JP7449907B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device.

2. Description of the Related Art Recently, in order to implement driving support functions for vehicles such as automobiles, such as automatic emergency braking (AEB) and adaptive cruise control (ACC), vehicles are equipped with sensors for monitoring the surrounding area. In recent years, in order to add functionality and improve the performance of driving support functions, multiple peripheral monitoring sensors are sometimes employed for the purpose of detecting directions other than the front of the vehicle and improving the reliability of the detection results. In other words, when an object is detected by a single sensor or multiple sensors, it is necessary to detect the object in order to accurately determine whether it is an obstacle that needs to be avoided or is a detection target for realizing a driving support function, such as an obstacle that needs to be avoided. Accurately grasp the position and accurately determine whether the object is a detection target (control target). The technology of collating the detection results of objects (targets) by multiple sensors in this way is called sensor fusion.

As such sensor fusion technology, a technology for recognizing pedestrians based on the recognition results of pedestrians through image recognition processing of an on-vehicle camera and the recognition results of target objects using a laser radar has been disclosed (for example, a patent has been published). (See Reference 1).

JP2009-237898A

However, with conventional technology, the fusion method is designed in fixed detail at the development stage, taking into consideration the type of sensor, its mounting position, and sensor characteristics, etc., resulting in the addition, replacement, or removal of sensors. In this case, there is a problem that the fusion method cannot be easily switched.

The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a vehicle control device that can easily change the fusion method even when a sensor is added, replaced, or removed. With the goal.

In order to solve the above-mentioned problems and achieve the objectives, a vehicle control device according to the present invention detects one or more driving conditions based on detection signals received from a plurality of types of sensors that detect targets around the vehicle. A vehicle control device that executes an assistance function, the pattern being stored in a storage unit and defining a plurality of patterns indicating combinations of the sensors used for recognizing the target object, corresponding to at least each of the driving assistance functions. a recognition unit that refers to the information and recognizes the target based on the detection result by the sensor included in each of the patterns; and the pattern from which the recognition result is obtained based on the recognition result by the recognition unit. a vehicle control unit that executes the driving support function corresponding to the driving support function, and the recognition unit refers to the pattern information corresponding to each target object to be detected in the driving support function, The target object is recognized based on the results of the comparison by comparing the detection results of the sensors included in the target object .

According to the present invention, even when a sensor is added, replaced, or removed, the fusion method can be easily changed.

FIG. 1 is a diagram illustrating an example of the arrangement and detection range of various sensors of a vehicle according to an embodiment. FIG. 2 is a diagram showing an example of the electrical configuration of the vehicle according to the embodiment. FIG. 3 is a diagram illustrating an example of a functional block configuration of the vehicle driving control ECU according to the embodiment. FIG. 4 is a diagram showing an example of characteristics of various sensors. FIG. 5 is a diagram showing an example of performance of various sensors installed in the vehicle according to the embodiment. FIG. 6 is a diagram illustrating an example of a vehicle pattern table according to the embodiment. FIG. 7 is a flowchart showing an example of the operation flow of the vehicle driving control ECU according to the embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle control device according to the present invention will be described in detail below with reference to FIGS. 1 to 7. Furthermore, the present invention is not limited to the following embodiments, and the constituent elements in the following embodiments include those that can be easily conceived by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. is included. Furthermore, various omissions, substitutions, changes, and combinations of components can be made without departing from the gist of the following embodiments.

(About the arrangement and detection range of various sensors on the vehicle)
FIG. 1 is a diagram illustrating an example of the arrangement and detection range of various sensors of a vehicle according to an embodiment. An example of the arrangement and detection range of various sensors of the vehicle 1 according to the present embodiment will be described with reference to FIG. 1.

