CN1967147A - Vehicular driving assist operation device and vehicle possessing same - Google Patents
Vehicular driving assist operation device and vehicle possessing same Download PDFInfo
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- CN1967147A CN1967147A CNA2006101385789A CN200610138578A CN1967147A CN 1967147 A CN1967147 A CN 1967147A CN A2006101385789 A CNA2006101385789 A CN A2006101385789A CN 200610138578 A CN200610138578 A CN 200610138578A CN 1967147 A CN1967147 A CN 1967147A
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Abstract
A vehicle driving assist system is configured to convey a risk potential relating to a preceding obstacle to a driver using both visual information and haptic information and vehicle equipped with the same. For example, the vehicle driving assist system executes accelerator pedal actuation reaction force control such that an actuation reaction force is generated in accordance with a risk potential that expresses a degree of convergence between the host vehicle and a preceding obstacle. In order to convey to the driver in a clear manner which preceding obstacle(s) is an obstacle targeted by the risk potential calculation and the reaction force control, the system displays a reference frame at a position corresponding to the preceding vehicle. At least one of size, color, shape and brightness of the reference frame is set in accordance with the risk potential.
Description
Technical field
The present invention relates to the vehicle steering operation assisting device of a kind of driver assistance person's operation.
Background technology
In carrying out the system of vehicle distances control, known a kind of display device, when driving earlier appearred in this vehicle front, overlapping demonstration was represented that driving earlier that car in advance exists is caught and is shown (referring to Patent Document 1) in the vehicle front image.
Patent documentation 1: TOHKEMY 2004-58919 communique
Summary of the invention
The problem that invention will solve
According to the vehicle steering operation assisting device of operating counter-force control based on the potential risk (riskpotential) of the fault thing situation of this vehicle periphery, can use the operation counter-force to provide information through sense of touch.But, provide by sense of touch in the device of information, can not will which barrier to be that the potential risk which kind of degree object had controlled or produced conveys to the driver as visual information with.Therefore, operate according to potential risk in the device of counter-force control,, wish also to pass on visual information to the driver for knowing the state of a control of operation counter-force easily.
The technological means of dealing with problems
Vehicle steering operation assisting device of the present invention is characterized in that, comprising: the detection of obstacles parts, detect the barrier that is present in this vehicle front; Potential risk is calculated parts, according to the signal from the detection of obstacles parts, calculates the potential risk of this vehicle with respect to barrier; Tactile data is passed on parts, and potential risk is calculated the potential risk that parts are calculated, and the tactile data of passing on via driver behavior equipment during as this vehicle of driver's driver behavior conveys to the driver; Visual information is passed on parts, and potential risk is calculated the object barrier (being called for short the object barrier later on) that becomes object when calculating potential risk in the parts, passes on as visual information.
Vehicle steering auxiliary operation method of the present invention is characterized in that: detect the barrier that is present in this vehicle front; According to testing result, calculate the potential risk of this vehicle with respect to barrier to barrier; The tactile data via driver behavior equipment with potential risk during as this vehicle of driver's driver behavior conveys to the driver; The barrier that becomes object when calculating potential risk is passed on as visual information.
A kind of vehicle of the present invention comprises the vehicle steering operation assisting device, and this vehicle steering operation assisting device comprises: the detection of obstacles parts, detect the barrier that is present in this vehicle front; Potential risk is calculated parts, according to the signal from the detection of obstacles parts, calculates the potential risk of this vehicle with respect to barrier; Tactile data is passed on parts, and potential risk is calculated the potential risk that parts are calculated, and the tactile data via driver behavior equipment during as this vehicle of driver's driver behavior conveys to the driver; Visual information is passed on parts, potential risk is calculated the barrier that becomes object when calculating potential risk in the parts pass on as visual information.
Vehicle steering operation assisting device of the present invention is characterized in that, comprising: the detection of obstacles parts, detect the barrier that is present in this vehicle front; Potential risk is calculated parts, according to the signal from the detection of obstacles parts, calculates the potential risk of this vehicle with respect to barrier; Tactile data is passed on parts, and potential risk is calculated the potential risk that parts are calculated, and the tactile data via driver behavior equipment during as this vehicle of driver's driver behavior conveys to the driver; Visual information is passed on parts, will pass on as visual information with respect to the potential risk of the object barrier (being called for short the object barrier later on) of the controlling object of passing on parts as tactile data.
The invention effect
Because when potential risk is passed on as tactile data, to become potential risk and calculate the barrier of object and pass on, and can make the driver confirm visually the tactile data via driver behavior equipment is that object is controlled with which barrier as visual information.
Description of drawings
Fig. 1 is the system diagram of the vehicle steering operation assisting device of first embodiment of the invention.
Fig. 2 is the structural drawing that is equipped with the vehicle of vehicle steering operation assisting device shown in Figure 1.
Fig. 3 is the process flow diagram that the driver behavior of expression first embodiment is assisted the processing procedure of control program.
Fig. 4 is the process flow diagram of the processing procedure of the relative transport condition judgment processing of expression.
(a)～(d) of Fig. 5 is the figure of the concrete transport condition of expression scenario B～scene E.
The (a) and (b) of Fig. 6 are the figure in the relation of this vehicle of expression and driving earlier and this vehicle front zone of seeing by HUD.
