JP6779363B2 - In-vehicle control device - Google Patents

Description

The present invention relates to an in-vehicle control device.

As a background technology in this technical field, there is Japanese Patent Application Laid-Open No. 2014-104772 (Patent Document 1). In the summary column of Patent Document 1, "BRK_ECU 11 detects a brake operating object based on an image taken by an in-vehicle camera 12, and targets brake preload operation based on the relative speed between the brake operating object and the own vehicle 1. When the distance Lpr is set and the actual distance Lbr between the own vehicle 1 and the brake operating object reaches the target brake preload operating distance Lpr, the brake clearance S of the disc brake 2 is made small with respect to the brake driving unit 17. It outputs a drive signal that generates a brake preload Ppr. "

Japanese Unexamined Patent Publication No. 2014-104772

On the other hand, in order to make the vehicle more sophisticated, a single sensor is used to respond to the pop-out conditions of people, cars, bicycles, etc., or to recognize the environment around the own vehicle required to realize automatic driving. A method may be adopted in which the insufficient detection range is detected by using another sensor. By mounting the plurality of sensors on the vehicle in this way, the monitoring area around the vehicle may be expanded.

At this time, there is a case where a vehicle having a plurality of sensors cannot catch the detection target by the camera that detects the collision with the front, and the second detection unit detects the detection target. It is necessary to control the preload of the brake in case of a situation.

Therefore, an object of the present invention is to control the preload of the brake according to the relationship between the detection target and the detection unit.

In order to solve the above problems, as an example, the in-vehicle control device of the present invention has a first detection unit that detects in the first detection range and a second detection range that is wider in the same direction as the first detection range. It has a second detection unit for detection, and a drive signal output unit that generates and outputs a drive signal for brake preload based on the detection results of the first detection unit and the second detection unit. The drive signal output unit generates and outputs a drive signal for brake preload when an object is not detected by the first detection unit and the object is detected by the second detection unit.

According to the present invention, it is possible to control the preload of the brake according to the relationship between the detection target and the detection unit.

It is a block diagram which shows the structural example of the vehicle-mounted control device of the Example of this invention. It is a block diagram which shows the structure of the fusion control unit executed in the Example of this invention. It is a processing flow diagram up to the creation of the position information DB based on the outside world sensor information among the operations in the fusion control unit executed in the Example of this invention. It is a processing flow diagram which performs the brake control determination process from the collision time calculation based on the position information DB among the operations in the fusion control unit executed in the Example of this invention. This is an example of the brake preload start area when an object is detected by the left side sensor when the vehicle turns left.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. This embodiment relates to a driving support system or an automatic driving system. For example, a plurality of in-vehicle sensors such as an image sensor and a millimeter-wave radar sensor are mounted on a vehicle, and the output results of the sensors are used as a part of the driving operation of the vehicle. , Or an in-vehicle control device that automatically performs everything.

As shown in FIG. 1, the vehicle-mounted control device of the present embodiment includes the following configurations.
The outside world sensor 10 that senses the front direction and the periphery of the vehicle mounted on the vehicle 100.
A vehicle sensor that outputs vehicle motion data such as vehicle speed, steering angle, and yaw rate.
A fusion control unit 20 that integrates information on an object to be detected from the output results of an external sensor and a vehicle sensor and generates a brake preload signal as needed.
An electronically controlled brake system 30 that controls vehicle braking by a brake preload signal.

FIG. 2 shows a configuration diagram of the fusion control unit. The fusion control unit 20 includes the following configuration.
CAN / Ethernet receiver 201 that receives information from the outside world sensor and vehicle sensor notified using CAN (Controller Area Network) or Ethernet.
The Fusion / LDM processing unit 202 determines the position of the latest detection target in the own vehicle based on the received external sensor information and the position information of the same detection target in the past.
The integrated detection target object's relative position and relative speed of the vehicle are held together with the time information for the past few seconds, and the latest motion information of the vehicle and the vehicle motion information for the past few seconds are stored together with the time information. Location information database 203 to be held.
Collision time calculation unit 204 that predicts and calculates the time until the own vehicle collides with the detection target based on the position information database.
A brake control determination processing unit (drive signal output unit) 205 that compares the calculated collision prediction time described above with a preset brake preload start time and generates and outputs a brake preload drive signal to the electronically controlled brake system.

