JP5120140B2 - Collision estimation device and collision estimation program - Google Patents

Description

  The present invention relates to a collision estimation device and a collision estimation program for estimating the possibility of collision with an oncoming vehicle traveling in an oncoming lane, which is a lane facing the running lane of the vehicle, for example.

Conventionally, various devices, methods, and the like for estimating the possibility of collision with an oncoming vehicle traveling in an oncoming lane have been proposed. For example, a vehicle collision prevention device as described below is disclosed (see Patent Document 1). That is, first, the location of the own vehicle after a predetermined time is predicted, and the amount of protrusion to the opposite lane at that time is calculated. Next, when the predicted amount of protrusion of the own vehicle is greater than or equal to the predetermined amount, the safe inter-vehicle distance between the two vehicles is such that the relative speed immediately before the collision when both vehicles decelerate at a predetermined deceleration is the predetermined speed. Is calculated. Then, it is estimated that there is a possibility of collision when the current inter-vehicle distance is smaller than the safe inter-vehicle distance.
JP-A-7-14100

  However, in the vehicle collision prevention apparatus described in Patent Document 1, it is impossible to estimate the possibility of a collision caused by the oncoming vehicle protruding into the traveling lane of the own vehicle. On roads with a center line, it is possible to recognize the position of the center line by image processing, but if you are traveling on a road without a center line, estimate the possibility of collision with an oncoming vehicle. Is difficult. Further, when the vehicle is traveling on a curved road (hereinafter referred to as “curved road”), the reflection point of the radar that detects the relative position with the oncoming vehicle changes in the width direction of the oncoming vehicle ( Therefore, it may be difficult to estimate the possibility of collision with the oncoming vehicle.

  This invention is made in view of the said situation, Comprising: It is providing the collision estimation apparatus which can estimate appropriately the presence or absence of a collision with an oncoming vehicle on a curve road etc.

In order to achieve the above object, the present invention has the following features. A first aspect of the present invention is a collision estimation apparatus that estimates whether or not there is a possibility of collision with an oncoming vehicle that is mounted on a vehicle and travels in an opposite lane that is a lane facing the traveling lane of the vehicle. The movement amount detection means for detecting the direction and the traveling speed, the relative position detection means for detecting the relative position of the oncoming vehicle from the own vehicle, and detected by the movement amount detection means at a predetermined timing set in advance. Based on the advancing direction and the relative position detected by the relative position detecting means, on the coordinates, a reference line that defines a virtual center line that is a virtual center line that is a criterion for determining the possibility of collision, Reference line generating means generated between the host vehicle and the oncoming vehicle, traveling direction detected by the movement amount detecting means, traveling speed, and relative position detecting means. A first position calculating means for determining the position of the oncoming vehicle on the coordinates based on the relative position, and the oncoming vehicle based on the position of the oncoming vehicle determined by the first position calculating means. The first approach determining means for determining whether or not the vehicle has entered the traveling lane side beyond the virtual center line, and when the first approach determining means determines that the vehicle has entered the traveling lane side, Possibility estimation means for determining that there is a possibility of collision with the vehicle. The reference line has a first offset amount from the host vehicle at a predetermined timing and a second offset amount from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing. It's okay.

  Here, the “reference line” that defines the virtual center line includes a straight line or a curved line. That is, the “reference line” includes, for example, a straight line, a broken line, an arc, a quadratic curve, and the like. Accordingly, the present invention can be applied not only when the host vehicle is traveling on a curved road described in the present embodiment but also when traveling on a straight road (= straight road) or the like. .

  In a second aspect based on the first aspect, the relative position detecting means detects the relative position via a radar sensor.

  In a third aspect based on the second aspect, the predetermined timing is a timing at which the oncoming vehicle is captured by the radar sensor.

  In a fourth aspect of the invention, the predetermined timing is such that the oncoming vehicle is captured by the radar sensor and a relative distance corresponding to the relative position detected by the relative position detecting means is equal to or less than a predetermined distance. This is the timing.

  In a fifth aspect based on the first aspect, the reference line generating means generates the reference line on ground fixed coordinates based on the position of the host vehicle at the predetermined timing.

  In a sixth aspect based on the fifth aspect, the reference line generating means generates an arc having a preset radius as the reference line.

A seventh aspect based on the sixth invention, the reference line generating means, as the reference line, from the position of the vehicle in the predetermined timing, to the opposing lane side in the vehicle width direction of the vehicle, wherein The traveling lane in the vehicle width direction of the oncoming vehicle from the position of the oncoming vehicle at the predetermined timing, with the end point on the own vehicle side being a position separated by a preset first distance as a first offset amount as one end An arc having an opposite end on the opposite vehicle side, which is a position separated by a preset second distance as the second offset amount on the side, is generated.

  In an eighth aspect based on the seventh aspect, the distance between the host vehicle side end point and the oncoming vehicle side end point, and the legs of the perpendicular line drawn on the width direction coordinate axis defining the coordinates from the oncoming vehicle end point. And a radius calculating means for determining the radius of the arc based on the distance from the vehicle-side end point, and the reference line generating means has an arc determined by the radius calculating means as the reference line. Is generated.

  According to a ninth invention, in the seventh invention, the reference line includes a distance setting means for setting the second distance based on the relative position detected by the relative position detection means at the predetermined timing. The generation unit generates the arc based on the second distance set by the distance setting unit as the reference line.

  In a tenth aspect based on the ninth aspect, based on the advancing direction, the advancing speed detected by the movement amount detecting means and the relative position detected by the relative position detecting means at the predetermined timing. And a travel direction calculation means for determining a travel direction of the oncoming vehicle, wherein the distance setting means sets the second distance based on the travel direction of the oncoming vehicle determined by the travel direction calculation means.

  In an eleventh aspect based on the tenth aspect, the distance setting means forms the direction of travel of the oncoming vehicle determined by the travel direction calculating means with reference to a line segment connecting the host vehicle and the oncoming vehicle. The second distance is set based on an oncoming vehicle traveling angle that is a corner.

  In a twelfth aspect based on the eleventh aspect, the distance setting means sets a larger value as the second distance as the oncoming vehicle traveling angle increases.

  In a thirteenth aspect based on the sixth aspect, the first approach determination means obtains a distance between the position of the oncoming vehicle and the center position of the arc on the coordinates, and the obtained distance is equal to the arc. It is determined whether or not the oncoming vehicle has entered the travel lane side beyond the virtual center line based on whether or not it is larger than the radius.

A fourteenth aspect of the present invention is a collision estimation device that estimates whether or not there is a possibility of colliding with an oncoming vehicle that is mounted on a vehicle and travels in an opposite lane that is a lane opposite to the traveling lane of the vehicle. The movement amount detection means for detecting the direction and the traveling speed, the relative position detection means for detecting the relative position of the oncoming vehicle from the own vehicle, and detected by the movement amount detection means at a predetermined timing set in advance. Based on the advancing direction and the relative position detected by the relative position detecting means, on the coordinates, a reference line that defines a virtual center line that is a virtual center line that is a criterion for determining the possibility of collision, The reference line generating means generated between the own vehicle and the oncoming vehicle, and the direction of the own vehicle on the coordinates based on the traveling direction and the traveling speed detected by the movement amount detecting means. Based on the second position calculating means for determining the position and the position of the own vehicle determined by the second position calculating means, it is determined whether the own vehicle has entered the oncoming lane side beyond the virtual center line. A second approach determining means for determining, and a possibility estimating means for determining that there is a possibility of a collision with the oncoming vehicle when it is determined by the second approach determining means that the vehicle has entered the oncoming lane side. . The reference line has a first offset amount from the host vehicle at a predetermined timing and a second offset amount from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing. It's okay.

