WO2015156097A1 - 衝突防止装置 - Google Patents
衝突防止装置 Download PDFInfo
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- WO2015156097A1 WO2015156097A1 PCT/JP2015/058283 JP2015058283W WO2015156097A1 WO 2015156097 A1 WO2015156097 A1 WO 2015156097A1 JP 2015058283 W JP2015058283 W JP 2015058283W WO 2015156097 A1 WO2015156097 A1 WO 2015156097A1
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Definitions
- the present invention relates to a collision prevention apparatus that predicts a target motion existing around a mobile body on which the device is mounted and avoids a collision with the mobile body.
- a typical example is automobile collision prevention technology.
- the other vehicle (target) is observed with a radar and an optical sensor mounted on the own vehicle (moving body), and if the distance and approach speed to the own vehicle reach the threshold value, there is a possibility of a collision. Judgment and control of the warning or the running of the vehicle itself.
- extrapolation of the motion estimation results of the current time of the host vehicle and the other vehicle is performed to calculate a prediction range of the host vehicle and the other vehicle at a certain time in the future.
- the possibility of collision is determined by the presence or absence. For example, in FIG. 15, prediction ranges for four sampling times are calculated for the host vehicle 50 and the other vehicle 60. In this example, since the prediction range of the own vehicle 50 and the prediction range of the other vehicle 60 do not overlap at any sampling time, it is determined that “there is no possibility of collision”.
- Patent Document 1 predicts the position of the other vehicle 60 in the future by extrapolating the current movement of the other vehicle 60. Therefore, as shown in FIG. 16, when the other vehicle 60 suddenly interrupts the front of the own vehicle 50, the motion prediction of the other vehicle 60 (broken line shown in FIG. 16) and the actual motion (solid line shown in FIG. 16). Discrepancies with. As a result, there is a problem that it is difficult to predict a collision.
- the cause of the interruption may be that the vehicle ahead of a certain vehicle is slow and there is a possibility of a collision if the lane is maintained.
- An example is shown in FIG.
- the host vehicle 50 travels in the right lane
- the other vehicles 60a and 60b travel in the left lane
- the speed of the other vehicle 60a in front is extremely small compared to the speed of the other vehicle 60b.
- the other vehicle 60b may interrupt the lane in which the host vehicle 50 travels in order to avoid a collision with the other vehicle 60a. Therefore, it is considered that the interruption can be predicted by detecting the motions of a plurality of vehicles (other vehicles 60a and 60b in the example of FIG. 17).
- the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a collision prevention device that can detect motions of a plurality of targets and improve motion prediction accuracy.
- a collision prevention apparatus includes a target observation sensor for observing a target existing around a mobile body on which the aircraft is mounted, a target tracking unit that tracks a target based on an observation result by the target observation sensor, Based on the tracking result by the target tracking unit, the target motion prediction unit that calculates the target motion prediction range, and when there are multiple targets, the overlap of the target motion prediction range calculated by the target motion prediction unit If the target-to-target collision probability estimation unit estimates the possibility of collision between targets and the target-to-target collision possibility estimation unit estimates that there is a target-to-target collision possibility, A target motion re-prediction unit that re-calculates the motion prediction range, a self-motion sensor that observes the motion of the mobile body, and a self-motion that calculates the motion prediction range of the mobile body based on the observation results of the self-motion sensor A movement prediction range of the target with no possibility of collision between the targets calculated by the measurement unit, the target motion prediction unit or the target motion re-prediction unit, and a movement prediction range
- the present invention since it is configured as described above, it is possible to detect motions of a plurality of targets and improve motion prediction accuracy.
- FIG. 1 is a diagram showing a configuration of a collision preventing apparatus according to Embodiment 1 of the present invention.
- the anti-collision device is mounted on the own vehicle (moving body) 50 and predicts the movement of the own vehicle 50 and other vehicles (targets) 60 around it to avoid collision between the own vehicle 50 and the other vehicles 60. To do. As shown in FIG.
- the collision prevention apparatus includes a target observation sensor 1, a target observation value data storage unit 2, a target tracking unit 3, a target tracking data storage unit 4, a target motion prediction unit 5, and an inter-target collision possibility estimation.
- Unit 6 target motion re-prediction unit 7, own-device motion sensor 8, own-device motion data storage unit 9, own-device motion prediction unit 10, own-device collision possibility estimation unit 11, braking determination unit 12, automatic brake unit 13,
- the warning generation unit 14 is configured.
- the target observation sensor 1 is for observing the other vehicle 60 existing around the own vehicle 50 on which the collision prevention device is mounted.
- the target observation sensor 1 periodically observes the other vehicle 60 existing in the vicinity, and calculates the position of the other vehicle 60 from the observation result.
- Information indicating the observation result by the target observation sensor 1 is output to the target observation value data storage unit 2.
- the target observation value data storage unit 2 stores target observation value data from the target observation sensor 1.
- the target observation value data storage unit 2 is configured by an HDD, a DVD, a memory, and the like.
- the target tracking unit 3 tracks the other vehicle 60 based on the target observation value data stored in the target observation value data storage unit 2.
- the position of the other vehicle 60 obtained by the target observation sensor 1 is time-sequentially processed, so that more accurate motion specifications including the position and speed of the other vehicle 60 are estimated.
- Information (target tracking data) indicating the tracking result by the target tracking unit 3 is output to the target tracking data storage unit 4.
- the target tracking data storage unit 4 stores target tracking data from the target tracking unit 3.
- the target tracking data storage unit 4 includes an HDD, a DVD, a memory, and the like.
- the target motion prediction unit 5 calculates the movement prediction range of the other vehicle 60 based on the target tracking data stored in the target tracking data storage unit 4. Information indicating the predicted movement range of the other vehicle 60 calculated by the target motion prediction unit 5 is output to the target collision possibility estimation unit 6.
- the target-to-target collision possibility estimation unit 6 estimates the possibility of collision between the other vehicles 60 from the overlap of the movement prediction ranges of the other vehicles 60 calculated by the target motion prediction unit 5. To do. Information indicating the possibility of collision between other vehicles 60 by the inter-target collision possibility estimation unit 6 is output to the target motion re-prediction unit 7.
- the target motion re-prediction unit 7 is based on the target tracking data stored in the target tracking data storage unit 4 when the possibility of collision between the other vehicles 60 is estimated by the target collision possibility estimation unit 6.
- the movement prediction range of the other vehicle 60 that avoids the collision is recalculated.
- Information indicating the predicted movement range of the other vehicle 60 recalculated by the target motion re-prediction unit 7 is output to the own vehicle collision possibility estimation unit 11.
- the other vehicle calculated by the target motion prediction unit 5 is used.
- Information indicating the 60 predicted movement ranges is output to the own-collision possibility estimation unit 11 as it is.
- the self-motion sensor 8 is for observing the motion of the own vehicle 50.
- the own machine motion sensor 8 is composed of, for example, an own car mileage meter, and observes motion specifications including the position and speed of the own car 50.
- Information indicating the observation result by the self-motion sensor 8 (self-motion data) is output to the self-motion data storage unit 9.
- the self-motion data storage unit 9 stores the self-motion data from the self-motion sensor 8.
- the self-motion data storage unit 9 includes an HDD, a DVD, a memory, and the like.
- the own-vehicle motion prediction unit 10 calculates the movement prediction range of the own vehicle 50 based on the own-device motion data stored in the own-device motion data storage unit 9. Information indicating the predicted movement range of the host vehicle 50 calculated by the host aircraft motion prediction unit 10 is output to the host aircraft collision possibility estimation unit 11.
- the own vehicle collision possibility estimation unit 11 includes the movement prediction range of the other vehicle 60 with no possibility of collision between the other vehicles 60 calculated by the target motion prediction unit 5 or the target motion re-prediction unit 7, and the own device motion prediction unit. 10 is used to estimate the possibility of collision between the own vehicle 50 and the other vehicle 60 from the overlap with the predicted movement range of the own vehicle 50 calculated according to 10. Information indicating the possibility of collision between the host vehicle 50 and the other vehicle 60 estimated by the host vehicle collision possibility estimation unit 11 is output to the brake determination unit 12.
- the braking determination unit 12 determines whether or not the host vehicle 50 needs to be braked based on the estimation result by the own vehicle collision possibility estimation unit 11. Information indicating the determination result by the brake determination unit 12 is output to the automatic brake unit 13 and the warning generation unit 14.
- the automatic brake unit 13 operates a deceleration function of the own vehicle 50 by the automatic braking when the braking determination unit 12 determines that the own vehicle 50 needs to be braked.
