means the execution of the contact avoidance assistance operation, the contact avoidance assistance inhibition means, assuming the vehicle and the oncoming vehicle both to avoid the right It calculates the amount of avoidance Te was constructed as that to suppress execution of the contact avoidance assistance operation based on the avoidance amount the calculated.

In the vehicle contact avoidance support device according to claim 3, the vehicle avoidance support operation suppression unit includes a right turn intention detection unit that detects the right turn intention of the occupant of the own vehicle, and the contact avoidance support operation suppression unit includes the right turn intention of the occupant of the own vehicle. when is detected, and configured as to suppress the execution of the previous SL contact avoidance assistance operation.

In claim 4, the object detection means for detecting an object existing around the own vehicle, the movement state detection means for detecting the movement state of the own vehicle, and the outputs of the object detection means and the movement state detection means When the oncoming vehicle is detected based on the output of the motion state detecting means, the course of the own vehicle is predicted, and the course of the oncoming vehicle is predicted based on the output of the object detecting means, and the predicted If the courses overlap, the oncoming vehicle is recognized as an obstacle, and contact possibility determining means for determining the possibility of contact with the own vehicle according to a predetermined determination condition is determined, and it is determined that there is a possibility of the contact. A contact avoidance assisting device for a vehicle comprising contact avoidance assisting means for performing a contact avoidance assisting operation for assisting contact avoidance with the oncoming vehicle, and calculating an avoidance amount assuming that the oncoming vehicle goes straight ahead. , Calculated above A contact avoidance assistance operation distance calculating means for calculating the contact avoidance assistance operation distance based on避量and determining traveling position determining means whether the vehicle is traveling the intersection or in the vicinity of, the vehicle is an intersection or a When it is determined that the vehicle is traveling in the vicinity, it is assumed that both the own vehicle and the oncoming vehicle decelerate and stop, and the necessary stop distance calculating means for calculating the necessary stop distance required until the stop, and the own vehicle Or, when it is determined that the vehicle is traveling in the vicinity thereof, it includes a determination condition changing means for changing the determination condition , and the determination condition changing means is configured such that the calculated contact avoidance assist working distance is equal to the required stop distance. more than time, and configured as to change the determination condition based on the stop required distance.

In claim 5, the object detection means for detecting an object existing around the own vehicle, the movement state detection means for detecting the movement state of the own vehicle, and the outputs of the object detection means and the movement state detection means When the oncoming vehicle is detected based on the output of the motion state detecting means, the course of the own vehicle is predicted, and the course of the oncoming vehicle is predicted based on the output of the object detecting means, and the predicted If the courses overlap, the oncoming vehicle is recognized as an obstacle, and contact possibility determining means for determining the possibility of contact with the own vehicle according to a predetermined determination condition is determined, and it is determined that there is a possibility of the contact. A contact avoidance assisting device for a vehicle comprising contact avoidance assisting means for performing a contact avoidance assisting operation for assisting contact avoidance with the oncoming vehicle, and calculating an avoidance amount assuming that the oncoming vehicle goes straight ahead. , Calculated above A contact avoidance assistance operation distance calculating means for calculating the contact avoidance assistance operation distance based on避量, and determines the travel lane determining unit whether or not the own vehicle is running on a right turn lane, the host vehicle is traveling on a right turn lane When it is determined that the host vehicle and the oncoming vehicle both decelerate and stop, the required stop distance calculating means for calculating the required stop distance required until the vehicle stops, and the host vehicle travels on the right turn lane. Determination condition changing means for changing the determination condition when it is determined that the determination condition change means is required to stop when the calculated contact avoidance assistance operating distance exceeds the required stop distance. It was constructed as to change the determination condition based on the distance.

In the vehicle contact avoidance support device according to claim 6, the vehicle is provided with a right turn intention detecting means for detecting the right turn intention of the occupant of the own vehicle , and the determination condition changing means detects the right turn intention of the occupant of the own vehicle. when, and as configured to change the pre-Symbol determination condition.

In the contact avoidance support device for a vehicle according to claim 1, when it is determined that there is a possibility of contact with an oncoming vehicle, a contact avoidance support means for performing a contact avoidance support operation for supporting contact avoidance with the oncoming vehicle. Bei example a vehicle is judged whether or not the traveling intersection or near, when the result is affirmative, the contact avoidance based on the avoidance amount vehicle and oncoming vehicle are both calculated on the assumption that avoids the right Since it is configured to suppress the execution of the support operation, it is possible to prevent the contact avoidance support operation from becoming excessive in a situation where both the own vehicle and the oncoming vehicle turn right at the intersection.

In the contact avoidance support device for a vehicle according to claim 2, when it is determined that there is a possibility of contact with an oncoming vehicle, contact avoidance support means for performing a contact avoidance support operation for supporting contact avoidance with the oncoming vehicle Bei give a determines whether the vehicle is running on a right turn lane or, when the result is affirmative, the contact avoidance assistance operation based on the avoidance amount vehicle and oncoming vehicle are both calculated on the assumption that avoids the right Therefore, it is possible to prevent the contact avoidance assist operation from becoming excessive because the right turn of the own vehicle is accurately predicted and suppressed.

  In the vehicle contact avoidance support device according to claim 3, the right turn intention of the passenger of the own vehicle is detected, and the execution of the contact avoidance support operation is suppressed when the right turn intention of the passenger of the own vehicle is detected. Thus, in addition to the above-described effects, the right turn of the host vehicle can be predicted and suppressed with higher accuracy, and the contact avoidance support operation can be further prevented from being excessive.

