JP6253928B2 - Collision avoidance support device - Google Patents

Description

  The present invention relates to a collision avoidance assistance device.

  2. Description of the Related Art Conventionally, for example, when turning right or left when a vehicle makes a large turn over a short traveling distance, a phenomenon in which the rear end of the vehicle protrudes into an adjacent lane (so-called “bottom swing”) may occur. As a technique related to such a tail swing, for example, Patent Literature 1 describes a potential risk degree warning device that promotes a contact preventive driving with another vehicle traveling in an adjacent lane.

  In the apparatus described in Patent Document 1, the potential risk of contact is estimated from the vehicle type of another vehicle running in parallel in the adjacent lane, the shape of the front road, the lane on which the host vehicle runs, and the other vehicle is particularly large. In the case of a vehicle, the potential risk level is estimated in anticipation of an increase in the width of other vehicles passing due to overhang during turning. And it is aimed at issuing a warning to the driver of the own vehicle according to the potential risk.

JP 2007-148964 A

  By the way, in general, when the host vehicle turns right or left, the driver of the host vehicle mirrors the rear side opposite to the traveling direction (that is, the right rear side when turning left or the left rear side when turning right). However, the confirmation load on other parts (such as inner ring difference on the traveling direction side) is large. Therefore, after the own vehicle starts making a right or left turn, for example, when the other vehicle approaches at a high speed in order to pass the own vehicle, the other vehicle may be easily overlooked.

  In view of such circumstances, in recent collision avoidance assistance devices, there is an increasing need to further prevent a collision with another vehicle approaching from behind the host vehicle when turning right or left. In the case of a large vehicle such as a commercial vehicle, the amount of protrusion of the tail swing becomes large, which becomes remarkable.

  Then, this invention makes it a subject to provide the collision avoidance assistance apparatus which can prevent further the collision with the other vehicle approaching from the back of the own vehicle at the time of the right-left turn.

  In order to solve the above-described problem, a collision avoidance assistance device according to the present invention is mounted on a host vehicle and performs collision avoidance support for avoiding a collision with another vehicle approaching from behind the host vehicle. A detection means including a left rear side detection unit that detects a situation on the left rear side of the host vehicle, and a right rear side detection unit that detects a situation on the right rear side of the host vehicle, and avoidance An avoidance support execution means for executing support, and a control means for controlling the operation of the avoidance support execution means based on a detection result by the detection means. The control means is located on the left rear side when the host vehicle turns right. When an approach of another vehicle is detected from the detection result by the detection unit, avoidance support is executed.When the host vehicle turns left, when an approach of another vehicle is detected from the detection result by the right rear side detection unit, the avoidance support is performed. It is made to perform.

  A collision avoidance assistance device according to the present invention is a collision avoidance assistance device that is installed in a host vehicle and performs avoidance support for avoiding a collision with another vehicle approaching from behind the host vehicle. Based on the detection means including the right rear side detection unit for detecting the right rear side state, the avoidance support execution means for executing avoidance support, and the detection result by the detection means, the operation of the avoidance support execution means is controlled. Control means, and when the host vehicle makes a left turn, when the approach of another vehicle is detected from the detection result by the right rear side detection unit, avoidance assistance is executed.

  A collision avoidance assistance device according to the present invention is a collision avoidance assistance device that is installed in a host vehicle and performs avoidance support for avoiding a collision with another vehicle approaching from behind the host vehicle. Based on the detection result including the left rear side detection unit for detecting the situation on the left rear side, the avoidance support execution means for executing avoidance support, and the detection result by the detection means, the operation of the avoidance support execution means is controlled. Control means, and when the host vehicle turns to the right, when the approach of another vehicle is detected from the detection result by the left rear side detection unit, avoidance assistance is executed.

