JP6188779B2 - Driving assistance device - Google Patents
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Description
この発明は、車両が適切なタイミングで右折できるように運転手を支援する運転支援装置に関するものである。 The present invention relates to a driving support device that supports a driver so that a vehicle can turn right at an appropriate timing.
従来より、交差点に接近している対向車が検知された場合に、交通事故が発生するリスクが高いと判定した場合、運転手に注意を喚起する運転支援装置が提案されている（例えば、特許文献１参照）。
特許文献１の運転支援装置は、自車両周辺の他車両や交差点道路側に配置された通信装置との通信を行う通信装置を備えており、通信により得られた他車両、特に対向車の位置、動きなどから、自車両が右折する際、対向車との衝突のリスクを判定し、リスクが高い場合には運転手に注意を喚起するようになっている。
また、特許文献２に記載された運転支援装置は、車両前方の物体を検知するための距離センサを備え、この距離センサにより、対向車の距離、速度を検出し、得られた距離、速度から、その時点で右折することが適切か否かを判定し、判定結果を運転手に通知するものである。
Conventionally, when an oncoming vehicle approaching an intersection is detected, if it is determined that there is a high risk of a traffic accident, a driving assistance device has been proposed that alerts the driver (for example, a patent) Reference 1).
The driving support device of Patent Document 1 includes a communication device that communicates with other vehicles around the host vehicle and a communication device disposed on the intersection road side, and the position of other vehicles obtained by communication, particularly oncoming vehicles. When the vehicle turns to the right from the movement, the risk of collision with the oncoming vehicle is determined. If the risk is high, the driver is alerted.
Moreover, the driving assistance apparatus described in Patent Document 2 includes a distance sensor for detecting an object in front of the vehicle, and the distance sensor detects the distance and speed of the oncoming vehicle, and from the obtained distance and speed. Then, it is determined whether or not it is appropriate to turn right at that time, and the determination result is notified to the driver.
しかしながら、従来技術には、以下のような問題がある。
特許文献１に記載された従来技術においては、自車両および他車両、道路が通信装置を備えていることが前提となる。通信装置によるコストアップや、たとえ、自車両に通信装置が搭載されていたとしても、道路や他車両に通信装置がなければならないという問題がある。
また、特許文献２に記載された従来技術においては、自車両に距離センサを搭載するだけで、道路や他車両に関して制限はない。
しかし、対向車線が渋滞しており、その横を通過する２輪車と右折する自車両とが衝突する場合や、対向車線が２車線で、中央よりの１車線が渋滞し、外側の車線を走行する対向車との間で衝突可能性がある場合、この対向車が手前の対向車の影になってしまうと距離センサで検知できないために、運転支援効果が得られないという問題がある。
However, the prior art has the following problems.
In the prior art described in Patent Document 1, it is assumed that the host vehicle, other vehicles, and roads are equipped with communication devices. There is a problem that the communication device has an increase in cost, and even if the communication device is mounted on the host vehicle, the road and other vehicles must have the communication device.
Moreover, in the prior art described in patent document 2, there is no restriction | limiting regarding a road or another vehicle only by mounting a distance sensor in the own vehicle.
However, if the oncoming lane is congested and the two-wheeled vehicle that passes beside it collides with the vehicle turning right, or if the oncoming lane is two lanes and one lane from the center is congested, the outer lane When there is a possibility of collision with an oncoming vehicle traveling, there is a problem that a driving support effect cannot be obtained because the distance sensor cannot detect if the oncoming vehicle becomes a shadow of the oncoming vehicle in front.
この発明は、上述のような課題を解決するためになされたものであり、右折時、対向車の影に存在する別の対向車に対しても衝突危険性の有無を判定し、運転手に注意を促す運転支援装置を得ることを目的とする。 The present invention has been made to solve the above-described problems. When turning right, it is determined whether there is a collision risk for another oncoming vehicle in the shadow of the oncoming vehicle. The purpose is to obtain a driving assistance device that calls attention.
