WO2016158237A1 - 車両制御装置、及び車両制御方法 - Google Patents

車両制御装置、及び車両制御方法 Download PDF

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Publication number
WO2016158237A1
WO2016158237A1 PCT/JP2016/057136 JP2016057136W WO2016158237A1 WO 2016158237 A1 WO2016158237 A1 WO 2016158237A1 JP 2016057136 W JP2016057136 W JP 2016057136W WO 2016158237 A1 WO2016158237 A1 WO 2016158237A1
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WO
WIPO (PCT)
Prior art keywords
angle
axis deviation
control
vehicle
allowable range
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/JP2016/057136
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English (en)
French (fr)
Japanese (ja)
Inventor
昇悟 松永
淳 土田
一郎 相澤
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.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
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 Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to CN201680019423.5A priority Critical patent/CN108156822B/zh
Priority to DE112016001512.7T priority patent/DE112016001512T5/de
Priority to US15/562,209 priority patent/US10625735B2/en
Publication of WO2016158237A1 publication Critical patent/WO2016158237A1/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
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    • 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
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    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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    • 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
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Definitions

  • the present disclosure relates to a vehicle control device that performs traveling control of the host vehicle on a target ahead of the host vehicle detected by the target detection device, and a vehicle control method that is executed by the vehicle control device.
  • PCS Pre-crash safety
  • TTC Time to Collation
  • axis deviation occurs in which the mounting angle of the target detection device is inclined, it is erroneously detected that an obstacle that is not actually located in front of the host vehicle is in front of the host vehicle, and the alarm device, brake Safety devices such as devices may be activated unnecessarily.
  • the axis deviation of the target detection apparatus can be caused by vibrations applied while the vehicle is traveling, a light collision with the host vehicle, or the like.
  • Patent Document 1 in view of the fact that the axis deviation of the radar device as the target detection device occurs due to a light collision of the host vehicle, the axis is detected when the acceleration sensor detects a deceleration greater than a predetermined value. It is determined that there is a possibility of deviation. Then, the axis deviation angle is calculated using a map showing the relationship between the deceleration detected by the acceleration sensor and the axis deviation angle. As a result, the shaft misalignment caused by the light collision in the traveling state of the host vehicle is quickly detected.
  • This disclosure is mainly intended to provide a vehicle control device and a vehicle control method that can suppress unnecessary support operation of the host vehicle with respect to a target.
  • the present invention is applied to a vehicle to which target detection means (21) for detecting a target around the host vehicle (50) is attached, and based on a detection result of the target detection means.
  • a vehicle control apparatus (10) that performs travel control of the vehicle, and obtains angular deviation information of the target detection means calculated based on a detection position of the target by the target detection means at a predetermined cycle.
  • An angle calculating means for calculating an axis deviation angle, which is a deviation amount of the mounting angle of the target detection means, by statistically processing a history after activation with respect to the angle deviation information acquired by the acquisition means; Until the predetermined initial period elapses after the start-up, the amount of deviation of the mounting angle of the target detection means is set as a predetermined initial angle, and in this state, the travel control is performed based on the initial angle.
  • the operation control of the travel control can be performed from the beginning of the start of the vehicle control device by using the preset initial angle until a predetermined initial period elapses after the start. . Further, by temporarily setting the initial angle, it is possible to suppress unnecessary operations that are not expected for the travel control at the beginning of the start of the vehicle control device. Then, after the initial period has elapsed after the start of the vehicle control device, the travel control is limited according to the calculated value of the axis deviation angle, so that the travel control is performed according to the accuracy of the axis deviation angle at that time. Unnecessary operation can be suppressed.
  • FIG. 1 is a configuration diagram illustrating a vehicle control device according to an embodiment.
  • FIG. 2 is a diagram illustrating an arrangement of an imaging device and a radar device according to an embodiment.
  • FIG. 3 is an explanatory diagram illustrating the principle of axis deviation angle detection according to an embodiment.
