JP6354646B2 - Collision avoidance support device - Google Patents

Description

  The present invention relates to a collision avoidance assistance device that avoids a collision between a host vehicle and an object.

  Conventionally, Patent Document 1 below is known as a technical document related to a collision avoidance support device that avoids a collision between the host vehicle and an object. Patent Document 1 describes a device that performs brake control of the host vehicle as collision avoidance assistance for avoiding a collision between the target object and the host vehicle when the target is detected by a radar sensor or a camera. .

JP 2014-222462 A

  By the way, when both the radar sensor and the camera are provided, the detection range of the radar sensor is wider than the detection range of the camera, and therefore there is a situation where the object is detected only by the radar sensor. However, if the collision avoidance support based on only the detection result of the radar sensor is performed in such a situation, sufficient reliability cannot be ensured, and the collision avoidance support may become an unnecessary operation.

  Therefore, in this technical field, it is desired to provide a collision avoidance support device that can suppress the collision avoidance support from becoming an unnecessary operation.

In order to solve the above problems, the present invention provides a camera mounted on a host vehicle and having a camera detection range extending in front of the host vehicle, and a radar mounted on the host vehicle and extending in front of the host vehicle over a wider range than the camera detection range. A radar sensor having a detection range; and an object determination unit that determines whether there is an object that is not included in the camera detection range but included in the radar detection range based on the detection result of the camera and the detection result of the radar sensor. When the object determining unit determines that the object exists, the angle between the approach direction of the object with respect to the host vehicle and the front-rear direction of the host vehicle is within a predetermined angle range based on the detection result of the radar sensor. and whether the determined angle judging unit either included, if the angle is determined to be included in the angle range by the angle determining section, on the basis of the detection result of the radar sensor, the object and the vehicle If the proximity possibility determination unit that determines whether or not there is a proximity possibility and the proximity possibility determination unit determines that there is a possibility of proximity between the object and the host vehicle, the object is included in the camera detection range. A vehicle control unit that performs a slow brake control of the host vehicle, and a collision that determines whether there is a collision possibility between an object included in the camera detection range and the host vehicle based on the detection result of the camera and the detection result of the radar sensor. The vehicle control unit, when the collision possibility determination unit determines that there is a possibility of collision between the target object and the host vehicle, the vehicle control unit performs a collision with the target object included in the camera detection range. Perform collision avoidance brake control of the vehicle to avoid

  As described above, according to the collision avoidance support device of the present invention, it is possible to suppress the collision avoidance support from becoming an unnecessary operation.

It is a block diagram which shows the collision avoidance assistance apparatus which concerns on 1st Embodiment. It is a top view which shows the condition where the target object which is not contained in a camera detection range but is contained in a radar detection range exists. It is an enlarged plan view explaining the situation where an object enters the camera detection range by gentle brake control. (A) It is a figure which shows the pattern of the deceleration of a slow brake control in case the horizontal relative speed of a target object is less than a lateral speed threshold value. (B) It is a figure which shows the pattern of the deceleration of the gentle brake control in case the horizontal relative speed of a target object is more than a horizontal speed threshold value. It is a flowchart which shows the slow brake control method of the collision avoidance assistance apparatus which concerns on 1st Embodiment. It is a flowchart which shows the collision avoidance brake control method of the collision avoidance assistance apparatus which concerns on 1st Embodiment. It is a block diagram which shows the collision avoidance assistance apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the collision avoidance brake control method of the collision avoidance assistance apparatus which concerns on 2nd Embodiment. It is a block diagram which shows the collision avoidance assistance apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the slow brake control method of the collision avoidance assistance apparatus which concerns on 3rd Embodiment. It is a block diagram which shows the collision avoidance assistance apparatus which concerns on a reference form. It is a top view which shows the condition where the target object which crosses the advancing direction of the own vehicle exists. It is a flowchart which shows the pre-brake control method of the collision avoidance assistance apparatus which concerns on a reference form. It is a flowchart which shows the collision avoidance brake control method of the collision avoidance assistance apparatus which concerns on a reference form.

  Embodiments of the present invention will be described below with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

[First Embodiment]
A collision avoidance assistance device 1 according to the first embodiment shown in FIG. 1 is mounted on a vehicle (hereinafter referred to as a host vehicle) and avoids a collision between the host vehicle and an object. The object is a moving body such as a pedestrian, a bicycle, another vehicle (four-wheeled vehicle, two-wheeled vehicle, etc.), for example. When the collision avoidance assistance device 1 determines that there is a possibility of collision between the host vehicle and the object, the collision avoidance assistance device 1 performs collision avoidance brake control as collision avoidance assistance that avoids a collision between the host vehicle and the object. The determination of the possibility of collision and the collision avoidance brake control will be described later.

<Configuration of Collision Avoidance Support Device According to First Embodiment>
As shown in FIG. 1, the collision avoidance support device 1 includes an ECU [Electronic Control Unit] 2 that controls the device centrally. The ECU 2 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. In the ECU, various programs are executed by loading a program stored in the ROM into the RAM and executing it by the CPU. The ECU 2 is connected to the laser radar 3, the camera 4, the vehicle sensor 5, and the brake actuator 6.

  The laser radar 3 is, for example, a radar sensor that is provided at the front end of the host vehicle and detects an object in front of the host vehicle using a laser. The laser radar 3 has a radar detection range extending in front of the host vehicle. For example, the laser radar 3 detects a target object included in the radar detection range by transmitting a laser in front of the host vehicle and receiving a laser beam reflected by a target object such as another vehicle. The laser radar 3 transmits object information related to the detected object to the ECU 2. Instead of the laser radar 3, a millimeter wave radar or the like may be used.

  The camera 4 is an imaging device that images the surroundings of the host vehicle. The camera 4 is provided on the back side of the windshield of the host vehicle, for example, and has a camera detection range that extends in front of the host vehicle. Here, the camera detection range is a range narrower than the radar detection range. Details of the camera detection range and the radar detection range will be described later. The camera 4 transmits imaging information included in the camera detection range to the ECU 2. The camera 4 may be a stereo camera that can acquire information in the depth direction of the imaging screen, or may be a monocular camera.

