JP5730116B2 - Vehicle control object determination device - Google Patents

Description

  The present invention provides an object detection means capable of detecting a plurality of objects existing in a predetermined detection region in the traveling direction of a vehicle, and one of the two objects detected in the detection region is replaced by the other object. The present invention relates to a vehicle control target determination device including a control target determination unit that determines that the other object is an object to be controlled by the own vehicle when passing, and excludes the one object from the control target.

  When the other object passes through one of the plurality of objects detected by the object detection means, the other object is a preceding vehicle, the one object is a fallen object, a manhole cover, a signboard, It is known from Patent Document 1 below that a vehicle such as a pedestrian bridge is determined to be a fixed object that is unlikely to collide and is excluded from a control target of vehicle control such as an ACC system.

JP 2006-127194 A

  By the way, in the invention described in the above-mentioned Patent Document 1, when a preceding vehicle passes through a manhole cover, a signboard, a pedestrian bridge, etc., a pedestrian enters on the fallen object or the manhole cover, When a pedestrian enters under the signboard or the pedestrian bridge, the pedestrian is excluded from the control target, and thus the own vehicle may abnormally approach the pedestrian.

  The present invention has been made in view of the above-described circumstances, so that a pedestrian is not excluded when a non-control target object is excluded from a control target object among a plurality of objects detected by the object detection means. The purpose is to do.

In order to achieve the above object, according to the first aspect of the present invention, object detection means capable of detecting a plurality of objects existing in a predetermined detection area in the traveling direction of the vehicle, and detection within the detection area When the other object passes through one of the two objects, the vehicle determines that the other object is an object to be controlled by the vehicle and excludes the one object from the control object. In the vehicle control target determination device including the control target determination unit, the detection region includes a plurality of layers set at different heights in the vertical direction, and the control target determination unit includes the one object as a control target. after being removed from the size than the detection level of the other areas in the sensing level is the detection area of the partial area of detection area overlapping the one object no longer, and the partial region on the road Adjacent If an area in yer, the partial region of the control vehicle and judging that the vehicle is an object to be controlled object determination device is proposed.

According to the invention described in claim 2 , in addition to the configuration of claim 1 , when the object to be controlled by the own vehicle is determined by the control object determining means, the braking force control is performed on the own vehicle. , Vehicle control means for performing vehicle control including either driving force control or alarm, and the vehicle control means is configured to move the vehicle when the part of the area to be controlled by the own vehicle is moving. There is proposed a vehicle control target determination device characterized in that the timing of executing control is advanced.

  The radar device 14 of the embodiment corresponds to the object detection means of the present invention, and the first to fourth layers L1 to L4 of the embodiment correspond to the layers of the present invention.

According to the configuration of the first aspect, the object detection unit detects a plurality of objects existing in a predetermined detection region in the traveling direction of the vehicle, and the control target determination unit detects the two objects detected in the detection region. When the other object passes through one of the objects, it is determined that the other object is an object to be controlled by the own vehicle, and the one object is excluded from the control object. After the one object is excluded from the control target, the detection level of a part of the detection region that overlaps the one object becomes higher than the detection level of the other region in the detection region, and the one If the part area is an area in a layer adjacent to the road, it is determined that the part of the area is an object to be controlled by the own vehicle. It can be determined that an object that may be a pedestrian has appeared on the road ahead, and a situation in which the host vehicle abnormally approaches the pedestrian can be avoided .

According to the second aspect of the present invention, when the object to be controlled by the own vehicle is determined by the control object determining means, the vehicle control includes any one of braking force control, driving force control, and alarm for the own vehicle. Since the vehicle control means for performing is provided, it is possible to prevent the own vehicle from abnormally approaching the control target. When the part of the area that is controlled by the host vehicle is moving, it is more likely that the vehicle is a pedestrian. An abnormal approach to can be prevented more reliably.

