JP3792829B2 - In-vehicle curve judgment device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an in-vehicle curve determination device, and more particularly to an in-vehicle curve determination device that can determine whether the vehicle is traveling in a curve or a lane change in a traveling state of the vehicle.
[0002]
[Prior art]
FIG. 5 is a block diagram schematically showing a main part of a conventional in-vehicle curve determination device. FIG. 6 is a block diagram schematically showing a main part of the inter-vehicle distance control system configured to include the vehicle-mounted curve determination device. Speed output means 1 for outputting a speed signal indicating the moving speed of the vehicle, a yaw rate output means 2 for outputting the detected yaw rate signal, a CPU 3 and a beam steer motor 5 having a yaw rate sensor for detecting the yaw rate of the vehicle. The millimeter wave radar 6 and the cruise control 7 are connected to the bus line 13. The cruise control 7 is connected to the throttle actuator 8, the overdrive control means 9, the brake actuator 10, the buzzer sound generation means 11, and the display control means 12. The CPU 3 is connected and includes the curve determination means 4.
[0003]
Further, the beam steer motor 5 changes the emission direction of the millimeter wave radar 6 used for measuring the inter-vehicle distance in accordance with an instruction from the CPU 3.
Further, the curve determination unit 4 acquires the speed signal from the speed output unit 1 and the yaw rate signal from the yaw rate output unit 2, and determines whether the vehicle is traveling along the curve based on them. .
[0004]
Further, the cruise control 7 obtains the result determined by the curve determination means 4, and in accordance with an instruction from the cruise control 7, the throttle actuator 8, overdrive control means 9, brake actuator 10, buzzer sound generation means 11, and display control When the means 12 controls the inter-vehicle distance or the relative distance to the obstacle becomes short, a warning is given to inform the driver of the danger by a buzzer sound or a display.
[0005]
[Problems to be solved by the invention]
In an inter-vehicle distance control system or the like, it is important to recognize a target front vehicle. For this purpose, it is necessary to determine whether or not the currently traveling lane is a curve. Therefore, the conventional vehicle-mounted curve judgment device shown in FIG. 5 has been invented.
[0006]
The vehicle-mounted curve determination device employs a calculation formula that can calculate how much the vehicle has moved in the lateral direction from the vehicle speed and the yaw rate value, and based on the calculation result, the vehicle is 5 meters or more in the lateral direction. Whether or not the vehicle is traveling along a curve is determined based on whether or not the vehicle is moving.
[0007]
However, even on a straight road, the lateral movement distance may be 5 meters or more. For example, when changing lanes across three lanes, it is sufficiently conceivable that the amount of movement in the lateral direction exceeds 5 meters.
[0008]
Therefore, in the above case, there is a problem that it is difficult to determine whether the vehicle is traveling on a curve or a lane change only from the vehicle speed and the yaw rate value.
[0009]
The present invention has been made in view of the above problems, and provides an in-vehicle curve determination device that can more reliably determine whether the vehicle is traveling in a curve or changing lanes in the traveling state of the vehicle. The purpose is that.
[0010]
[Means for solving the problems and effects thereof]
The present inventor has found that the yaw rate change at the time of lane change is a characteristic change that occurs only at the time of lane change, and has completed the present invention. For example, when a vehicle traveling on a straight road changes its lane to the lane on the right, the change in yaw rate is as shown in the graph shown in FIG. The following (1) to (7) describe the graph shown in FIG. 7 from the situation of the vehicle or the yaw rate value.
▲ 1 ▼ When driving straight on a straight road,
▲ 2 ▼ Start turning right,
(3) The yaw rate value is the maximum value on the right turn side.
▲ 4 ▼ Start turning left,
(5) The yaw rate value is the maximum value on the left turn side.
▲ 6 ▼ Lane change end,
▲ 7 ▼ Driving on the right lane side of the straight road in front.
