WO2011114442A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- WO2011114442A1 WO2011114442A1 PCT/JP2010/054433 JP2010054433W WO2011114442A1 WO 2011114442 A1 WO2011114442 A1 WO 2011114442A1 JP 2010054433 W JP2010054433 W JP 2010054433W WO 2011114442 A1 WO2011114442 A1 WO 2011114442A1
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- driving support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Definitions
- the present invention relates to a driving support device.
- a risk potential is calculated based on a collision prediction time (TTC: Time To Collision), which is a physical quantity indicating the current degree of proximity of the host vehicle to the preceding vehicle, and braking control, steering control, and the like are performed according to the calculated risk potential.
- TTC Time To Collision
- An apparatus that performs support is known (see, for example, Patent Document 1).
- the TTC used for determining the control content in the conventional apparatus is calculated based on the relative speed between the own vehicle and the object to be determined, the current position of the own vehicle and the object, and the current vehicle and the object are currently It is assumed that the same movement state is maintained. For this reason, the TTC in the prior art can represent a risk that is manifested in the current state.
- TTC is not defined.
- the target object is in a motion state different from the current state, there is a risk that the host vehicle will collide with the target object. That is, even if there is no object on the predicted course of the host vehicle, there may be a potential risk. With conventional devices, driving assistance based on such potential risks is not possible.
- the present invention has been made to solve the above-described problems, and an object thereof is to provide a driving support device capable of realizing driving support in consideration of a potential risk.
- a driving support device is a driving support device that performs driving support for avoiding an object that is a risk target in driving the vehicle for a driver of the vehicle, the target for detecting the target
- the object detection means, the collision prediction time calculation means for calculating the collision prediction time, which is the time indicating the degree of approach of the vehicle to the object, and the estimated risk indicating the possibility that the object moves on the predicted course of the vehicle are determined.
- Estimated risk level determining means, and driving support content determining means for determining the content of driving support based on the predicted collision time and the estimated risk level.
- the driving support device of the present invention when the content of driving support is determined based on the predicted collision time, the estimated risk level indicating the possibility that the object moves on the predicted course of the vehicle is taken into consideration. As a result, even when the target object does not exist on the predicted course of the vehicle and the risk is not manifested, the potential risk related to the target object is considered in the determination of the content of the driving assistance. Therefore, driving support in consideration of the potential risk is possible.
- the collision prediction time calculation means when the target object is on the predicted course of the vehicle, is a definite collision that is a predicted collision time for the target object existing on the predicted path of the vehicle. If the target time is calculated and the target is located in a place other than the predicted course of the vehicle, it is assumed that the target that exists in a place other than the predicted course of the vehicle has moved on the predicted course A predicted collision prediction time that is a collision prediction time for an object is calculated.
- the determined collision prediction time is calculated assuming that the risk is actualized.
- the target object exists in a place other than the predicted course of the vehicle, it is assumed that there is a potential risk, and the target object is assumed to have moved on the predicted path of the vehicle.
- the expected collision prediction time is calculated based on the location after the movement. As a result, the collision prediction time is appropriately calculated regardless of whether the risk is actualized or not.
- the driving support device of the present invention further includes traffic environment information acquisition means for acquiring traffic environment information that is information related to the traffic environment in the vicinity of the vehicle and the object, and the estimated risk determination means includes the object that the object is the vehicle.
- traffic environment information indicating that it is possible to move on the predicted route is acquired
- the estimated risk may be determined to be larger than when the traffic environment information is not acquired.
- the object When there is a traffic environment in which the object can move on the predicted course of the vehicle, there is a possibility that the object will move on the predicted path of the vehicle, compared to the case where such a traffic environment does not exist. It is considered high. According to this configuration, when there is a traffic environment in which the object can move on the predicted course of the vehicle, it is determined to be larger than when there is no traffic environment that requires an estimated risk. Driving assistance that takes into account potential risks is possible. Examples of the traffic environment information include information on traffic rules, road shapes, presence / absence of predetermined structures on the road, and the like.
- the estimated risk level is determined to be larger, so that driving assistance that appropriately considers the risk related to the object is possible.
- the estimated risk determination means is information indicating a causal relationship between the target object and another target object different from the target object, and is at least one of an attribute, a position, and a speed.
- the estimated risk is determined based on causal relationship information, which is information based on the relationship between the target object and other target objects.