In the vehicle contact avoidance assistance device according to claim 4, the possibility of contact with the oncoming vehicle is determined according to a predetermined determination condition, and when it is determined that there is a possibility of contact, contact avoidance with the vehicle is avoided. e Bei contact avoidance assistance means for performing a contact avoidance assistance operation to support, while calculating the contact avoidance assistance operation distance based on the avoidance amount calculated on the assumption that an oncoming vehicle goes straight, the vehicle is an intersection or near the When it is affirmed, it is assumed that both the host vehicle and the oncoming vehicle will decelerate and stop, calculate the necessary stop distance required before stopping, and the contact avoidance assistance working distance must be stopped when exceeding the distance, since as configured to change the determination condition based on the stop required distance, the contact possibility determining becomes possible suitable conditions, therefore be in contact avoidance assistance operation is prevented from becoming excessive That.

In the vehicle contact avoidance support device according to claim 5, the possibility of contact with the oncoming vehicle is determined according to a predetermined determination condition, and when it is determined that there is a possibility of contact, contact avoidance with the vehicle is avoided. e Bei contact avoidance assistance means for performing a contact avoidance assistance operation to support, while calculating the contact avoidance assistance operation distance based on the avoidance amount calculated on the assumption that an oncoming vehicle goes straight, traveling the vehicle right turn lane When it is determined that the host vehicle is traveling on the right turn lane , the required stop distance required until stopping is calculated assuming that the host vehicle and the oncoming vehicle both decelerate and stop. When the contact avoidance support working distance exceeds the required stop distance, the judgment condition is changed based on the required stop distance . Therefore, the right turn of the own vehicle is accurately predicted, and the possibility of contact is accurately determined. To judge Can, therefore contact avoidance assistance operation can be prevented from becoming excessive.

  In the vehicle contact avoidance support device according to claim 6, the right turn intention of the occupant of the own vehicle is detected, and the determination condition is changed when the right turn intention of the occupant of the own vehicle is detected. In addition to the above-described effects, the right turn of the host vehicle is predicted with higher accuracy, and therefore it is possible to better prevent the contact avoidance assist operation from becoming excessive.

  The best mode for carrying out a vehicle contact avoidance assisting apparatus according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic view showing a vehicle contact avoidance assisting apparatus according to a first embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes a contact avoidance support device, and the device 10 transmits the driving force of an internal combustion engine (shown as “ENG” in the figure, hereinafter referred to as “engine”) 12 to an automatic transmission (“T / M in the figure”). Is mounted on a vehicle (own vehicle, partially indicated by the engine 12, the automatic transmission 14, etc.) 16 that is transmitted from a drive wheel 14 (not shown) to a drive wheel (not shown), a control device 18, a brake actuator 20, An EPS (Electric Power Steering) actuator 22, an alarm device 24, and a seat belt drive mechanism 26 are provided.

  The control device 18 includes a travel control unit 28, an engine control unit 30, a shift control unit 32, a brake control unit 34, an EPS control unit 36, and a seat belt control unit 38. All of these control units include a microcomputer and are configured to be able to communicate with each other.

  The traveling control unit 28 functions as a contact avoidance support unit that performs a contact avoidance support operation, which will be described later. The engine control unit 30 and the shift control unit 32 control the operations of the engine 12 and the automatic transmission 14, but the operations of the engine control unit 30 and the shift control unit 32 are not directly related to the subject matter of the present application. Is omitted.

  The brake actuator 20 generates a braking pressure with a master back (not shown) that increases the depression force of a brake pedal (not shown) and the increased depression force, and passes through a brake hydraulic mechanism (not shown). It consists of a master cylinder (not shown) that operates brakes mounted on the drive wheels and driven wheels.

  The brake control unit 34 is connected to the brake actuator 20. The brake control unit 34 executes an automatic brake that operates the brake actuator 20 independently of the brake pedal operation of the occupant (driver) via the brake hydraulic mechanism in response to a command from the travel control unit 28. Brakes (decelerates) travel.

The EPS actuator 22 will be described by taking the case where the front wheel is a drive wheel as an example. The EPS actuator 22 reciprocates a rack (not shown) via a pinion to rotate the steering wheel (not shown) transmitted from a steering shaft or the like. And a motor for turning the front wheels via a tie rod (not shown), and an electric motor disposed on the rack.

  The EPS control unit 36 is connected to the EPS actuator 22. The EPS control unit 36 operates the EPS actuator 22 in accordance with a command from the travel control unit 28 and applies steering torque to the occupant (driver).

  The alarm device 24 includes an audio speaker and an indicator (both not shown) installed near the driver's seat of the vehicle 16, and is connected to the travel control unit 28. The traveling control unit 28 operates the alarm device 24 to warn the occupant through sound and vision.

  The seat belt drive mechanism 26 is installed in the driver's seat of the vehicle 16, is connected to a seat belt (not shown) worn by the driver, and drives the seat belt. The seat belt control unit 38 is connected to the seat belt driving mechanism 26 and adjusts the driving force to warn the passenger. Further, the traveling control unit 28 also warns the occupant by operating the EPS actuator 22 via the EPS control unit 36 and rotating the steering wheel as necessary.

  In addition to the above, the device 10 includes sensors as shown.

  As will be described below, the photographing apparatus 40 includes a camera 40a formed of a CCD camera or a C-MOS camera and an image processing unit 40b. The camera 40a is disposed at a position in the vicinity of the rearview mirror on the vehicle compartment side in the front window of the vehicle 16, and photographs the front in the traveling direction through the front window. The image processing unit 40b inputs an image obtained by photographing with the camera 40a, performs image processing such as filtering and binarization, generates image data, and outputs the image data to the traveling control unit 28.