[0011]
Therefore, the movement when the vehicle changes lanes, that is, the vehicle moving in the front direction starts turning in the direction of changing lanes, and then the vehicle turns in the direction opposite to the direction, and again A series of movements in which the moving direction of the vehicle returns to the front appears as a characteristic change in the yaw rate.
[0012]
That is, the vehicle-mounted curve determination device (1) according to the present invention has a speed output means for outputting a speed signal indicating the moving speed of the vehicle and a yaw rate sensor for detecting the yaw rate of the vehicle. A curve judgment for judging whether the vehicle is traveling along a curve based on a yaw rate output means for outputting a yaw rate signal, a speed signal from the speed output means and a yaw rate signal from the yaw rate output means. In-vehicle curve determination device comprising means,
Based on the direction output means for outputting the direction signal indicated by the direction indicator mounted on the vehicle, the direction signal from the direction output means, and the yaw rate signal from the yaw rate output means, the direction signal is either left or right While showing one direction, the vehicle moving in the front direction starts turning in the same direction as the direction signal, and then the vehicle turns in the direction opposite to the direction indicated by the direction signal. The vehicle further comprises lane change determining means for determining that the vehicle has changed lanes when the moving direction of the vehicle returns to the front again.
[0013]
According to the on-vehicle curve determination device (1), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0014]
Therefore, it is possible to more accurately determine whether the vehicle is traveling in a curve or changing lanes in the traveling state of the vehicle.
[0015]
Moreover, the vehicle-mounted curve determination device (2) according to the present invention is the vehicle-mounted curve determination device (1), wherein the lane change determination means is configured so that the moving direction is in front of the vehicle after the vehicle starts turning. Only when the time required for returning is a predetermined time, it is determined that the lane change has been performed.
[0016]
According to the vehicle-mounted curve determination device (2), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0017]
Furthermore, only when the vehicle takes a predetermined time from the start of turning ((2) in FIG. 7) until the moving direction returns to the front ((6) in FIG. 7). By performing the lane change, it is possible to determine the lane change more accurately.
[0018]
Moreover, the vehicle-mounted curve determination device (3) according to the present invention includes time recording means in which speed and time are recorded in association with each other in the vehicle-mounted curve determination device (2), and the lane change determination means includes The time acquired from the recording means is set as the predetermined time based on the speed signal from the speed output means.
[0019]
According to the on-vehicle curve determination device (3), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the movement of the lane change of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0020]
Further, the time required from the start of turning of the vehicle ((2) in FIG. 7) until the moving direction returns to the front ((6) in FIG. 7) is a predetermined value corresponding to the speed of the vehicle. By determining that the vehicle has changed lanes only at the time, it is possible to determine the lane change more accurately. For example, when changing lanes at a speed of 40 km / h and when changing lanes at a speed of 60 km / h, the time required to change lanes is different, and there is a problem that it is difficult to accurately determine lane changes. By adopting, the above problem can be solved.
[0021]
Moreover, in the vehicle-mounted curve determination device (4) according to the present invention, in any one of the vehicle-mounted curve determination devices (1) to (3), the lane change determination means causes the vehicle to indicate a direction indicated by the direction signal. It is determined that the lane change is made only when the maximum value of the yaw rate when turning in the same direction and in the opposite direction is a predetermined value.
[0022]
According to the vehicle-mounted curve determination device (4), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0023]
Furthermore, the vehicle changes lanes only when the maximum yaw rate (the yaw rate values in (3) and (5) in FIG. 7) on the side where the vehicle starts turning and the opposite side is a predetermined value. By performing the above, it is possible to determine the lane change more accurately.
[0024]
Further, the vehicle-mounted curve determination device (5) according to the present invention includes a yaw rate value recording means in which a speed and a yaw rate value are recorded in the vehicle-mounted curve determination device (4), and the lane change determination is performed. The means sets the yaw rate value acquired from the recording means as the predetermined value based on the speed signal from the speed output signal.