- the warning generation unit 14 presents a message indicating that a braking operation is currently necessary to the driver of the host vehicle 50 or a voice message. Output.
- the automatic brake unit 13 and the warning generation unit 14 are executed by a program process using a CPU based on software.
- the target observation sensor 1 periodically performs observation of the other vehicle 60 existing around the host vehicle 50, and based on the observation result, the target vehicle 60.
- the position is calculated (step ST201, target observation step).
- Information (target observation value data) indicating the observation result by the target observation sensor 1 is output to and stored in the target observation value data storage unit 2.
- the target tracking unit 3 performs time-series processing (tracking processing) on the position of the other vehicle 60 based on the target observation value data stored in the target observation value data storage unit 2, so that the more accurate other vehicle 60 can be obtained.
- Is estimated step ST202, target tracking step. That is, dynamic information is obtained by adding speed information to the static position of the other vehicle 60 obtained by the target observation sensor 1, and a more accurate position of the other vehicle 60 can be obtained.
- the target tracking unit 3 reads information indicating the observation result (observation value) at the latest observation time from the target observation sensor 1.
- the gate of the existing wake is calculated.
- the wake is assumed to be a vector having four elements of the following expression (1) composed of the position and speed of the other vehicle 60 in the two-dimensional space of xy.
- FIG. 3 shows five movement models ((a) constant speed model (main lane keeping), (b) acceleration model (own lane keeping), (c) deceleration model (own lane keeping), (D) shows a case where a right lane movement model (route change model) and (e) a left lane movement model (route change model) are assumed.
- Exercise shall be performed.
- a motion model a “model that moves to the right lane or the left lane while decelerating or accelerating” may be added.
- the transition matrix ⁇ k ⁇ 1 of the above equation (2) is set as a matrix corresponding to each motion model.
- the transition matrix ⁇ k ⁇ 1 is expressed by the following equation (3).
- T is a sampling interval (elapsed time from the previous observation time by the target observation sensor 1 to the current time).
- X k ⁇ 1 hat (+) is a smooth vector one observation time before.
- the prediction error covariance matrix P k ( ⁇ ) is calculated by the following equation (4).
- P k ⁇ 1 (+) is a smoothing error covariance matrix one observation time before.
- Q k ⁇ 1 is a drive noise covariance matrix and is expressed by the following equation (5).
- q is a parameter of power spectral density set in advance, and I 2 ⁇ 2 is a unit matrix of 2 rows and 2 columns.
- the residual covariance matrix S k is calculated according to the following equation (6).
- H k is an observation matrix
- R k is an observation error covariance matrix of the target observation sensor 1
- ⁇ 2 (k) is an observation noise conversion matrix.
- 0 2 ⁇ 2 is a matrix in which all elements in 2 rows and 2 columns are 0.
- ⁇ R is the distance observation error standard deviation of the target observation sensor 1
- ⁇ By is the azimuth angle observation error standard deviation.
- This observation value z k is a vector obtained by converting the observation information represented by the distance and the azimuth into a position on the orthogonal coordinates.
- the gate inside / outside determination is determined by the success or failure of the following inequality (10).
- z k ( ⁇ ) is a predicted observation value and can be calculated by the following equation (11).
- D is a boundary value parameter determined by the significance level in the ⁇ square test.
- the reliability of the motion model at the previous sampling time is ⁇ k ⁇ 1, b (+) (b ⁇ ⁇ (a), (b), (c), (d), (e) ⁇ ), the current sampling time
- the prediction model reliability ⁇ k, a ( ⁇ ) (a ⁇ ⁇ (a), (b), (c), (d), (e) ⁇ ) in is calculated by the following equation (12).
- p k, ab is a transition probability parameter indicating the probability that the motion model transitions from (b) to (a).
- This transition probability parameter can be expressed as a matrix that defines transitions by all combinations of (b) and (a).
- the transition probability parameter p k, ab is normally set as shown in the following equation (15), for example.
- the diagonal component is 0.6 and the non-diagonal component is 0.1.
- the probability of maintaining the current motion model is 0.6, and the probability of transitioning between different motion models is 0.1 for any combination of transitions.
- the future movement of the other vehicle 60 is 80% constant speed, 10% acceleration, 10% right lane movement, and other 0%”.
- the result is obtained and the constant velocity model is selected to set the movement prediction range.
- the motion model filter performs weighted mixing according to the degree of accuracy required for tracking.
- the smooth specifications at the observation time of these wakes are calculated, and the wake likelihood corresponding to the correlation result is further calculated for the updated wakes.
- the smooth vector is calculated by the following equation (14).
- K k is a filter gain and can be calculated by the following equation (15).
- the smooth error covariance matrix is calculated by the following equation (16).
- the likelihood (likelihood) of the wake is calculated from the following equation (17) on the assumption that the probability distribution of the observed values is a Gaussian distribution centered on the predicted position (two-dimensional position).
- ⁇ k, a is the likelihood for the motion model (a) calculated based on the observed value, and is represented by the following equation (19).
- the estimated value of the selected motion model of the position and speed of the other vehicle 60 and the estimated error covariance matrix are estimated for each tracking track.
- These pieces of information are output and stored in the target tracking data storage unit 4 and are used by the target motion prediction unit 5 to determine whether steering is possible.
- the target motion prediction unit 5 calculates the movement prediction range of the other vehicle 60 based on the target tracking data stored in the target tracking data storage unit 4 (step ST203, target motion prediction step).
- the target motion prediction unit 5 calculates a future motion prediction range from the estimated values of the position and speed of the other vehicle 60 and the estimated error covariance matrix.
- the predicted time is a plurality of discrete times set according to a certain sampling interval from the current time to the completion of the right turn. These sampling times are completely matched with the sampling times set in the self-motion estimation step described later.
- Information indicating the predicted movement range of the other vehicle 60 calculated by the target motion prediction unit 5 is output to the target collision possibility estimation unit 6.
- the target-to-target collision possibility estimation unit 6 determines the possibility of collision between the other vehicles 60 from the overlap of the movement prediction ranges of the other vehicles 60 calculated by the target motion prediction unit 5.
- Step ST204 target collision possibility estimation step.
- the possibility of collision is estimated for all combinations of other vehicles 60 around which the host vehicle 50 observes. For example, when the surrounding environment of the host vehicle 50 is the situation shown in FIG. 4 (when there are three other vehicles 60a to 60c), the combination of the other vehicle 60a and the other vehicle 60b, the combination of the other vehicle 60b and the other vehicle 60c.
- the possibility of collision is estimated for a total of three combinations of the other vehicle 60a and the other vehicle 60c.
- the collision possibility is estimated based on the success or failure of the following equation (20). And when this Formula (20) is materialized, it is estimated that there exists a possibility of a collision in the combination.
- threshold c on the right side is a threshold parameter set in advance.
- the left side is the probability that two other vehicles 60 in the combination will be in the same position, and as shown in the following equation (21), it covers the entire position space of the simultaneous existence probability density at a specific position of the own vehicle 50 and the other vehicle 60. It is an integral.
- x p, 1, k ( ⁇ ) and P p, 1, k ( ⁇ ) are the prediction center of one other vehicle 60 and its covariance matrix
- x p, 2, k ( ⁇ ) and P p, 2, k ( ⁇ ) are the prediction center of the other vehicle 60 and its covariance matrix.
- the target motion re-prediction unit 7 when the inter-target collision possibility estimation unit 6 estimates that there is a collision possibility between the other vehicles 60, the movement prediction range of the other vehicle 60 that avoids the collision. Is recalculated (step ST205, target motion re-prediction step).
- the behavior for avoiding a collision is assumed to be taken by a rear vehicle (another vehicle 60b in the example of FIG. 4) that is easier to grasp the opponent including the driver's visual observation, and the movement prediction range is corrected. .
- re-prediction is performed by selecting a motion model that does not cause a collision. This re-prediction is realized by adjusting the transition probability between the motion models according to the possibility of collision with the other vehicle 60 and eliminating the motion model in which a collision occurs.
- the motion model selection policy for the other vehicle 60 b is as follows, reflecting the action for avoiding the collision with respect to the example of FIG. 4. That is, (a) the constant velocity model (main lane keeping) collides with the other vehicle 60a, so it is not selected. Further, (b) the acceleration model (main lane keeping) collides with the other vehicle 60a, so it is not selected. In addition, (c) deceleration model (main lane keeping) is selected as a candidate. (D) The right lane movement model is selected as a candidate. (E) The left lane movement model is not selected because there is no road. As a result, the motion model selectable for the other vehicle 60b is either the deceleration model or the right lane movement model as shown in FIG.