  The radar device 42 is disposed in a nose portion of the body of the vehicle 16 and transmits (transmits) an electromagnetic wave such as a laser beam or a millimeter wave to the periphery of the vehicle 16 in the traveling direction. The radar processing unit 42b receives a reflected wave generated by being reflected by an object existing in the surroundings. The radar processing unit 42b detects an object from the presence or absence of a reflected wave, and when an object is detected, detects the distance, direction, and moving speed and outputs the detected distance to the travel control unit 28.

  The steering torque sensor 44 is disposed between the steering wheel and the EPS actuator 22 and generates an output corresponding to the direction and magnitude of the steering force (steering torque) input (operated) by the occupant from the steering wheel. The steering angle sensor 46 is disposed in the vicinity of the steering shaft, and generates an output corresponding to the direction and magnitude of the steering angle input (operated) by the occupant through the steering wheel.

  The yaw rate sensor 48 is disposed in the vicinity of the center of gravity of the vehicle 16 and generates an output corresponding to the yaw rate (rotational angular velocity) around the vertical axis (yaw axis) of the vehicle 16. The vehicle speed sensor 50 is disposed in the vicinity of a drive shaft (not shown) of the drive wheel, and outputs a pulse every predetermined rotation of the drive wheel. Further, a turn signal switch 52 that outputs an on signal when energized and turned on is also disposed in a current-carrying circuit of a right turn turn signal (not shown).

  The output of the above-described sensor is also sent to the travel control unit 28. The travel control unit 28 detects the steering torque and the like from these input values, and counts the output of the vehicle speed sensor 50 to determine the vehicle speed that is the travel speed of the vehicle 16. To detect.

  The device 10 further includes a navigation device 54. The navigation device 54 includes a current position detection unit 54a, a navigation processing unit 54b, a map data storage unit 54c, an input unit 54d, and a display unit 54e.

  The current position detection unit 54a receives a positioning signal such as a GPS (Global Positioning System) signal, and a gyro that outputs a signal according to the orientation of the vehicle 16 on the horizontal plane and the inclination angle with respect to the vertical direction. The sensor 54a2 is provided, and the current position of the vehicle 16 is calculated based on the received positioning signal or the autonomous navigation based on the output of the gyro sensor 54a2 and the vehicle speed sensor 50 described above.

  The map data storage unit 54c includes a storage medium such as a CD-ROM, and stores (stores) map (road) data including the width of the road on which the vehicle 16 travels, an intersection, a right turn lane, and the like. The input unit 54d includes a switch group including an excessive operation suppression switch (described later) and a keyboard, and the display unit 54e includes a display.

  The navigation processing unit 54b displays the current position of the vehicle 16 obtained by the current position detection unit 54a in the map (road) data stored in the map data storage unit 54c, or the position of the vehicle 16 input to the input unit 54d. This is displayed on the part 54e. The navigation processing unit 54b and the travel control unit 28 are communicably connected to each other, and the navigation processing unit 54b outputs to the travel control unit 28 information specifying the position where the vehicle 16 travels on the road map data.

FIG. 2 is a flowchart showing the control of the apparatus 10 shown in FIG. FIG. 2 is a flowchart showing the operation of the travel control unit 28 in the control device 18 of the device 10 more specifically.

  In the following, in S10, an object (a guardrail, a preceding vehicle, an oncoming vehicle, etc.) around the host vehicle (vehicle) 16 is detected based on the output of the radar processing unit 42b of the radar device 42 described above, and the detected object The relative position and relative speed of the vehicle 16 with respect to the host vehicle 16 are detected. Next, in S12, the vehicle speed and yaw rate of the host vehicle (vehicle) 16, that is, the motion state of the host vehicle 16 is detected from the outputs of the vehicle speed sensor 50 and the yaw rate sensor 48.

  Next, in S14, the ground speed of the object is obtained from the difference between the relative speed of the object with respect to the host vehicle 16 and the vehicle speed of the host vehicle 16, and whether there is an object whose ground speed is directed toward the host vehicle 16, that is, whether there is an oncoming vehicle. Judge whether or not.

  When the result in S14 is negative, the subsequent processing is skipped. When the result is affirmative, it is determined that an oncoming vehicle has been detected, and the process proceeds to S16, where the detected motion state (in other words, the output of the motion state detection means in S12). ) Based on the change in the position of the oncoming vehicle (in other words, the output of the object detection means in S10).

  Next, the process proceeds to S18, where it is determined whether or not the predicted course of the host vehicle 16 and the course of the oncoming vehicle overlap. When the result is negative, the subsequent processing is skipped, and when the result is affirmative, the process proceeds to S20. Is recognized as an obstacle.

  Next, in S22, the navigation processing unit 54b of the navigation device 54 is accessed to read the map (road) data stored in the map data storage unit 54c, and whether the vehicle 16 is at or near the intersection, more specifically at the intersection. Then, it is determined whether or not the vehicle is traveling ahead of the predetermined distance (for example, 30 m).

  When the result in S22 is negative, the program proceeds to S24, and it is assumed that the oncoming vehicle goes straight, and as shown in FIG. 3, the avoidance amount for avoiding to the left and the avoidance amount for avoiding to the right are calculated, Select the smaller one. Next, the process proceeds to S26, and the contact avoidance support timing (time) is calculated by searching the normal characteristics among the characteristics shown in FIG. 4 with the selected avoidance amount.

  On the other hand, when the result in S22 is affirmative, the program proceeds to S28, where it is assumed that both the host vehicle 16 and the oncoming vehicle are avoiding to the right (turning to the right), and as shown in FIG. Then, the contact avoidance support timing (time) is calculated by searching the characteristics at the time of operation suppression among the characteristics shown in FIG. 4 with the calculated avoidance amount.