  According to these collision avoidance support devices, when a left or right turn, for example, when another vehicle approaches from the rear side opposite to the traveling direction of the host vehicle for overtaking, the avoidance support for the other vehicle can be executed. it can. Thereby, even when a tail swing occurs at the time of a right or left turn (that is, the rear end of the own vehicle protrudes into the adjacent lane), it is possible to suitably prevent a collision with the other vehicle. In other words, it is possible to further prevent a collision with another vehicle approaching from behind the host vehicle when turning right or left.

  In addition, the control means determines whether or not there is a protrusion to the adjacent lane at the rear end of the own vehicle based on the vehicle speed and the steering speed of the own vehicle. It is preferable to make it. In this case, the avoidance support can be executed according to the presence or absence of the tail swing.

  Further, it is preferable that the control means determines that the protrusion is present when the vehicle speed is equal to or lower than a predetermined vehicle speed and the steering speed is equal to or higher than the predetermined steering speed. In this case, the presence / absence of the tail swing can be suitably determined.

  In addition, as a specific configuration that exhibits the above-described effects, the control means has a map that shows a correlation between the vehicle speed and the steering speed of the host vehicle and the presence or absence of the protrusion, and the presence or absence of the protrusion is determined using the map. The structure to do is mentioned.

  Moreover, it is preferable that an avoidance assistance execution means includes the alerting part which alerts the approach of another vehicle with respect to the driver of the own vehicle. In this case, when turning right or left, it is possible to perform alerting for other vehicles approaching from the rear side opposite to the traveling direction of the host vehicle as avoidance assistance.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the collision avoidance assistance apparatus which can prevent further the collision with the other vehicle approaching from the back of the own vehicle at the time of the left-right turn.

It is a block diagram which shows the collision avoidance assistance apparatus which concerns on embodiment. It is an overhead view explaining an example of the road condition where the avoidance support by the collision avoidance support device of FIG. 1 is performed. It is a figure which shows an example of the tail swing determination map in the collision avoidance assistance apparatus of FIG. It is a flowchart which shows operation | movement of the collision avoidance assistance apparatus of FIG.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  1 is a block diagram illustrating a collision avoidance assistance device according to an embodiment, FIG. 2 is an overhead view for explaining an example of a road situation where avoidance assistance is performed by the collision avoidance assistance device of FIG. 1, and FIG. 3 is a collision avoidance of FIG. It is a figure which shows an example of the bottom swing determination map in a assistance apparatus. As shown in FIGS. 1 and 2, the collision avoidance assistance device 1 is installed in the host vehicle V and performs avoidance support for avoiding a collision with another vehicle T approaching from behind the host vehicle V.

  In particular, the collision avoidance assisting apparatus 1 according to the present embodiment approaches from the rear of the host vehicle V and passes the side opposite to the traveling direction of the host vehicle V when a tail swing occurs when the host vehicle V turns right or left. A collision with another vehicle T to be attempted is prevented. Examples of the host vehicle V to be applied include commercial vehicles such as large trucks and buses. The host vehicle V is not particularly limited, and may be, for example, a large vehicle, a medium-sized vehicle, a normal passenger car, a small vehicle, or a light vehicle.

  The collision avoidance assistance device 1 includes a left rear side detector 2 constituting a left rear side detector (detecting means) and a right rear side detector 3 constituting a right rear side detector (detecting means). And an HMI device 4 constituting an alerting part (avoidance support execution means) and an ECU 5 constituting a control means.

  The left rear side detector 2 is a sensor that detects the situation on the left rear side of the host vehicle V, and for example, a radio wave radar is used. For example, the left rear side detector 2 emits a radar to the left rear side of the host vehicle V, and detects a reflected wave reflected by the other vehicle T as an object, thereby detecting the distance to the other vehicle T. And information such as relative speed is acquired.