- transition probability parameter pk, ab is changed from normal to the following equation (22). This is a matrix for allocating so that the first term on the right side transitions to either (c) a deceleration model or (d) a right lane movement model.
- the distance from the nearest vehicle in front of the other vehicle 60b (left lane: other vehicle 60a, right lane: other vehicle 60c) is set as a guideline.
- it is determined by the ratio between the relative distance and the relative speed as shown in the following formula (23).
- the speed of V 1 was another vehicle 60a
- V 2 is the distance between the speed of the other vehicle 60b
- V 3 is the velocity of the other vehicle 60c
- R 23 is other This is the distance between the vehicle 60c and the other vehicle 60b (see FIG. 6).
- the allocation parameter is calculated based on the relative distance and relative speed between the vehicle in each lane and the preceding vehicle, but there is also a method of calculating based on the relative distance and relative speed between the vehicle in front of the vehicle and the rear vehicle in each lane. It is possible. Further, instead of the ratio of the relative distance and the relative speed, the ratio of the relative distance may be simply used as the distribution parameter.
- the present invention is not limited to this, and for example, the movement may be weighted so that the other vehicle 60 stays in the own lane and prioritizes the straight movement.
- the distribution parameter is calculated from the following equation (24), with the probability measure that the other vehicle 60 stays in the own lane being set to a predetermined parameter value ⁇ or more.
- FIG. 7 shows an example of the recalculation result of the movement prediction range of the other vehicle 60 by the above processing.
- Information indicating the predicted movement range of the other vehicle 60 recalculated by the target motion re-prediction unit 7 is output to the own vehicle collision possibility estimation unit 11.
- the other vehicle calculated by the target motion prediction unit 5 is used.
- Information indicating the 60 predicted movement ranges is output to the own-collision possibility estimation unit 11 as it is.
- the own device motion sensor 8 observes the motion specifications including the position and speed of the own vehicle 50 (step ST206, own device motion observation step).
- Information (self-motion data) indicating the observation result by the self-motion sensor 8 is output to and stored in the self-motion data storage unit 9.
- the own-motion prediction unit 10 predicts the future position and speed of the own vehicle 50 based on the own-motion data stored in the own-motion data storage unit 9, and based on the prediction error covariance matrix.
- the movement prediction range of the own vehicle 50 is calculated (step ST207, own machine motion prediction step).
- the predicted time is a plurality of discrete times set according to a certain sampling interval from the current time. In the following, the sampling time number of the predicted future time is assumed to be k.
- the movement of the own vehicle 50 at each sampling time is a vector having four elements of the following expression (25) composed of the position and speed of the own vehicle 50 in a two-dimensional space on the xy plane.
- the estimated motion value of the vehicle 50 at the current time is self-motion information obtained from a sensor such as the vehicle sensor or GPS.
- the predicted future position of the host vehicle 50 is calculated by the following equation (26).
- ⁇ uf, k is expressed by the following equation (27) on the assumption that the vehicle 50 has a constant velocity motion.
- T p is the sampling interval in the future prediction process
- an error covariance matrix P uf, k ( ⁇ ) for future prediction is calculated by the following equation (28).
- P uf, k (+) is an estimation error covariance matrix of the motion specifications of the host vehicle 50 at the current time, and is calculated by extrapolating the latest smoothing error covariance matrix.
- Q uf, k is a drive noise covariance matrix and is expressed by the following equation (29).
- FIG. 7 shows an example of the calculation result of the movement prediction range of the host vehicle 50 by the above processing.
- Information indicating the predicted movement range of the host vehicle 50 calculated by the host aircraft motion prediction unit 10 is output to the host aircraft collision possibility estimation unit 11.
- the own vehicle collision possibility estimation unit 11 calculates the movement prediction range of the other vehicle 60 with no possibility of collision between the other vehicles 60 calculated by the target motion prediction unit 5 or the target motion re-prediction unit 7, and the own device motion.
- the possibility of collision between the own vehicle 50 and the other vehicle 60 is estimated from the overlap with the predicted movement range of the own vehicle 50 calculated by the prediction unit 10 (step ST208, own vehicle collision possibility estimation step).
- the collision possibility is estimated based on the success or failure of the following expression (30). If the following expression (30) is established, it is estimated that the own vehicle 50 and the other vehicle 60 may collide.
- threshold M on the right side is a threshold parameter set in advance.
- the left side is the probability that the own vehicle 50 and the other vehicle 60 will be at the same position, and the integration over the entire position space of the simultaneous existence probability density at a specific position of the own vehicle 50 and the other vehicle 60 as shown in the following equation (31). It is. This can be approximated by numerical calculation.
- Information indicating the possibility of collision between the host vehicle 50 and the other vehicle 60 estimated by the host vehicle collision possibility estimation unit 11 is output to the brake determination unit 12.
- the brake determination unit 12 determines whether or not the host vehicle 50 needs to be braked based on the estimation result by the own vehicle collision possibility estimation unit 11 (step ST209, braking determination step).
- the own vehicle collision possibility estimating unit 11 estimates that there is a possibility of collision between the own vehicle 50 and the other vehicle 60 and the brake determining unit 12 determines that the own vehicle 50 needs to be braked
- the automatic brake unit 13 a deceleration function of the own vehicle 50 by automatic braking is operated, and a message to the effect that a brake operation is currently necessary is given to the driver of the own vehicle 50 or a voice is output through the warning generation unit 14.
- the other vehicles 60 existing around the host vehicle 50 are observed, the collision possibility between the other vehicles 60 is estimated, and when there is a collision possibility, Since the motion of the other vehicle 60 that avoids the collision is re-predicted, the motion prediction accuracy can be improved by detecting the motion of the plurality of other vehicles 60. As a result, it is possible to obtain a collision prevention device for detecting earlier the possibility that the other vehicle 60 may interrupt the lane of the host vehicle 50 due to the relative movement of the plurality of other vehicles 60 and to take measures early. .
- FIG. 8 is a diagram showing a configuration of a collision preventing apparatus according to Embodiment 2 of the present invention.
- the collision prevention apparatus according to the second embodiment shown in FIG. 8 includes a target motion prediction unit 5, an inter-target collision possibility estimation unit 6, and a target motion re-prediction unit from the collision prevention apparatus according to the first embodiment shown in FIG. 7 and the target motion prediction unit 15 is added.
- Other configurations are the same, and only the different parts are described with the same reference numerals.
- the target tracking unit 3 In the target tracking unit 3 according to the first embodiment, the other vehicle 60 is tracked assuming a plurality of motion models for the other vehicle 60. On the other hand, the target tracking unit 3 according to the second embodiment assumes a constant velocity model (main lane maintenance) as a motion model.
- the target motion prediction unit 15 sets a motion model from the position and speed of the other vehicles 60 based on the target tracking data stored in the target tracking data storage unit 4, and the movement prediction range and the movement of the other vehicle 60.
- the reliability of the prediction range is calculated.
- the reliability is an index indicating a possibility that the other vehicle 60 may move to the movement prediction range.
- the target motion prediction unit 15 calculates relative reliability, which is an index indicating relative reliability in each movement prediction range, from the calculated reliability, and lists the movement prediction range and relative reliability. To do.
- the target motion prediction unit 15 also deletes information indicating an unnecessary movement prediction range based on the target observation value data stored in the target observation value data storage unit 2.
- the target motion prediction unit 15 includes a constant speed prediction unit 151, a deceleration prediction unit 152, a course change start time setting unit 153, a plurality of course change prediction units 154 (154-1 to 154-N), and a course change prediction storage unit 155. And a reliability comparison unit 156.
- the constant speed prediction unit 151 assumes a constant speed model (main lane maintenance) as a motion model of the other vehicle 60, and based on the target tracking data stored in the target tracking data storage unit 4, the movement prediction range of the other vehicle 60. (Constant velocity movement prediction range) is calculated. Information indicating the movement prediction range of the other vehicle 60 calculated by the constant speed prediction unit 151 is output to the reliability comparison unit 156.
- the deceleration prediction unit 152 assumes a deceleration model (main lane keeping) as the motion model of the other vehicle 60, and based on the target tracking data stored in the target tracking data storage unit 4, the movement prediction range (deceleration) (Movement prediction range) is calculated. Information indicating the predicted movement range of the other vehicle 60 calculated by the deceleration prediction unit 152 is output to the reliability comparison unit 156.
- the course change start time setting unit 153 starts lane change in the lane movement model of the other vehicle 60 according to the position and speed between the other vehicles 60 based on the target tracking data stored in the target tracking data storage unit 4. One or more times (course change start times) are set. Information indicating the lane change start time set by the route change start time setting unit 153 is output to the corresponding route change prediction unit 154.