A fifteenth aspect of the invention is a collision estimation program for estimating the possibility of a collision with an oncoming vehicle traveling in an oncoming lane that is a lane opposite to the driving lane of the vehicle, and the computer installed in the vehicle is automatically Movement amount detection means for detecting the traveling direction and speed of the vehicle, relative position detection means for detecting the relative position of the oncoming vehicle from the own vehicle, and detected by the movement amount detection means at a predetermined timing set in advance. A reference line that defines a virtual center line, which is a virtual center line that is a criterion for determining the possibility of a collision, on the coordinates based on the traveling direction and the relative position detected by the relative position detecting means. , A reference line generating means generated between the own vehicle and the oncoming vehicle, a traveling direction detected by the movement amount detecting means, a traveling speed, and the relative position Based on the relative position detected by the exit means, the first position calculating means for obtaining the position of the oncoming vehicle on the coordinates, based on the position of the oncoming vehicle obtained by the first position calculating means, When it is determined that the oncoming vehicle has entered the travel lane side by the first approach determination means for determining whether the oncoming vehicle has entered the travel lane side beyond the virtual center line, and the first entry determination means. Next, it is made to function as possibility estimation means for determining that there is a possibility of collision with the oncoming vehicle. The reference line has a first offset amount from the host vehicle at a predetermined timing and a second offset amount from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing. It's okay.

A sixteenth aspect of the invention is a collision estimation program for estimating the possibility of a collision with an oncoming vehicle traveling in an oncoming lane, which is a lane facing the running lane of the vehicle, and the computer installed in the vehicle is automatically Movement amount detection means for detecting the traveling direction and speed of the vehicle, relative position detection means for detecting the relative position of the oncoming vehicle from the own vehicle, and detected by the movement amount detection means at a predetermined timing set in advance. A reference line that defines a virtual center line, which is a virtual center line that is a criterion for determining the possibility of a collision, on the coordinates based on the traveling direction and the relative position detected by the relative position detecting means. , The reference line generating means generated between the host vehicle and the oncoming vehicle, the seating direction based on the traveling direction and the traveling speed detected by the movement amount detecting means. Based on the position of the own vehicle obtained by the second position calculating means and the second position calculating means for obtaining the position of the own vehicle above, the own vehicle enters the oncoming lane side beyond the virtual center line A second approach judging means for judging whether or not the vehicle has entered the oncoming lane side by the second approach judging means and a possibility of judging that there is a possibility of colliding with the oncoming vehicle It functions as an estimation means. The reference line has a first offset amount from the host vehicle at a predetermined timing and a second offset amount from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing. It's okay.

  According to the first invention and the fifteenth invention, the traveling direction and traveling speed of the host vehicle are detected, and the relative position of the oncoming vehicle from the host vehicle is detected. Based on the detected traveling direction and the detected relative position of the oncoming vehicle at a predetermined timing, a virtual center line serving as a criterion for determining the possibility of a collision is displayed on the coordinates. A reference line that defines a virtual center line is generated between the host vehicle and the oncoming vehicle. Further, the position of the oncoming vehicle on the coordinates is obtained based on the detected traveling direction, traveling speed, and detected relative position. Then, based on the obtained position of the oncoming vehicle, it is determined whether the oncoming vehicle has entered the traveling lane side beyond the virtual center line, and when it is determined that the oncoming vehicle has entered the traveling lane side, Since it is determined that there is a possibility of colliding with the vehicle, it is possible to appropriately estimate the possibility of colliding with the oncoming vehicle on a curved road or the like.

  In other words, at a predetermined timing set in advance, based on the detected traveling direction and the detected relative position of the oncoming vehicle, a virtual center line serving as a criterion for determining the possibility of a collision is displayed on the coordinates. Since a reference line that defines a virtual center line is generated between the host vehicle and the oncoming vehicle, there is a possibility of collision with the oncoming vehicle even when driving on a curved road without a center line. Therefore, it is possible to appropriately estimate the presence or absence.

  Also, based on the position of the oncoming vehicle on the coordinates, when it is determined that the oncoming vehicle has entered the travel lane beyond the virtual center line, it is determined that there is a possibility of collision with the oncoming vehicle, By generating a virtual center line at an appropriate position, it is possible to appropriately estimate whether or not the oncoming vehicle may collide with the oncoming vehicle due to the oncoming vehicle protruding into the traveling lane of the own vehicle on a curved road or the like. It is.

  According to the second aspect, since the relative position of the oncoming vehicle is detected via the radar sensor, the accurate relative position can be detected with a simple configuration.

  According to the third aspect of the invention, the predetermined timing (= the timing for detecting the traveling direction and the relative position for generating the reference line defining the virtual center line) is the timing when the oncoming vehicle is captured by the radar sensor. Therefore, it is possible to estimate the possibility of collision with the oncoming vehicle as early as possible.

  According to the fourth invention, the oncoming vehicle is captured by the radar sensor at a predetermined timing (= a timing for detecting a traveling direction and a relative position for generating a reference line that defines a virtual center line), In addition, since it is the timing when the relative distance corresponding to the detected relative position is equal to or less than a predetermined distance set in advance, whether or not there is a possibility of collision with the oncoming vehicle is set by setting an appropriate value as the predetermined distance. It can be estimated at an appropriate timing.

  For example, when a distant oncoming vehicle (for example, 100 m ahead) is captured by the radar sensor, a reference line that defines a virtual center line is generated at the timing when the oncoming vehicle is captured by the radar sensor. In some cases, an appropriate reference line cannot be generated as a virtual center line because the distance between the host vehicle and the oncoming vehicle is too large.

  According to the fifth aspect of the invention, since the reference line that defines the virtual center line is generated on the ground fixed coordinates based on the position of the host vehicle at a predetermined timing, the virtual center line is defined with a simple configuration. A reference line can be generated.

  That is, fixed ground coordinates with the position of the host vehicle as a reference (for example, the origin), for example, the traveling direction of the host vehicle is set as one coordinate axis (for example, Y axis), and the width direction of the host vehicle is set as the other coordinate axis (for example, Y axis). , X axis) can be generated with a simple configuration (see FIG. 3), and thus a reference line that defines a virtual center line can be generated with a simple configuration. .

  According to the sixth aspect of the invention, since a circular arc having a preset radius is generated as the reference line that defines the virtual center line, it is possible to appropriately estimate the possibility of collision with the oncoming vehicle with a simple configuration. It becomes possible to do.

  That is, for example, the distance between the position of the oncoming vehicle and the center position of the arc is obtained, and the oncoming vehicle exceeds the virtual center line on a curved road or the like based on whether the obtained distance is larger than the radius of the arc. It is possible to determine whether or not the vehicle has entered the traveling lane side.

  According to the seventh aspect, the reference line that defines the virtual center line is spaced from the position of the host vehicle at a predetermined timing by a preset first distance on the opposite lane side in the vehicle width direction. The opposite vehicle side is a position separated from the position of the oncoming vehicle at a predetermined timing by a preset second distance on the traveling lane side in the vehicle width direction of the oncoming vehicle. Since an arc with the end point as the other end is generated, an appropriate reference line that defines a virtual center line on a curved road or the like can be generated by setting the first distance and the second distance to appropriate values. .

  That is, the first distance is the distance that the host vehicle is separated from the virtual center line in the vehicle width direction, and the second distance is the distance that the oncoming vehicle is separated from the virtual center line in the vehicle width direction. By setting the second distance to an appropriate value, it is possible to generate an appropriate reference line that defines the virtual center line on a curved road or the like.

  According to the eighth aspect of the present invention, the distance between the vehicle-side end point and the oncoming vehicle side end point, and the perpendicular foot drawn on the width direction coordinate axis that defines the coordinate from the oncoming vehicle side end point, and the own vehicle side end point Based on the distance, the radius of the arc is obtained, and an arc having the obtained radius is generated as the reference line. Therefore, an appropriate reference line (= arc) that defines the virtual center line is generated on a curved road or the like. be able to.

