WO2016084968A1 - 衝突回避装置 - Google Patents

衝突回避装置 Download PDF

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Publication number
WO2016084968A1
WO2016084968A1 PCT/JP2015/083507 JP2015083507W WO2016084968A1 WO 2016084968 A1 WO2016084968 A1 WO 2016084968A1 JP 2015083507 W JP2015083507 W JP 2015083507W WO 2016084968 A1 WO2016084968 A1 WO 2016084968A1
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WO
WIPO (PCT)
Prior art keywords
avoidance
braking
collision
control unit
brake pedal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/083507
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
陽介 大森
渉 池
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Advics Co Ltd
Toyota Motor Corp
Original Assignee
Advics Co Ltd
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Advics Co Ltd, Toyota Motor Corp filed Critical Advics Co Ltd
Priority to US15/528,628 priority Critical patent/US20170259793A1/en
Priority to EP15863485.7A priority patent/EP3225474A4/en
Priority to CN201580064709.0A priority patent/CN107000714A/zh
Publication of WO2016084968A1 publication Critical patent/WO2016084968A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/02—Brake-action initiating means for personal initiation
    • B60T7/04—Brake-action initiating means for personal initiation foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/72—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference
    • B60T8/74—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to a difference between a speed condition, e.g. deceleration, and a fixed reference sensing a rate of change of velocity
    • 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
    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems

Definitions

  • the present invention relates to a collision avoidance apparatus.
  • a collision avoidance device that performs avoidance braking such as automatic braking to avoid a collision with a preceding vehicle when the distance between the own vehicle and the preceding vehicle present on the front side in the traveling direction of the own vehicle becomes less than a certain distance.
  • the driver's intention may not be reflected even if the driver wishes to further reduce the speed during the operation of the avoidance braking.
  • one of the problems of the present invention is to provide a collision avoidance device capable of rapidly generating the deceleration required by the avoidance braking while reflecting the driver's intention of deceleration in a vehicle provided with a collision avoidance function. It is to be.
  • the collision avoidance apparatus includes, for example, a collision avoidance execution unit capable of operating an avoidance braking for avoiding a collision with an object to be avoided, a determination unit that determines presence or absence of a brake pedal operation by a driver, and the avoidance If the driver operates the brake pedal during the braking operation, the termination of the avoidance braking operation is prohibited, and the larger one of the braking force required by the operation of the brake pedal and the braking force by the avoidance braking And a collision avoidance control unit that performs control of braking with the braking force of
  • the collision avoidance control unit further terminates the operation of notifying that the avoidance braking is to be performed when the brake pedal is operated during the operation of the avoidance braking.
  • the collision avoidance control unit further operates an alarm to the effect that the avoidance braking should be performed when the brake pedal is operated during the operation of the avoidance braking. Ban or quit.
  • FIG. 1 is a schematic view showing an example of a schematic configuration of a vehicle according to the embodiment.
  • FIG. 2 is a block diagram showing an example of a functional configuration of the collision avoidance ECU according to the present embodiment.
  • FIG. 3 is a flowchart showing an example of the procedure of the process of executing the collision avoidance function of the present embodiment.
  • FIG. 4 is a schematic view showing an example of a state in which the relative distance to the preceding vehicle in the present embodiment is shortened.
  • FIG. 5 is a diagram showing the start of braking by the driver and the change of the deceleration due to the start of the avoidance braking.
  • FIG. 6 is a flow chart showing an example of the procedure of the determination processing of inhibition / termination of the operation of the collision avoidance function of the present embodiment.
  • FIG. 7 is a diagram separately showing an example of the required deceleration of the avoidance braking according to the present embodiment and the change of the required deceleration due to the operation of the driver's brake pedal.
  • FIG. 8 is a diagram showing an example of a change in deceleration due to the control of the present embodiment.
  • FIG. 1 is a schematic view showing an example of a schematic configuration of a vehicle according to the embodiment.
