JP7211145B2 - vehicle controller - Google Patents

Description

The present invention identifies a target by integrating target information around the vehicle detected by a plurality of sensors provided on the vehicle, and records information about the identified target in a storage unit, The present invention relates to a vehicle control device that controls a vehicle based on the recorded target information.

Conventionally, target information about a target detected by a radar sensor or an ultrasonic sensor provided in a vehicle and target information about a target obtained by a camera sensor provided in the vehicle are combined. "Sensor fusion technology" is known for obtaining more accurate target information.

One of the conventional vehicle control devices (hereinafter referred to as "conventional device") detects a target (obstacle) existing in front of the vehicle based on an image captured by a camera sensor while the vehicle is running. Determine presence/absence. Further, the conventional device adjusts the driving force of the vehicle based on the detection state of the ultrasonic sensor, the detection state of the image captured by the camera sensor, and the determined information on the presence or absence of a target existing in front of the vehicle. (See, for example, Patent Document 1.).

JP 2017-43173 A

By the way, when a target detected by a radar sensor or an ultrasonic sensor and a target acquired by a camera sensor are recognized (identified) as the same target, the identified target is actually and the position information and velocity information of the target can be obtained more accurately. Targets recognized to be the same target are hereinafter referred to as "fusion targets". Therefore, for example, when a certain target is identified as a fusion target, the vehicle and the object can be identified by controlling the vehicle based on information (identification ID, identification time, position information, speed information, etc.) related to the fusion target. A control device is conceivable that avoids contact with the target.

However, the target specified as the fusion target is a radar sensor or an ultrasonic sensor (hereinafter also referred to as "first sensor") and a camera sensor (hereinafter also referred to as "second sensor"). , the fusion target information is no longer acquired. Therefore, although the target is detected by the other sensor, the control for avoiding contact between the vehicle and the target (contact avoidance control) may be stopped.

The present invention has been made to address the above problems. That is, one of the objects of the present invention is to obtain fusion target information with high reliability so that even if the target leaves the detectable area of either one of the first sensor and the second sensor, To provide a vehicle control device capable of continuing contact avoidance control.

In order to solve such problems, a control device for a vehicle according to one embodiment of the present invention (hereinafter also referred to as "the device of the present invention") (10) includes a first sensor section (20) and a first sensor section (20). It comprises a 2-sensor section (30), a fusion target information acquisition section (41), a storage section (43), a fusion target information management section (42), and a vehicle motion state control section (50).

The first sensor unit detects a target existing in a predetermined detection area around the vehicle (SV) using electromagnetic waves or ultrasonic waves, and transmits first detection information that is information about the detected target. get. For example, the first sensor unit is a millimeter wave radar, a laser radar, an ultrasonic radar, or the like.

The second sensor unit detects a target existing around the vehicle using image data acquired by photographing a predetermined range around the vehicle, and provides information about the detected target. Acquire second detection information. For example, the second sensor unit is a camera sensor.

The fusion target information acquisition unit obtains the first detection information and the second Fusion target information obtained by integrating detection information is obtained (steps 610 and 710).

The storage unit stores the fusion target information.

When the fusion target information management unit satisfies a specific condition including at least the condition that the fusion target information acquisition unit has acquired the fusion target information for a predetermined period of time (step 640: Yes) , the fusion target information is recorded in the storage unit (step 650). Further, after the fusion target information is recorded, the fusion target information management unit controls the speed of the target relative to the vehicle obtained from the first detection information and the speed obtained from the second detection information. When the difference between the speed of the target relative to the vehicle and the speed of the target becomes equal to or greater than a predetermined value (step 740: No or step 750: No), the recorded fusion target information is deleted from the storage unit (step 760). ).

The vehicle motion state control unit controls the motion state of the vehicle to avoid contact between the target corresponding to the fusion target and the vehicle while the fusion target information is recorded in the storage unit. (step 870).

For example, even if the target detected by the first sensor unit and the target detected by the second sensor unit are different targets, they are recognized as "targets detected by both sensors", and fusion It is conceivable that target information may be acquired. In this case, it is not highly likely that fusion target information will continue to be acquired in the detection process that is repeated at predetermined time intervals thereafter. In other words, the longer the period in which the fusion target information obtained by integrating the first detection information and the second detection information is continuously (repeatedly) acquired, the higher the reliability of the fusion target information. Therefore, the apparatus of the present invention stores the fusion target information in the storage unit (for example, , RAM). Therefore, it can be said that the fusion target information recorded in this way is highly reliable information.

On the other hand, even if the fusion target information is recorded in the storage unit as described above, there is a non-zero possibility that two different targets are erroneously recognized as the same target. cannot say). In this case, if two different targets move in different directions after that, the velocities of the two vehicles should be recognized differently. Therefore, in the device of the present invention, when the difference between the speed of the target acquired from the first detection information and the speed of the target acquired from the second detection information becomes equal to or greater than a predetermined value, the Delete fusion target information. In this way, according to the apparatus of the present invention, since records with low reliability are deleted, the reliability of the recorded fusion target information can be further improved.

Furthermore, according to the device of the present invention, the fusion target information is acquired, and the vehicle state can be changed to avoid contact with the target recorded in the storage unit. Therefore, even if the target leaves either the detectable area of the first sensor unit or the detectable area of the second sensor unit, the control to change the motion state of the vehicle (contact avoidance control) is continued. to) becomes possible.

