JP6151670B2 - Mobility support device - Google Patents

Description

  The present invention relates to a movement support apparatus having support means for supporting movement by an object or a living body as a moving body.

  Conventionally, various techniques for detecting the surrounding state of the own vehicle (one form of moving body) using an external sensor and detecting other objects based on the obtained sensor signal have been developed.

  Patent Document 1 proposes an ACC (Adaptive Cruise Control) control device that recognizes preceding vehicle information by fusing first information obtained by a radar unit and second information obtained by an imaging unit.

JP 2005-258570 A ([0075], [0076])

  By the way, when the following operation is performed on the other vehicle detected earlier, another stationary object may suddenly appear between the own vehicle and the other vehicle. Specific examples include a case where a load loaded on another vehicle falls on a road or a specific positional relationship with a roadside sign standing on a curved road (curve).

  However, in the apparatus described in Patent Document 1, as described above, when another vehicle is set as the target, no assumption is made regarding a case where a stationary object different from the other vehicle is detected. For example, there is a concern that the own vehicle may come into contact with the baggage by continuing the tracking operation toward the other vehicle as it is regardless of the appearance of the baggage.

  The present invention has been made in order to solve the above-described problems. Even when a moving object and another stationary object are detected when the moving object is set as a target object, the present invention can be used according to the situation. Another object of the present invention is to provide a movement support apparatus capable of executing an appropriate support operation.

  The movement support apparatus according to the present invention is an apparatus having support means for supporting movement by an object or a living body as a moving body, the detection means for detecting other objects existing around the moving body, and the detection means A target setting unit configured to set one of the other objects detected by the target as a target, and a support operation performed by the support unit to control the target set by the target setting unit. Support control means for causing the moving body to execute, wherein at least a moving object and a stationary object are detected as the other object by the detecting means, and the moving object is set as the target object by the target object setting means. The support control means detects the position of the moving object when the detecting means detects a position state where the stationary object exists on a line segment connecting the moving object and the moving object. Digit suppress the assistance operation, performs control to suspend or abort.

  In a positional relationship where a stationary object exists on a line segment connecting the moving object and the moving object, it is often difficult to immediately determine whether the moving object may come into contact with the stationary object. . Therefore, since the control for suppressing, interrupting, or canceling the support operation toward the moving object is performed, it becomes easier to perform the subsequent action on the stationary object by the amount that the support operation is weakened or stopped. Thereby, even when this moving object and another stationary object are detected when the moving object is set as the target object, an appropriate support operation according to the situation can be executed.

  Specifically, even a stationary object that does not normally affect the support operation is considered when it exists between the moving object and the moving object. For example, when there is no moving object, it is highly likely that the detected stationary object is a roadside sign or the like erected on a curve, and the assist control is performed so that the stationary object is not set as the target object. On the other hand, when there is a moving object and the above-mentioned position state is satisfied, it is highly possible that a stationary object exists in the moving direction of the moving object, and the support operation considering the stationary object is performed early. be able to.

  Further, the apparatus further includes a control condition applying unit that applies a control condition relating to the setting of the target, and the support control unit sets the stationary object as the target according to the control condition applied by the control condition applying unit. Although not performed, it is preferable to perform control to suppress, interrupt, or stop the support operation toward the moving object only when the position state is detected. By giving appropriate control conditions, while preventing a stationary object from being unintentionally set as a target, weakening or stopping the support operation as an exception when a specific position state is detected, It becomes easier to deal with stationary objects.

  Moreover, it is preferable that the said control condition provision means provides the said control condition containing the rule by which the said stationary object is not set as said target object, when the distance from the said mobile body exceeds a threshold value. Thereby, it is possible to prevent a stationary object at a position far from the moving body from being unintentionally set as a target.

  The control condition providing means defines a short distance range, a medium distance range, and a long distance range in order from the shortest distance from the moving body, and the support control means is configured to define the stationary range belonging to the medium distance range. When the position state is detected with respect to an object, it is preferable to perform control for suppressing, interrupting, or canceling the support operation toward the moving object. By weakening or stopping the support operation from the time when the stationary object is present at a middle distance, sufficient time for dealing with the stationary object can be secured.