この発明に係わる運転支援装置においては、自車両から照射した電波の対向車からの反射波に基づき、対向車との距離、相対速度および反射波の水平方向の角度を検出する車載レーダ、自車両の状態を示す車両情報を取得する車両情報取得部、車載レーダの情報および車両情報取得部により取得された車両情報に基づき、自車両の右折前に自車両の予想経路および対向車の予想経路を算出し、自車両の右折時の対向車との衝突可能性を判定する運転支援判定部、およびこの運転支援判定部による判定結果を運転手に通知する通知部を備え、車載レーダは、不安定な受信電波についても不安定な検知物体という情報を付加して出力し、運転支援判定部は、対向車との衝突可能性の判定結果に応じて、対向車の影になる死角範囲を算出して、不安定な検知物体の中から死角範囲に存在するものを対向車候補として検出し、この検出した対向車候補についても、予想経路を算出して、自車両の右折時の対向車候補との衝突可能性を判定するものである。 In the driving support device according to the present invention, an on-vehicle radar that detects the distance from the oncoming vehicle, the relative speed, and the horizontal angle of the reflected wave based on the reflected wave from the oncoming vehicle of the radio wave emitted from the own vehicle, the own vehicle Based on the vehicle information acquisition unit that acquires vehicle information indicating the state of the vehicle, vehicle radar information, and vehicle information acquired by the vehicle information acquisition unit, the predicted route of the host vehicle and the predicted route of the oncoming vehicle are determined before the host vehicle turns right. A driving support determination unit that calculates and determines the possibility of collision with an oncoming vehicle when the host vehicle turns right, and a notification unit that notifies the driver of the determination result by the driving support determination unit. The information on the unstable detected object is also added to the received signal and output, and the driving support determination unit calculates the blind spot range that is the shadow of the oncoming vehicle according to the determination result of the possibility of collision with the oncoming vehicle. Anxiety Of the detected object in the blind spot range is detected as an oncoming vehicle candidate, and for this detected oncoming vehicle candidate, the predicted route is calculated and the possibility of collision with the oncoming vehicle candidate when the vehicle turns right Is determined.
この発明によれば、自車両から照射した電波の対向車からの反射波に基づき、対向車との距離、相対速度および反射波の水平方向の角度を検出する車載レーダ、自車両の状態を示す車両情報を取得する車両情報取得部、車載レーダの情報および車両情報取得部により取得された車両情報に基づき、自車両の右折前に自車両の予想経路および対向車の予想経路を算出し、自車両の右折時の対向車との衝突可能性を判定する運転支援判定部、およびこの運転支援判定部による判定結果を運転手に通知する通知部を備え、車載レーダは、不安定な受信電波についても不安定な検知物体という情報を付加して出力し、運転支援判定部は、対向車との衝突可能性の判定結果に応じて、対向車の影になる死角範囲を算出して、不安定な検知物体の中から死角範囲に存在するものを対向車候補として検出し、この検出した対向車候補についても、予想経路を算出して、自車両の右折時の対向車候補との衝突可能性を判定するので、対向車の影の領域に車両が走行している場合でも、危険を検知して運転手に通知することができる。 According to the present invention, on-vehicle radar that detects the distance from the oncoming vehicle, the relative speed, and the horizontal angle of the reflected wave based on the reflected wave from the oncoming vehicle of the radio wave emitted from the own vehicle, and the state of the own vehicle are shown. Based on the vehicle information acquisition unit that acquires the vehicle information, the information on the in-vehicle radar and the vehicle information acquired by the vehicle information acquisition unit, the predicted route of the host vehicle and the predicted route of the oncoming vehicle are calculated before the vehicle turns right. The vehicle-mounted radar is equipped with a driving support determination unit that determines the possibility of collision with an oncoming vehicle when the vehicle turns right, and a notification unit that notifies the driver of the determination result by the driving support determination unit. In addition, information indicating that the detected object is unstable is output, and the driving support determination unit calculates the blind spot range that is the shadow of the oncoming vehicle according to the determination result of the possibility of collision with the oncoming vehicle, and is unstable. From inside of a sensitive sensing object Since an object in the range is detected as an oncoming vehicle candidate, and an estimated route is calculated for the detected oncoming vehicle candidate, and the possibility of collision with the oncoming vehicle candidate at the time of the right turn of the host vehicle is determined. Even when the vehicle is traveling in the shaded area, it is possible to detect the danger and notify the driver.