FIG. 3 shows an example of a processing flow for updating the position information DB based on the external sensor information among the operations in the fusion control unit of this embodiment.

First, the CAN / Ethernet receiving unit 201 waits for the reception of the external sensing information notified from the outside world sensor 10 using the CAN or Ethernet (S300).

It is determined whether the received information is the information to be imported into the fusion control unit, and if the information is unnecessary to be imported into the fusion control unit, the received information is discarded and the reception of the next external sensing information is waited (S301). ..

The information to be taken into the fusion control unit in S300 is held in an internal buffer so as not to be overwritten by traffic (S302).

Notify the Fusion / LDM processing unit of the update that the external sensing information or the motion information of the own vehicle has been updated (S303).

On the other hand, the Fusion / LDM processing unit 202 operates by a time cycle or an update trigger (S304).

When it is determined that the operation is performed by the time cycle processing (S305), the target information that has expired and is no longer needed in the position information DB is deleted, and the position information associated with the movement prediction of the target information during tracing that has not been updated within the time period. DB refresh is performed (S306).

When it is determined in S305 that the processing is not periodic, the update notification separates the procession of the external sensor information from the update of the motion information of the own vehicle (S307).

If the update notification is an update of the motion information of the own vehicle, the own vehicle information in the position information DB is updated (S308).

When the update notification is an update of the external sensor information, the detection time of the sensor and the target movement prediction are the same from the target information in the position information DB using the detected sensor type, mounting position, and detection information. Search for the target of (S309).

For example, radar may have unstable detection depending on the size and material of the detection target, reflection intensity and distance, so the logic for searching for a target has a function to trace an unstable target, and instantaneous detection. Has a function that is not traced.

Further, when the target can be separated with high accuracy such as an image sensor, the output information of the sensor may be used to identify the new target. When a plurality of types of sensors simultaneously capture the same object, the detection position accuracy may be low depending on the detected sensor and the target may be separated as an object at a different position based on the position information of the target movement prediction alone. Therefore, when the target is detected by another sensor within the detection angle of the sensor with high detection accuracy, the position is corrected or the target is combined based on the output result of the sensor with high detection accuracy. Target information using the detection information of the sensor with low detection accuracy even when the sensor with high detection accuracy does not detect and the sensor with low detection accuracy detects even within the detection angle of the sensor with high detection accuracy. To update.

If the same target can be searched by the logic of S309, the targets are integrated and updated as the latest position information DB entry (S311). When it is determined by the logic of S309 that it is a new target, a position information DB entry is created as a new target (S312).

FIG. 4 shows an example of a processing flow in which the brake control determination process is performed from the collision time calculation based on the position information DB after updating the movement information DB among the operations in the fusion control unit of this embodiment.

The collision time calculation unit 204 operates periodically instead of an event trigger (S401).
This is because it is better to reduce the dependency between the logics and make them loosely coupled by making them independent of the position information DB creation logic.

When the collision prediction time calculation cycle starts, the target information being traced is acquired from the position information DB (S402).

The moving distance is calculated from the past position information and the latest position information acquired from the position information DB, and the relative speed is calculated from the elapsed time (S403).

Since the movement amount of the target may be larger than the actual movement amount when multiple sensors with different accuracy detect it, the past history is used for the movement amount when the detection sensor information in the target information is switched. It is better to use the average value. In addition, the motion information of the own vehicle is acquired from the position information DB, and the motion information of the own vehicle such as the own vehicle speed, the steering angle, and the yaw rate is acquired (S404).