  The vehicle sensor 5 is a detection device that detects the traveling state of the host vehicle. The vehicle sensor 5 includes, for example, a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle. As the vehicle speed sensor, for example, a wheel speed sensor that is provided for a wheel of the host vehicle or a drive shaft that rotates integrally with the wheel and detects the rotational speed of the wheel is used. The vehicle speed sensor transmits the detected vehicle speed information to the ECU 2.

  The acceleration sensor is a detector that detects the acceleration of the host vehicle. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the host vehicle and a lateral acceleration sensor that detects lateral acceleration of the host vehicle. For example, the acceleration sensor transmits acceleration information of the host vehicle to the ECU 2. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle. As the yaw rate sensor, for example, a gyro sensor can be used. The yaw rate sensor transmits the detected yaw rate information of the own vehicle to the ECU 2.

  The brake actuator 6 controls the brake system according to a control signal from the ECU 2 and controls the braking force applied to the wheels of the host vehicle. As the brake system, for example, a hydraulic brake system can be used. The brake actuator 6 may control both the hydraulic brake system and the regenerative brake system when the host vehicle includes a regenerative brake system.

  Next, the functional configuration of the ECU 2 will be described. The ECU 2 includes an object determination unit 10, an angle determination unit 11, a proximity possibility determination unit 12, an information integration unit 13, a collision possibility determination unit 14, and a vehicle control unit 15.

  Based on the object information of the laser radar 3 and the imaging information of the camera 4, the object determination unit 10 determines whether there is an object that is not included in the camera detection range but included in the radar detection range. Here, FIG. 2 is a plan view showing a situation where there is an object that is not included in the camera detection range but included in the radar detection range.

FIG. 2 shows the camera detection range AC, the radar detection range AL, the host vehicle M, the target object N, and the approach direction Rn of the target object N with respect to the host vehicle M. FIG. 2 shows an XY coordinate system in which the front-rear direction of the host vehicle M is the Y-axis direction, and the lateral direction (vehicle width direction) of the host vehicle M is the X-axis direction. The object N is a bicycle that is positioned in front of the host vehicle M, on the right side of the host vehicle M, and moves so as to cross the left side. On the other hand, since the host vehicle M is moving in the Y-axis direction, the approach direction Rn of the target object N relative to the host vehicle M (the relative moving direction of the target object N viewed from the host vehicle M) is It becomes the direction which approaches diagonally toward. In the situation shown in FIG. 2, the object N passes only through the radar detection range AL and approaches the host vehicle M without entering the camera detection range AC.

  In addition, the some target P displayed along the approach direction Rn has shown the future position of the target object N which approaches the own vehicle M with progress of time. In this case, the approach direction Rn corresponds to the locus of the position change of the object N.

  As shown in FIG. 2, the camera detection range AC and the radar detection range AL are fan-shaped ranges that spread forward from the host vehicle M in plan view. The camera detection range AC is narrower than the radar detection range AL in the X-axis direction. FIG. 2 shows the detection angle α of the camera detection range AC, the detection angle β of the radar detection range AL, and the angle γ formed by the front-rear direction (Y-axis direction) of the host vehicle M and the approach direction Rn.

  The object determination unit 10 determines that there is an object N included in the radar detection range AL that is not included in the camera detection range AC in the situation illustrated in FIG. The object determination unit 10 performs this determination by a known method. The object determination unit 10 also determines whether or not the object N included in both the camera detection range and the radar detection range exists.

  When the object determination unit 10 determines that there is an object that is not included in the camera detection range and included in the radar detection range, the angle determination unit 11 and the approach direction of the object with respect to the host vehicle M are determined. It is determined whether or not the angle γ formed with Rn is included in a predetermined angle range. The angle determination unit 11 determines whether the angle γ is included in a predetermined angle range based on the object information of the laser radar 3. The predetermined angle range is, for example, an angle range in which the object N approaches the host vehicle M only through the radar detection range AL without entering the camera detection range AC. The predetermined angle range can be arbitrarily set.

The angle determination unit 11 calculates the angle γ using, for example, the following equation (1).
γ = arctan (the relative speed in the lateral direction of the object with respect to the host vehicle M / the relative speed in the front and rear direction of the object with respect to the host vehicle M) (1)
Here, the lateral direction in the expression (1) is the lateral direction of the host vehicle M (vehicle width direction: X-axis direction). Further, the front-rear direction in the expression (1) is the front-rear direction (Y-axis direction) of the host vehicle M. The angle determination unit 11 may calculate the angle γ by a known method.

  When the angle determination unit 11 determines that the angle γ is included in the angle range, the proximity determination unit 12 determines whether or not the object N and the host vehicle M are close to each other. The proximity possibility determination unit 12 determines whether or not the object N and the host vehicle M are close to each other based on the object information of the laser radar 3. For example, the proximity possibility determination unit 12 calculates TTC [Time To Collision: collision allowance time] from the relative speed and relative distance between the object N and the host vehicle M, and determines proximity possibility with TTC set in advance. When it becomes less than the TTC threshold, it is determined that there is a possibility of proximity. Instead of TTC, THW [Time Headway: inter-vehicle time] may be used. Other indicators may be used.

  When the object determination unit 10 determines that the object N included in both the camera detection range AC and the radar detection range AL exists, the information integration unit 13 captures the object information of the laser radar 3 and the imaging of the camera 4. Information on the object N included in the information is integrated (Fusion). The information integration unit 13 integrates information by a known method. The information integration unit 13 acquires information (Fusion target information) of the target N with higher reliability than the case where only the target information of the laser radar 3 is used by integrating the information. The information integration unit 13 acquires information on the relative distance and relative speed of the object N with respect to the host vehicle M.

