JP5846109B2 - 衝突判定装置及び衝突回避システム - Google Patents
衝突判定装置及び衝突回避システム Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Description
<第1の実施形態>
1.車載システム1の構成
図1及び図2に基づき、車載システム1の構成を説明する。自車両101に搭載される車載システム1は、ECU3、及びセンサ部5を備え、それらは車内ネットワーク7により接続している。
車載システム1が所定時間ごとに繰り返し実行する処理を図3〜図10に基づき説明する。図3のステップ1では、物標の方位に関する演算を行う。この演算を図4のフローチャートに基づき詳しく説明する。
図3のフローチャートに戻り、ステップ4では、歩行者の顔向きに関する演算を実行する。この演算を図6のフローチャートに基づき説明する。図6のステップ31では、前記ステップ1にて方位に関する演算を実行した物標の種類が歩行者であるか否かを判断する。その判断は画像センサ11を用いて行うことができる。すなわち、画像センサ11を用いて物標を撮像し、その撮像画像においてパターンマッチングを行い、歩行者に該当するパターンが認識できれば歩行者であると判断し、歩行者に該当するパターンが認識できなければ歩行者ではないと判断する。物標の種類が歩行者であると判断した場合はステップ32に進み、歩行者ではないと判断した場合は図6の処理を終了して図3のステップ5に進む。
ステップ33では、前記ステップ32で推定した顔向きが、自車両101の方に向いている(歩行者の視線が自車両101に向けられた)か否かを判断する。歩行者の顔向きが自車両101の方に向いている場合はステップ34に進み、自車両101の方に向いていない場合はステップ35に進む。
図7のステップ41では、物標の種類を判定する。すなわち、前記ステップ31において物標の種類を歩行者と判定している場合はそのまま歩行者と判定し、歩行者ではないと判定している場合は、さらに、(i)バイク又は自転車、(ii)他の車両、のうちのどちらであるかを判定する。
(1)車載システム1は、物標の方位の経時的な変化量が所定の閾値以下である場合、衝突可能性を判定する。ここで、物標の方位の経時的な変化量が所定の閾値以下である場合とは、自車両101と物標とが衝突する可能性がある場合に該当する。このことを図9に基づき説明する。
また、物標Aは、その進行方向が自車両Sの進行方向と角度θA(0度<θA<30度)を成す方向に直進しており、時刻t0、t1、t2、t3、t4において、それぞれ、位置PA1、PA2、PA3、PA4に存在する。
(1)車載システム1は、前記ステップ4における歩行者の顔向きに関する処理を行わなくてもよい。この場合、前記ステップ24〜26で設定された物標移動方向変化可能性を補正することなく、前記ステップ6における衝突可能性演算において使用することができる。
例えば、車載システム1は、物標が自車両101に気付く可能性に影響を与える種々の要因(例えば、車外の明るさ、天候(雨、雪、霧等の有無や濃さ)等)を検出し、その検出結果に応じて衝突可能性を補正してもよい。
7・・・車内ネットワーク、9・・・ミリ波センサ、11・・・画像センサ、
13・・・レーザーセンサ、15・・・赤外線センサ、101・・・自車両、
103・・・フロンドシールド、105・・・アクセル、
107・・・ブレーキ、109・・・ステアリング、
111・・・シートベルト、113・・・LEDランプ、
115・・・ブザー、A、B、C・・・物標
Claims (4)
- 自車両を基準とする物標の方位を検出する方位検出手段(3、5)と、
前記物標の方位の経時的な変化量を検出する変化量検出手段(3)と、
自車両の移動方向と前記物標の移動方向とが成す角度θを算出する角度算出手段(3、5)と、
前記物標の方位の経時的な変化量が所定値以下であることを条件として、前記物標と自車両との衝突可能性を判定する判定手段(3)と、
前記物標の種類を判別する物標判別手段(3、5)と、
を備え、
前記判定手段は、前記角度θの絶対値が小さいほど、前記衝突可能性を高く判定し、前記物標の種類が歩行者である場合は、前記物標の種類が車両である場合に比べ、前記衝突可能性を低く判定することを特徴とする衝突判定装置(1)。 - 前記物標の種類が歩行者であり、且つ前記歩行者の視線が自車両に向けられたという特定条件が充足されたか否かを判断する特定条件充足判断手段(3、5)を備え、
前記判定手段は、前記特定条件が充足された場合、前記特定条件が充足されなかった場合よりも、前記衝突可能性を小さく判定することを特徴とする請求項1に記載の衝突判定装置。 - 前記判定手段は、前記物標の速度が高いほど、前記衝突可能性を高く判定することを特徴とする請求項1又は2に記載の衝突判定装置。
- 請求項1〜3のいずれか1項に記載の衝突判定装置と、
前記衝突判定装置の判定結果に応じて衝突回避処理を実行する衝突回避装置(1)と、
を備えることを特徴とする衝突回避システム(1)。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2012254589A JP5846109B2 (ja) | 2012-11-20 | 2012-11-20 | 衝突判定装置及び衝突回避システム |
DE102013112459.3A DE102013112459B4 (de) | 2012-11-20 | 2013-11-13 | Vorrichtung und Verfahren zum Beurteilen einer Wahrscheinlichkeit einer Kollision zwischen einem Fahrzeug und einem Ziel, Fahrzeugkollisionsvermeidungssystem, und Verfahren zum Vermeiden einer Kollision zwischen einem Fahrzeug und einem Ziel |
US14/080,868 US9372262B2 (en) | 2012-11-20 | 2013-11-15 | Device and method for judging likelihood of collision between vehicle and target, vehicle collision avoidance system, and method for avoiding collision between vehicle and target |
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JP2012254589A JP5846109B2 (ja) | 2012-11-20 | 2012-11-20 | 衝突判定装置及び衝突回避システム |
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JP2014102703A JP2014102703A (ja) | 2014-06-05 |
JP5846109B2 true JP5846109B2 (ja) | 2016-01-20 |
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JP (1) | JP5846109B2 (ja) |
DE (1) | DE102013112459B4 (ja) |
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US9233659B2 (en) * | 2011-04-27 | 2016-01-12 | Mobileye Vision Technologies Ltd. | Pedestrian collision warning system |
US9047781B2 (en) * | 2011-05-31 | 2015-06-02 | Georgia Tech Research Corporation | Safety zone detection, enforcement and alarm system and related methods |
JP5704239B2 (ja) * | 2011-08-10 | 2015-04-22 | トヨタ自動車株式会社 | 運転支援装置 |
US9159236B2 (en) * | 2011-12-01 | 2015-10-13 | Elwha Llc | Presentation of shared threat information in a transportation-related context |
JP5846109B2 (ja) * | 2012-11-20 | 2016-01-20 | 株式会社デンソー | 衝突判定装置及び衝突回避システム |
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DE102013112459A1 (de) | 2014-05-22 |
JP2014102703A (ja) | 2014-06-05 |
US9372262B2 (en) | 2016-06-21 |
DE102013112459B4 (de) | 2018-09-20 |
US20140139368A1 (en) | 2014-05-22 |
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