JPH08132997A - Traveling path estimating device for vehicle and method for estimating it - Google Patents

Abstract

PURPOSE: To estimate the traveling path of a driver's own vehicle without using a yaw rate sensor. CONSTITUTION: A stationary article existing ahead a driver's own vehicle is detected by a stationary state judging means 22 on the basis of a signal from an obstacle detecting means 21. When the stationary article is detected ahead the driver's own vehicle, the traveling path on which the driver's own vehicle travels from now on is estimated by a first traveling path estimating means 23a on the basis of the data showing the traveling state of the driver's own vehicle in relation to the obstacle. As the data showing the traveling state of the driver's own vehicle to the obstacle, for estimating the traveling path, the distance between the driver's own vehicle and the stationary article, the bearing of the stationary article seen from the driver's own vehicle, the relative speed between the driver's own vehicle and the stationary article and the lateral moving speed are used.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technical field of a vehicle traveling path estimating apparatus and method for detecting an obstacle ahead of a vehicle and estimating a traveling path from the obstacle.

[0002]

2. Description of the Related Art Conventionally, information obtained by scanning a wide range of a radar device is provided with a traveling route estimating means for estimating a traveling route in which the own vehicle is predicted to travel in the future based on a traveling state such as a steering angle of the own vehicle and a vehicle speed. Among them, there is known one that picks up only the one in the area along the traveling road predicted by the traveling road estimating means and judges the possibility that the own vehicle and the obstacle come into contact with each other (for example, (See Japanese Kokai 51-7892).

On the other hand, since a yaw rate sensor is required to estimate the traveling path, the cost is high. Therefore, there is a demand for estimating the traveling path without using such a sensor.

Further, as described in, for example, Japanese Patent Laid-Open No. 4-369800, the inter-reflector distance detecting means detects the inter-reflector distance, and the curve diameter estimating means makes a curve based on the detected distance. A system for estimating the diameter has been proposed.

[0005]

[Patent Document 1] Japanese Unexamined Patent Application Publication No.
It is conceivable to estimate the traveling path (curvature radius) using the system disclosed in Japanese Patent Publication No. 369800.

However, since the system is designed to estimate the curve diameter based on the inter-reflector distance, a plurality of reflectors are always required, and a single reflector cannot estimate the curve diameter. Therefore, it cannot be directly applied to travel path estimation.

An object of the present invention is to detect a stationary object based on the detection result when an obstacle ahead of the host vehicle is detected, and to use the yaw rate sensor to detect the traveling path based on the stationary object. It is an object of the present invention to provide an apparatus and a method for estimating a traveling path of a vehicle capable of performing estimation.

[0008]

In order to achieve the above object, the present invention detects an obstacle in front of the host vehicle, determines whether the obstacle is a stationary object, and determines the host vehicle based on the determination result. I was trying to estimate the path of travel.

Specifically, the inventions of claims 1 to 18 relate to a vehicle path estimating device. In the invention of claim 1, an obstacle in front of the vehicle is detected, and the detected obstacle is detected. A traveling route estimation device for estimating the traveling route of the own vehicle from an obstacle detecting means for transmitting a radar wave toward the front of the own vehicle to detect an obstacle existing in front of the vehicle. A stationary state determining means for determining whether or not an obstacle in front of the host vehicle is stationary with respect to the host vehicle based on the detection result of the obstacle detecting means; The vehicle includes a traveling route estimating means for estimating the traveling route of the host vehicle based on the determination result.

According to a second aspect of the present invention, in the vehicle travel path estimating device according to the first aspect of the present invention, there are provided steering angle detecting means for detecting a steering angle of the host vehicle, and vehicle speed detecting means for detecting a vehicle speed of the host vehicle. Is further provided.

According to a third aspect of the present invention, in the vehicle traveling path estimating device according to the second aspect of the invention, the traveling path estimating means, when it is determined that the obstacle is stationary, travels with respect to the obstacle of the host vehicle. First traveling path estimating means for estimating a first traveling path of the subject vehicle from data representing the state, and steering steering angle detected by the steering angle detecting means when it is determined that the obstacle is not in a stationary state. The vehicle further includes a second traveling path estimating means for estimating a second traveling path of the host vehicle based on the vehicle speed detected by the vehicle speed detecting means.

According to a fourth aspect of the present invention, in the vehicle traveling path estimating device according to the third aspect of the invention, the first traveling path estimating means uses the data representing the traveling state of the host vehicle with respect to the obstacle as the first traveling path. It is assumed to be configured to calculate the radius of curvature of.

According to a fifth aspect of the present invention, in the vehicle traveling path estimating device of the third aspect, the second traveling path estimating means is based on the steering angle detecting means and the vehicle speed detecting means. It is configured to calculate the radius of curvature of the vehicle and the side slip angle of the vehicle.

