JP7087909B2 - Overtaking vehicle judgment device - Google Patents

Description

The present invention relates to an overtaking vehicle determination device, and more particularly to an overtaking vehicle determination device including a radar.

Some vehicles in recent years are equipped with a radar for detecting a target around the own vehicle (for example, another vehicle around the own vehicle). In a vehicle equipped with a radar in this way, for example, by recognizing another vehicle traveling in the lane next to the lane in which the own vehicle is traveling, it is determined whether or not the other vehicle is an overtaking vehicle. Is possible.

Patent Document 1 discloses a vehicle including a front radar for detecting a target in front of the own vehicle and a front side radar for detecting a target on the front side of the own vehicle. In the vehicle disclosed in Patent Document 1, the vehicle traveling in the adjacent lane is recognized by the anterior side radar, and it is determined whether or not the recognized vehicle interrupts in front of the own vehicle.

Patent Document 2 includes a front radar for detecting a target in front of the own vehicle, a front side radar for detecting a target on the front side of the own vehicle, and a target on the rear side of the own vehicle. Vehicles equipped with a rear side radar for detection are disclosed. In the vehicle disclosed in Patent Document 2, the relative speeds of other vehicles traveling in the adjacent lane are calculated using the detection results of the front radar, the front side radar, and the rear side radar, and the other vehicles are calculated based on the calculation results. When the vehicle cuts in front of the own vehicle, the distance from the own vehicle is predicted.

Japanese Unexamined Patent Publication No. 2017-61167 Japanese Unexamined Patent Publication No. 2017-136897

However, with the techniques disclosed in Patent Documents 1 and 2, it is difficult to determine the overtaking vehicle with high accuracy. That is, the radar has the characteristic that the detection accuracy at the center of the beam is the highest, and the detection accuracy decreases as the angle from the center of the beam increases. Therefore, with the techniques disclosed in Patent Documents 1 and 2, it is possible to detect other vehicles only with low accuracy in the region angled from the beam center in each radar, and it is difficult to determine the overtaking vehicle with high accuracy. ..

The technique according to Patent Document 2 only predicts the distance (inter-vehicle distance) when another vehicle cuts in front of the own vehicle by using the detection results of a plurality of radars, and the other vehicle uses the detection results. It has not been determined whether or not to interrupt the front of the own vehicle.

The present invention has been made to solve the above-mentioned problems, and it is possible to determine with high accuracy whether or not a vehicle traveling in the adjacent lane is an overtaking vehicle by using a radar. It is an object of the present invention to provide a vehicle determination device.

The overtaking vehicle determination device according to one aspect of the present invention is an overtaking vehicle determination device that determines whether or not another vehicle traveling in the lane adjacent to the lane in which the own vehicle is traveling is an overtaking vehicle. Detection results by the front side radar capable of detecting the other vehicle on the front side of the vehicle, the rear side radar capable of detecting the other vehicle on the rear side of the own vehicle, the front side radar, and the rear side radar. The overtaking vehicle determination unit is provided with an overtaking vehicle determination unit that calculates the relative speed of the other vehicle with respect to the own vehicle and determines whether or not the other vehicle is an overtaking vehicle. When the relative speed is equal to or higher than the predetermined speed, the first overtaking determination area for detecting the other vehicle by the front side radar and the rear side radar, and the second overtaking determination area for detecting the other vehicle by the front side radar. An area is set, and it is determined whether or not the other vehicle is the overtaking vehicle by using both detection results in the first overtaking determination area and the second overtaking determination area.

In the above-mentioned overtaking vehicle determination device, when the relative speed is equal to or higher than a predetermined speed, two areas, a first overtaking determination area and a second overtaking determination area, are set, and the detection results in these two areas are used. Since it is determined whether or not the other vehicle is an overtaking vehicle, it is possible to determine the overtaking vehicle with high accuracy regardless of the detection accuracy of each radar. That is, in the process of overtaking another vehicle next to the own vehicle, the detection result is adopted when determining whether or not the other vehicle is an overtaking vehicle using only the rear side radar or the front side radar. Misjudgment may occur depending on the detection accuracy of the radar.

However, in the above-mentioned overtaking vehicle determination device, the detection result in the first overtaking determination area detected by the front side radar and the rear side radar and the detection result in the second overtaking determination area detected by the front side radar are performed. Since the overtaking vehicle is determined using both the detection result and the detection result, it is possible to determine the overtaking vehicle with higher accuracy than the technique of Patent Document 1 in which the overtaking vehicle is determined using only the detection result of the front side radar. Is.

In the overtaking vehicle determination device according to the above aspect, the overtaking vehicle determination unit sets only the second overtaking determination area for detecting the other vehicle by the anterior side radar when the relative speed is less than a predetermined speed. , It may be possible to execute the determination as to whether or not the other vehicle is the overtaking vehicle by using the detection result in the second overtaking determination area.

In the above-mentioned overtaking vehicle determination device, when the relative speed is less than a predetermined speed, only the second overtaking determination area for detection by the front side radar is set, and the detection result in the second overtaking determination area is used. Since it is determined whether or not another vehicle is an overtaking vehicle, even if the relative speed is small and the detection result of the rear side radar cannot be saved due to the sampling interval, the overtaking vehicle with high accuracy. Judgment becomes possible. Therefore, it is possible to determine the overtaking vehicle with high accuracy without increasing the memory capacity in the overtaking vehicle determination unit.

