WO2018074287A1 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
WO2018074287A1
WO2018074287A1 PCT/JP2017/036715 JP2017036715W WO2018074287A1 WO 2018074287 A1 WO2018074287 A1 WO 2018074287A1 JP 2017036715 W JP2017036715 W JP 2017036715W WO 2018074287 A1 WO2018074287 A1 WO 2018074287A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lateral position
acquired
host vehicle
collision avoidance
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/JP2017/036715
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English (en)
French (fr)
Japanese (ja)
Inventor
祐輔 横井
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Denso Corp
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Denso Corp
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to US16/342,326 priority Critical patent/US10793096B2/en
Publication of WO2018074287A1 publication Critical patent/WO2018074287A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • 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
    • 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
    • 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
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • 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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • B60R2021/0002—Type of accident
    • 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

  • This disclosure relates to a vehicle control device that performs collision avoidance control on an object.
  • the collision avoidance control is performed based on the position information of the object acquired by the object detection sensor and the collision prediction area that is the target of the collision avoidance control. Specifically, when the distance between the object and the host vehicle is a predetermined distance or less and the lateral position of the object belongs to the collision prediction area, an alarm device, a brake device, or the like is operated as collision avoidance control.
  • another vehicle (front vehicle) existing in front of the traveling direction of the host vehicle may enter (interrupt) the running path of the host vehicle.
  • the front vehicle performs an interruption operation, depending on the posture of the front vehicle, it is conceivable that the rear portion of the front vehicle is detected by the object detection sensor, and in this case, based on the position of the rear portion of the front vehicle Collision avoidance control is performed. In this case, the collision avoidance control is not performed unless the lateral position of the rear portion of the front vehicle belongs to the collision prediction area. For this reason, there is a concern that the collision avoidance control is not properly performed on the preceding vehicle that performs the interruption operation.
  • the present disclosure has been made in view of the above-described problem, and a vehicle control device that can appropriately perform collision avoidance control when an object that exists in front of the traveling direction of the host vehicle enters the traveling path of the host vehicle.
  • the purpose is to provide.
  • the present disclosure is a vehicle control device that detects an object existing ahead of a traveling direction of an own vehicle by an object detection sensor and performs collision avoidance control on the object based on the detection result.
  • an object detection sensor When there is an object that moves in a direction that intersects the traveling direction of the host vehicle, a portion other than the front end of the object is acquired by the object detection sensor as the detection position of the object. And when it is determined that a part other than the front end part of the object has been acquired, the horizontal position of the acquired part is a collision prediction area that is a target of the collision avoidance control. And a control unit that allows the collision avoidance control to be performed even if it does not belong.
  • the forward vehicle when the preceding vehicle interrupts the runway of the own vehicle, the forward vehicle is considered to enter obliquely with respect to the runway of the own vehicle. That is, in this case, the front portion (for example, the front end portion) of the front vehicle enters the running path of the host vehicle earlier than the rear portion (for example, the rear end portion).
  • the front end of the object is detected by the object detection sensor as the object detection position. It is determined that a part other than the part has been acquired.
  • the object detection sensor detects a part other than the part.
  • the collision avoidance control is allowed to be performed even if the horizontal position of the acquired portion does not belong to the collision prediction region. I did it. Therefore, the collision avoidance control can be performed earlier than in the case where the collision avoidance control is performed based only on the lateral position acquired by the object detection sensor. Thereby, collision avoidance control can be appropriately implemented with respect to the object which approachs the runway of the own vehicle.
  • FIG. 1 is a diagram showing a schematic configuration of a PCSS of a vehicle.
  • FIG. 2 is a diagram for explaining sensor detection in a scene in which a preceding vehicle enters the running path of the host vehicle.
  • FIG. 3 is a diagram for explaining the calculation of the front end lateral position of the front vehicle.
  • FIG. 4 is a flowchart showing a control process executed by the vehicle control device according to this embodiment.
  • FIG. 5 is a diagram for explaining calculation of the traveling angle of the forward vehicle in another example.
  • FIG. 6 is a diagram showing the relationship between the length of an object and TTC
  • FIG. 7 is a diagram showing the relationship between the travel angle and TTC.