  Next, the process proceeds to S32, the contact avoidance support working distance is calculated by multiplying the calculated contact avoidance support timing by the relative speed of the oncoming vehicle with respect to the own vehicle 16, and the process proceeds to S34. It is determined whether or not the relative distance of the oncoming vehicle (the distance between the host vehicle 16 and the oncoming vehicle) is exceeded.

  When the result in S34 is negative, the subsequent processing is skipped. When the result is affirmative, it is determined that there is a possibility of contact between the oncoming vehicle and the host vehicle 16, and the process proceeds to S36. Execution of the avoidance support operation, more specifically, the alarm device 24 is operated to execute an audio or visual alarm.

  The above description will be described with reference to FIG. 4. Since the avoidance time increases as the avoidance amount increases, the contact avoidance support timing is set so as to increase as the avoidance amount increases as shown in FIG. In that case, it is set to be smaller than the normal time.

  This value is multiplied by the relative speed to determine the contact avoidance assist working distance. When the contact avoidance support timing becomes small, it becomes difficult to exceed the relative distance.Therefore, when the operation is suppressed at the intersection or in the vicinity thereof, by selecting the characteristic at the time of the operation suppression and calculating the contact avoidance support timing small. It becomes difficult to determine that there is a possibility of contact, and the alarm device 24 can be made difficult to operate.

In the first embodiment, as described above, the object detection means (the photographing device 40, the radar device 42, the travel control unit 28, S10) for detecting an object existing around the own vehicle 16, and the movement of the own vehicle 16 When the oncoming vehicle is detected based on the movement state detection means (vehicle speed sensor 50, yaw rate sensor 48, S12) for detecting the state, and the outputs of the object detection means and the movement state detection means (S14), the movement state detection The course of the host vehicle is predicted based on the output of the means, and the course of the oncoming vehicle is predicted based on the output of the object detection means (S16). If the predicted paths overlap (S18), Contact possibility determination means (S20 to S34) for recognizing a vehicle as an obstacle and determining the possibility of contact with the own vehicle, and when it is determined that there is a possibility of contact, contact with the oncoming vehicle Help avoid In the contact avoidance support device 10 of the vehicle 16 provided with the contact avoidance support means (S36) that performs the contact avoidance support operation, the travel position determination means (S22) that determines whether or not the host vehicle is traveling at or near the intersection. a), when the vehicle is determined to be traveling intersection or in the vicinity thereof and a contact avoidance assistance operation inhibition hand stage that suppress Wins execution of the contact avoidance assistance operation, the contact avoidance assistance means, The avoidance amount is calculated on the assumption that both the host vehicle 16 and the oncoming vehicle are avoiding to the right (turning right) (S28), and the execution of the contact avoidance support operation is suppressed based on the calculated avoidance amount (S30). ), i.e., since it is configured as that to suppress the execution of the contact avoidance assistance operation by setting a small contact avoidance assistance operation distance, contact the situation in the vehicle 16 and the oncoming vehicle in the intersection is both right turn Contact avoidance assistance operation Te can be prevented from becoming excessive.

  FIG. 6 is a flowchart showing the operation of the vehicle contact avoidance assisting device according to the second embodiment of the present invention.

  The second embodiment is a modification of the first embodiment, and will be described with a focus on differences from the flowchart of the first embodiment shown in FIG. 2. The same processing from S10 to S20 is performed and S22 is performed. When the result in S22 is affirmative, the program proceeds to S22a, in which it is determined whether the occupant of the vehicle 16 has an intention to turn right. The intention to turn right is determined from the output of the turn signal switch 52. When the turn signal switch 52 outputs an ON signal, it is determined that the occupant intends to turn the vehicle 16 to the right and turn right.

  When the result in S22a is negative, the process proceeds to S24 and after, and when it is affirmed and it is determined that the occupant of the own vehicle 16 has an intention to turn right, the process proceeds to S28, and both the own vehicle 16 and the oncoming vehicle avoid to the right (right turn). Assuming that, as shown in FIG. 5, an avoidance amount for avoiding to the right is calculated, and the process proceeds to S30, and the characteristics at the time of operation suppression are searched from the calculated avoidance amounts among the characteristics shown in FIG. The avoidance support timing (time) is calculated. The remaining configuration including the processing after S32 is not different from the first embodiment.

As described above, the contact avoidance support device 10 for the vehicle 16 according to the second embodiment includes the right turn intention detection means for detecting the right turn intention of the occupant of the host vehicle 16 (S22a) and suppresses the contact avoidance support operation. means, when an intersection or occupants of the right turn intention of the vehicle 16 be in the vicinity thereof is detected, inhibiting the execution of the contact avoidance assistance operation proceeds after S 28 (S28 from S30) Owing to this configuration, the In addition to the effects extended in the first embodiment, the right turn of the vehicle 16 can be predicted and suppressed with higher accuracy, and the contact avoidance support operation can be further prevented from becoming excessive.

  FIG. 7 is a flow chart showing the operation of the vehicle contact avoidance assistance device according to the third embodiment of the present invention.

  2 will be described focusing on the points of difference from the flowchart of the first embodiment shown in FIG. 2. After performing the same processing as in the first embodiment from S100 to S110, the process proceeds to S112, where the navigation device 54 performs navigation. The processing unit 54b is accessed to read the map (road) data stored in the map data storage unit 54c, and it is determined whether or not the vehicle 16 is traveling on the right turn lane.

  Here, the “right turn lane” means not only a right turn lane provided in an intersection, but also a place other than the intersection, for example, a lane for making a right turn and entering a parking lot or a shopping mall across an opposite lane.

  When the result in S112 is negative, the process proceeds to S114, and it is assumed that the oncoming vehicle goes straight. As shown in FIG. 3, the left and right avoidance amounts are calculated and the smaller one is selected, and the process proceeds to S116. Of the characteristics shown in FIG. 4, the normal characteristics are searched to calculate the contact avoidance support timing (time).