実施の形態１．
以下、本発明による運転支援装置について、図を用いて説明する。
図１は、この発明の実施の形態１による運転支援装置の構成を示すブロック図である。
図１において、運転支援装置は、ミリ波レーダ１００（車載レーダ）、車両情報センサ１０１（車両情報取得部）、運転支援判断部１０２（運転支援判定部）、表示装置１０３（通知部）を備える。
Embodiment 1 FIG.
Hereinafter, a driving support device according to the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to Embodiment 1 of the present invention.
In FIG. 1, the driving support device includes a millimeter wave radar 100 (vehicle radar), a vehicle information sensor 101 (vehicle information acquisition unit), a driving support determination unit 102 (driving support determination unit), and a display device 103 (notification unit). .
ミリ波レーダ１００は、自車両前方に取り付けられ、自車両前方にミリ波を照射し、自車両周辺の物体で反射した反射波を受信することで、自車両周辺の物体までの距離、相対速度、角度を算出し、検出した物体の距離、相対速度、角度データを運転支援判断部１０２に出力する。ここで、角度は、物体からの反射波の水平方向の角度であり、ミリ波レーダ１００の正面方向を基準にした角度である。
ミリ波レーダ１００取り付け高さは、他車両の下部空間を電波が通過することを考慮すると、低い位置に取り付ける方が好ましいが、必ずしも低い位置でなくとも良い。また、不安定な検知物体についても出力する。
The millimeter wave radar 100 is mounted in front of the host vehicle, radiates millimeter waves in front of the host vehicle, and receives reflected waves reflected by objects around the host vehicle. The angle is calculated, and the detected distance, relative speed, and angle data of the object are output to the driving support determination unit 102. Here, the angle is an angle in the horizontal direction of the reflected wave from the object, and is an angle based on the front direction of the millimeter wave radar 100.
Considering that radio waves pass through the lower space of other vehicles, it is preferable that the millimeter wave radar 100 is mounted at a low position, but it is not necessarily a low position. It also outputs an unstable sensing object.
このミリ波レーダ１００から送信された電波は、対向車の背後に隠れた車両に対しては、対向車下部の空間などを路面や対向車下部に反射したりしながら通過するため、その受信電力は対向車が存在しない場合に比べ低下し、このため、検知可能状態と不可状態が頻繁に切り替わる場合がある。
また、路面や手前の対向車下部での反射のため、正しい角度から電波が返ってこない場合もあり、角度精度が悪化している場合もある。
通常、このような不安定な検知情報はノイズとして破棄することになるが、本発明では不安定な検知物体という情報を付加して、ミリ波レーダ１００から出力する。
The radio wave transmitted from the millimeter wave radar 100 passes through the space hidden under the oncoming vehicle while reflecting off the space below the oncoming vehicle or the like on the road surface or under the oncoming vehicle. Is lower than when there is no oncoming vehicle, and for this reason, the detectable state and the impossible state may be frequently switched.
In addition, due to reflection on the road surface or the lower part of the oncoming vehicle in front, the radio wave may not return from the correct angle, and the angular accuracy may be deteriorated.
Normally, such unstable detection information is discarded as noise, but in the present invention, information indicating an unstable detection object is added and output from the millimeter wave radar 100.
車両情報センサ１０１は、自車両の速度、ステアリング角、ウィンカスイッチに関する状態を車両情報として検出する。車両情報センサ１０１は、エンジン制御装置やナビゲーション装置など、他の車載装置との通信により、車両情報を受けとっても良い。また、ナビゲーション装置等から、自車両が交差点や右折レーンに入っているか否かの情報を受け取っても良い。
運転支援判断部１０２は、ミリ波レーダ１００や車両情報センサ１０１などの情報に基づき、自車両が右折状態かどうかを判定し、右折中であれば、対向車との衝突可能性を判断し、衝突可能性判断結果を表示装置１０３に出力する。
表示装置１０３は、運転支援判断部１０２の出力を受け、衝突可能性判断結果を、音やランプ、画面表示で、運転手に通知する。なお、この表示装置１０３を省略して、ナビゲーション装置の表示を利用しても良い。
The vehicle information sensor 101 detects the state relating to the speed, steering angle, and blinker switch of the host vehicle as vehicle information. The vehicle information sensor 101 may receive vehicle information through communication with other in-vehicle devices such as an engine control device and a navigation device. Further, information on whether or not the own vehicle is in an intersection or a right turn lane may be received from a navigation device or the like.
