WO2022075187A1 - 車両の運転支援装置 - Google Patents

車両の運転支援装置 Download PDF

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Publication number
WO2022075187A1
WO2022075187A1 PCT/JP2021/036216 JP2021036216W WO2022075187A1 WO 2022075187 A1 WO2022075187 A1 WO 2022075187A1 JP 2021036216 W JP2021036216 W JP 2021036216W WO 2022075187 A1 WO2022075187 A1 WO 2022075187A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
obstacle
warning
risk
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/JP2021/036216
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English (en)
French (fr)
Japanese (ja)
Inventor
晨 吉沢
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
Original Assignee
Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN202180068309.2A priority Critical patent/CN116323343B/zh
Publication of WO2022075187A1 publication Critical patent/WO2022075187A1/ja
Priority to US18/187,596 priority patent/US20230219541A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • 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
    • B60T7/16—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger operated by remote control, i.e. initiating means not mounted on 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
    • 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
    • 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
    • B60T8/58—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 speed and another condition or to plural speed conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • 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
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed

Definitions

  • the present disclosure relates to a vehicle driving support device suitable for avoiding a vehicle colliding with another vehicle or an obstacle.
  • Patent Document 1 when the vehicle suddenly brakes, warning information is transmitted to surrounding vehicles by vehicle-to-vehicle communication, and the vehicle side that receives the warning information issues an alarm to the occupants.
  • a vehicle driving support device configured to automatically brake a vehicle is known.
  • a warning information detection area is set based on the vehicle speed of the own vehicle, the inclination angle of the driving path, the weather, etc., and the warning information from another vehicle that has suddenly braked in the detection area is selectively selected. By acquiring it, it is possible to prevent unnecessary driving support from being implemented.
  • driving support device when danger information is acquired from a vehicle in the detection area, driving support such as alarm generation is performed without considering the cause of the sudden braking of the vehicle. Therefore, for example, when another vehicle whose driving lane is different from that of the own vehicle suddenly brakes to avoid an obstacle such as a ball flying from the driving lane side of the own vehicle, the own vehicle can travel safely. Nevertheless, unnecessary driving support will be implemented.
  • One aspect of the present disclosure is appropriate in a driving support device that receives warning information transmitted from another vehicle that has suddenly braked and provides driving support such as an alarm, depending on the cause of the sudden braking of the other vehicle. It is desirable to be able to provide driving support.
  • the driving support device is for suppressing the occurrence of a collision accident by being mounted on a vehicle.
  • This driving support device includes a communication device (10), a vehicle information acquisition unit (32), an obstacle information acquisition unit (34), a sudden braking detection unit (36), a warning information transmission unit (38), and a target vehicle determination unit ( 40), a risk calculation unit (42), and a collision avoidance control unit (44) are provided.
  • the communication device is configured to perform wireless communication with another vehicle
  • the vehicle information acquisition unit is configured to acquire vehicle information including the position and speed of the own vehicle.
  • the obstacle information acquisition unit is configured to acquire obstacle information including the position and speed of obstacles that hinder the traveling of the own vehicle, and the sudden braking detection unit detects sudden braking of the own vehicle. It is composed.
  • the warning information transmission unit causes the communication device to transmit the warning information including the vehicle information and the obstacle information to another vehicle.
  • the target vehicle determination unit determines whether the other vehicle to which the warning information has been transmitted is a warning target vehicle existing in the warning target area. Judge whether or not.
  • the target vehicle determination unit transmits warning information based on the vehicle information of another vehicle included in the warning information received via the communication device and the vehicle information of the own vehicle acquired by the vehicle information acquisition unit. It is determined whether or not the other vehicle that has been used is within the warning target area.
  • the risk calculation unit determines that the other vehicle included in the warning information. Identify the cause of sudden braking of other vehicles based on vehicle information and obstacle information.