  The collision possibility determination unit 14 determines whether or not there is a possibility of collision between the object N and the host vehicle M based on at least one of the object information of the laser radar 3 and the imaging information of the camera 4. When the information integration unit 13 integrates the object information of the laser radar 3 and the imaging information of the camera 4, the collision possibility determination unit 14 determines whether or not there is a collision possibility based on the information on the integrated object. Determine. For example, the collision possibility determination unit 14 calculates TTC from the relative speed and relative distance between the object N and the host vehicle M, and when the TTC is less than a preset TTC threshold value for collision possibility determination, It is determined that there is a possibility of collision. THW may be used instead of TTC. Other indicators may be used.

  When the proximity determination unit 12 determines that the object N and the host vehicle M are close to each other, the vehicle control unit 15 causes the target vehicle N to be included in the camera detection range AC. Perform slow brake control. The slow brake control is a brake control with a deceleration smaller than the collision avoidance brake control, and is a brake control performed so that the object N in the radar detection range AL enters the camera detection range AC. The vehicle control unit 15 performs a slow brake control by transmitting a control signal to the brake actuator 6.

  First, the vehicle control unit 15 performs a calculation related to the slow brake control when the proximity possibility determination unit 12 determines that the object N and the host vehicle M are close to each other. The vehicle control unit 15 calculates the deceleration of the slow brake control and the timing of the slow brake control based on the object information of the laser radar 3 and the information (vehicle speed information etc.) of the host vehicle M detected by the vehicle sensor 5.

  The vehicle control unit 15 calculates the deceleration and timing of the slow brake control so that the object N is included in the camera detection range AC with a sufficient margin for collision avoidance support. When the object N enters the camera detection range AC, the vehicle control unit 15 integrates information on the object N by the information integration unit 13 and determines that there is a possibility of collision by the collision possibility determination unit 14. Then, the deceleration and timing of the slow brake control are calculated so that the collision avoidance brake control as the collision avoidance support functions with a sufficient margin.

  Here, FIG. 3 is an enlarged plan view for explaining a situation where the object N enters the camera detection range AC by the gentle brake control. FIG. 3 shows a prediction trajectory Rf of the object N when entering the camera detection range AC by the slow brake control. Pa is a position where the object N enters the camera detection range AC. The vehicle control unit 15 calculates the deceleration and timing of the slow brake control so that the position Pa where the object N enters the camera detection range AC is a position where there is room to sufficiently function the collision avoidance brake control. The vehicle control unit 15 calculates the deceleration and timing of the slow brake control using a known method.

  For example, the vehicle control unit 15 calculates the deceleration of the slow brake control so as to be a minimum value that can ensure a margin for the collision avoidance brake control from the viewpoint of suppressing ride comfort and unnecessary operations. Similarly, the vehicle control unit 15 may calculate the timing of the slow brake control so as to be the latest timing among timings at which a margin for collision avoidance brake control can be secured.

  Note that the vehicle control unit 15 may use the reliability of the object information of the laser radar 3 when calculating the deceleration and timing of the slow brake control. For example, the vehicle control unit 15 recognizes the type of the object N (another vehicle, a pedestrian, a bicycle, a motorcycle, etc.) from the object information of the laser radar 3 by a known method (for example, a method using reflection characteristics), The reliability is increased when the relative speed of the object N matches the type of the object N. The relationship between the relative speed of the object N and the type of the object N is stored in the database of the ECU 2. For example, when the reliability of the object information of the laser radar 3 is low, the vehicle control unit 15 performs a calculation including a margin for the deceleration and timing of the slow brake control in consideration of the detection error.

  Further, the vehicle control unit 15 may calculate the deceleration of the slow brake control based on the relative speed in the lateral direction of the object N with respect to the host vehicle M. Here, FIG. 4A is a diagram illustrating a deceleration pattern of the slow brake control when the relative speed in the lateral direction of the object N is less than the lateral speed threshold. FIG. 4B is a diagram showing a deceleration pattern of the slow brake control when the relative speed in the lateral direction of the object N is equal to or greater than the lateral speed threshold. 4 (a) and 4 (b), the horizontal axis represents the deceleration of the slow brake control, and the vertical axis represents the vehicle speed reduction amount. The slow brake control timing is indicated by an arrow. The lateral speed threshold is a preset value used for switching the deceleration pattern. As described above, the vehicle control unit 15 switches the deceleration pattern based on the lateral relative speed of the object N with respect to the host vehicle M, and calculates an appropriate deceleration according to the object information from the pattern. May be.

  The vehicle control unit 15 performs the slow brake control with the calculated deceleration and timing. The vehicle control unit 15 may set the deceleration as a fixed value. The vehicle control unit 15 may fix the timing. That is, the vehicle control unit 15 may perform the slow brake control when the proximity possibility determining unit 12 determines that there is a possibility of proximity.

  In addition, when the collision possibility determination unit 14 determines that there is a possibility of collision between the object N and the host vehicle M, the vehicle control unit 15 avoids a collision between the object N and the host vehicle M. Perform collision avoidance brake control. The collision avoidance brake control is a brake control based on a sufficient deceleration for avoiding a collision between the object N and the host vehicle M. As the collision avoidance brake control, a well-known control in collision avoidance support can be employed. The vehicle control unit 15 performs collision avoidance brake control by transmitting a control signal to the brake actuator 6.

<Slow Brake Control Method of Collision Avoidance Support Device According to First Embodiment>
Hereinafter, the slow brake control method of the collision avoidance assistance device 1 according to the first embodiment will be described. FIG. 5 is a flowchart showing a slow brake control method of the collision avoidance assistance device 1 according to the first embodiment. The flowchart shown in FIG. 5 is repeatedly executed at predetermined time intervals while the host vehicle M is traveling, for example.