  The detection means includes a radar sensor and a camera, and the support control means stops the support operation toward the moving object at least when the stationary object is detected by the camera, Preferably, the target setting means sets the stationary object as the target instead of the moving object. At least when a stationary object is detected by the camera, there is a high possibility that the form and type of the stationary object can be correctly identified, so that a support operation suitable for the type of stationary object can be executed. In addition, it is possible to reliably deal with a stationary object by switching the support operation target to a stationary object.

  According to the movement support apparatus according to the present invention, when a moving object and a stationary object are detected as other objects, and the moving object is set as a target object, the support control means can move the moving object and the moving object. When a position state where the stationary object is present on the connecting line segment is detected, control for suppressing, interrupting, or canceling the support operation toward the moving object is performed. In a positional relationship where a stationary object exists on a line segment connecting the moving object and the moving object, it is often difficult to immediately determine whether the moving object may come into contact with the stationary object. . Therefore, since the control for suppressing, interrupting, or canceling the support operation toward the moving object is performed, it becomes easier to perform the subsequent action on the stationary object by the amount that the support operation is weakened or stopped. Thereby, even when this moving object and another stationary object are detected when the moving object is set as the target object, an appropriate support operation according to the situation can be executed.

  Specifically, even a stationary object that does not normally affect the support operation is considered when it exists between the moving object and the moving object. For example, when there is no moving object, it is highly likely that the detected stationary object is a roadside sign or the like erected on a curve, and the assist control is performed so that the stationary object is not set as the target object. On the other hand, when there is a moving object and the above-mentioned position state is satisfied, it is highly possible that a stationary object exists in the moving direction of the moving object, and the support operation considering the stationary object is performed early. be able to.

It is a schematic block diagram which shows the structure of the movement assistance apparatus which concerns on this embodiment. It is a schematic perspective view of the own vehicle with which the movement assistance apparatus shown in FIG. 1 was integrated. It is a flowchart with which operation | movement description of the movement assistance apparatus shown in FIG.1 and FIG.2 is provided. It is a schematic explanatory drawing regarding the definition of the distance range which comprises some control conditions. It is a schematic explanatory drawing regarding the setting rule of the target which comprises a part of control conditions. It is a top view which shows the positional relationship of the own vehicle and another object. It is a top view which shows the positional relationship of the own vehicle and another object. It is a top view which shows the positional relationship of the own vehicle and another object.

  Hereinafter, preferred embodiments of the movement support apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

[Configuration of Movement Support Device 10]
FIG. 1 is a schematic block diagram showing the configuration of a movement support apparatus 10 according to this embodiment. FIG. 2 is a schematic perspective view of the host vehicle 60 in which the movement support apparatus 10 shown in FIG. 1 is incorporated.

  The movement support apparatus 10 includes an electronic control unit (hereinafter referred to as support control ECU 12) that executes various controls for supporting the movement of the host vehicle 60 (FIG. 2), which is a form of a moving body. It should be noted that “support” in the present specification includes not only a mode for automatically driving the vehicle 60 but also a mode for prompting the driver of the vehicle 60 to move the vehicle 60.

  The support control ECU 12 reads out and executes a program from a memory (not shown), thereby causing the other object detection unit 14, the control condition applying unit 15 (control condition applying means), the own vehicle trajectory estimating unit 16, and the target setting unit 17 (target target). Each function of the setting unit) and the support signal generation unit 18 (support control unit) can be realized. The other object detection unit 14 includes a first detection unit 20, a second detection unit 21, an accuracy determination unit 22, and an identical object identification unit 23. The specific functions of each part will be described later.

  The movement support apparatus 10 transmits an electromagnetic wave such as a millimeter wave toward the outside of the own vehicle 60, detects the position of another object based on the reception characteristics of the reflected wave, and the own vehicle 60. A camera 28 for acquiring an image including other objects existing in the vicinity is further provided.

  As shown in FIG. 2, one radar sensor 26 is disposed in front of the host vehicle 60 (for example, around the front grille). One camera 28 is disposed on the front windshield of the host vehicle 60. On the camera 28, a real space where the mounting position is the origin, the vehicle width direction (horizontal direction) of the host vehicle 60 is the X axis, the axle direction (traveling direction) is the Y axis, and the vehicle height direction (vertical direction) is the Z axis. A coordinate system is defined.

  The movement support apparatus 10 further includes a sensor group 30 including a plurality of sensors in addition to the radar sensor 26 and the camera 28. Each sensor constituting the radar sensor 26, the camera 28, and the sensor group 30 is electrically connected to the support control ECU 12.