  • the cause of sudden braking of another vehicle is due to a preceding vehicle existing as an obstacle in the same lane, or due to an obstacle object moving toward another vehicle. As such, identify the cause of sudden braking.
  • the risk calculation unit calculates the risk of the own vehicle colliding with another vehicle or an obstacle according to the cause of the specified sudden braking, and the collision avoidance control unit is calculated by the risk calculation unit. Depending on the degree of danger, an alarm is issued or the vehicle is automatically braked.
  • the driving support device of the present disclosure when warning information is received from another vehicle existing in the warning target area, the cause of sudden braking is identified based on the vehicle information and obstacle information of the other vehicle included in the warning information. Then, driving support such as warning generation, automatic braking, etc. is provided.
  • the vehicle driving support device of the present disclosure when another vehicle traveling in front of the own vehicle suddenly brakes, it is possible to appropriately provide driving support such as generation of an alarm and automatic braking. Therefore, it is possible to suppress the driver from being uncomfortable due to unnecessary driving support.
  • the driving support device 1 is mounted on each of a plurality of vehicles constituting the driving support system.
  • the driving support device 1 includes a communication device 10, an alarm device 12, a braking device 14, a braking operation detection device 20, a GPS receiver 22, an in-vehicle camera 24, a radar device 26, a vehicle speed sensor 28, and a vehicle speed sensor 28.
  • a control device 30 is provided.
  • the communication device 10 performs wireless communication with other vehicles around the own vehicle. In the present embodiment, it is used to send and receive vehicle information indicating the vehicle speed and position of the own vehicle, warning information generated at the time of sudden braking of the vehicle, and the like.
  • the alarm device 12 generates an alarm to the occupant by voice output, image display, or the like. In this embodiment, it is used to generate an alarm for collision prevention.
  • the braking device 14 is a so-called braking device that generates braking force on the wheels.
  • the braking device 14 is configured to be able to generate a braking force not only by the brake operation by the driver but also by the braking control that pressurizes the brake hydraulic pressure.
  • the braking operation detection device 20 detects the amount of operation of the braking device 14 by the driver and the brake hydraulic pressure. In the present embodiment, it is determined whether or not the own vehicle suddenly brakes based on the amount of change in these parameters.
  • the GPS receiver 22 detects the current position, moving speed, etc. of the vehicle based on the radio waves transmitted from the artificial satellite.
  • the GPS receiver 22 is used to detect the position and speed of the vehicle, but the vehicle speed sensor 28 and the gyro sensor may be used to interpolate the detection result.
  • the in-vehicle camera 24 is for taking an image of the surroundings of the vehicle, and is composed of a CCD camera, a CMOS image sensor, a near-infrared camera, and the like.
  • the in-vehicle camera 24 is used to detect obstacles and road conditions from an image captured in front of the vehicle in the traveling direction.
  • Obstacles include all objects that hinder the running of the vehicle, such as other vehicles traveling in front of the vehicle, fixed objects installed in front of the vehicle, objects crossing the front of the vehicle, and the like.
  • the radar device 26 is for detecting the position of an obstacle, the distance to the obstacle, the relative speed with the obstacle, and the like, and is configured by, for example, a millimeter wave radar.
  • an obstacle may be detected by using a rider or sonar.
  • the radar device 26 can detect the left and right walls and guardrails of the road in combination with the image captured by the in-vehicle camera 24, it is also used to measure the curvature of the curve in front of the traveling direction. Further, since the inclination angle of the traveling road can be detected from the reflected wave from the road surface, it is also used for measuring the inclination angle.
  • the vehicle speed sensor 28 detects the vehicle speed by measuring the rotational speed of the wheel or the drive shaft using, for example, a MER element.
  • control device 30 is composed of a microcomputer including a CPU and a semiconductor memory such as RAM and ROM, and is connected to each of the above parts.
  • the control device 30 includes a vehicle information acquisition unit 32, an obstacle information acquisition unit 34, a sudden braking detection unit 36, a warning information transmission unit 38, a target vehicle determination unit 40, a risk calculation unit 42, and a collision. It has a function as an avoidance control unit 44 and a road condition acquisition unit 46.
  • each of these units 32 to 46 are realized by the CPU executing a program stored in a non-transitional substantive recording medium.
  • the semiconductor memory such as ROM and RAM corresponds to the non-transitional substantive recording medium in which the program is stored.
  • the control device 30 may include one microcomputer or a plurality of microcomputers.