- the movement of the object is affected by other objects that are different from the object. For example, the presence of another object may increase the possibility that the object will move on the predicted course of the vehicle. According to this configuration, since the estimated risk level related to the object is determined based on the causal relationship between the target object and other objects, the determination accuracy of the estimated risk level is improved, and appropriate driving support is possible. .
- the driving support device of the present invention it is possible to realize driving support in consideration of potential risks.
- FIG. 1 is a configuration diagram showing an embodiment of the driving support apparatus of the present invention.
- the driving support device 1 is a device that performs driving support for a vehicle driver to avoid an object that is a risk target in driving the vehicle.
- the driving support apparatus 1 includes an object detection unit 2 (object detection unit), a traffic environment information acquisition unit 3 (traffic environment information acquisition unit), a control ECU (Electronic Control Unit) 4, an HMI ( (Human Machine Interface) 5 and various actuators 6.
- object detection unit 2 object detection unit
- traffic environment information acquisition unit 3 traffic environment information acquisition unit
- control ECU Electronic Control Unit
- HMI Human Machine Interface
- the object detection unit 2 is a part that detects an object that is a risk object in driving the vehicle, and can detect the presence / absence, position, and speed of the object.
- the target objects of risk are pedestrians, vehicles, and other obstacles existing on and around the predicted course of the vehicle.
- the predicted course is a course of the vehicle when the vehicle maintains the current traveling state.
- the object detection unit 2 includes, for example, a camera and image recognition processing means.
- the image recognition processing means is constituted by a computer.
- the object detection unit 2 may be configured by a radar device.
- the object detection unit 2 sends the detected position, size, etc. of the object to the control ECU 4 as object information.
- the objects detected by the object detection unit 2 include, for example, pedestrians, stopped vehicles, vehicles on the opposite lane, obstacles existing on the road, and the like. In other words, not only objects directly subject to risk in driving the vehicle but also objects that may affect the movement of the risk object are included in the objects detected by the object detection unit 2.
- the traffic environment information acquisition unit 3 is a part that acquires traffic environment information that is information about the traffic environment around the vehicle and the object.
- the traffic environment information acquisition unit 3 includes, for example, a camera, a radar device, an infrastructure information communication device, and the like.
- the infrastructure information communication device is a device that receives traffic environment information of a road on which the host vehicle is traveling from the infrastructure, and may be configured as a part of a function of a so-called car navigation device, or a single communication device It is good also as comprising.
- the traffic environment information acquisition unit 3 acquires information regarding traffic rules, road shapes, presence / absence of predetermined structures on the road, and the like as traffic environment information. More specifically, the traffic environment information includes information related to all traffic environments around the vehicle, around the predicted course of the vehicle, and around the object detected by the object detection unit 2. It includes information such as signs on the roads and the presence or absence of guardrails that warn of the existence of guardrails. Furthermore, the predetermined structure detected as traffic environment information includes a store existing on the roadside. The traffic environment information acquisition unit 3 sends the acquired traffic environment information to the control ECU 4. In addition, although the driving assistance apparatus 1 of this embodiment is provided with the traffic environment information acquisition part 3, it is good also as not providing the traffic environment information acquisition part 3 as a minimum structure of the driving assistance apparatus of this invention.
- the control ECU 4 controls the HMI 5 and the various actuators 6 based on the information acquired from the object detection unit 2 and the traffic environment information acquisition unit 3, thereby implementing driving support for avoiding the object that is a risk target.
- a computer having a storage device such as a CPU, ROM, and RAM, an input / output interface, and the like.
- the control ECU 4 includes a collision prediction time calculation unit 10 (collision prediction time calculation unit), an estimated risk determination unit 11 (estimated risk determination unit), a driving support content determination unit 12 (driving support content determination unit), and a driving support control unit. 13 is provided.
- the collision prediction time calculation unit 10 is a part that calculates a collision prediction time that is a time indicating the degree of approach of the vehicle to the object.
- the collision prediction time is calculated by dividing the distance from the vehicle to the object by the relative speed between the vehicle and the object.
- the collision prediction time calculation unit 10 calculates a confirmed collision prediction time when the object is present on the predicted course of the vehicle, and the target is present at a place other than the predicted course of the vehicle.
- the expected collision prediction time is calculated.
- the definite collision prediction time is a collision prediction time for an object existing on the predicted course of the vehicle.
- the predicted collision prediction time is a collision prediction time for an object when it is assumed that an object that exists at a place other than the predicted track of the vehicle has moved on the predicted track.