  As shown in FIG. 5, the ECU 2 of the collision avoidance assistance device 1 determines whether or not there is an object N included in the radar detection range AL but not included in the camera detection range AC by the object determination unit 10 in step S101. judge. When it is determined that the object N does not exist (S101: NO), the ECU 2 ends the current process. Thereafter, step S101 is repeated again after a preset time has elapsed. When it is determined that the object N exists (S101: YES), the ECU 2 proceeds to step S102.

  In step S <b> 102, the ECU 2 determines whether or not an angle γ formed by the angle determination unit 11 between the front-rear direction of the host vehicle M and the approach direction Rn of the object with respect to the host vehicle M is included in a predetermined angle range. When it is determined that the angle γ is not included in the angle range (S102: No), the ECU 2 ends the current process. Thereafter, the process is repeated again from step S101 after the elapse of a preset time. When it is determined that the angle γ is included in the angle range (S102: YES), the ECU 2 proceeds to step S103.

  In step S <b> 103, the ECU 2 determines whether or not the object N and the host vehicle M are proximate by the proximity determination unit 12. When it is determined that there is no possibility of proximity between the object N and the host vehicle M (S103: NO), the ECU 2 ends the current process. Thereafter, the process is repeated again from step S101 after the elapse of a preset time. If it is determined that there is a possibility of proximity between the object N and the host vehicle M (S103: YES), the ECU 2 proceeds to step S104.

  In step S104, the ECU 2 calculates the deceleration and timing of the slow brake control by the vehicle control unit 15. The vehicle control unit 15 calculates the deceleration and timing of the slow brake control so that the object N is included in the camera detection range AC with a sufficient margin for collision avoidance support. The vehicle control unit 15 calculates the deceleration and timing of the slow brake control so that the object N is included in the camera detection range AC and a margin for the collision avoidance support to function effectively can be secured. When the ECU 2 calculates the deceleration and timing of the slow brake control, the ECU 2 proceeds to step S105.

  It is not necessary to calculate when the deceleration and timing of the slow brake control are fixed. Alternatively, one of the deceleration and timing of the slow brake control may be fixed and the other calculated.

  In step S <b> 105, the ECU 2 performs the slow brake control by the vehicle control unit 15. The vehicle control unit 15 transmits a control signal to the brake actuator 6 so as to perform the slow brake control at the calculated deceleration and timing. When the slow brake control is completed, the ECU 2 ends the current process for the object N.

<Collision Avoidance Brake Control Method for Collision Avoidance Support Device According to First Embodiment>
Hereinafter, the collision avoidance brake control method of the collision avoidance assistance device 1 according to the first embodiment will be described. FIG. 6 is a flowchart illustrating the collision avoidance brake control method of the collision avoidance assistance device 1 according to the first embodiment. The flowchart shown in FIG. 6 is repeatedly executed at predetermined time intervals while the host vehicle M is traveling, for example.

  As shown in FIG. 6, the ECU 2 of the collision avoidance assistance device 1 determines whether or not there is an object N included in both the camera detection range AC and the radar detection range AL by the object determination unit 10 in step S201. judge. When it is determined that the object N included in both is not present (S201: NO), the ECU 2 proceeds to step S202. When it is determined that the object N included in both exists (S201: YES), the ECU 2 proceeds to step S203.

  In step S202, the ECU 2 determines whether or not there is an object N included in the radar detection range AL that is not included in the camera detection range AC by the object determination unit 10. Step S202 is the same processing as step S101 shown in FIG. When it is determined that the object N does not exist (S202: NO), the ECU 2 ends the current process. Thereafter, the process is repeated again from step S201 after the elapse of a preset time. When it is determined that the object N exists (S202: YES), the ECU 2 proceeds to step S204.

  In step S <b> 203, the ECU 2 performs integration of the object information by the information integration unit 13. The information integration unit 13 integrates the object information of the laser radar 3 and the information of the object N included in the imaging information of the camera 4. When integration of the object information is performed, the ECU 2 proceeds to step S204.

  In step S <b> 204, the ECU 2 determines whether or not there is a possibility of collision between the object N and the host vehicle M by the collision possibility determination unit 14. When the object N is included only in the radar detection range AL, the collision possibility determination unit 14 determines whether or not there is a possibility of collision between the object N and the host vehicle M based on the object information of the laser radar 3. judge. The collision possibility determination unit 14 determines whether there is a possibility of collision between the object N and the host vehicle M based on the object information integrated by the information integration unit 13 from the object information of the laser radar 3 and the imaging information of the camera 4. Determine. When it is determined that there is no possibility of collision between the object N and the host vehicle M (S204: NO), the ECU 2 ends the current process. Thereafter, the process is repeated again from step S201 after the elapse of a preset time. If it is determined that there is a possibility of collision between the object N and the host vehicle M (S204: YES), the ECU 2 proceeds to step S205.

  In step S <b> 205, the ECU 2 performs the collision avoidance brake control by the vehicle control unit 15. The vehicle control unit 15 performs collision avoidance brake control by transmitting a control signal to the brake actuator 6. For example, when the host vehicle M stops, the vehicle control unit 15 completes the collision avoidance brake control, and ends the current process for the object N.

<Operational Effect of Collision Avoidance Support Device According to First Embodiment>
According to the collision avoidance assistance device 1 according to the first embodiment described above, the angle of the approach direction of the object N that is not included in the camera detection range AC but included in the radar detection range AL is within a predetermined angle range, When it is determined that there is a possibility of proximity to the host vehicle M, since the slow brake control is performed so that the object N is included in the camera detection range AC, the target of the laser radar 3 is not performed without performing the slow brake control. Compared with the case where the collision avoidance brake control is performed only with the object information, the unnecessary operation of the collision avoidance brake control can be suppressed.

[Second Embodiment]
Compared to the collision avoidance assistance device 1 according to the first embodiment, the collision avoidance assistance device 20 according to the second embodiment simplifies the integration of object information and the determination of the possibility of collision when the slow brake control is performed. The difference is that

<Configuration of Collision Avoidance Support Device According to Second Embodiment>
FIG. 7 is a block diagram showing a collision avoidance assistance device 20 according to the second embodiment. As shown in FIG. 7, the ECU 21 of the collision avoidance assistance device 20 has functions of an information integration unit 22 and a collision possibility determination unit 23 added as compared with the first embodiment.