  The right rear side detector 3 is a detector that detects the situation on the right rear side of the host vehicle V. For example, a radio wave radar is used in the same manner as the left rear side detector 2. For example, the right rear side detector 3 emits a radar to the right rear side of the host vehicle V, and detects a reflected wave reflected by the other vehicle T as an object, whereby the distance to the other vehicle T is detected. And information such as relative speed is acquired.

  An HMI (Human Machine Interface) device 4 issues a warning to the driver by at least one of sound, display, and bodily sensation, and notifies the driver of the approach of the other vehicle T. The ECU (Electronic Control Unit) 5 controls the operation of the HMI device 4 based on the detection results of the left rear side detector 2 and the right rear side detector 3, for example, CPU (Central Processing Unit), ROM (Read Only Memory) and a computer including a RAM (Random Access Memory).

  The ECU 5 is connected to the left rear side detector 2 and receives a signal related to the detection result from the left rear side detector 2. Similarly, the ECU 5 is connected to the right rear side detector 3, and a signal related to the detection result is input from the right rear side detector 3. The input detection result includes at least the presence or absence of an approaching other vehicle T, the position of the other vehicle T, and the relative speed of the other vehicle T.

  The ECU 5 is connected to a vehicle CAN (Controller Area Network), and receives at least information related to the operation of various devices of the host vehicle V, information related to the driving operation of the driver, and information related to the traveling state of the host vehicle V. The information input by the vehicle CAN includes at least the operating state of the winker, the vehicle speed, and the steering speed. The ECU 5 is connected to the HMI device 4 and outputs a signal related to ON / OFF of alerting to the HMI device 4.

  Further, the ECU 5 has a tail swing map M (see FIG. 3), and using this bottom swing map M, the presence or absence of a tail swing of the host vehicle V (the protrusion of the rear end of the vehicle to the adjacent lane 10) is determined. judge. The tail swing map M indicates the correlation between the vehicle speed and steering speed of the host vehicle V and the presence or absence of tail swing (protruding), and is stored in the ECU 5 in advance. The tail swing map M can be set by calculation or actual measurement, for example. In the tail swing map M shown in FIG. 3, when the vehicle speed is equal to or lower than the predetermined vehicle speed α and the steering speed is equal to or higher than the predetermined steering speed β, it is determined that there is a tail swing, while at other vehicle speeds and steering speeds. It is determined that there is no bottom swing.

  When the host vehicle V turns right, the ECU 5 determines whether or not the host vehicle V swings using the tail map M, and when there is a tail swing, the left rear side detector 2 detects the other vehicle T. When the approach is detected, the HMI device 4 is turned on and alerting is executed. Similarly, when the host vehicle V makes a left turn, the ECU 5 determines whether or not the host vehicle V swings using the bottom swing map. When there is a bottom swing, the right rear side detector 3 detects the other vehicle T. When the approach is detected, the HMI device 4 is turned on and alerting is executed.

  Next, an example of operation | movement of the collision avoidance assistance apparatus 1 mentioned above is demonstrated, referring the flowchart of FIG.

  FIG. 4 is a flowchart showing the operation of the collision avoidance assistance device of FIG. As shown in FIG. 4, first, it is determined whether or not the winker is operating based on the information regarding the operating state of the winker input by the vehicle CAN (S1). When the winker is operating, the signals of the rear side detectors 2 and 3 on the side opposite to the direction of the left / right turn indicated by the operating winker are read (S2).

  That is, when the right winker is in operation, it is determined that the host vehicle V is turning right, and the signal of the left rear side detector 2 whose detection target is the opposite side of the traveling direction of the host vehicle V is read by the ECU 5. On the other hand, when the left turn signal is in operation, the host vehicle V is determined to turn left, and the ECU 5 reads the signal of the right rear side detector 3 whose detection target is the opposite side of the traveling direction of the host vehicle V.

  Subsequently, based on the signal of the read left rear side detector 2 or right rear side detector 3, whether or not there is another vehicle T approaching within a certain distance on the opposite side of the traveling direction of the host vehicle V Is determined (S3). When there is another vehicle T approaching within a certain distance, a tail swing determination is performed (S4).