As shown in FIG. 1, the vehicle 1 is equipped with multiple types of sensors, and based on the detection results of the sensors, at least one of automatic emergency braking (AEB), adaptive cruise control (ACC), or a pedal misapplication prevention function is activated. Execute one of the driving support functions. Automatic emergency braking (AEB) automatically applies the brakes to avoid a collision if a collision with an obstacle is predicted, or reduces the intensity of the collision even if a collision with an obstacle is unavoidable. This is a function that reduces damage to vehicles. In addition, adaptive cruise control (ACC) maintains the distance between the vehicle and other vehicles in front by automatically accelerating and decelerating the vehicle within a preset vehicle speed range when traveling long distances on expressways. This is a function that realizes tracking while driving. In addition, the erroneous pedal depression prevention function is a function that prevents the driver from pressing too hard on the accelerator pedal by mistake when starting the vehicle 1 and there is a target object such as a person or vehicle in front of the vehicle that is detected by the sensor. A function that determines that the pedal is pressed incorrectly when the speed of the pedal stroke is above a predetermined speed and the amount of the pedal pedal is above a predetermined amount, closes the electronic throttle, controls the engine speed, and automatically applies the brakes after a predetermined period of time. It is. As shown in FIG. 1(a), the vehicle 1 includes, for example, a front camera sensor 2, four sonar sensors 3, a front millimeter wave radar 4, two front side millimeter wave radars 5, and two rear side millimeter wave radars. The camera is equipped with a two-way millimeter wave radar 6 and four surround view cameras 7.

The front camera sensor 2 is an imaging device that is provided on the upper part of the windshield of the vehicle 1 and recognizes targets such as a vehicle, a two-wheeled vehicle, and a pedestrian in front in an imaging range 2a shown in FIG. 1(b). The sonar sensor 3 is a sensor that is provided at a corner of a front bumper, a corner of a rear bumper, etc. of the vehicle 1, and detects a target object by emitting ultrasonic waves in a detection range 3a shown in FIG. 1(b). . The forward millimeter-wave radar 4 is provided on the back side of the front bumper of the vehicle 1, and emits radio waves in the millimeter-wave band toward the front of the vehicle 1 in a detection range 4a shown in FIG. 1(b). This is a radar device that detects a target existing in front of the vehicle 1 by receiving returned radio waves.

The front side millimeter wave radar 5 is provided at a corner of the front bumper of the vehicle 1, and irradiates a millimeter wave band radio wave toward the front side of the vehicle 1 in a detection range 5a shown in FIG. 1(b). This is a radar device that detects a target existing on the front side of the vehicle 1 by receiving reflected radio waves. The rear side millimeter wave radar 6 is provided at a corner of the rear bumper of the vehicle 1, and radiates radio waves in the rewave band toward the rear side of the vehicle 1 in a detection range 6a shown in FIG. 1(b). , is a radar device that detects a target existing on the rear side of the vehicle 1 by receiving reflected and returned radio waves. The surround view camera 7 is provided on the front side, the back door side, and the left and right side mirrors of the vehicle 1, and looks down on the vehicle 1 from above using images captured in a wide-angle imaging range 7a shown in FIG. 1(b). This is an imaging device for generating an overhead image.

In this way, the vehicle 1 realizes the various driving support functions described above by mounting a plurality of types of sensors and by using sensor fusion that collates the results of detection and detection of targets by the respective sensors. Note that the various sensors of the vehicle 1 shown in FIG. 1 are shown as an example, and the number, types, and arrangement positions of the sensors are not limited to those shown in FIG. 1.

(Electrical configuration of vehicle)
FIG. 2 is a diagram showing an example of the electrical configuration of the vehicle according to the embodiment. The electrical configuration of the vehicle 1 according to this embodiment will be described with reference to FIG. 2.

As shown in FIG. 2, the vehicle 1 includes a plurality of ECUs (Electronic Control Units) for controlling various parts. Each ECU includes a microcomputer (microcontroller unit), and the microcomputer includes, for example, a CPU (Central Processing Unit), a nonvolatile memory such as a flash memory, and a volatile memory such as a DRAM (Dynamic Random Access Memory). Built-in.

Specifically, as shown in FIG. 2, the vehicle 1 includes a drive ECU 11, a steering ECU 12, a brake ECU 13, a meter ECU 14, a body ECU 15, a driving control ECU 31, a camera ECU 32, a sonar ECU 33, and a radar. It is equipped with an ECU34. The ECUs are connected to each other via a bus line 19 so as to be able to communicate with each other. The bus line 19 realizes communication based on a serial communication protocol such as CAN (Controller Area Network). Note that the present invention is not limited to CAN, and other serial communication protocols may be applied.