  • the vehicle information acquisition unit 32 acquires the position and speed of its own vehicle as vehicle information based on the input signals from the GPS receiver 22 and the vehicle speed sensor 28.
  • the obstacle information acquisition unit 34 acquires the position and speed of the obstacle that hinders the running of the vehicle as obstacle information based on the image captured in front of the vehicle by the in-vehicle camera 24 and the measurement result by the radar device 26.
  • the road condition acquisition unit 46 identifies the lane of the road in front of the own vehicle by using the image captured by the in-vehicle camera 24 and the measurement result by the radar device 26, and identifies the lane in which the own vehicle and the preceding vehicle are traveling. ..
  • the road condition acquisition unit 46 also measures the curvature and inclination angle of the road.
  • the functions as the sudden braking detection unit 36 and the warning information transmission unit 38 are realized by the CPU repeatedly executing the warning information transmission process shown in FIG. 3 at predetermined time intervals.
  • the own vehicle may collide with the obstacle. Therefore, the vehicle shifts to S150, pressurizes the brake hydraulic pressure, and operates the braking device 14. The vehicle is automatically braked and the vehicle shifts to S130.
  • the obstacle information confirmed in S120 or the obstacle information that caused the automatic braking in S150 is transmitted from the communication device 10 together with the warning information, and the warning information transmission process is terminated. ..
  • the warning information is terminated without executing the process of S130.
  • the warning information is transmitted in S130, the vehicle information acquired by the vehicle information acquisition unit 32 is added to the warning information. Then, the warning information is transmitted from the communication device 10 together with the obstacle information.
  • the communication device 10 transmits warning information to the surroundings of the own vehicle. Notify other vehicles that their vehicle will stop suddenly.
  • the processing of S110 and S140 functions as the sudden braking detection unit 36, and the processing of S130 functions as the warning information transmission unit 38.
  • the functions of the target vehicle determination unit 40, the risk calculation unit 42, and the collision avoidance control unit 44 are shown in FIG. 4 by the CPU when warning information from another vehicle is received by the communication device 10. It is realized by executing the warning information reception process shown.
  • the target vehicle determines whether or not the warning information received by the communication device 10 is information transmitted from another vehicle existing in the warning target area.
  • the determination process as the determination unit 40 is performed.
  • a warning target area for collision avoidance is set according to the speed of the own vehicle acquired by the vehicle information acquisition unit 32, and the warning target area is acquired by the road condition acquisition unit 46. Correct according to the curvature and inclination angle of the road.
  • the position of the other vehicle that has transmitted the warning information is specified based on the vehicle information included in the warning information received by the communication device 10, and whether or not the other vehicle exists in the warning target area. Is determined. Since the warning target area can be set by the same procedure as in Patent Document 1, detailed description thereof will be omitted here.
  • the vehicle shifts to S220 and the road condition acquisition unit 46 is used to drive the own vehicle's lane. And get the driving lane of the warning target vehicle.
  • the vehicle shifts to S230 based on the vehicle speed of the own vehicle and the distance between the own vehicle and the warning target vehicle. Calculate the collision risk for the vehicle subject to the warning. The higher the vehicle speed, the higher the collision risk, and the shorter the distance, the higher the collision risk.
  • the vehicle shifts to S250 to drive the braking device 14 to automatically brake the vehicle. Then, the warning information reception process is terminated.
  • the system shifts to S260 and drives the alarm device 12 according to the collision risk to generate an alarm and end the warning information reception process. That is, in S260, the driver is notified that there is a risk of collision, and the warning information reception process is terminated. In S260, when the collision risk is "0" or not more than the minimum value near "0", no alarm is generated.
  • the vehicle shifts to S270 and sudden braking is applied to the warning information transmitted from the warning target vehicle. It is determined whether or not the obstacle information indicating the cause obstacle is included.
  • the warning information reception process is terminated because it does not collide with the obstacle.
  • the process shifts to S280, the vehicle speed of the own vehicle, the distance between the own vehicle and the warning target vehicle, and the obstacle acquired from the warning target vehicle. Calculate the obstacle risk based on the information.