The block diagram of the control system of an ACC system. (First embodiment) The flowchart explaining an effect | action. (First embodiment) Explanatory drawing of the estimation method of the future traveling locus of the own vehicle. (First embodiment) Explanatory drawing when the preceding vehicle crosses over a fixed object on the road. (First embodiment) The figure which shows the scenery ahead of the own vehicle, and its radar image. (First embodiment) The block diagram of the control system of an ACC system. (Second Embodiment) The flowchart explaining an effect | action. (Second Embodiment)

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, an ACC (adaptive cruise) that keeps a preset inter-vehicle distance and follows the preceding vehicle when there is a preceding vehicle, and runs at a constant speed at a preset vehicle speed when there is no preceding vehicle. The control system includes a travel locus estimation means M1, a detection position storage means M2, a determination area setting means M3, a passing direction determination means M4, a control object determination means M5, a control target value determination means M6, a vehicle And a control means M7.

  A vehicle speed sensor 11 and a yaw rate sensor 12 are connected to the travel locus estimation means M1, a radar device 14 having a predetermined detection area is connected to the detection position storage means M2, and a display 15 and a deceleration actuator 16 are connected to the vehicle control means M7. And an acceleration actuator 17 is connected.

  As shown in FIG. 3, the travel trajectory estimation unit M1 estimates the future travel trajectory T of the host vehicle based on the vehicle speed detected by the vehicle speed sensor 11 and the yaw rate detected by the yaw rate sensor 12. That is, since the turning radius R of the vehicle can be calculated from the current vehicle speed and the yaw rate, the future traveling locus T of the own vehicle can be estimated by connecting the arc of the turning radius R in the current traveling direction of the own vehicle. .

  The detected position storage means M2 is the position (center position) of an object existing on the future travel locus of the host vehicle estimated by the travel locus estimation means M1 among the objects detected by the radar device 14 at a predetermined time interval. Remember. The determination area setting unit M3 sets a predetermined determination area around the center position of the object stored in the detection position storage unit M2. The size of the determination area is approximately the same as that of a general automobile plane.

  By the way, as shown in FIG. 4A, a case is considered in which a preceding vehicle exists on the road ahead of the host vehicle, and a fixed object such as a manhole cover exists in front of the preceding vehicle. The radar device 14 detects both the preceding vehicle and the fixed object, but the control target determining means M5 determines the preceding vehicle closer to the own vehicle as the control target, and is constant between this control target (that is, the preceding vehicle). The vehicle is controlled to follow the vehicle so that the distance between the vehicles is maintained. When the predetermined time has passed and the preceding vehicle has crossed over the fixed object as shown in FIG. 4B, the control object determining means M5 sets the fixed object closer to the own vehicle as the control object instead of the preceding vehicle. Judgment is made, and the vehicle is subjected to follow-up traveling control so as to maintain a constant inter-vehicle distance from this controlled object (ie, a fixed object). In this case, since the vehicle approaches the fixed object fixed on the road rapidly, the own vehicle is automatically braked by the follow-up driving control to keep the distance from the fixed object constant, and the driver feels uncomfortable. May give.

  In order to resolve such problems, a fixed object that can be crossed over, such as a manhole cover, is identified as the preceding vehicle, and this fixed object is excluded from the control target, so that the preceding vehicle that has crossed the fixed object. Need to be determined as a control target.

  Therefore, in this embodiment, when the center of the fixed object passes through the determination area set around the center of the preceding vehicle, or when the center of the preceding vehicle passes through the determination area set around the center of the fixed object. The relative direction of the passage is determined by the passage direction determination means M4, and the control object determination means M5 determines the control object based on the passage direction.

  That is, the radar device 14 cannot distinguish between the preceding vehicle and the fixed object, but when the preceding vehicle straddles the fixed object, the direction in which the fixed object passes the preceding vehicle always approaches the own vehicle. Therefore, the control object determination unit M5 determines that the object that has passed through the object of the other party in the direction approaching the own vehicle is a fixed object among the two objects detected by the radar device 14, and the other object Can be determined to be a preceding vehicle. As a result, even if the preceding vehicle straddles the fixed object and the fixed object is closer to the host vehicle than the preceding vehicle, it is not erroneously determined that the fixed object is the control target, and the preceding vehicle is continuously controlled. By determining that the vehicle is the target, it is possible to continue the follow-up traveling control for the preceding vehicle without any trouble.