  • the vehicle 100 may be, for example, an automobile (internal combustion engine automobile) whose drive source is an internal combustion engine (engine 20), or an automobile (motor, not shown) It may be an electric car, a fuel cell car, etc.), or may be a car (hybrid car) using both of them as a driving source.
  • the vehicle 100 can mount various transmissions, and can mount various devices (systems, components, etc.) necessary for driving an internal combustion engine or a motor.
  • the system, number, layout, and the like of devices related to driving of the wheels in the vehicle can be set variously.
  • the vehicle 100 is a four-wheeled vehicle (four-wheeled vehicle), and has two left and right front wheels FL and FR and two left and right rear wheels RL and RR.
  • the front of the vehicle front-rear direction (arrow FB) is the left side.
  • the vehicle 100 includes an engine 20, a brake control unit 30, an imaging device 51, a radar device 52, a brake switch 42, an accelerator pedal stroke sensor 44, and longitudinal acceleration.
  • a sensor 43 and a control device 40 are provided.
  • Vehicle 100 also includes wheel cylinders Wfr and Wfl and wheel speed sensors 41fr and 41fl corresponding to the two front wheels FR and FL, respectively. Further, wheel cylinders Wrr and Wrl and wheel speed sensors 41rr and 41rl are provided corresponding to the two rear wheels RR and RL, respectively. Note that, hereinafter, the wheel speed sensors 41fr, 41fl, 41rr, and 41rl will be collectively referred to as "wheel speed sensors 41". When the wheel cylinders Wfr, Wfl, Wrr, and Wrl are collectively referred to, they are referred to as "wheel cylinders W”.
  • vehicle 100 includes basic components as vehicle 100 in addition to FIG. 1, only the configuration related to vehicle 100 and the control related to the configuration will be described here.
  • the imaging device 51 is, for example, a digital camera that incorporates an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS).
  • the imaging device 51 can output image data (moving image data, frame data) at a predetermined frame rate.
  • the imaging device 51 is, for example, located at an end (an end in a plan view) of a front side (a front side in the vehicle longitudinal direction) of a vehicle body (not shown). Then, the imaging device 51 outputs image data including an avoidance object such as a preceding vehicle in front of the vehicle 100.
  • the radar device 52 is, for example, a millimeter wave radar device.
  • the radar device 52 can output distance data indicating a distance (a separation distance, a detection distance) to an avoidance object such as a leading vehicle, velocity data indicating a relative velocity (velocity) with the avoidance object, and the like.
  • the control device 40 updates the measurement result of the distance between the vehicle 100 and the avoidance target such as the leading vehicle by the radar device 52 as needed (for example, at a constant time interval) and stores the result in the storage unit.
  • the measurement result of the updated distance can be used for the calculation.
  • the wheel speed sensor 41 outputs a signal having a pulse each time the wheel corresponding to each wheel speed sensor 41 rotates a predetermined angle.
  • An accelerator pedal stroke sensor 44 is provided on the accelerator pedal AP, and detects an amount of depression of the accelerator pedal AP by the driver.
  • the brake switch 42 is provided on the brake pedal BP, and outputs a brake operation signal indicating whether or not the driver operates the brake pedal BP. Specifically, when the brake pedal BP is operated, the brake switch 42 outputs an on (High) brake operation signal. When the brake pedal BP is not operated, the brake switch 42 outputs an off (Low) brake operation signal.
  • the longitudinal acceleration sensor 43 detects acceleration in the longitudinal direction of the vehicle body (longitudinal acceleration), and outputs a signal representing longitudinal acceleration Gx.
  • the engine 20 outputs power according to the operation of the accelerator pedal AP by the driver.
  • the brake control unit 30 generates a braking force by the brake fluid pressure on each of the wheels FR, FL, RR, and RL according to a command from the brake ECU 12.
  • the brake control unit 30 generates a brake fluid pressure corresponding to the operating force of the brake pedal BP, and supplies the brake fluid pressure to the wheel cylinders Wfr, Wfl, Wrr, Wrl disposed on the wheels FR, FL, RR, RL respectively. Each can be adjusted.