The driving support determination unit 102 determines whether the host vehicle is in a right turn state based on information such as the millimeter wave radar 100 and the vehicle information sensor 101. If the vehicle is turning right, the driving support determination unit 102 determines the possibility of a collision with an oncoming vehicle. The collision possibility determination result is output to the display device 103.
The display device 103 receives the output of the driving support determination unit 102 and notifies the driver of the collision possibility determination result by sound, lamp, or screen display. The display device 103 may be omitted and the display of the navigation device may be used.
図３は、交差点での右折時に対向車線が渋滞し、その横を二輪車が通過している一例を示す図である。
図３において、自車両１の右折時に、対向車線が渋滞し、対向車（渋滞）２の横を通過する対向車（二輪車）３がある場合、自車両１のレーダ検知範囲１０のうち、対向車（渋滞）２の影になる死角範囲１１（対向車の影になる領域）ができるため、対向車（二輪車）３と衝突する可能性が発生する。
FIG. 3 is a diagram illustrating an example in which an oncoming lane is congested during a right turn at an intersection, and a motorcycle passes by the traffic lane.
In FIG. 3, when the host vehicle 1 turns right, if the oncoming lane is congested and there is an oncoming vehicle (two-wheeled vehicle) 3 passing next to the oncoming vehicle (traffic jam) 2, the opposite of the radar detection range 10 of the own vehicle 1 Since there is a blind spot range 11 (an area that becomes a shadow of the oncoming vehicle) that becomes the shadow of the car (traffic jam) 2, there is a possibility of collision with the oncoming vehicle (two-wheeled vehicle) 3.
図４は、交差点での右折時に対向車線が渋滞し、隣接車線を対向車が通過している一例を示す図である。
図４において、自車両１の右折時に、対向する１車線が対向車（渋滞）２で渋滞し、その外側の車線を走行する対向車４がある場合、自車両１のレーダ検知範囲１０のうち、対向車（渋滞）２の影になる死角範囲１１ができるため、対向車４と衝突する可能性が発生する。
FIG. 4 is a diagram illustrating an example in which an oncoming lane is congested during a right turn at an intersection and an oncoming vehicle is passing through an adjacent lane.
In FIG. 4, when the host vehicle 1 turns right, when the opposite lane is congested by the oncoming vehicle (congestion) 2 and there is an oncoming vehicle 4 that travels on the outer lane, the radar detection range 10 of the host vehicle 1 Since there is a blind spot range 11 that is a shadow of the oncoming vehicle (traffic jam) 2, there is a possibility of colliding with the oncoming vehicle 4.
図５は、この発明の実施の形態１による運転支援装置の交差点での右折時の自車両の予想経路および対向車の予想経路の一例を示す図である。
図５において、符号１〜３は図３におけるものと同一のものである。図３と同じ状況で、自車両１の予想経路５と対向車（二輪車）３の予想経路６を推定し、衝突可能性を判定する。この予想経路５、６には幅を持たせている。
FIG. 5 is a diagram showing an example of the predicted route of the host vehicle and the predicted route of the oncoming vehicle at the right turn at the intersection of the driving assistance device according to Embodiment 1 of the present invention.
In FIG. 5, reference numerals 1 to 3 are the same as those in FIG. In the same situation as in FIG. 3, the predicted route 5 of the host vehicle 1 and the predicted route 6 of the oncoming vehicle (two-wheeled vehicle) 3 are estimated, and the possibility of collision is determined. The predicted paths 5 and 6 have a width.
次に、動作について説明する。
実施の形態１の運転支援装置は、ミリ波レーダ１００から見て、渋滞により停車している対向車に隠されて直接検知ができない領域を車両が走行している場合でも、渋滞している対向車下部の空間を、電波が路面や対向車下部に反射したりして通過し、対向車に隠されて直接検知ができない領域に存在する車両で反射し、反射波が返ってくることを利用する。
このような反射波が受信された場合には、渋滞中の対向車に隠されて直接検知ができない領域から車両が接近していると判断し、危険を判断して運転手に通知することで、より安全な運転支援を行う。
Next, the operation will be described.