The vehicle 1 also includes a drive device 21, a steering angle sensor 22a, a steering device 22b, a brake device 23, a function switch 24, a headlamp 25, a positioning signal receiving section 35, a vehicle speed sensor 36, and a display. It includes a device 37 and a speaker 38. Furthermore, the vehicle 1 includes a first monocular camera 42a, a second monocular camera 42b, a third monocular camera 42c, a first stereo camera 42d, and a second stereo camera 42a, as sensors used to realize the driving support function. It includes a camera 42e, a sonar sensor 43, a first millimeter wave radar 44a, and a second millimeter wave radar 44b.

The drive ECU 11 is an ECU that controls the drive device 21 of the vehicle 1 based on input accelerator pedal signals and the like. The drive device 21 is connected to the drive ECU 11 and includes at least one of an engine and a motor as a drive source. Further, the drive device 21 includes, for example, an electronic throttle that controls the engine output by adjusting the amount of intake air by electronically controlling the throttle opening of the engine. Further, the drive device 21 includes a transmission that changes the speed of the driving force from the drive source and outputs it as necessary.

The steering ECU 12 is an ECU that receives a detection signal from the steering angle sensor 22a and controls the steering device 22b of the vehicle 1. The steering angle sensor 22a is connected to the steering ECU 12 and is a sensor that detects the angle of the steering wheel. The steering device 22b is an electric power steering device that is connected to the steering ECU 12 and transmits the torque of the electric motor to the steering mechanism. The steering mechanism includes, for example, a rack and pinion type steering gear, and when the rack shaft moves in the vehicle width direction due to the torque of the electric motor, the left and right steering wheels are steered left and right as the rack shaft moves. It is configured as follows.

Brake ECU 13 is an ECU that controls braking device 23 of vehicle 1 . The braking device 23 is connected to the brake ECU 13 and is a hydraulic or electric braking device. For example, when the braking device 23 is hydraulic, the braking device 23 includes a brake actuator, and the function of the brake actuator distributes hydraulic pressure to the wheel cylinders of the brakes provided on each wheel, and the hydraulic pressure is used to separate the brakes from each brake. Apply braking force to wheels including drive wheels.

The meter ECU 14 is an ECU that controls each part of the meter panel of the vehicle 1. The meter panel includes instruments that display vehicle speed and engine speed, and a display such as a liquid crystal display that displays various information. Further, the meter ECU 14 is connected to a function switch 24 for enabling or disabling various driving support functions, for example. Note that depending on the driving support function, there may be a function that is always enabled regardless of the switching by the function switch 24 due to its nature.

The body ECU 15 is an ECU that controls left and right blinkers, door lock motors, etc. that need to operate even when the vehicle's ignition switch is off. In FIG. 2, the headlamp 25 is connected to the body ECU 15, and lights up according to commands from the body ECU 15.

The driving control ECU 31 is an ECU that plays a central role in controlling driving support functions, and is an example of a vehicle control device. The driving control ECU 31 executes various driving support functions based on sensor fusion that collates detection results of a target based on detection signals of various sensors aggregated by the camera ECU 32, sonar ECU 33, and radar ECU 34. Further, the operation control ECU 31 includes a memory 41a and an external I/F 41b. Further, as shown in FIG. 2, the driving control ECU 31 is connected to a positioning signal receiving section 35, a vehicle speed sensor 36, a display device 37, and a speaker 38.

The memory 41a is a nonvolatile storage device such as a flash memory that stores a pattern table that defines patterns of combinations of various sensors used in sensor fusion of the operation control ECU 31. A pattern table exists for each driving support function and for each detection target (vehicle, motorcycle, pedestrian, etc.) in the driving support function. The pattern table will be described later.