  The sensor group 30 includes a steering angle sensor 31 that detects a rotation angle (steering angle) of a steering wheel (not shown), a yaw rate sensor 32 that detects the yaw rate of the host vehicle 60, and a vehicle speed sensor 33 that detects the speed of the host vehicle 60. And a GPS (Global Positioning System) sensor 34 that detects the current position of the vehicle 60. The configuration of the sensor group 30 is not limited to this example, and a plurality of sensors of the same type may be provided, or other detection means may be included.

  The movement support apparatus 10 further includes three ECUs 36, 37, 38, a navigation device 40 (including a touch panel display 42 and a speaker 43), and an activation switch 44. Here, the start switch 44 is a switch for starting the support control ECU 12 or stopping the operation.

  An accelerator actuator 46 that operates an accelerator pedal (not shown) is connected to the ECU 36 that controls the electric accelerator. A brake actuator 47 that operates a brake pedal (not shown) is connected to the ECU 37 that controls the electric brake. A steering actuator 48 that operates a steering wheel (not shown) is connected to the ECU 38 that controls the electric power steering.

  The touch panel display 42 outputs visible information in the display screen and inputs various information by detecting a touch position on the display screen. The speaker 43 outputs voice information including voice guidance and alarm sound.

  The assistance control ECU 12 (specifically, the assistance signal generation unit 18) generates and outputs a control signal (hereinafter also referred to as an assistance signal) for causing the host vehicle 60 to deal with other objects. Is supplied to the support means 50 side. In the illustrated example, the ECUs 36 to 38 and the navigation device 40 function as support means 50 that supports movement by the host vehicle 60.

[Operation of Movement Support Device 10]
Next, the operation of the movement support apparatus 10 shown in FIGS. 1 and 2, specifically, ACC control (ACC; Adaptive Cruise Control) will be described with reference to the flowchart of FIG. 3.

  Prior to this operation, an occupant (especially a driver) of the vehicle 60 performs a setting operation related to the support operation. Specifically, the occupant turns on the activation switch 44 and inputs control information via the touch panel display 42 of the navigation device 40. Then, the control condition giving unit 15 gives the control condition including the type of the support action and the control variable, and makes the action of the support control ECU 12 “valid”.

  In step S <b> 1, the radar sensor 26 acquires a first detection signal by detecting the state of the outside world around the host vehicle 60 (mainly forward). Thereafter, the first detection signal from the radar sensor 26 is sequentially supplied to the support control ECU 12.

  In step S <b> 2, the camera 28 acquires the second detection signal by detecting the state of the outside world around the host vehicle 60 (mainly forward). Thereafter, the second detection signal from the camera 28 is sequentially supplied to the support control ECU 12.

  In step S <b> 3, the other object detection unit 14 detects the presence / absence and type of another object (that is, another object) different from the own vehicle 60 at regular or irregular execution timing. The types of other objects include, for example, human bodies, various animals (specifically, mammals such as deer, horses, sheep, dogs and cats, birds, etc.), artificial structures (specifically, moving objects including vehicles) , Signs, utility poles, guardrails, walls, etc.).

  The 1st detection part 20 acquires the 1st detection information about the position and speed of other objects by performing the 1st detection process to the 1st detection signal acquired at Step S1. The 2nd detection part 21 acquires the 2nd detection information about the position, speed, width, and attribute of other objects by performing the 2nd detection processing to the 2nd detection signal acquired at Step S2.

  The accuracy determination unit 22 has the reliability (detection accuracy of other objects) of the first detection information acquired by the first detection unit 20 and / or the second detection information acquired by the second detection unit 21. Determine if it is high. The same object identification unit 23 identifies the identity of other objects specified by the first detection information and the second detection information.

  As described above, the other object detection unit 14 detects the other object identified as the same object, and integrates the first detection information, the second detection information, or these according to the detection accuracy of the other object (or ) Are associated with each other.

  In step S4, the other object detection unit 14 determines whether there is a target candidate among the one or more other objects detected in step S3. Here, the “target” means another object that is a target of the support operation for the movement support apparatus 10. When it is determined that there is no target (step S4: NO), the movement support apparatus 10 ends the support operation at the execution timing. On the other hand, when it is determined that there is a target candidate (step S4: YES), the process proceeds to the next step (S5).