[0025]
According to the on-vehicle curve determination device (5), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0026]
Further, when the maximum yaw rate values (yaw rate values in (3) and (5) in FIG. 7) on the side where the vehicle starts turning and on the opposite side are predetermined values corresponding to the speed of the vehicle, respectively. Only when the vehicle has changed the lane, the lane change can be determined more accurately. For example, when changing lanes at a speed of 40 km / h and when changing lanes at a speed of 60 km / h, the maximum value of the yaw rate is different, and it may be difficult to determine the exact lane change, but a predetermined value corresponding to the speed is adopted. By doing so, the above problem can be solved.
[0027]
Moreover, in the vehicle-mounted curve determination device (1) according to the present invention, in the vehicle-mounted curve determination device (1), when the vehicle changes lanes, the moving direction of the vehicle starts after the vehicle starts turning. The first time storage means for storing the time required for the vehicle to return to the front, and the first time average value for obtaining the time stored in the first time storage means and calculating the average value A calculation means; and a first time average value storage means for storing the time average value calculated from the first time average value calculation means,
The difference between the time required for the lane change determination means from the start of turning of the vehicle until the moving direction returns to the front and the time acquired from the first time average value storage means is within a predetermined range. It is characterized that it is determined that the lane has been changed only during
[0028]
According to the on-vehicle curve determination device (6), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0029]
Further, an average value of the time required for changing the lane is calculated, and after the vehicle starts turning ((2) in FIG. 7), the moving direction returns to the front ((6) in FIG. 7). ) And the average value are within a predetermined range, the lane change can be determined according to each driver.
[0030]
Further, the in-vehicle curve determination device (7) according to the present invention is based on the speed signal from the speed output means when the vehicle changes lanes in the in-vehicle curve determination device (1). Second time storage means for storing the time required for the moving direction to return to the front after the vehicle starts to turn is stored in association with the speed, and stored in the second time storage means. A second time average value calculating means for acquiring time and calculating an average value thereof; a second time average value calculated from the second time average value calculating means; A time average value storage means,
Based on the speed signal from the speed output means, the lane change determination means stores the time required for the moving direction to return to the front after the vehicle starts turning and the second time average value storage. It is characterized that it is determined that the lane change has been made only when the difference from the time acquired from the means is within a predetermined range.
[0031]
According to the on-vehicle curve determination device (7), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the movement of the lane change of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0032]
Further, an average value of the time required for changing the lane is calculated in correspondence with the speed of the vehicle, and after the vehicle starts turning ((2) in FIG. 7), the moving direction returns to the front. By changing the lane only when the difference between the time required until (6) in FIG. 7 and the average value corresponding to the speed of the vehicle is within a predetermined range, It is possible to determine whether to change lanes according to each driver.
[0033]
Therefore, it is possible to more reliably determine whether the vehicle is driving on a curve or changing lanes. As a result, the recognition rate of the target vehicle ahead is improved, and more accurate and safe in-vehicle curve determination. Realization of the inter-vehicle distance control system equipped with the device can be expected.
[0034]
Moreover, the vehicle-mounted curve determination device (8) according to the present invention is the direction indicated by the direction signal when the vehicle changes lanes in the vehicle-mounted curve determination device (6) or (7). First yaw rate storage means for storing the maximum value of the yaw rate when turning in the same direction and in the opposite direction, and the maximum value of the yaw rate stored in the first yaw rate storage means First yaw rate average value calculating means for calculating the average value, and first yaw rate average value storing means for storing the yaw rate average value calculated from the first yaw rate average value calculating means,
The lane change determination means has a maximum yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction, and the yaw rate average acquired from the first yaw rate average value storage means. It is characterized in that it is determined that the lane change has been made only when the difference from the value is within a predetermined range.
[0035]
According to the on-vehicle curve determination device (8), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0036]
Further, the average value of the maximum yaw rate on the turn start side required for the lane change and on the opposite side to the turn start side is calculated, and the yaw rate on the side where the vehicle starts turning and on the opposite side is calculated. By changing the lane only when the difference between the maximum value (yaw rate values in (3) and (5) in FIG. 7) and the average value is within a predetermined range, the lane corresponding to each driver is obtained. A change decision can be made.