  • FIG. 1 shows a pre-crash safety system (hereinafter referred to as PCSS: Pre-crash safety system) to which a vehicle control device is applied.
  • PCSS is an example of a vehicle system mounted on a vehicle.
  • the host vehicle collides with the object. The avoidance operation or the collision mitigation operation is performed.
  • the vehicle 1 includes an object detection sensor of the radar device 21 and the imaging device 22, a vehicle speed sensor 23, an ECU 10, an alarm device 31, and a brake device 32.
  • the ECU 10 functions as a vehicle control device.
  • the radar device 21 detects an object in front of the host vehicle using a directional electromagnetic wave (exploration wave) such as a millimeter wave or a laser, and its optical axis is at the front of the host vehicle 50. It is attached so that it faces.
  • the radar device 21 scans a region extending in a predetermined range toward the front of the vehicle every predetermined time with a radar signal, and receives an electromagnetic wave reflected from the surface of the front object, whereby the relative position of the front object, the front object The relative speed and the like are acquired as object information.
  • the relative position is acquired as a relative coordinate position where the vehicle width direction of the host vehicle 50 is the X axis and the traveling direction of the host vehicle 50 is the Y axis when the host vehicle 50 is the origin.
  • the component in the vehicle width direction (X axis) indicates the lateral position of the object with respect to the host vehicle 50
  • the component in the traveling direction (Y axis) of the host vehicle 50 indicates the distance from the front object.
  • the acquired object information is input to the ECU 10.
  • the imaging device 22 is a vehicle-mounted camera, and is configured using, for example, a CCD camera, a CMOS image sensor, a near-infrared camera, or the like.
  • the imaging device 22 is attached to a predetermined height (for example, near the upper end of the windshield) in the center of the host vehicle 50 in the vehicle width direction, and images a region extending in a predetermined angle range toward the front of the host vehicle from an overhead viewpoint.
  • the captured image is input to the ECU 10 at predetermined intervals.
  • the imaging device 22 may be a monocular camera or a stereo camera.
  • the vehicle speed sensor 23 detects the traveling speed of the host vehicle 50 based on the rotational speed of the wheels. The detection result by the vehicle speed sensor 23 is input to the ECU 10.
  • the alarm device 31 warns the driver that there is an object ahead of the host vehicle by a control command from the ECU 10.
  • the alarm device 31 includes, for example, a speaker provided in the passenger compartment and a display unit that displays an image.
  • the brake device 32 is a braking device that brakes the host vehicle 50.
  • the brake device 32 is activated when the possibility of collision with a front object increases. 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 brake operation is not performed by the driver (automatic brake function).
  • ECU10 is comprised as a known microcomputer provided with CPU and various memory (ROM, RAM), and implements control in the own vehicle 50 with reference to the arithmetic program and control data in memory.
  • the ECU 10 detects an object based on object information output from the radar device 21 or a captured image output from the imaging device 22, and based on the detection result, the alarm device 31 and the brake device 32 are controlled. Perform PCS.
  • ECU10 sets the collision prediction area
  • the collision prediction area is set based on, for example, the lateral velocity Vx of the object, and is set so as to expand in the lateral direction as the lateral velocity Vx of the object increases.
  • the width of the collision prediction region in the horizontal axis direction is set based on the width of the host vehicle 50, for example.
  • the ECU 10 calculates a collision margin time TTC (Time to Collision) for the object.
  • TTC Time to Collision
  • the ECU 10 determines whether or not the lateral position of the object output from the radar device 21 belongs to the collision prediction area.
  • the separately calculated TTC and alarm device 31 are determined. And each device is operated based on each operation timing of the brake device 32. Specifically, if the TTC is equal to or lower than the operation timing of the alarm device 31, an alarm is given to the driver by operating a speaker or the like. Further, if TTC is equal to or lower than the operation timing of the brake device 32, control is performed to operate the automatic brake to reduce the collision speed. In addition, it is good also as a structure which operates each apparatus using the distance with the object based on TTC.
  • the ECU 10 acquires image data from the imaging device 22 and exists in front of the host vehicle based on the image data and dictionary information for object identification prepared in advance.