Further, the overtaking vehicle determination device according to another aspect of the present invention is an overtaking vehicle determination device for determining whether or not another vehicle traveling in the lane adjacent to the lane in which the own vehicle is traveling is an overtaking vehicle. The front side radar capable of detecting the other vehicle on the front side of the own vehicle, the rear side radar capable of detecting the other vehicle on the rear side of the own vehicle, the front side radar, and the rear side radar. The overtaking vehicle determination unit is provided with an overtaking vehicle determination unit that acquires a detection result and determines whether or not the other vehicle is an overtaking vehicle, and the overtaking vehicle determination unit is the other vehicle by the anterior radar and the rear side radar. A first overtaking determination area for detecting the above and a second overtaking determination area for detecting the other vehicle by the anterior radar are set, and both detection results in the first overtaking determination area and the second overtaking determination area are set. Is used to determine whether or not the other vehicle is the overtaking vehicle.

In the above-mentioned overtaking vehicle determination device, regardless of the magnitude of the relative speed, two areas, a first overtaking determination area and a second overtaking determination area, are set, and other vehicles are used using the detection results in these two areas. Since it is determined whether or not the vehicle is an overtaking vehicle, it is possible to determine the overtaking vehicle with high accuracy regardless of the detection accuracy of each radar, as described above.

In the overtaking vehicle determination device according to the above aspect, when the overtaking vehicle determination unit detects the other vehicle in the first overtaking determination area and then detects the other vehicle in the second overtaking determination area, the other vehicle is detected. It may be determined that the vehicle is the overtaking vehicle.

Specifically, in the above-mentioned overtaking vehicle determination device, when another vehicle is detected in the first overtaking determination area and then the other vehicle is detected in the second overtaking determination area, it is determined that the other vehicle is an overtaking vehicle. Therefore, when the other vehicle advances from the first overtaking determination area to the second overtaking determination area, it can be accurately determined that the other vehicle is an overtaking vehicle.

In the overtaking vehicle determination device according to the above aspect, the time from the time when the overtaking vehicle determination unit detects the other vehicle in the first overtaking determination area to the time when the other vehicle is detected in the second overtaking determination area. However, if it is within a predetermined time, it may be determined that the other vehicle is the overtaking vehicle.

In the above-mentioned overtaking vehicle determination device, it is determined that the other vehicle is an overtaking vehicle only when the other vehicle advances from the first overtaking determination area to the second overtaking determination area within a predetermined time. , The overtaking vehicle can be determined more accurately. For example, if another vehicle does not enter the second overtaking determination area within a predetermined time after entering the first overtaking determination area, the other vehicle changes its course and another vehicle changes its course. It is also possible that the vehicle has invaded the second overtaking judgment area. The overtaking vehicle determination device eliminates the overtaking vehicle determination in the above situation, and enables more accurate overtaking vehicle determination.

In the overtaking vehicle determination device according to the above aspect, the overtaking vehicle determination unit may set the length of the lane in the extension direction in the first overtaking determination area to be longer as the relative speed is higher.

In the above-mentioned overtaking vehicle determination device, the length of the first overtaking determination area is made longer as the relative speed is higher, so that it is possible to detect multiple times in the area even in relation to the sampling interval in each radar. Therefore, it is advantageous for determining the overtaking vehicle with high accuracy.

In the overtaking vehicle determination device according to the above aspect, the overtaking vehicle determination unit may set the length to a value proportional to the relative speed.

The length of the first overtaking determination area may be increased or decreased stepwise in relation to the relative speed, but by setting the length in proportion to the relative speed, detailed overtaking vehicle determination control can be executed. ..

In the overtaking vehicle determination device according to each of the above aspects J, whether or not the vehicle traveling in the adjacent lane is an overtaking vehicle can be determined with high accuracy by using a radar.

It is a schematic diagram which shows the structure of the vehicle which concerns on embodiment. It is a block diagram which shows the control composition which concerns on the overtaking vehicle determination in a vehicle. It is a schematic plan view which shows the detection range of a radar in a vehicle. It is a schematic plan view which shows the detection point of a radar. It is a schematic plan view which shows the state which the other vehicle in the adjacent lane overtakes the own vehicle. It is a schematic diagram which shows the result of having detected the vehicle traveling in the adjacent lane by a radar. It is a part of a flowchart showing a method of determining an overtaking vehicle executed by the controller. The rest of the flowchart showing the method of determining the overtaking vehicle executed by the controller. (A) is a schematic plan view showing a first overtaking determination area and a second overtaking determination area set when the relative speed of a vehicle traveling in the adjacent lane is high, and (b) is a schematic plan view showing the traveling in the adjacent lane. It is a schematic plan view which shows the 1st overtaking determination area and the 2nd overtaking determination area which are set when the relative speed of a vehicle is low. It is a schematic plan view which shows the overtaking determination area set when the relative speed of the vehicle traveling in the adjacent lane is less than a predetermined speed. (A) is a schematic plan view showing a state in which a vehicle traveling in the adjacent lane has entered the first overtaking determination area, and (b) is a state in which a vehicle traveling in the adjacent lane has invaded the second overtaking determination area. It is a schematic plan view which shows. (A) is a schematic plan view showing a state before a vehicle traveling in the adjacent lane enters the second overtaking determination area, and (b) is a schematic plan view showing a state before the vehicle traveling in the adjacent lane invades the second overtaking determination area. It is a schematic plan view which shows the state which was done. It is a schematic plan view which shows the detection range of the radar which concerns on a modification.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The form described below is an example of the present invention, and the present invention is not limited to any of the following forms except for its essential configuration.