According to a sixth aspect of the present invention, in the vehicle traveling path estimating device of the third aspect, when it is determined that the obstacle is stationary, the first traveling path estimating means estimates the first traveling path. If the obstacle is determined not to be in a stationary state by selecting the traveling route of No. 2, the selecting unit further includes a selecting unit for selecting the second traveling route estimated by the second traveling route estimating unit.

According to a seventh aspect of the present invention, in the vehicle travel route estimating apparatus according to the third aspect of the present invention, the data representing the traveling state of the host vehicle with respect to the obstacle is viewed from the distance between the host vehicle and the obstacle and the host vehicle. The direction of the obstacle, the relative speed between the own vehicle and the stationary object, and the moving speed in the lateral direction.

According to an eighth aspect of the invention, in the vehicle traveling path estimating device according to the fifth aspect of the invention, the second traveling path estimating means calculates the azimuth of the obstacle viewed from the own vehicle based on the sideslip angle. To configure.

According to a ninth aspect of the present invention, in the vehicle traveling route estimating apparatus according to the third aspect of the invention, the first traveling route estimating means determines the first traveling route from the data representing the traveling state with respect to a plurality of obstacles. It is configured to calculate the radius of curvature.

According to a tenth aspect of the present invention, there is provided a vehicle traveling path estimating device which detects an obstacle in front of the own vehicle and estimates the traveling path of the own vehicle from the detected obstacle. Obstacle detecting means for transmitting a radar wave toward the front of the host vehicle to detect a plurality of obstacles existing in front of the host vehicle, and each of the obstacles in front of the host vehicle based on the detection result of the obstacle detecting means. A stationary state determination means for determining whether or not the obstacle is stationary with respect to the host vehicle, and a determination is made as to whether or not the stationary state of the obstacle determined to be stationary by the stationary state determination means has changed. It is characterized by comprising an obstacle judging means and a traveling road estimating means for estimating a traveling road of the own vehicle based on a judgment result of the obstacle judging means.

According to an eleventh aspect of the present invention, in the vehicle traveling path estimating device according to the tenth aspect of the present invention, there are provided steering angle detecting means for detecting a steering angle of the host vehicle and vehicle speed detecting means for detecting a vehicle speed of the host vehicle. Shall be further provided.

According to a twelfth aspect of the present invention, in the vehicle traveling path estimating device according to the eleventh invention, the traveling path estimating means comprises:
When the number of obstacles determined to be stationary by the stationary state determination means is equal to or larger than a predetermined number, the first traveling path of the vehicle is estimated from the data indicating the traveling state of the vehicle with respect to each obstacle. When the number of obstacles determined to be stationary by the traveling path estimation means and the stationary state determination means is less than a predetermined number, the steering angle detected by the steering angle detection means and the vehicle speed detected by the vehicle speed detection means And a second traveling route estimating means for estimating the second traveling route of the host vehicle based on the following.

According to a thirteenth aspect of the present invention, in the vehicle traveling route estimating apparatus according to the twelfth aspect of the invention, the first traveling route estimating means determines the first traveling route from the data representing the traveling state of the host vehicle with respect to each obstacle. It is configured to calculate the radius of curvature of the traveling path.

According to a fourteenth aspect of the present invention, in the vehicle traveling path estimating device according to the twelfth aspect of the invention, the second traveling path estimating means is based on the steering angle detecting means and the vehicle speed detecting means. The radius of curvature is calculated, and the side slip angle of the host vehicle is calculated.

According to a fifteenth aspect of the present invention, in the vehicle traveling path estimating device according to the thirteenth invention, the first traveling path estimating means is the farthest distance from the host vehicle when there are three or more obstacles. Three obstacles are selected in order from the obstacles existing in the vehicle, and the average value of the curvature radii of each traveling road calculated from the data representing the traveling state of the own vehicle with respect to each obstacle is calculated as the first traveling road of the own vehicle. To be estimated as.

According to the sixteenth aspect of the present invention, in the vehicle traveling path estimating apparatus according to the twelfth aspect of the present invention, the data indicating the traveling state of the own vehicle with respect to each obstacle is the distance between the own vehicle and each obstacle, the own vehicle. The direction of each obstacle as viewed, the relative speed between the own vehicle and each obstacle, and the moving speed in the lateral direction.

According to a seventeenth aspect of the present invention, in the vehicle traveling route estimating apparatus according to the thirteenth aspect, whether the stationary state determination means has data indicating the traveling state of the host vehicle with respect to each obstacle equal to the previous data. It is determined whether or not they are equal, and if they are equal, the first traveling path estimating means is configured to estimate the first radius of curvature calculated based on the previous data as the first traveling path.

According to the eighteenth aspect of the present invention, in the vehicle traveling path estimating device of the seventeenth aspect, when the data representing the traveling state of the host vehicle with respect to each obstacle is not equal to the previous data, the traveling path estimating means is provided. Is configured to newly estimate the traveling path of the host vehicle.