  When the vehicle control unit 15 performs the slow brake control, the information integration unit 22 integrates information related to the object N included in both the radar detection range AL and the camera detection range AC (the target of the laser radar 3). Integration of object information and imaging information of the camera 4) is simplified.

  First, the information integration unit 22 normally uses information on the object N for a preset number of times of detection (for example, 10 times) out of information on the object N detected by the laser radar 3 and the camera 4 respectively. By integrating information, the reliability of information integration (ie, creation of Fusion targets) is ensured. The number of detections is, for example, the number of times that the object N reflects and detects a millimeter wave transmitted at a predetermined period in the case of the laser radar 3. In the case of a camera, the number of detections is the number of times that the object N is detected by image processing repeated at a predetermined cycle based on imaging information. On the other hand, the information integration unit 22 according to the second embodiment uses information of the object N for a smaller number of detection times (for example, 5 times) when the slow brake control is performed on the object N. Simplify integration. That is, since the information integration part 22 has already detected the target object N when the slow brake control is performed on the target object N, the information integration unit 22 reduces the number of times the information of the target object N used for information integration is detected. As described above, when the slow braking control for the object N is performed, the information integration unit 22 can shorten the information integration calculation processing time by simplifying the information integration with a small number of detections. Can also be reduced.

  When the vehicle control unit 15 performs the slow brake control, the collision possibility determination unit 23 determines the collision possibility regarding the object N included in both the radar detection range AL and the camera detection range AC by the slow brake control. Simplify.

  First, even if the object integration information 22 is integrated by the information integration unit 22, the collision possibility determination unit 23 is not limited to the integrated object information for one time, but a preset number ( For example, the reliability of the determination is ensured by determining whether or not the object N and the vehicle M are likely to collide using the object information for 10). On the other hand, the collision possibility determination unit 23 according to the second embodiment can collide only with the object information for a smaller set number (for example, 5) when the slow brake control is performed on the object N. Simplified setting for determining the presence or absence of sex. That is, since the collision possibility determination unit 23 has already detected the object N when the slow brake control is performed on the object N, the number of pieces of object information used for determining the collision possibility (information integration) The number of object information integrated by the unit 22 is reduced. As described above, when the slow brake control is performed on the object N, the collision possibility determination unit 23 calculates the collision possibility by the simplified setting for determining the collision possibility with a small number of object information. Processing time can be shortened and the amount of calculation processing can also be reduced.

<Collision Avoidance Brake Control Method of Collision Avoidance Support Device According to Second Embodiment>
Hereinafter, a collision avoidance brake control method of the collision avoidance assistance device 20 according to the second embodiment will be described. Since the slow brake control method is the same as that in the first embodiment, description thereof is omitted.

  FIG. 8 is a flowchart illustrating a collision avoidance brake control method of the collision avoidance assistance device 20 according to the second embodiment. The flowchart shown in FIG. 8 is repeatedly executed at predetermined time intervals while the host vehicle M is traveling, for example.

  As shown in FIG. 8, the ECU 21 of the collision avoidance assistance device 20 determines whether or not the object N included in both the camera detection range AC and the radar detection range AL exists by the object determination unit 10 in step S301. judge. Step S301 is the same process as step S201 shown in FIG. When it is determined that the object N included in both is not present (S301: NO), the ECU 21 proceeds to step S302. If it is determined that the object N included in both exists (S301: YES), the ECU 21 proceeds to step S303.

  In step S302, the ECU 21 determines whether or not the object N included in the radar detection range AL that is not included in the camera detection range AC exists by the object determination unit 10. Step S302 is the same process as step S202 shown in FIG. When it is determined that the object N does not exist (S302: NO), the ECU 21 ends the current process. After that, step S301 is repeated again after a preset time has elapsed. If it is determined that the object N exists (S302: YES), the ECU 21 proceeds to step S307.

  In step S303, the ECU 21 determines whether or not the slow braking control has been performed by the information integration unit 13. Note that whether or not the slow brake control has been performed is determined for each object. If it is determined that the slow brake control has not been performed, the ECU 21 proceeds to step S304. If it is determined that the slow brake control has been performed, the ECU 21 proceeds to step S305.

  In step S <b> 304, the ECU 21 integrates the object information by the information integration unit 22. Step S304 is the same process as step S203 shown in FIG. The information integration unit 22 integrates the object information using object information for a preset number of times of detection (for example, 10 times) among the object information obtained from the laser radar 3 and the camera 4. When the object information is integrated, the ECU 21 proceeds to step S307. Note that the case where the object information is integrated means a case where the integrated object information is obtained as many times as necessary to determine whether or not there is a collision possibility in step S307.

  In step S <b> 305, the ECU 21 integrates the object information simplified by the information integration unit 22. The information integration unit 22 integrates the information of the object N based on the object information of the laser radar 3 and the imaging information of the camera 4 that are detected fewer times than in step S304. When the integration of the simplified object information is performed, the ECU 21 proceeds to step S306. The case where the simplified object information integration is performed means a case where the integrated object information is obtained a number of times necessary for determining whether or not there is a collision possibility in step S307.

  In step S <b> 306, the ECU 21 performs simplified setting for collision possibility determination by the collision possibility determination unit 23. The simplified setting of the collision possibility determination is a setting for reducing the number of pieces of object information used for the next determination of the possibility of collision. The ECU 21 proceeds to step S307 when the simplified setting of the collision possibility determination is performed. Note that step S305 and step S306 may be processed simultaneously. Only one of step S305 and step S306 may be performed.