In the drawings used in the following description, "Fr" is the front side in the traveling direction of the vehicle, "Re" is the rear side in the traveling direction of the vehicle, "Le" is the left side in the traveling direction of the vehicle, and "Ri". Points to the right side of the vehicle in the direction of travel.

[Embodiment]
1. 1. Schematic Configuration of Vehicle 1 The schematic configuration of vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the vehicle 1 includes an engine 2 as a power source. In the vehicle 1 according to the present embodiment, a multi-cylinder gasoline engine is adopted as an example of the engine 2.

A transmission 3 is connected to the engine 2, and a differential gear 4 is connected to the transmission 3. A drive shaft 5 extends from the differential gear 4 in the left-right direction. Left and right front wheels 6l and 6r are attached to the ends of the drive shaft 5.

The drive shaft 5 is provided with a left front brake 7l in a portion close to the left front wheel 6l and a right front brake 7r in a portion close to the right front wheel 6r.

Left and right rear wheels 8l and 8r are arranged behind the vehicle 1. Each of the left and right rear wheels 8l and 8r is attached to a rear arm (not shown). The shaft that pivotally supports the left rear wheel 8l (not shown) is provided with a left rear brake 9l, and the shaft that pivotally supports the right rear wheel 8r (not shown) is provided with a right rear brake 9r. Has been done.

As shown in FIG. 1, the vehicle 1 is provided with four radars 10 to 13. Of the four radars 10 to 13, the radar 10 is arranged in the front right corner portion 1a of the vehicle 1 and can detect a target (vehicle or the like) on the front right side of the vehicle 1 (right front side). Direction radar 10).

The radar 11 is arranged in the front left corner portion 1b of the vehicle 1 and can detect a target (vehicle or the like) on the front left side of the vehicle 1 (left front side radar 11). In the present embodiment, the right front side radar 10 and the left front side radar 11 may be described as "front side radar", which corresponds to the front side radar.

The radar 12 is arranged in the rear right corner portion 1c of the vehicle 1 and can detect a target (vehicle or the like) on the rear right side of the vehicle 1 (right rear side radar 12).

The radar 13 is arranged in the rear left corner portion 1d of the vehicle 1 and can detect a target (vehicle or the like) on the rear left side of the vehicle 1 (left rear side radar 13). In the present embodiment, the right rear side radar 12 and the left rear side radar 13 may be described as "rear side radar", which corresponds to the rear side radar.

As shown in FIG. 1, the vehicle 1 is provided with an alarm device 15 capable of issuing an alarm to an occupant on board.

Further, the vehicle 1 is provided with a controller 14. The controller 14 in this embodiment corresponds to an overtaking vehicle determination unit. This will be described later.

The controller 14 includes a microprocessor composed of a CPU, ROM, RAM, and the like, and as shown in FIGS. 1 and 2, the front side radars 10 and 11 and the rear side radars 12 and 13 and the like are included. It is connected and the detection results of these radars 10 to 13 are acquired. In the present embodiment, the overtaking vehicle determination device 16 is configured by combining the controller 14, the front side radars 10 and 11, and the rear side radars 12 and 13.

As shown in FIGS. 1 and 2, the controller 14 is also connected to the engine 2, the brakes 7r, 7l, 9r, 9l, and the alarm 15, and commands are issued as necessary based on the received detection results. You can do it.

Further, as shown in FIG. 2, the controller 14 has a relative speed calculation unit 141, a first overtaking determination area setting unit 142, and a second overtaking determination area setting unit 143. These will be described later.

2. 2. Detection range of radars 10 to 13 Each detection range of radars 10 to 13 will be described with reference to FIG. FIG. 3 is a schematic plan view showing the detection range of the radars 10 to 13 in the vehicle 1.

As shown in FIG. 3, the vehicle 1 is traveling in the left lane LN1 of the two adjacent lanes LN1 and LN2 in the direction of arrow A. The lane LN1 is partitioned by a lane marking DL1 and a lane marking DL2. The lane LN2 is partitioned by a lane marking DL2 and a lane marking DL3.

The right front side radar 10 emits a millimeter wave in a range of ± θ1 centered on the beam center L10 facing the right front side from the front right corner portion 1a of the vehicle 1, is reflected by a target (vehicle, etc.) and returns. Receive the reflected wave.

The left front side radar 11 emits a millimeter wave in a range of ± θ4 centered on the beam center L11 facing the left front side from the front left corner portion 1b of the vehicle 1, is reflected by a target (vehicle, etc.) and returns. Receive the reflected wave that came.

The right rear side radar 12 emits a millimeter wave in a range of ± θ2 centered on the beam center L12 facing the right rear side from the rear right corner portion 1c of the vehicle 1, and is reflected by a target (vehicle or the like). Receive the returned reflected wave.

The left rear side radar 13 emits a millimeter wave in a range of ± θ3 centered on the beam center L13 facing the left rear side from the rear left corner portion 1d of the vehicle 1, and is reflected by a target (vehicle or the like). Receives the returned reflected wave.