The external I/F 41b is an interface for performing data communication with an external device 51, which is an external information processing device. The external I/F 41b is, for example, an interface compliant with standards such as Ethernet (registered trademark) or USB (Universal Serial Bus). The external device 51 is an information processing device such as a PC (Personal Computer) used for processing such as saving, editing, and updating the pattern table stored in the memory 41a.

The camera ECU 32 is connected to a first monocular camera 42a, a second monocular camera 42b, a third monocular camera 42c, a first stereo camera 42d, and a second stereo camera 42e, and receives and processes image signals captured by each camera. This is an ECU that generates image data. The camera ECU 32 transmits image data obtained by processing image signals received from each camera to the driving control ECU 31. The first monocular camera 42a, the second monocular camera 42b, and the third monocular camera 42c are camera sensors that can continuously capture still images in a search range in front or behind the vehicle 1 at a predetermined frame rate. The first stereo camera 42d and the second stereo camera 42e are camera sensors that can measure the distance to the target based on the parallax of images obtained by two imaging units arranged in parallel and equidistant positions.

The sonar ECU 33 is an ECU to which the sonar sensor 43 is connected, and receives and processes a target detection signal obtained by the sonar sensor 43. The sonar ECU 33 transmits data obtained by processing the detection signal received from the sonar sensor 43 to the operation control ECU 31. The sonar sensor 43 is a sensor that detects a target by emitting ultrasonic waves.

The radar ECU 34 is an ECU to which the first millimeter wave radar 44a and the second millimeter wave radar 44b are connected, and receives and processes target detection signals obtained by each millimeter wave radar. The radar ECU 34 transmits data obtained by processing the detection signals received from each millimeter wave radar to the operation control ECU 31. The first millimeter wave radar 44a and the second millimeter wave radar 44b are radars that detect targets existing around the vehicle 1 by emitting radio waves in the millimeter wave band and receiving reflected radio waves. It is a device.

Note that the various sensors of the vehicle 1 shown in FIG. 2 are shown as an example, and the number, types, and arrangement positions of the sensors are not limited to those shown in FIG. 2.

The positioning signal receiving unit 35 is a receiving device that receives positioning signals from positioning satellites based on GNSS (Global Navigation Satellite System). The positioning signal receiving unit 35 is communicably connected to the operation control ECU 31 via, for example, a USB standard communication cable, and outputs the received positioning signal to the operation control ECU 31. The driving control ECU 31 detects the location where the vehicle 1 is located based on the positioning signal received from the positioning signal receiving section 35. Note that an example of GNSS is, for example, GPS (Global Positioning System).

The vehicle speed sensor 36 is a sensor installed near a wheel of the vehicle 1, for example, and generates a vehicle speed pulse indicating the rotational speed or number of rotations of the wheel. The vehicle speed sensor 36 is communicably connected to the driving control ECU 31 and outputs the generated vehicle speed pulse to the driving control ECU 31. The driving control ECU 31 calculates the vehicle speed of the vehicle 1 by counting vehicle speed pulses received from the vehicle speed sensor 36.

The display device 37 is an LCD (Liquid Crystal Display) or an OELD (Organic Electro-Luminescent Display) that is installed on a dashboard or the like in the vehicle interior of the vehicle 1 and displays object recognition information. It is a display device such as. The display device 37 is communicably connected to the operation control ECU 31.

The speaker 38 is an audio device installed in the cabin of the vehicle 1 that outputs sound and voice. The speaker 38 is communicably connected to the operation control ECU 31.

Note that the electrical configuration of the vehicle 1 shown in FIG. 2 is an example, and it is not necessary to include all the components shown in FIG. 2, or it may include other components. Further, the various ECUs shown in FIG. 2 are not limited to being independent hardware, but may be configured as any integrated ECU. For example, the driving control ECU 31 and the camera ECU 32 may be configured as one integrated ECU, and the ECU may have the functions of both the driving control ECU 31 and the camera ECU 32.