  • the type of object to be determined is determined.
  • the dictionary information for object identification is prepared individually according to the type of object such as an automobile, a two-wheeled vehicle, a pedestrian, and an obstacle on the road, and stored in the memory in advance.
  • As the automobile dictionary information at least dictionary information of a front pattern and a rear pattern is prepared. Further, as a front or rear pattern of a car, for example, a plurality of vehicle types such as a large car, a normal car, a light car, etc. It is recommended that dictionary information be prepared for each. ECU10 determines the kind of object by collating image data and dictionary information by pattern matching.
  • the ECU 10 calculates position information (including the width of the object) in the lateral direction with respect to the traveling direction of the host vehicle 50 based on the image data and the dictionary information. Then, based on the position information of the object and the collision prediction area, collision avoidance control for the object is performed. For example, it is good also as a structure which implements collision avoidance control according to the ratio with which the horizontal width of the object and a collision prediction area
  • a forward vehicle 60 existing in front of the host vehicle 50 may enter (interrupt, etc.) the path of the host vehicle 50.
  • the rear portion for example, the rear end portion
  • inconvenience occurs.
  • FIG. 2 shows a scene in which the forward vehicle 60 performs an interruption operation on the traveling path of the host vehicle 50.
  • the host vehicle 50 and the forward vehicle 60 exist on the path of the host vehicle 50, and the posture of the front vehicle 60 is inclined laterally with respect to the path (traveling direction) of the host vehicle 50. It has become.
  • 2A shows the detection result of the front vehicle 60 by the radar device 21
  • FIG. 2B shows the detection result of the front vehicle 60 by the imaging device 22, respectively.
  • the position of the object is detected based on the reflection point of the exploration wave by the radar device 21.
  • a plurality of detection points QA are detected in accordance with a portion that can be a reflection point (detection point) of the exploration wave, such as unevenness on the rear side and rear end of the front vehicle 60.
  • a representative point representing the object is acquired from the detected plurality of detection points QA.
  • the detection point having the highest reflection intensity is used as a representative point.
  • the detection point Q corresponding to the rear end portion of the forward vehicle 60 is used as the representative point in FIG.
  • the ECU 10 performs collision avoidance control based on the representative point (detection point Q).
  • the collision avoidance control is performed based on the fact that the object belongs to the collision prediction area.
  • the detection point Q does not belong to the collision prediction area S. Not implemented.
  • the representative point of the detection points may be one point selected from a plurality of detection points (for example, a point having a high reflection intensity, a left end point or a right end point, or an intermediate point among the plurality of detection points). Or it is good also as a midpoint of a left end point and a right end point.
  • the position of the object is detected based on pattern matching based on the image data of the imaging device 22.
  • the rear area A of the forward vehicle 60 is detected by collating the image data with the dictionary information of the rear pattern of the car.
  • the ECU 10 performs the collision avoidance control based on the region A. Therefore, in the scene of FIG. 2B, since the area A does not belong to the collision prediction area S, the collision avoidance control is not performed.
  • the object detection sensor may not be able to accurately grasp the position of the front object.
  • the object detection sensors 21 and 22 are used as object detection positions. To determine that a part other than the front end of the object has been acquired. When it is determined that a part other than the front end of the object has been acquired, the collision avoidance control is allowed to be performed even if the lateral position of the acquired part does not belong to the collision prediction region. I made it.
  • the front end lateral position XA of the object is estimated, and collision avoidance control is performed based on the estimated front end lateral position XA belonging to the collision prediction region.
  • the lateral position of the front end portion P of the forward vehicle 60 belongs to the collision prediction region S, so that collision avoidance control can be performed. it can.
  • the front end lateral position XA of the interrupting object is used instead of the lateral position actually acquired by the object detection sensors 21 and 22, so that the execution timing of the collision avoidance control is advanced.
  • the front end lateral position XA corresponds to the lateral position of the host vehicle 50 in the vehicle width direction at the front end on the side where the object is inclined with respect to the host vehicle 50 (the left side or the right side of the object).
  • the ECU 10 determines that portions other than the front end portion of the front object have been acquired by the object detection sensors 21 and 22.