The driving support apparatus according to the first embodiment is confronted with traffic jams even when the vehicle is traveling in a region hidden by an oncoming vehicle that is stopped due to traffic jams and cannot be directly detected as viewed from the millimeter wave radar 100. Uses the fact that radio waves pass through the space below the vehicle, reflecting off the road surface and on the other side of the oncoming vehicle, reflected by the vehicle that is hidden by the oncoming vehicle and cannot be detected directly, and the reflected wave returns. To do.
When such a reflected wave is received, it is determined that the vehicle is approaching from an area that cannot be detected directly because it is hidden by an oncoming vehicle in a traffic jam, and the driver is informed of the danger. , Provide safer driving assistance.
図３、図４に示すような状況では、交差点を右折する自車両１が、対向車（二輪車）３や対向車４と衝突する可能性が出てくるが、実施の形態１では、図５に示すように、右折する自車両１の予想経路５と、渋滞の影になる死角範囲１１にいる対向車（二輪車）３の予想経路６を推定し、衝突可能性を判定して、判定結果を運転手に通知するようにした。
この予想経路は、図４に示す対向車４の場合にも推定され、図５と同様に衝突可能性が判定される。
3 and 4, there is a possibility that the own vehicle 1 turning right at the intersection will collide with the oncoming vehicle (two-wheeled vehicle) 3 or the oncoming vehicle 4. In the first embodiment, FIG. As shown in FIG. 4, the predicted route 5 of the host vehicle 1 turning right and the predicted route 6 of the oncoming vehicle (two-wheeled vehicle) 3 in the blind spot range 11 in the shadow of the traffic jam are estimated, and the possibility of collision is determined. Was notified to the driver.
This predicted route is also estimated in the case of the oncoming vehicle 4 shown in FIG. 4, and the possibility of collision is determined in the same manner as in FIG.
以下に、運転支援判断部１０２の動作を、図２のフローチャートを用いて詳細に説明する。
まず、ステップＳ２００で、ミリ波レーダ１００からの情報を受信する。ミリ波レーダ１００からの情報には、検知物体の情報と、不安定な検知物体の情報が含まれる。各物体の情報には距離、相対速度、角度、不安定な検知物体か否か、などの情報が含まれる。
Below, operation | movement of the driving assistance judgment part 102 is demonstrated in detail using the flowchart of FIG.
First, in step S200, information from the millimeter wave radar 100 is received. Information from the millimeter wave radar 100 includes information on a detected object and information on an unstable detected object. Information on each object includes information such as distance, relative speed, angle, and whether or not the object is an unstable detection object.
次に、ステップＳ２０１で、自車両が右折前の状態か否かを判定する。この判定方法としては、ウィンカスイッチが右折状態となっている、ハンドルを右に切った状態で停止している、ナビゲーション装置により、自車が右折車線や交差点中央付近に位置している、ことなどから判定する。
右折前の状態でなければ、ステップＳ２１９で、衝突可能性なしとして、ステップＳ２２０へ進む。
Next, in step S201, it is determined whether or not the host vehicle is in a state before the right turn. As this judgment method, the blinker switch is in the right turn state, the vehicle is stopped with the steering wheel turned to the right, or the own vehicle is located in the right turn lane or near the center of the intersection by the navigation device, etc. Judgment from.
If it is not the state before the right turn, it is determined in step S219 that there is no possibility of collision, and the process proceeds to step S220.
右折前の状態であれば、ステップＳ２０２で、ミリ波レーダ１００が出力する検知物体情報から、対向車の情報を選択する。
ここで、対向車は不安定な検知物体以外から選択し、不安定な検知物体は対向車とはしない。また、ナビゲーション装置などから対向車線の車線数、道路形状が得られる場合は、これらの情報にミリ波レーダ１００の出力を重ねることで、対向車線上に存在する検知物体を選択し、対向車とする。
対向車線の情報が得られない場合は、自車両の過去の動きから道路形状を推定するか、直線路を仮定する。また、前方監視カメラ等が自車両に搭載されていれば、白線情報から得られる車線情報を利用しても良い。
If it is the state before the right turn, information on the oncoming vehicle is selected from the detected object information output by the millimeter wave radar 100 in step S202.
Here, the oncoming vehicle is selected from other than the unstable sensing object, and the unstable sensing object is not regarded as the oncoming vehicle. In addition, when the number of lanes and road shape of the oncoming lane can be obtained from a navigation device or the like, the detected object existing on the oncoming lane is selected by superimposing the output of the millimeter wave radar 100 on these information, and To do.