  • FIG. 4 is a diagram illustrating a distribution of the amount of axial deviation according to an embodiment.
  • FIG. 5 is a diagram illustrating a relationship between an axis misalignment detection period and accuracy according to an embodiment.
  • FIG. 6 is an explanatory diagram illustrating a processing procedure for setting a driving assistance control mode according to an embodiment.
  • FIG. 7 is an explanatory diagram illustrating an execution example of processing by the vehicle control device of the embodiment.
  • the vehicle control apparatus is mounted on a vehicle (host vehicle), detects an obstacle (hereinafter referred to as a target) existing in front of the host vehicle, and avoids a collision with the target. Or, it functions as a PCS system that performs control to reduce collision damage.
  • a vehicle host vehicle
  • detects an obstacle hereinafter referred to as a target
  • a PCS system that performs control to reduce collision damage.
  • a driving support ECU (electronic control unit) 10 that is a vehicle control device is not shown, but a CPU (central processing unit), a ROM (read-only memory), a RAM (random access memory), and an I / O interface. It is a computer equipped with the above.
  • the driving assistance ECU 10 realizes each of these functions by the CPU executing a program installed in the ROM. For this reason, ROM corresponds to a recording medium (non-transitory computer readable medium).
  • the driving support ECU 10 is connected to a radar device 21, an imaging device 22, a vehicle speed sensor 23, a steering angle sensor 24, and a yaw rate sensor 25 as sensor devices for inputting various types of detection information.
  • the radar device 21 is a device that detects an object around the vehicle 50 by transmitting an electromagnetic wave as a transmission wave and receiving the reflected wave, and is configured by, for example, a millimeter wave radar or a laser radar. As shown in FIG. 2, the radar device 21 is attached at the front portion of the host vehicle 50 so that the optical axis X ⁇ b> 2 faces the front of the vehicle. Then, a region 62 that spreads over the range of the predetermined angle ⁇ 2 toward the front of the vehicle with the optical axis X2 as the center is scanned by the radar signal.
  • the distance measurement data includes information on the direction in which the target exists, the distance to the target, and the relative speed.
  • the imaging device 22 is an in-vehicle camera, and is composed of a CCD (charged-coupled device) camera, a CMOS (complementary metal-oxide semiconductor) image sensor, a near-infrared camera, or the like.
  • the imaging device 22 captures the surrounding environment including the traveling road of the host vehicle 50, generates image data representing the captured image, and sequentially outputs the image data to the driving support ECU 10.
  • the imaging device 22 of the present embodiment is installed near the upper end of the windshield of the host vehicle 50, for example, and has a predetermined angle ⁇ 1 ( ⁇ 1> ⁇ 2) toward the front of the vehicle about the imaging axis X1.
  • An area 61 that is wide in the range of And the imaging device 22 extracts the feature point which shows presence of the target in the imaged image. Specifically, edge points are extracted based on the luminance information of the captured image, and Hough transform is performed on the extracted edge points. In the Hough transform, for example, points on a straight line in which a plurality of edge points are continuously arranged or points where the straight lines are orthogonal to each other are extracted as feature points.
  • the imaging device 22 may be a monocular camera or a stereo camera.
  • the vehicle speed sensor 23 is provided on a rotating shaft that transmits power to the wheels of the host vehicle 50, and obtains the speed of the host vehicle 50 based on the number of rotations of the rotating shaft.
  • the steering angle sensor 24 detects the angle at which the steering wheel of the host vehicle 50 is rotated as a steering angle.
  • the yaw rate sensor 25 detects the yaw rate actually generated in the host vehicle 50, that is, the angular velocity around the center of gravity of the vehicle.
  • the yaw rate sensor 25 includes a vibrator such as a tuning fork, and detects the yaw rate of the host vehicle 50 by detecting distortion generated in the vibrator based on the yaw moment of the host vehicle 50.