In other words, according to the device of the present invention, by acquiring fusion target information with high reliability, the target leaves either the detectable area of the first sensor unit or the detectable area of the second sensor unit. Even in such a case, it is possible to provide a vehicle control device capable of continuing contact avoidance control.

In the above description, in order to facilitate understanding of the invention, the reference numerals used in the embodiments are attached to the configurations of the invention corresponding to the embodiments in parentheses. It is not intended to be limited to the defined embodiments. Objects, other features and attendant advantages of the present invention will be readily understood from the description of embodiments of the present invention described with reference to the following drawings.

FIG. 1 is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention. FIG. 2 is an explanatory diagram of the mounting positions of the radar sensor and camera sensor shown in FIG. 1 and the detectable area of each sensor on the xy plane. FIG. 3 is an explanatory diagram of detectable areas on the xz plane of the radar sensor and camera sensor shown in FIG. FIG. 4 is a diagram showing the positional relationship on the xy plane between the vehicle and the target shown in FIG. FIG. 5 is a diagram for explaining fusion target information recorded in the storage unit shown in FIG. FIG. 6 is a flow chart showing a "fusion target information recording routine" executed by the CPU of the target detection ECU shown in FIG. FIG. 7 is a flow chart showing a "fusion target information deletion routine" executed by the CPU of the target detection ECU shown in FIG. FIG. 8 is a flow chart showing a "pre-collision control routine" executed by the CPU of the vehicle motion state control ECU shown in FIG. FIG. 9 is a flow chart showing a "fusion target information recording routine" executed by the CPU of the target detection ECU shown in FIG.

(Constitution)
FIG. 1 is a schematic system configuration diagram of a vehicle control device (hereinafter also referred to as "first device") 10 according to an embodiment of the present invention. The first device 10 is mounted on a vehicle SV and detects a three-dimensional object (hereinafter referred to as a "target") existing at least in front of the vehicle SV with at least two sensors, It is determined whether or not the targets detected in are the same target. Furthermore, when the first device 10 determines that the targets detected by at least two sensors are the same target, the first device 10 determines information about each target (for example, the position (relative position) with respect to the vehicle SV and the position of the vehicle The velocities (relative velocities) with respect to the SV are integrated, and this integrated information (hereinafter referred to as "fusion target information") is recorded in the storage unit. In addition, when the fusion target information is recorded in the storage unit, the first device 10 changes the driving state of the vehicle SV to avoid contact between the vehicle and the target (obstacle).

The first device 10 includes a radar sensor 20, a camera sensor 30, a target detection ECU 40, a pre-collision control ECU 50, an engine ECU 60, a brake ECU 70, a steering ECU 80 and an alarm ECU 90.

The radar sensor 20 has a radar wave transmitting/receiving section 21 and an information processing section 22 . The radar wave transmitting/receiving unit 21 radiates millimeter wave band electromagnetic waves (hereinafter also referred to as “millimeter waves”), and receives millimeter waves (reflected waves) reflected by three-dimensional objects existing within the radiation range. . The radar wave transmitting/receiving unit 21 may be a radar wave transmitting/receiving unit (including laser radar) that uses electromagnetic waves in frequency bands other than the millimeter wave band.

Based on the reflection point information including the phase difference between the radiated (transmitted) millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmission to reception of the millimeter wave, The distance between the vehicle SV and the target (approximately the center position of the target), the direction (azimuth) of the target with respect to the vehicle SV, the speed of the target with respect to the vehicle SV, and the like are detected. The information processing unit 22 groups the "plurality of reflection points" that are close to each other, and recognizes the group of the grouped reflection points (hereinafter referred to as "reflection point group") as one target. The information processing unit 22 assigns a target ID to the recognized target as identification information for specifying/identifying the target. The information processing unit 22 uses an arbitrary point (specific reflection point) in the reflection point group to calculate radar sensor detection information. The radar sensor detection information includes the longitudinal distance Dfx of the target, the azimuth θp of the target with respect to the vehicle SV, the relative velocity Vfx between the vehicle SV and the target, and the like.

The radar sensor 20 is provided in front of the vehicle SV in order to obtain information on three-dimensional objects that exist mainly in front of the vehicle SV. More specifically, as shown in FIG. 2, the radar sensor 20 is arranged at the vehicle width direction center position of the front bumper FB of the vehicle SV. The area where the radar sensor 20 can detect a target (detectable area) is, as shown in FIG. It is a fan-shaped area extending to the right boundary line RBL1 in the direction to the left and to the left boundary line LBL1 in the left direction.

The detection axis CL1 coincides with the vehicle front-rear axis FR. The "magnitude of the angle formed between the detection axis CL1 and the right boundary line RBL1" and the "magnitude of the angle formed between the detection axis CL1 and the left boundary line LBL1" are each θ1. Therefore, the central angle of the sector, which is the detectable area of the radar sensor 20, is (2·θ1). Note that the radar sensor 20 may be composed of a plurality of radar sensors arranged at different positions of the vehicle SV (for example, front, right front, and left front of the vehicle SV). The radar sensor 20 may be referred to as "first sensor unit 20". Radar sensor detection information may be referred to as "first detection information".