  In step S <b> 307, the ECU 21 determines whether or not there is a possibility of collision between the object N and the host vehicle M by the collision possibility determination unit 23. When the object information is integrated by the information integration unit 22 in step S304, the collision possibility determination unit 23 uses the preset number of object information (for example, 10) to determine whether there is a collision possibility. judge. When the simplification setting of the collision possibility determination is performed in step S306, the collision possibility determination unit 23 determines whether or not there is a collision possibility using a smaller number (for example, five) of object information.

  When it is determined that there is no possibility of collision between the object N and the host vehicle M (S307: NO), the ECU 21 ends the current process. Thereafter, the process is repeated again from step S301 after elapse of a preset time. If it is determined that there is a possibility of collision between the object N and the host vehicle M (S307: YES), the ECU 21 proceeds to step S308.

  In step S308, the ECU 21 performs collision avoidance brake control by the vehicle control unit 15. The vehicle control unit 15 performs collision avoidance brake control by transmitting a control signal to the brake actuator 6. For example, when the host vehicle M stops, the vehicle control unit 15 ends the collision avoidance brake control.

<Operational Effect of Collision Avoidance Support Device According to Second Embodiment>
According to the collision avoidance assistance device 20 according to the second embodiment described above, by performing the gentle brake control, the simplified integration of the object information and the simplified setting of the collision possibility determination are performed. The processing time can be shortened, and the amount of calculation processing can be reduced. As a result, according to the collision avoidance assistance device 20, it is possible to perform more rapid collision avoidance assistance when the slow brake control is performed.

[Third Embodiment]
The collision avoidance assistance device 20 according to the third embodiment differs from the collision avoidance assistance device 1 according to the first embodiment in that it recognizes the surrounding environment and calculates the deceleration and timing of the slow brake control. ing.

<Configuration of Collision Avoidance Support Device According to Third Embodiment>
FIG. 9 is a block diagram showing a collision avoidance assistance device 30 according to the third embodiment. As shown in FIG. 8, the ECU 31 of the collision avoidance assistance device 30 further includes a GPS receiving unit 32, a map database 33, and a surrounding environment recognition unit 34 as compared with the first embodiment, and the function of the vehicle control unit 35 is provided. Have been added.

  The GPS receiver 32 measures the position of the host vehicle M (for example, the latitude and longitude of the host vehicle M) by receiving signals from three or more GPS satellites. The GPS receiver 32 transmits the measured vehicle position information to the ECU 2.

  The map database 33 is a database provided with map information. The map database 33 is formed, for example, in an HDD [Hard disk drive] mounted on the host vehicle M. The map information includes, for example, road position information, road shape information (for example, curves, straight line types, curve curvatures, etc.), intersection and branch point position information, and building position information. The map database 33 may be stored in a computer of a facility such as an information processing center that can communicate with the host vehicle M.

  The surrounding environment recognition unit 34 recognizes the surrounding environment of the host vehicle M based on the position information of the GPS receiving unit 32 and the map information of the map database 33. The surrounding environment recognition unit 34 recognizes, for example, the presence or absence of a guard rail on the road on which the host vehicle M travels as the surrounding environment. Moreover, the surrounding environment recognition part 34 determines whether the own vehicle M is drive | working the motor vehicle exclusive road. Note that the surrounding environment recognition unit 34 may recognize the position of other surrounding vehicles other than the object N as the surrounding environment based on the object information of the laser radar 3 and the imaging information of the camera 4.

  The vehicle control unit 35 determines the deceleration and timing of the slow brake control based on the object information of the laser radar 3, the information of the own vehicle M detected by the vehicle sensor 5, and the surrounding environment recognized by the surrounding environment recognition unit 34. Calculate. The vehicle control unit 35 calculates the risk that the object N enters the traveling direction of the host vehicle M based on the surrounding environment. Specifically, for example, when the host vehicle M is traveling on an automobile-only road, the vehicle control unit 35 may cause an object N that crosses the traveling direction of the host vehicle M to exist. It is calculated that there is no risk (no risk). For example, when the vehicle control unit 35 calculates that there is no risk, the vehicle control unit 35 does not perform the slow brake control. When there is a guardrail on the road on which the host vehicle M travels, the vehicle control unit 35 calculates that the risk is low because there is a low possibility that an object N that crosses the traveling direction of the host vehicle M exists. To do. The vehicle control unit 35 may set the slow braking control timing to be slower and the deceleration to be smaller as the risk is lower. When there is no guardrail on the road on which the host vehicle M is traveling, the vehicle control unit 35 may calculate a normal risk because there may be an object N that crosses the traveling direction of the host vehicle M. To do. In this case, the vehicle control unit 35 performs the slow brake control, for example, as in the first embodiment.

<Slow Brake Control Method of Collision Avoidance Support Device According to Third Embodiment>
Hereinafter, the slow brake control method of the collision avoidance assistance device 30 according to the third embodiment will be described. FIG. 10 is a flowchart illustrating a slow brake control method of the collision avoidance assistance device 1 according to the first embodiment. The flowchart shown in FIG. 10 is repeatedly executed at predetermined time intervals while the host vehicle M is traveling, for example. Since the collision avoidance brake control method is the same as that in the first embodiment, description thereof is omitted.

  Steps S401 to S403 shown in FIG. 10 are the same processes as steps S101 to S103 shown in FIG.

  In step S <b> 404, the ECU 31 of the collision avoidance assistance device 30 determines whether or not the host vehicle M is traveling on an automobile exclusive road by the surrounding environment recognition unit 34. The surrounding environment recognition unit 34 determines whether or not the host vehicle M is traveling on an automobile-only road based on the position information of the GPS receiving unit 32 and the map information of the map database 33. When it is determined that the host vehicle M is traveling on the automobile-only road (step S404: NO), the ECU 31 assumes that there is no possibility that the object N crosses the traveling direction of the host vehicle M. The current process is terminated without performing the brake control. Thereafter, the process is repeated again from step S401 after the elapse of a preset time. If the ECU 31 determines that the host vehicle M is not traveling on the automobile road (step S404: YES), the ECU 31 proceeds to step S405.