  • the brake control unit 30 generates a master cylinder hydraulic pressure corresponding to the operation of the brake pedal BP by the driver, and an addition hydraulic pressure capable of generating a hydraulic pressure higher than the master cylinder hydraulic pressure.
  • a pressure pump and a linear solenoid valve capable of adjusting the amount of pressure (differential pressure) with respect to the master cylinder fluid pressure by using the pressurizing liquid generated by the pressurizing pump (all not shown).
  • the brake control unit 30 controls the pressure pump and the linear solenoid valve to adjust the amount of pressure when the avoidance braking is performed according to a command from the brake ECU 12.
  • the brake control unit 30 supplies the fluid pressure obtained by adding the pressurization amount to the master cylinder fluid pressure generated thereby to the wheel cylinders Wfr, Wfl, Wrr, and Wrl as the brake fluid pressure, so that the fluid pressure braking force is generated. Is controlled to apply a braking force to the vehicle 100 independently of the braking by the operation of the brake pedal BP.
  • the control device 40 receives signals, data, and the like from each part of the vehicle 100, and executes control of each part of the vehicle 100.
  • the control device 40 mainly includes a collision avoidance ECU (Electronic Control Unit) 60, a brake ECU 12, and an engine ECU 13.
  • the control device 40 is an example of a collision avoidance device.
  • the engine ECU 13 is responsible for various controls of the engine 20 such as fuel injection control and intake amount adjustment control.
  • the brake ECU 12 performs adjustment control of the braking torque for the host vehicle, adjustment control of the braking torque for each of the wheels FR, FL, RR, and RL, and the like.
  • the brake ECU 12 receives a detection signal from at least one of the wheel speed sensors 41 among the wheel speed sensors 41 provided for each of the wheels FR, FL, RR, and RL, and detects the vehicle speed of the vehicle and the longitudinal acceleration sensor 43.
  • the deceleration of the host vehicle is calculated on the basis of the detection signal of the above, and is sent to another ECU.
  • the “deceleration” calculated here is a positive value when the host vehicle is decelerating, and is a negative value when the host vehicle is accelerating.
  • the collision avoidance ECU 60 controls the execution of the collision avoidance function. Details of the collision avoidance ECU 60 will be described later.
  • Each ECU is configured as a computer, and an arithmetic processing unit (not shown) such as a central processing unit (CPU), a storage unit such as a read only memory (ROM), a random access memory (RAM), or a flash memory
  • the avoidance ECU 60 includes the storage unit 65).
  • the arithmetic processing unit reads a program stored (installed) in a non-volatile storage unit (for example, a ROM, a flash memory, etc.), executes arithmetic processing according to the program, and functions as each ECU.
  • a non-volatile storage unit for example, a ROM, a flash memory, etc.
  • the collision avoidance ECU 60 functions (operates) as each unit shown in FIG. 2 described later.
  • the storage unit may store data (tables (data groups), functions, and the like) used in various calculations related to control, calculation results (including values during calculation), and the like.
  • the structure of the vehicle 100 mentioned above is an example to the last, and can be changed variously and implemented.
  • Known devices can be used as the individual devices that configure the vehicle 100.
  • each configuration of the vehicle 100 can be shared with other configurations.
  • the vehicle 100 can include a sonar device to detect an avoidance object.
  • FIG. 2 is a block diagram showing an example of a functional configuration of the collision avoidance ECU 60 of the present embodiment.
  • the collision avoidance ECU 60 according to the present embodiment, as shown in FIG. 2 by cooperation of hardware and software (program), notifies the determination unit 61, the collision avoidance control unit 66, the alarm control unit 62, and notification. It can function (operate) as the control unit 63 and the avoidance braking control unit 64. That is, the program may include, as an example, a module corresponding to each block shown in FIG. 2 excluding the storage unit 65.
  • the alarm control unit 62, the notification control unit 63, and the avoidance braking control unit 64 are an example of a collision avoidance execution unit.