Here, as shown in FIG. 3, the right front side radar 10 and the right rear side radar 12 overlap each other in a part of their respective detection ranges on the right side of the vehicle 1 (overlap detection area AR0). A part of the overlap detection area AR0 is also arranged in the lane LN2.

Further, with respect to the left front side radar 11 and the left rear side radar 13, a part of each detection range overlaps with each other on the left side of the vehicle 1. Similarly, with respect to the right front side radar 10 and the left front side radar 11, a part of each detection range overlaps with each other in front of the vehicle 1. As for the right rear rear radar 12 and the left rear rear radar 13, a part of each detection range overlaps with each other behind the vehicle 1.

The detection accuracy of each radar 10 to 13 is highest in and near the beam centers L10 to L13 of the millimeter wave transmitted by each radar, and becomes lower as the angle increases.

3. 3. Detection points of radars 10 and 12 in other vehicles 500 and 501 Detection points of radars 10 and 12 in other vehicles 500 and 501 traveling in the adjacent lane LN2 will be described with reference to FIG. FIG. 4 is a schematic plan view showing the detection points of the radars 10 and 12.

In the vehicle 1 according to the present embodiment, the radars 10 and 12 are adapted to detect the nearest location (recent location) of the other vehicles 500 and 501, which are targets. Specifically, as shown in FIG. 4, the vehicle 1 which is the own vehicle travels as shown by the arrow B, and the other vehicles 500 and 501 traveling in the adjacent lane LN2 travel as shown by the arrows C and D. In this situation, the right front side radar 10 detects the front part of the left front door of the other vehicle 500 (the point indicated by the arrow E).

Further, for the other vehicle 501 traveling diagonally to the right and rear of the vehicle 1 in the adjacent lane LN2, the area around the bumper at the front left corner (point indicated by the arrow F) is detected.

Although the detection points of the radars 11 and 13 are not particularly shown in FIG. 4, the recent points can be detected as in the radars 10 and 12.

4. Detection accuracy of Radars 10 to 13 The detection accuracy of radars 10 to 13 included in the vehicle 1 will be described with reference to FIGS. 5 and 6. FIG. 5 is a schematic plan view showing a state in which the other vehicle 502 of the adjacent lane LN2 overtakes the vehicle 1, and FIG. 6 is a schematic view showing the detection results of the other vehicle 502 by the radars 10 and 12.

As shown in FIG. 5, the vehicle 1 which is the own vehicle is traveling in the lane LN1, and the other vehicle 502 is traveling in the adjacent lane LN2. Then, the other vehicle 502 in the adjacent lane LN2 is in a situation of overtaking the vehicle 1 as shown by the arrow G.

As shown in FIG. 6, the other vehicle 502 is detected by the radars 10 and 12 as detection points P10 and P12. In the situation where the other vehicle 502 overtakes, first, the other vehicle 502 is detected as the detection point P12 by the right rear side radar 12. Then, due to the relative speed between the vehicle 1 and the other vehicle 502, the detection point P12 moves relatively forward along the detection locus LT12 with respect to the vehicle 1.

The detection point P12 has a locus that matches the traveling direction of the other vehicle 502 in the vicinity of the beam center L12 due to the detection accuracy of the radar 12, but is outward (right in FIG. 6) in the region away from the beam center L12. It becomes a trajectory that deviates from the direction).

Next, the radar 10 detects from the time when the other vehicle 502 approaches the end of the detection range of the radar 12. That is, in the overlap detection area AR0, the other vehicle 502 is detected by both the right front side radar 10 and the right rear side radar 12.

The detection point P10 of the other vehicle 502 by the right front side radar 10 is a trajectory that invades from the outside (right side in FIG. 6) to the inside in the overlap detection area AR0 due to the detection accuracy of the radar 10. It becomes LT10. Then, the locus LT10 of the detection point P10 coincides with the traveling direction of the other vehicle 502 as it approaches the vicinity of the beam center L10 of the right front side radar 10.

The radars 11 and 13 provided on the left side of the vehicle 1 also have the same detection accuracy.

As described above with reference to FIG. 6, in the radars 10 to 13 of the vehicle 1 according to the present embodiment, in the vicinity of the beam centers L10 and L12, the detection trajectories LT10 and LT12 that match the actual traveling loci of the other vehicle 502 are detected. Therefore, the detection is made.

On the other hand, in the region away from the beam centers L10 and L12, the detection is performed by the detection loci LT10 and LT12 deviating from the actual travel loci of the other vehicle 502.

5. Overtaking vehicle determination control by the controller 14 The overtaking vehicle determination control method by the controller 14 in the overtaking vehicle determination device 16 will be described with reference to FIGS. 7 to 12. 7 and 8 are flowcharts showing a method of determining an overtaking vehicle executed by the controller 14. FIG. 9A is a schematic plan view showing the first overtaking determination areas AR3 and AR4 and the second overtaking determination areas AR1 and AR2 set when the relative speed of the other vehicle 503 traveling in the adjacent lane LN2 is high. 9 (b) is a schematic plan view showing the first overtaking determination areas AR3 and AR4 and the second overtaking determination areas AR1 and AR2 set when the relative speed of the other vehicle 504 traveling in the adjacent lane LN2 is low. be.