That is, the distance LW between the host vehicle side end point P10 and the distance LW between the host vehicle side end point P3 and the vertical leg down the coordinate axis in the width direction that defines the coordinates from the oncoming vehicle side end point P3. Based on the above, the radius R can be obtained by the following equation (1) (see FIG. 5).
R = LP ² / (2 × LW) (1)

  According to the ninth aspect, since the second distance is set based on the relative position detected at a predetermined timing, it is possible to set an appropriate value as the second distance. Then, since the arc is generated as the reference line based on the set second distance, it is possible to generate a more appropriate reference line (= arc) that defines the virtual center line on a curved road or the like.

  That is, for example, the relative position of the oncoming vehicle detected via the radar changes in the width direction position of the oncoming vehicle (= the reflection point of the radar) detected by the traveling direction of the oncoming vehicle (see FIG. 4). By setting the second distance based on the relative position of the oncoming vehicle, it is possible to set an appropriate value as the second distance.

  According to the tenth aspect of the invention, at the predetermined timing, the traveling direction of the oncoming vehicle is obtained based on the detected traveling direction and traveling speed of the own vehicle and the detected relative position of the oncoming vehicle. Since the second distance is set based on the traveling direction of the oncoming vehicle, it is possible to set an appropriate value as the second distance.

  According to the eleventh aspect of the invention, the second distance Δa is set based on the oncoming vehicle traveling angle φ, which is an angle formed by the traveling direction of the oncoming vehicle, with reference to a line segment connecting the host vehicle and the oncoming vehicle. Therefore, an appropriate value can be set as the second distance Δa (see FIG. 4).

  According to the twelfth aspect of the invention, the larger the oncoming vehicle traveling angle φ is, the larger the second distance Δa is set. Therefore, an appropriate value can be set as the second distance Δa (see FIG. 4). .

  That is, as the oncoming vehicle travel angle φ is larger, the side farther from the virtual center line becomes the reflection point of the radar (see FIG. 4A). Therefore, the greater the oncoming vehicle travel angle φ is, the larger the second distance Δa is. (See FIG. 4B), an appropriate value can be set as the second distance Δa.

  According to the thirteenth aspect of the invention, the distance L2 between the position of the oncoming vehicle and the center position PC of the arc on the coordinates is obtained, and based on whether the obtained distance L2 is larger than the radius R of the arc Since it is determined whether the vehicle has entered the driving lane side beyond the virtual center line CL, whether the oncoming vehicle has entered the driving lane side beyond the virtual center line with a simple configuration on a curved road or the like. Can be determined (see FIG. 6).

  According to the fourteenth aspect and the sixteenth aspect, the traveling direction and traveling speed of the host vehicle are detected, and the relative position of the oncoming vehicle from the host vehicle is detected. Based on the detected traveling direction and the detected relative position of the oncoming vehicle at a predetermined timing, a virtual center line serving as a criterion for determining the possibility of a collision is displayed on the coordinates. A reference line that defines a virtual center line is generated between the host vehicle and the oncoming vehicle. Further, the position of the host vehicle on the coordinates is obtained based on the detected traveling direction and traveling speed. Then, based on the determined position of the host vehicle, it is determined whether the host vehicle has entered the oncoming lane beyond the virtual center line. Since it is determined that there is a possibility of colliding with the vehicle, it is possible to appropriately estimate the possibility of colliding with the oncoming vehicle on a curved road or the like.

  In other words, at a predetermined timing set in advance, based on the detected traveling direction and the detected relative position of the oncoming vehicle, a virtual center line serving as a criterion for determining the possibility of a collision is displayed on the coordinates. Since a reference line that defines a virtual center line is generated between the host vehicle and the oncoming vehicle, there is a possibility of collision with the oncoming vehicle even when driving on a curved road without a center line. Therefore, it is possible to appropriately estimate the presence or absence.

  Also, based on the position of the host vehicle on the coordinates, when it is determined that the host vehicle has entered the oncoming lane beyond the virtual center line, it is determined that there is a possibility of collision with the oncoming vehicle, By generating the virtual center line at an appropriate position, it is possible to appropriately estimate the possibility of collision with the oncoming vehicle due to the own vehicle protruding into the oncoming lane on a curved road or the like.

  Hereinafter, an embodiment of a collision estimation apparatus according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an example of the configuration of a collision estimation apparatus according to the present invention. As shown in FIG. 1, a collision estimation ECU (Electronic Control Unit) 1 (= corresponding to a collision estimation device) according to the present invention is connected to an input device 2 as a peripheral device so as to be communicable.

  First, the input device 2 of the collision estimation ECU 1 will be described with reference to FIG. The input device 2 includes a vehicle speed sensor 21, a yaw rate sensor 22, a steering sensor 23, and a radar sensor 24. The vehicle speed sensor 21 is a sensor that detects the vehicle speed, and outputs a signal indicating the vehicle speed to the collision determination ECU 1 (here, the movement amount detection unit 101).

  The yaw rate sensor 22 is composed of a rate gyro or the like, and is a sensor for detecting a yaw rate indicating a speed at which the yaw angle changes (= rotational angular speed around the vertical axis passing through the center of gravity of the vehicle), and is a collision determination ECU 1 (here, , A signal indicating the yaw rate is output to the movement amount detection unit 101). The steering sensor 23 is a sensor that detects a steering angle, and outputs a signal indicating the steering angle to the collision determination ECU 1 (here, the movement amount detection unit 101).

  The radar sensor 24 is a sensor that detects a relative position with an oncoming vehicle via, for example, a millimeter wave radar or the like, and indicates the relative position with respect to the collision determination ECU 1 (here, the relative position detection unit 102). Output a signal.

  FIG. 2 is a plan view showing an example of the detection range of the radar sensor 24. Two radar sensors 24 (24R, 24L) are mounted in the vehicle width direction at the front end of the vehicle. Each of the radar sensors 24R and 24L is inclined rightward (or leftward) by a predetermined angle θ1 (for example, 25 °) with respect to a center line in the front-rear direction of the vehicle (one-dot chain line in the figure). With the direction as the center (two-dot chain line in the figure), the distance from each radar sensor 24R, 24L is within the range of a preset spread angle θ2 (for example, 40 °), and the detectable distance LR (for example, 30 m) ) The following areas (fan-shaped areas in the figure) can be detected.

  In this embodiment, the case where two radar sensors 24 are mounted on the vehicle will be described. However, only one radar sensor 24 may be mounted, or three or more radar sensors 24 may be mounted. It may be in the form.

  Next, the functional configuration of the collision estimation ECU 1 will be described with reference to FIG. The collision determination ECU 1 functionally includes a movement amount detection unit 101, a relative position detection unit 102, a traveling direction calculation unit 103, a distance setting unit 104, a radius calculation unit 105, a reference line generation unit 106, a first position calculation unit 107, A second position calculation unit 108, a first entry determination unit 109, a second entry determination unit 110, and a possibility estimation unit 111 are provided.

  The collision estimation ECU 1 is a control stored in advance in a microcomputer (corresponding to a computer) disposed at a proper position of the collision estimation ECU 1 in a ROM (Read Only Memory) disposed at a suitable position of the collision estimation ECU 1. By executing the program, the microcomputer functionally moves the movement amount detection unit 101, the relative position detection unit 102, the traveling direction calculation unit 103, the distance setting unit 104, the radius calculation unit 105, the reference line generation unit 106, The first position calculation unit 107, the second position calculation unit 108, the first entry determination unit 109, the second entry determination unit 110, the possibility estimation unit 111, and the like function as function units.

  The movement amount detection unit 101 (corresponding to the movement amount detection means) detects the vehicle speed of the host vehicle via the vehicle speed sensor 21 every predetermined time (for example, 100 msec), as well as the yaw rate sensor 22 and the steering. It is a functional unit that detects the traveling direction of the host vehicle via the sensor 23.

  In the present embodiment, the case where the movement amount detection unit 101 detects the traveling direction of the host vehicle via the yaw rate sensor 22 and the steering sensor 23 will be described. A configuration in which the traveling direction of the host vehicle is detected via the steering sensor 23 may be employed.