  • the ECU 10 determines that a portion other than the front end of the front object is acquired as a detection position of the front object by recognizing a situation in which the object moves in the same direction as the host vehicle 50 and interrupts in front of the host vehicle. To do. Specifically, the ECU 10 performs an interrupt determination.
  • a known method can be applied to the interrupt determination, for example, based on the lateral position of the object.
  • the threshold value Wth is set based on the width of the own lane.
  • an interrupt determination can be made based on the amount of lateral movement of the forward vehicle 60 and the lateral speed Vx.
  • the ECU 10 estimates the front end lateral position XA of the front vehicle 60 based on the position of the portion other than the front end portion of the object acquired by the object detection sensors 21 and 22.
  • FIG. 3 shows an example of a calculation method for estimating the front end lateral position XA.
  • the detection point Q is acquired as a representative point of the forward vehicle 60 by the radar device 21, the front end lateral position XA of the forward vehicle 60 is calculated based on the speed vector VT of the forward vehicle 60.
  • the ECU 10 calculates the traveling angle ⁇ of the forward vehicle 60 from the longitudinal speed Vy and the lateral speed Vx of the forward vehicle 60 based on the following formula (1).
  • the longitudinal speed Vy of the forward vehicle 60 is calculated by adding the relative speed with the forward vehicle 60 to the vehicle speed of the host vehicle 50 acquired by the vehicle speed sensor 23.
  • the lateral speed Vx of the forward vehicle 60 is calculated from the amount of change in the lateral position (for example, the detection point Q) of the forward vehicle 60 per unit time.
  • the traveling angle ⁇ indicates 0 ° when the speed vector VT of the forward vehicle 60 extends in the same direction (that is, in parallel) with the traveling direction of the host vehicle 50, and the forward vehicle 60 is relative to the host vehicle 50.
  • the ECU 10 calculates the front end lateral position XA of the front vehicle 60 from the calculated advance angle ⁇ of the front vehicle 60 based on the following equation (2).
  • Front end lateral position XA Sensor detected lateral position + vehicle length L ⁇ sin ⁇ (2)
  • the front end lateral position XA and the lateral position by sensor detection indicate values in the vehicle width direction (X-axis component) on relative coordinates. That is, in FIG. 3, the lateral position detected by the sensor corresponds to Qx, and the front end lateral position XA corresponds to Px.
  • the vehicle length L of the forward vehicle 60 refers to the length of the vehicle in the moving direction of the forward vehicle 60, and a predetermined value (for example, 4 m) is determined. Then, the ECU 10 performs the collision avoidance control based on the estimated front end lateral position XA.
  • the front end lateral position XA of the front vehicle 60 is estimated using the detection result of the radar device 21, but from the rear region A of the front vehicle 60 detected based on the captured image of the imaging device 22.
  • the front end lateral position XA can be estimated. That is, the front end lateral position XA is calculated by applying a predetermined lateral position of the region A (for example, the lateral position at the left end) to the above equation (2).
  • the collision avoidance control process performed by the ECU 10 will be described using the flowchart of FIG. This process is repeatedly performed by the ECU 10 at a predetermined cycle.
  • step S11 the object information output from the radar device 21 and the captured image output from the imaging device 22 are input.
  • step S12 based on the input captured image, it is determined whether or not the forward vehicle 60 exists ahead of the host vehicle.
  • the ECU 10 determines the presence of the forward vehicle 60 by pattern matching with the dictionary information of the pattern at the rear of the vehicle.
  • step S12 If the result in step S12 is negative, the process is terminated.
  • step S12 is affirmed, it progresses to step S13 and the lateral position of the front vehicle 60 is acquired.
  • the lateral position is acquired based on the object information output from the radar device 21.
  • step S ⁇ b> 14 it is determined whether or not the preceding vehicle 60 interrupts the traveling path of the host vehicle 50.
  • the ECU 10 performs an interrupt determination based on the lateral position of the forward vehicle 60 described above.
  • Step S14 corresponds to a “determination unit”.
  • step S14 the process proceeds to step S15 to determine whether or not the vehicle speed of the host vehicle 50 is equal to or higher than the threshold value Vth.