The inventions of claims 19 to 35 relate to a method of estimating a traveling path of a vehicle. That is, according to the invention of claim 19, there is provided a traveling path estimation method for a vehicle, which detects an obstacle in front of the own vehicle and estimates the traveling path of the own vehicle from the detected obstacle. An obstacle detection step of transmitting a radar wave toward the vehicle to detect an obstacle existing in front of it, and based on the detection result in this obstacle detection step, an obstacle in front of the own vehicle is transmitted to the own vehicle. On the other hand, a stationary state determination step of determining whether or not the vehicle is in a stationary state and a traveling path estimation step of estimating the traveling path of the host vehicle based on the determination result in the stationary state determination step are provided.

According to a twentieth aspect of the present invention, in the vehicle travel route estimating method according to the nineteenth aspect of the present invention, there are provided a steering angle detecting step of detecting a steering steering angle of the host vehicle, and a vehicle speed detecting step of detecting a vehicle speed of the host vehicle. Is further provided.

According to a twenty-first aspect of the invention, in the vehicle travel route estimating method of the twenty-first invention, the travel route estimating step comprises:
A first traveling route estimating step of estimating a first traveling route of the own vehicle from data representing a traveling state of the own vehicle when the obstacle is determined to be stationary; If it is determined that the vehicle is not in a stationary state, the second traveling path that specifies the second traveling path of the host vehicle based on the steering steering angle detected in the steering angle detecting step and the vehicle speed detected in the vehicle speed detecting step. And an estimation step.

According to a twenty-second aspect of the present invention, in the vehicle traveling route estimating method according to the twenty-first aspect, in the first traveling route estimating step, the first traveling route is calculated from the data representing the traveling state of the host vehicle with respect to the obstacle. Calculate the radius of curvature of the road.

According to a twenty-third aspect of the invention, in the vehicle traveling path estimating method according to the twenty-first aspect of the invention, the second traveling path estimating step is performed based on the steering angle detecting step and the vehicle speed detecting step.
And the side slip angle of the host vehicle are calculated.

According to a twenty-fourth aspect of the present invention, in the method of estimating the traveling path of a vehicle according to the twenty-first aspect, data representing the traveling state of the host vehicle with respect to the obstacles is the distance between the host vehicle and each obstacle, and from the host vehicle. The azimuth of each obstacle, the relative speed between the own vehicle and the stationary object, and the moving speed in the lateral direction.

According to a twenty-fifth aspect of the present invention, in the vehicle traveling route estimating method according to the twenty-first aspect, in the first traveling route estimating step, data representing a traveling state of the host vehicle with respect to a plurality of obstacles is obtained. The first traveling path of the host vehicle is estimated from.

According to a twenty-sixth aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-fifth aspect of the invention, in the first traveling path estimating step, when there are three or more obstacles, the farthest distance from the host vehicle. Three obstacles are selected in order from the obstacles existing in the vehicle, and the average value of the curvature radii of each traveling road calculated from the data representing the traveling state of the own vehicle with respect to each obstacle is calculated as the first traveling road of the own vehicle. Estimate as.

According to a twenty-seventh aspect of the present invention, there is provided a traveling path estimation method for a vehicle which detects an obstacle in front of the own vehicle and estimates the traveling path of the own vehicle from the detected obstacle. Based on the obstacle detection step of transmitting a radar wave forward and detecting a plurality of obstacles existing in front of the radar wave, and the detection result of the obstacle detection means, each obstacle in front of the own vehicle is detected. A stationary state determination step of determining whether or not the host vehicle is in a stationary state, and an obstacle that determines whether or not the stationary state of the obstacle determined to be stationary in the stationary state determination step has changed It is characterized by comprising a determining step and an advancing path estimating step of estimating an advancing path of the host vehicle based on the judgment result in the obstacle judging step.

According to a twenty-eighth aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-seventh aspect of the present invention, there are provided a steering angle detecting step for detecting a steering angle of the own vehicle, and a vehicle speed detecting step for detecting a vehicle speed of the own vehicle. Is further provided.

According to a twenty-ninth aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-eighth aspect of the invention, the traveling path estimating step includes a predetermined number of obstacles determined to be stationary in the stationary state determining step. In the above case, it is determined that the vehicle is in the stationary state in the first traveling path estimation step of estimating the first traveling path of the vehicle from the data indicating the traveling state of the vehicle with respect to each obstacle, and in the stationary state determination step. When the number of obstacles that have been removed is less than the predetermined number, a second traveling path of the host vehicle is estimated based on the steering angle detected in the steering angle detection step and the vehicle speed detected in the vehicle speed detection step. And a traveling path estimation step.

According to a thirtieth aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-ninth aspect of the invention, in the first traveling path estimating step, the first vehicle is calculated from the data representing the traveling state of the host vehicle with respect to each obstacle. The radius of curvature of the traveling path is calculated.

According to a thirty-first aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-ninth aspect of the invention, the second traveling path estimating step is performed based on the steering angle detecting step and the vehicle speed detecting step.
And the side slip angle of the host vehicle are calculated.