  The relative position detection unit 102 (corresponding to the relative position detection unit) detects a relative position of the oncoming vehicle from the own vehicle via the radar sensor 24 every predetermined time (for example, 100 msec) set in advance. It is. In this way, since the relative position detection unit 102 detects the relative position of the oncoming vehicle via the radar sensor, an accurate relative position can be detected with a simple configuration.

  In the present embodiment, the case where the relative position detection unit 102 detects the relative position of the oncoming vehicle from the host vehicle via the radar sensor 24 will be described. However, the relative position detection unit 102 may include other sensors ( For example, the relative position of the oncoming vehicle from the host vehicle may be detected via an image sensor such as a CCD (Charge Coupled Device) sensor or an ultrasonic sensor.

  The reference line generation unit 106 (corresponding to the reference line generation unit) is configured to detect the traveling direction detected by the movement amount detection unit 101 and the relative position detected by the relative position detection unit 102 at a predetermined timing set in advance. Based on the above, a reference line CL that defines a virtual center line, which is a virtual center line serving as a criterion for determining the possibility of collision, is generated between the host vehicle VC1 and the oncoming vehicle VC2 on the ground fixed coordinates. It is a functional part.

  The “reference line” that defines the virtual center line includes a straight line and a curved line. That is, the “reference line” includes, for example, a straight line, an arc, a quadratic curve, and the like. Therefore, the present invention can be applied not only when the host vehicle VC1 is traveling on a curved road described in the present embodiment but also when traveling on a straight road (= straight road) or the like. it can.

  FIG. 3 is a plan view illustrating an example of the reference line CL that defines the virtual center line generated by the reference line generation unit 106. In the present embodiment, a case where the host vehicle VC1 is traveling on a right curve will be described. The reference line generation unit 106 is based on the traveling direction detected by the movement amount detection unit 101 and the relative position detected by the relative position detection unit 102 at the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R. A reference line CL is generated. In addition, the reference line generation unit 106 is on ground fixed coordinates (corresponding to coordinates) using the position P0 of the host vehicle VC1 at the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R as a reference (here, the origin). A reference line CL is generated.

  That is, in the present embodiment, the coordinates are based on the position P0 of the host vehicle VC1 (here, the center position of the rear wheels on both sides of the host vehicle VC1) and the traveling direction of the host vehicle VC1 as one coordinate axis (here. , Y axis) and fixed ground coordinates with the width direction of the host vehicle VC1 as the other coordinate axis (here, the X axis).

  In this way, the reference line CL that defines the virtual center line is generated on the ground fixed coordinates with the position P0 of the host vehicle VC1 at the predetermined timing as a reference, so the virtual center line is defined with a simple configuration. A reference line CL can be generated.

  In other words, the ground fixed coordinates with the position P0 of the host vehicle VC1 as a reference (for example, the origin), as shown in FIG. 3, the traveling direction of the host vehicle VC1 is one coordinate axis (here, the Y axis), and the host vehicle By using the other coordinate axis as the other coordinate axis (here, the X axis), it is possible to generate with a simple configuration, so it is possible to generate a reference line CL that defines a virtual center line with a simple configuration. is there.

  In the present embodiment, the case where the coordinates are ground fixed coordinates will be described. However, the coordinates may be other coordinates. For example, the coordinate may be a coordinate based on the position of the host vehicle VC1. In this case, it is necessary to move the reference line CL generated by the reference line generation unit 106 on the coordinates in accordance with the change in the position of the host vehicle VC1 after the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R. There is.

  Further, in the present embodiment, a case will be described in which the reference line generation unit 106 generates the reference line CL at the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R. At the timing when the oncoming vehicle VC2 is captured by the 24R and the relative distance corresponding to the relative position detected by the relative position detection unit 102 is equal to or less than a predetermined distance (for example, 20 m) set in advance, the reference line The form which produces | generates CL may be sufficient. In this case, by setting an appropriate value as the predetermined distance, it is possible to estimate the possibility of collision with the oncoming vehicle at an appropriate timing.

  Further, the reference line generation unit 106 generates an arc CL having the radius R obtained by the radius calculation unit 105 as the reference line CL (see FIG. 5). In addition, the reference line generation unit 106 uses the position P0 of the host vehicle VC1 in the vehicle width direction of the host vehicle VC1 from the position P0 of the host vehicle VC1 at the timing (= predetermined timing) when the oncoming vehicle VC2 is captured by the radar sensor 24R as the reference line CL. From the position P20 of the oncoming vehicle VC2 at a predetermined timing, the oncoming vehicle side end point P10 that is a position separated by a preset offset amount Δb (corresponding to the first distance) on the oncoming lane side is one end. An arc CL is generated on the travel lane side in the vehicle width direction of VC2 with the opposite vehicle side end point P3 being the position separated by the offset amount Δa (corresponding to the second distance) set by the distance setting unit 104 as the other end. To do.

  Here, the offset amount Δb (corresponding to the first distance) is a distance that the host vehicle VC1 is separated from the reference line CL that defines the virtual center line in the vehicle width direction, and the offset amount Δa (corresponding to the second distance). ) Is the distance that the oncoming vehicle VC2 is separated from the reference line CL that defines the virtual center line in the vehicle width direction. Therefore, the offset amount Δb is set in advance to, for example, half the lane width (for example, 2 m).

  Thus, the predetermined timing (= the timing for detecting the traveling direction and the relative position for generating the reference line CL that defines the virtual center line) is the timing at which the oncoming vehicle VC2 is captured by the radar sensor 24. Therefore, the possibility of collision with the oncoming vehicle VC2 can be estimated as early as possible.

  In the present embodiment, the case where the predetermined timing is the timing when the oncoming vehicle VC2 is captured by the radar sensor 24 will be described, but the predetermined timing may be another timing. For example, the oncoming vehicle VC2 is captured by the radar sensor 24 at a predetermined timing, and the traveling direction detected by the movement amount detection unit 101 is tilted by a predetermined angle or more from the straight traveling direction (= own vehicle VC1). However, the timing may be determined to be determined that the vehicle is traveling on a curved road. In this case, the reference line CL that defines the virtual center line can be generated at a more appropriate timing.

  That is, for example, when there is a straight road in front of a curved road, and the own vehicle VC1 is traveling on the straight road, the radar sensor 24 captures the oncoming vehicle VC2 diagonally forward. If the reference line CL that defines the virtual center line is generated at the timing when the radar sensor 24 captures the oncoming vehicle VC2, the proper reference line CL may not be generated. Therefore, an appropriate reference line CL can be generated by generating the reference line CL that defines the virtual center line at the timing when the host vehicle VC1 enters the curved road.

  The traveling direction calculation unit 103 (corresponding to the traveling direction calculation unit) is based on the traveling direction and traveling speed of the host vehicle detected by the movement amount detection unit 101 and the relative position detected by the relative position detection unit 102. This is a functional unit for obtaining the traveling direction of the oncoming vehicle. For example, the traveling direction calculation unit 103 first obtains a traveling vector that is a vector indicating the traveling direction and traveling speed of the host vehicle from the traveling direction and traveling speed of the host vehicle detected by the movement amount detection unit 101. The traveling direction calculation unit 103 obtains a relative velocity vector from the temporal change in the relative position detected by the relative position detection unit 102. Then, the traveling direction calculation unit 103 obtains the traveling vector of the oncoming vehicle by adding the traveling vector of the host vehicle and the relative speed vector, and obtains the direction of the traveling vector of the obtained oncoming vehicle as the traveling direction of the oncoming vehicle.

  The distance setting unit 104 (corresponding to the distance setting unit) includes the traveling direction and traveling speed of the host vehicle VC1 detected by the movement amount detection unit 101, and the relative position of the oncoming vehicle VC2 detected by the relative position detection unit 102. Is a functional unit for setting the offset amount Δa (corresponding to the second distance) based on the above. Specifically, the distance setting unit 104 uses the line segment connecting the host vehicle VC1 and the oncoming vehicle VC2 as a reference, based on the oncoming vehicle traveling angle φ that is an angle formed by the traveling direction of the oncoming vehicle VC2, and the offset amount Δa Set. The distance setting unit 104 sets a larger value as the offset amount Δa as the oncoming vehicle traveling angle φ is larger.