From the motion information of the own vehicle acquired in S404, a movement vector of the detection target centered on the own vehicle is generated, and the relative speed and the predicted time from the detected sensor mounting position to the collision are calculated (S405). When a plurality of sensors with different accuracy detect the detection target's own vehicle relative movement vector, the past position different from the actual one may be shown and the movement vector may be different. Therefore, it is better to treat the movement vector at the time of switching of the detection sensor in the target information as information with low accuracy, and to use the position information of the target information having the same detection sensor information.

The brake control judgment processing unit compares the collision prediction time for starting the brake preload, which is set in advance based on the relative speed for each mounting position of the detection sensor, from the collision prediction time generated in S405, and determines the necessity of brake preload control. Do (S406). Regarding the collision prediction time set in advance, if the sensor detecting the target knows that the position accuracy is low, the range of the collision prediction time for starting the preload signal of the brake may be set over a wider range.

If the collision prediction time calculated in S405 is within the collision prediction time range set in advance based on the relative speed and the brake preload control is not in progress, a brake preload control instruction value for starting the brake preload is generated ( S407).

Further, the collision prediction time calculated in S405 is compared with the collision prediction time for releasing the preload brake, which is set in advance based on the relative speed for each mounting position of the detection sensor, and is within the range of the brake preload control release and the brake preload. When the control is in progress, a release instruction value at the time of brake preload control for releasing the brake preload is generated (S408).

The indicated value generated in S407 or S408 is signal-output to the electronic brake control system (S409).

After it is determined in S406 that the brake preload control is unnecessary, or after the signal is output by the electronic brake control system, the cycle processing is terminated (S410).

In FIG. 5, the brake preload start area when the front sensor (first detection unit) 10a does not detect the vehicle while the vehicle is turning left and the detection target is detected by the sensor (second detection unit) 10b on the left side. An example of is shown. In this example, since the sensor on the left side detects the collision, a range of collision prediction time is provided in the direction of predicting the progress of the vehicle from the mounting position and relative speed of the sensor, and the range is indicated as the brake preload start area.

According to the above embodiment, it is possible to control the preload of the brake according to the relationship between the detection target and the detection unit. Further, even when an object is detected by using a plurality of sensors, the preload control of the brake can be performed in consideration of the mounting position of the sensor that detected the object and the detection position accuracy of the sensor.

10 ... External sensor, 10a ... Front sensor (first detection unit), 10b ... Left side sensor (second detection unit), 20 ... Fusion control unit, 30 ... Electronically controlled brake system, 100 ... Vehicle (own vehicle) ), 201 ... CAN / Ether receiving unit, 202 ... Fusion / LDM processing unit, 203 ... Position information DB, 204 ... Collision time calculation unit, 205 ... Brake control determination unit (drive signal output unit).

Claims (3)

The first detection unit that detects in the first detection range and
A second detection unit that detects in the same direction as the first detection range and in a wider second detection range, and
It has a drive signal output unit that generates and outputs a drive signal for brake preload based on the detection results of the first detection unit and the second detection unit.
When the first detection unit does not detect an object and the second detection unit detects the object, the drive signal output unit generates and outputs a drive signal for the brake preload. In-vehicle control device as a feature. In the in-vehicle control device according to claim 1,
In the drive signal output unit, the object is not detected by the first detection unit, the object is detected by the second detection unit, and the time until the collision with the object is within a predetermined range. In some cases, an in-vehicle control device characterized by generating and outputting a drive signal of the brake preload. In the in-vehicle control device according to claim 1,
When an object is detected by the first detection unit having the first detection accuracy and the second detection unit that detects the object with the second detection accuracy lower than the first detection accuracy, the first detection An in-vehicle control device characterized in that object information detected by the second detection unit is combined based on the detection result of the unit to generate and output a drive signal of the brake preload.

Images