- the collision prediction time calculation unit 10 sends the calculated collision prediction time to the driving assistance content determination unit 12. With reference to FIG. 2, the confirmed collision prediction time and the expected collision prediction time will be described in detail.
- FIG. 2A is a diagram showing the positional relationship between the vehicle C and the parked vehicle T that is the object.
- the parked vehicle T exists on the predicted course of the vehicle C.
- the collision prediction time calculation unit 10 determines the distance from the vehicle C to the parked vehicle T relative to the vehicle C and the parked vehicle T.
- the definite collision prediction time is calculated by dividing by the speed.
- FIG. 2B is a diagram showing the positional relationship between the vehicle C and the pedestrian P that is the object.
- the pedestrian P is on a sidewalk, and therefore exists in a place other than the predicted course of the vehicle C. Even if the vehicle C travels in this state, the vehicle C does not collide with the pedestrian P. However, when the pedestrian P moves on the start of the vehicle C, the vehicle C may collide with the pedestrian P. Therefore, the pedestrian P is an object of potential risk in driving the vehicle C.
- the collision prediction time calculation unit 10 determines the distance from the vehicle C to the position Px of the pedestrian P when the pedestrian P has moved on the predicted course of the vehicle C. The expected collision prediction time is calculated by dividing by the relative speed with the person P.
- the estimated collision prediction time is calculated as the risk is manifested, and the vehicle If there is an object in a place other than the predicted course of the vehicle, it is assumed that there is a potential risk, and the object has been moved on the predicted course of the vehicle.
- the expected collision prediction time is calculated based on the location. As a result, the collision prediction time is appropriately calculated regardless of whether the risk is actualized or not.
- the estimated risk level determination unit 11 is a part that determines an estimated risk level that indicates a possibility that an object that is not on the predicted course of the vehicle C moves on the predicted path of the vehicle. That is, the estimated danger level indicates the degree of danger related to an object that is a target of potential risk.
- the estimated risk determination unit 11 sends the determined estimated risk to the driving assistance content determination unit 12.
- FIG. 3 is a flowchart showing an estimated risk determination process in the estimated risk determination unit 11.
- FIGS. 4A to 4D are diagrams showing examples of objects and traffic environment conditions for each estimated risk level.
- the estimated risk is determined in any one of four stages of R0 to R3.
- the estimated risk degree R0 has the smallest risk degree among the four stages of estimated risk degrees
- the estimated risk degree R3 has the largest degree of danger among the four stages of estimated risk degrees.
- the estimated risk level is determined in four stages, but it is shown as an example of the embodiment of the present invention and is not limited to this.
- step S10 the estimated risk determination unit 11 determines whether or not the collision time can be determined based on the relative speed and the relative distance between the vehicle C and the object. That is, the estimated risk determination unit 11 determines that the collision time can be determined when the movement of the object on the predicted course of the vehicle C is detected. If it is determined that the time of the collision can be determined, the processing procedure proceeds to step S11. On the other hand, if it is not determined that the collision time can be determined, the processing procedure proceeds to step S12.
- step S11 the estimated risk determination unit 11 determines that the estimated risk is R3.
- FIG. 4 (d) the estimated risk is a diagram showing an example of a condition of the vehicle C and the pedestrian P 3 in the case where it is determined in R3.
- the pedestrian P 3 is are on the sidewalk not on the predicted course of the vehicle C, and starts to move in the direction indicated by the arrow r. In this case, it can be considered that the collision risk related to the target object has been actualized. Therefore, the estimated risk determining unit 11, when detecting the movement of the pedestrian P 3 onto the predicted course of the vehicle C determines the estimated risk and R3.
- step S12 the estimated risk determination unit 11 determines whether or not the object is movable.
- the processing procedure proceeds to step S13.
- step S13 since there is no risk related to the target object, the estimated risk determination unit 11 determines the target object as a non-danger target object, determines the estimated risk level related to the target object, and determines the target object. The driving support process for avoiding it is terminated.
- step S 14 the estimated risk determination unit 11 determines whether there is a traffic environment in which the object can enter the predicted course of the vehicle C.
- the traffic environment includes, for example, a traffic rule. If it is not determined that there is a traffic environment in which the object can enter the predicted course of the vehicle C, the processing procedure proceeds to step S15.
- step S15 the estimated risk determination unit 11 determines that the estimated risk is R0.
