JP5649641B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that performs driving support such as operating an automatic brake when a host vehicle may collide with an obstacle.

  In recent years, in order to ensure the safety of vehicle occupants, driving assistance devices that provide predetermined driving assistance have been proposed. As this type of driving assistance, for example, collision between the host vehicle and an obstacle is avoided by automatic brake control. There is a type that performs avoidance support control to prevent collision and collision prevention control to prevent collision in order to reduce collision damage.

  For example, in the driving support device described in Patent Document 1, a collision prediction time between the host vehicle and an obstacle is calculated using a radar sensor provided in the vehicle, and the collision prediction time is longer than a predetermined time. When the time becomes shorter, avoidance support control such as a collision warning or automatic brake (warning brake) is executed to notify that effect. In addition, the collision prediction time is shorter than the predetermined time described above, for example, when the driver does not perform an operation for avoiding the collision despite the execution of the avoidance support control, or when an obstacle immediately before the vehicle is detected suddenly. When the time is shorter than the set time, the collision prevention control is executed by the brake (emergency brake) stronger than the brake (warning brake) in the avoidance support control in order to prevent the collision.

JP 2009-18721 A (see paragraphs 0029 to 0049, FIG. 3, etc.)

  However, in the above-described conventional driving assistance device, driving assistance control is executed when the predicted collision time becomes shorter than the predetermined time regardless of the state of the vehicle (deceleration and relative speed with the obstacle). For example, avoidance support control such as a collision warning and warning brake may be executed even though the driver recognizes an obstacle earlier than a predetermined time and performs a braking operation. It may interfere with comfortable driving. In addition, a brake device (brake actuator) including a brake hydraulic pump is driven at the time of alarm braking. If this device is inexpensive, the noise may be loud and a driver or other occupant may feel uncomfortable.

  On the other hand, because there is a possibility of collision when avoidance measures are not taken due to driver's carelessness, it is essential to perform avoidance support control such as the original collision warning, etc., and a driving support device capable of balancing the two Is desired.

  The present invention has been made in view of the above problems, and does not perform unnecessary support control for a driver who is fully aware of the possibility of a collision and is performing a brake operation, and may have a collision. However, an object of the present invention is to provide a driving support device capable of executing support control at an appropriate timing for a driver who has not inadvertently operated a brake.

In order to achieve the above-described object, in the driving support device of the present invention, a detection unit that detects an obstacle around the host vehicle and a collision possibility that determines whether there is a collision possibility between the host vehicle and the obstacle. Based on the judgment means and the possibility of collision judged by the collision possibility judgment means, avoidance assist control for performing primary brake for notifying the driver of the possibility of collision and prevention of collision And a control means for sequentially executing anti-collision control for performing a secondary brake stronger than the primary brake, and a brake operation detecting means for detecting a brake operation by a driver. the there is detection of the brake operation by the brake operation detecting means, even after said primary brake is executed when the primary brake Ru is performed, the collision Until the start of execution of prevention control, this key when continuing the detection of the brake operation by the brake operation detecting means to cancel the primary brake is determined that there is an intentional brake operation by the driver, the brake by the driver The operation is prioritized (claim 1).

According to the first aspect of the present invention, when the possibility of collision between the host vehicle and the obstacle detected by the obstacle detection means is determined to be possible by the collision possibility determination means, the control means Avoidance support control for avoiding a collision and collision prevention control for preventing a collision are sequentially executed. At this time, the control unit has detected the brake operation by the brake operation detecting means when the avoidance support control (primary brake) is Ru is performed, even after the primary brake is performed, the execution of the anti-collision control If the detection of the brake operation by the brake operation detection means continues until the start, it is determined that there is an intentional brake operation by the driver , the primary brake is canceled, and the brake operation by the driver is given priority.

Therefore, the control unit has detected the brake operation by the brake operation detecting means when the primary brake is Ru are executed, until the primary brake execution start after the A in the secondary brake executed, already driver If the brake operation is performed while fully recognizing that there is a possibility of a collision, the primary brake is canceled and the brake operation by the driver is given priority. It is possible to prevent the generation of annoying noise when the automatic braking is applied by the primary brake, and it is possible to suitably use an inexpensive brake device (brake actuator) and to reduce the cost. be able to. On the other hand, when the primary brake is executed by the control means, if the driver does not recognize that there is a possibility of collision, the primary brake is executed by the control means. Therefore, unnecessary driving support is not provided to drivers who are fully aware of the possibility of a collision and are operating the brakes, and they are not inadvertently operated despite the possibility of a collision. It is possible to provide a driving support device that can perform driving support at an appropriate timing for the driver.

It is a block diagram of the driving assistance device concerning one embodiment of the present invention. It is a flowchart for operation | movement description of the driving assistance device of FIG.

  A driving support apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  The driving assistance device 1 of the present embodiment shown in FIG. 1 is configured to provide an alarm brake (a weak brake of the engine brake level as well as a warning buzzer, an operation warning buzzer, etc. as the possibility of collision between the host vehicle and an obstacle increases. The driving support control is executed in the order of avoidance support control such as primary brake) and anti-collision control such as emergency brake (secondary brake) stronger than the primary brake in order to prevent collision or reduce damage at the time of collision.