  In the tail swing determination, the bottom swing map M is used, and the presence or absence of the tail swing of the host vehicle V is determined from the vehicle speed and the steering speed input by the vehicle CAN. For example, when the steering speed that is quickly steered when the vehicle speed is low and equal to or lower than a predetermined vehicle speed α is equal to or higher than the predetermined steering speed β, it is determined that there is a tail swing. When the vehicle speed is higher than the predetermined vehicle speed α or when the steering speed is lower than the predetermined steering speed β, it is determined that there is no tail swing.

  Subsequently, when it is determined that there is a tail swing, the alerting by the HMI device 4 is turned ON, whereby the other vehicle T is approaching the rear side opposite to the traveling direction of the host vehicle V. A warning is issued to the driver (S5). Then, the process proceeds to S1. On the other hand, in the case of No in S1, S3, and S4, the alerting by the HMI device 4 is turned off, and the process proceeds to S1 (S6).

  As described above, in the collision avoidance assistance device 1 according to the present embodiment, the left rear side detector 2 and the right rear side detector 3 that monitor the left and right rear sides of the host vehicle V are provided. Therefore, the other vehicle T approaching from the rear side opposite to the traveling direction of the host vehicle V is detected, and a warning about the other vehicle T is issued to the driver. Accordingly, it is possible to suppress oversight by prompting the driver to reconfirm the rear side on the opposite side in the traveling direction. As a result, even when, for example, a tail swing occurs, a collision with the other vehicle T can be preferably prevented, that is, a collision with another vehicle approaching from the rear of the host vehicle V can be further prevented when turning right or left.

  In the present embodiment, as described above, the presence / absence of the tail swing is determined, and the alert is executed when it is determined that there is the bottom swing. Therefore, it is possible to execute avoidance support for avoiding a collision with another vehicle T according to the presence or absence of the tail swing (corresponding to the presence or absence of the tail swing).

  Further, in the present embodiment, as described above, when the vehicle speed is equal to or lower than the predetermined vehicle speed α and the steering speed is equal to or higher than the predetermined steering speed β, it is determined that there is a tail swing. Thereby, it is possible to determine the presence / absence of the tail swinging appropriately and specifically.

  Further, in the present embodiment, as described above, the HMI device 4 is provided, and alerting about the other vehicle T can be executed as avoidance support. The avoidance support execution means for executing the avoidance support is not limited to the HMI device 4, and various means can be used as long as the support for avoiding a collision with another vehicle T can be executed. Can be used.

  Note that the amount of protrusion of the tail swing increases as the wheel base and the rear overhang become longer, and becomes conspicuous in the case of a large truck or bus such as the host vehicle V (for example, occurs about 1 m). Therefore, it can be said that the above effect of preventing a collision between the own vehicle V and the other vehicle T in which the tail swings is effective in the present embodiment.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments. The present invention can be modified without departing from the scope described in the claims or applied to other embodiments. May be.

  For example, in the above embodiment, the radio wave radar is used as the left rear side detector 2 and the right rear side detector 3, but the present invention is not limited to this, and a camera or the like may be used. Moreover, although the operating state of the turn signal, the vehicle speed, and the steering speed of the host vehicle V are acquired by the vehicle CAN, it may be acquired by a separately provided sensor instead of or in addition to this.

  Further, the above embodiment may include only one of the left rear side detector 2 and the right rear side detector 3. For example, when only the left rear side detector 2 is provided, the ECU 5 executes only avoidance support when the approach of the other vehicle T is detected from the detection result of the left rear side detector 2 when the host vehicle V turns right. On the other hand, for example, when only the right rear side detector 3 is provided, the ECU 5 executes only avoidance support when the approach of the other vehicle T is detected from the detection result of the right rear side detector 3 when the host vehicle V turns left.