- the course change prediction unit 154 assumes a lane movement model as the motion model of the other vehicle 60, and follows the corresponding predicted lane change start time set by the course change start time setting unit 153 (the movement prediction range (lane movement) of the other vehicle 60). (Prediction range) is calculated. Information indicating the predicted movement range of the other vehicle 60 calculated by the route change prediction unit 154 is output to the route change prediction storage unit 155.
- the course change prediction storage unit 155 stores information indicating the movement prediction range of the other vehicle 60 calculated by each course change prediction unit 154.
- the course change prediction storage unit 155 includes an HDD, a DVD, a memory, and the like.
- the reliability comparison unit 156 Based on the target tracking data stored in the target tracking data storage unit 4, the reliability comparison unit 156 gives the reliability to each movement prediction range of the other vehicle 60 calculated by each prediction unit 151, 152, 154. The relative reliability is calculated and listed. The reliability comparison unit 156 also deletes information indicating an unnecessary movement prediction range in the course change prediction storage unit 155 based on the target observation value data stored in the target observation value data storage unit 2. A list indicating each movement prediction range of the other vehicle 60 and its relative reliability obtained by the reliability comparison unit 156 is output to the own vehicle collision possibility estimation unit 11b.
- the own vehicle collision possibility estimation unit 11b includes the movement prediction range of the other vehicle 60 shown in the list obtained by the target motion prediction unit 15, and the movement prediction range of the own vehicle 50 calculated by the own device motion prediction unit 10.
- the possibility of collision between the host vehicle 50 and the other vehicle 60 is estimated from the overlap with the above and the reliability (relative reliability) of the movement prediction range of the other vehicle 60 shown in the list.
- Information indicating the possibility of collision between the host vehicle 50 and the other vehicle 60 estimated by the host vehicle collision possibility estimation unit 11 b is output to the braking determination unit 12.
- the target observation sensor 1 periodically performs observation of the other vehicle 60 existing around the host vehicle 50 and observes the observation.
- the position of the other vehicle 60 is calculated from the result (step ST901, target observation step).
- Information (target observation value data) indicating the observation result by the target observation sensor 1 is output to and stored in the target observation value data storage unit 2.
- the target tracking unit 3 performs time-series processing (tracking processing) on the position of the other vehicle 60 based on the target observation value data stored in the target observation value data storage unit 2, so that the more accurate other vehicle 60 can be obtained.
- time-series processing tilt processing
- the target tracking unit 3 performs time-series processing (tracking processing) on the position of the other vehicle 60 based on the target observation value data stored in the target observation value data storage unit 2, so that the more accurate other vehicle 60 can be obtained.
- target tracking step target tracking step
- the target tracking unit 3 first reads information indicating the observation result (observed value) at the latest observation time from the target observation sensor 1. Next, the gate of the existing wake is calculated. Next, it is checked whether or not the read observation value is in the gate, and it is determined which wake can be correlated with the observation value.
- the wake is assumed to be a vector having four elements of the above equation (1) composed of the position and speed of the other vehicle 60 in the two-dimensional space of xy.
- the predicted vector X k ( ⁇ ) hat of the other vehicle 60 at the latest observation time k is calculated by the above equation (2). Further, the transition matrix ⁇ k ⁇ 1 in the above equation (2) is expressed by the above equation (3) because the constant velocity model is assumed as the motion model of the other vehicle 60 in the second embodiment.
- the prediction error covariance matrix P k ( ⁇ ) is calculated by the above equation (4), and the driving noise covariance matrix Q k ⁇ 1 is represented by the above equation (5). Then, the residual covariance matrix S k is calculated according to the above equation (6).
- the observation matrix H k in equation (6), the observation noise conversion matrix ⁇ 2 (k), and the observation error of the target observation sensor 1 are both The dispersion matrix R k is expressed by the above equations (7) to (9), respectively.
- This observation value z k is a vector obtained by converting the observation information represented by the distance and the azimuth into a position on the orthogonal coordinates.
- the gate inside / outside determination is determined by the success or failure of the inequality (10). Note that the predicted observation value z k ( ⁇ ) in the inequality (10) can be calculated by the above equation (11).
- the estimated value of the position and speed of the other vehicle 60 and the above estimation error covariance matrix are estimated for each tracking track.
- These pieces of information are output and stored in the target tracking data storage unit 4 and are used by the target motion prediction unit 15.
- the constant speed prediction unit 151 assumes a constant speed model (main lane keeping) as a motion model of the other vehicle 60, and moves the other vehicle 60 based on the target tracking data stored in the target tracking data storage unit 4.
- a prediction range (constant speed movement prediction range) is calculated (step ST903, constant speed prediction step). That is, the constant speed prediction unit 151 estimates the position at each sampling time from the current time to the maximum predicted time S seconds after assuming that the other vehicle 60 maintains the estimated speed at the current time.
- the constant velocity prediction unit 151 first calculates a prediction vector x (ConstVel) k, m ( ⁇ ) of the constant velocity movement prediction range of the other vehicle 60 after m seconds from the current time k from the following equation (32).
- ⁇ (ConstVel) k, m ⁇ 1 is expressed by the following equation (33).
- T p is a sampling interval in the future from the current time.
- the initial value of the prediction vector in the constant speed movement prediction range is expressed by the following equation (34).
- the prediction error covariance matrix of the constant velocity movement prediction range is calculated by the following equation (35).
- Q k, m ⁇ 1 is a drive noise covariance matrix and is expressed by the following equation (36).
- q is a parameter of power spectral density set in advance
- I 2 ⁇ 2 is a unit matrix of 2 rows and 2 columns.
- the initial value of the prediction error covariance matrix in the constant velocity movement prediction range is expressed by the following equation (37).
- the movement prediction range and the prediction error covariance matrix up to S seconds after the other vehicle 60 moves straight ahead at a constant speed are calculated for each tracking track. These pieces of information are output to the reliability comparison unit 156 and used to calculate the possibility that the other vehicle 60 will move straight ahead at a constant speed.
- the deceleration prediction unit 152 assumes a deceleration model (main lane maintenance) as a motion model of the other vehicle 60, and based on the target tracking data stored in the target tracking data storage unit 4, the movement prediction range of the other vehicle 60. (Deceleration movement prediction range) is calculated (step ST904, deceleration prediction step). That is, the deceleration prediction unit 152 estimates the position at each sampling time from the current time to the maximum predicted time S seconds after assuming that the other vehicle 60 decelerates from the current time. Details of the processing of the deceleration prediction unit 152 will be described below.
- the deceleration prediction unit 152 calculates a prediction vector x (Brake) k, m ( ⁇ ) of the predicted deceleration movement range of the other vehicle 60 m seconds after the current time k from the following equation (38).
- ⁇ (Brake) k, m ⁇ 1 and a (Brake) k, m ⁇ 1 are expressed by the following equations (39) and (40).
- T p is a sampling interval in the future from the current time
- ⁇ is a negative scalar representing the acceleration of deceleration set in advance.
- the initial value of the prediction vector of the deceleration movement prediction range is expressed by the following equation (41).
- the prediction error covariance matrix of the deceleration movement prediction range is calculated by the following equation (42).
- Q k, m ⁇ 1 is a drive noise covariance matrix, and is expressed by the following equation (43).
- q is a parameter of power spectral density set in advance
- I 2 ⁇ 2 is a unit matrix of 2 rows and 2 columns.
- the initial value of the prediction error covariance matrix of the deceleration movement prediction range is expressed by the following equation (44).
- the movement prediction range up to S seconds after the other vehicle 60 decelerates and the prediction error covariance matrix are calculated. These pieces of information are output to the reliability comparison unit 156 and used to calculate the possibility that the other vehicle 60 will decelerate.
- the course change start time setting unit 153 determines the lane in the lane movement model of the other vehicle 60 according to the position and speed between the other vehicles 60 based on the target tracking data stored in the target tracking data storage unit 4.
- One or more change start times are set (step ST905, course change start time setting step). Details of the process of the course change start time setting unit 153 will be described below.
- FIG. 10 shows a case where the lane change start time of the other vehicle 60b moves in the right lane after estimating the situation of the right lane.
- the other vehicle 60b gives priority to avoiding a collision with the other vehicle 60a. In this case, the right lane movement is suddenly performed.