[0037]
Further, the vehicle-mounted curve determination device (9) according to the present invention provides a speed signal from the speed output means when the vehicle changes lanes in the vehicle-mounted curve determination device (6) or (7). A second yaw rate storage means for storing the maximum value of the yaw rate when the vehicle is turning in the same direction as the direction indicated by the direction signal and in the opposite direction, respectively, in association with the speed; A second yaw rate average value calculating means for obtaining a maximum value of yaw rates stored in the two yaw rate storage means and calculating an average value thereof; and a yaw rate average calculated from the second yaw rate average value calculating means Second yaw rate average value storage means for storing values,
The lane change determining means, based on a speed signal from the speed output means, a maximum yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction, and the first It is characterized in that it is determined that the lane has been changed only when the difference from the yaw rate average value obtained from the two yaw rate average value storage means is within a predetermined range.
[0038]
According to the on-vehicle curve determination device (9), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the lane change movement of the vehicle and the direction signal from the direction output means are used. Thus, it can be determined whether or not the vehicle has changed lanes.
[0039]
Further, the average value of the maximum value of the yaw rate on the turning start side required for the lane change and on the opposite side to the turning start side is calculated in correspondence with the speed of the vehicle, and the side on which the vehicle starts turning And the lane only when the difference between the maximum value of the yaw rate on the opposite side (yaw rate value in (3) and (5) in FIG. 7) and the average value corresponding to the speed of the vehicle is within a predetermined range, respectively. By making a change, it is possible to determine the lane change according to each driver even more accurately.
[0040]
Therefore, it is possible to more reliably determine whether the vehicle is driving on a curve or changing lanes. As a result, the recognition rate of the target vehicle ahead is improved, and more accurate and safe in-vehicle curve determination. Realization of the inter-vehicle distance control system equipped with the device can be expected.
[0041]
An in-vehicle curve determination device (10) according to the present invention provides an acceleration / deceleration output for outputting an acceleration / deceleration signal indicating the acceleration / deceleration of the vehicle in any of the in-vehicle curve determination devices (1) to (9). And an operation control means for obtaining an acceleration / deceleration signal from the acceleration / deceleration output means and controlling the lane change determination means to be inoperable when the acceleration / deceleration is equal to or greater than a predetermined value. It is characterized by.
[0042]
According to the on-vehicle curve determination device (10), when the acceleration / deceleration is greater than or equal to a predetermined value, that is, when the speed change at the time of lane change is large, the change in the yaw rate becomes exceptional, and the yaw rate Since it is difficult to accurately determine the lane change only from this change, it is possible to reduce the erroneous determination by disabling the operation of the lane change determining means.
[0043]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a vehicle-mounted curve determination device according to the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram schematically showing a main part of an in-vehicle curve determination device according to Embodiment (1). Here, the description of the same configuration as that of the conventional vehicle-mounted curve determination device shown in FIG. 5 is omitted.
[0044]
The speed output means 1, the yaw rate output means 2, the direction output means 14, the CPU 15, the time recording means 17, and the yaw rate value recording means 18 are connected to the bus line 13, and the CPU 15 includes the curve determination means 4 and the lane change determination means 16. It is comprised including.
[0045]
The direction output means 14 outputs a direction signal indicated by a direction indicator mounted on the vehicle. The time recording means 17 records the time associated with the speed, and the yaw rate value recording means 18. Is a yaw rate value associated with the speed.
[0046]
The operation of the CPU 15 in the in-vehicle curve determination device according to the embodiment (1) will be described based on the flowchart shown in FIG.
First, in step 1, the direction signal from the direction output means 14 is acquired, and then in step 2, it is determined whether the direction signal is turned on, that is, whether the direction indicator indicates either left or right. To do. If it is turned on, the process proceeds to step 3. If it is not turned on, the process returns to step 1.