According to a thirty-second aspect of the invention, in the vehicle travel route estimating method of the thirtieth invention, the first travel route estimating step is the farthest from the host vehicle when there are three or more obstacles. Three obstacles are selected in order from obstacles existing at a distance, and the average value of the radius of curvature of each traveling path calculated from the data representing the traveling state of the own vehicle with respect to each obstacle is used as the first traveling direction of the own vehicle. Estimated as a road.

According to a thirty-third aspect of the present invention, in the vehicle traveling path estimating method according to the twenty-ninth aspect of the present invention, the data representing the traveling state of the own vehicle with respect to each obstacle is the distance between the own vehicle and each obstacle, the own vehicle. The azimuth of each obstacle as viewed, the relative speed between the vehicle and each obstacle, and the moving speed in the lateral direction.

According to a thirty-fourth aspect of the present invention, in the vehicle traveling route estimating method according to the thirtieth aspect of the present invention, in the stationary state determination step, whether the data representing the traveling state of the host vehicle with respect to each obstacle is equal to the previous data. It is determined whether or not it is equal, and if they are equal, the first radius of curvature calculated based on the previous data is estimated as the first traveling route in the first traveling route estimating step.

According to a thirty-fifth aspect of the present invention, in the vehicle traveling route estimating method according to the thirty-fourth aspect, when the data representing the traveling state of the host vehicle with respect to each obstacle is not equal to the previous data, the traveling route estimating step is performed. In, the traveling route of the own vehicle is newly estimated.

[0044]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. In FIG. 1, which shows the overall configuration of an automobile, reference numeral 1 denotes a host vehicle, which is an automobile, and a radar head unit 3 is provided in front of a vehicle body 2. The radar head unit 3 emits a pulsed laser beam as a radar wave from the transmitter to the front of the vehicle, and
The receiving unit receives a reflected wave that is reflected by an obstacle such as a preceding vehicle in front of the vehicle, and measures the distance to the obstacle on the road. Further, the radar head unit 3 is of a scanning type which is emitted from its transmitting portion and is made to scan a pulse laser beam (beam) which is thin in the vertical direction and spread in a fan shape in the vertical direction in the horizontal direction at a relatively wide angle.

Reference numeral 4 is a control unit, which is shown in FIG.
As shown in, the signals from the vehicle speed sensor 5 for detecting the vehicle speed of the host vehicle and the steering angle sensor 7 for detecting the steering angle of the steering wheel 6 are input together with the signals from the radar head unit 3, Based on this, the traveling road condition is displayed on the head-up display 9, and when an obstacle in front of the vehicle is detected, the alarm device 10 is activated, and the vehicle control device 11 activates the brake 11a to apply a braking force to each wheel. It is automatically assigned.

As shown in FIG. 3, the control unit 4 receives the output of the radar head unit 3 and detects an obstacle existing in front of the host vehicle by an obstacle detecting means 21.
And a stationary state detecting unit 22 that receives the output of the obstacle detecting unit 21 and determines whether or not an obstacle existing in front of the host vehicle is in a stationary state based on the detection result of the obstacle detecting unit 21. A traveling route estimating unit 23 that receives the output of the stationary state detecting unit 22 and estimates the traveling route of the host vehicle based on the determination result of the stationary state detecting unit 22 is provided. When the obstacle ahead of the host vehicle is determined to be a stationary object, the traveling route estimation means 23 uses the following equation based on the data representing the traveling state of the host vehicle with respect to the obstacle, based on the following equation. A first traveling path estimating means 23a for estimating R2) is provided.
Here, the data representing the traveling state of the host vehicle with respect to the obstacle are the distance L between the host vehicle and the stationary object, the azimuth φ of the stationary object viewed from the host vehicle, the relative speed V between the host vehicle and the stationary object, and the lateral movement speed. vt, which can be easily detected based on signals from the radar head unit 3, the vehicle speed sensor 5, and the steering angle sensor 7.

[0047]

[Equation 1]

The traveling route estimating means 23 in the control unit 4 is provided with a second traveling route estimating means 23b for estimating the traveling route (curvature radius R1) of the host vehicle based on the vehicle speed V and the steering angle θ by the following equation. There is. Further, the control unit 4 is provided with a selection unit 25 which receives the output of the radar head unit 3 and selects the traveling route estimated by the second traveling route estimating unit 23b when there is no stationary object in front of the host vehicle. Has been. The second traveling path estimating means 23b calculates the slip angle β of the host vehicle by the following equation.
A slip angle calculating means 24 for detecting 1 (side slip angle) is provided.

[0049]

[Equation 2]

Then, the second traveling path estimating means 23b takes the slip angle β1 into consideration when estimating the traveling path. That is, the angle region Φ1 at which the stationary object at the distance L should be seen from the host vehicle is calculated by the following formula.

[0051]

(Equation 3)

The control unit 4 also includes an obstacle determining means 25 which receives the outputs of the obstacle detecting means 21 and the selecting means 25 and makes an obstacle determination.