  On the other hand, when the result in S112 is affirmative, the routine proceeds to S118, where it is assumed that both the own vehicle 16 and the oncoming vehicle are avoiding to the right (turning to the right), and as shown in FIG. Then, the contact avoidance support timing (time) is calculated by searching the characteristics shown in FIG.

  Next, the process proceeds to S122, the contact avoidance support operating distance is calculated by multiplying the calculated contact avoidance support timing by the relative speed, and the process proceeds to S124, where the contact avoidance support operating distance exceeds the relative distance of the oncoming vehicle with respect to the host vehicle 16 or not. If the answer is negative, the subsequent process is skipped. If the answer is affirmative, it is determined that there is a possibility of contact between the oncoming vehicle and the host vehicle 16, and the process proceeds to S126 to execute an alarm operation. . The remaining configuration is not different from the first embodiment.

In the third embodiment, as described above, the object detection means (the photographing device 40, the radar device 42, the travel control unit 28, S100) for detecting an object existing around the own vehicle 16, and the motion state of the own vehicle. When the oncoming vehicle is detected based on the outputs of the vehicle state sensor (vehicle speed sensor 50, yaw rate sensor 48, S102) and the object detection unit and the motion state detector (S104), the state detector The course of the own vehicle is predicted based on the output of the vehicle, and the course of the oncoming vehicle is predicted based on the output of the object detection means (S106). If the predicted courses overlap (S108), the oncoming vehicle If it is determined that there is a possibility of contact, contact possibility determination means (S110 to S124) that recognizes the vehicle as an obstacle and determines the possibility of contact with the host vehicle. In the contact avoidance support device 10 of the vehicle 16 provided with the contact avoidance support means (S126) for executing the contact avoidance support operation for supporting the vehicle, the travel lane determination means for determining whether or not the host vehicle 16 is traveling on the right turn lane. and (S112), when it is determined that the vehicle is traveling on a right turn lane, and a contact avoidance assistance operation inhibition hand stage that suppress Wins execution of the contact avoidance assistance operation, the contact avoidance assistance means, The avoidance amount is calculated on the assumption that both the host vehicle 16 and the oncoming vehicle are avoiding to the right (turning right) (S118), and the execution of the contact avoidance support operation is suppressed based on the calculated avoidance amount (S120). ), i.e., since it is configured as that to suppress the execution of the contact avoidance assistance operation by setting a small contact avoidance assistance operation distance, it becomes possible to suppress by predicting the right turn of the vehicle 16 accurately Can be tactile avoidance assistance operation is prevented from becoming excessive.

  FIG. 8 is a flow chart showing the operation of the vehicle contact avoidance assistance device according to the fourth embodiment of the present invention.

  The fourth embodiment is a modification of the third embodiment, and will be described focusing on the differences from the flowchart of the third embodiment shown in FIG. 7. The same processing from S100 to S110 is performed and S112 is performed. If the result in S112 is affirmative, the program proceeds to S112a, in which it is determined whether the occupant of the vehicle 16 has an intention to turn right.

  When the result in S112a is negative, the process proceeds to S114 and the subsequent steps. When the determination is affirmative and it is determined that the occupant of the host vehicle 16 has an intention to make a right turn, the process proceeds to S118. Assuming that, an avoidance amount for avoiding to the right as shown in FIG. 5 is calculated, and the process proceeds to S120, and the characteristics at the time of operation suppression are searched from the calculated avoidance amounts among the characteristics shown in FIG. The avoidance support timing (time) is calculated. The remaining configuration including the processing after S122 is not different from the third embodiment.

  As described above, the contact avoidance support device 10 for the vehicle 16 according to the fourth embodiment includes the right turn intention detection means for detecting the right turn intention of the occupant of the host vehicle 16 (S112a) and suppresses the contact avoidance support operation. The means is configured to suppress the execution of the contact avoidance support operation (S118 to S120) after S118 when the right turn lane is detected in the right turn lane and the occupant of the own vehicle 16 detects the right turn intention. In addition to the effects extended, the right turn of the host vehicle 16 can be predicted and suppressed with higher accuracy, and the contact avoidance support operation can be further prevented from being excessive.

  FIG. 9 is a flowchart showing the operation of the vehicle contact avoidance assistance device according to the fifth embodiment of the present invention.

  When focusing on the differences from the flow chart of the first embodiment shown in FIG. 2, after performing the same processing as in the first embodiment from S200 to S210, the process proceeds to S212 and the oncoming vehicle goes straight. Assuming that the left and right avoidance amounts are calculated as shown in FIG. 3, the smaller one is selected. Next, the process proceeds to S214, and the contact avoidance support timing (time) is calculated by searching the characteristic shown in FIG. 4 from the selected avoidance amount, and the process proceeds to S216, where the calculated contact avoidance support timing is set. Multiply the relative speed to calculate the contact avoidance assist working distance.

  Next, in S218, it is determined whether or not the vehicle 16 is traveling at or near an intersection. When the result in S218 is affirmative, the routine proceeds to S220, where it is assumed that both the own vehicle 16 and the oncoming vehicle decelerate and stop, and as shown in FIG. 10, the required distance to stop is calculated. Next, the process proceeds to S222, in which it is determined whether or not the contact avoidance assistance working distance calculated in S216 exceeds the calculated required distance to stop. If the determination is affirmative, the process proceeds to S224, and the calculated required distance to stop is determined. Replace with contact avoidance assist working distance.

  When the result in S222 is negative, S224 is skipped to adopt a shorter distance, and when the result in S218 is negative, S220 to S224 are skipped.