[0047]
In step 3, the yaw rate signal from the yaw rate output means 2 is acquired, and in step 4, it is determined whether or not the direction indicated by the direction indicator matches the direction indicated by the yaw rate signal. If they match, the process moves to step 5, and if they do not match, the process moves to step 12.
[0048]
In step 5, it is determined whether or not the yaw rate change form is a unique form (see FIG. 7) that occurs only when the lane is changed. If it is in the above-described form, the process proceeds to step 6; otherwise, the process proceeds to step 12.
[0049]
In step 6, the speed signal from the speed output means 1 is acquired, and in step 7, the time corresponding to the speed signal is acquired from the time recording means 17, and then in step 8, the vehicle starts turning. ((2) in FIG. 7), the difference between the time required until the moving direction returns to the front ((6) in FIG. 7) and the time acquired from the time recording means 17 is within a predetermined range (for example, , Within 20%). If it is within the predetermined range, the process proceeds to step 9; otherwise, the process proceeds to step 12.
[0050]
In step 9, the yaw rate value corresponding to the speed signal is acquired from the yaw rate value recording means 18, and in step 10, the maximum yaw rate on the side where the vehicle starts turning and the opposite side (see FIG. 7). It is determined whether or not the difference between the yaw rate values in (3) and (5) and the yaw rate value acquired from the yaw rate value recording means 18 is within a predetermined range (for example, within 20%). If it is within the predetermined range, the process proceeds to step 11 and it is determined that the vehicle has not changed along the curve but has changed lanes. On the other hand, if not within the predetermined range, the process proceeds to step 12.
[0051]
In step 12, the curve judgment means 4 calculates the amount of lateral movement of the vehicle from the speed signal from the speed output means 1 and the yaw rate signal from the yaw rate output means 2, and judges the curve.
[0052]
According to the vehicle-mounted curve determination device according to the above embodiment (1), the specific change in the yaw rate (see FIG. 7) that occurs only during the movement of the lane change of the vehicle, and the direction signal from the direction output means 14 It is possible to determine whether or not the vehicle has changed lanes.
[0053]
Further, the time required from the start of turning of the vehicle ((2) in FIG. 7) until the moving direction returns to the front ((6) in FIG. 7) is a predetermined value corresponding to the speed of the vehicle. Only when the maximum yaw rate (the yaw rate values in (3) and (5) in FIG. 7) on the side where the vehicle has started to turn and the opposite side is a predetermined value. By assuming that the own vehicle has changed the lane, it is possible to determine the lane change more accurately. For example, when changing lanes at 40 km / h and when changing lanes at 60 km / h, the time required to change lanes and the maximum value of the yaw rate are different, and there is a problem that it is difficult to accurately determine lane changes. By adopting the corresponding predetermined time and the predetermined value, the above problem can be solved.
[0054]
FIG. 3 is a block diagram schematically showing a main part of the in-vehicle curve determination device according to the embodiment (2). Here, the description of the same configuration as that of the conventional vehicle-mounted curve determination device shown in FIG. 5 is omitted.
[0055]
Speed output means 1, yaw rate output means 2, direction output means 14, CPU 19, second time storage means 21, second time average value calculation means 22, second time average value storage means 23, second yaw rate storage The means 24, the second yaw rate average value calculating means 25, and the second yaw rate average value storage means 26 are connected to the bus line 13, and the CPU 19 includes the curve determining means 4 and the lane change determining means 20. ing. The second time storage means 21 stores the time required for the vehicle to change lanes in association with the speed, and the second time average value calculation means 22 is the second time storage means 21. The second time average value storage means 23 obtains the time average value calculated from the second time average value calculation means 22, and calculates the average value. It is stored in association with the speed.
[0056]
Further, the second yaw rate storage means 24 stores the maximum value of the yaw rate on the side of the turning start required for the vehicle to change the lane and the side opposite to the side of the turning start in association with the speed, The second yaw rate average value calculation means 25 acquires the yaw rate value stored in the second yaw rate storage means 24 and calculates the average value. The second yaw rate average value storage means 26 The yaw rate average value calculated from the second yaw rate average value calculating means 25 is stored in association with the speed.