  FIG. 4 is an explanatory diagram for explaining an example of a method for setting the offset amount Δa by the distance setting unit 104. FIG. 4A is a plan view showing a change in the reflection point of the oncoming vehicle VC2. In the radar sensor 24R, the position with the shortest distance from the radar sensor 24R in the oncoming vehicle VC2 is detected as the reflection point of the radar wave (the position indicated by the black circle in the figure). Therefore, as shown in FIG. As the vehicle VC2 advances, the position of the reflection point changes in the width direction from the left end portion to the right end portion of the oncoming vehicle VC2, as in the reflection points P20, P21, and P22.

  Therefore, even when the oncoming vehicle VC2 is traveling in the center in the width direction of the oncoming lane, the relative position of the oncoming vehicle VC2 detected by the relative position detecting unit 102 via the radar sensor 24 is the same as that of the host vehicle VC1. It is detected that the vehicle is heading toward the traveling lane. Therefore, in order to correct the fluctuation of the reference line CL that defines the virtual center line generated by the reference line generation unit 106 due to the change in the reflection point of the radar wave, the distance setting unit 104 is connected to the host vehicle VC1 and the oncoming vehicle. The offset amount Δa is set based on the oncoming vehicle traveling angle φ, which is an angle formed by the traveling direction of the oncoming vehicle VC2, with reference to a line segment connecting to VC2 (broken line in the figure).

  FIG. 4B is a graph showing an example of the relationship between the offset amount Δa and the oncoming vehicle travel angle φ. The horizontal axis of the figure is the oncoming vehicle traveling angle φ, and the vertical axis is the offset amount Δa. As shown in the figure, the distance setting unit 104 sets a larger value as the offset amount Δa as the oncoming vehicle traveling angle φ is larger. The oncoming vehicle traveling angle φ is positive in the clockwise direction and negative in the counterclockwise direction.

  In this way, the larger the oncoming vehicle travel angle φ, the more the side farther from the virtual center line becomes the reflection point of the radar (see FIG. 4A). Therefore, the greater the oncoming vehicle travel angle φ, the more the offset amount Δa. By setting a large value (see FIG. 4B), an appropriate value can be set as the offset amount Δa.

  In the present embodiment, the case where the distance setting unit 104 sets the offset amount Δa based on the oncoming vehicle traveling angle φ will be described. However, the distance setting unit 104 is based on at least the relative position of the oncoming vehicle VC2. Any form may be used as long as the offset amount Δa is set. For example, the distance setting unit 104 may set a larger value as the offset amount Δa as the X-axis direction component of the relative position of the oncoming vehicle VC2 is larger. In this case, since it is not necessary to obtain the oncoming vehicle advance angle φ, the processing is simplified.

Returning to FIG. 2 again, the functional configuration of the collision estimation ECU 1 will be described. The radius calculation unit 105 (corresponding to the radius calculation means) is a distance LP between the host vehicle side end point P10 and the oncoming vehicle side end point P3 and a width direction coordinate axis (here, X This is a functional unit that obtains the radius R of the arc based on the distance LW between the foot of the perpendicular line and the own vehicle side end point P10. Specifically, the radius calculation unit 105 obtains the radius R of the arc by the following formula (2) (the above formula (1) is reprinted for convenience).
R = LP ² / (2 × LW) (2)

FIG. 5 is a plan view for explaining an example of a method for calculating the radius R by the radius calculator 105. The distance LW is expressed by the following equation (3) from the geometric relationship shown in the figure using an angle ψ formed with respect to the X axis of a line segment connecting the opposite vehicle side end point P3 and the center point PC of the arc. Is done.
LW = R × (1-cos ψ) (3)
Here, [psi = 0 as a function (1-cos) center and Taylor (Taylor) expand, taking the terms up to second order, since the ([psi ^2/2), when the angular [psi is small, The following equation (4) is established.
^{LW ≒ R × (ψ 2/} 2) (4)
When the angle ψ is small, the following equation (5) is established.
ψ≈sinψ = LD / R≈LP / R (5)
Substituting this equation (5) into equation (4) yields the following equation (6).
W = R × LP ² / (2 × R ² ) = LP ² / (2 × R) (6)
From the equation (6), the above equation (2) is obtained.

  In this way, the distance LP between the host vehicle side end point P10 and the oncoming vehicle side end point P3, the leg of the perpendicular line on the width direction coordinate axis that defines the coordinates from the oncoming vehicle side end point P3, and the host vehicle side end point P10 Based on the distance LW, an appropriate radius R can be obtained by a simple calculation according to the above equation (2).

  Returning to FIG. 2 again, the functional configuration of the collision estimation ECU 1 will be described. The first position calculation unit 107 (corresponding to the first position calculation unit) is a traveling direction, a traveling speed of the host vehicle VC1 detected by the movement amount detection unit 101, and an oncoming vehicle detected by the relative position detection unit 102. This is a functional unit that obtains the position of the oncoming vehicle VC2 on the ground fixed coordinates based on the relative position of the VC2.

  The second position calculation unit 108 (corresponding to the second position calculation means) is based on the traveling direction and the traveling speed of the host vehicle VC1 detected by the movement amount detection unit 101. It is a functional unit for obtaining a position.

  Based on the position of the oncoming vehicle VC2 obtained by the first position calculating unit 108, the first approach determining unit 109 (corresponding to the first entry determining unit) causes the oncoming vehicle VC2 to travel beyond the virtual center line. It is a function part which determines whether it entered into the side.

  FIG. 6 is a plan view illustrating an example of a determination method by the first entry determination unit 109. As shown in the figure, the first approach determination unit 109 obtains a distance L2 between the position P23 of the oncoming vehicle VC2 on the ground fixed coordinates and the center position PC of the arc CL, and the obtained distance L2 is the radius R of the arc CL. Based on whether or not it is larger, it is determined whether or not the oncoming vehicle VC2 has entered the travel lane beyond the virtual center line. That is, the first entry determination unit 109 determines that the oncoming vehicle VC2 has entered the traveling lane side when the distance L2 is greater than the radius R.

  In this way, the oncoming vehicle VC2 travels beyond the virtual center line depending on whether or not the distance L2 between the position P23 of the oncoming vehicle VC2 on the ground fixed coordinates and the center position PC of the arc CL is larger than the radius R. Since it is possible to determine whether or not the vehicle has entered the lane side, it is possible to easily and accurately determine whether or not the oncoming vehicle VC2 has entered the travel lane side beyond the virtual center line on a curved road or the like. it can.

  Returning to FIG. 2 again, the functional configuration of the collision estimation ECU 1 will be described. Based on the position of the host vehicle VC1 obtained by the second position calculation unit 108, the second approach determination unit 110 (corresponding to the second approach determination unit) determines that the host vehicle VC1 exceeds the virtual center line and is on the opposite lane. It is a function part which determines whether it entered into the side. Specifically, the second approach determination unit 110 obtains a distance L1 between the position of the host vehicle VC1 on the ground fixed coordinates and the center position PC of the arc CL, and the obtained distance L1 is larger than the radius R of the arc CL. Whether or not the host vehicle VC1 has entered the oncoming lane beyond the virtual center line is determined. That is, the second entry determination unit 110 determines that the host vehicle VC1 has entered the oncoming lane when the distance L1 between the position of the host vehicle VC1 and the center position PC of the arc CL is smaller than the radius R.

  The possibility estimating unit 111 (corresponding to the possibility estimating unit) may collide with the oncoming vehicle VC2 when the first approach determining unit 109 determines that the oncoming vehicle VC2 has entered the traveling lane side. It is a function part which determines. The possibility estimating unit 111 determines that there is a possibility of collision with the oncoming vehicle VC2 when the second approach determining unit 110 determines that the host vehicle VC1 has entered the oncoming lane.