  • the threshold value Vth is a determination value for determining whether or not the vehicle speed of the host vehicle 50 is low, and is set to 20 km / h, for example.
  • the host vehicle 50 is traveling at a low speed due to a traffic jam or the like, it is considered that an interruption is performed in a state where the distance from the preceding vehicle 60 is close. If the collision avoidance control based on the estimated front end lateral position XA is to be performed during such low-speed traveling, the operation of the brake or the like frequently occurs, which may cause inconvenience.
  • the threshold value Vth can be changed as appropriate. For example, when the collision avoidance control based on the estimated front end lateral position XA is performed during high-speed traveling, the threshold value Vth is set to 60 km / h, for example. Is set.
  • step S15 in addition to the vehicle speed, the lateral speed of the host vehicle 50 may be added as a condition. In such a configuration, step S15 is affirmed when the vehicle speed is equal to or higher than the threshold value Vth and the lateral speed of the host vehicle 50 is equal to or higher than a predetermined value.
  • step S15 If step S15 is affirmed, that is, if the speed condition is satisfied, the process proceeds to step S16, and the front end lateral position XA of the forward vehicle 60 is estimated.
  • the front end lateral position XA is calculated by the method shown in FIG. Step S16 corresponds to an “estimator”.
  • the estimated front end lateral position XA is set as the lateral position of the forward vehicle 60, and the process proceeds to step S18. Note that step S15 and subsequent steps S18 to S23 in which the collision avoidance control is performed with the front end lateral position XA as the lateral position of the front vehicle 60 correspond to the “control unit”.
  • step S14 and step S15 are respectively denied, it progresses to step S18.
  • the collision avoidance control is performed with the lateral position acquired in step S13 as the lateral position of the forward vehicle 60. That is, normal collision avoidance control based on the detection results of the object detection sensors 21 and 22 is performed.
  • a collision prediction area is set. Specifically, the collision prediction area is set based on the lateral speed Vx of the forward vehicle 60.
  • step S19 it is determined whether or not the lateral position of the forward vehicle 60 exists within the set collision prediction area.
  • the front end lateral position XA is set as the lateral position of the front vehicle 60 in step S17, it is determined whether or not the front end portion of the front vehicle 60 belongs to the collision prediction area.
  • step S19 is denied, this process is complete
  • step S19 is affirmed, it progresses to step S20.
  • step S20 it is determined whether or not the relative distance between the preceding vehicle 60 and the host vehicle 50 existing in the collision prediction area is smaller than the first predetermined distance D1.
  • step S20 is denied, this process is complete
  • step S ⁇ b> 21 an operation command is transmitted to the alarm device 31 in order to warn the driver that the preceding vehicle 60 existing in the collision prediction area is approaching the host vehicle 50.
  • step S22 it is determined whether or not the relative distance between the preceding vehicle 60 and the host vehicle 50 existing in the collision prediction area is smaller than the second predetermined distance D2. This assumes a case in which the preceding vehicle 60 continues to approach the host vehicle 50 even though the warning device 31 issues a warning to the driver.
  • step S22 is denied, this process is complete
  • step S22 is affirmed, the process proceeds to step S23, and an operation command is transmitted to the brake device 32.
  • step S21 During the period when the operation command is transmitted to the alarm device 31 at step S21 or the period when the operation command is transmitted to the brake device 32 at step S23, if the preceding vehicle 60 is out of the collision prediction area, it is being executed. The process in step S21 or the process in step S23 is immediately stopped.
  • the front vehicle 60 When there is a forward vehicle 60 that moves toward the front of the host vehicle 50 in a direction that intersects the traveling direction of the host vehicle 50, the front vehicle 60 is detected by the object detection sensors 21 and 22 as the detection position of the front vehicle 60.
  • the lateral position of the acquired portion is determined to be a collision prediction. Even if it does not belong to the area, the configuration is made to allow the implementation of the collision avoidance control. Therefore, the collision avoidance control can be performed earlier than the case where the collision avoidance control is performed based only on the lateral position acquired by the object detection sensors 21 and 22. Thereby, collision avoidance control can be appropriately implemented with respect to the forward vehicle 60 entering the running path of the host vehicle 50.