- TTC Time To Collation
- the lane change start time of the other vehicle 60b is set as follows, for example. First, when 0 second ⁇ TTC ⁇ 1 second, the lane change start time is set after 0 second (first condition). When 1 second ⁇ TTC ⁇ 2 seconds, the lane change start time is set after 0 seconds and after 0.5 seconds (second condition). If 2 seconds ⁇ TTC ⁇ 3 seconds, the lane change start time is set after 0 seconds, 0.5 seconds, 1 second, and 1.5 seconds (third condition). If 3 seconds ⁇ TTC, the lane change start time is set after 0 seconds, 0.5 seconds, 1 second, 1.5 seconds, 2 seconds, and 2.5 seconds ( Fourth condition).
- the lane change start time is set after 0 seconds, 0.5 seconds, 1 second, 1.5 seconds, 2 seconds, and 2.5 seconds ( (Fifth condition).
- An example of setting the lane change start time according to this condition is shown in FIG. In FIG. 11, the TTC is 2 seconds or more and less than 3 seconds, and the lane change start time is set in four ways from 0 seconds to 1.5 seconds, thereby generating four lane movement prediction ranges. Represents.
- the feature of the above setting is that the number of lane change start times is increased as the time until the other vehicle 60b collides with the other vehicle 60a has a margin.
- the other vehicle 60b has time to start moving the lane. Assuming that there is almost no prediction of a motion model that immediately starts changing lanes is considered sufficient.
- the other vehicle 60b can start lane movement at various times, so a large number of lane change start times are set. To do.
- the lane change start time is defined as the number of seconds elapsed from the current time, but there may be a method of defining this by the ratio of the relative distance between the other vehicle 60b and the other vehicle 60a.
- the lane change start time T n (Steer) is expressed as the following expression (46) as a time until the vehicle travels a certain distance R 12 n / N.
- n is an integer from 1 to N, and N is calculated by the following equation (47).
- one or more lane change start times at which the other vehicle 60b can be selected are set.
- Information indicating the N lane change start times set by the route change start time setting unit 153 is output to the corresponding route change prediction unit 154.
- the number of lane change start times set by this processing is described as N.
- the course change prediction unit 154 assumes a lane movement model as the motion model of the other vehicle 60, and follows the corresponding lane change start time set by the course change start time setting unit 153 according to the movement prediction range ( (Lane movement prediction range) is calculated (step ST906, lane movement prediction step). That is, the course change prediction unit 154 determines the position at each sampling time from the current time to the maximum predicted time S seconds when the other vehicle 60b starts moving in the lane at the elapsed time T n (Steer) from the current time. presume. Note that n is an integer of 1 to N. Details of the process of the course change prediction unit 154 will be described below.
- the course change prediction unit 154 calculates a prediction vector x (Steer, n) k, m ( ⁇ ) of the lane movement prediction range of the other vehicle 60b after m seconds from the current time k from the following equation (48).
- ⁇ (Steer, n) k, m ⁇ 1 is expressed by the following equation (49).
- ⁇ (ConstVel) k, m ⁇ 1 is a matrix representing a constant velocity model
- ⁇ (Steer) k, m ⁇ 1 is a matrix set in accordance with a lane movement model that starts lane movement from time k + m. is there.
- the initial value of the prediction vector on the lane movement prediction range is expressed by the following equation (50).
- the prediction error covariance matrix of the lane movement prediction range is calculated by the following equation (51).
- Q k, m ⁇ 1 is a drive noise covariance matrix and is expressed by the following equation (52).
- q is a parameter of power spectral density set in advance
- I 2 ⁇ 2 is a unit matrix of 2 rows and 2 columns.
- the initial value of the prediction error covariance matrix of the lane movement prediction range is expressed by the following equation (53).
- the movement prediction range was calculated on the assumption that the other vehicle 60b moves straight ahead at a constant speed until the lane change start time.
- the present invention is not limited to this, and there may be an exercise model that starts lane change after exercising at a preset constant acceleration.
- the speed and acceleration until the lane change is made based on the relative distance and relative speed between the other vehicle 60 (the other vehicle 60b in FIG. 10) and the surrounding vehicles (the other vehicle 60a, the other vehicle 60c, and the own vehicle 50 in FIG. 10).
- the movement prediction range and the prediction error covariance matrix up to S seconds after the other vehicle 60b changes lanes at time T n are calculated. These pieces of information are output to and stored in the course change prediction storage unit 155. A total of N pieces of information indicating the predicted lane movement range are stored.
- the reliability comparison unit 156 trusts each movement prediction range of the other vehicle 60 calculated by each prediction unit 151, 152, 154 based on the target tracking data stored in the target tracking data storage unit 4. The degree is calculated, and the relative reliability is calculated and listed. Further, based on the target observation value data stored in the target observation value data storage unit 2, information indicating an unnecessary movement prediction range in the course change prediction storage unit 155 is deleted (step ST907, reliability comparison step). Details of the processing of the reliability comparison unit 156 will be described below with reference to FIG.
- the constant velocity movement prediction range calculated by the constant velocity prediction unit 151 (the constant velocity movement prediction range for each sampling time from the current time to S seconds later).
- the prediction error covariance matrix (step ST1201).
- the reliability of the movement prediction range is an index representing the possibility that the other vehicle 60b moves along the movement prediction range.
- the process of calculating the reliability from the movement prediction range and the prediction error covariance matrix includes a constant speed movement prediction range (step ST1201), a deceleration movement prediction range (step ST1202), and a lane movement prediction range. In the case (step ST1206), they must be the same.
- the reliability of the constant velocity movement prediction range is expressed by, for example, the following formula (54).
- M is the probability that the two movement prediction ranges will be at the same position, and is represented by the following equation (55).
- x (l) k, m is a movement prediction range m seconds after the current time k of the surrounding vehicle 1 of the other vehicle 60, and is calculated from the following equations (56), (57).
- x (l) k (+) is a smooth vector of the surrounding vehicle 1 of the other vehicle 60 at the current time.
- P (l) k, m is a prediction error covariance matrix m seconds after the current time k of the surrounding vehicle 1 of the other vehicle 60, and is calculated from the following equations (58) and (59).
- P (l) k (+) is a smoothing error covariance matrix of the surrounding vehicle 1 of the other vehicle 60 at the current time.
- the reliability of the above equation (54) represents an interval when the movement prediction range of the surrounding vehicle moving at a constant speed and the movement prediction range of the other vehicle 60 are closest. Therefore, this definition of reliability is based on the premise that there is a high possibility that the other vehicle 60 will select a movement prediction range away from the surrounding vehicle. For example, in FIG. 13, the first movement prediction range 1301 close to the host vehicle 50 and the third movement prediction range 1303 close to the other vehicle 60a are less likely to be selected, and the reliability is low. The reliability of the second movement prediction range 1302 to be started increases.
- a reliability is calculated for the deceleration movement prediction range (deceleration movement prediction range and prediction error covariance matrix for each sampling time from the current time to S seconds later) calculated by the deceleration prediction unit 152 (step ST1202). ).
- the reliability of the constant-velocity movement prediction range is represented by the above equation (54)
- the reliability of the deceleration movement prediction range is also represented by the following equation (60).
- one unselected lane movement prediction range at the current time is selected from the course change prediction storage unit 155 (step ST1203).
- the prediction vector of the selected lane movement prediction range A is X (Steer, A) k ′, m
- the prediction error covariance matrix of the lane movement prediction range A is P (Steer, A) k ′, m . .
- the lane movement prediction range stored in the course change prediction storage unit 155 includes those generated in the past, so k ′ represents the current time or the past time.
- an index (likelihood) representing the likelihood of the lane movement prediction range A is used as the probability distribution of the observation values. Is calculated from the following equation (61) assuming that a Gaussian distribution centered on the predicted position is obtained (step ST1204).
- Thrhold g is a threshold parameter set in advance.
- the reliability of the lane movement prediction range A is calculated assuming that the lane movement prediction range A is a motion that the other vehicle 60b can take. (Step ST1206).
- the reliability of the constant velocity movement prediction range is represented by the above equation (54)
- the reliability of the lane movement prediction range A is also represented by the following equation (63).
- step ST1205 determines whether the likelihood does not satisfy the inequality (62) or not satisfy the inequality (62). If it is determined in step ST1205 that the likelihood does not satisfy the inequality (62), the lane movement prediction range A is largely different from the current position of the other vehicle 60, and information indicating the lane movement prediction range A is provided. Is deleted from the course change prediction storage unit 155 (step ST1207).
- step ST1208 it is determined whether all lane movement prediction ranges stored in the course change prediction storage unit 155 have been selected.
- step ST1208 when there is information indicating the unselected lane movement prediction range in the course change prediction storage unit 155, the sequence returns to step ST1203 and the above processing is repeated.