  • the vehicle speed sensor 23, the steering angle sensor 24, and the yaw rate sensor 25 detect the traveling state (behavior) of the host vehicle 50.
  • the own vehicle 50 includes an alarm device 41, a brake device 42, and a seat belt device 43 as safety devices that are driven by a control command from the driving support ECU 10.
  • the alarm device 41 is a speaker or a display installed in the passenger compartment of the host vehicle 50.
  • an alarm sound or a warning message is output according to a control command from the driving assistance ECU 10 to notify the driver of the danger of collision. .
  • the brake device 42 is a braking device that brakes the host vehicle 50.
  • the driving assistance ECU 10 determines that the possibility of collision with an obstacle has increased, the driving assistance ECU 10 operates according to a control command from the driving assistance ECU 10. Specifically, the braking force with respect to the brake operation by the driver is increased (brake assist function), or automatic braking is performed if the driver does not perform the brake operation (automatic brake function).
  • the seat belt device 43 is a pretensioner that retracts a seat belt provided in each seat of the host vehicle 50.
  • a preliminary operation for retracting the seat belt is performed according to a control command from the driving assistance ECU 10. If the collision cannot be avoided, the seat belt is retracted to remove the slack, thereby fixing the passenger such as the driver to the seat and protecting the passenger.
  • the target detection unit 11 acquires first detection information from the radar device 21 and acquires second detection information from the imaging device 22. And about the 1st position which is a position obtained from the 1st detection information, and the 2nd position which is a feature point obtained from the 2nd detection information, what is located near is based on the same target Associate.
  • a state in which the radar device 21 and the imaging device 22 are able to obtain the target position with high accuracy is referred to as a fusion state.
  • the detection history is referred to and it is determined whether or not the target is continuously in the fusion state.
  • the detection history is referred to, and the target is treated as being present at the past position for a predetermined period.
  • the target detection unit 11 functions as a type determination unit, determines whether the target is a vehicle or a pedestrian, and associates the target with a type.
  • the concept of a pedestrian may include a person who rides a bicycle.
  • the traveling state calculation unit 12 determines the traveling state of the host vehicle 50 from the detection results of the vehicle speed sensor 23, the steering angle sensor 24, and the yaw rate sensor 25. Specifically, based on the vehicle speed, the yaw rate, and the vehicle center-of-gravity slip angle by the vehicle speed sensor 23, the steering angle sensor 24, and the yaw rate sensor 25, the lateral movement amount, the longitudinal movement amount per unit time of the host vehicle 50, and Calculate the rotation angle. Note that the calculation methods for these parameters are well known and will not be described in detail.
  • FIG. 3 is a diagram illustrating a state in which a stationary object such as a roadside object moves relative to the host vehicle 50 while the host vehicle 50 is traveling.
  • FIG. 3A shows a state in which the radar device 21 is correctly attached, and the axis O (axis in the front-rear direction) of the host vehicle 50 and the optical axis X2 of the radar device 21 coincide.
  • FIG. 3B shows a state in which an axis deviation has occurred in the radar device 21, and a deviation of an angle ⁇ has occurred between the axis O of the host vehicle 50 and the optical axis X 2.
  • a target corresponding to a stationary object (hereinafter referred to as a stationary target F) seems to be approaching straight to the host vehicle 50. Detected.
  • the stationary target F is erroneously detected so as to approach the host vehicle 50 while moving laterally (obliquely moving) at an angle ⁇ .
  • the angle calculation unit 30 acquires the axis deviation information (angle deviation information) of the radar device 21 from the movement trajectory in which the stationary target F moves relative to the host vehicle 50. Then, the acquired axis deviation information is accumulated in a storage unit such as a RAM of the driving support ECU 10.
  • the axis deviation information stored in the storage unit shows a distribution (dispersion, standard deviation) as shown in FIG. 4 due to the influence of external noise or the like.