  • the collision avoidance control unit 66 controls the operation of the collision avoidance function.
  • the collision avoidance function is a function of avoiding a collision with the preceding vehicle or the like by maintaining the relative distance between the preceding vehicle or the like which is the avoidance object and the host vehicle at a constant distance.
  • the collision avoidance function includes avoidance braking, notification, and alarm.
  • Evasive braking is also called automatic braking, and brakes the vehicle by the brake ECU 12 and the brake control unit 30 in order to maintain the relative distance between the preceding vehicle or the like and the vehicle.
  • the notification is an output from the speaker (not shown) provided in front of the driver's seat, etc., for effecting the avoidance braking.
  • the alarm is an output from the speaker (not shown) to the effect that the avoidance braking should be operated.
  • the notification and the alarm have different output sounds.
  • FIG. 3 is a flowchart showing a procedure of execution processing of the collision avoidance function of the present embodiment.
  • the collision avoidance control unit 66 calculates a collision prediction time TTC (Time To Collision) which is a prediction time until a collision with a preceding vehicle (S11).
  • TTC Time To Collision
  • the collision avoidance control unit 66 can calculate the collision prediction time TTC by equation (2) based on the following equation of motion (1).
  • V AB is the relative speed of the host vehicle to the preceding vehicle.
  • X AB is a relative distance from the host vehicle to the preceding vehicle.
  • ⁇ AB is the relative acceleration of the vehicle relative to the preceding vehicle.
  • the collision avoidance control unit 66 calculates V AB based on the detection result of the wheel speed sensor 41, calculates ⁇ AB based on the detection result of the longitudinal acceleration sensor 43, and calculates X AB as the detection result of the radar device 52. It can be calculated based on
  • the collision avoidance control unit 66 calculates t which is the collision prediction time TTC according to the following equation.
  • the collision avoidance control unit 66 determines whether the collision prediction time TTC is less than or equal to a predetermined avoidance braking threshold (S12).
  • the collision avoidance control unit 66 sends a command to the effect of the avoidance braking to the avoidance braking control unit 64, and the avoidance braking is performed. Is activated (S13). That is, in response to the command, the avoidance braking control unit 64 instructs the brake ECU 12 to perform braking, whereby the brake control unit 30 performs the braking.
  • the collision avoidance control unit 66 determines whether the collision prediction time TTC is less than or equal to a predetermined notification threshold (S14).
  • the notification threshold is a value smaller than the avoidance braking threshold. Then, if the collision prediction time TTC is equal to or less than the notification threshold (S14: Yes), the collision avoidance control unit 66 sends a command to the notification control unit 63 to the effect of the notification operation to activate the notification. (S15). That is, the notification control unit 63 causes the speaker to output that the avoidance braking is performed.
  • the collision avoidance control unit 66 determines whether the collision prediction time TTC is less than or equal to a predetermined alarm threshold (S16).
  • the warning threshold is a value smaller than the notification threshold.
  • the collision avoidance control unit 66 sends a command to the alarm control unit 62 to the effect that the alarm is activated to activate the alarm. (S17). That is, the alarm control unit 62 causes the speaker to output that the avoidance braking should be performed.
  • the collision avoidance control unit 66 determines whether the alarm / notification / avoidance braking is continued (step S18).
  • the alarm / notification / avoidance braking continuation determination process is performed to determine whether to continue each control of alarming, notification, and avoidance braking when the collision predicted time TTC increases due to deceleration of the host vehicle or progress of a preceding vehicle. It is.
  • the collision avoidance control unit 66 performs a determination process of inhibition / termination of the collision avoidance function operation (S19).
  • This determination process is a process of determining whether to inhibit or end the operation of the collision avoidance function of alarm, notification, and avoidance braking based on the operation of the brake pedal BP.
  • the process of inhibiting / terminating the operation of the collision avoidance function is also referred to as a brake override process.