FIG. 10 is a schematic plan view showing the second overtaking determination areas AR1 and AR2 set when the relative speed of the other vehicle 505 traveling in the adjacent lane LN2 is less than a predetermined speed. FIG. 11A is a schematic plan view showing a state in which another vehicle 506 traveling in the adjacent lane LN2 has entered the first overtaking determination area AR3, and FIG. 11B is a schematic plan view showing a state in which the other vehicle traveling in the adjacent lane LN2 has entered the first overtaking determination area AR3. FIG. 12A is a schematic plan view showing a state in which 506 has invaded the second overtaking determination area AR1, and FIG. 12A shows a state before another vehicle 507 traveling in the adjacent lane LN2 invades the second overtaking determination area AR1. 12 (b) is a schematic plan view showing a state in which another vehicle 507 traveling in the adjacent lane LN2 has entered the second overtaking determination area AR1.

As shown in FIG. 7, when the key of the vehicle 1 is turned on, the controller 14 waits until other vehicles are detected by the rear side radars (right rear side radar, left rear side radar) 12 and 13 (the right rear side radar, the left rear side radar). Step S1: No).

When the controller 14 determines that another vehicle has been detected by the rear side radars (right rear side radar, left rear side radar) 12 and 13 (step S1: Yes), the controller 14 turns on the built-in timer (step). S2). Then, the relative speed calculation unit 141 of the controller 14 calculates the relative speed ΔV of the other vehicle with respect to the own vehicle 1 (step S3).

The controller 14 determines whether or not the relative speed of the other vehicle calculated as described above is equal to or higher than the preset relative speed Vth (step S4). In this embodiment, the predetermined relative velocity Vth is set to 10 km / h as an example.

When the controller 14 determines that the relative speed ΔV is equal to or higher than the predetermined relative speed Vth (step S4: Yes), the first overtaking determination area setting unit 142 sets the first overtaking determination areas AR3 and AR4 (step). S5), the second overtaking determination area setting unit 143 sets the second overtaking determination areas AR1 and AR2 (step S6).

As shown in FIG. 9A, in the vehicle 1 according to the present embodiment, the right side first overtaking determination area AR3 is set on the right side of the vehicle 1 in the region behind the front end of the vehicle 1, and the left side of the vehicle 1 is set. The left first overtaking determination area AR4 is set in.

Further, in the vehicle 1, in the region ahead of the front end of the vehicle, the right side second overtaking determination area AR1 is set on the right side of the vehicle 1, and the left side second overtaking determination area AR2 is set on the left side of the vehicle 1.

The first overtaking determination areas AR3 and AR4 are areas where other vehicles 503 and 504 can be detected by the front side radars 10 and 11 and the rear side radars 12 and 13, and the second overtaking determination areas AR1 and AR2 are. This is an area where other vehicles 503 and 504 can be detected by the front side radars 10 and 11.

Further, FIG. 9A shows a case where the relative speed ΔV, which is the difference between the speed V1 of the vehicle 1 and the speed V2 of the other vehicle 503, is high, and in that case, the extending directions of the lanes LN1 and LN2. In, the lengths of the first overtaking determination areas AR3 and AR4 are set to L3 and L4. In the present embodiment, the length L3 and the length L4 have the same length.

On the other hand, as shown in FIG. 9B, when the relative speed ΔV, which is the difference between the speed V1 of the vehicle 1 and the speed V3 of the other vehicle 504, is low, the first in the extending direction of the lanes LN1 and LN2. The lengths of the overtaking determination areas AR3 and AR4 are set to L5 and L6, which are shorter than the lengths L3 and L4. In the present embodiment, the length L5 and the length L6 have the same length.

As described above, the first overtaking determination area setting unit 142 according to the present embodiment performs the first overtaking determination in a linear, quadratic, or exponential manner in proportion to the magnitude of the relative speed ΔV. The lengths L3, L4, L5, and L6 of the areas AR3 and AR4 are variable.

Returning to FIG. 7, when the controller 14 determines in step S4 that the relative speed ΔV is less than the predetermined relative speed Vth (step S4: No), as shown in FIG. 8, the first overtaking determination is made. The area setting unit 142 does not set the first overtaking determination areas AR3 and AR4, but the second overtaking determination area setting unit 143 only sets the second overtaking determination areas AR1 and AR2 (step S7). Specifically, as shown in FIG. 10, when the relative speed ΔV, which is the difference between the speed V1 of the vehicle 1 and the speed V4 of the other vehicle 505, is less than the predetermined relative speed Vth, it is higher than the front end of the vehicle 1. In the front area, the right side second overtaking determination area AR1 is set on the right side of the vehicle 1, and the left side second overtaking determination area AR2 is set on the left side of the vehicle 1.

Similarly to the above, the first overtaking determination areas AR3 and AR4 are areas in which the second overtaking determination areas AR1 and AR2 are areas in which the other vehicle 505 can be detected by the front side radars 10 and 11.

Here, the controller 14 according to the present embodiment overtakes only when the relative speed ΔV calculated by the relative speed calculation unit 141, that is, the relative speed of the other vehicles 503 to 505 with respect to the own vehicle 1 is a positive value. Perform vehicle determination. This is because when the own vehicle 1 is faster, it is not necessary to determine the overtaking vehicle.

Returning to FIG. 7, the controller 14 sets the first overtaking determination areas AR3 and AR4 and the second overtaking determination areas AR1 and AR2 (steps S5 and S6), and then the controller 14 sets the first overtaking determination areas AR3 and AR4 (the present embodiment). In the case of, it is determined whether or not another vehicle 506 has invaded the first overtaking determination area AR3) (step S8). The state is continued until the other vehicle 506 invades the first overtaking determination areas AR3 and AR4 (step S8: No).