- the reliability of each movement prediction range is converted into a relative reliability (step ST1209).
- the relative reliability is an index that represents the result of comparing the reliability of each movement prediction range calculated in steps ST1201, 1202, and 1206, and is calculated from, for example, the following equation (64).
- b p, k is the reliability of any movement prediction range of the other vehicle 60b
- B k is the sum of the reliability calculated in steps ST1201, 1202, 1206. For example, when the relative reliability of a certain lane movement prediction range A is 0.6, it is predicted that “the other vehicle 60b moves in the lane movement prediction range A with a possibility of 60%”.
- the relative reliability of the lane movement prediction range may be set low based on the idea that “the other vehicle 60b preferentially selects the movement that maintains the lane”.
- a list that lists the predicted movement range that the other vehicle 60b can take at the current time k and the relative reliability that indicates how much they can be realized relatively. can get.
- This list is output to the own vehicle collision possibility estimation unit 11b and is used to determine the possibility of collision with the own vehicle 50.
- the reliability is calculated based on the relative distance between the other vehicle 60b and the surrounding vehicle, and this is calculated as follows. “The other vehicle 60b avoids a track approaching a vehicle that is likely to be damaged when it collides.” Based on this idea, the reliability may be calculated from the relative speed between the other vehicle 60b and the surrounding vehicle. Further, based on the idea that “the other vehicle 60b is easier to select as the lane changes more slowly”, the reliability may be higher in the movement prediction range where the angle when changing the lane of the other vehicle 60b is gradual.
- the own machine motion sensor 8 observes the motion parameters including the position and speed of the own vehicle 50 (step ST908, own machine motion step). This process is the same as in the first embodiment.
- Information (self-motion data) indicating the observation result by the self-motion sensor 8 is output to and stored in the self-motion data storage unit 9.
- the own-motion prediction unit 10 predicts the future position and speed of the own vehicle 50 based on the own-motion data stored in the own-motion data storage unit 9, and based on the prediction error covariance matrix.
- the movement prediction range of the own vehicle 50 is calculated (step ST909, own machine motion prediction step). This process is the same as in the first embodiment.
- Information indicating the predicted movement range of the host vehicle 50 calculated by the host aircraft motion prediction unit 10 is output to the host aircraft collision possibility estimation unit 11b.
- the own vehicle collision possibility estimation unit 11b includes the predicted movement range of the other vehicle 60 shown in the list obtained by the target motion prediction unit 15, and the movement of the own vehicle 50 calculated by the own device motion prediction unit 10.
- the possibility of collision between the own vehicle 50 and the other vehicle 60 is estimated from the overlap with the predicted range and the reliability (relative reliability) of the movement predicted range of the other vehicle 60 shown in the list (step ST910, own vehicle). Aircraft collision possibility estimation step).
- the collision possibility is estimated based on the success or failure of the following equation (65).
- the following expression (65) it is estimated that the own vehicle 50 and the other vehicle 60 may collide.
- x p, k and P p, k are the movement prediction range and prediction error covariance matrix of the other vehicle 60b corresponding to the relative reliability ⁇ p, k .
- Threshold M is a threshold parameter set in advance.
- Information indicating the possibility of collision between the host vehicle 50 and the other vehicle 60 estimated by the host vehicle collision possibility estimation unit 11 b is output to the braking determination unit 12.
- the brake determination unit 12 determines whether or not the host vehicle 50 needs to be braked based on the estimation result by the own vehicle collision possibility estimation unit 11b (step ST911, control determination step).
- the own vehicle collision possibility estimating unit 11b estimates that there is a possibility of collision between the own vehicle 50 and the other vehicle 60 and the brake determining unit 12 determines that the own vehicle 50 needs to be braked
- the automatic brake unit 13 a deceleration function of the own vehicle 50 by automatic braking is operated, and a message indicating that a brake operation is currently necessary is output to the driver of the own vehicle 50 or a voice is output through the warning generation unit 14.
- the number of lane movement models is made variable from the position and speed between the other vehicles 60, for example, a parallel running vehicle as shown in FIG. Prediction considering the case where the start of the lane change is delayed is possible, and the accuracy of determining the possibility of collision with the host vehicle 50 is further improved as compared with the first embodiment.
- the calculation process of the movement prediction range with low feasibility is omitted. The calculation load in the calculation process can be reduced.
- Embodiment 3 In the second embodiment, one or more lane change start times are set according to the empty space around the other vehicle 60, and the number of lane movement models (route change models) is variable. .
- the third embodiment shows a case where one or more deceleration model parameters and one or more lane movement model parameters are set in accordance with the empty space around the other vehicle 60.
- FIG. 14 is a diagram showing a configuration of a collision preventing apparatus according to Embodiment 3 of the present invention.
- a deceleration parameter setting unit 157 is added to the collision prevention apparatus according to the second embodiment shown in FIG.
- the time setting unit 153 is changed to a course change parameter setting unit 158.
- Other configurations are the same, and only the different parts are described with the same reference numerals.
- the deceleration parameter setting unit 157 sets one or more parameters of the deceleration model from the position and speed of the other vehicles 60 based on the target tracking data stored in the target tracking data storage unit 4. Information indicating the parameters set by the deceleration parameter setting unit 157 is output to the corresponding deceleration prediction unit 152. Further, the deceleration prediction unit 152 assumes a deceleration model using the corresponding parameter set by the deceleration parameter setting unit 157, and calculates the movement prediction range (deceleration movement prediction range) of the other vehicle 60.
- the course change parameter setting unit 158 sets one or more parameters of the lane movement model based on the position and speed of the other vehicles 60 based on the target tracking data stored in the target tracking data storage unit 4. Information indicating the parameters set by the route change parameter setting unit 158 is output to the corresponding route change prediction unit 154. Further, the course change prediction unit 154 assumes a lane movement model using the corresponding parameters set by the course change parameter setting unit 158, and calculates the movement prediction range (lane movement prediction range) of the other vehicle 60.
- the parameter of the deceleration model set by the deceleration parameter setting unit 157 is, for example, the acceleration of the other vehicle 60.
- the parameters of the lane movement model set by the course change parameter setting unit 158 include, for example, a lane change start time indicating how many seconds after the current time the lane change starts, and an angle with respect to the lane. Lane change angle (track change angle) indicating whether to change, lane change acceleration indicating how much to accelerate or decelerate before starting lane change, lane change indicating how much to accelerate or decelerate during lane change Medium acceleration, acceleration after lane change indicating how much acceleration or deceleration is performed after lane change is completed.
- the parameter of the deceleration model and the parameter of the lane movement model are set to 1 from the position and speed between the other vehicles 60 according to the empty space around the other vehicle 60. Since it is configured to set one or more, for example, it is possible to predict the movement of the other vehicle 60 that decelerates according to the speed of the preceding vehicle. The accuracy is further improved. Further, it is possible to predict the movement of the other vehicle 60 that adjusts the lane change angle and the acceleration before and after the lane change according to the distance between the lane change destinations, and the accuracy of determining the possibility of collision with the own vehicle 50 is improved.
- the collision preventing apparatus according to the present invention is applied to an automobile to avoid a collision between the own vehicle 50 and another vehicle 60 existing around the vehicle.
- the present invention is not limited to this, and the collision preventing apparatus according to the present invention is applied to other moving bodies (ships, aircrafts, etc.) so as to avoid collisions with targets (ships, aircrafts, etc.) existing around them.
- the same effect can be obtained.
- the invention of the present application can be freely combined with each embodiment, modified with any component in each embodiment, or omitted with any component in each embodiment. .
- the collision prevention apparatus can detect the motion of a plurality of targets to improve the accuracy of motion prediction, predict the motion of the target existing around the mobile body on which the device is mounted, It is suitable for use in a collision prevention device for avoiding a collision with the moving body.
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Abstract
Description
このセンサにより得られた情報から運行を支援する技術については多くの論文、特許文献等で挙げられており、それらを実現する装置及び方法については様々な提案がなされている。
実施の形態1.