  FIG. 7 is a flowchart showing an example of the operation of the collision estimation ECU 1 shown in FIG. First, the reference line generator 106 determines whether or not the oncoming vehicle VC2 is captured via the radar sensor 24 (S101). If it is determined that the oncoming vehicle VC2 is not captured (NO in S101), the process is set to a standby state. When it is determined that the oncoming vehicle VC2 has been captured (YES in S101), the moving amount detection unit 101 acquires the vehicle speed and traveling direction of the host vehicle VC1 (S103). Then, the relative position detection unit 102 acquires the relative position of the oncoming vehicle VC2 from the host vehicle VC1 (S105). Next, a distance setting process, which is a process of setting the offset amount Δa, is executed by the distance setting unit 104 or the like (S107). Next, the offset amount Δb is set by the reference line generation unit 106 (S109). The radius calculation unit 105 executes a radius calculation process that is a process for obtaining the radius R of the arc CL that defines the virtual center line (S111). Next, the reference line CL that defines the virtual center line is generated on the ground fixed coordinates by the reference line generation unit 106 (S113). Next, a possibility estimation process, which is a process for determining whether or not there is a possibility of a collision with the oncoming vehicle VC2, is executed by the possibility estimation unit 111 or the like (S115), and the process is terminated.

  FIG. 8 is a detailed flowchart showing an example of the distance setting process executed in step S107 of the flowchart shown in FIG. First, the traveling direction calculation unit 103 obtains the traveling direction of the oncoming vehicle VC2 (S201). The distance setting unit 104 obtains a line segment connecting the host vehicle VC1 and the oncoming vehicle VC2 (S203). Next, the distance setting unit 104 obtains the oncoming vehicle traveling angle φ that is an angle formed by the traveling direction of the oncoming vehicle VC2 obtained in step S201 with reference to the line segment obtained in step S203 (S205). Next, the distance setting unit 104 sets the offset amount Δa based on the oncoming vehicle advance angle φ obtained in step S205 (S207), and the process returns to step S107 of the flowchart shown in FIG.

  FIG. 9 is a detailed flowchart showing an example of the radius calculation process executed in step S111 of the flowchart shown in FIG. The following processes are all executed by the radius calculation unit 105. First, the position of the host vehicle side end point P10 is obtained based on the offset amount Δb set in step S109 of the flowchart shown in FIG. 7 (S301). Then, the position of the oncoming vehicle side end point P3 is obtained based on the offset amount Δa set in step S107 of the flowchart shown in FIG. 7 (S303). Next, a distance LP between the own vehicle side end point P10 obtained in step S301 and the oncoming vehicle side end point P3 obtained in step S303 is obtained (S305). Next, the leg of the perpendicular drawn on the width direction coordinate axis (here, the X axis) defining the coordinates from the oncoming vehicle side end point P3 obtained in step S303 and the own vehicle side end point P10 obtained in step S301. A distance LW is obtained (S307). Then, from the distance LP obtained in step S305 and the distance LW obtained in step S307, the radius R of the arc CL is obtained using the above equation (2) (S309). Next, the position of the center point PC of the circle is obtained (S311), and the process is returned to step S113 of the flowchart shown in FIG.

  FIG. 10 is a detailed flowchart showing an example of the possibility estimation process executed in step S115 of the flowchart shown in FIG. First, the vehicle speed and traveling direction of the host vehicle VC1 are acquired by the movement amount detection unit 101 (S401). Then, the relative position detection unit 102 acquires the relative position of the oncoming vehicle VC2 from the host vehicle VC1 (S403). Next, the position of the host vehicle VC1 on the ground fixed coordinates is obtained by the second position calculation unit 108 (S405). Next, the second approach determination unit 110 obtains a distance L1 between the position of the host vehicle VC1 and the center position PC of the arc CL (S407). Then, the position of the oncoming vehicle VC2 on the ground fixed coordinates is obtained by the first position calculation unit 107 (S409). Next, the first entry determination unit 109 calculates a distance L2 between the position of the oncoming vehicle VC2 and the center position PC of the arc CL (S411).

  Then, the second approach determination unit 110 determines whether or not the distance L1 obtained in step S407 is smaller than the radius R (S413). When it is determined that the distance L1 is greater than or equal to the radius R (NO in S413), the first approach determination unit 109 determines whether the distance L2 obtained in step S411 is greater than the radius R. (S415). When it is determined that the distance L1 is smaller than the radius R (YES in S413), or when it is determined that the distance L2 is larger than the radius R (YES in S415), the possibility estimating unit 111 causes the oncoming vehicle VC2. (S417). When it is determined that the distance L2 is equal to or less than the radius R (NO in S415), the possibility estimation unit 111 determines that there is no possibility of colliding with the oncoming vehicle VC2 (S419). When the processing of step S417 or step S419 is completed, whether or not the oncoming vehicle VC2 is continuously captured by the relative position detection unit 102 via the radar sensor 24 (= whether it is within the field of view). Is determined (S421). If it is determined that the image is within the field of view (YES in S421), the process returns to step S401, and the processes after step S401 are repeatedly executed. If it is determined that it is not within the field of view (NO in S421), the process is terminated.

  In this way, the traveling direction and traveling speed of the host vehicle VC1 are detected, and the relative position of the oncoming vehicle VC2 from the host vehicle VC1 is detected. Then, at a predetermined timing set in advance, based on the detected traveling direction and the detected relative position of the oncoming vehicle, a virtual center serving as a criterion for determining the possibility of a collision on the ground fixed coordinates A reference line CL that defines a virtual center line as a line is generated between the host vehicle VC1 and the oncoming vehicle VC2. In addition, the position of the oncoming vehicle VC2 on the ground fixed coordinates is obtained based on the detected traveling direction, traveling speed, and detected relative position every predetermined time (here, 100 msec). It is done. Then, based on the obtained position of the oncoming vehicle VC2, it is determined whether the oncoming vehicle VC2 has entered the traveling lane side beyond the virtual center line, and when it is determined that the oncoming vehicle VC2 has entered the traveling lane side. Since it is determined that there is a possibility of colliding with the oncoming vehicle VC2, it is possible to appropriately estimate whether there is a possibility of colliding with the oncoming vehicle VC2 on a curved road or the like.

  That is, at a predetermined timing set in advance, based on the detected traveling direction and the detected relative position of the oncoming vehicle VC2, a virtual criterion serving as a criterion for determining the possibility of a collision on the ground fixed coordinates. Since the reference line CL that defines the virtual center line, which is the center line, is generated between the host vehicle VC1 and the oncoming vehicle VC2, even if the vehicle is traveling on a curved road or the like without the center line, It is possible to appropriately estimate the possibility of collision with the vehicle VC2.

  Further, when it is determined that the oncoming vehicle VC2 has entered the travel lane side beyond the virtual center line based on the position of the oncoming vehicle VC2 on the ground fixed coordinates, there is a possibility of collision with the oncoming vehicle VC2. Therefore, whether or not the oncoming vehicle VC2 may collide with the oncoming vehicle VC2 due to the oncoming vehicle VC1 protruding from the traveling lane of the host vehicle VC1 on a curved road or the like by generating a virtual center line at an appropriate position. Can be estimated appropriately.

  Further, the position of the host vehicle VC1 on the ground fixed coordinates is obtained on the basis of the detected traveling direction and traveling speed every predetermined time (here, 100 msec). Then, based on the determined position of the host vehicle VC1, it is determined whether the host vehicle VC1 has entered the oncoming lane beyond the virtual center line. Since it is determined that there is a possibility of colliding with the oncoming vehicle VC2, it is possible to appropriately estimate whether there is a possibility of colliding with the oncoming vehicle VC2 on a curved road or the like.

  That is, when it is determined that the host vehicle VC1 has entered the oncoming lane beyond the virtual center line based on the position of the own vehicle VC1 on the ground fixed coordinates, there is a possibility of collision with the oncoming vehicle VC2. Therefore, by generating a virtual center line at an appropriate position, it is appropriately estimated whether or not the host vehicle VC1 may collide with the oncoming vehicle VC2 due to the own vehicle VC1 protruding into the oncoming lane on a curved road or the like. It can be done.