[0057]
The operation of the CPU 19 in the in-vehicle curve determination device according to the embodiment (2) will be described based on the flowchart shown in FIG.
First, in step 21, the direction signal from the direction output means 14 is acquired, and then in step 22, it is determined whether or not the direction signal is turned on, that is, whether or not the direction indicator indicates either left or right. To do. If it is turned on, the process proceeds to step 23. If it is not turned on, the process returns to step 21.
[0058]
In step 23, the yaw rate signal from the yaw rate output means 2 is acquired. Next, in step 24, it is determined whether or not the direction indicated by the direction indicator matches the direction indicated by the yaw rate signal. If they match, the process moves to step 25, and if they do not match, the process moves to step 32.
[0059]
In step 25, it is determined whether or not the yaw rate change form is a unique form (see FIG. 7) that occurs only when the lane is changed. If it is in the form, the process proceeds to step 26, and if not, the process proceeds to step 32.
[0060]
In step 26, a speed signal from the speed output means 1 is acquired. Next, in step 27, a time average value corresponding to the speed signal is acquired from the second time average value storage means 23, and then in step 28. From the time when the vehicle starts turning ((2) in FIG. 7) until the moving direction returns to the front ((6) in FIG. 7) and the second time average value storage means 23 It is determined whether or not the difference from the acquired time average value is within a predetermined range (for example, within 20%). If it is within the predetermined range, the process proceeds to step 29, and if not within the predetermined range, the process proceeds to step 32.
[0061]
In step 29, the average yaw rate value corresponding to the speed signal is acquired from the second yaw rate average value storage means 26. Next, in step 30, the maximum yaw rate on the side where the vehicle starts turning and on the opposite side is determined. The difference between the value (the yaw rate value at (3) and (5) in FIG. 7) and the average yaw rate value acquired from the second yaw rate average value storage means 26 is within a predetermined range (for example, within 20%). Judge whether there is. If it is within the predetermined range, the process proceeds to step 31, where it is determined that the vehicle has not changed along the curve but has changed lanes, and then the process proceeds to step 33. On the other hand, if it is not within the predetermined range, the process proceeds to step 32.
[0062]
In step 32, the curve judgment means 4 calculates the amount of lateral movement of the vehicle from the speed signal from the speed output means 1 and the yaw rate signal from the yaw rate output means 2, and judges the curve.
[0063]
In step 33, the time required for the vehicle to change lanes is stored in the second time storage means 21 in association with the speed. Next, in step 34, the turning start side required for the vehicle to change lanes, and The maximum value of the yaw rate on the side opposite to the turning start side is stored in the second yaw rate storage means 24 in association with the speed, and then the process proceeds to step 35.
[0064]
In step 35, the time stored in the second time storage means 21 is acquired by the second time average value calculation means 22, and the average value is calculated. Next, in step 36, the calculated average value is stored in the second time average value storage means 23 in association with the speed.
[0065]
Next, in step 37, the yaw rate value stored in the second yaw rate storage means 24 is acquired by the second yaw rate average value calculation means 25, and the average value is calculated. Next, in step 38, the calculated average value is stored in the second yaw rate average value storage means 26 in association with the speed.
[0066]
According to the vehicle-mounted curve determining means according to the above embodiment (2), the characteristic change in the yaw rate (see FIG. 7) that occurs only during the movement of the lane change of the vehicle, and the direction signal from the direction output means 14 It is possible to determine whether or not the vehicle has changed lanes.