Next, the control flow of the control unit 4 will be described with reference to FIG. When started, the second traveling path estimating means 23b calculates the curvature radii R1 and .beta.1 of the traveling path according to the vehicle speed and the steering angle by the following equation (step S1).

[0054]

[Equation 4]

Then, the stationary state detecting means 22 determines whether or not the obstacle existing in front of the vehicle detected by the obstacle detecting means 21 is a stationary object (stationary state) (step S2). If it is an object, the first traveling path estimating means 23 calculates the radius of curvature R2 of the traveling path by the following formula based on the data representing the traveling state of the host vehicle with respect to the obstacle (step S3).

[0056]

(Equation 5)

The equation for estimating the traveling path (radius of curvature R2) based on the data representing the traveling state of the host vehicle with respect to the obstacle is derived as follows (see FIG. 5). Here, L is the distance from the host vehicle 1 to the stationary object, φ is the azimuth of the stationary object with respect to the host vehicle 1, V is the relative speed, and vt is the lateral moving speed.

[0058]

(Equation 6)

Then, the traveling path is estimated based on the curvature radius R2 of the traveling path estimated by the first traveling path estimating means 23 (step S4), and the process returns.

On the other hand, if there is no stationary object, the slip angle calculating means 24 calculates the slip angle (step S5), and in consideration of this, the radius of curvature R1 of the traveling path estimated by the second traveling path estimating means 23b. The traveling path is estimated based on (step S4), and the process returns.

The above-described embodiment is basically an example of control performed by using one stationary object. However, when there are a plurality of stationary objects in front of the host vehicle, the plurality of stationary objects are used. Then, the traveling route can be estimated as follows.

In FIG. 6 and FIG. 7, when starting,
First, the object identification number i is reset to i = 0 (step S11), and then the object identification number i is incremented to i + 1 (step S12).

Then, it is determined whether or not the object identification number i is equal to the total number of objects (object-max) +1 (step S13). If they are not equal, it is determined whether or not the relative speed Vi is equal to the own vehicle speed V0. The determination is made (step S14). Relative speed V
If i is equal to the vehicle speed V0, the attributes of the object based on the respective stationary objects (for example, the distance Li from the vehicle to the stationary object, the azimuth φi of the stationary object with respect to the vehicle, the relative speed Vi, and the lateral traveling speed vti) The road is estimated by the following equation (step S15), and the process returns to step S12. On the other hand, if they are not equal to each other, the object is a moving object.
i is set to infinity (step S16), and the process returns to step S12.

[0064]

(Equation 7)

On the other hand, in step S13, if the object identification number i is equal to object-max + 1, it is determined whether or not there are three or more stationary objects (step S17). Three stationary objects are selected in order from existing objects (step S18), and their radii of curvature R11,
The average value of R12 and R13 is set as the radius of curvature of the traveling path (step S19), the traveling path is estimated (step S20), and the process returns.

If there are not three or more stationary objects, the second traveling route estimating means estimates the traveling route based on the vehicle state amount (step S21), and the slip angle is calculated (step S).
22) The travel route is estimated (step S20), and the process returns.

The control after step S17 can be performed as follows.

In FIG. 8, in step S13, when the object identification number i is equal to object-max + 1, it is determined whether or not the R flag is 1 (step S31). When the R flag is 1, the same object is determined. Inter-object distance data L
While a ', Lb' and Lc 'are calculated (step S32), when the R flag is not 1, it is determined whether or not there are three or more stationary objects (step S33). Here, in the process of step S31, the R flag is provided to first execute the process of step S33. Therefore, the R flag is initially in a state of "0" (initial value), and when there are three or more stationary objects in step S33, the traveling route R is estimated in step S39 described later.
After that, by setting the R flag to “1”, in the next process, the process proceeds from step S31 to step S32, and the inter-object distance data calculated by the process up to step S39 is used as the previous value, and the process after step S34 is performed. You will be able to execute.

In step S33, the number of stationary objects is 3
If there are three or more, 3 from the object at the farthest distance
One stationary object is selected (step S37), the distances La, Lb, Lc between the objects are calculated (step S38), and the average value of the curvature radii R11, R12, R13 is set as the curvature radius of the traveling path (step S39). ), The R flag is set to 1 (step S40), and the traveling path is estimated (step S36).

If there are not three or more stationary objects, the travel route is estimated based on the vehicle state quantity (step S41), the slip angle is calculated (step S42), the travel route is estimated (step S36), and the process returns.

When the R flag is 1 in step S31, the inter-object distance data La ', of the same object is calculated in step S32.
After calculating Lb 'and Lc', it is compared with the previous inter-object data to determine whether they are equal (step S34). If they are equal when compared with the previous inter-object data, they are stationary objects, so for the same objects, the average value of the curvature radii of the traveling paths estimated from those objects is calculated (step S
35), the traveling path is estimated (step S36), while if not equal, the R flag is set to "0" (step S4).
3) Go to step S33, select three new stationary objects, and calculate the distances La, Lb, Lc between the objects.
If it is determined in step S34 that the previous object-to-object data are not equal to each other, it means that the relationship between the object distances of the three stationary objects at the previous time is broken, and the traveling path of the host vehicle is curved. Or the steering wheel is turned off.