  In step S <b> 5, the own vehicle trajectory estimation unit 16 estimates a trajectory on which the own vehicle 60 travels using a known estimation method. Examples of information used for the estimation process include a first detection signal, a second detection signal, various sensor signals indicating the steering angle, yaw rate, speed, and current position of the vehicle 60, map information acquired from the navigation device 40, and the like. Can be mentioned.

  In step S6, the target setting unit 17 sets one of the other objects determined as a candidate in step S5 as a target. For example, the target setting unit 17 sets one of the other objects that are within a predetermined range from the position of the host vehicle 60 and exist on the trajectory of the host vehicle 60 as the target. The target setting unit 17 supplies the presence of the target and the detection result (specifically, position / velocity / width / attribute) to the support signal generation unit 18 side.

  In step S <b> 7, the support control ECU 12 determines whether or not it is necessary to perform the support operation of the host vehicle 60. When it is determined that the support operation is not necessary (step S7: NO), the movement support apparatus 10 ends the support operation at the execution timing. On the other hand, if it is determined that it is necessary (step S7: YES), the process proceeds to the next step (S8).

  In step S <b> 8, the support control ECU 12 (support signal generation unit 18) controls the support operation by the support means 50 to cause the host vehicle 60 to deal with the target. Prior to this control, the support signal generator 18 generates a support signal (for example, a control amount) to be used for control of the support means 50 and then outputs the support signal to the support means 50.

  The ECU 36 rotates an accelerator pedal (not shown) by supplying a drive signal indicating the accelerator control amount to the accelerator actuator 46. The ECU 37 rotates a brake pedal (not shown) by supplying a drive signal indicating a brake control amount to the brake actuator 47. The ECU 38 rotates a steering wheel (not shown) by supplying a drive signal indicating the steering control amount to the steering actuator 48.

  In this way, the movement support device 10 appropriately executes acceleration, deceleration, stop, or steering control of the host vehicle 60, thereby obtaining “follow-up control” that follows the target vehicle, or the separation distance from the vehicle. Realize "inter-vehicle distance control" to maintain. Note that the type of movement support is not limited to ACC control, for example, “contact avoidance control” for avoiding contact with other objects, or “impact mitigation control” for reducing impact when contacting with other objects. Good.

  In addition to or in addition to the various controls described above, the movement support device 10 outputs visible information (or audio information) that the target exists to the touch panel display 42 (or speaker 43). You may urge the passenger | crew of the own vehicle 60 to perform driving operation.

  In this way, the movement support apparatus 10 ends the support operation at one execution timing. The movement support apparatus 10 sequentially operates according to the flowchart shown in FIG. 3 at the same or different time intervals, thereby sequentially detecting other objects existing around the traveling vehicle 60 to obtain a target. In addition to setting, the host vehicle 60 is made to deal with the target as necessary.

[Example of target setting]
Next, the target setting method (step S6 in FIG. 3) will be described in detail with reference to FIGS. In the following, two types of attributes are assigned to other objects, more specifically, “stationary objects” or “moving objects”. The “stationary object” means another object that is completely stationary with respect to a reference surface (for example, the ground) or substantially stationary (moving at a minute speed). The “moving object” means an object other than the “stationary object” moving at a significant speed with respect to the reference plane.

  FIG. 4 is a schematic explanatory diagram regarding the definition of the distance range that constitutes a part of the control conditions. FIG. 5 is a schematic explanatory diagram regarding the setting rule of the target object 70 (FIG. 6 and the like) constituting a part of the control conditions. The “control condition” means various conditions related to the setting of the target object 70.

  As shown in FIG. 4, three types of distance ranges are defined according to the distance Dis from the host vehicle 60. Specifically, when 0 ≦ Dis <Dth3, “short distance range (or simply short distance)”, when Dth3 ≦ Dis <Dth2, “medium distance range (or simply medium distance)”, Dth2 ≦ Dis In the case of <Dth1, each is defined as “far range (or simply far)”. The threshold values Dth1 to Dth3 are positive values that satisfy the magnitude relationship of 0 <Dth3 <Dth2 <Dth1.

  The table in FIG. 5 shows a correspondence relationship between attributes, distance ranges, radar detection, camera detection, and setting availability. As described above, the “attribute” of another object takes a state value of one of “stationary object” and “moving object”. As shown in FIG. 4, the “distance range” takes one state value of “short distance”, “medium distance”, and “far distance”.