  In step S405, the ECU 31 calculates deceleration and timing of the slow brake control by the vehicle control unit 35. Based on the object information of the laser radar 3, the information of the host vehicle M detected by the vehicle sensor 5, and the surrounding environment recognized by the surrounding environment recognition unit 34, the vehicle control unit 35 determines the deceleration and timing of the slow brake control. Perform the operation. When the ECU 31 calculates the deceleration and timing of the slow brake control, the ECU 31 proceeds to step S105. Note that one of the deceleration and timing of the slow brake control may be fixed and only the other may be calculated.

  In step S <b> 406, the ECU 31 performs a slow brake control by the vehicle control unit 35. The vehicle control unit 35 transmits a control signal to the brake actuator 6 so as to perform the slow brake control at the calculated deceleration and timing. When the slow brake control is completed, the ECU 31 ends the current process for the object N.

<Operational Effect of Collision Avoidance Support Device According to Third Embodiment>
According to the collision avoidance assistance device 30 according to the third embodiment described above, the presence / absence of the slow brake control is determined in consideration of the surrounding environment of the host vehicle M. Therefore, the slow brake control is performed due to the influence of the surrounding environment. Unnecessary operation can be avoided. Moreover, according to the collision avoidance support device 30, the deceleration and timing of the slow brake control are calculated in consideration of the surrounding environment, so that the slow brake control can be performed at an appropriate deceleration and timing according to the surrounding environment. it can.

[Reference form]
Next, the collision avoidance assistance device 40 according to the reference embodiment will be described. The same code | symbol is attached | subjected to the structure similar to 1st-3rd embodiment, and the overlapping description is abbreviate | omitted.

  The collision avoidance support device 40 is mounted on the host vehicle M and avoids a collision between the host vehicle M and the object N. When it is determined that there is a possibility of collision between the host vehicle M and the object N, the collision avoidance support device 40 performs collision avoidance brake control as collision avoidance support for avoiding a collision between the host vehicle M and the object N.

  Further, the collision avoidance assistance device 40 performs pre-brake control before the collision avoidance brake control. The pre-brake control is a brake control whose deceleration is smaller than the collision avoidance brake control. In the collision avoidance support device 40, when the object N and the host vehicle M approach each other, instead of suddenly performing strong collision avoidance brake control, it is possible to collide after performing pre-brake control with small deceleration in advance and seeing the situation. By determining the property, the collision avoidance brake control is prevented from becoming an unnecessary operation.

<Configuration of collision avoidance assistance device according to reference embodiment>
Hereinafter, the configuration of the collision avoidance assistance device 40 according to the reference embodiment will be described. FIG. 11 is a block diagram illustrating a configuration of the collision avoidance assistance device 40 according to the reference embodiment. As shown in FIG. 11, the collision avoidance assistance device 40 includes an ECU 41 that controls the device in an integrated manner. The ECU 41 is connected to the laser radar 3, the camera 4, the vehicle sensor 5, and the brake actuator 6. Since the laser radar 3, the camera 4, the vehicle sensor 5, and the brake actuator 6 are the same as those in the first embodiment, description thereof is omitted. The collision avoidance assistance device 40 only needs to include at least one of the laser radar 3 and the camera 4, and does not need to include both.

  The ECU 41 includes an object determination unit 42, a collision possibility determination unit 43, and a vehicle control unit 44. The object determination unit 42 recognizes the type of the object N based on at least one of the object information of the laser radar 3 and the imaging information of the camera 4, for example. Here, FIG. 12 is a plan view showing a situation in which an object N that crosses the traveling direction of the host vehicle M exists. The object N shown in FIG. 12 is a bicycle that is located in front of the host vehicle M, on the right side of the host vehicle M, and moves so as to cross the left side.

  The object determination unit 42 recognizes the type of the object N based on, for example, information on the laser reflection characteristics included in the object information of the laser radar 3. For example, the object determination unit 42 determines whether or not the object N is a bicycle.

  The object determination unit 42 also determines the lateral speed of the object N (of the relative speed in the vehicle width direction of the host vehicle M based on at least one of the object information of the laser radar 3 and the imaging information of the camera 4). The speed in the direction approaching the vehicle M). The object determination unit 42 determines whether or not the lateral speed of the object N is equal to or greater than the lateral speed threshold. The lateral speed threshold value is an arbitrary threshold value for determining the object N that crosses the traveling direction of the host vehicle M so as to intersect.

  The collision possibility determination unit 43 performs both the determination of the possibility of proximity related to the pre-brake control and the determination of the possibility of collision related to the collision avoidance brake control. The collision possibility determination unit 43 calculates the TTC between the object N and the host vehicle M based on the relative distance and the relative speed between the object N and the host vehicle M, for example. The collision possibility determination unit 43 determines that there is a possibility of proximity between the object N and the host vehicle M when, for example, TTC is less than the TTC threshold value for proximity possibility determination. The collision possibility determination unit 43 determines that there is a possibility of collision between the object N and the host vehicle M when, for example, TTC is less than the TTC threshold value for collision possibility determination. Instead of TTC, THW or other indicators may be used.

  The vehicle control unit 44 performs pre-brake control when the collision possibility determination unit 43 determines that the object N and the host vehicle M are proximate to each other. The vehicle control unit 44 performs pre-brake control by transmitting a control signal to the brake actuator 6.

  In addition, when the collision possibility determination unit 43 determines that there is a possibility of collision between the object N and the host vehicle M, the vehicle control unit 44 avoids a collision between the object N and the host vehicle M. Perform collision avoidance brake control. The vehicle control unit 44 performs collision avoidance brake control by transmitting a control signal to the brake actuator 6.