(Functional block configuration and operation of vehicle driving control ECU)
FIG. 3 is a diagram illustrating an example of a functional block configuration of the vehicle driving control ECU according to the embodiment. FIG. 4 is a diagram showing an example of characteristics of various sensors. FIG. 5 is a diagram showing an example of performance of various sensors installed in the vehicle according to the embodiment. FIG. 6 is a diagram illustrating an example of a vehicle pattern table according to the embodiment. The functional block configuration and operation of the driving control ECU 31 of the vehicle 1 according to the present embodiment will be described with reference to FIGS. 3 to 6.

As shown in FIG. 3, the driving control ECU 31 includes a setting section 61, a storage section 62, a recognition section 63, a vehicle control section 64, and an output control section 65.

The setting unit 61 is a functional unit that executes setting processes such as saving, editing, and updating the pattern table stored in the storage unit 62 in response to commands from the external device 51.

As mentioned above, the pattern table (an example of pattern information) is prepared for each driving support function and for each detection target (vehicle, motorcycle, pedestrian, etc.) in the driving support function, and is used to create patterns for combinations of the various sensors described above. This is a table that defines Here, the various sensors described above, namely, the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter wave radar 44a, and The second millimeter wave radars 44b each have different characteristics. For example, FIG. 4 shows an example of characteristics for each type of sensor. FIG. 4 shows sensor characteristics such as sensing method, detection distance, lateral resolution, detectable object, and weather dependence. For example, in the case of a monocular sensor, the sensing method is image-based, the detection distance is up to a hundred meters, the lateral resolution is particularly excellent, and the ability to detect objects is slightly inferior. This indicates that the weather dependence is moderate. Furthermore, it can be seen that millimeter wave radar is particularly superior to sonar sensors and laser radars in terms of detection distance. In FIG. 4, it is assumed that sensors of the same type have the same characteristics, but it goes without saying that even sensors of the same type may have different characteristics.

As shown in Figure 4, various types of sensors have different characteristics depending on their type, so they have different performance characteristics such as vehicle identification performance, pedestrian identification performance, and distance measurement performance required to execute various driving support functions. It is judged whether or not it is suitable for performance. FIG. 5 shows a first monocular camera 42a, a second monocular camera 42b, a third monocular camera 42c, a first stereo camera 42d, a second stereo camera 42e, a sonar sensor 43, and a first millimeter wave radar 44a mounted on the vehicle 1. Also, suitability for various performances required for execution of various driving support functions, determined according to the characteristics of the second millimeter wave radar 44b, is shown. For example, in FIG. 5, in order to exhibit vehicle identification performance, the first monocular camera 42a, the second monocular camera 42b, and the first stereo camera 42d are suitable, and the second millimeter wave radar 44b is slightly less suitable. , the third monocular camera 42c, the first millimeter wave radar 44a, the second stereo camera 42e, and the sonar sensor 43 are shown to be unsuitable. Furthermore, it has been shown that any sensor other than the second monocular camera 42b is suitable for achieving distance measurement performance. Note that the method of displaying suitability for various performances shown in FIG. 5 is an example, and, for example, the suitability evaluation may be expressed by a numerical evaluation value.

In this way, the developer organizes in advance the suitability of various performances required for execution of various driving support functions as shown in FIG. 5, according to the characteristics of various sensors installed in the vehicle 1. Then, the developer, via the external device 51, detects the detection target corresponding to the various performance based on the suitability of the various performances of the various sensors for each driving support function and for each detection target in the relevant driving support function. A pattern table is created that defines patterns of combinations of sensors used for this purpose (that is, combinations of sensors that may confirm detection of the detection target). FIG. 6 shows, as an example of a pattern table, a pattern table corresponding to AEB for a vehicle as a driving support function. The detection target of this vehicle AEB is a vehicle, and it includes vehicle identification processing and distance measurement processing. Set the AEB pattern table. The pattern table may be created by the external device 51 and saved or updated in the storage section 62 by the setting section 61, or it may be stored in the storage section 62 in response to a command from the external device 51. The setting unit 61 may be able to edit the created pattern table.

For example, as a standard for the pattern of combinations of various sensors specified in the pattern table compatible with vehicle AEB, the developer detects a combination of sensors that satisfy either of the following conditions (1) or (2) for the vehicle. set as a combination of sensors that may be determined.