  • the angle calculation unit 30 statistically processes the history of the axis deviation information to calculate the axis deviation angle. For example, an angle corresponding to the center of gravity G of the axis deviation information distribution of FIG. 4 is calculated as the axis deviation angle. As a result, it is possible to increase the accuracy of calculating the axis deviation angle of the radar device 21 while suppressing the influence of variations in axis deviation information.
  • the axis deviation angle is indeterminate during a predetermined period (hereinafter referred to as initial period T1) after the driving assist ECU 10 is activated.
  • the angle calculation unit 30 sets a deviation amount of the mounting angle of the radar device 21 to a predetermined angle (hereinafter referred to as an initial angle) until the initial period T1 elapses after the driving support ECU 10 is activated.
  • the initial angle is set in advance as an axis deviation angle when an axis deviation occurs during normal use of the host vehicle, not when a vehicle collision is assumed. Then, after the initial period T1, the axis deviation angle calculated based on the axis deviation information history is output.
  • the initial period T1 can be determined based on the number of acquisitions of axis deviation information after the driving support ECU 10 is activated. That is, the control processing unit 15 determines that the initial period T1 if the number of acquisitions of the axis deviation information is less than the predetermined first threshold A, and initials if the number of acquisitions of the axis deviation information is equal to or greater than the first threshold A. It is determined that the period is after the elapse of period T1.
  • the axis deviation correction unit 31 corrects the position information of the optical axis X2 of the radar device 21 based on the axis deviation angle output from the angle calculation unit 30, so that the target vehicle 50 recognized by the driving assistance ECU 10 is corrected. Correct the position information.
  • the angle that can be corrected by the axis deviation correction unit 31 is limited to a predetermined angle range (for example, an angle range corresponding to the area 61 that can be imaged by the imaging device 22). If this occurs, the state where the calculated value of the axis deviation angle of the radar apparatus 21 is equal to or greater than a predetermined value will continue even if the correction by the axis deviation correction unit 31 is repeated. Therefore, in the present embodiment, even when the correction of the shaft misalignment angle by the shaft misalignment correcting unit 31 is repeated, if the state in which the shaft misalignment angle of the radar device 21 is equal to or greater than the predetermined value continues, collision avoidance by the driving assistance ECU 10 Prohibit control. Details of the determination of whether or not the collision avoidance control is possible will be described later.
  • the regulation value calculation unit 13 sets a detection area for detecting a target ahead of the host vehicle 50.
  • the detection area is an area set in front of the traveling direction of the host vehicle 50, and it is determined whether or not the collision avoidance control can be performed on the target included in the detection area.
  • the operation determination unit 14 determines whether or not a target exists in the detection area set by the regulation value calculation unit 13. That is, the target included in the detection area is specified based on the position information of the target after correction by the axis deviation correction unit 31. Then, for a target included in the detection area, a collision prediction time that is a time until the collision between the host vehicle 50 and the target is calculated. For example, the collision prediction time is calculated based on the distance and relative speed between the host vehicle 50 and the target.
  • the control processing unit 15 compares the collision prediction time calculated by the operation determination unit 14 with the operation timing individually set for each of the alarm device 41, the brake device 42, and the seat belt device 43, which are safety devices. If the predicted collision time is smaller than the operation timing of each safety device, a command signal is transmitted to the corresponding safety device. As a result, at least one of the safety device 41, the brake device 42, and the seat belt device 43 is activated to notify the driver of the danger of a collision.
  • control processing unit 15 controls the availability / limitation amount of each safety device for avoiding a collision according to the magnitude of the axis deviation angle recognized by the driving assistance ECU 10 and the accuracy of the axis deviation determination. That is, in the case of the initial period T1, by setting the operation timing of each safety device according to the initial angle, the availability / control amount of each safety device is limited (initial mode). After the elapse of the initial period T1, by setting the operation timing of each safety device based on the axis deviation angle corrected by the axis deviation correction unit 31, the availability / limit of the operation of each safety device is limited.