図1はこの発明の実施の形態1に係る衝突防止装置の構成を示す図である。以下の各実施の形態では、本発明の衝突防止装置を自動車に適用した場合について説明する。
衝突防止装置は、自車(移動体)50に搭載され、自車50とその周囲に存在する他車(目標)60の運動を予測して、自車50と他車60との衝突を回避するものである。この衝突防止装置は、図1に示すように、目標観測センサ1、目標観測値データ記憶部2、目標追尾部3、目標追尾データ記憶部4、目標運動予測部5、目標間衝突可能性推定部6、目標運動再予測部7、自機運動センサ8、自機運動データ記憶部9、自機運動予測部10、自機衝突可能性推定部11、制動判断部12、自動ブレーキ部13及び警告発生部14から構成されている。
なお、目標間衝突可能性推定部6により他車60同士の衝突可能性がないと推定された場合、又は他車60が複数存在しない場合には、目標運動予測部5により算出された他車60の移動予測範囲を示す情報がそのまま自機衝突可能性推定部11に出力される。
警告発生部14は、制動判断部12により自車50の制動を要すると判断された場合に、自車50の運転者に対して現時点でブレーキ操作が必要である旨のメッセージの提示や音声の出力を行うものである。
衝突防止装置の処理では、図2に示すように、まず、目標観測センサ1は、自車50の周囲に存在する他車60の観測を定期的に実施し、その観測結果から他車60の位置を算出する(ステップST201、目標観測ステップ)。この目標観測センサ1による観測結果を示す情報(目標観測値データ)は目標観測値データ記憶部2に出力されて記憶される。
なお、運動モデルとして、「減速又は加速しながら右車線又は左車線へ移動するモデル」を加えてもよい。
ここで、Tはサンプリング間隔(目標観測センサ1による直前の観測時刻から現時刻までの経過時間)である。また、Xk-1ハット(+)は1観測時間前の平滑ベクトルである。
ここで、Pk-1(+)は1観測時刻前の平滑誤差共分散行列である。また、Qk-1は駆動雑音共分散行列であり、下式(5)で表される。
ここで、qは事前に設定するパワースペクトル密度のパラメータであり、I2×2は2行2列の単位行列である。
ここで、Hkは観測行列、Rkは目標観測センサ1の観測誤差共分散行列、Γ2(k)は観測雑音の変換行列である。観測値のベクトルが距離及び方位角の極座標上の値で得られる場合、各々は下式(7)~(9)で表される。
ここで、02×2は2行2列の全要素が0の行列である。また、σRは目標観測センサ1の距離観測誤差標準偏差であり、σByは方位角観測誤差標準偏差である。
ここで、zk(-)は予測観測値であり、下式(11)により計算できる。
また、dはχ平方検定における有意水準によって定まる境界値のパラメータである。
ここで、pk,abは運動モデルが(b)から(a)に推移する確率を示す推移確率パラメータである。この推移確率パラメータは(b)と(a)の全ての組み合わせによる推移について定める行列として表現できる。
なお、追尾に要求される正確さの度合いに応じて、上記の運動モデルのフィルタは重み付け混合を行う。
ここで、Kkはフィルタゲインであり、下式(15)により計算できる。
この目標運動予測部5により算出された他車60の移動予測範囲を示す情報は目標間衝突可能性推定部6に出力される。
ここで、右辺のthresholdcは事前に設定する閾値パラメータである。左辺は、組み合わせにおける2つの他車60が同一位置となる確率であり、下式(21)に示すように自車50と他車60の特定の位置における同時存在確率密度の位置空間全体に渡る積分である。
なお、xp,1,k(-)とPp,1,k(-)は一方の他車60の予測の中心とその共分散行列であり、xp,2,k(-)とPp,2,k(-)は他方の他車60の予測の中心とその共分散行列である。
この目標間衝突可能性推定部6による他車60同士の衝突可能性を示す情報は目標運動再予測部7に出力される。
結果として、他車60bに対して選択可能な運動モデルは、図5のように減速モデルと右車線移動モデルのいずれかとなる。
右辺の第1項が(c)減速モデルと(d)右車線移動モデルのいずれかに推移するように配分するための行列である。ここでは(c)減速モデルと(d)右車線移動モデルの配分をα:β=0.3:0.6としている。
ここで、V1は他車60aの速度、V2は他車60bの速度、V3は他車60cの速度、R12は他車60aと他車60bとの間の距離、R23は他車60cと他車60bとの間の距離である(図6参照)。
ここで、Φuf,kは自車50の等速度運動を前提として下式(27)で表される。
ここで、Tpは未来予測処理におけるサンプリング間隔である
ここで、Puf,k(+)は現時刻の自車50の運動諸元の推定誤差共分散行列であり、最新の平滑誤差共分散行列を外挿して算出する。また、Quf,kは駆動雑音共分散行列であり、下式(29)で表される。
ここで、右辺のthresholdMは事前に設定する閾値パラメータである。左辺は自車50と他車60が同一位置となる確率であり、下式(31)に示すように自車50と他車60の特定の位置における同時存在確率密度の位置空間全体に渡る積分である。これを数値計算により近似することもできる。
この自機衝突可能性推定部11により推定された自車50と他車60との衝突可能性を示す情報は制動判断部12に出力される。
以上の処理を定期的に繰り返すことにより、自車50の衝突防止対策が常時可能となる。
実施の形態1では、他車60の車線移動モデル(進路変更モデル)を一定数とする場合を示した。それに対し、実施の形態2では、他車60間の位置及び速度に応じて、車線変更の開始時刻を1つ以上設定し、車線移動モデルの数を可変とした場合について示す。
図8はこの発明の実施の形態2に係る衝突防止装置の構成を示す図である。この図8に示す実施の形態2に係る衝突防止装置は、図1に示す実施の形態1に係る衝突防止装置から目標運動予測部5、目標間衝突可能性推定部6及び目標運動再予測部7を取除いて、目標運動予測部15を追加したものである。その他の構成は同様であり、同一の符号を付して異なる部分についてのみ説明を行う。
実施の形態2に係る衝突防止装置の処理では、図9に示すように、まず、目標観測センサ1は、自車50の周囲に存在する他車60の観測を定期的に実施し、その観測結果から他車60の位置を算出する(ステップST901、目標観測ステップ)。この目標観測センサ1による観測結果を示す情報(目標観測値データ)は目標観測値データ記憶部2に出力されて記憶される。
また、上式(2)の推移行列Φk-1は、実施の形態2では他車60の運動モデルとして等速モデルを仮定するため、上式(3)で表される。
そして、残差共分散行列Skを上式(6)に従って算出する。なお、観測値のベクトルが距離及び方位角の極座標上の値で得られる場合、式(6)における観測行列Hk,観測雑音の変換行列Γ2(k)及び目標観測センサ1の観測誤差共分散行列Rkはそれぞれ上式(7)~(9)で表される。
また、平滑誤差共分散行列は上式(16)で計算される。
ここで、Φ(ConstVel) k,m-1は下式(33)で表される。
ここで、Tpは現時刻から未来におけるサンプリング間隔である。
なお、等速移動予測範囲の予測ベクトルの初期値は下式(34)で表される。
ここで、Qk,m-1は駆動雑音共分散行列であり、下式(36)で表される。
ここで、qは事前に設定するパワースペクトル密度のパラメータであり、I2×2は2行2列の単位行列である。
なお、等速移動予測範囲の予測誤差共分散行列の初期値は下式(37)で表される。
ここで、Φ(Brake) k,m-1及びa(Brake) k,m-1は下式(39),(40)で表される。
ここで、Tpは現時刻から未来におけるサンプリング間隔であり、αは事前に設定する減速の加速度を表す負のスカラーである。
また、減速移動予測範囲の予測ベクトルの初期値は下式(41)で表される。
ここで、Qk,m-1は駆動雑音共分散行列であり、下式(43)で表される。
ここで、qは事前に設定するパワースペクトル密度のパラメータであり、I2×2は2行2列の単位行列である。
また、減速移動予測範囲の予測誤差共分散行列の初期値は下式(44)で表される。
ここで、R12は他車60bと他車60aとの車間であり、V2は他車60bの速度であり、V1は他車60aの速度である(図6参照)。
この条件による車線変更開始時刻の設定の一例を図11に示す。この図11では、TTCが2秒以上3秒未満の場合であり、車線変更開始時刻が0秒~1.5秒の4通り設定され、それによって4通りの車線移動予測範囲が生成されることを表している。
ここで、nは1以上N以下の整数とし、Nは下式(47)で計算する。
ここで、Φ(Steer,n) k,m-1は下式(49)で表される。
ここでΦ(ConstVel) k,m-1は等速モデルを表す行列であり、Φ(Steer) k,m-1は時刻k+mより車線移動を開始する車線移動モデルに応じて設定される行列である。
また、車線移動予測範囲上の予測ベクトルの初期値は下式(50)で表される。
ここで、Qk,m-1は駆動雑音共分散行列であり、下式(52)で表される。
ここで、qは事前に設定するパワースペクトル密度のパラメータであり、I2×2は2行2列の単位行列である。
また、車線移動予測範囲の予測誤差共分散行列の初期値は下式(53)で表される。
ここで、Mは2つの移動予測範囲が同一位置となる確率であり、下式(55)より表される。