When the information on the oncoming lane cannot be obtained, the road shape is estimated from the past movement of the host vehicle or a straight road is assumed. Further, if a front monitoring camera or the like is mounted on the host vehicle, lane information obtained from white line information may be used.
次に、ステップＳ２０３では、ステップＳ２０２で対向車が１つも選択されなかった場合には、ステップＳ２１９で、衝突可能性なしとして、処理を終了する（ステップＳ２２０）。 Next, in step S203, if no oncoming vehicle is selected in step S202, the process is terminated in step S219, assuming that there is no possibility of collision (step S220).
対向車がある場合には、ステップＳ２０４では、自車両が右折を開始した場合に対向車と衝突する可能性を判断するため、自車両の予想経路と対向車の予想経路を推定する。
対向車の予想経路は、過去の対向車の距離、角度、速度の推移から、その動きが継続すると仮定して推定する（例えば等速直線運動をしていれば、そのままその状態が継続すると仮定）。
一方、自車両は、ナビゲーション装置などにより得られる自車両の交差点上での位置や右折後の道路形状から予想経路を推定する。自車両の交差点上での位置や右折後の道路形状が得られない場合は、過去の自車経路から所定の角度で右折すると仮定して予想経路を推定しても良い。
自車両、対向車いずれの予想経路も、旋回半径や速度に所定の幅を持たせることで、図５のように、幅を持った予想経路としても良い。
When there is an oncoming vehicle, in step S204, in order to determine the possibility of collision with the oncoming vehicle when the own vehicle starts a right turn, the expected route of the own vehicle and the expected route of the oncoming vehicle are estimated.
The oncoming vehicle's predicted route is estimated from the distance, angle, and speed transition of the past oncoming vehicle, assuming that the movement will continue (for example, assuming that it is in constant velocity linear motion, the state will continue as it is. ).
On the other hand, the host vehicle estimates the predicted route from the position of the host vehicle on the intersection obtained by a navigation device or the like and the road shape after the right turn. When the position on the intersection of the own vehicle or the road shape after the right turn cannot be obtained, the predicted route may be estimated on the assumption that the vehicle turns right at a predetermined angle from the past own vehicle route.
The predicted route of both the host vehicle and the oncoming vehicle may be a predicted route having a width as shown in FIG. 5 by giving a predetermined width to the turning radius and speed.
次に、ステップＳ２０５では、自車両の予想経路と各対向車の予想経路から、各対向車との衝突可能性を判定する。例えば、衝突可能性を高、中、低の３段階とし、自車両が右折完了するまでの、自車両の予想位置と各対向車の予想位置との差が、衝突可能性高と判断される閾値より小さくなった場合には、衝突可能性高とし、衝突可能性中と判断される閾値より小さくなった場合は衝突可能性中と判定する。衝突可能性低も同様で、
閾値（衝突可能性高）＜閾値（衝突可能性中）＜閾値（衝突可能性低）
である。
右折完了までに対向車が自車両予想経路に到達しない場合は、衝突可能性なしとする。
Next, in step S205, the possibility of collision with each oncoming vehicle is determined from the predicted route of the host vehicle and the predicted route of each oncoming vehicle. For example, the possibility of collision is defined as three stages of high, medium, and low, and the difference between the predicted position of the own vehicle and the predicted position of each oncoming vehicle until the own vehicle completes a right turn is determined as the high possibility of collision. When it becomes smaller than the threshold value, it is determined that the possibility of collision is high, and when it becomes smaller than the threshold value that is judged as the possibility of collision, it is determined that the possibility of collision is present. The same is true for the low possibility of collision.
Threshold value (high possibility of collision) <Threshold value (medium possibility of collision) <Threshold value (low possibility of collision)
It is.
If the oncoming vehicle does not reach the predicted route until the right turn is completed, there is no possibility of collision.
次に、ステップＳ２０６では、対向車が停止もしくは極低速で走行している、すなわち渋滞状態である対向車が存在するか否かを確認する。より具体的には、渋滞状態かつ、衝突可能性中または低またはなし、である対向車が存在するか否かを確認する。
この条件を満たす場合（存在する場合）にはステップＳ２０７に進み、満たさない場合は、ステップＳ２２０に進む。
Next, in step S206, it is confirmed whether the oncoming vehicle is stopped or traveling at an extremely low speed, that is, there is an oncoming vehicle that is in a congested state. More specifically, it is confirmed whether or not there is an oncoming vehicle that is in a congested state and has a collision possibility of medium or low or none.