By the way, as shown in FIG. 5, the detection area of the radar device 14 is divided into four first layers L1 to L4 having different heights in the vertical direction. It corresponds to the road surface in front of the car. For example, when a large sign 18 projects over the road ahead of the host vehicle, the sign 18 and the preceding vehicle are detected in the three first layers L1 to L3 from the detection area of the radar device 14. When the preceding vehicle passes the sign 18, the sign 18 is excluded from the control target of the following traveling control and the preceding vehicle is continuously controlled. However, the sign 18 is in the third layer L3 adjacent to the road surface. When a portion having a reflection level higher than that of the sign 18 appears in a portion that overlaps with the sign 18, the control target determination unit M5 has an object that may be a pedestrian on the road surface ahead of the host vehicle after the preceding vehicle has passed. Judge that it appeared. Then, the control target determination unit M5 sets a new control target to an object that may be a newly appearing pedestrian instead of the preceding vehicle that has been the control target.
By performing vehicle control, it is possible to reliably avoid a situation in which the host vehicle abnormally approaches a pedestrian.

  Thus, the control target value determining means M6 determines a target vehicle speed, a target acceleration / deceleration, a target inter-vehicle distance, etc., which are parameters for causing the host vehicle to follow the preceding vehicle that is the control target. Then, the vehicle control means M7 drives the deceleration actuator 16 and the acceleration actuator 17 based on the control target value determined by the control target value determination means M6, and opens and closes the throttle valve or operates the brake device to follow-up traveling control. In addition to executing the constant speed running control, the current vehicle control state is displayed on the display 15 to alert the driver. When the object to be controlled is an object that may be a pedestrian, the vehicle control means M7 operates the brake device and warns the driver so that the vehicle does not abnormally approach the object.

  At this time, if an object that may be a pedestrian is moving, the possibility that it is a pedestrian further increases, so the vehicle control means M7 performs vehicle control more than when the preceding vehicle is the control target. By speeding up the timing, the situation where the own vehicle abnormally approaches a pedestrian can be avoided more reliably.

  As described above, if an object with a reflection level higher than that of the object is detected after the preceding vehicle has passed an object such as a fallen object, a manhole cover, a signboard, or a pedestrian bridge, the object Since the vehicle control is performed by determining that the vehicle is a pedestrian, even if a pedestrian appears in front of the host vehicle after the preceding vehicle has passed, the vehicle control is reliably performed with the pedestrian as the control target. It is possible to avoid the situation where the own vehicle abnormally approaches a pedestrian.

  Next, the operation of the first embodiment will be further described based on the flowchart of FIG.

  First, in step S1, the travel locus estimation means M1 estimates the future travel locus of the vehicle based on the yaw rate and the vehicle speed. If the object detected by the radar device 14 in the subsequent step S2 is present on the future travel locus of the host vehicle, the detection position storage means M2 stores the position of the detected object, and in step S3, around the center of the detected object. A predetermined detection area is set in. If the other detection object passes through the detection area of one detection object of the two detection objects in the subsequent step S4, the detection of passing the opponent in the direction approaching the own vehicle in the two detection objects in step S5. It is determined that the object is a fixed object on the road, and the fixed object on the road is excluded from the control target. As a result, a detection object that is not a fixed object on the road, that is, a preceding vehicle can be correctly determined as a control target.

  In step S6, if there is a portion having a higher reflection level than the fixed object on the road in the third layer L3 adjacent to the road surface and overlapping the fixed object on the road, the part having the higher reflection level in step S7 Determines that there is a possibility of a pedestrian, and executes vehicle control with this as a control target.

  Next, a second embodiment of the present invention will be described based on FIG. 6 and FIG.