  • the front end portion of the forward vehicle 60 may belong to the collision prediction region.
  • the front end lateral position XA of the front vehicle 60 is estimated based on a portion (rear end portion) other than the front end portion of the front vehicle 60 acquired by the object detection sensors 21 and 22.
  • the collision avoidance control is performed based on the estimated front end lateral position XA belonging to the collision prediction area. Therefore, even if the lateral position of the object acquired by the object detection sensors 21 and 22 does not belong to the collision prediction area, the collision avoidance control can be performed if the front end lateral position XA belongs to the collision prediction area. Thereby, at the time of interruption of the forward vehicle 60, the collision avoidance control can be performed earlier.
  • the front end lateral position XA of the forward vehicle 60 is determined by the length in the moving direction of the forward vehicle 60 from the geometrical relationship. This is considered to depend on the moving angle of the forward vehicle 60. Considering this point, the front end lateral position XA of the front vehicle 60 is estimated on the basis of the length of the object (vehicle length L) and the movement angle (travel angle ⁇ ). Can be estimated with high accuracy, and as a result, collision avoidance control can be properly performed.
  • the travel angle ⁇ is calculated from the speed vector VT of the front vehicle 60, and the front end lateral position XA is calculated using the travel angle ⁇ .
  • the traveling angle ⁇ is not limited to this method, and may be calculated based on, for example, the movement trajectory between the host vehicle 50 and the forward vehicle 60 as shown in FIG.
  • FIG. 5 shows the position histories of the host vehicle 50 and the forward vehicle 60.
  • the movement vectors of the host vehicle 50 and the forward vehicle 60 are calculated. These movement vectors can be regarded as linear functions on the same coordinates, and can be expressed by the following equations (3) and (4).
  • Movement vector of own vehicle y ax + b (3)
  • Forward vehicle movement vector y cx + d (4)
  • an angle formed by the movement vector between the host vehicle 50 and the forward vehicle 60 is calculated based on the following equation (5).
  • Travel angle ⁇ arctan (c) ⁇ arctan (a) (5)
  • the front end lateral position XA of the forward vehicle 60 is calculated based on the above equation (2) using the calculated advance angle ⁇ .
  • the interrupt determination in step S14 in Fig. 4 may be performed based on the lateral position of the forward vehicle 60, the lateral speed Vx, and the amount of movement.
  • the forward vehicle 60 interrupts the running path of the host vehicle 50, paying attention to the fact that the side of the front vehicle 60 faces the front side of the host vehicle 50, for example, as a detection point by the radar device 21
  • the interruption of the forward vehicle 60 may be determined when the side of the vehicle 60 is detected.
  • the front object is the front vehicle 60, and the vehicle length L that is predetermined in the estimation of the front end lateral position XA of the front vehicle 60 is used.
  • the length of the object in the moving direction that is, the vehicle length L
  • the ECU 10 estimates the length of the front object, and estimates the front end lateral position XA of the object based on the length of the front object.
  • the front end lateral position XA can be accurately estimated according to the length of the object, and collision avoidance control can be appropriately performed.
  • the process of estimating the length of the front object corresponds to a “length estimation unit”.
  • the longer the length of the front object the greater the deviation between the lateral position detected by the sensor and the front end lateral position XA of the front object. That is, as the length of the front object is longer, a situation in which the front end lateral position XA of the front object belongs to the collision prediction area is more likely to occur even if the lateral position detected by the sensor does not belong to the collision prediction area.
  • the collision avoidance control based on the front end lateral position XA may be easily performed as compared with a case where the length is shorter than that. In such a configuration, for example, collision avoidance control can be easily performed by changing the TTC calculation or the collision prediction area setting.
  • FIG. 6 shows the relationship between the length of the front object and TTC as an example.
  • the TTC is calculated as a smaller value as the length of the front object becomes longer.
  • the TTC is corrected to be a smaller value as the length of the front object becomes longer.
  • the setting of the threshold value TTCth to be compared with TTC in the operation determination of the alarm device 31 or the like may be changed.