  “Radar detection” takes one of the state values when the detection process by the radar sensor 26 is successful (OK) and when it fails (N / A). “Camera detection” takes one of the state values when the detection process by the camera 28 is successful (OK) and when it fails (N / A). “Setting availability” takes a state value of whether or not the setting as the target object 70 is allowed (enabled / disabled).

  As understood from this figure, a moving object of “long distance”, “medium distance” or “short distance” is detected as the target object 70 on condition that at least one of the radar sensor 26 and the camera 28 is detected. Can be set.

  Even if the “far-distance” stationary object is detected by the radar sensor 26 or the camera 28, it is excluded from the setting targets of the target object 70. Further, a “medium-distance” stationary object is excluded from the setting target of the target object 70 even if it is detected only by the radar sensor 26. Other stationary objects can be set as the target object 70 on condition that at least one of the radar sensor 26 and the camera 28 is detected. That is, the control condition includes a rule that, when focusing only on the detection success / failure of the radar sensor 26, the stationary object is not set as the target object 70 when the distance Dis exceeds the threshold value Dth3.

  According to the example in which FIG. 4 and FIG. 5 are combined, the “far range” corresponds to a range in which only moving objects are set. The “medium distance range” corresponds to a range in which at least a stationary object detected by the camera 28 is set as a setting target in addition to a moving object. Further, the “short distance range” corresponds to a range in which the detected moving object or stationary object is set.

  FIG. 6 is a plan view showing the positional relationship between the host vehicle 60 and other objects, and shows the situation of the road 62 in a country or region where there is an arrangement that the vehicle travels on the left side. The same applies to FIGS. 7 and 8 described later.

  As shown in FIG. 6, the vehicle 60 is traveling in the left lane of a road 62 that is linear. In front of the host vehicle 60, there is another vehicle 64 that moves ahead of the road 62. Here, the characteristic points (or actual positions) of the own vehicle 60 and the other vehicle 64 are defined as P0 and P1, respectively.

  The fan-shaped area surrounded by the broken line corresponds to a range in which another object can be detected by the radar sensor 26 alone (hereinafter referred to as a first detection range 66). The fan-shaped region surrounded by the alternate long and short dash line corresponds to a range in which another object can be detected by the camera 28 alone (hereinafter referred to as a second detection range 68). Thus, it should be noted that the radar sensor 26 is a detection method that has a higher distance detection accuracy and a larger detection upper limit value than the camera 28.

  Prior to the setting, the control condition assigning unit 15 (FIG. 1) assigns the control conditions shown in FIGS. That is, the control condition assigning unit 15 defines a short distance range, a medium distance range, and a long distance range in order from the shortest distance Dis from the host vehicle 60, or a moving object belonging to the long distance range or the medium distance range, The control condition for setting the moving object or the stationary object belonging to the short distance range to the target object 70 is given. Thereby, it is possible to prevent a stationary object at a position far from the host vehicle 60 from being set as the target object 70 unintentionally.

  In the example of FIG. 6, since the distance Dm with the own vehicle 60 satisfies the relationship “Dm <Dth1” and there is another vehicle 64 that is running, the target setting unit 17 sets the other vehicle 64 as the target. Set to object 70. A rectangular frame indicated by a thick two-dot chain line means that “standard level” movement assistance toward the other vehicle 64 is being executed.

  As shown in FIG. 7, it is assumed that the luggage 72 loaded on the other vehicle 64 falls from the state of FIG. 6 and the luggage 72 remains on the road 62. For convenience of explanation, illustration of the first detection range 66 and the second detection range 68 is omitted.

  Since the own vehicle 60 and the other vehicle 64 travel in substantially the same direction, the luggage 72 (feature point P2), which is a stationary object, connects the own vehicle 60 (feature point P0) and the other vehicle 64 (feature point P1). Exists on line 74. Hereinafter, a state satisfying this positional relationship among the three parties is referred to as a “specific position state”.

  The distance Dm between the feature point P0 of the host vehicle 60 and the feature point P1 of the other vehicle 64 satisfies the relationship “Dth2 <Dm <Dth1”, and therefore the other vehicle 64 belongs to the long distance range. Since the relationship “Dth3 <Ds <Dth2” is satisfied with respect to the distance Ds between the feature point P0 of the host vehicle 60 and the feature point P2 of the package 72, the package 72 belongs to the middle distance range.