  • the determination unit 61 receives a brake operation signal from the brake switch 42, and determines the presence or absence of the operation of the brake pedal BP based on whether the brake operation signal indicates on / off. That is, determination unit 61 determines that the driver is operating brake pedal BP when the brake operation signal is on, and determines that the driver is not operating brake pedal BP when the brake operation signal is off. .
  • the collision avoidance control unit 66 determines that the driver operates the brake pedal BP while the avoidance braking (automatic braking) is activated, that is, the avoidance braking and the braking by the brake pedal BP are simultaneously performed. Even if it is performed, the operation of the avoidance braking is not ended (prohibition of the end of the avoidance braking operation). In particular, even in the state where the brake pedal BP is operated first and braking is performed by the driver's operation of the brake pedal BP, the collision avoidance control unit 66 starts the operation of the avoidance braking based on the collision prediction time TTC. (Ie, do not inhibit the operation of the avoidance braking). Further, since it is determined that the collision can not be avoided by the braking by the operation of the brake pedal BP and the avoidance braking is activated, the collision avoidance control unit 66 does not end the activation of the avoidance braking.
  • the collision avoidance control unit 66 activates the collision avoidance function (alarm, notification, avoidance braking), it stores the information on which collision avoidance function, that is, the alarm, notification, and avoidance braking has been activated. Save it as a flag.
  • the collision avoidance control unit 66 determines whether or not the avoidance braking is in operation with reference to the flag of the storage unit 65.
  • FIG. 4 is a schematic view showing an example of a state in which the relative distance to the preceding vehicle in the present embodiment is shortened.
  • the driver starts operating the brake pedal BP at a position 401.
  • the collision avoidance function is not activated because the preceding vehicle does not enter the area 403 where it is impossible to avoid the collision.
  • the brake pedal BP when the vehicle advances to the position 402, the vehicle enters an area 413 where it is impossible to avoid a collision, and the collision prediction time TTC is a threshold. It becomes below and an avoidance braking works.
  • FIG. 5 is a diagram showing the start of braking by the driver and the change of the deceleration due to the start of the avoidance braking.
  • the horizontal axis is time, and the vertical axis is deceleration.
  • the avoidance braking control unit 64 starts the control of the avoidance braking based on the deceleration required to avoid the collision. Therefore, in the present embodiment, the collision avoidance control unit 66 is configured not to prohibit or terminate the operation of the avoidance braking even when the avoidance braking is activated while the driver is operating the brake pedal BP. There is.
  • the collision avoidance control unit 66 operates the brake pedal BP when the determination unit 61 determines that the driver operates the brake pedal BP while the avoidance braking (automatic brake) is operating.
  • the brake ECU 12 controls the brake ECU 12 so as to output the braking at a larger one of the required deceleration (required deceleration) and the deceleration by the avoidance braking.
  • the avoidance braking is ended when the brake pedal BP is operated while the avoidance braking is in operation
  • the driver operates the brake pedal BP in order to avoid a collision with the preceding vehicle or the like to complete the avoidance braking, and the braking operation is applied.
  • This makes it possible to avoid collision with the preceding vehicle etc.
  • the relative distance to the own vehicle may be shortened to change into a state where collision can not be avoided. .
  • the avoidance braking operates based on the collision prediction time TTC.
  • the pressurizing pump in the brake control unit 30 When the avoidance braking starts to operate, the pressurizing pump in the brake control unit 30 generates pressurizing hydraulic pressure, the amount of pressurizing is controlled by the linear solenoid valve, and each wheel cylinder of the wheels FR, FL, RR, RL The brake fluid pressure pressurized by the pressurizing amount is applied to W.
  • pressurization is started to the wheel cylinders W of the wheels FR, FL, RR, and RL for which the brake fluid pressure has already been generated by the operation of the brake pedal BP of the driver. For this reason, it may be difficult to generate the required deceleration quickly because the response of the pressure pump in the brake control unit 30 is delayed (the pressure is delayed) or the like.
  • the avoidance braking is not ended, and the braking force by the operation of the driver's brake pedal BP and the avoidance braking It outputs the larger braking force with the braking force.