[0072]

As described above, as described above,
According to the invention of 19 or 27, an obstacle in front of the own vehicle is detected by a radar wave, it is determined whether or not the obstacle is in a stationary state from the detection result, and it is presumed that the own vehicle will proceed in the future based on the determination result. Since the moving object is estimated, the stationary object in front of the vehicle, which is detected by the obstacle detection means, can be effectively used to determine the traveling path of the vehicle in the future without using the yaw rate sensor. Can be estimated.

In particular, according to the tenth or twenty-seventh aspect of the present invention, since the traveling path of the own vehicle is estimated based on the data representing the traveling state of the own vehicle with respect to a plurality of obstacles, the traveling path can be estimated accurately. it can.

According to the invention of claim 3, 12, 21 or 29, when the obstacle in front of the host vehicle is a stationary object, the first object is based on the traveling state data of the host vehicle with respect to the stationary object.
The traveling route estimating means estimates a traveling route that the vehicle is estimated to travel in the future, the traveling route is estimated by the first traveling route estimating means, and the second traveling route is estimated based on vehicle state quantities such as vehicle speed and steering angle. Since the traveling path is also estimated by the road estimating means, it is possible to always estimate the traveling path by using the second traveling path estimating means when there is no stationary object in front of the host vehicle. Becomes

According to the invention of claim 7, 16, 24 or 33, the distance between the own vehicle and the stationary object, which is easily detected as data of the running state of the own vehicle with respect to the stationary object, and the stationary state viewed from the own vehicle. The traveling path can be estimated using the azimuth of the object, the relative speed between the own vehicle and the stationary object, and the lateral movement speed.

According to the eighth aspect of the present invention, the slip angle of the host vehicle is calculated. Therefore, when there is no stationary object in front of the host vehicle, the slip angle is considered with respect to the value estimated by the second traveling path estimating means. Thus, the traveling route of the host vehicle can be estimated by the second traveling route estimating means.

[Brief description of drawings]

FIG. 1 is a perspective view of an automobile.

FIG. 2 is an explanatory diagram of a control unit.

FIG. 3 is a block diagram of a control unit.

FIG. 4 is a flowchart showing a control flow.

FIG. 5 is an explanatory diagram of radius of curvature estimation of a traveling road based on data representing a traveling state of an own vehicle with respect to an obstacle.

FIG. 6 is a flow chart of another embodiment.

FIG. 7 is a flow chart for another embodiment.

FIG. 8 is a flowchart of a modified example.

[Explanation of symbols]

 1 Own vehicle (automobile) 3 Radar head unit 5 Vehicle speed sensor 7 Rudder angle sensor 21 Obstacle detecting means 22 Stationary state detecting means 23 Traveling path estimating means 23a First traveling path estimating means 23b Second traveling path estimating means 24 Slip angle calculation Means 25 Selection Means

Claims (35)