  Next, in S226, it is determined whether or not the contact avoidance assist working distance exceeds the relative distance of the oncoming vehicle with respect to the own vehicle 16, and if the result is negative, the subsequent processing is skipped. It is determined that there is a possibility of contact with the vehicle 16, and the process proceeds to S228 to execute an alarm operation. The remaining configuration is not different from the first embodiment.

In the fifth embodiment, as described above, the object detection means (the photographing device 40, the radar device 42, the travel control unit 28, S200) for detecting an object existing around the own vehicle 16, and the movement of the own vehicle. When the oncoming vehicle is detected based on the movement state detection means (vehicle speed sensor 50, yaw rate sensor 48, S202) for detecting the state and the outputs of the object detection means and the movement state detection means (S204), the movement state detection The course of the host vehicle is predicted based on the output of the means, and the course of the oncoming vehicle is predicted based on the output of the object detection means (S206). If the predicted course overlaps, the oncoming vehicle is obstructed. A contact possibility determination unit (S212 to S226) that recognizes an object (S208 to S210) and determines the possibility of contact with the vehicle according to a predetermined determination condition; If it is determined, contact avoidance support means (S228) for performing contact avoidance support operation for supporting contact avoidance with the oncoming vehicle, that is, a contact avoidance assist operating distance is calculated and compared with a relative distance with the oncoming vehicle. The contact avoidance support means (S212 to S228) for determining the possibility of contact with the oncoming vehicle and executing the contact avoidance support operation for supporting the contact avoidance with the oncoming vehicle when it is determined that there is a possibility of contact. In the contact avoidance assistance device 10 for the vehicle 16 provided with the above, a contact avoidance assist operation that calculates an avoidance amount on the assumption that the oncoming vehicle goes straight and calculates a contact avoidance assist operation distance based on the calculated avoidance amount and distance calculating means (S212 from S216), and the vehicle is for determining whether the traveling position determining means running an intersection or in the vicinity of (S218), the vehicle 16 is crossing Ah When it is determined that the vehicle is traveling in the vicinity thereof, it is assumed that both the host vehicle and the oncoming vehicle decelerate and stop, and the necessary stop distance calculating means (from S218) that calculates the required stop distance required until the vehicle stops. S220) and when it is determined that the vehicle 16 is traveling at or near an intersection, the determination condition is changed, that is, the contact avoidance support timing is calculated from the avoidance amount and multiplied by the relative speed. in addition to the method of calculating the avoidance assist working distance (S212 from S216) (or instead), and a determination condition change means to calculate the contact avoidance assistance operation distance by calculating the required distance to the stop, the determination condition changing means, when the contact avoidance assistance operation the calculated distance exceeds the stop required distance, to change the determination condition based on the stop required distance from (S222 S2 24) Since it is configured as described above, it is possible to determine contact possibility suitable for the situation, and thus it is possible to prevent the contact avoidance support operation from becoming excessive.

  FIG. 11 is a flow chart showing the operation of the vehicle contact avoidance assistance device according to the sixth embodiment of the present invention.

  When focusing on the differences from the flow chart of the fifth embodiment shown in FIG. 9, after performing the same processing as the fifth embodiment from S300 to S310, the process proceeds to S312 and the oncoming vehicle goes straight. Assuming that, as shown in FIG. 3, the left and right avoidance amounts are calculated and the smaller one is selected. Next, the process proceeds to S 314, and the contact avoidance support timing (time) is calculated by searching the characteristics shown in FIG. 4 from the selected avoidance amount, and the process proceeds to S 316, where the calculated contact avoidance support timing is set. Multiply the relative speed to calculate the contact avoidance assist working distance.

  Next, the process proceeds to S318, where it is determined whether or not the host vehicle 16 is traveling on the right turn lane. If the determination is affirmative, the process proceeds to S320, and both the host vehicle 16 and the oncoming vehicle are decelerated and stopped, as shown in FIG. Thus, the required distance to stop is calculated. Next, the process proceeds to S322, in which it is determined whether or not the contact avoidance assistance working distance calculated in S316 exceeds the calculated required distance to stop. If the result is affirmative, the process proceeds to S324, and the calculated required distance to stop is determined. Replace with contact avoidance assist working distance.

  When the result in S322 is negative, S324 is skipped to adopt a shorter distance, and when the result in S318 is negative, S320 to S324 are skipped.

  Next, the process proceeds to S326, in which it is determined whether or not the contact avoidance assist working distance exceeds the relative distance of the oncoming vehicle with respect to the own vehicle 16, and if the result is negative, the subsequent processing is skipped. It is determined that there is a possibility of contact with the vehicle 16, and the process proceeds to S328 to execute an alarm operation. The remaining configuration is not different from the fifth embodiment.

In the sixth embodiment, as described above, the object detection means (the photographing device 40, the radar device 42, the travel control unit 28, S300) for detecting an object existing around the own vehicle 16, and the movement of the own vehicle. When the oncoming vehicle is detected based on the outputs of the motion state detection means (vehicle speed sensor 50, yaw rate sensor 48, S302) for detecting the state, and the object detection means and the motion state detection means (S304), the motion state detection The course of the own vehicle is predicted based on the output of the means, and the course of the oncoming vehicle is predicted based on the output of the object detection means (S306). If the predicted course overlaps, the oncoming vehicle is obstructed. A contact possibility determination means (S312 to S326) for recognizing an object and determining the possibility of contact with an oncoming vehicle by calculating a contact avoidance assistance working distance according to a predetermined determination condition (S310). If it is determined that there is a possibility of contact, the contact avoidance support device 10 for a vehicle 16 that includes a contact avoidance assistance means for performing a contact avoidance assistance operation to help avoid contact with it (S328), the counter The avoidance assist operating distance calculation means (S312 to S316) for calculating the avoidance amount assuming that the vehicle is going straight ahead and calculating the contact avoidance support operation distance based on the calculated avoidance amount ; It is assumed that both the own vehicle and the oncoming vehicle decelerate and stop when it is determined that the vehicle 16 is traveling on the right turn lane and the traveling lane determining means (S318) for determining whether or not the vehicle is traveling. when it is determined that the stop required distance calculating means for calculating the stop required distance required to stop (S318 from S320), and the vehicle 16 is traveling on a right turn lane, the determining In addition to (or instead of) the method (S312 to S316) of calculating the contact avoidance support operation distance by changing the case, that is, calculating the contact avoidance support timing from the avoidance amount and multiplying the relative speed, the necessary distance to stop and a determination condition change means to change the determination condition by calculating the contact avoidance assistance operation distance by calculating the determination condition changing means, the contact avoidance assistance operation the calculated distance is the stop required distance when exceeding, the to change the determination condition based on the stop required distance (from S322 S324) Owing to this configuration, the contact possibility determining becomes possible suitable conditions, thus the contact avoidance assistance operation becomes excessive Can be prevented.