The camera sensor 30 includes a stereo camera 31 that captures an image of the front of the vehicle SV and an image processing device 32 that processes the image captured by the stereo camera 31 . As shown in FIG. 2, the stereo camera 31 is arranged inside the passenger compartment of the front window. The detectable area of the camera sensor 30 extends from the "detection axis CSL extending forward from the center position of the front window of the vehicle SV in the vehicle width direction" to the right to the right boundary line RCBL and to the left to the left boundary line LCBL. It is a fan-shaped area. The detection axis CSL coincides with the vehicle longitudinal axis FR of the vehicle SV. The "magnitude of the angle formed between the detection axis CSL and the right boundary line RCBL" and the "magnitude of the angle formed between the detection axis CSL and the left boundary line LCBL" are each θ2. Therefore, the angle of view of the camera sensor 30 is (2·θ2).

As shown in FIG. 3, the vertical detectable area of the radar sensor 20 is a fan-shaped area from the upper boundary line UBL1 to the lower boundary line DBL1. Furthermore, the vertical detectable area of the camera sensor 30 is a fan-shaped area from the upper boundary line UCBL to the lower boundary line DCBL. As can be understood from FIG. 3, the vertical detectable area of the radar sensor 20 and the vertical detectable area of the camera sensor 30 substantially match (overlap) in front of and far from the vehicle SV. . However, the ratio of overlap between the vertical detectable area of the radar sensor 20 and the vertical detectable area of the camera sensor 30 decreases as the vehicle is closer to the vehicle SV.

The stereo camera 31 transmits an image signal representing a photographed image to the image processing device 32 every time a certain period of time elapses. The image processing device 32 determines whether or not there is a target in the imaging area (detectable area) based on the received image signal. When the image processing device 32 determines that a target exists in the imaging area, it calculates the position of the target and identifies the type of the target (automobile, motorcycle, pedestrian, etc.) by well-known pattern matching. The position of the target is specified by the direction (azimuth) of the target with respect to the vehicle SV and the distance between the target and the vehicle SV. Further, the image processing device 32 extracts (specifies) the left end point (left end point) and the right end point of the target, and obtains information about the positions of these end points with respect to the vehicle SV.

The camera sensor 30 receives information indicating the position of the target (generally the center position of the target, for example, the center between the left end point and the right end point of the target) and information indicating the type of target after a certain period of time. It is output to the ECU 40 each time. Furthermore, the camera sensor 30 outputs information about the positions (relative positions) of the left end point and the right end point of the target with respect to the vehicle SV to the ECU 40 every time a certain period of time elapses. The ECU 40 identifies transition of the position of the target based on the information indicating the position of the target received from the camera sensor 30 . Then, the ECU 40 grasps the speed (relative speed) of the target with respect to the vehicle SV and the movement trajectory based on the transition of the position of the identified target.

A monocular camera may be used as the camera sensor 30 instead of the stereo camera 31 . The camera sensor 30 may be referred to as a "second sensor unit 30". Camera sensor detection information may be referred to as "second detection information".

The target detection ECU 40 is electrically connected to the radar sensor 20 and camera sensor 30 . ECU is an abbreviation of electronic control unit, and is an electronic control circuit having a microcomputer including CPU, ROM, RAM, backup RAM (or non-volatile memory), interface I/F, etc. as main components. The CPU implements various functions described later by executing instructions (routines) stored in a memory (ROM).

A pre-collision control ECU (hereinafter also referred to as "PCSECU") 50 is electrically connected to a target detection ECU 40, an engine ECU 60, a brake ECU 70, a steering ECU 80, and an alarm ECU 90 so that data can be exchanged with each other through CAN (Controller Area Network) communication. properly connected. Therefore, the PCSECU 50 can control the motion state of the vehicle SV in cooperation with the engine ECU 60, the brake ECU 70 and the steering ECU 80 while referring to the fusion target information recorded in the storage unit 43 of the target detection ECU 40.

The PCSECU 50 is electrically connected to the following sensors and receives detection signals or output signals from these sensors. Note that each sensor may be connected to an ECU other than the PCSECU 50 . In that case, the PCSECU 50 receives the detection signal or the output signal of the sensor via CAN from the ECU to which the sensor is connected.

The accelerator pedal operation amount sensor 51 detects the operation amount (accelerator opening) of an accelerator pedal 51a of the vehicle SV, and outputs a signal representing the accelerator pedal operation amount AP. A brake pedal operation amount sensor 52 detects an operation amount of a brake pedal 52a of the vehicle SV and outputs a signal representing the brake pedal operation amount BP. The vehicle speed sensor 53 detects the traveling speed (vehicle speed) of the vehicle SV and outputs a signal representing the vehicle speed SPD. The yaw rate sensor 54 detects the yaw rate of the vehicle SV and outputs the actual yaw rate Yrt.

The engine ECU 60 is connected to the engine actuator 61 . The engine actuator 61 includes a throttle valve actuator that changes the opening of a throttle valve of a spark ignition/gasoline fuel injection internal combustion engine (E/G) 62 . The engine ECU 60 can change the drive torque generated by the internal combustion engine 62 by driving the engine actuator 61 . A drive torque generated by the internal combustion engine 62 is transmitted to wheels (not shown) via a transmission (not shown). Therefore, the engine ECU 60 can control the driving force of the vehicle SV by controlling the engine actuator 61 to change the acceleration state (acceleration). If the vehicle SV is a hybrid vehicle, the engine ECU 60 can control the driving force generated by one or both of the "internal combustion engine and electric motor" as the driving source. Furthermore, when the vehicle SV is an electric vehicle, the engine ECU 60 can control the driving force generated by the electric motor as the driving source.