[Claims] 1. A traveling path estimating device for a vehicle, which detects an obstacle in front of the own vehicle, and estimates the traveling path of the own vehicle from the detected obstacle. Obstacle detection means for transmitting a radar wave toward the front to detect an obstacle existing in front of it, and based on the detection result of the obstacle detection means, an obstacle in front of the own vehicle with respect to the own vehicle A stationary state determining means for determining whether or not the vehicle is in a stationary state, and a traveling route estimating means for estimating a traveling route of the host vehicle based on a determination result of the stationary state determining means. Vehicle path estimation device. 2. The traveling path estimation of the vehicle according to claim 1, further comprising: a steering angle detecting means for detecting a steering steering angle of the own vehicle, and a vehicle speed detecting means for detecting a vehicle speed of the own vehicle. apparatus. 3. The traveling path estimating means estimates a first traveling path of the host vehicle from data representing a traveling state of the host vehicle with respect to the obstacle when it is determined that the obstacle is stationary. If it is determined that the obstacle is not in a stationary state, the traveling path estimation unit of No. 1 and the second vehicle of the host vehicle based on the steering steering angle detected by the steering angle detection unit and the vehicle speed detected by the vehicle speed detection unit. The vehicle traveling path estimating device according to claim 2, further comprising a second traveling path estimating means for estimating a traveling path. 4. The first traveling path estimating means is configured to calculate a radius of curvature of the first traveling path from data representing a traveling state of the vehicle with respect to the obstacle. Item 3. The vehicle travel path estimation device according to item 3. 5. The second traveling path estimating means is configured to calculate the radius of curvature of the second traveling path based on the steering angle detecting means and the vehicle speed detecting means and to calculate the side slip angle of the host vehicle. The traveling path estimation device for a vehicle according to claim 3, wherein 6. When it is determined that the obstacle is stationary, the first traveling path estimated by the first traveling path estimating means is selected, and it is determined that the obstacle is not stationary. 4. The vehicle traveling path estimating device according to claim 3, further comprising: selecting means for selecting the second traveling path estimated by the second traveling path estimating means. 7. The data representing the traveling state of the own vehicle with respect to the obstacle includes the distance between the own vehicle and the obstacle, the direction of the obstacle viewed from the own vehicle, the relative speed between the own vehicle and the stationary object, and the lateral movement. The traveling path estimation device for a vehicle according to claim 3, wherein the device is a speed. 8. The traveling path of the vehicle according to claim 5, wherein the second traveling path estimating means is configured to calculate the direction of the obstacle as viewed from the own vehicle based on the sideslip angle. Estimator. 9. The first traveling path estimating means is configured to calculate a radius of curvature of the first traveling path from data representing a traveling state with respect to a plurality of obstacles. 3. The vehicle travel path estimation device described in 3. 10. An obstacle in front of the vehicle is detected,
A traveling route estimation device for a vehicle that estimates the traveling route of the own vehicle from the detected obstacles, and transmits a radar wave toward the front of the own vehicle to detect a plurality of obstacles present in front of the traveling route. An obstacle detection unit that detects the obstacle, and a stationary state determination unit that determines whether or not each obstacle in front of the vehicle is stationary with respect to the vehicle based on the detection result of the obstacle detection unit. And an obstacle determination means for determining whether or not the stationary state of the obstacle determined to be stationary by the stationary state determination means, and based on the determination result of the obstacle determination means, A traveling route estimating device for a vehicle, comprising: a traveling route estimating means for estimating a traveling route. 11. The vehicle traveling path estimation according to claim 10, further comprising steering angle detection means for detecting a steering steering angle of the own vehicle, and vehicle speed detection means for detecting a vehicle speed of the own vehicle. apparatus. 12. The traveling route estimating means, when the number of obstacles determined to be stationary by the stationary state determining means is equal to or more than a predetermined number, from the data representing the traveling state of the own vehicle of the own vehicle, First traveling path estimating means for estimating a first traveling path, and steering detected by the steering angle detecting means when the number of obstacles determined to be stationary by the stationary state determining means is less than a predetermined number. The vehicle according to claim 11, further comprising a second traveling path estimating means for estimating a second traveling path of the host vehicle based on the steering angle and the vehicle speed detected by the vehicle speed detecting means. Path estimation device. 13. The first traveling path estimating means is configured to calculate a radius of curvature of the first traveling path from data representing a traveling state of the vehicle with respect to each obstacle. The traveling path estimation device for a vehicle according to claim 12. 14. The second traveling road estimating means is configured to calculate a radius of curvature of the second traveling road based on the steering angle detecting means and the vehicle speed detecting means and to calculate a side slip angle of the own vehicle. 13. The traveling path estimation device for a vehicle according to claim 12, wherein: 15. The first traveling path estimating means has three obstacles.
When there are two or more, the radius of curvature of each traveling path calculated from the data representing the traveling state of the own vehicle for each obstacle is selected in order from the obstacles that are the farthest away from the own vehicle. 14. The vehicle travel path estimation device according to claim 13, wherein the vehicle travel path estimation device is configured to estimate the average value of the above as the first travel path of the host vehicle. 16. The data representing the traveling state of the own vehicle with respect to each obstacle includes the distance between the own vehicle and each obstacle, the direction of each obstacle viewed from the own vehicle, the relative speed between the own vehicle and each obstacle, and 13. The moving speed in the lateral direction is set.
The vehicle path estimation device described. 17. The stationary state determination means determines whether or not the data representing the traveling state of the own vehicle with respect to each obstacle is equal to the previous data, and when the data is equal, the first traveling path estimation means determines the previous time. 14. The traveling path estimating device for a vehicle according to claim 13, wherein the traveling path estimating apparatus is configured to estimate the first radius of curvature calculated based on the data of 1. as the first traveling path. 18. The traveling path estimating means newly estimates the traveling path of the own vehicle when the data representing the traveling state of the own vehicle with respect to each obstacle is not equal to the previous data. 18. The vehicle travel path estimation device according to claim 17. 19. An obstacle in front of the vehicle is detected,