・Condition (1): A combination of vehicle identification performance suitability of “〇” and distance measurement performance suitability of “〇” ・Condition (2): A sensor whose vehicle identification performance suitability is “△” and distance measurement Combination with two other sensors whose performance is ``〇''

FIG. 6 shows an example in which patterns (1) to (14) are set in the pattern table as sensor combination patterns that satisfy the above conditions. For example, in pattern (1), since the vehicle identification performance and distance measurement performance of the first monocular camera 42a are both "〇", it is possible to satisfy condition (1) and determine the detection of the vehicle independently. can. In addition, in pattern (2), the suitability of the vehicle identification performance for the second monocular camera 42b is "〇", and the suitability of the distance measurement performance for the third monocular camera 42c is "〇", so condition (1) is satisfied. It is a combination that satisfies the above conditions and can confirm detection for the vehicle. In addition, in pattern (7), the suitability of the vehicle identification performance for the second millimeter wave radar 44b is "△", and the suitability of the distance measurement performance for the third monocular camera 42c and the first millimeter wave radar 44a is "○". Therefore, it is a combination that satisfies condition (2) and may be determined to be detected for the vehicle.

Note that the above-mentioned conditions that define the pattern of sensor combinations are merely examples, and the pattern may be defined using other conditions. Further, in FIG. 6, patterns (1) to (14) are defined in the pattern table, but it is not necessary to use all of these patterns as patterns used for target object recognition. In this case, unnecessary patterns may be deleted from the pattern table.

Furthermore, when an existing sensor is removed or a new sensor is installed due to a change in the specifications of the vehicle 1, the developer uses the external device 51 to create a pattern table via the setting unit 61. It may be changed. For example, if an existing sensor is removed, the developer should delete the column corresponding to that sensor in the pattern table and reconfigure the pattern for the sensor combination that meets the above conditions. Bye. Additionally, if a new sensor is installed, the developer shall add a new column for the sensor to the pattern table and additionally set a pattern for the sensor combination that satisfies the above conditions. good. Alternatively, the developer can create a pattern table in advance that corresponds to the maximum number and types of sensors that are expected to be installed, and specify in the pattern table according to the removal of sensors or the installation of new sensors. The contents of the pattern may be edited and set. In this case, the effort of deleting or adding columns to the pattern table can be omitted.

Note that although the pattern table shown as an example in FIG. 6 is information in a table format, it is not limited to the table format; any format can be used as long as patterns for combinations of various sensors can be defined. (an example of pattern information).

The storage unit 62 is a functional unit that stores a pattern table corresponding to each driving support function and each detection target in the driving support function. The storage unit 62 is realized by the memory 41a shown in FIG. Note that the storage unit 62 may be realized by an external storage device such as an external HDD (Hard Disk Drive) or an SSD (Solid State Drive).

The recognition unit 63 refers to the pattern table in the storage unit 62 that corresponds to the driving support function enabled in the vehicle control unit 64, and uses sensor fusion to detect the detection results according to each pattern specified in the pattern table. This is a functional unit that performs comparison and recognizes targets. As for recognition of the target, for example, the position of the target is recognized and the type of the target is identified. The recognition unit 63 outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65.

For example, when the driving support function enabled in the vehicle control unit 64 is a vehicle AEB, the recognition unit 63 corresponds to the vehicle AEB in the storage unit 62 (that is, the AEB as a driving support function and the detection target (corresponding to the vehicle) pattern table. Next, the recognition unit 63 checks the position of the target recognized by the sensor belonging to each pattern defined in the pattern table and the type of the identified target. Then, as a result of the comparison, the recognition unit 63 determines the position and type of the target in the case of a match as the final recognition result. For example, if patterns (1) to (3) are set in the pattern table, the recognition unit 63 compares the positions of the targets recognized by patterns (1) to (3), respectively, and finds a match. In this case, the position of the target is the final recognition result. Similarly, the recognition unit 63 compares the types of targets identified by patterns (1) to (3), and when they match, determines the type of target as the final recognition result. In addition, in the recognition unit 63, even if the detection results to be compared (for example, the detection result of the target position) do not necessarily match exactly, if the difference is less than a predetermined value or the difference is minute, it is considered a match. , the final recognition result may be obtained.