  • the collision avoidance control unit 66 outputs the braking force by the operation of the brake pedal BP by the driver to give priority to the driver's operation.
  • the collision avoidance control unit 66 gives priority to the deceleration of the avoidance braking and outputs the braking force of the avoidance braking.
  • the avoidance braking only the deceleration necessary to avoid the collision is output, and the braking force by the operation of the driver's brake pedal BP is insufficient for avoiding the preceding vehicle etc. It makes up for. Thereby, the intervention amount of the avoidance braking can be minimized, and the control can be performed without sacrificing the operability of the driver.
  • the brake control unit 30 receives the command from the collision avoidance control unit 66, the avoidance braking control unit 64, and the brake ECU 12, A brake fluid pressure corresponding to the operation of the brake pedal BP is applied to the wheel cylinders W of the wheels FR, FL, RR, and RL to output a braking force.
  • the brake fluid according to the operation of the brake pedal BP in the brake control unit 30 according to the command from the collision avoidance control unit 66, the avoidance braking control unit 64, and the brake ECU 12. The pressure that is insufficient for avoiding the preceding vehicle etc.
  • FIG. 6 is a flow chart showing an example of the procedure of the determination processing of inhibition / termination of the operation of the collision avoidance function of the present embodiment. The process of FIG. 6 is separately executed in each case where the alarm is activated in S17, when the avoidance braking is activated in S13 of FIG. 3, the notification is activated in S15.
  • the determination unit 61 determines whether the operation of the brake pedal BP is detected by determining whether the brake operation signal output from the brake switch 42 is on (S31).
  • the avoidance braking control unit 64 outputs the braking force based on the required deceleration of the avoidance braking according to the command of the collision avoidance control unit 66. In this way, the brake ECU 12 is controlled (S37).
  • the collision avoidance control unit 66 controls the alarm control unit 62 to prohibit and terminate the operation of the alarm (S32). That is, when the brake pedal BP is operated before the alarm output, it is determined that the driver notices the approach to the avoidance object and has already stepped on the brake pedal BP, so that the collision avoidance control unit 66 The alarm control unit 62 is controlled so as not to activate the alarm. In addition, when the brake pedal BP is operated after the alarm output, it is determined that the driver notices the approach to the avoidance object and depresses the brake pedal BP, so that the collision avoidance control unit 66 operates the alarm. The alarm control unit 62 is controlled to end the process.
  • the collision avoidance control unit 66 controls the notification control unit 63 to prohibit the operation of the notification and does not end the operation (S33). That is, since the vehicle 100 approaches the avoidance object too much and indicates to the driver a dangerous state which would cause a collision if the avoidance braking is not operated, the collision avoidance control unit 66 is notified by the operation of the brake pedal BP. The notification control unit 63 is controlled so as not to stop and prohibit the operation.
  • the collision avoidance control unit 66 controls the avoidance braking control unit 64 to prohibit the operation of the avoidance braking and does not end the operation (S34).
  • the determination unit 61 determines whether the deceleration required for the avoidance braking is larger than the required deceleration due to the operation of the driver's brake pedal BP (S35).
  • the required deceleration is calculated by the brake ECU 12 based on the detection signal from the longitudinal acceleration sensor 43, and the determination unit 61 receives it.
  • the determination unit 61 may be configured to receive the detection signal from the longitudinal acceleration sensor 43 and calculate the deceleration.
  • the collision avoidance control unit 66 sends the avoidance braking command to the avoidance braking control unit 64.
  • the avoidance braking control unit 64 controls the brake ECU 12 to output the braking force based on the required deceleration of the avoidance braking (S37).
  • the collision avoidance control unit 66 sets the requested deceleration by the operation of the brake pedal BP.
  • the brake ECU 12 is controlled to output a braking force (driver's requested braking force) based on that (S36). Then, the process ends.
  • the deceleration with the larger one of the deceleration of the avoidance braking and the required deceleration by the operation of the brake pedal BP of the driver is applied on the basis of.