  • the operation of the safety device is not limited (normal mode).
  • the operation of the safety device is restricted according to the axis deviation angle (restriction mode). In the restriction mode, the degree of restriction of the operation of the safety device is increased as the axis deviation angle increases.
  • the control mode is shifted between the normal mode and the limit mode according to the axis deviation angle recognized by the driving support ECU 10. That is, when the axis deviation angle is outside the allowable range in the normal mode, the mode is shifted to the limit mode.
  • the mode is shifted from the limited mode to the normal mode.
  • the control processing unit 15 prohibits the collision avoidance control when the calculated value of the axis deviation angle is out of the allowable range even if the axis deviation angle correction is repeatedly performed by the axis deviation correction unit 31.
  • a predetermined period hereinafter referred to as a determination period T2
  • the collision avoidance control is prohibited when the axis deviation angle is outside the allowable range.
  • the determination period T2 can be determined based on the number of acquisitions of axis deviation information after activation. For example, it is determined that the determination period T2 has been reached when the number of acquisitions of the axis deviation information reaches the second threshold value B.
  • the initial mode is set (S12). In the initial mode, the operation of the safety device with respect to the target is limited based on the initial angle. If a negative determination is made in S11, it is determined whether it is before the determination period T2 has elapsed (S13). This process is affirmed when the number of acquisitions of the axis deviation information is less than the second threshold B.
  • the determination period T2 it is determined whether or not the axis deviation angle at that time is within a predetermined allowable range (S14). If the determination is affirmative, the normal mode is set (S15). In the normal mode, the operation of the safety device with respect to the target is not restricted. If negative in S14, that is, if the axis deviation angle is not within the allowable range, the restriction mode is set (S16). In the restriction mode, the operation of the safety device with respect to the target is restricted according to the off-axis angle. For example, the greater the off-axis angle, the higher the degree of limiting the operation of the safety device with respect to the target.
  • the collision avoidance control in the initial mode M1 is started.
  • the operation of the safety device with respect to the target is restricted based on the initial angle.
  • the collision avoidance control in the normal mode M2 is started.
  • the collision avoidance control in the normal mode M2 is started.
  • the collision avoidance control is not limited.
  • the collision avoidance control in the initial mode M1 is started. Thereafter, when the number of acquisitions of the axis deviation information reaches the first threshold A, the calculated value of the axis deviation angle is determined to be out of the allowable range, so that the process proceeds to the collision avoidance control in the limit mode M3. Thereafter, when the axis deviation angle of the radar device 21 recognized by the driving assistance ECU 10 is within the allowable range due to the correction of the axis deviation angle, the control shifts to the collision avoidance control in the normal mode M2. Thereafter, when the number of acquisitions of the axis deviation information reaches the second threshold value B, the calculated value of the axis deviation angle is within the allowable range, and thus the collision avoidance control is not limited.
  • the collision avoidance control in the initial mode M1 is started. Thereafter, when the number of acquisitions of the axis deviation information reaches the first threshold value A, it is determined that the calculated value of the axis deviation angle is outside the allowable range, so the process proceeds to the collision avoidance control in the limit mode M3. Thereafter, although the shaft misalignment angle is corrected, the state where the shaft misalignment angle recognized by the driving support ECU 10 is outside the allowable range is continued, so that the collision avoidance control in the limit mode M3 is maintained. Thereafter, when the number of acquisitions of the axis deviation information reaches the second threshold B, the axis deviation angle is determined to be outside the allowable range, and the collision avoidance control is prohibited (M4).
  • the collision avoidance control in the initial mode M1 is started. Thereafter, when the number of acquisitions of the axis deviation information reaches the first threshold value A, it is determined that the calculated value of the axis deviation angle is within the allowable range, so the process proceeds to the collision avoidance control in the normal mode M2. Thereafter, when the light collision with the host vehicle 50 occurs and the radar apparatus 21 is displaced in the horizontal direction, the calculated value of the axis deviation angle is determined to be out of the allowable range, and the normal mode M2 is changed to the limit mode M3. Then, the collision avoidance control in the restriction mode M3 is performed.