It should be noted that the various sensors described above may be unable to detect due to malfunction or the like, or the detection function may deteriorate due to environmental conditions such as weather, so the camera ECU 32, sonar ECU 33, and radar ECU 34 are connected It may be possible to detect inability to detect or functional decline of various sensors, and to notify the operation control ECU 31. In this case, the recognition unit 63 may, for example, not use a pattern including a sensor that has become undetectable for target object recognition. Further, the recognition unit 63 may, for example, ensure the reliability of the detection operation by lengthening the detection time of the sensor for a pattern including a sensor whose function has deteriorated, or may ensure the reliability of the detection operation in the case of a pattern including a sensor whose function has deteriorated. Similarly, the pattern including the sensor may not be used for target object recognition. That is, the recognition unit 63 may change the pattern to be used from among the patterns defined in the pattern table depending on the malfunction of various sensors. As a result, it is possible to take measures such as using only patterns that do not include the defective sensor, so that target object recognition accuracy can be maintained.

The vehicle control unit 64 is a functional unit that controls the running of the vehicle 1 by executing various driving support functions and outputting commands to the drive ECU 11, the steering ECU 12, the brake ECU 13, etc. based on the recognition result by the recognition unit 63. It is. In addition, when it is necessary to output a display output from the display device 37 or output a warning sound or a guidance voice from the speaker 38 according to the driving support function, the vehicle control unit 64 sends a command to the output control unit to cause the output to be performed. 65. Note that the number of driving support functions executed by the vehicle control unit 64 is not limited to a plurality of functions, and a single driving support function may be executed.

The output control unit 65 is a functional unit that controls the display of the display device 37 and the output of sound or audio from the speaker 38. For example, the output control unit 65 may cause the display device 37 to display the recognition result received from the recognition unit 63. Further, the output control unit 65 causes the display device 37 to output a display, or the speaker 38 to output a warning sound, a guidance voice, or the like, depending on the driving support function executed by the vehicle control unit 64.

The above-described setting section 61, recognition section 63, vehicle control section 64, and output control section 65 are realized, for example, by executing programs by the CPU of the driving control ECU 31 shown in FIG. Note that some or all of these functional units may be realized by hardware such as a logic circuit.

Note that the functions of each functional unit of the operation control ECU 31 shown in FIG. 3 are conceptually shown, and the structure is not limited to this. For example, a plurality of functional units illustrated as independent functional units in FIG. 3 may be configured as one functional unit. On the other hand, the function of one functional section in FIG. 3 may be divided into a plurality of parts and configured as a plurality of functional parts.

(Flow of operation of vehicle driving control ECU)
FIG. 7 is a flowchart showing an example of the operation flow of the vehicle driving control ECU according to the embodiment. The flow of operation of the driving control ECU 31 of the vehicle 1 according to the present embodiment will be described with reference to FIG. 7.

<Step S11>
The developer uses the external device 51 to detect the detection target corresponding to each performance based on the suitability of each performance of the various sensors for each driving support function and for each detection target in the relevant driving support function. Create a pattern table that defines patterns of sensor combinations to be used. Then, the setting unit 61 stores the pattern table in the storage unit 62 in response to a command from the external device 51. Furthermore, when an existing sensor is removed or a new sensor is installed due to a change in the specifications of the vehicle 1, the developer uses the external device 51 to create a pattern table via the setting unit 61. Change settings. Then, the process moves to step S12.

<Step S12>
If the driver starts driving the vehicle 1 (step S12: Yes), the process moves to step S13, and if the driver does not start driving the vehicle 1 (step S12: No), the process waits.

<Step S13>
The recognition unit 63 refers to the pattern table corresponding to the enabled driving support function and the detection target of the driving support function in the storage unit 62. Then, the recognition unit 63 obtains the results of detection processing by the sensors belonging to each pattern defined in the pattern table. Then, the process moves to step S14.