The brake ECU 70 is electrically connected to the brake actuator 71 . The brake actuator 71 controls the hydraulic pressure between a master cylinder (not shown) that pressurizes hydraulic oil by the force applied to the brake pedal 52a and a friction brake mechanism 72 provided on the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). provided in the circuit. The brake actuator 71 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake caliper 72b of the friction brake mechanism 72 according to the instruction from the brake ECU 70. The brake pad is pressed against the brake disc 72a by operating the wheel cylinder with the hydraulic pressure. As a result, a frictional braking force is generated. Therefore, the brake ECU 70 can control the braking force of the vehicle SV by controlling the brake actuator 71 to change the acceleration state (deceleration, that is, negative acceleration).

The steering ECU 80 is electrically connected to an assist motor (M) 82 via a motor driver 81 . The assist motor 82 is incorporated in a "steering mechanism including a steering wheel, a steering shaft connected to the steering wheel, a steering gear mechanism, etc." of the vehicle SV (not shown). The steering ECU 80 detects the steering torque input to the steering wheel by the driver using a steering torque sensor (not shown) provided on the steering shaft, and operates the assist motor 82 using the motor driver 81 based on this steering torque. drive. The steering ECU 80 applies a steering torque to the steering mechanism by driving the assist motor 82, thereby assisting the driver's steering operation.

The alarm ECU 90 is electrically connected to the buzzer 91 and the indicator 92 . The alarm ECU 90 causes the buzzer 91 to output "an alarm sound for drawing the driver's attention to a target that is likely to collide with the vehicle SV" in response to an instruction from the PCSECU 50. FIG. Furthermore, the alarm ECU 90 causes the display 92 to display a mark (for example, a warning lamp) to call attention in response to an instruction from the PCSECU 50 .

(Outline of operation)
The first device 10 uses the radar sensor 20 and the camera sensor 30 to detect a three-dimensional object (target) in front of the vehicle SV, and uses a method described later to detect target information detected by the radar sensor 20 and , and target information detected by the camera sensor 30 are integrated (fused). The integrated target information (fusion target information) includes the distance and speed of the three-dimensional object (target) with respect to the vehicle SV.

Furthermore, the first device 10 records the fusion target information in the storage unit 43 when the target information of the integrated target is continuously acquired for a predetermined period of time. In addition, when the fusion target information is recorded in the storage unit 43, the first device 10 calculates the relative velocity calculated from the target information of the three-dimensional object detected using the radar sensor 20, the camera sensor When the difference between the relative velocity calculated from the target information of the three-dimensional object detected using 30 and the difference is equal to or greater than a predetermined value, the target information recorded in the storage unit is deleted.

In addition, while the fusion target information is being recorded in the storage unit 43, the first device 10 detects that the target has left either the detectable area of the radar sensor 20 or the detectable area of the camera sensor 30. Even in this case, pre-collision control (contact avoidance control) is executed based on the information detected by the other sensor. The procedure will be described below.

When both the radar sensor detection information and the camera sensor detection information have been acquired, the fusion target information acquisition unit 41 of the target object detection ECU 40 detects the object specified by the camera sensor detection information as shown in FIG. A target area 201 is defined to indicate the area where the target (c) is present. A target area 201 is an area on the xy coordinates described above and is an area surrounding the target (c). Next, when at least part of the reflection point group corresponding to the target (r) specified by the radar sensor detection information is included in the target region 201, the fusion target information acquisition unit 41 determines that the camera sensor detection information includes A target (c) based on radar sensor detection information and a target (r) based on radar sensor detection information are treated as the same target (n). More specifically, the fusion target information acquisition unit 41 integrates (fuses) the "radar sensor detection information" and the "camera sensor detection information" using the method described below.

As shown in FIG. 4, the fusion target information acquisition unit 41 employs the longitudinal distance Dfx included in the radar sensor detection information as the final longitudinal distance Dfx(n) of the target (n). On the other hand, the fusion target information acquisition unit 41 calculates the product of the vertical distance Dfx included in the radar sensor detection information and the tangent tan θp of the azimuth θp of the target (n) included in the camera sensor detection information, thereby determining the target. Determine the final lateral position Dfy(n) of target (n) (Dfy(n)=Dfx·tan θp).

A target detected by both the radar sensor 20 and the camera sensor 30 is hereinafter also referred to as a "target detected by both sensors".

Furthermore, the fusion target information acquisition unit 41 employs the relative velocity Vfx included in the radar sensor detection information as the final relative velocity Vfx(n) of the target (n). Furthermore, the fusion target information acquisition unit 41 determines whether the target (n) detected based on the radar sensor detection information and the target (n) detected based on the camera sensor detection information are the same target. Give a target ID. Such "target information determined using the detection results of both the radar sensor 20 and the camera sensor 30" is hereinafter referred to as "fusion target information".

Therefore, when the target (n) is detected based on both the "radar sensor detection information" and the "camera sensor detection information", the fusion target information acquisition unit 41 obtains the fusion target information from the target (n). is determined as target information.