As shown in FIG. 11A, when another vehicle 506 traveling in the adjacent lane LN2 has entered the first overtaking determination area AR3 (step S8: Yes), the controller 14 has the other vehicle 506 as the first. 2 It is determined whether or not the vehicle has entered the overtaking determination area AR1 (step S9). As shown in FIG. 7, the controller 14 continuously performs the determination in step S9 until the time counting time T of the timer reaches the preset predetermined time Tth (step S10: No).

On the other hand, when the time counting time T of the timer reaches the predetermined time Tth (step S10: Yes), the controller 14 sets the first overtaking determination areas AR3 and AR4 and the second overtaking determination areas AR1 and AR2 in step S14. Is released, and the timer is reset (stopped) in step S15.

As shown in FIG. 11B, when another vehicle 506 traveling in the adjacent lane LN2 invades the second overtaking determination area AR1 between the intrusion into the first overtaking determination area AR3 and the time Tth. (Step S9: Yes), the controller 14 determines that the other vehicle (detection vehicle) 506 is a “passing vehicle” (step S11).

When the controller 14 determines in step S11 that the other vehicle 506 is an "overtaking vehicle", the controller 14 issues a warning command to the alarm 15 (step S12) and sets the brakes 7l, 7r, 9l, 7r. On the other hand, a braking command is issued to decelerate (step S13).

After that, the controller 14 cancels the settings of the first overtaking determination areas AR3 and AR4 and the second overtaking determination areas AR1 and AR2 in step S14, and resets (stops) the timer in step S15 to return the control.

As shown in FIG. 8, when only the second overtaking determination areas AR1 and AR2 are set in step S7 because the relative velocity ΔV is less than the predetermined relative velocity Vth, the second overtaking determination areas AR1 and AR2 (this In the case of the embodiment, it is determined whether or not another vehicle 507 has invaded the second overtaking determination area AR1) (step S16). As shown in FIG. 12A, the state is continued until the other vehicle 507 invades the second overtaking determination areas AR1 and AR2 (step S16: No).

As shown in FIG. 12B, when another vehicle 507 traveling in the adjacent lane LN2 enters the second overtaking determination area AR1 diagonally to the right and forward of the front end of the vehicle 1 (step S16: Yes). , The controller 14 determines that the other vehicle (detection vehicle) 507 is a “passing vehicle” (step S17).

When the controller 14 determines in step S17 that the other vehicle 507 is an "overtaking vehicle", the controller 14 issues a warning command to the alarm 15 (step S18) and sets the brakes 7l, 7r, 9l, 7r. On the other hand, a braking command is issued to decelerate (step S19).

After that, the controller 14 cancels the setting of the second overtaking determination areas AR1 and AR2 in step S20, and resets (stops) the timer in step S15 to return the control.

6. Effect In the overtaking vehicle determination device 16 of the vehicle 1 according to the present embodiment, when the relative speed ΔV is equal to or higher than the predetermined relative speed Vth (step S4: Yes in FIG. 7), the first overtaking determination areas AR3, AR4 and the second After setting the overtaking determination areas AR1 and AR2, whether or not the other vehicle 506 is an "overtaking vehicle" is determined by using the detection result of whether or not another vehicle 506 has invaded these areas AR1 to AR4. It is decided to judge. Therefore, the overtaking vehicle determination device 16 according to the present embodiment can determine the overtaking vehicle with high accuracy regardless of the detection accuracy of each radar 10 to 13. That is, in the process in which the other vehicle 506 overtakes the neighbor of the own vehicle 1, is the other vehicle 506 a "passing vehicle" using only one of the rear side radars 12 and 13 or the front side radars 10 and 11. In the case of determining whether or not, an erroneous determination may occur depending on the detection accuracy of the radar that adopts the detection result.

However, in the overtaking vehicle determination device 16 according to the present embodiment, the detection results in the first overtaking determination areas AR3 and AR4, which are detected by the front side radars 10 and 11 and the rear side radars 12 and 13, and the front side Since the overtaking vehicle is determined by continuously using the detection results in the second overtaking determination areas AR1 and AR2 detected by the radars 10 and 11, the prior art including the technique of Patent Document 1. It is possible to determine the overtaking vehicle with higher accuracy.

Further, in the overtaking vehicle determination device 16 according to the present embodiment, when the relative speed ΔV is less than the predetermined relative speed Vth (step S4: No in FIG. 7), the second side radars 10 and 11 perform detection. Since only the overtaking determination areas AR1 and AR2 are set and it is determined whether or not the other vehicle 507 is an "overtaking vehicle" based only on the detection results in the second overtaking determination areas AR1 and AR2, the relative speed is determined. Even when the ΔV is small and the detection results of the rear side radars 12 and 13 cannot be saved due to the sampling interval, it is possible to determine the overtaking vehicle with high accuracy. Therefore, it is possible to determine the overtaking vehicle with high accuracy without increasing the memory capacity in the overtaking vehicle determination unit.