  Under this circumstance, the baggage 72 belongs to the middle distance range in which the distance Ds exceeds the threshold value Dth3 and is excluded from the setting target of the target object 70 if the assigned control condition is followed as it is. Therefore, the presence of the luggage 72 is substantially ignored and does not affect the support operation toward the other vehicle 64 at all. However, regardless of the appearance of the luggage 72, there is a concern that the own vehicle 60 may come into contact with the luggage 72 by continuing the “normal level” following operation toward the other vehicle 64.

  Therefore, the support control ECU 12 (support signal generation unit 18) controls to suppress the support operation toward the other vehicle 64 when the load 72 belongs to the middle distance range and a specific position state is detected with respect to the load 72. (Hereinafter referred to as suppression control). This suppression control includes control for reducing the control amount, delaying the execution timing, shortening the operation time, reducing the number of operations / frequency, and the like with respect to the normal level support operation.

  A rectangular frame indicated by a thin two-dot chain line means that “low level” movement assistance toward the other vehicle 64 is being executed. Here, it should be noted that the target setting unit 17 continues to set the other vehicle 64 as the target 70 regardless of the presence of the luggage 72 while the above-described suppression control is being executed. This is because the parcel 72 belonging to the middle distance range is detected only by the radar sensor 26 and is excluded from the setting target of the target 70 (see FIG. 5). Then, when time further elapses from the state of FIG. 7, the state transitions to the state of FIG.

  As shown in FIG. 8, the other vehicle 64 that satisfies the relationship “Dth2 <Dm <Dth1” belongs to the long distance range, and the luggage 72 that satisfies the relationship “Dth3 <Ds <Dth2” belongs to the medium distance range. When the baggage 72 is newly detected by the camera 28, the stationary object belonging to the intermediate distance range, that is, the baggage 72 can be set as the target 70 (see FIG. 5). Thereby, the target setting unit 17 sets the luggage 72, which is a stationary object, as a new target 70 instead of the other vehicle 64 that is the target of the suppression control.

  In this case, the support control ECU 12 (support signal generation unit 18) stops the support operation for the other vehicle 64, and immediately after that, causes the host vehicle 60 to deal with the luggage 72 as the new target object 70. . Thereby, the own vehicle 60 shows the behavior which avoids a contact with the load 72 by following the movement (namely, stationary state) of the load 72. A rectangular frame indicated by a thick two-dot chain line means that “standard level” movement support toward the load 72 is being executed.

  In the above example, the support operation is suppressed when the load 72 belongs to the middle distance range and the specific position state is detected with respect to the load 72. However, instead of this, the support operation may be interrupted or stopped. . Here, “interrupt” means control to temporarily stop the support operation, and “stop” means control to end the support operation. For example, the support control ECU 12 (support signal generation unit 18) may resume the interrupted support operation when the specific position state is no longer detected.

  Further, the support control ECU 12 stops the support operation for the moving object only when the specific position state is detected and at least the stationary object detected by the camera 28 is a specific type, and immediately thereafter, A support operation for a stationary object may be started. Here, the specific type is an object that is movable but is stopped at the present time, and examples thereof include a human body, a vehicle, and an animal.

[Effects of this embodiment]
As described above, the movement support apparatus 10 sets the detection unit for detecting other objects (another vehicle 64 and the luggage 72) existing around the host vehicle 60 and one of the detected other objects as the target object 70. A target signal setting unit 17 that controls the target unit 70 to control the target object 70 by controlling the support operation by the support unit 50.

  When at least the other vehicle 64 and the baggage 72 are detected and the other vehicle 64 is set as the target object 70, the support signal generation unit 18 loads the baggage on the line segment 74 connecting the own vehicle 60 and the other vehicle 64. When a position state where 72 exists (that is, a specific position state) is detected, control for suppressing, interrupting, or canceling the support operation toward the other vehicle 64 is performed.

  Under the positional relationship in which the luggage 72 exists on the line segment 74 connecting the own vehicle 60 and the other car 64, it is difficult to immediately determine whether or not the own vehicle 60 may contact the luggage 72. There are many cases. Therefore, since the control for suppressing, interrupting, or canceling the support operation toward the other vehicle 64 is performed, it becomes easier to deal with the luggage 72 by the amount that the support operation is weakened or stopped. Thereby, even if the other vehicle 64 and the luggage 72 are detected when the other vehicle 64 is set as the target object 70, an appropriate support operation according to the situation can be executed.