- FIG. 4A is a diagram illustrating an example of the situation of the vehicle C and the pedestrian P 0 when the estimated risk is determined to be R0. As shown in FIG. 4 (a), the pedestrian P 0 is present on the trail not on the predicted course of the vehicle C, and, for example, as illustrated in crosswalk pedestrian P 0 is the vehicle C There is no traffic environment that can move on the predicted course. In this case, the predicted collision time calculation unit 10 calculates a predicted collision prediction time for the target object.
- step S16 the estimated risk determination unit 11 may cause the determination target object to enter the predicted course of the vehicle C due to a relationship with another object or obstacle different from the determination target object. Determine if it is high. If it is not determined that the object is likely to enter the predicted course of the vehicle C, the processing procedure proceeds to step S17. On the other hand, when it is determined that there is a high possibility that the object will enter the predicted course of the vehicle C, the processing procedure proceeds to step S18.
- step S17 the estimated risk determination unit 11 determines the estimated risk as R1.
- FIG. 4 (b) the estimated risk is a diagram showing an example of a condition of the vehicle C and the pedestrian P 1 when it is determined to R1.
- the pedestrian P 1 as an object is present on a sidewalk not on the predicted course of the vehicle C.
- the pedestrian P 1 due to the presence of the crosswalk S 1, is likely to move as compared with the case where crosswalk S 1 is not present on the predicted course of the vehicle C.
- the estimated risk determining unit 11 when the pedestrian P 1 detects the presence of a crosswalk S1 as a traffic-related information indicating that it is possible to move on the predicted course of the vehicle C is the The estimated risk is determined to be larger than when the traffic environment information is not acquired (S14, S15).
- the predicted collision time calculation unit 10 calculates a predicted collision prediction time for the target object.
- the estimated risk determination unit 11 determines the estimated risk as R2.
- FIG. 4 (c) the estimated risk is a diagram showing an example of a condition of the vehicle C and the pedestrian P 2 in the case where it is determined in R2.
- the pedestrian P 2 as an object is present on a sidewalk not on the predicted course of the vehicle C.
- the crosswalk S 1 is present, the vehicle T 2 is present that is stopped on the opposite lane.
- This situation where the pedestrian P 2 is about to cross the crosswalk S 2, since this is where the vehicle T 2 is stopped, the possibility of pedestrian P 2 is moved over the predicted path of the vehicle C, 4 ( Higher than the situation shown in b). That is, there is a high possibility that the pedestrian P 2 moves on the predicted course of the vehicle C based on the causal relationship among the pedestrian P 2 , the pedestrian crossing S 2 , and the vehicle T 2 stopped in the opposite lane. It is possible to judge.
- the estimated risk determination unit 11 includes a pedestrian P 2 that is a risk object, another object that is different from the risk object, a pedestrian crossing S 2 that is a traffic environment, and a vehicle that is stopped in an oncoming lane. based on the causal relationship information indicating the causal relationship between T 2, it is possible to determine the estimated risk.
- the causal relationship information is information based on a mutual relationship regarding at least one of the risk object, another object different from the risk object, and the attribute, position, and speed of the traffic environment.
- the estimated risk determination unit 11 has a database (not shown) in which various causal information is stored in advance. The determination process shown in step S16 is performed by referring to the database and determining whether or not the detected event corresponds to the stored causal relationship information.
- the target object of risk is a pedestrian
- the target object has a causal relationship on the sidewalk that faces the sidewalk where the target object exists, such as a pedestrian crossing, a vehicle in the opposite lane, a roadside store
- a pedestrian or the like is exemplified.
- the accuracy of determination of the estimated risk is improved and appropriate driving support is provided. Is possible.
- the driving assistance content determination unit 12 is a part that determines the content of driving assistance based on the predicted collision time and the estimated risk. Specifically, the driving assistance content determination unit 12 refers to the driving assistance content determination table 12T based on the estimated collision time acquired from the estimated collision time calculation unit 10 and the estimated risk acquired from the estimated risk determination unit 11. Determine the driving assistance content.
- FIG. 5 is a diagram illustrating an example of the driving support content determination table 12T.
- the driving assistance content determination unit 12 determines the obtained collision prediction time in three stages T1 to T3 (T1: 2.5 to 3.5 sec, T2: 1.8 to 2.5 sec, T3: less than 1.8 sec). Determine either.
- the driving support content determination unit 12 extracts the driving support content based on the predicted collision time (T1 to T3) and the estimated risk (R0 to R3).
- the driving support content determination unit 12 sends information regarding the extracted driving support content to the driving support control unit 13.