  Furthermore, since a circular arc CL having a preset radius R is generated as the reference line CL that defines the virtual center line, it is possible to appropriately estimate the possibility of collision with the oncoming vehicle VC2 with a simple configuration. It becomes possible.

  That is, the distance L2 between the position of the oncoming vehicle VC2 and the center position PC of the arc CL is obtained, and the oncoming vehicle VC2 is on the curved road or the like based on whether the obtained distance L2 is larger than the radius R of the arc CL. It is possible to determine whether or not the vehicle has entered the travel lane beyond the virtual center line. Further, a distance L1 between the position of the host vehicle VC1 and the center position PC of the arc CL is obtained, and the host vehicle VC1 is on a curved road or the like based on whether the obtained distance L1 is smaller than the radius R of the arc CL. It is possible to determine whether or not the vehicle has entered the oncoming lane beyond the virtual center line.

  In addition, as a reference line CL that defines the virtual center line, a position that is separated from the position P0 of the host vehicle VC1 at a predetermined timing by the preset offset amount Δb on the opposite lane side in the vehicle width direction of the host vehicle VC1. The vehicle-side end point P10 is one end, and is opposed to a position separated from the position P20 of the oncoming vehicle VC2 at a predetermined timing by a preset offset amount Δa on the traveling lane side in the vehicle width direction of the oncoming vehicle VC2. Since the arc CL having the vehicle side end point P3 as the other end is generated, by setting the offset amount Δb and the offset amount Δa to appropriate values, an appropriate reference line CL that defines a virtual center line on a curved road or the like is obtained. Can be generated.

  That is, the offset amount Δb is the distance that the host vehicle VC1 is separated from the virtual center line in the vehicle width direction, and the offset amount Δa is the distance that the oncoming vehicle VC2 is separated from the virtual center line in the vehicle width direction. By setting the amount Δb and the offset amount Δa to appropriate values, it is possible to generate an appropriate reference line CL that defines a virtual center line on a curved road or the like.

Note that the collision estimation apparatus according to the present invention is not limited to the collision estimation ECU 1 according to the above embodiment, and may be in the following form.
(A) In the present embodiment, the collision estimation ECU 1 functionally includes a movement amount detection unit 101, a relative position detection unit 102, a traveling direction calculation unit 103, a distance setting unit 104, a radius calculation unit 105, and a reference line generation unit. 106, the first position calculation unit 107, the second position calculation unit 108, the first entry determination unit 109, the second entry determination unit 110, the possibility estimation unit 111, and the like have been described. Relative position detection unit 102, traveling direction calculation unit 103, distance setting unit 104, radius calculation unit 105, reference line generation unit 106, first position calculation unit 107, second position calculation unit 108, first approach determination unit 109, first Among the 2 approach determination units 110 and the possibility estimation units 111, at least one functional unit may be configured by hardware such as an electric circuit.

  (B) In the present embodiment, the case where the reference line generation unit 106 generates the arc CL having the radius R set in advance as the reference line CL has been described. However, the reference line generation unit 106 serves as the reference line CL. Other forms of curves or straight lines may be generated. For example, the reference line generation unit 106 may generate a curve having a shape such as a quadratic curve or a cubic curve as the reference line CL. Further, for example, the reference line generation unit 106 may generate a straight line (or a broken line) as the reference line CL.

  (C) In the present embodiment, the reference line generation unit 106 sets the traveling direction of the host vehicle VC1 detected by the movement amount detection unit 101 and the relative position of the oncoming vehicle VC2 detected by the relative position detection unit 102. Based on the fixed ground coordinates, a reference line CL that defines a virtual center line that is a virtual center line that is a criterion for determining the possibility of a collision is generated between the host vehicle VC1 and the oncoming vehicle VC2. Although the case has been described, the reference line generator 106 defines the virtual center line based on other information in place of (or in addition to) the traveling direction of the host vehicle VC1 and the relative position of the oncoming vehicle VC2. The form which produces | generates CL may be sufficient.

  For example, the reference line generation unit 106 detects a center line drawn on a road on which the host vehicle VC1 is traveling via a CCD (Charge Coupled Device) camera or the like, and based on the detected center line, a virtual center The reference line CL that defines the line may be generated. In this case, a reference line CL that defines a virtual center line close to the actual center line can be generated.

  In addition, for example, the reference line generation unit 106 detects a boundary line between the sidewalk and the roadway on the road on which the host vehicle VC1 is traveling via a CCD (Charge Coupled Device) camera, and the detected boundary line is detected. A reference line CL that defines a virtual center line may be generated based on the base line CL. That is, the reference line generation unit 106 generates, for example, the center lines of two boundary lines existing on both sides of the road on which the host vehicle VC1 is traveling as the reference line CL that defines the virtual center line. In this case, it is possible to appropriately generate the reference line CL that defines the virtual center line.

  (D) In the present embodiment, the case where the curved road is a right curve has been described, but the curved road may be a left curve. In this case, the first entry determination unit 109 determines that the oncoming vehicle VC2 has entered the travel lane side beyond the virtual center line when the distance L2 is smaller than the radius R of the arc CL. The second entry determination unit 110 determines that the host vehicle VC1 has entered the oncoming lane when the distance L1 is greater than the radius R of the arc CL.

  (E) In the present embodiment, a case has been described in which the reference line generation unit 106 generates the reference line CL at the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R. Instead of (or in addition to) the timing at which the oncoming vehicle VC2 is captured by the sensor 24R, the reference line CL may be generated at another timing. For example, the reference line generation unit 106 generates the reference line CL at the timing when the oncoming vehicle VC2 is captured by the radar sensor 24R, and then corrects the reference line CL every predetermined period (for example, 500 msec). (= Correction) may be used. In this case, a more appropriate reference line CL can be generated.

  The present invention can be applied to, for example, a collision estimation apparatus that estimates whether or not there is a possibility of a collision with an oncoming vehicle that is mounted on a vehicle and travels in an oncoming lane that faces the running lane of the vehicle. Further, for example, the present invention can be applied to a collision estimation program that causes a computer installed in a vehicle to estimate the possibility of collision with an oncoming vehicle that travels in an oncoming lane that faces the running lane of the vehicle.

The block diagram which shows an example of a structure of the collision estimation apparatus which concerns on this invention Plan view showing an example of the detection range of a radar sensor The top view which shows an example of the reference line CL which prescribes | regulates the virtual center line which a reference line production | generation part produces | generates Explanatory drawing for demonstrating an example of the setting method of offset amount (DELTA) a by a distance setting part. The top view explaining an example of the calculation method of the radius R by a radius calculation part The top view which shows an example of the determination method by a 1st approach determination part The flowchart which shows an example of operation | movement of collision estimation ECU1 shown in FIG. Detailed flowchart showing an example of the distance setting process executed in step S107 of the flowchart shown in FIG. Detailed flowchart showing an example of a radius calculation process executed in step S111 of the flowchart shown in FIG. Detailed flowchart showing an example of the possibility estimation processing executed in step S115 of the flowchart shown in FIG.