  • the radar apparatus 21 of the present embodiment corresponds to the target detection means described in the claims.
  • the angle calculation unit 30 of the present embodiment corresponds to an acquisition unit and an angle calculation unit described in the claims.
  • the axis deviation correction unit 31 of the present embodiment corresponds to the position information correction unit described in the claims.
  • the control processing unit 15 of the present embodiment corresponds to first control means and second control means described in the claims.
  • the process of step S14 constitutes the first determination means and the second determination means described in the claims as functions.
  • the process of step S ⁇ b> 17 constitutes the third determination means described in the claims as a function.
  • the shaft misalignment angle is not known until a predetermined initial period T1 has elapsed after the start, Alternatively, even if the axis deviation angle is known, the accuracy is low.
  • the initial angle set in advance it is possible to implement the travel control operation restriction from the beginning of the driving support ECU 10.
  • by temporarily setting the initial angle it is possible to suppress an unexpected unnecessary operation for the traveling control at the beginning of the driving support ECU 10.
  • the travel control is limited according to the calculated value of the axis deviation angle, so that the vehicle travels according to the accuracy of the axis deviation angle at that time. Unnecessary unnecessary operation for control can be suppressed.
  • the initial period T1 is determined based on whether the number of acquisitions of the deviation information after activation is larger or smaller than the predetermined first threshold value A, the road on which the host vehicle 50 travels is determined.
  • the initial period T1 can be determined appropriately regardless of the difference in environment or the like.
  • the travel control When the axis deviation angle is within the allowable range at the time when the initial period T1 has elapsed, the travel control is shifted to the normal mode M2, and when the axis deviation angle is not within the allowable range, the travel control is performed. Since the transition to the restriction mode M3 for restricting the operation of the vehicle is performed, when the shaft misalignment angle can be detected, the vehicle travels according to the detection accuracy of the shaft misalignment angle and the calculated value of the shaft misalignment angle. Control can be performed appropriately.
  • the normal mode M2 and the limit mode M3 are determined based on whether the axis deviation angle is within a predetermined allowable range. Since the shift is enabled, the traveling control can be performed in a more appropriate control mode based on the accuracy of the axis deviation angle at that time and the calculated value of the axis deviation angle.
  • the present invention is not limited to the above, and may be implemented as follows.
  • the collision avoidance control for the target detected only by the radar device 21 of the imaging device 22 and the radar device 21 may be prohibited.
  • the safety device is activated only for a target that is recognized as a target by both the imaging device 22 and the radar device 21, that is, a target that is likely to exist as an obstacle.
  • control mode is set based on the number of acquisitions of axis deviation information after startup, but the control mode may be set according to the elapsed time after startup and the travel distance after startup.
  • the number of acquisitions of axis deviation information may be re-measured from the time when the axis deviation occurs.
  • the occurrence of an axis deviation while the host vehicle 50 is traveling can be determined based on a signal from an acceleration sensor (not shown). In this case, the presence / absence of the shaft misalignment can be determined with higher accuracy on the basis of the occurrence time of the shaft misalignment while the host vehicle 50 is traveling. Further, the collision avoidance control can be more appropriately performed according to the elapsed time from the occurrence point of the axis deviation.
  • the detection accuracy of the axis deviation angle of the radar device 21 is improved as the period of the restriction mode becomes longer. Therefore, it is preferable that the degree of restriction of the safety device is adjusted according to the period after the transition to the restriction mode.
  • the above-described processing can be applied to axis misalignment detection in various target detection devices that can detect the target ahead of the host vehicle 50 and calculate the distance and lateral position between the host vehicle and the target ahead.
  • the above processing may be applied to the detection of the axis deviation of the imaging device 22 described above.

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