  Specifically, even if a stationary object that does not normally affect the support operation is present between the own vehicle 60 and the other vehicle 64, the stationary object is considered. For example, when there is no other vehicle 64, it is highly possible that the detected stationary object is a roadside sign or the like standing on a curve, so that the support control is performed so that the stationary object is not set as the target object 70. To do. On the other hand, if there is another vehicle 64 and the above-described specific position state is satisfied, it is highly possible that the baggage 72 exists in the traveling direction of the host vehicle 60, and the assistance considering the baggage 72 in the early stage. The action can be performed.

  Further, the control signal providing unit 15 is further provided with a control condition adding unit 15 for applying a control condition related to the setting of the target object 70. Only when the position state is detected, control for suppressing, interrupting, or stopping the support operation toward the other vehicle 64 may be performed. By giving appropriate control conditions, it is possible to prevent the stationary object (including the luggage 72) from being unintentionally set as the target object 70, but to perform the support operation as an exception when a specific position state is detected. By weakening or stopping, it becomes easier to deal with the load 72.

  Moreover, the control condition provision part 15 may provide the control conditions containing the rule by which a stationary object is not set as the target object 70, when the distance Ds from the own vehicle 60 exceeds threshold value Dth3. Thereby, it is possible to prevent a stationary object at a position far from the host vehicle 60 from being set as the target object 70 unintentionally.

  Further, the control condition assigning unit 15 defines a short distance range, a medium distance range, and a long distance range in order from the shortest distance from the host vehicle 60, and the support signal generation unit 18 includes the luggage 72 belonging to the medium distance range. When a specific position state is detected with respect to, control for suppressing, interrupting, or stopping the support operation toward the other vehicle 64 may be performed. By weakening or stopping the support operation from the time when the load 72 is present at a middle distance, sufficient time for dealing with the load 72 can be secured.

  Further, the detection means includes the radar sensor 26 and the camera 28, and the support signal generation unit 18 interrupts the support operation toward the other vehicle 64 when the load 72 is detected by at least the camera 28, and the target object is detected. The setting unit 17 may set the luggage 72 as the target object 70 instead of the other vehicle 64. When a stationary object (including the luggage 72) is detected at least by the camera 28, there is a high possibility that the form and type of the stationary object can be correctly identified, so that a support operation suitable for the type of stationary object can be executed. In addition, by switching the object of the support operation to the luggage 72, it is possible to reliably deal with the luggage 72.

[Modification]
Subsequently, modified examples (more specifically, first and second modified examples) of this embodiment will be described.

<First Modification>
According to FIG. 4, the distance Dis from the host vehicle 60 is defined by being divided into three distance ranges, but may be defined by being divided into two or four or more distance ranges. In this case, any one of the threshold values that define the distance range corresponds to the upper limit value of the distance at which the stationary object is set as the target object 70 (or the lower limit value of the distance that is not set).

  Further, after further dividing the intermediate distance range shown in FIG. 4 into two sub-ranges, the support control ECU 12 supports only when a specific position state is detected for a stationary object belonging to the near-range sub-range. You may perform control which suppresses, interrupts, or stops operation.

  Alternatively, an infinite distance range may be defined without setting an upper limit value of the distance range. Specifically, the limit of the threshold value Dth1 in FIG. 4 may be removed, and “Distant range” may be defined when Dis ≧ Dth2.

  Alternatively, the upper limit value of the distance at which the stationary object is set as the target object 70 (or the lower limit value of the distance that is not set) may be set to zero without dividing and defining the distance range. In this case, the support control ECU 12 performs control to suppress, interrupt, or stop the support operation only when a specific position state is detected for a stationary object at an arbitrary position.

<Second Modification>
Although the radar sensor 26 is used as the first detection means, an ultrasonic sensor (sonar) may be used in addition to or separately from this. Further, although the monocular camera 28 is used as the second detection means, a compound eye camera (stereo camera) may be used. Alternatively, an infrared camera may be used instead of the color camera, or both may be provided.