Explanation of symbols

1 Collision estimation ECU (collision estimation device)
101 Movement amount detection unit (movement amount detection means)
102 Relative position detector (relative position detector)
103 Traveling direction calculation unit (traveling direction calculation means)
104 Distance setting unit (distance setting means)
105 Radius calculation part (radius calculation means)
106 Reference line generation unit (reference line generation means)
107 1st position calculation part (1st position calculation means)
108 2nd position calculation part (2nd position calculation means)
109 1st approach determination part (1st approach determination means)
110 2nd approach determination part (2nd approach determination means)
111 Possibility estimation part (Possibility estimation means)
2 Input equipment 21 Vehicle speed sensor 22 Yaw rate sensor 23 Steering sensor 24 (24R, 24L) Radar sensor

Claims (16)

A collision estimation device that estimates whether or not there is a possibility of collision with an oncoming vehicle that is mounted on a vehicle and travels in an opposite lane that is a lane facing the traveling lane of the vehicle,
A moving amount detecting means for detecting the traveling direction and traveling speed of the host vehicle;
A relative position detecting means for detecting a relative position of the oncoming vehicle from the own vehicle;
Based on the advancing direction detected by the movement amount detecting means and the relative position detected by the relative position detecting means at a predetermined timing set in advance, a criterion for judging the possibility of collision on the coordinates A reference line that defines a virtual center line that is a virtual center line is a first offset from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing while having a first offset amount from the own vehicle. A reference line generating means for generating between the own vehicle and the oncoming vehicle so as to have two offset amounts;
First position calculating means for determining the position of the oncoming vehicle on the coordinates based on the traveling direction and traveling speed detected by the movement amount detecting means and the relative position detected by the relative position detecting means; ,
First approach determination means for determining whether the oncoming vehicle has entered the travel lane side beyond the virtual center line based on the position of the oncoming vehicle determined by the first position calculating means; ,
A collision estimation device comprising: possibility estimation means for estimating that the vehicle may collide with the oncoming vehicle when it is determined by the first entry determination means that the vehicle has entered the lane.   The collision estimation apparatus according to claim 1, wherein the relative position detection unit detects the relative position via a radar sensor.   The collision estimation apparatus according to claim 2, wherein the predetermined timing is a timing at which the oncoming vehicle is captured by the radar sensor.   The predetermined timing is a timing at which the oncoming vehicle is captured by the radar sensor and a relative distance corresponding to the relative position detected by the relative position detecting means is equal to or less than a predetermined distance set in advance. The collision estimation apparatus according to claim 2.   The collision estimation apparatus according to claim 1, wherein the reference line generation unit generates the reference line on ground fixed coordinates based on a position of the host vehicle at the predetermined timing.   The collision estimation apparatus according to claim 5, wherein the reference line generation unit generates an arc having a preset radius as the reference line. The reference line generating means sets, as the reference line, a preset first distance as the first offset amount from the position of the host vehicle at the predetermined timing to the opposite lane side in the vehicle width direction of the host vehicle. An end point on the own vehicle side, which is a position separated by only one end, is set in advance as the second offset amount from the position of the oncoming vehicle at the predetermined timing to the traveling lane side in the vehicle width direction of the oncoming vehicle. The collision estimation device according to claim 6, wherein an arc having an opposite vehicle side end point that is a position separated by a second distance as the other end is generated. Based on the distance between the own vehicle side end point and the oncoming vehicle side end point, and the distance from the own vehicle side end point to the foot of the perpendicular line drawn from the oncoming vehicle side end point to the width direction coordinate axis that defines the coordinates A radius calculating means for obtaining a radius of the arc,
The collision estimation apparatus according to claim 7, wherein the reference line generation unit generates an arc having a radius obtained by the radius calculation unit as the reference line. Distance setting means for setting the second distance based on the relative position detected by the relative position detection means at the predetermined timing;
The collision estimation apparatus according to claim 7, wherein the reference line generation unit generates the arc as the reference line based on the second distance set by the distance setting unit. Travel direction calculation means for obtaining the travel direction of the oncoming vehicle based on the travel direction and travel speed detected by the movement amount detection means and the relative position detected by the relative position detection means at the predetermined timing. With
The collision estimation apparatus according to claim 9, wherein the distance setting unit sets the second distance based on a traveling direction of the oncoming vehicle obtained by the traveling direction calculating unit.   The distance setting means is based on an oncoming vehicle advancing angle, which is an angle formed by the advancing direction of the oncoming vehicle determined by the advancing direction calculating means with reference to a line segment connecting the host vehicle and the oncoming vehicle. The collision estimation apparatus according to claim 10, wherein two distances are set.   The collision estimation apparatus according to claim 11, wherein the distance setting unit sets a larger value as the second distance as the oncoming vehicle travel angle increases.   The first entry determination means obtains a distance between the position of the oncoming vehicle and the center position of the arc on the coordinates, and based on whether the obtained distance is larger than the radius of the arc, the oncoming vehicle The collision estimation apparatus according to claim 6, wherein it is determined whether or not the vehicle has entered the travel lane side beyond the virtual center line. A collision estimation device that estimates whether or not there is a possibility of collision with an oncoming vehicle that is mounted on a vehicle and travels in an opposite lane that is a lane facing the traveling lane of the vehicle,
A moving amount detecting means for detecting the traveling direction and traveling speed of the host vehicle;
A relative position detecting means for detecting a relative position of the oncoming vehicle from the own vehicle;
Based on the advancing direction detected by the movement amount detecting means and the relative position detected by the relative position detecting means at a predetermined timing set in advance, a criterion for judging the possibility of collision on the coordinates A reference line that defines a virtual center line that is a virtual center line is a first offset from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing while having a first offset amount from the own vehicle. A reference line generating means for generating between the own vehicle and the oncoming vehicle so as to have two offset amounts;
Second position calculating means for determining the position of the host vehicle on the coordinates based on the traveling direction and traveling speed detected by the movement amount detecting means;
Based on the position of the host vehicle determined by the second position calculating unit, a second approach determining unit that determines whether the host vehicle has entered the oncoming lane side beyond the virtual center line;
A collision estimation device comprising: possibility estimation means for estimating that the vehicle may collide with the oncoming vehicle when it is determined by the second entry determination means that the vehicle has entered the oncoming lane. A collision estimation program for estimating the presence or absence of a collision with an oncoming vehicle that travels in an oncoming lane that is a lane facing the running lane of the vehicle, comprising: a computer mounted on the vehicle;
A moving amount detecting means for detecting the traveling direction and traveling speed of the host vehicle;
A relative position detecting means for detecting a relative position of the oncoming vehicle from the own vehicle;
Based on the advancing direction detected by the movement amount detecting means and the relative position detected by the relative position detecting means at a predetermined timing set in advance, a criterion for judging the possibility of collision on the coordinates A reference line that defines a virtual center line that is a virtual center line is a first offset from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing while having a first offset amount from the own vehicle. A reference line generating means for generating between the own vehicle and the oncoming vehicle so as to have two offset amounts;
First position calculating means for determining the position of the oncoming vehicle on the coordinates based on the traveling direction, the traveling speed detected by the movement amount detecting means, and the relative position detected by the relative position detecting means;
First approach determining means for determining whether or not the oncoming vehicle has entered the travel lane side beyond the virtual center line, based on the position of the oncoming vehicle determined by the first position calculating means; as well as,
A collision estimation program that functions as a possibility estimation unit that estimates that the vehicle may collide with the oncoming vehicle when it is determined by the first entry determination unit that the vehicle has entered the lane. A collision estimation program for estimating the presence or absence of a collision with an oncoming vehicle that travels in an oncoming lane that is a lane facing the running lane of the vehicle, comprising: a computer mounted on the vehicle;
A moving amount detecting means for detecting the traveling direction and traveling speed of the host vehicle;
A relative position detecting means for detecting a relative position of the oncoming vehicle from the own vehicle;
Based on the advancing direction detected by the movement amount detecting means and the relative position detected by the relative position detecting means at a predetermined timing set in advance, a criterion for judging the possibility of collision on the coordinates A reference line that defines a virtual center line that is a virtual center line is a first offset from the oncoming vehicle based on the relative position of the oncoming vehicle at the predetermined timing while having a first offset amount from the own vehicle. A reference line generating means for generating between the own vehicle and the oncoming vehicle so as to have two offset amounts;
Second position calculating means for obtaining the position of the host vehicle on the coordinates based on the traveling direction and traveling speed detected by the movement amount detecting means;
Based on the position of the host vehicle determined by the second position calculating unit, a second approach determining unit that determines whether the host vehicle has entered the oncoming lane side beyond the virtual center line; and
A collision estimation program that functions as a possibility estimation unit that estimates that the vehicle may collide with the oncoming vehicle when it is determined by the second entry determination unit that the vehicle has entered the oncoming lane.

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