On the other hand, if the target (n) is detected based on only one of the "radar sensor detection information" and the "camera sensor detection information", the fusion target information acquisition unit 41 detects it. Obtain (determine) final target information for target (n) based on information only. In this case, the fusion target information acquisition unit 41 assigns a target ID to the target (n) so as not to duplicate an existing target ID. Target information determined based on only one of the "radar sensor detection information" and "camera sensor detection information" is sometimes referred to as "single sensor target information". .

When a target is recognized based on the fusion target information, the fusion target information acquisition unit 41 obtains a target recognized (specified) based on the fusion target information (hereinafter referred to as a "fusion target"). ) (fusion target information) is stored in a memory (for example, a RAM in the ECU 40).

<Fusion target information details>
As shown in FIG. 5, the fusion target information 400 includes a target ID 401, a detection (recognition) time 402, an X-direction relative distance 403, a Y-direction relative distance 404, an X-direction relative speed 405, and a Y-direction relative speed 405. The relative velocity 406 and the like are included as configuration items.

The target ID 401 is identification information for specifying/identifying the target, as described above. The detection time 402 is the time when the target corresponding to the target ID 401 was recognized for the first time. In other words, the detection time 402 is the time when the target detection ECU 40 recognizes two targets as the same target and assigns the target ID. The X-direction relative distance 403 is the X-direction distance (longitudinal distance) Dfx(n) of the target relative to the vehicle SV, as described above.

The Y-direction relative distance 404 is the Y-direction distance (lateral distance) Dfy(n) of the target relative to the vehicle SV. The X-direction relative velocity 405 is the X-direction velocity Vfx(n) of the target relative to the vehicle SV. The Y-direction relative velocity 406 is the Y-direction velocity Vfy(n) of the target relative to the vehicle SV.

<Recording of Fusion Target Information in Storage Unit>
By the way, as described above, the vertical detectable area of the radar sensor 20 and the vertical detectable area of the camera sensor 30 overlap less as the vehicle SV is closer. Therefore, in particular, when a target exists in the area indicated by the dashed line L1 in FIG.

As described above, the positions of the radar sensor 20 and the camera sensor 30 are different from each other on the vehicle SV. Therefore, depending on the position of the target, one sensor can detect it, but the other sensor cannot detect it. Sometimes.

By the way, for example, when a target is erroneously detected, the probability of repeatedly acquiring fusion target information is low. Therefore, if the fusion target information continues to be acquired for a predetermined time after the fusion target information is acquired, the certainty (reliability) of the fusion target information can be said to be high.

Therefore, the first device 10 is limited to when the fusion target information is continuously acquired at regular time intervals for a predetermined time after the fusion target information acquisition unit 41 acquires the fusion target information for the first time. , the fusion target information is recorded in the storage unit 43 . This enables the PCSECU 50 to use the fusion target information.

According to this, the reliability of the fusion target information recorded in the storage unit 43 is extremely high. Therefore, after that, even if the corresponding target leaves the detectable area of one of the sensors, while the fusion target information is recorded in the storage unit 43, the PCSECU 50 detects only the other sensor. Pre-collision control is executed based on the detection result of the target.

When the fusion target information acquisition unit 41 acquires the fusion target information, the fusion target information management unit 42 (see FIG. 1) of the target detection ECU 40 keeps track of the progress since the fusion target information was acquired. Start a timer to measure time. For example, the fusion target information management unit 42 increments the value C of the counter by "1" when the fusion target information is acquired.

When it is determined that the "fusion target information" continues to be acquired until a predetermined time has elapsed since the timer was activated (when the counter value C reaches a predetermined threshold value Cth), the fusion target information management unit 42 determines that the fusion target information The information is recorded in the storage unit (for example, RAM) 43 in the target detection ECU 40 as data that the PCSECU 50 can refer to.

<Delete fusion target information>
In this way, the fusion target information recorded in the storage unit 43 is highly reliable information, but two different targets may be erroneously recognized as the same target because they are close to each other. Gender is also considered. Therefore, after the fusion target information is recorded in the storage unit 43, the target detection ECU 40 determines the moving direction of the target detected by the radar sensor 20 and the moving direction of the target detected by the camera sensor 30. are different, the fusion target information management unit 42 deletes the fusion target information corresponding to this target from the storage unit 43 .

(Actual operation)
Next, the actual operation of this support device will be described.

<Fusion Target Information Recording Routine>
The CPU of the target detection ECU 40 (hereinafter also simply referred to as "CPU") executes a "fusion target information recording routine" shown in the flowchart of FIG. It is designed to In the following, explanation will be made by classifying cases. Note that the value C of the counter is set to "0" in an initial routine (not shown) which is executed separately.

(1) When fusion target information is continuously acquired The CPU starts processing from step 600 at a predetermined timing, proceeds to step 610, and acquires "target information" from the radar sensor 20 and camera sensor 30. get. Next, the CPU proceeds to step 620 and determines whether or not the targets detected by the radar sensor 20 and the camera sensor 30 are the same target. In other words, the CPU determines in step 620 whether fusion target information has been acquired.

According to the above assumption, the target detected by each of the multiple sensors is the same target, so fusion target information is obtained. Therefore, the CPU makes a "Yes" determination in step 620, proceeds to step 630, and increments the value C of the counter by "1". Next, the CPU proceeds to step 640 and determines whether or not the counter value C is equal to or greater than a predetermined threshold value Cth. Note that the predetermined threshold Cth is, for example, about 50. At present, the value C of the counter is "1". Therefore, the CPU makes a "No" determination at step 640, proceeds directly to step 695, and temporarily terminates this routine.