  • This obstacle risk is determined from the position and speed of the obstacle obtained from the obstacle information, whether or not the obstacle is moving toward the driving lane of the own vehicle, and toward the driving lane of the own vehicle. Calculated when moving.
  • the degree is set to "0".
  • the probability of collision is based on the position and speed of the obstacle and the position and speed of the own vehicle. By finding, the obstacle risk is set.
  • the vehicle shifts to S300, the braking device 14 is driven, and the vehicle is driven. Automatic braking is performed to end the warning information reception process.
  • the process shifts to S310 and the alarm device 12 is driven according to the obstacle risk to generate an alarm and end the warning information reception process. .. That is, in S310, the driver is notified that there is a risk of collision, and the warning information reception process is terminated. In S310, when the obstacle risk is "0" or not more than the minimum value near "0", no alarm is generated.
  • the processing of S220, S230, S270, and S280 functions as the risk calculation unit 42
  • the processing of S240 to S260 and S290 to S310 functions as the collision avoidance control unit 44.
  • the collision risk is calculated according to the vehicle speed of the own vehicle 4 and the distance to the other vehicle 2. Then, depending on the calculated collision risk, an alarm is generated or automatic braking is performed to implement collision avoidance control.
  • the driving lane is different from that of other vehicles, it is determined whether or not the warning information acquired from the other vehicle is provided with obstacle information indicating the position and speed of the obstacle that caused the sudden braking. , Collision avoidance control based on warning information is not implemented unless obstacle information is given.
  • the driving support device 1 of the present embodiment when the traveling lane is different from that of other vehicles and there is no obstacle that may collide, unnecessary collision avoidance control such as an alarm is performed. Can be suppressed.
  • the obstacle information is used to indicate the risk of collision with an obstacle.
  • the obstacle risk is calculated, and collision avoidance control is implemented according to the obstacle risk.
  • collision avoidance control is performed so that the own vehicle 4 does not collide with the object 6 or the oncoming vehicle 8, so that appropriate driving support is provided to the driver. Can be done.
  • the own vehicle when the vehicle is automatically braked in S250 and S300 of the warning information reception process, the own vehicle is suddenly braked. Further, when an alarm is generated in S260 and S310, the own vehicle is suddenly braked by the driver's braking operation.
  • the warning information including the obstacle information is transmitted in the warning information transmission process, so that the warning information is sequentially transmitted to the following vehicles, and each vehicle. Collision avoidance control will be properly implemented in.
  • the driving support device 1 of the present embodiment is mounted on a vehicle traveling on a road, it is possible to better suppress the occurrence of a collision accident.
  • the driving support device 1 of the suddenly braked vehicle transmits obstacle information indicating the position and speed of the obstacle that caused the sudden braking.
  • the obstacle information may not be transmitted.
  • the collision avoidance control when the traveling lane is different from the warning target vehicle to which the warning information is transmitted, the collision avoidance control is not implemented if it is determined that the warning information is not given the obstacle information.
  • collision avoidance control such as an alarm may be implemented when the curvature of the road is equal to or greater than a predetermined threshold value.
  • the driving support device 1 and its method of the above-described embodiment are provided exclusively by configuring a processor and a memory programmed to perform one or more functions embodied by a computer program. It may be realized by a computer. Alternatively, the driving support device 1 and its method may be realized by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Further, the operation support device 1 and its method are configured by a combination of a processor and a memory programmed to execute one or a plurality of functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers.
  • the computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. Further, the driving support device 1 and the method thereof do not necessarily have to include software, and all the functions thereof may be realized by using one or a plurality of hardware.
  • a plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.
  • the present disclosure can also be realized in various forms such as a target recording medium and a display control method.

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  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Business, Economics & Management (AREA)
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  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
PCT/JP2021/036216 2020-10-07 2021-09-30 車両の運転支援装置 Ceased WO2022075187A1 (ja)

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US20230219541A1 (en) 2023-07-13

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