If this condition is satisfied (if it exists), the process proceeds to step S207. If not satisfied, the process proceeds to step S220.
ステップＳ２０７では、渋滞状態にある対向車の背後となる死角範囲を算出する。死角範囲は、渋滞状態にある各対向車の角度を中心に、想定される車の幅に所定の想定誤差角度を加えた角度範囲とする。
複数の対向車による死角範囲が重なっている場合には、合わせて１つの死角範囲とする。
In step S207, a blind spot range behind the oncoming vehicle in a traffic jam state is calculated. The blind spot range is an angle range obtained by adding a predetermined assumed error angle to the assumed vehicle width around the angle of each oncoming vehicle in a congested state.
When the blind spot ranges by a plurality of oncoming vehicles overlap, a single blind spot range is set.
次いで、ステップＳ２０８では、不安定な検知物体の中から、ステップＳ２０６の条件を満たす対向車より自車両との距離が大きい、かつステップＳ２０７で設定した死角範囲内にある、不安定な検知物体を選択する。
以降、選択した不安定な検知物体を対向車候補と呼ぶ。
Next, in step S208, among the unstable detection objects, unstable detection objects that are larger in distance from the host vehicle than the oncoming vehicle that satisfies the condition in step S206 and that are within the blind spot range set in step S207 are detected. select.
Hereinafter, the selected unstable detected object is referred to as an oncoming vehicle candidate.
ステップＳ２０９では、対向車候補が選択されたか否かを判定し、１つでも選択された場合、ステップＳ２１０に進む。１つもなければ、ステップＳ２２０に進む。 In step S209, it is determined whether an oncoming vehicle candidate has been selected. If even one is selected, the process proceeds to step S210. If there is none, the process proceeds to step S220.
ステップＳ２１０では、各対向車候補の予想経路を推定する。対向車候補は不安定な検知物体であるため、角度情報精度が悪いと想定して、推定には使用せず、距離、速度のみを利用する。角度情報を使用しない代わりに、対向車の横を通り抜けると仮定して予想経路を推定する。 In step S210, the predicted route of each oncoming vehicle candidate is estimated. Since the oncoming vehicle candidate is an unstable sensing object, it is assumed that the angle information accuracy is poor and is not used for estimation, but only distance and speed are used. Instead of using the angle information, the predicted route is estimated on the assumption that the vehicle passes by the oncoming vehicle.
次に、ステップＳ２１１では、自車両の予想経路と各対向車候補の予想経路から、各対向車候補との衝突可能性を判定する。この判定方法は、ステップＳ２０５と同じとする。ただし、不安定な検知物体であるため、衝突可能性は中、低、最低のみとする。 Next, in step S211, the possibility of collision with each oncoming vehicle candidate is determined from the predicted route of the host vehicle and the predicted route of each oncoming vehicle candidate. This determination method is the same as step S205. However, since it is an unstable sensing object, the possibility of collision is only medium, low, and minimum.
次に、ステップＳ２２０では、対向車および対向車候補が１つ以上存在した場合、それぞれの衝突可能性から、一番衝突可能性が高いものを選択し、これを最終的な衝突可能性とする。 Next, in step S220, when there are one or more oncoming vehicles and oncoming vehicle candidates, the one having the highest possibility of collision is selected from the respective collision possibilities, and this is set as the final collision possibility. .
実施の形態１によれば、対向車が渋滞等により停車している場合、対向車に隠されて直接検知ができない領域に車両が走行している場合にも、適切に危険検知し、運転手に通知することで、より安全な運転支援を行うことができる。 According to the first embodiment, when the oncoming vehicle is stopped due to traffic congestion or the like, even when the vehicle is traveling in an area that is hidden by the oncoming vehicle and cannot be detected directly, the danger is detected appropriately, and the driver It is possible to provide safer driving assistance by notifying to.