  As shown in FIG. 1, the driving support apparatus 1 includes a laser radar 3 that is an obstacle detection means in the present invention. The laser radar 3 irradiates laser light ahead of the host vehicle while scanning a predetermined horizontal range every predetermined time, receives reflected laser light from an obstacle ahead including the preceding vehicle, and reflects the reflected laser. If light is received, the presence of an obstacle is detected, the distance from the start of laser light irradiation until the reflected laser light is received, the distance between the vehicle and the obstacle, and the relative speed of the vehicle to the obstacle The obstacle detection information, the distance information to the obstacle, and the relative speed information are transmitted via the communication bus B of the vehicle CAN (Controller Area Network).

  Further, as shown in FIG. 1, the driving support device 1 includes a PCS (Pre Crash System) ECU 5 having a microcomputer configuration which is a collision possibility judging means in the present invention. The PCSECU 5 receives an obstacle detection signal, distance information to the obstacle, and relative speed information from the laser radar 3 via the communication bus B. Based on the received information, the vehicle 1 and the obstacle If a collision prediction time (Time to collision) TTC indicating the possibility of collision is calculated to determine whether or not there is a collision possibility with an obstacle, and it is determined that there is a collision possibility based on the calculated collision prediction time TTC, The start timing of avoidance support control such as an alarm buzzer and primary brake control and collision prevention control such as secondary brake control is determined.

  Specifically, the PCSECU 5 calculates the predicted collision time TTC by dividing the distance by the relative speed based on the distance information and the relative speed information between the host vehicle and the obstacle received via the communication bus B6. It repeats with a predetermined calculation cycle (for example, 50 ms). Then, the PCSECU 5 performs a secondary operation for stopping the vehicle while maintaining a predetermined distance (for example, 0.5 m within 1 m according to the technical guidelines of the Ministry of Land, Infrastructure, Transport and Tourism) based on the calculated collision prediction time TTC. In addition to determining the start timing of the brake control, the start timing of avoidance support control (alarm buzzer, notification of the operation warning buzzer, etc. and primary brake) that is executed earlier than that timing is determined, and based on the determined timing, Start commands for avoidance support control and collision prevention control are transmitted via the communication bus B.

  Further, as shown in FIG. 1, the driving support device 1 includes a VSC (Vehicle Stability Control) ECU 7 having a microcomputer configuration which is a control means in the present invention. The VSC ECU 7 takes in a signal from the brake pedal sensor 71 which is a brake operation detecting means of the present invention for detecting the depression of the brake pedal and the depression amount of the brake pedal, and performs the primary brake control based on the avoidance assist control start command from the PCSECU 5. And the brake actuator 72 that drives the master cylinder of the brake is controlled to execute the secondary brake control based on the start command of the collision prevention control. In addition to this, the VSC ECU 7 also takes in signals from a vehicle speed sensor (not shown) for detecting the speed of the own vehicle and a G sensor for detecting the acceleration / deceleration of the own vehicle, and serves as a brake actuator for driving assistance such as side slip prevention control. 72 is controlled.

  In addition, based on the start command of avoidance support control from the PCSECU 5, an alarm buzzer or an operation warning buzzer is issued by a not-illustrated notifying means in FIG. 1, and when there is a monitor, a predetermined warning message is displayed, and the driver On the other hand, the collision prediction time with the obstacle of the own vehicle is shorter than a predetermined time, and a notification that there is a possibility of collision is given.

  By the way, the VSC ECU 7 starts the execution of the primary brake control based on the avoidance support control start command from the PCSECU 5, and then starts the execution of the secondary brake control based on the start command of the collision prevention control from the brake pedal sensor 71. When the brake operation is detected by the driver, the primary brake control based on the avoidance support control command is canceled.

  In this case, the brake operation is intentionally performed after the driver has fully recognized that there is a possibility of a collision before the secondary brake control is executed by the VSC ECU 7 based on the start command of the collision support control from the PCSECU 5. Therefore, the cancellation of the primary brake control prevents the driver from performing the primary brake control which is bothersome to the driver, and prevents the generation of annoying noise of the brake hydraulic pump accompanying the operation of the brake actuator 72 by the primary brake control. The

  Next, the operation of the driving support apparatus 1 described above will be described with reference to the flowchart of FIG.

  As shown in FIG. 2, it is determined whether or not an obstacle is detected in front of the host vehicle by the laser radar 3 (step S1). If this determination result is NO, step S1 is performed until the determination result is YES. If the determination result is repeated and the determination result is YES, it is determined whether or not the primary brake control may be executed based on the avoidance support control start command from the PCSEFI 5 (step S2).

  If the determination result in step S2 is NO, the determination in step S2 is repeated until the determination result is YES. If the determination result in step S2 is YES, the avoidance support control start command from the PCSEFI 5 is used. Primary brake control is executed (step S3).

  Subsequently, after execution of the primary brake control is started by the process of step S3, it is determined whether or not the brake operation by the driver is detected from the brake pedal sensor 71 (step S4). If so, it is determined whether or not the secondary brake control may be executed based on the collision support control start command from the PCSEFI 5 (step S5).