  • the threshold value TTCth is set to a larger value as the length of the front object becomes longer.
  • the collision avoidance control can be performed earlier than when the length is shorter than that.
  • the collision prediction area S is within the virtual line in which the width of the own vehicle 50 is extended in the traveling direction of the own vehicle 50
  • the rear part of the forward vehicle 60 is the collision prediction area S. If the front end portion P of the forward vehicle 60 belongs to the collision prediction region S, the collision avoidance control is performed earlier as the total length of the forward vehicle 60 is longer.
  • the lateral position detected by the sensor and the front object lateral position as the travel angle ⁇ increases within the range of 0 ° to 90 ° (that is, the vehicle is more inclined with respect to the host vehicle 50).
  • the deviation from XA is considered to be large. That is, it is considered that the larger the advance angle ⁇ of the front object, the more likely it is that the front end lateral position XA of the front object belongs to the collision prediction area even if the lateral position detected by the sensor does not belong to the collision prediction area. .
  • collision avoidance control can be easily performed by changing the TTC calculation or the collision prediction area setting.
  • FIG. 7 shows, as an example, the relationship between the traveling angle ⁇ (0 to 90 °) and TTC.
  • the TTC is calculated as a smaller value as the traveling angle ⁇ increases.
  • the TTC is corrected to be a smaller value as the traveling angle ⁇ becomes larger.
  • the setting of the threshold value TTCth to be compared with TTC in the operation determination of the alarm device 31 or the like may be changed.
  • the threshold value TTCth is set to a larger value as the traveling angle ⁇ increases.
  • the collision avoidance control can be performed earlier than when the advance angle ⁇ is smaller than that.
  • the collision prediction area S is within the virtual line in which the width of the own vehicle 50 is extended in the traveling direction of the own vehicle 50
  • the rear part of the forward vehicle 60 is the collision prediction area S. If the front end portion P of the forward vehicle 60 belongs to the collision prediction region S, the collision avoidance control is performed earlier as the advance angle ⁇ of the forward vehicle 60 is larger.
  • the detection point Q (rear end portion) of the forward vehicle 60 is acquired as the representative point in the object detection by the radar device 21 .
  • the detection point other than the detection point Q that is, the rear end It may be a case where detection points corresponding to parts other than the part are acquired as representative points.
  • the front end lateral position XA may be calculated based on the following equation (6).
  • Front end lateral position XA lateral position detected by sensor + vehicle length L ⁇ sin ⁇ ⁇ correction coefficient k (6)
  • the correction coefficient k is a value greater than 0 and equal to or less than 1, depending on the position of the representative point. Is set. For example, when the midpoint between the front end portion and the rear end portion of the front object is detected as the representative point, the correction coefficient k is a value of 1/2.
  • the reflection intensity is higher at the side than at the rear end of the special vehicle due to unevenness of the cargo bed.
  • the front end lateral position XA of the special vehicle can be accurately estimated by using the correction coefficient k based on the above equation (6).
  • the forward vehicle 60 is interrupted at a junction of a branch road or a multilane road.
  • the advance angle ⁇ of the forward vehicle 60 becomes a certain value (for example, around 30 °).
  • a predetermined value for estimating the front end lateral position XA is determined, and when it is determined that there is an interruption of the forward vehicle 60, the front end lateral position XA is calculated without calculating the advance angle ⁇ . It is good also as a structure. According to this configuration, the calculation load can be reduced.
  • the collision avoidance control is performed in the host vehicle 50 including the radar device 21 and the imaging device 22 as the object detection sensors.
  • the imaging device 22 is provided among the radar device 21 and the imaging device 22.
  • the collision avoidance control may be performed in the host vehicle 50.
  • the ECU 10 having the PCS function is configured to estimate the front end lateral position XA of the forward vehicle 60 at the time of interruption so that the forward vehicle 60 is subject to collision avoidance control earlier.
  • the above-described configuration may be applied to the ECU 10 having an ACC (Adaptive Cruise Control) function for performing control to follow the preceding vehicle. In such a case, when there is an interruption of the forward vehicle 60, the target of the preceding vehicle can be changed earlier.
  • ACC Adaptive Cruise Control

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