[0067]
Further, an average value of the time required for changing the lane is calculated in correspondence with the speed of the vehicle, and after the vehicle starts turning ((2) in FIG. 7), the moving direction returns to the front. The difference between the time required until (6) in FIG. 7 and the average value corresponding to the speed of the vehicle is within a predetermined range (for example, within 20%), and the turn start required for changing the lane And the average value of the maximum yaw rate on the side opposite to the turning start side is calculated in correspondence with the speed of the vehicle, and the maximum yaw rate on the side on which the vehicle starts turning and on the opposite side is calculated. Lane change only when the difference between the value (yaw rate value in (3) and (5) in FIG. 7) and the average value corresponding to the speed of the vehicle is within a predetermined range (for example, within 20%). Each driver, more accurately It can be carried out determination of the corresponding lane change.
[0068]
For example, when changing lanes at 40km / h and 60km / h, or when a skilled person and a beginner drive a vehicle, the time required for changing lanes and the maximum value of the yaw rate are different, making it difficult to accurately determine lane changes. However, the problem can be solved by adopting the speed, the time corresponding to each driver, and the yaw rate value.
[0069]
Therefore, it is possible to more reliably determine whether the vehicle is driving on a curve or changing lanes. As a result, the recognition rate of the target vehicle ahead is improved, and more accurate and safe in-vehicle curve determination. Realization of the inter-vehicle distance control system equipped with the device can be expected.
[0070]
In the vehicle-mounted curve determination device according to the embodiment (1) or (2), an acceleration / deceleration output means for outputting an acceleration / deceleration signal indicating the acceleration / deceleration of the vehicle, and an acceleration / deceleration signal from the acceleration / deceleration output means When the acceleration / deceleration is greater than or equal to a predetermined value, an operation control means is provided for controlling the lane change determination means 16 and 20 to be inoperable.
[0071]
As a result, when the acceleration / deceleration is greater than or equal to a predetermined value (for example, when the brake is applied), that is, when the speed change at the time of lane change is large, the change in the yaw rate becomes exceptional, and the vehicle is in the lane Occurrence of a situation in which it is determined that the lane has been changed when no change is made can be eliminated.
[Brief description of the drawings]
FIG. 1 is a block diagram schematically showing a main part of an in-vehicle curve determination device according to an embodiment (1) of the present invention.
FIG. 2 is a flowchart showing the operation of a CPU in the in-vehicle curve determination device according to the embodiment (1).
FIG. 3 is a block diagram schematically showing a main part of an in-vehicle curve determination device according to an embodiment (2).
FIG. 4 is a flowchart showing the operation of a CPU in the in-vehicle curve determination device according to the embodiment (2).
FIG. 5 is a block diagram schematically showing a main part of a conventional vehicle curve determination device.
FIG. 6 is a block diagram schematically showing a main part of an inter-vehicle distance control system configured to include a conventional in-vehicle curve determination device.
FIG. 7 is a graph showing a specific yaw rate change that occurs only when a lane is changed.
[Explanation of symbols]
1 Speed output means
2 Yaw rate output means
3, 15, 19 CPU
4 Curve judgment means
5 Beam steer motor
6 Millimeter wave radar
7 Cruise control
8 Throttle actuator
9 Overdrive control means
10 Brake actuator
11 Buzzer sound generation means
12 Display control means
13 Bus line
14 direction output means
16, 20 Lane change judgment means
17 Time recording means
18 Yaw rate value recording means
21 Second time storage means
22 Second time average value calculating means
23 Second time average value storage means
24 Second yaw rate storage means
25 Second yaw rate average value calculating means
26 Second yaw rate average value storage means

Claims (10)

A speed output means for outputting a speed signal indicating a moving speed of the vehicle, a yaw rate sensor for detecting a yaw rate of the vehicle, a yaw rate output means for outputting the detected yaw rate signal, and a speed output means from the speed output means. In a vehicle-mounted curve determination device comprising curve determination means for determining whether the vehicle is traveling along a curve based on a speed signal and a yaw rate signal from the yaw rate output means,