Further, in the overtaking vehicle determination device 16 according to the present embodiment, as shown in steps S8 and S9 of FIG. 7, after the other vehicle 506 is detected in the first overtaking determination areas AR3 and AR4, the other vehicle 506 is detected. 2 When the other vehicle 506 is detected in the overtaking determination areas AR1 and AR2, it is determined that the other vehicle 506 is an “overtaking vehicle” (step S11 in FIG. 7). By advancing from AR4 to the second overtaking determination areas AR1 and AR2, it is possible to accurately determine that the other vehicle 506 is an "overtaking vehicle".

Further, in the overtaking vehicle determination device 16 according to the present embodiment, the other vehicle 506 traveling in the adjacent lane LN2 changes from the first overtaking determination area AR3 and AR4 to the second overtaking determination areas AR1 and AR2 within a predetermined time Tth. Since it is determined that the other vehicle 506 is an "overtaking vehicle" only when the vehicle has advanced, the overtaking vehicle can be determined more accurately. For example, if the other vehicle 506 does not enter the second overtaking determination areas AR1 and AR2 within the predetermined time after entering the first overtaking determination areas AR3 and AR4, the other vehicle 506 changes its course and the other vehicle 506 changes its course. It is conceivable that a vehicle other than the vehicle 506 has invaded the second overtaking determination areas AR1 and AR2 due to a change of course or the like. The overtaking vehicle determination device 16 according to the present embodiment eliminates the overtaking vehicle determination in the above situation, and enables more accurate overtaking vehicle determination.

Further, in the overtaking vehicle determination device 16 according to the present embodiment, as shown in FIGS. 9A and 9B, the lengths L3, L4, L5, L6 of the first overtaking determination areas AR3 and AR4 are relative to each other. Since the higher the speed ΔV, the longer the speed, it is possible to detect multiple times in the areas AR3 and AR4 even in relation to the sampling interval in each radar 10 to 13, and the overtaking vehicle can be determined with high accuracy. It is superior to.

Further, the lengths L3, L4, L5, and L6 of the first overtaking determination areas AR3 and AR4 may be increased or decreased stepwise in relation to the relative speed ΔV, but are proportional to the relative speed ΔV ( By setting the length (proportional to the linear function, the quadratic function, and the exponential function), detailed overtaking vehicle determination control can be executed.

In the overtaking vehicle determination device 16 according to the present embodiment, the overtaking vehicle determination is performed only when the relative speed ΔV is a positive value, that is, the other vehicles 506 and 507 are faster than the own vehicle 1. May be. By doing so, it is not necessary to track and determine the overtaking vehicle even when the own vehicle 1 is faster than the other vehicles 506 and 507, and only when the overtaking vehicle determination is necessary. Since the other vehicles 506 and 507 are tracked and detected, unnecessary execution of determination control can be suppressed.

As described above, in the overtaking vehicle determination device 16 according to the present embodiment, whether or not the other vehicles 506 and 507 traveling in the adjacent lane LN2 are "overtaking vehicles" can be determined with high accuracy by using radars 10 to 13. It can be determined.

[Modification example]
The configuration of the overtaking vehicle determination device according to the modified example will be described with reference to FIG. FIG. 13 is a schematic plan view showing the detection range of the radars 10 to 13 according to this modification. The overtaking vehicle determination device according to this modification has a difference from the above embodiment in the detection points of the radars 10 to 13 described below, and the other configurations are the same as those in the above embodiment. , The description of the duplicated configuration will be omitted.

As shown in FIG. 13, the radars 10 to 13 of the vehicle 1 according to this modification can detect the vehicle length centers L508 and L509 of the other vehicles 508 and 509 traveling in the adjacent lane LN2. ing. Specifically, the radar 10 can detect the vehicle length L7 of another vehicle 508, and can detect the vehicle length center L508 which is the midpoint thereof.

The radar 10 according to this modification is to detect the other vehicle 508 at a location corresponding to the vehicle length center L508 (point indicated by the arrow H).

Similarly, the radar 12 can detect the vehicle length L8 of the other vehicle 509, and can detect the vehicle length center L509 which is the midpoint thereof. The radar 12 also detects the other vehicle 509 at a location corresponding to the vehicle length center L509 (point indicated by the arrow I).

In the overtaking vehicle determination device according to this modification, the other vehicles 508 and 509 overtaking the adjacent lane LN2 are detected at the vehicle length center L508 and L509, so that the detection points of the other vehicles 508 and 509 are detected. It does not change depending on the relative position with the vehicle 1, and is advantageous for more accurate overtaking vehicle determination.

The overtaking vehicle determination device according to this modification has the same configuration as the overtaking vehicle determination device 16 according to the above embodiment, except for the detection points of the other vehicles 508 and 509 by the radars 10 to 13, and is therefore the same as above. It is possible to produce an effect.

[Other variants]
In the above-described embodiment and the above-described modification, an embodiment in which another vehicle 500 to 509 overtakes the right lane LN2 with respect to the lane LN1 in which the own vehicle 1 travels is taken as an example, but the present invention is limited thereto. It's not a thing. For example, the overtaking vehicle may be determined for another vehicle that overtakes the lane on the left side of the lane in which the own vehicle travels.

In the above-described embodiment and the above-mentioned modification, a configuration in which radars 10 to 13 are arranged on each corner portion 1a to 1d of the vehicle 1 is adopted, but the present invention is not limited thereto. For example, in addition to these radars 10 to 13, an additional radar capable of transmitting millimeter waves toward the front and rear of the vehicle is provided, and a radar capable of transmitting millimeter waves toward the left and right sides of the vehicle is added. It is also possible to provide it as a target.