- driving support such as information provision, alerting, avoidance guidance, avoidance control, and alarm generation is performed.
- the driving support control unit 13 is a part that performs driving support by controlling the HMI 5 and various actuators 6 based on the information regarding the driving support content acquired from the driving support content determination unit 12.
- the driving support control unit 13 includes an information providing control unit 14, an avoidance guidance control unit 15, an avoidance control unit 16, and an alarm control unit 17 in order to implement various types of driving support.
- the driving support control unit 13 gives driving support such as “information provision”, “attention”, “avoidance guidance”, “avoidance control”, and “alarm generation” to the various control units 14 to 17. Let it be implemented.
- the object is highlighted on the display of the HMI 5 in order to make the driver recognize the presence of the object.
- the object is displayed on the display of the HMI 5 with emphasis more strongly than in the case of “information provision”, and an alarm sound is generated by the HMI 5.
- sensor tracking is to continue capturing an object by various sensors (not shown) of the driving support device 1.
- the driving assistance apparatus 1 performs the process which determines the driving assistance content for every target object which becomes a risk object
- the driving assistance content determination part 12 determines the driving assistance content for every several target object simultaneously.
- the driving support control unit 13 arbitrates a plurality of driving support contents. For example, the driving support control unit 13 can perform arbitration so that priority is given to a thing with a short distance to the target object or a value with a small predicted collision time among a plurality of driving support contents.
- the driving assistance control part 13 is good also as implementing all the several driving assistance contents.
- the information provision control part 14, the avoidance guidance control part 15, the avoidance control part 16, the alarm control part 17, and various driving assistance contents are demonstrated.
- FIG. 6 is a diagram illustrating a display example of the display of the HMI 5 when “information provision” is performed as driving support.
- a parked vehicle R 1 , a preceding vehicle R 2 , a pedestrian R 3 , and a counter vehicle R 4 are displayed as objects while overlapping frames of a predetermined color.
- the information provision control unit 14 displays an object on the display of the HMI 5 while superimposing a frame of a color different from “information provision”. Can do.
- FIG. 7 is a diagram showing an example of a risk map and a target route based on the risk map.
- the avoidance guidance control unit 15 includes information related to the object transmitted from the object detection unit 2, traffic environment information transmitted from the traffic environment information acquisition unit 3, a collision prediction time calculated by the collision prediction time calculation unit 10, and A risk map is generated based on information such as the estimated risk determined by the estimated risk determination unit 11.
- the risk map represents an area where the risk of collision with each target object (electric pole G, oncoming vehicle E, and preceding vehicle F) is high as an elliptical collision risk area, and these collision risk areas. It is a map for generating the recommended course of vehicles which avoided.
- the collision risk area is set according to the risk calculated from the TTC and the estimated risk for each obstacle.
- the risk degree is an index indicating a collision risk, and becomes a larger value as the TTC is smaller, that is, the time until the vehicle collides with an obstacle is smaller. Further, the risk level increases as the risk level indicated in the estimated risk level increases.
- the collision risk area is composed of a plurality of layers according to the degree of risk.
- the collision risk area of the utility pole G is composed of three layers of a low risk degree area L, a medium risk degree area M, and a high risk degree area H.
- the avoidance guidance control unit 15 generates the target route information of the vehicle and the optimum vehicle speed information when traveling on the target route by the arithmetic processing based on the created risk map.
- the avoidance guidance control unit 15 uses the generated target route information and optimum vehicle speed information for avoidance guidance.
- the HMI 5 is an interface for exchanging information between the device and the driver, and includes a display and a speaker.
- the HMI 5 displays an image and outputs a sound and a warning sound based on the control by the driving support control unit 13.
- the various actuators 6 drive the steering, the brake pedal, and the accelerator pedal based on the control by the driving support control unit 13.
- FIG. 8 is a flowchart showing the contents of the driving support process in the driving support device 1.
- step S ⁇ b> 1 the object detection unit 2 detects an object that is a risk object in driving the vehicle, and sends information related to the detected object to the control ECU 4. Subsequently, in step S2, the traffic environment information acquisition unit 3 acquires the traffic environment information and sends the detected traffic environment information to the control ECU 4.
- step S4 the collision prediction time calculation unit 10 calculates a confirmed collision prediction time when the object is on the predicted course of the vehicle, and the target is present at a place other than the predicted course of the vehicle. The expected collision prediction time is calculated. Then, the collision prediction time calculation unit 10 sends the calculated confirmed / probable collision prediction time to the driving assistance content determination unit 12.