Based on the direction output means for outputting the direction signal indicated by the direction indicator mounted on the vehicle, the direction signal from the direction output means, and the yaw rate signal from the yaw rate output means, the direction signal is either left or right While showing one direction, the vehicle moving in the front direction starts turning in the same direction as the direction signal, and then the vehicle turns in the direction opposite to the direction indicated by the direction signal. And a vehicle lane change determining means for determining that the vehicle has changed the lane when the moving direction of the vehicle returns to the front again. The lane change determining means determines that the lane change has been made only when the time required for the moving direction to return to the front after the vehicle starts turning is a predetermined time. The vehicle-mounted curve determination device according to Item 1. A time recording unit that records the speed and time in association with each other, and the lane change determination unit sets the time acquired from the time recording unit based on the speed signal from the speed output unit as the predetermined time; The in-vehicle curve determination device according to claim 2. The lane change determining means determines that the lane change has been made only when the maximum value of the yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction is a predetermined value. The vehicle-mounted curve determination apparatus according to any one of claims 1 to 3, wherein Yaw rate value recording means recorded in association with speed and yaw rate value, the lane change determination means based on the speed signal from the speed output signal, the yaw rate value acquired from the yaw rate value recording means The on-vehicle curve determination device according to claim 4, wherein the predetermined value is set. When the vehicle changes lanes, a first time storage means for storing a time required for the moving direction to return to the front after the vehicle starts turning, and the first time storage means The first time average value calculating means for acquiring the time stored in the memory and calculating the average value thereof, and the first time for storing the time average value calculated from the first time average value calculating means Average value storage means,
The difference between the time required for the lane change determination means from the start of turning of the vehicle until the moving direction returns to the front and the time acquired from the first time average value storage means is within a predetermined range. The vehicle-mounted curve determination device according to claim 1, wherein it is determined that the lane change has been performed only when When the vehicle changes lanes, the time required for the moving direction to return to the front after the vehicle starts turning is associated with the speed based on the speed signal from the speed output means. Second time storage means for storing the second time, second time average value calculating means for acquiring the time stored in the second time storage means and calculating an average value thereof, and the second time Second time average value storage means for storing the time average value calculated from the average value calculation means in association with the speed;
Based on the speed signal from the speed output means, the lane change determination means stores the time required for the moving direction to return to the front after the vehicle starts turning and the second time average value storage. The in-vehicle curve determination device according to claim 1, wherein it is determined that the lane change has been made only when the difference from the time acquired from the means is within a predetermined range. First yaw rate storage means for storing the maximum value of the yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction when the vehicle changes lanes, The first yaw rate average value calculating means for obtaining the maximum value of the yaw rate stored in the first yaw rate storage means and calculating the average value, and the yaw rate calculated from the first yaw rate average value calculating means First yaw rate average value storage means for storing the average value;
The lane change determination means has a maximum yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction, and the yaw rate average acquired from the first yaw rate average value storage means. 8. The vehicle-mounted curve determination device according to claim 6, wherein it is determined that the lane change has been made only when the difference from each value is within a predetermined range. When the vehicle changes lanes, the maximum yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction is determined based on the speed signal from the speed output means. Second yaw rate storage means for storing each in association with the speed, and a second yaw rate average value for obtaining the maximum value of the yaw rate stored in the second yaw rate storage means and calculating the average value thereof Calculating means, and second yaw rate average value storage means for storing the yaw rate average value calculated from the second yaw rate average value calculation means,
The lane change determining means, based on a speed signal from the speed output means, a maximum yaw rate when the vehicle is turning in the same direction as the direction signal and in the opposite direction, and the first 8. The vehicle-mounted curve determination according to claim 6 or 7, wherein it is determined that the lane has been changed only when the difference from the average yaw rate obtained from the yaw rate average value storage means is within a predetermined range. apparatus. Acceleration / deceleration output means for outputting an acceleration / deceleration signal indicating the acceleration / deceleration of the vehicle, and an acceleration / deceleration signal from the acceleration / deceleration output means are acquired, and when the acceleration / deceleration is equal to or greater than a predetermined value, the lane change determination means is activated. The vehicle-mounted curve determination device according to any one of claims 1 to 9, further comprising an operation control unit that performs control so as to be disabled.

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