Next, the CPU starts the process from step 600 again after a certain period of time has passed. Then, the CPU sequentially executes steps 610 to 630 and proceeds to step 640 . At present, the counter value C is 2, which is less than the predetermined threshold Cth. Therefore, the CPU makes a "No" determination in step 640, directly proceeds to step 695, and terminates this routine. In this way, when the fusion target information is continuously acquired, the CPU repeats steps 610 to 640 at fixed time intervals until the counter value C becomes equal to or greater than the predetermined threshold value Cth.

After that, when the counter value C becomes equal to or greater than the predetermined threshold value Cth, the CPU determines "Yes" in step 640 and advances to step 650 to record the fusion target information in the storage unit 43 and to record the counter value. Set C to "0" (reset). Next, the CPU proceeds to step 695 and once terminates this routine.

(2) When the target is no longer recognized as the same target after the fusion target information is acquired and before the fusion target information is recorded in the storage unit. The routine from 610 to step 650 is repeated and the counter value C is incremented. After that, if the targets detected by the two sensors cannot be recognized as the same target before the value C of the counter reaches a predetermined threshold value Cth (for example, the position of the target detected by the radar sensor 20 and the If the position of the target detected by the camera sensor 30 is different), the CPU determines “No” in step 620 and proceeds to step 660 . At step 660, the CPU sets the counter value C to "0", proceeds to step 695, and terminates this routine. That is, the counter is reset and the fusion target information recording routine is executed again from the beginning.

<Fusion Target Information Deletion Routine>
The CPU executes a "fusion target information deletion routine" shown in the flow chart of FIG.

The CPU starts processing from step 700 at a predetermined timing, proceeds to step 710 , and acquires target information using the radar sensor 20 and camera sensor 30 .

Next, the CPU determines whether target information has been acquired by both the radar sensor 20 and the camera sensor 30 . If the target information is obtained only from one of the radar sensor 20 and the camera sensor 30 (for example, if the target has left the detectable area of one of the sensors), the CPU outputs "No" at step 720. Then, the routine proceeds directly to step 795 and terminates the present routine. That is, when the fusion target information is recorded in the storage unit 43, the recorded fusion target information is held.

On the other hand, when the target information is acquired by both the radar sensor 20 and the camera sensor 30, the CPU determines "Yes" in step 720 and proceeds to step 730 to record the fusion target information in the storage section 43. Determine whether or not If the fusion target information is not recorded in the storage unit 43, the CPU makes a "No" determination in step 730, proceeds directly to step 795, and once terminates this routine.

When fusion target information is recorded in the storage unit 43, the CPU determines "Yes" in step 730 and proceeds to step 740, where the X direction velocity difference of the target detected by each sensor reaches the predetermined value Vxth. Determine whether it is less than If the X-direction velocity difference of the target detected by each sensor is less than the predetermined value Vxth, the CPU determines "Yes" in step 740 and proceeds to step 750 to determine the Y velocity of the target detected by each sensor. It is determined whether or not the directional velocity difference is less than a predetermined value Vyth. If the Y-direction velocity difference of the target detected by each sensor is less than the predetermined value Vyth, the CPU determines "Yes" in step 750, proceeds to step 795, and terminates this routine.

On the other hand, if the X-direction velocity difference ΔVx of the target detected by each sensor is equal to or greater than the predetermined value Vxth, the CPU determines “No” in step 740 and proceeds to step 760 to store the fusion target from the storage unit 43 . Delete information. Further, when the Y-direction speed difference ΔVy of the target detected by each sensor is equal to or greater than the predetermined value Vyth, the CPU determines “No” in step 750 and proceeds to step 760 to store the fusion target from the storage unit 43 . Delete information.

<Pre-collision control>
The CPU of the PCSECU 50 (hereinafter also simply referred to as "CPU") executes a "pre-collision control routine" shown in the flow chart of FIG. there is

The CPU starts the process from step 800 at a predetermined timing, proceeds to step 810, and determines whether or not the time to collision TTC is equal to or less than a predetermined threshold value Tth. The collision margin time TTC is an index representing the degree of margin until collision between the vehicle SV and the target in terms of time, and is obtained by dividing the relative distance between the vehicle SV and the target by the relative speed between the vehicle SV and the target. is the value Therefore, the smaller the time to collision TTC, the smaller the margin to collision. If the time to collision TTC is greater than the predetermined threshold value Tth, the CPU makes a "No" determination in step 810, proceeds directly to step 895, and temporarily terminates this routine. That is, in this case, pre-collision control is not performed.

On the other hand, if the time to collision TTC is less than or equal to the predetermined threshold value Tth, the CPU determines "Yes" in step 810 and proceeds to step 820 to determine whether the vehicle speed SPD is greater than or equal to the predetermined speed threshold value SPth. do. For example, the predetermined speed threshold SPth is set to 7 km/h. If the vehicle speed SPD is equal to or greater than the predetermined speed threshold SPth, the CPU determines "Yes" in step 820 and proceeds to step 830 to determine whether the accelerator pedal operation amount AP is less than the predetermined operation amount threshold APth. judge.