なお、上述の実施の形態１の説明では、予想経路の推定を単純な方法で推定しているが、例えばナビゲーション装置からの情報により、道路形状、交差点形状、対向車線の形状や右折レーンや直進レーンの情報などから、より正確に予想経路を算出しても良い。 In the description of the first embodiment described above, the estimated route is estimated by a simple method. However, for example, based on information from the navigation device, the road shape, the intersection shape, the shape of the oncoming lane, the right turn lane, and straight ahead The predicted route may be calculated more accurately from lane information or the like.
また、実施の形態１では、運転手への通知手段として、音と光（映像）を用いているが、例えば衝突可能性が高いときはアクセルを踏んでも加速をしにくくする、ブレーキをかけるなどの自車両の動作自体を制御することで、運転手へ危険を通知しても良い。 In the first embodiment, sound and light (video) are used as means for notifying the driver. For example, when the possibility of a collision is high, acceleration is difficult even if the accelerator is depressed, braking is applied, etc. The driver may be notified of the danger by controlling the operation of the vehicle.
なお、本発明は、その発明の範囲内において、実施の形態を適宜、変形、省略することが可能である。 In the present invention, the embodiments can be appropriately modified and omitted within the scope of the invention.
１ 自車両、２ 対向車（渋滞）、３ 対向車（二輪車）、４ 対向車、５ 予想経路、６ 予想経路、１０ レーダ検知範囲、１１ 死角範囲、１００ ミリ波レーダ、１０１ 車両情報センサ、１０２ 運転支援判断部、１０３ 表示装置 DESCRIPTION OF SYMBOLS 1 Own vehicle, 2 Oncoming vehicle (congestion), 3 Oncoming vehicle (two-wheeled vehicle), 4 Oncoming vehicle, 5 Expected route, 6 Expected route, 10 Radar detection range, 11 Blind range, 100 Millimeter wave radar, 101 Vehicle information sensor, 102 Driving support determination unit, 103 display device
Claims (2)
自車両の状態を示す車両情報を取得する車両情報取得部、
上記車載レーダの情報および上記車両情報取得部により取得された車両情報に基づき、自車両の右折前に自車両の予想経路および上記対向車の予想経路を算出し、自車両の右折時の上記対向車との衝突可能性を判定する運転支援判定部、
およびこの運転支援判定部による判定結果を運転手に通知する通知部を備え、
上記車載レーダは、不安定な受信電波についても不安定な検知物体という情報を付加して出力し、
上記運転支援判定部は、上記対向車との衝突可能性の判定結果に応じて、上記対向車の影になる死角範囲を算出して、上記不安定な検知物体の中から上記死角範囲に存在するものを対向車候補として検出し、
この検出した上記対向車候補についても、予想経路を算出して、自車両の右折時の上記対向車候補との衝突可能性を判定することを特徴とする運転支援装置。 On-vehicle radar that detects the distance from the oncoming vehicle, the relative speed, and the horizontal angle of the reflected wave based on the reflected wave from the oncoming vehicle of radio waves emitted from the host vehicle,
A vehicle information acquisition unit for acquiring vehicle information indicating the state of the host vehicle;
Based on the information on the in-vehicle radar and the vehicle information acquired by the vehicle information acquisition unit, the predicted route of the host vehicle and the predicted route of the oncoming vehicle are calculated before the right turn of the host vehicle, and the facing at the time of the host vehicle turning right A driving support determination unit for determining the possibility of collision with a car,
And a notification unit for notifying the driver of the determination result by the driving support determination unit,
The above-mentioned in-vehicle radar adds the information of unstable sensing object to unstable received radio waves and outputs it,
The driving support determination unit calculates a blind spot range that is a shadow of the oncoming vehicle according to the determination result of the possibility of collision with the oncoming vehicle, and exists in the blind spot range from among the unstable detected objects. Are detected as oncoming vehicles,
A driving assistance apparatus characterized by calculating a predicted route for the detected oncoming vehicle candidate and determining the possibility of collision with the oncoming vehicle candidate when the host vehicle turns right.
上記対向車候補の衝突可能性の判定を、上記対向車が渋滞状態と判定された場合かつ上記対向車との衝突可能性が高くない場合に行うことを特徴とする請求項１記載の運転支援装置。 The driving support determination unit determines whether the oncoming vehicle is in a traffic jam state,
The driving assistance according to claim 1, wherein the collision possibility of the oncoming vehicle candidate is determined when the oncoming vehicle is determined to be in a congested state and when the collision possibility with the oncoming vehicle is not high. apparatus.
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