- step S5 the driving support content determination unit 12 determines the content of driving support based on the confirmed / probable collision prediction time and the estimated risk.
- step S ⁇ b> 6 the driving support control unit 13 performs driving support by controlling the HMI 5 and the various actuators 6 based on the information regarding the driving support content acquired from the driving support content determination unit 12. The processes in steps S1 to S6 described above are performed for each target object that is a risk target.
- the driving support device 1 of the present embodiment described above when the content of the driving support is determined based on the predicted collision time, the estimated risk level indicating the possibility that the object moves on the predicted course of the vehicle C is considered. Is done. Thereby, even when the target object does not exist on the predicted course of the vehicle C and the risk is not manifested, the potential risk related to the target object is considered in the determination of the content of the driving assistance. . Therefore, driving support in consideration of the potential risk is possible.
- the embodiment described above is an example of the driving support apparatus according to the present invention, and the driving support apparatus according to the present invention is not limited to the one described in the present embodiment.
- the driving assistance apparatus according to the present invention may be a modification of the driving assistance apparatus 1 according to the embodiment or application to other things without changing the gist described in each claim.
- SYMBOLS 1 Driving assistance device, 2 ... Object detection part, 3 ... Traffic environment information acquisition part, 4 ... Control ECU, 6 ... Various actuators, 10 ... Collision prediction time calculation part, 11 ... Estimated risk degree determination part, 12 ... Driving Support content determination unit, 12T ... driving support content determination table, 13 ... driving support control unit, 14 ... information provision control unit, 15 ... avoidance guidance control unit, 16 ... avoidance control unit, 17 ... alarm control unit.
Abstract
Description
Claims (5)
- 車両の運転者に対して、前記車両の運転におけるリスクの対象となる対象物を回避するための運転支援を実施する運転支援装置であって、
前記対象物を検出する対象物検出手段と、
前記対象物に対する前記車両の接近度合を示す時間である衝突予測時間を算出する衝突予測時間算出手段と、
前記対象物が前記車両の予測進路上に移動する可能性を示す推定危険度を判定する推定危険度判定手段と、
前記衝突予測時間及び前記推定危険度に基づき前記運転支援の内容を判定する運転支援内容判定手段と、
を備える運転支援装置。 - 前記衝突予測時間算出手段は、前記対象物が前記車両の予測進路上に存在する場合には、前記車両の予測進路上に存在する前記対象物に対する前記衝突予測時間である確定衝突予測時間を算出し、前記対象物が前記車両の予測進路上以外の場所に存在する場合には、前記車両の予測進路上以外の場所の存在する前記対象物が予測進路上に移動したと仮定した場合における前記対象物に対する前記衝突予測時間である見込み衝突予測時間を算出する、
請求項1に記載の運転支援装置。 - 前記車両及び前記対象物の周辺における交通環境に関する情報である交通環境情報を取得する交通環境情報取得手段を更に備え、
前記推定危険度判定手段は、前記対象物が前記車両の予測進路上に移動することが可能であることを示す前記交通環境情報を取得した場合には、当該交通環境情報を取得しなかった場合と比較して前記推定危険度を大きく判定する、
請求項1又は2に記載の運転支援装置。 - 前記推定危険度判定手段は、前記車両の予測進路上への前記対象物の移動を示す情報を取得した場合には、当該情報を取得しなかった場合と比較して前記推定危険度を大きく判定する、
請求項1~3のいずれか1項に記載の運転支援装置。 - 前記推定危険度判定手段は、前記対象物と、前記対象物とは異なる他の対象物との因果関係を示す情報であって、属性、位置及び速度の少なくとも1つに関する前記対象物と前記他の対象物との関係に基づく情報である因果関係情報に基づき前記推定危険度を判定する、
請求項1~4のいずれか1項に記載の運転支援装置。
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CN115230684A (zh) * | 2021-08-20 | 2022-10-25 | 广州汽车集团股份有限公司 | 一种前向防碰撞方法及系统 |
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JP5316698B2 (ja) | 2013-10-16 |
JPWO2011114442A1 (ja) | 2013-06-27 |
US20120330541A1 (en) | 2012-12-27 |
US8655579B2 (en) | 2014-02-18 |
EP2549456B1 (en) | 2020-05-06 |
CN102792349B (zh) | 2016-03-30 |
EP2549456A4 (en) | 2018-05-23 |
EP2549456A1 (en) | 2013-01-23 |
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