  FIG. 12 is a flowchart showing the operation of the vehicle contact avoidance assistance device according to the seventh embodiment of the present invention.

  The seventh embodiment is a modification of the sixth embodiment, and will be described focusing on differences from the flow chart of the fifth embodiment shown in FIG. 9. The same processing from S200 to S216 is performed and S218 is performed. In step S218a, it is determined whether the host vehicle 16 is traveling at or near the intersection. If the determination is affirmative, the process proceeds to step S218a to determine whether the occupant of the host vehicle 16 has an intention to turn right.

  When it is affirmed in S218a and it is determined that the occupant of the host vehicle 16 has an intention to turn right, the process proceeds to S220, the required distance to stop is calculated, and the process proceeds to S222, where the contact avoidance assist operating distance is calculated. It is determined whether or not the required distance is exceeded. If the determination is affirmative, the process proceeds to S224, and the calculated required distance to the stop is replaced with the contact avoidance assist working distance. The remaining configuration including the processing after S226 is not different from the fifth embodiment.

As described above, the vehicle contact avoidance assistance device according to the seventh embodiment includes the right turn intention detection means (S218a) for detecting the right turn intention of the occupant of the host vehicle 16, and the determination condition change means includes an intersection. or when the occupant of the right turn intention of the own vehicle 16 is detected in the vicinity, since the willing to change the determination condition (S220 from S224) as configured after S 220, addition to the above effects, the vehicle A right turn is predicted with higher accuracy, and therefore, it is possible to better prevent the contact avoidance support operation from becoming excessive.

  Although not shown in the drawings, the sixth embodiment is modified to provide a step of detecting the right turn intention of the occupant of the own vehicle 16 before S320 in the flowchart of FIG. When the right turn intention of the occupant is detected, the determination condition may be changed after S320, whereby the right turn of the own vehicle is predicted with higher accuracy as in the seventh embodiment. Therefore, it is possible to better prevent the contact avoidance support operation from becoming excessive.

  In the above description, the alarm operation is configured such that the alarm device 24 is operated to perform an audio or visual alarm, but one or more of the brake control unit 34, the EPS control unit 36, and the seat belt control unit 38 may be used. The above may be operated.

  In the case of the brake control unit 34, the vehicle is decelerated by automatic braking that operates the brake actuator 20. In the case of the EPS control unit 36, steering torque is applied to operate the EPS actuator 22, and in the case of the seat belt control unit 38, an alarm is generated by pulling in the seat belt via the seat belt driving mechanism 26. It is also possible to use the display unit 54e of the navigation device 54.

  In addition, a map stored in the map data storage unit 54c by accessing the navigation processing unit 54b of the navigation device 54 to determine whether the vehicle is traveling in the vicinity of the intersection, in the vicinity thereof, or in the right turn lane or in the right turn lane. The road) data is read and determined, but it may be determined from the output of the image processing unit 40b of the photographing apparatus 40.

  In addition, although the occupant's intention to turn right is determined from the output of the turn signal switch 52, a camera is placed in the passenger compartment to detect the occupant's face and line of sight. You may do it.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a vehicle contact avoidance assistance device according to a first embodiment of the present invention as a whole. It is a flowchart which shows operation | movement of the apparatus shown in FIG. FIG. 2 is an explanatory diagram showing left and right avoidance amounts when it is assumed that the oncoming vehicle goes straight in the processing of the flow chart of FIG. 2. 2 is an explanatory diagram showing characteristics when searching for contact avoidance support timing by avoidance amount in the processing of the flow chart. 2 is an explanatory diagram showing an avoidance amount when it is assumed that both the own vehicle and the oncoming vehicle are avoided to the right in the processing of the flow chart of FIG. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 2nd Example of this invention. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 3rd Example of this invention. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 4th Example of this invention. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 5th Example of this invention. FIG. 9 is an explanatory diagram showing a state up to a stop when it is assumed that both the own vehicle and the oncoming vehicle decelerate and stop in the processing of the flowchart of FIG. 9. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 6th Example of this invention. It is a flowchart which shows operation | movement of the contact avoidance assistance apparatus of the vehicle which concerns on 7th Example of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Contact avoidance assistance device of vehicle, 16 Vehicle (own vehicle), 18 Control device, 20 Brake actuator, 24 Alarm device, 26 Seat belt drive mechanism, 28 Travel control unit, 40 Imaging device, 42 Radar device, 48 Yaw rate sensor, 50 vehicle speed sensor, 52 turn signal switch, 54 navigation device, 54a current position detection unit, 54b navigation processing unit, 54c map data storage unit

Claims (6)