  DESCRIPTION OF SYMBOLS 1 ... Collision avoidance assistance apparatus, 2 ... Left rear side detector (left rear side detection part, detection means), 3 ... Right rear side detector (right rear side detection part, detection means), 4 ... HMI Device (avoidance support execution means, attention raising section), 5 ... ECU (control means), M ... tail swing map (map), T ... other vehicle, V ... own vehicle.

Claims (9)

A collision avoidance support device that performs avoidance support for avoiding a collision with another vehicle that is mounted on the host vehicle and approaches from behind the host vehicle,
Detection means including a left rear side detection unit that detects a left rear side situation of the host vehicle, and a right rear side detection unit that detects a right rear side situation of the host vehicle,
Avoidance support execution means for executing the avoidance support;
Control means for controlling the operation of the avoidance support execution means based on the detection result by the detection means,
The control means includes
When the host vehicle turns right, when the approach of the other vehicle from the left rear side of the host vehicle is detected from the detection result by the left rear side detection unit, the avoidance support is executed,
When the host vehicle makes a left turn, the avoidance support is executed when the approach of the other vehicle from the right rear side of the host vehicle is detected from the detection result by the right rear side detection unit. Collision avoidance support device. A collision avoidance support device that performs avoidance support for avoiding a collision with another vehicle that is mounted on the host vehicle and approaches from behind the host vehicle,
A detection means including a right rear side detection unit for detecting a right rear side situation of the host vehicle;
Avoidance support execution means for executing the avoidance support;
Control means for controlling the operation of the avoidance support execution means based on the detection result by the detection means,
The control means includes
When the host vehicle makes a left turn, the avoidance support is executed when the approach of the other vehicle from the right rear side of the host vehicle is detected from the detection result by the right rear side detection unit. Collision avoidance support device. A collision avoidance support device that performs avoidance support for avoiding a collision with another vehicle that is mounted on the host vehicle and approaches from behind the host vehicle,
Detection means including a left rear side detection unit for detecting a situation of the left rear side of the host vehicle;
Avoidance support execution means for executing the avoidance support;
Control means for controlling the operation of the avoidance support execution means based on the detection result by the detection means,
The control means includes
When the host vehicle makes a right turn, the avoidance support is executed when the approach of the other vehicle from the left rear side of the host vehicle is detected from the detection result by the left rear side detection unit. Collision avoidance support device. The control means includes
Based on the vehicle speed and the steering speed of the host vehicle, it is determined whether or not there is a protrusion to the adjacent lane at the rear end of the host vehicle,
When the vehicle turns left, claims wherein when it is determined that the previous SL protrusion is present to the adjacent lane on the right side in the vehicle rear portion of the vehicle, thereby performing the avoidance assist, characterized by The collision avoidance assistance device according to 1 or 2 . The control means includes
Based on the vehicle speed and the steering speed of the host vehicle, it is determined whether or not there is a protrusion to the adjacent lane at the rear end of the host vehicle,
The avoidance support is executed when it is determined that the vehicle protrudes to the adjacent lane on the left side at the rear end of the vehicle when the vehicle turns right. Or the collision avoidance assistance apparatus of 3 description. Wherein, when said vehicle speed is and the steering speed below a predetermined vehicle speed is higher than the predetermined steering speed, determining that the protrusion is present, the collision avoidance assistance system according to claim 4 or 5, wherein. The control means includes a map indicating a correlation between a vehicle speed and a steering speed of the host vehicle and the presence or absence of the protrusion, and determines whether or not the protrusion is generated using the map. The collision avoidance assistance device according to any one of Items 4 to 6 . The collision avoidance support according to any one of claims 1 to 7 , wherein the avoidance support execution means includes a warning part that alerts the driver of the host vehicle to approach the other vehicle. apparatus. The collision avoidance assistance device according to any one of claims 1 to 8, wherein the host vehicle is a large vehicle.

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