  Further, the other object detection means is not limited to the “sensor fusion” shown in FIG. 6 and may be constituted by a single sensor. Specifically, the movement support apparatus 10 may detect other objects using only the radar sensor 26 (FIG. 1), or may detect other objects using only the camera 28.

  Thus, when detecting another object using one or a plurality of sensors, a table indicating whether or not the target 70 can be set for the detection result of each sensor may be prepared in accordance with the example of FIG.

[Supplement]
Note that the present invention is not limited to the above-described embodiments and modifications, and can of course be freely changed without departing from the gist of the present invention.

  In the present embodiment, the entire movement support apparatus 10 is mounted on the host vehicle 60, but the arrangement of the apparatus is not limited to this. For example, the first detection signal from the first detection means mounted on the host vehicle 60 and / or the second detection signal from the second detection means are separated from each other through a wireless communication means (including the support control ECU 12). ) May be transmitted. Alternatively, the first and second detection means may be fixedly arranged and another object may be detected from the outside of the vehicle 60.

  Moreover, in this embodiment, although the movement assistance apparatus 10 is applied to the four-wheeled vehicle (vehicle in a narrow sense), it is applicable to the moving body which is an object or a living body (including a human being). Examples of the moving body of the object include a vehicle in a broad sense including a two-wheeled vehicle, a ship, an aircraft, an artificial satellite, and the like. When the moving body is a human, the movement support apparatus 10 is specifically configured with a wearable device including glasses, a wristwatch, and a hat.

DESCRIPTION OF SYMBOLS 10 ... Movement assistance apparatus 12 ... Support control ECU
DESCRIPTION OF SYMBOLS 14 ... Other object detection part 15 ... Control condition provision part 16 ... Own vehicle locus | trajectory estimation part 17 ... Target object setting part 18 ... Support signal generation part 20 ... 1st detection part 21 ... 2nd detection part 22 ... Accuracy determination part 23 ... Same object identification unit 26 ... Radar sensor 28 ... Camera 30 ... Sensor group 36-38 ... ECU 40 ... Navigation device 50 ... Support means 60 ... Own vehicle 62 ... Road 64 ... Other vehicle 66 ... First detection range 68 ... Second detection Range 70 ... Target 72 ... Luggage 74 ... Line segment

Claims (5)

A movement support apparatus having support means for supporting movement by an object or a living body as a moving body,
Detecting means for detecting other objects existing around the moving body;
Target setting means for setting one of the other objects detected by the detection means as a target;
Control condition giving means for giving control conditions related to the setting of the target;
Control means for controlling the support operation by the support means to cause the moving body to cope with the target set by the target setting means, and
When at least a moving object and a stationary object are detected as the other object by the detection means, and the moving object is set as the target object by the target object setting means,
The support control means includes a line connecting the moving object and the moving object by the detecting means , even though the stationary object is not set as the target object by the control condition given by the control condition giving means. Only when a position state where the stationary object is present on a minute is detected, control for suppressing, interrupting, or canceling the support operation toward the moving object is performed. The movement support apparatus according to claim 1 ,
The movement support apparatus, wherein the control condition applying unit applies the control condition including a rule that the stationary object is not set as the target when the distance from the moving body exceeds a threshold value. In the movement assistance apparatus of Claim 1 or 2 ,
The control condition providing means defines a short distance range, a middle distance range, and a long distance range in order from the shortest distance from the moving body,
The support control unit performs control to suppress, interrupt, or stop the support operation toward the moving object when the position state is detected with respect to the stationary object belonging to the intermediate distance range. Mobility support device. In the movement assistance apparatus of any one of Claims 1-3 ,
The detection means includes a radar sensor and a camera,
The support control means stops the support operation for the moving object when the stationary object is detected at least by the camera,
The target object setting means sets the stationary object as the target object instead of the moving object. A movement support apparatus having support means for supporting movement by an object or a living body as a moving body,
Detecting means for detecting other objects existing around the moving body;
Target setting means for setting one of the other objects detected by the detection means as a target;
Support control means for causing the moving body to cope with the target set by the target setting means by controlling the support operation by the support means;
With
When at least a moving object and a stationary object are detected as the other object by the detection means, and the moving object is set as the target object by the target object setting means,
The support control means performs the support operation toward the moving object when the detecting means detects a position state where the stationary object exists on a line segment connecting the moving object and the moving object. Perform control to suppress or interrupt
A movement support apparatus characterized by that.

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