Object detection means for detecting an object existing around the own vehicle, movement state detection means for detecting the movement state of the own vehicle, and an oncoming vehicle is detected based on outputs of the object detection means and the movement state detection means When predicting the course of the own vehicle based on the output of the motion state detection means, predicting the course of the oncoming vehicle based on the output of the object detection means, and when the predicted courses overlap, Contact possibility determination means for recognizing a vehicle as an obstacle and determining the possibility of contact with the own vehicle, and contact that assists in avoiding contact with the oncoming vehicle when it is determined that there is a possibility of contact In a contact avoidance assistance device for a vehicle comprising contact avoidance assistance means for executing an avoidance assistance operation, traveling position determination means for determining whether or not the own vehicle is traveling at or near an intersection, and the own vehicle is at or near an intersection. Run near And when it is determined that, a suppressing contact avoidance assistance operation suppressing means the execution of the contact avoidance assistance operation, the contact avoidance assistance inhibition means, assuming the vehicle and the oncoming vehicle both to avoid the right Then, the avoidance support device for a vehicle is characterized in that the avoidance amount is calculated and the execution of the contact avoidance support operation is suppressed based on the calculated avoidance amount . Object detection means for detecting an object existing around the own vehicle, movement state detection means for detecting the movement state of the own vehicle, and an oncoming vehicle is detected based on outputs of the object detection means and the movement state detection means When predicting the course of the own vehicle based on the output of the motion state detection means, predicting the course of the oncoming vehicle based on the output of the object detection means, and when the predicted courses overlap, Contact possibility determination means for recognizing a vehicle as an obstacle and determining the possibility of contact with the own vehicle, and contact that assists in avoiding contact with the oncoming vehicle when it is determined that there is a possibility of contact In a vehicle contact avoidance support device including a contact avoidance support unit that performs an avoidance support operation, a travel lane determination unit that determines whether or not the host vehicle is traveling in a right turn lane, and the host vehicle travels in a right turn lane. Determined to be Can, and a suppressing contact avoidance assistance operation suppressing means the execution of the contact avoidance assistance operation, the contact avoidance assistance inhibition means, calculates the amount of avoidance is assumed that the vehicle and the oncoming vehicle together right turn, The vehicle contact avoidance support device, wherein execution of the contact avoidance support operation is suppressed based on the calculated avoidance amount . Provided with a right turn intent detecting means for detecting a right turn intention of the occupant of the vehicle, wherein the contact avoidance assistance operation suppressing means, when turning right intention of the occupant of the vehicle is detected, inhibiting execution of the previous SL contact avoidance assistance operation The contact avoidance assistance device for a vehicle according to claim 1 or 2, wherein Object detection means for detecting an object existing around the own vehicle, movement state detection means for detecting the movement state of the own vehicle, and an oncoming vehicle is detected based on outputs of the object detection means and the movement state detection means When predicting the course of the own vehicle based on the output of the motion state detection means, predicting the course of the oncoming vehicle based on the output of the object detection means, and when the predicted courses overlap, Contact possibility determination means for recognizing a vehicle as an obstacle and determining the possibility of contact with the vehicle according to a predetermined determination condition, and when it is determined that there is a possibility of contact, contact with the oncoming vehicle In a contact avoidance assistance device for a vehicle comprising contact avoidance assistance means for performing a contact avoidance assist operation for assisting avoidance, an avoidance amount is calculated on the assumption that the oncoming vehicle goes straight, and based on the calculated avoidance amount Contact A contact avoidance assistance operation distance calculating means for calculating an avoidance assistance working distance, and determining whether the traveling position determining means the vehicle is traveling at the intersection or in the vicinity of the own vehicle is running on a intersection or in the vicinity of When it is determined that the host vehicle and the oncoming vehicle both decelerate and stop, the required stop distance calculating means for calculating the required stop distance required until the stop and the host vehicle travels at or near the intersection. Determination condition changing means for changing the determination condition when it is determined that the determination condition change means is required to stop when the calculated contact avoidance assistance operating distance exceeds the required stop distance. A contact avoidance assisting device for a vehicle, wherein the determination condition is changed based on a distance . Object detection means for detecting an object existing around the own vehicle, movement state detection means for detecting the movement state of the own vehicle, and an oncoming vehicle is detected based on outputs of the object detection means and the movement state detection means When predicting the course of the own vehicle based on the output of the motion state detection means, predicting the course of the oncoming vehicle based on the output of the object detection means, and when the predicted courses overlap, Contact possibility determination means for recognizing a vehicle as an obstacle and determining the possibility of contact with the vehicle according to a predetermined determination condition, and when it is determined that there is a possibility of contact, contact with the oncoming vehicle In a contact avoidance assistance device for a vehicle comprising contact avoidance assistance means for performing a contact avoidance assist operation for assisting avoidance, an avoidance amount is calculated on the assumption that the oncoming vehicle goes straight, and based on the calculated avoidance amount Contact A contact avoidance assistance operation distance calculating means for calculating an avoidance assistance working distance, and determining whether the running lane determination unit own vehicle is running on a right turn lane, it is determined that the vehicle is traveling on a right turn lane When the vehicle and the oncoming vehicle both decelerate and stop, it is determined that the required stop distance calculating means for calculating the required stop distance required until the vehicle stops and the host vehicle is traveling on the right turn lane. Determination condition changing means for changing the determination condition , and the determination condition changing means determines the determination based on the required stop distance when the calculated contact avoidance assist working distance exceeds the required stop distance. A contact avoidance assisting device for a vehicle, characterized by changing a condition . Provided with a right turn intent detecting means for detecting a right turn intention of the occupant of the vehicle, the determination condition changing means, when the right turn intention of the occupant of the vehicle is detected, and changes the previous SL determination condition The vehicle contact avoidance assistance device according to claim 4 or 5.

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