また、x(l) k,mは他車60の周辺車両lの現時刻kからm秒後の移動予測範囲であり、下式(56),(57)より計算する。
ここで、x(l) k(+)は現時刻における他車60の周辺車両lの平滑ベクトルとする。
また、P(l) k,mは他車60の周辺車両lの現時刻kからm秒後の予測誤差共分散行列であり、下式(58),(59)より計算する。
ここで、P(l) k(+)は現時刻における他車60の周辺車両lの平滑誤差共分散行列である。
ここで、等速移動予測範囲の信頼度を上式(54)とした場合、減速移動予測範囲の信頼度も同様に下式(60)で表される。
ここで、等速移動予測範囲の信頼度を上式(54)とした場合、車線移動予測範囲Aの信頼度も同様に下式(63)で表される。
ここで、bp,kは他車60bのいずれかの移動予測範囲の信頼度であり、BkはステップST1201,1202,1206で算出された信頼度の総和とする。
例えば、ある車線移動予測範囲Aの相対信頼度が0.6であった場合、「他車60bは60%の可能性で車線移動予測範囲Aの運動をする」と予測する。
ここで、xp,k及びPp,kは相対信頼度βp,kに対応する他車60bの移動予測範囲及び予測誤差共分散行列である。また、thresholdMは事前に設定する閾値パラメータである。
この自機衝突可能性推定部11bにより推定された自車50と他車60との衝突可能性を示す情報は制動判断部12に出力される。
以上の処理を定期的に繰り返すことにより、自車50の衝突防止対策が常時可能となる。
実施の形態2では、他車60の周囲の空間の空き状況に応じて、車線変更の開始時刻を1つ以上設定し、車線移動モデル(進路変更モデル)の数を可変とする場合について示した。それに対し、実施の形態3では、他車60の周囲の空間の空き状況に応じて、減速モデルのパラメータ及び車線移動モデルのパラメータをそれぞれ1つ以上設定する場合について示す。
図14はこの発明の実施の形態3に係る衝突防止装置の構成を示す図である。この図14に示す実施の形態3に係る衝突防止装置は、図8に示す実施の形態2に係る衝突防止装置に減速パラメータ設定部157を追加し、減速予測部152を複数設け、進路変更開始時刻設定部153を進路変更パラメータ設定部158に変更したものである。その他の構成は同様であり、同一の符号を付して異なる部分についてのみ説明を行う。
また、減速予測部152は、減速パラメータ設定部157により設定された対応するパラメータを用いて減速モデルを仮定し、他車60の移動予測範囲(減速移動予測範囲)を算出する。
また、進路変更予測部154は、進路変更パラメータ設定部158により設定された対応するパラメータを用いて車線移動モデルを仮定し、他車60の移動予測範囲(車線移動予測範囲)を算出する。
また、進路変更パラメータ設定部158により設定される車線移動モデルのパラメータは、例えば、現時刻から何秒後に車線変更を開始するかを示す車線変更開始時刻、車線に対してどの程度の角度で車線変更するかを示す車線変更角度(進路変更角度)、車線変更を開始する前にどの程度加速又は減速するかを示す車線変更前加速度、車線変更中にどの程度加速又は減速するかを示す車線変更中加速度、車線変更を終えた後にどの程度加速又は減速するかを示す車線変更後加速度が挙げられる。
Claims (7)
- 自機が搭載された移動体の周囲に存在する目標を観測する目標観測センサと、
前記目標観測センサによる観測結果に基づいて、前記目標を追尾する目標追尾部と、
前記目標追尾部による追尾結果に基づいて、前記目標の移動予測範囲を算出する目標運動予測部と、
前記目標が複数存在する場合に、前記目標運動予測部により算出された前記目標の移動予測範囲の重なりから、当該目標同士の衝突可能性を推定する目標間衝突可能性推定部と、
前記目標間衝突可能性推定部により前記目標同士の衝突可能性があると推定された場合に、衝突を回避するような当該目標の移動予測範囲を再算出する目標運動再予測部と、
前記移動体の運動を観測する自機運動センサと、
前記自機運動センサによる観測結果に基づいて、前記移動体の移動予測範囲を算出する自機運動予測部と、
前記目標運動予測部又は前記目標運動再予測部により算出された前記目標同士の衝突可能性のない当該目標の移動予測範囲と、前記自機運動予測部により算出された前記移動体の移動予測範囲との重なりから、当該移動体と当該目標との衝突可能性を推定する自機衝突可能性推定部と
を備えた衝突防止装置。 - 前記目標運動再予測部は、前記目標が衝突を回避するように行う運動の選択において、当該目標の周囲の空間の空き状況に応じて当該運動に対する重み付けを行う
ことを特徴とする請求項1記載の衝突防止装置。 - 前記目標運動再予測部は、前記目標が衝突を回避するように行う運動の選択において、当該目標が直進運動を優先するように当該運動に対する重み付けを行う
ことを特徴とする請求項1記載の衝突防止装置。 - 自機が搭載された移動体の周囲に存在する目標を観測する目標観測センサと、
前記目標観測センサによる観測結果に基づいて、前記目標を追尾する目標追尾部と、
前記目標追尾部による追尾結果に基づいて、前記目標同士の位置及び速度から運動モデルを設定して当該目標の移動予測範囲及び当該移動予測範囲の信頼度を算出する目標運動予測部と、
前記移動体の運動を観測する自機運動センサと、
前記自機運動センサによる観測結果に基づいて、前記移動体の移動予測範囲を算出する自機運動予測部と、
前記目標運動予測部により算出された前記目標の移動予測範囲と、前記自機運動予測部により算出された前記移動体の移動予測範囲との重なり、及び当該目標の移動予測範囲の信頼度から、当該移動体と当該目標との衝突可能性を推定する自機衝突可能性推定部と
を備えた衝突防止装置。 - 前記目標運動予測部は、前記目標の周囲の空間の空き状況に応じて、前記目標の運動モデルである進路変更モデルでの進路変更の開始時刻を1つ以上設定する
ことを特徴とする請求項4記載の衝突防止装置。 - 前記目標運動予測部は、前記目標の周囲の空間の空き状況に応じて、前記目標の運動モデルである減速モデルでの加速度を1つ以上設定する
ことを特徴とする請求項4記載の衝突防止装置。 - 前記目標運動予測部は、前記目標の周囲の空間の空き状況に応じて、前記目標の運動モデルである進路変更モデルでの加速度及び進路変更角度を1つ以上設定する
ことを特徴とする請求項4記載の衝突防止装置。
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JP2021518822A (ja) * | 2018-12-26 | 2021-08-05 | バイドゥドットコム タイムズ テクノロジー (ベイジン) カンパニー リミテッドBaidu.com Times Technology (Beijing) Co., Ltd. | 自律走行車中の非回避計画システムにおける障害物フィルタリングの方法 |
JP7309613B2 (ja) | 2018-12-26 | 2023-07-18 | バイドゥドットコム タイムズ テクノロジー (ベイジン) カンパニー リミテッド | 自律走行車中の非回避計画システムにおける障害物フィルタリングの方法 |
JP7390977B2 (ja) | 2020-05-26 | 2023-12-04 | 清水建設株式会社 | 安全管理システム、及び、安全管理方法 |
WO2023008022A1 (ja) * | 2021-07-28 | 2023-02-02 | 株式会社デンソー | イベント記録システム、イベント記録装置、イベント記録方法、イベント記録プログラム |
JP2023018961A (ja) * | 2021-07-28 | 2023-02-09 | 株式会社デンソー | イベント記録システム、イベント記録装置、イベント記録方法、イベント記録プログラム |
JP7380656B2 (ja) | 2021-07-28 | 2023-11-15 | 株式会社デンソー | イベント記録システム、イベント記録装置、イベント記録方法、イベント記録プログラム |
DE102022210626A1 (de) | 2021-10-18 | 2023-04-20 | Mitsubishi Electric Corporation | Kursvorhersagevorrichtung |
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Publication number | Publication date |
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JP6207723B2 (ja) | 2017-10-04 |
CN106164999B (zh) | 2018-10-30 |
CN106164999A (zh) | 2016-11-23 |
DE112015001754T5 (de) | 2016-12-22 |
JPWO2015156097A1 (ja) | 2017-04-13 |
US10011276B2 (en) | 2018-07-03 |
US20170210379A1 (en) | 2017-07-27 |
DE112015001754B4 (de) | 2023-02-09 |
WO2015155833A1 (ja) | 2015-10-15 |
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