  As shown in FIG. 6, the second embodiment does not include the passage direction determination means M4 (see FIG. 1) of the first embodiment, but instead is connected to the vehicle speed sensor 11 and the radar device 14. The absolute speed detecting means M9 is provided. The absolute speed detection means M9 detects the absolute speed of the object (speed relative to the road) by subtracting the vehicle speed of the vehicle detected by the vehicle speed sensor 11 from the relative speed of the object detected by the radar device 14 to the vehicle. To do. If the radar device 14 is a millimeter wave radar, the relative speed can be immediately detected by the Doppler effect, and if the radar device 14 is a laser radar, the relative speed is immediately determined from the rate of change of the distance between the vehicle and the object. Can be calculated.

  The control target determination unit M5 is configured to detect the determination region set around the center of the other object when the center of the other object passes through the determination region set around the center of one of the two detection objects. When the center of the object passes, the object having the smaller absolute velocity of the two objects can be determined to be a fixed object on the road. This is because the fixed object on the road has an absolute speed of 0, and the preceding vehicle that is traveling has a predetermined absolute speed.

  In this way, the two sensing objects can be identified as a fixed object on the road and a preceding vehicle. Therefore, by removing the fixed object on the road from the control object and making the preceding vehicle a control object, the preceding vehicle becomes a fixed object. Even if the fixed object is closer to the host vehicle than the preceding vehicle across the vehicle, the fixed object will not be erroneously determined to be a control object, and the preceding vehicle will continue to be determined to be the control object. The follow-up driving control for the vehicle can be continued without any trouble.

  Next, the operation of the second embodiment will be further described based on the flowchart of FIG.

  First, in step S21, the travel locus estimation means M1 estimates the future travel locus of the vehicle based on the yaw rate and the vehicle speed. If the object detected by the radar device 14 in the subsequent step S22 exists on the future travel locus of the host vehicle, the detected position storage means M2 stores the position of the detected object, and in step S23, the area around the center of the detected object. In step S24, the absolute speed detecting means M9 detects the absolute speed of the detected object from the relative speed of the detected object and the vehicle speed of the host vehicle. In step S25, if the other detection object passes through the detection area of one of the two detection objects, in step S26, the detection object having the smaller absolute speed is detected as a fixed object on the road. It is determined that there is a fixed object on the road and excluded from the control target. As a result, a detection object that is not a fixed object on the road, that is, a preceding vehicle can be correctly determined as a control target.

  In step S27, if there is a portion having a higher reflection level than the fixed object on the road in the third layer L3 adjacent to the road surface and overlapping the fixed object on the road, the part having the higher reflection level in step S28. Determines that there is a possibility of a pedestrian, and executes vehicle control with this as a control target.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, the region for determining an object that may be a pedestrian is the third layer L3 adjacent to the upper side of the road surface, but the region is not limited thereto.

  Moreover, although ACC system was demonstrated in embodiment, this invention can be applied with respect to the control object determination apparatus for vehicles of arbitrary uses other than an ACC system.

14 Radar device (object detection means)
L1 to L4 1st to 4th layers (layers)
M5 Control object determining means M7 Vehicle control means

Claims (2)

An object detection means (14) capable of detecting a plurality of objects existing in a predetermined detection area in the traveling direction of the vehicle, and the other object passes through one of the two objects detected in the detection area And determining that the other object is an object to be controlled by the own vehicle, and including a control object determining means (M5) for excluding the one object from the control object. In
The detection area is composed of a plurality of layers (L1 to L4) set at different heights in the vertical direction, and the control target determination means (M5) is configured such that after the one object is excluded from the control target , detecting the level of a partial area of detection area overlapping the object is the detection size than the detection level of other regions within the region no longer, and the part of the region is the layer adjacent to the road (L3) in the in In the case of a region, the vehicle control target determination device determines that the partial region is an object that is controlled by the own vehicle . Vehicle control means for performing vehicle control including braking force control, driving force control, or alarm on the own vehicle when the object to be controlled by the own vehicle is determined by the control object determining means (M5). M7), the vehicle control means (M7) is characterized by advancing the timing of executing the vehicle control when the part of the area to be controlled by the own vehicle is moving. The vehicle control object determination device according to claim 1 .

Images