<Step S14>
The recognition unit 63 performs sensor fusion to check the position of the target obtained as a detection result of each pattern and the type of the identified target. As a result of the matching, the recognition unit 63 determines the position and type of the target as the final recognition result if they match. The recognition unit 63 then outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65. Then, the process moves to step S15.

<Step S15>
The vehicle control unit 64 executes various driving support functions based on the recognition result by the recognition unit 63, and controls the running of the vehicle 1 by outputting commands to the drive ECU 11, the steering ECU 12, the brake ECU 13, and the like.

(Effects of this embodiment)
As described above, in the driving control ECU 31 of the vehicle 1 according to the present embodiment, the driving control ECU 31 performs one or more driving operations based on detection signals received from a plurality of types of sensors that detect targets around the vehicle 1. The recognition unit 63 is a device that executes a support function, and the recognition unit 63 refers to a pattern table that defines a plurality of patterns indicating combinations of the sensors used for target object recognition, corresponding to each driving support function, and selects each of the patterns. The vehicle control unit 64 recognizes the target object based on the detection result by the sensor included in the pattern, and the vehicle control unit 64 executes the driving support function corresponding to the pattern for which the recognition result was obtained based on the recognition result by the recognition unit 63. It is said that In this way, by referring to at least the pattern table corresponding to each driving support function and using it for recognition processing, even if a sensor is added, replaced, or removed from the vehicle 1, the pattern table can be edited. This makes it possible to easily change the fusion method.

In addition, the recognition unit 63 refers to the pattern table corresponding to each target object to be detected in the driving support function, collates the detection results by the sensors included in each pattern, and based on the result of the collation, identifies the target object. It is assumed that the As a result, it is possible to use a combination of sensors that are effective in recognizing the target object, thereby improving the accuracy of recognizing the target object.

Further, the pattern table is set according to the characteristics of each sensor. Thereby, the target object is recognized using a combination suitable for the characteristics of the sensor, so that the accuracy of target object recognition can be further improved.

It also includes a storage section 62 that stores pattern information, and the setting section 61 stores, edits, or updates each pattern of each pattern table stored in the storage section 62. This makes it possible to save, edit, or update each pattern in the pattern table, making it easy to change the fusion method.

Further, the recognition unit 63 changes the pattern used for recognizing the target object depending on the malfunction of the sensor included in each pattern. As a result, it is possible to take measures such as using only patterns that do not include the defective sensor, so that target object recognition accuracy can be maintained.

1 Vehicle 31 Operation control ECU
32 Camera ECU
33 Sonar ECU
34 Radar ECU
41a Memory 42a First monocular camera 42b Second monocular camera 42c Third monocular camera 42d First stereo camera 42e Second stereo camera 43 Sonar sensor 44a First millimeter wave radar 44b Second millimeter wave radar 51 External device 61 Setting section 62 Storage section 63 recognition section 64 vehicle control section 65 output control section

Claims (4)

A vehicle control device that executes one or more driving support functions based on detection signals received from multiple types of sensors that detect targets around the vehicle,
With reference to pattern information defining a plurality of patterns indicating combinations of the sensors used for recognizing the target object corresponding to each of the driving support functions, based on the detection results of the sensors included in each of the patterns. a recognition unit that recognizes the target by
a vehicle control unit that executes the driving support function corresponding to the pattern for which the recognition result is obtained based on the recognition result by the recognition unit;
Equipped with
The recognition unit refers to the pattern information corresponding to each target to be detected in the driving support function, collates the detection results by the sensor included in each of the patterns, and based on the collation results. A vehicle control device that recognizes the target . The vehicle control device according to claim 1 , wherein the pattern information is set according to characteristics of each of the sensors. a storage unit that stores the pattern information;
a setting unit that stores, edits or updates each of the patterns of the pattern information stored in the storage unit;
The vehicle control device according to claim 1 or 2 , further comprising: The vehicle control device according to any one of claims 1 to 3 , wherein the recognition unit changes the pattern used for recognizing the target object depending on a malfunction of the sensor included in each pattern.

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