  And if the determination result of step S5 is NO, it will return to above-mentioned step S3 and primary brake control will be continued, and if a determination result becomes YES, based on the start command of the collision assistance control from PCSEFI5, it will be secondary. After the brake control is executed (step S6), it is determined whether or not the own vehicle has stopped (step S7). If the determination result is NO, the process returns to step S6 and the secondary brake control is performed. If the determination result is YES, the secondary brake control is stopped (step S8), and then the operation ends.

  On the other hand, when the determination result in step S4 is YES, that is, after starting the primary brake control based on the avoidance support control start command from the PCSECU 5, the execution of the secondary brake control based on the start command of the collision prevention control is started. By the time, when the brake operation is detected by the driver from the brake pedal sensor 71, it may be determined that the driver has intentionally performed the brake operation after fully recognizing that there is a possibility of collision. Execution of the next brake control is canceled and the primary brake control is not performed (step S9). After that, the brake control is prioritized based on the driver's intention, and the operation ends.

  Therefore, according to the above-described embodiment, if the PCSECU 5 determines that there is a possibility of a collision between the host vehicle and the obstacle detected by the laser radar 3, the VSC ECU 7 avoids the collision. The primary brake control that is the avoidance support control and the secondary brake control that is the collision prevention control for preventing the collision are sequentially executed, and after the execution of the primary brake control by the VSC ECU 7 until the start of the execution of the secondary brake control, When the brake operation by the driver is detected by the brake pedal sensor 71, the primary brake control is canceled.

  Therefore, after the primary brake control by the VSC ECU 7 is executed, the brake operation is already performed since the driver has sufficiently recognized that there is a possibility of a collision before the secondary brake control is executed. By canceling the brake control, it is possible to prevent the primary brake control unnecessary for the driver from being performed and to prevent generation of annoying noise of the brake hydraulic pump accompanying the operation of the brake actuator 72 by the primary brake. Therefore, an inexpensive brake device (brake actuator) can be suitably used, and the cost can be reduced.

  Further, even after the primary brake control by the VSC ECU 7 is executed, when the driver does not recognize that there is a possibility of a collision, the primary brake control by the VSC ECU 7 is continuously executed, so that the collision is possible. For drivers who are fully aware that there is a possibility of braking and do not perform braking operation on the other hand, drivers who have not inadvertently operated brakes despite the possibility of collision On the other hand, it is possible to provide a driving support device that can execute driving support at an appropriate timing.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the primary brake is canceled if there is an intentional brake operation by the driver after the primary brake control by the VSC ECU 7 is executed and before the secondary brake control is executed. As described above, when the primary brake control is started by the VSC ECU 7, it is determined whether or not there is an intentional brake operation by the driver, and if there is a brake operation, the primary brake control is canceled. Also good. Furthermore, when the primary brake control by the VSC ECU 7 is started to be executed, the driver has already performed an intentional brake operation, and the driver's intentional brake operation continues even after the primary brake control is started. If so, the primary brake control may be canceled.

  Further, if the brake operation is simply performed, the primary brake control may not be canceled but the primary brake control may be canceled when a brake operation exceeding a predetermined operation degree is detected. In this case, as the predetermined operation degree, an operation degree that can obtain a deceleration stronger than the braking force by the primary brake control may be employed. In this way, the driver's intention can be reliably reflected.

  Further, instead of canceling the primary brake control by the VSC ECU 7, the primary brake control may be suppressed, that is, the braking force of the primary brake may be suppressed to be smaller than that of the normal primary brake. The noise caused by the primary brake can be suppressed.

  In the above-described embodiment, the case where the laser radar 3 is used as the obstacle detection unit has been described. However, for example, a millimeter wave radar or a CCD camera may be used instead of the laser radar 3.

  Further, the present invention is similarly applied even when the obstacle detection means such as the laser radar 3 searches for the surroundings of the own vehicle, such as the rear or side rather than the front of the own vehicle, and stops by the automatic brake. be able to.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device 3 ... Laser radar (obstacle detection means)
5 ... PCSECU (collision possibility judging means)
7 ... VSCUCU (control means)
71 ... Brake pedal sensor (brake operation detection means)

Claims (1)

It is determined that there is a possibility of collision by detecting means for detecting obstacles around the own vehicle, collision possibility judging means for judging the possibility of collision between the own vehicle and the obstacle, and the collision possibility judging means. The avoidance support control for performing the primary brake for notifying the driver that the possibility of the collision is present and the collision prevention for performing the secondary brake stronger than the primary brake to prevent the collision. In a driving support device comprising control means for sequentially executing control,
Brake operation detection means for detecting the brake operation by the driver,
It said control means has detected the brake operation by the brake operation detecting means when said primary brake Ru is performed, even after the said primary brake is performed, until the execution start of the anti-collision control , characterized in that the detection of brake operation by the brake operation detecting means this key when continuously, it is determined that there is a deliberate brake operation by the driver cancels the primary brake, to give priority to the braking operation of the driver A driving support device.

Images