<Pre-brake control method of collision avoidance assistance device according to reference embodiment>
Next, a pre-brake control method of the collision avoidance assistance device 40 according to the reference embodiment will be described. FIG. 13 is a flowchart showing a pre-brake control method of the collision avoidance assistance device 40 according to the reference embodiment. The flowchart shown in FIG. 13 is repeated, for example, every preset time while the host vehicle M is traveling.

  As shown in FIG. 13, the ECU 41 of the collision avoidance assistance device 40 determines in step S501 that the object N is a bicycle by the object determination unit 42, or the lateral speed of the object N is equal to or greater than the lateral speed threshold. It is determined whether or not. When it is determined that the object N is not a bicycle and the lateral speed of the object N is not equal to or greater than the lateral speed threshold (step S501: NO), the ECU 41 ends the current process. Thereafter, step S501 is repeated again after a preset time has elapsed. If it is determined that the object N is a bicycle, or the lateral speed of the object N is greater than or equal to the lateral speed threshold (step S501: YES), the ECU 41 proceeds to step S502.

  In step S <b> 502, the ECU 41 determines whether or not the object N and the host vehicle M are close to each other by the collision possibility determination unit 43. When it is determined that there is no possibility of proximity between the object N and the host vehicle M (S502: NO), the ECU 41 ends the current process. Thereafter, the process is repeated again from step S501 after elapse of a preset time. If it is determined that there is a possibility of proximity between the object N and the vehicle M (S502: YES), the ECU 2 proceeds to step S503.

  In step S503, the ECU 41 performs pre-brake control by the vehicle control unit 44. The vehicle control unit 44 performs pre-brake control by transmitting a control signal to the brake actuator 6. When the pre-brake control is completed, the ECU 41 ends the current process for the object N.

<Collision avoidance brake control method of collision avoidance support device according to reference embodiment>
Next, a collision avoidance brake control method of the collision avoidance assistance device 40 according to the reference embodiment will be described. FIG. 14 is a flowchart illustrating a collision avoidance brake control method of the collision avoidance assistance device 40 according to the reference embodiment. The flowchart shown in FIG. 14 is repeated, for example, every preset time while the host vehicle M is traveling.

  As shown in FIG. 14, the ECU 41 of the collision avoidance assistance device 40 determines whether or not the object N exists ahead of the host vehicle M by the object determination unit 42 in step S601. When it is determined that the object N does not exist in front of the host vehicle M (step S601: NO), the ECU 41 ends the current process. Thereafter, step S601 is repeated again after a preset time has elapsed. If it is determined that the object N is present in front of the host vehicle M (step S601: YES), the ECU 41 proceeds to step S602.

  In step S <b> 602, the ECU 41 determines whether or not there is a possibility of collision between the object N and the host vehicle M by the collision possibility determination unit 43. When it is determined that there is no possibility of collision between the object N and the host vehicle M (S602: NO), the ECU 41 ends the current process. Thereafter, the process is repeated again from step S601 after a preset time has elapsed. If it is determined that there is a possibility of collision between the object N and the host vehicle M (S602: YES), the ECU 2 proceeds to step S6503.

  In step S <b> 603, the ECU 41 performs collision avoidance brake control by the vehicle control unit 44. The vehicle control unit 44 performs collision avoidance brake control by transmitting a control signal to the brake actuator 6. For example, when the host vehicle M stops, the ECU 41 completes the collision avoidance brake control and ends the current process for the object N.

  As mentioned above, although preferred embodiment of this invention was described, this invention is not limited to embodiment mentioned above. The present invention can be implemented in various forms including various modifications and improvements based on the knowledge of those skilled in the art including the above-described embodiments. Moreover, you may combine the structure of several embodiment mentioned above and reference form.

  DESCRIPTION OF SYMBOLS 1, 20, 30, 40 ... Collision avoidance assistance apparatus 2, 21, 31, 41 ... ECU, 3 ... Laser radar, 4 ... Camera, 5 ... Vehicle sensor, 6 ... Brake actuator, 10 ... Object determination part, 11 ... angle determination unit, 12 ... proximity possibility determination unit, 13, 22 ... information integration unit, 14, 23, 43 ... collision possibility determination unit, 15, 35 ... vehicle control unit, 32 ... GPS reception unit, 33 ... map Database, 34 ... Ambient environment recognition unit, 42 ... Object determination unit, 43 ... Collision possibility determination unit, 44 ... Vehicle control unit, AC ... Camera detection range, AL ... Radar detection range, M ... Own vehicle, N ... Target Object, P ... target, Rf ... trajectory, Rn ... access direction, .alpha .... detection angle of camera detection range, .beta .... detection angle of radar detection range, .gamma .... angle.

Claims (1)

A camera mounted on the host vehicle and having a camera detection range extending in front of the host vehicle;
A radar sensor mounted on the host vehicle and having a radar detection range that is at least a detection range wider than the camera detection range in the vehicle width direction of the host vehicle and extends in front of the host vehicle;
An object determination unit that determines whether there is an object that is not included in the camera detection range but included in the radar detection range based on the detection result of the camera and the detection result of the radar sensor;
When the target determination unit determines that the target exists, an angle formed between the approach direction of the target with respect to the host vehicle and the front-rear direction of the host vehicle is based on the detection result of the radar sensor. An angle determination unit that determines whether or not it is included in a predetermined angle range;
When the angle determination unit determines that the angle is included in the angle range, the proximity possibility of determining whether or not the object and the host vehicle are proximate based on the detection result of the radar sensor A determination unit;
A vehicle that performs slow braking control of the subject vehicle so that the subject is included in the camera detection range when the approachability determining unit determines that the subject and the subject vehicle are proximate to each other. A control unit;
Based on the detection result of the camera and the detection result of the radar sensor, a collision possibility determination unit that determines whether there is a collision possibility between the object included in the camera detection range and the host vehicle,
With
The vehicle control unit avoids a collision with the object included in the camera detection range when the collision possibility determination unit determines that there is a possibility of a collision between the object and the host vehicle. A collision avoidance support device that performs collision avoidance brake control of the host vehicle.

Images