  • FIG. 7 is a diagram separately showing an example of the required deceleration of the avoidance braking according to the present embodiment and the change of the required deceleration due to the operation of the brake pedal BP of the driver.
  • the horizontal axis is time, and the vertical axis is deceleration.
  • the required deceleration 701 driver-requested deceleration 701 by the operation of the brake pedal BP and the deceleration 702 by the avoidance braking act. Changes with different values.
  • FIG. 8 is a diagram showing an example of a change in deceleration due to the control of the present embodiment.
  • the driver request deceleration 701 and the deceleration 702 due to the avoidance braking change as shown in FIG. 7, according to the control of the present embodiment when the operation of the brake pedal BP and the operation of the avoidance braking overlap, As shown by the thick line, the braking force is output at the larger one of the driver request deceleration and the avoidance braking deceleration. That is, as shown in FIG. 8, the driver operates the brake pedal BP to start braking, and in a state where the avoidance braking is not yet operated, the braking force is output at the driver request deceleration 701.
  • the deceleration 702 by the avoidance braking rises, and when the driver request deceleration 701 is exceeded, the braking force is output at the deceleration 702 of the avoidance braking.
  • the driver further depresses the brake pedal BP and the driver request deceleration 701 increases and exceeds the deceleration 702 due to the avoidance braking, the braking force is output at the driver request deceleration 701.
  • the collision avoidance control unit 66 outputs the braking force based on the deceleration of the avoidance braking and the larger deceleration of the required deceleration by the operation of the driver's brake pedal BP. Control. Therefore, according to the present embodiment, when the driver's requested braking force is larger, the driver's requested braking force acts on the vehicle 100, so that the driver's intention to decelerate can be reflected.
  • the braking force by the driver's operation of the brake pedal BP is insufficient for avoiding the preceding vehicle or the like without ending the avoidance braking. Is compensated by the braking force of the avoidance braking. For this reason, the braking force by the avoidance braking is larger than the braking force by the operation of the brake pedal BP, and even when outputting the braking force of the avoidance braking, there is no response delay of the pressure pump at the avoidance braking, and the required demand deceleration quickly. It is possible to generate

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
PCT/JP2015/083507 2014-11-28 2015-11-27 衝突回避装置 Ceased WO2016084968A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US15/528,628 US20170259793A1 (en) 2014-11-28 2015-11-27 Collision avoidance device
EP15863485.7A EP3225474A4 (en) 2014-11-28 2015-11-27 Collision avoidance device
CN201580064709.0A CN107000714A (zh) 2014-11-28 2015-11-27 避撞装置

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JP2014242295A JP2016101892A (ja) 2014-11-28 2014-11-28 衝突回避装置
JP2014-242295 2014-11-28

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JP6961995B2 (ja) 2017-05-12 2021-11-05 トヨタ自動車株式会社 運転支援装置
JP6658692B2 (ja) * 2017-07-31 2020-03-04 トヨタ自動車株式会社 走行支援装置
KR102609323B1 (ko) 2019-01-29 2023-12-01 히다치 아스테모 가부시키가이샤 브레이크 시스템
JP2020166308A (ja) * 2019-03-28 2020-10-08 株式会社アドヴィックス 運転支援装置
CN112109731B (zh) * 2020-09-27 2022-01-28 阿波罗智联(北京)科技有限公司 车辆控制方法、装置、电子设备、存储介质及车辆
JP2023008331A (ja) * 2021-07-05 2023-01-19 株式会社Subaru 車両の運転支援装置
CN113401142B (zh) * 2021-07-13 2022-09-27 奇瑞新能源汽车股份有限公司 自动驾驶车辆的制动方法、装置、车辆及存储介质

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EP3225474A1 (en) 2017-10-04
CN107000714A (zh) 2017-08-01
EP3225474A4 (en) 2018-01-03
JP2016101892A (ja) 2016-06-02
US20170259793A1 (en) 2017-09-14

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