If the accelerator pedal operation amount AP is less than the predetermined operation amount threshold value APth, the CPU determines "Yes" in step 830 and proceeds to step 840 to issue an alarm using the alarm ECU 90 only. After that, the CPU proceeds to step 895 and temporarily terminates this routine.

On the other hand, if the accelerator pedal actuation amount AP is equal to or greater than the predetermined actuation amount threshold value APth, the CPU makes a "No" determination in step 830, directly proceeds to step 895, and once terminates this routine. That is, in this case, pre-collision control is not performed.

If the vehicle speed SPD is less than the predetermined speed threshold SPth when the CPU proceeds to step 820, the CPU determines "No" in step 820 and proceeds to step 850, where the accelerator pedal operation amount AP is reduced to a predetermined value. is greater than or equal to the manipulated variable threshold value APth. If the accelerator pedal actuation amount AP is less than the predetermined actuation amount threshold value APth, the CPU makes a "No" determination in step 850, proceeds directly to step 895, and temporarily terminates this routine. That is, in this case, pre-collision control is not performed.

On the other hand, when the accelerator pedal operation amount AP is equal to or greater than the predetermined operation amount threshold value APth, the CPU determines "Yes" in step 850 to proceed to step 860, and the fusion target information of the selected target is stored in the storage unit 43. Determine whether or not it is recorded. If the fusion target information of the selected target is recorded in the storage unit 43, the CPU determines “Yes” in step 860. FIG. Next, the CPU proceeds to step 870 and issues an alarm using the alarm ECU 90 (outputs an alarm sound from the buzzer 91 and lights the warning lamp on the display 92), and uses the engine ECU 60 and/or the brake ECU 70 to issue an alarm. It controls the braking/driving force of the vehicle SV. After that, the CPU proceeds to step 895 and temporarily terminates this routine.

On the other hand, if the fusion target information of the selected target is not recorded in the storage unit 43, the CPU determines "No" in step 860, proceeds to step 840, and issues an alarm using the alarm ECU 90. information only. After that, the CPU proceeds to step 895 and temporarily terminates this routine.

Thus, in a situation where "No" is determined at step 820 (SPD<SPth) and "Yes" is determined at step 850 (AP≧APth), the driver presses the brake pedal 52a instead of the brake pedal 52a. There is a high possibility that the accelerator pedal 51a is stepped on. Therefore, it is preferable to perform pre-collision control. However, if the selected target is a target recognized by the single-sensor target information, the possibility that the selected target is erroneously recognized cannot be denied.

By the way, when the fusion target information of the selected target is recorded in the storage unit 43, it can be estimated that the selected target is likely to actually exist around the vehicle SV. Therefore, when the fusion target information of the selected target is recorded in the storage unit 43, the first device 10 issues an alarm and controls the braking/driving force. As a result, it is possible to improve the avoidance of collision (contact) between the vehicle SV and the selected target.

On the other hand, if the fusion target information of the selected target is not recorded in the storage unit 43, it can be estimated that the selected target is unlikely to actually exist around the vehicle SV. Therefore, when the fusion target information of the selected target is not recorded in the storage unit 43, the first device 10 uses the warning ECU 90 to generate an alarm. This makes it possible to avoid unnecessary braking/driving force control of the vehicle SV.

In other words, even if the selected target is a target recognized by the single-sensor target information, if the fusion target information for the target is recorded in the storage unit 43, the first device 10 It is estimated that there is a high probability that the target actually exists around the vehicle SV.

As described above, the first device 10 includes two surrounding sensors (the radar sensor 20 and the camera sensor 30), the fusion target information acquisition unit 41, the storage unit 43, and the fusion target information management unit 42. , and a vehicle motion state control unit 50 .

The fusion target information acquisition unit 41 integrates the first detection information and the second detection information regarding the targets detected by both the first sensor unit 20 and the second sensor unit 30, which are targets detected by both sensors. Get the fusion target information. The fusion target information management unit 42 stores the fusion target information when at least the condition (specific condition) that the fusion target information acquisition unit 41 has acquired the fusion target information is satisfied for a predetermined time. Record in section 43 . After the fusion target information is recorded, the fusion target information management unit 42 calculates the speed of the target with respect to the vehicle SV obtained from the first detection information and the speed of the target with respect to the vehicle SV obtained from the second detection information. The recorded fusion target information is deleted from the storage unit 43 when the difference between the speed and the speed becomes equal to or greater than a predetermined value. While the fusion target information is recorded in the storage unit 43, the vehicle motion state control unit 50 controls the motion state of the vehicle SV to avoid contact between the target corresponding to the fusion target and the vehicle SV. change.

With such a configuration, highly reliable fusion target information is recorded in the storage unit 43 . Further, when the difference between the speed of the target acquired from the first detection information and the speed of the target acquired from the second detection information becomes equal to or greater than a predetermined value, the fusion target information recorded in the storage unit 43 delete. In this manner, the reliability of the fusion target information recorded in the storage unit 43 can be further improved.

Furthermore, while the fusion target information is recorded in the storage unit 43, the first device 10 can control the motion state of the vehicle SV to avoid contact between the vehicle SV and the target. Therefore, even if the target leaves the detectable area of either one of the radar sensor 20 and the camera sensor 30, the motion state of the vehicle (braking/driving) is used to avoid contact between the vehicle SV and the target. force) can be controlled.