In the above embodiment and the above modification, when it is determined that the other vehicles 500 to 509 are "passing vehicles", an alarm is issued to the alarm 15 and the brakes 7l, 7r, 9l, 9r are applied. Although it was decided to operate, the present invention is not limited to this. For example, only the alarm alarm of the alarm device 15 may be issued, or only the brakes 7l, 7r, 9l, and 9r may be operated.

In the above embodiment and the above modification, the first overtaking determination area AR3 and AR4 and the second overtaking determination area AR1 are determined depending on whether or not the relative speed ΔV between the own vehicle 1 and the other vehicle 500 to 509 is equal to or higher than the predetermined relative speed Vth. , AR2 and both are set, or only the second overtaking determination areas AR1 and AR2 are set, but the present invention is not limited to this. For example, both the first overtaking determination area and the second overtaking determination area may be set regardless of the magnitude of the relative speed.

In the above embodiment and the above modification, in the configuration of the vehicle 1, the detection results from the four radars 10 to 13 are input to the controller 14, and the controller 14 overtakes based on the input detection results of the radars 10 to 13. Although it was decided to carry out vehicle determination, the present invention is not limited to this. For example, in addition to the four radars, an image pickup device (camera or the like), a laser device, or the like may be provided in the vehicle, and the detection results from these may be received to determine the overtaking vehicle.

In the above-described embodiment and the above-mentioned modification, the engine 2 is adopted as an example as the power source of the vehicle 1, but the present invention is not limited thereto. For example, the present invention may be applied to a hybrid electric vehicle (HEV) including a power source including a combination of an engine and an electric motor, an electric vehicle (PEV) having an electric motor as a power source, and the like.

1 Vehicle 10,11 Front side radar 12,13 Rear side radar 14 Controller (passing vehicle judgment unit)
16 Overtaking vehicle judgment device 141 Relative velocity calculation unit 142 1st overtaking judgment area setting unit 143 2nd overtaking judgment area setting unit AR0 Overtaking detection area AR1, AR2 2nd overtaking judgment area AR3, AR4 1st overtaking judgment area

Claims (7)

It is an overtaking vehicle determination device that determines whether or not another vehicle traveling in the lane next to the lane in which the own vehicle is traveling is an overtaking vehicle.
An anterior radar capable of detecting the other vehicle on the front side of the own vehicle, and
A rear side radar capable of detecting the other vehicle on the rear side of the own vehicle,
The overtaking vehicle determination unit that acquires the detection results of the front side radar and the rear side radar, calculates the relative speed of the other vehicle with respect to the own vehicle, and determines whether or not the other vehicle is an overtaking vehicle. When,
Equipped with
The overtaking vehicle determination unit has a first overtaking determination area for detecting the other vehicle by the front side radar and the rear side radar when the relative speed is equal to or higher than a predetermined speed, and the other by the front side radar. A second overtaking determination area for detecting a vehicle is set, and it is determined whether or not the other vehicle is the overtaking vehicle by using both detection results in the first overtaking determination area and the second overtaking determination area. To execute,
Overtaking vehicle judgment device. In the overtaking vehicle determination device according to claim 1,
The overtaking vehicle determination unit sets only the second overtaking determination area for detecting the other vehicle by the anterior side radar when the relative speed is less than a predetermined speed, and detects in the second overtaking determination area. Using the result, it is determined whether or not the other vehicle is the overtaking vehicle.
Overtaking vehicle determination device. It is an overtaking vehicle determination device that determines whether or not another vehicle traveling in the lane next to the lane in which the own vehicle is traveling is an overtaking vehicle.
An anterior radar capable of detecting the other vehicle on the front side of the own vehicle, and
A rear side radar capable of detecting the other vehicle on the rear side of the own vehicle,
An overtaking vehicle determination unit that acquires detection results from the front side radar and the rear side radar and determines whether or not the other vehicle is an overtaking vehicle.
Equipped with
The overtaking vehicle determination unit has a first overtaking determination area for detecting the other vehicle by the front side radar and the rear side radar, and a second overtaking determination area for detecting the other vehicle by the front side radar. It is set, and it is determined whether or not the other vehicle is the overtaking vehicle by using both the detection results in the first overtaking determination area and the second overtaking determination area.
Overtaking vehicle determination device. In the overtaking vehicle determination device according to claim 1 or 3.
When the overtaking vehicle determination unit detects the other vehicle in the first overtaking determination area and then detects the other vehicle in the second overtaking determination area, the overtaking vehicle determination unit determines that the other vehicle is the overtaking vehicle. ,
Overtaking vehicle determination device. In the overtaking vehicle determination device according to claim 4,
When the time from the time when the other vehicle is detected in the first overtaking determination area to the time when the other vehicle is detected in the second overtaking determination area is within a predetermined time, the overtaking vehicle determination unit said. Judging that the other vehicle is the overtaking vehicle,
Overtaking vehicle determination device. In the overtaking vehicle determination device according to claim 1 or 2 .
The overtaking vehicle determination unit sets the length of the lane in the extension direction in the first overtaking determination area longer as the relative speed increases.
Overtaking vehicle determination device. In the overtaking vehicle determination device according to claim 6,
The overtaking vehicle determination unit sets the length to a value proportional to the relative speed.
Overtaking vehicle determination device.

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