A method of estimating a traveling path of a vehicle from the detected obstacle, which is an obstacle for transmitting a radar wave forward of the vehicle and detecting an obstacle existing in front of the vehicle. A detection step; a stationary state determination step of determining whether or not an obstacle in front of the host vehicle is stationary with respect to the host vehicle based on the detection result in the obstacle detection step; A traveling route estimating step of estimating a traveling route of the own vehicle based on a determination result in the determining step. 20. The traveling path estimation of the vehicle according to claim 19, further comprising a steering angle detection step of detecting a steering steering angle of the own vehicle, and a vehicle speed detection step of detecting a vehicle speed of the own vehicle. Method. 21. A travel route estimating step estimates a first travel route of the host vehicle from data representing a traveling state of the host vehicle when the obstacle is determined to be stationary. 2) of the host vehicle based on the steering path angle detected in the steering angle detection step and the vehicle speed detected in the vehicle speed detection step when it is determined that the obstacle is not stationary. 21. The vehicle traveling path estimating method according to claim 20, further comprising: a second traveling path estimating step of designating the traveling path. 22. The radius of curvature of the first traveling road is calculated in the first traveling road estimating step from data representing a traveling state of the host vehicle with respect to the obstacle. Path estimation method. 23. In the second traveling road estimating step, the radius of curvature of the second traveling road is calculated based on the steering angle detecting step and the vehicle speed detecting step, and the side slip angle of the own vehicle is calculated. 22. The method of estimating a traveling path of a vehicle according to claim 21. 24. The data representing the traveling state of the host vehicle with respect to the obstacle includes the distance between the host vehicle and each obstacle, the direction of each obstacle as viewed from the host vehicle, the relative speed between the host vehicle and the stationary object, and the lateral direction. 22. The method of estimating a traveling path of a vehicle according to claim 21, wherein the traveling speed is 25. The first traveling path estimating step estimates the first traveling path of the host vehicle from data representing a traveling state of the host vehicle with respect to the obstacles with respect to a plurality of obstacles. Item 21. A vehicle traveling path estimation method according to Item 21. 26. In the first traveling path estimating step, when there are three or more obstacles, three obstacles are selected in order from an obstacle existing at the farthest distance to the own vehicle, and each obstacle of the own vehicle is selected. 26. The vehicle traveling path estimation method according to claim 25, wherein an average value of curvature radii of each traveling road calculated from data representing a traveling state with respect to an obstacle is estimated as a first traveling road of the own vehicle. . 27. An obstacle in front of the vehicle is detected,
A method for estimating a traveling path of a vehicle based on the detected obstacle, which is a method for estimating a traveling path of a vehicle. The radar wave is transmitted toward the front of the vehicle to detect a plurality of obstacles in front of the vehicle. An obstacle detection step, based on the detection result of the obstacle detection means, a stationary state determination step of determining whether each obstacle in front of the vehicle is stationary with respect to the vehicle, An obstacle determination step of determining whether or not the stationary state of the obstacle determined to be stationary in the stationary state determination step, and a traveling path of the host vehicle based on the determination result in the obstacle determination step And a traveling route estimating step for estimating the traveling route. 28. The vehicle traveling path estimation according to claim 27, further comprising a steering angle detecting step of detecting a steering steering angle of the own vehicle and a vehicle speed detecting step of detecting a vehicle speed of the own vehicle. Method. 29. When the number of obstacles determined to be stationary in the stationary state determination step is equal to or more than a predetermined number, the traveling path estimation step is performed based on data indicating a running state of the vehicle with respect to each obstacle. A first traveling path estimation step of estimating a first traveling path of the vehicle, and when the number of obstacles determined to be stationary in the stationary state determination step is less than a predetermined number, they are detected in the steering angle detection step. A second traveling path of the host vehicle is estimated based on the steering angle and the vehicle speed detected in the vehicle speed detection step.
29. The vehicle traveling path estimation method according to claim 28, further comprising: 30. In the first traveling path estimating step, the radius of curvature of the first traveling path is calculated from data representing a traveling state of the vehicle with respect to each obstacle.
9. The vehicle traveling path estimation method described in 9. 31. In the second traveling road estimating step, the radius of curvature of the second traveling road is calculated based on the steering angle detecting step and the vehicle speed detecting step, and the side slip angle of the host vehicle is calculated. 30. The method for estimating a traveling path of a vehicle according to claim 29. 32. In the first traveling path estimating step, when there are three or more obstacles, three obstacles are selected in order from an obstacle existing at the farthest distance from the own vehicle, and 31. The vehicle travel path estimation according to claim 30, wherein an average value of the curvature radii of the travel paths calculated from the data representing the traveling state for each obstacle is estimated as the first travel path of the own vehicle. Method. 33. Data representing the traveling state of the own vehicle with respect to each obstacle, the distance between the own vehicle and each obstacle, the direction of each obstacle as viewed from the own vehicle, the relative speed between the own vehicle and each obstacle, and 30. The moving speed in the lateral direction.
The method for estimating the traveling path of the vehicle described. 34. In the stationary state determination step, it is determined whether or not the data representing the traveling state of the own vehicle with respect to each obstacle is equal to the previous data. First calculated based on the data of
31. The method of claim 30, wherein the radius of curvature of the vehicle is estimated as the first traveling path. 35. The traveling path of the host vehicle is newly estimated in the traveling path estimation step when the data indicating the traveling state of the own vehicle with respect to each obstacle is not equal to the previous data. The method for estimating the traveling path of the vehicle described.