<Other embodiments>
A vehicle control device (hereinafter also referred to as a "second device") 10A according to another embodiment satisfies, as one of the specific conditions, a condition that the relative distance between the vehicle SV and the target is equal to or less than a predetermined distance. It differs from the first device 10 in that it is added. Therefore, the following description will focus on the above differences.

Since the radar sensor 20 calculates the relative distance from the time at which the reflected wave reflected by the target reaches the sensor, the relative distance between the vehicle SV and the target can be detected relatively accurately. On the other hand, since the camera sensor 30 calculates the distance based on the image information, there is a tendency that the farther the target is from the vehicle SV, the less accurately the relative distance can be detected. Therefore, in addition to the condition (first condition) that "the fusion target information management unit 42 records the fusion target information in the storage unit 43", the second device 10A adds "the relationship between the vehicle SV and the target. A condition (second condition) that the relative distance is equal to or less than a predetermined distance threshold value Dth is set. For example, the predetermined distance threshold Dth is set to 60m.

(Specific operation)
The CPU of the target detection ECU 40 executes the "fusion target information recording routine" shown in the flow chart of FIG. 9 every time a certain period of time elapses. In FIG. 9, the same step numbers are given to the same steps as those shown in FIG.

The CPU starts processing from step 900 at a predetermined timing, advances to step 610 , obtains target information using two sensors (radar sensor 20 and camera sensor 30 ), and advances to step 620 . If the two sensors recognize the same target, the CPU determines "Yes" in step 620 and proceeds to step 910 to determine whether the relative distance between the vehicle SV and the target is equal to or less than a predetermined distance threshold value Dth. determine whether or not

If the relative distance between the vehicle SV and the target is equal to or less than the predetermined distance threshold value Dth, the CPU determines "Yes" in step 910, proceeds to step 630, and increments the counter value C by "1". After that, the CPU repeats the processing from step 610 to step 640 until the counter value C reaches or exceeds a predetermined threshold value Cth. Record at 43. After that, the CPU proceeds to step 995 and once terminates this routine.

On the other hand, if the relative distance between the vehicle SV and the target is greater than the predetermined distance threshold value Dth, the CPU determines "No" in step 910, proceeds to step 660, and sets the counter value C to "0". (i.e. reset the counter). After that, the CPU directly proceeds to step 995 and once terminates this routine.

With such a configuration, the second device 10A can reduce the probability of erroneously recognizing different targets as the same target.

<Modification>
It should be noted that the present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

In the above embodiment, the radar sensor 20 is used as the first sensor unit 20, but an ultrasonic sensor may be used instead.

In the above embodiment, the driving force control by the engine ECU 60 and the braking force control by the brake ECU 70 are executed as the pre-collision control. good.

Reference Signs List 10 Vehicle control device 20 Radar sensor (first sensor unit) 30 Camera sensor (second sensor unit) 40 Target detection ECU 41 Fusion target information acquisition unit 43 Storage unit 42... fusion target object information management unit, 50... pre-collision control ECU, 60... engine ECU, 70... brake ECU, 80... alarm ECU, SV... vehicle.

Claims (1)

a first sensor unit that detects a target existing in a predetermined detection area around the vehicle using electromagnetic waves or ultrasonic waves and acquires first detection information that is information about the detected target;
A target existing around the vehicle is detected using image data acquired by photographing a predetermined range around the vehicle, and second detection information, which is information about the detected target, is acquired. a second sensor unit;
When both the first sensor section and the second sensor section detect the same target, the fusion target information, which is the final information regarding the same target, is used as the first detection information. and the second detection information, and when only one of the first sensor unit and the second sensor unit detects the target, the final information about the target Any one of the first detection information and the second detection information obtained by either the first sensor unit or the second sensor unit that detects the single sensor target information is a fusion target information acquisition unit that acquires only based on
a storage unit that stores the fusion target information;
a condition that both the first sensor unit and the second sensor unit detect the same target and the fusion target information acquisition unit acquires the fusion target information ; , a relative distance between the vehicle and the same target detected by both the first sensor unit and the second sensor unit is equal to or less than a predetermined distance threshold. When established over time, the fusion target information is recorded in the storage unit, and after the fusion target information is recorded in the storage unit, the vehicle is acquired from the first detection information. a predetermined difference between the velocity of the target corresponding to the recorded fusion target and the velocity of the target corresponding to the recorded fusion target relative to the vehicle obtained from the second detection information; a fusion target information management unit configured to delete the recorded fusion target information from the storage unit when the value is equal to or greater than the value;
While the fusion target information is being recorded in the storage unit, the motion state of the vehicle is changed in order to avoid contact between the target corresponding to the recorded fusion target information and the vehicle. When both of the first sensor unit and the second sensor unit detect a target corresponding to the recorded fusion target information, control is performed on the recorded fusion target information. Execution is performed based on the fusion target information acquired by the fusion target information acquisition unit with respect to the corresponding target, and only one of the first sensor unit and the second sensor unit detects the recorded fusion object. When the target corresponding to the target information is detected, the target corresponding to the recorded fusion target information is executed based on the single sensor target information acquired by the fusion target information acquisition unit. a vehicle motion state control unit configured to not execute the control for changing the motion state of the vehicle when the fusion target information is not recorded in the storage unit ;
A control device for a vehicle, comprising:

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