The (a) and (b) of Fig. 7 are figure of the calculation method of explanation reference point height.
The (a) and (b) of Fig. 8 are figure of the calculation method of explanation reference point lateral attitude.
Fig. 9 is the process flow diagram that expression shows the processing procedure of control and treatment.
Figure 10 is an expression potential risk and with reference to the figure of the magnitude relationship of frame.
Figure 11 is an expression potential risk and with reference to the figure of the relation of the Show Color of frame.
(a)～(c) of Figure 12 is the figure of expression with reference to the example of the shape of frame.
(a)～(e) of Figure 13 is the time dependent figure of the brightness with reference to frame of expression scenario A～scene E.
Figure 14 is the figure of the relation of expression potential risk and accelerator pedal counter-force control command value.
Figure 15 is the figure of the movement content of explanation scenario A～scene E.
Figure 16 is the figure of the demonstration example of expression second embodiment.
(a)～(c) of Figure 17 is the figure of the display image example of expression from the rear, when driving is earlier watched in side and top.
Figure 18 is the figure in this vehicle front zone of seeing by HUD in expression the 3rd embodiment.
Figure 19 is the degree of closeness of this vehicle of expression and driving earlier and figure with reference to the relation of frame side-play amount.
Figure 20 is the system diagram of the vehicle steering operation assisting device of four embodiment of the invention.
Figure 21 is the process flow diagram that the driver behavior of expression the 4th embodiment is assisted the processing procedure of control program.
The (a) and (b) of Figure 22 are figure of the demonstration example of expression the 4th embodiment.
The (a) and (b) of Figure 23 are figure of notion of the potential risk of this vehicle of explanation.
Figure 24 is the process flow diagram that the explanation potential risk is calculated the processing procedure of processing.
Figure 25 is the figure of the relation of expression potential risk and accelerator pedal counter-force control command value.
Figure 26 is the process flow diagram that the driver behavior of expression the 5th embodiment is assisted the processing procedure of control program.
Figure 27 is the figure of calculation method of the potential risk at each virtual point place of explanation.
Figure 28 is the figure of the demonstration example of expression the 5th embodiment.
Figure 29 is the figure of the relation of expression potential risk and Show Color.
Figure 30 is the process flow diagram that the driver behavior of expression the 6th embodiment is assisted the processing procedure of control program.
(a)～(c) of Figure 31 is the figure of the shape example of expressive notation.
Figure 32 is the figure of the demonstration example of expression the 6th embodiment.
Figure 33 is the system diagram according to the vehicle steering operation assisting device of the 7th embodiment of the present invention.
Figure 34 is the process flow diagram that the driver behavior of expression the 7th embodiment is assisted the processing procedure of control program.
The (a) and (b) of Figure 35 are figure that the method for selecting that has or not the corresponding barrier that can become controlling object of intention is changed in explanation and track.
Figure 36 is the figure of the demonstration example of expression the 7th embodiment.
Figure 37 is the system diagram according to the vehicle steering operation assisting device of the 8th embodiment of the present invention.
Figure 38 is the figure of the relation of expression accelerator pedal operation amount and driver requirement driving force.
Figure 39 is the process flow diagram that the driver behavior of expression the 8th embodiment is assisted the processing procedure of control program.
Figure 40 is the figure of the demonstration example of expression the 8th embodiment.
Description of reference numerals
10: laser radar; 20: the place ahead camera; 30: vehicle speed sensor; 35: rotation angle sensor; 37: the eyespot pick-up unit; 50,100,150,250: controller; 70: accelerator pedal counter-force control device; 80: display control unit; 81: display device; 90: warning device; 95: the mark size selector switch; 97: track change intention apparatus for predicting; 260: driving-force control apparatus; 270: gradual braking device.
Embodiment
" first embodiment "
Fig. 1 is the system diagram of structure of the vehicle steering operation assisting device 1 of expression first embodiment of the invention, and Fig. 2 is the structural drawing that is equipped with the vehicle of vehicle steering operation assisting device 1.
The structure of vehicle steering operation assisting device 1 at first, is described.Laser radar 10 is installed in vehicle front grill part or the bumper portion etc., to horizontal direction irradiation infrared light pulse, scans the front region of this vehicle.Laser radar 10 instrumentations are positioned at the reflection wave of infrared light pulse of a plurality of reverberations (normally earlier driving rear end) reflection in the place ahead, detect vehicle headway and relative velocity with preceding driving from the time of arrival of reflection wave.Detected vehicle headway and relative velocity are output to controller 50.Positive with respect to this vehicle by the front region of laser radar 10 scannings is that the objects in front that exists in this scope is detected about ± 6 degree.
The place ahead camera 20 is mounted in the small ccd camera on front window top or CMOS camera etc., and the road ahead situation is come out as image detection, outputs to controller 50.The surveyed area of the place ahead camera 20 with respect to the center line of vehicle fore-and-aft direction have in the horizontal direction ± 30 the degree about, the road ahead landscape that comprises in this zone is ingested as image.
Rotating speed and the revolution of the variator outgoing side speed of a motor vehicle that detect this vehicle of vehicle speed sensor 30 by the instrumentation wheel outputs to controller 50 with detected vehicle speed.Rotation angle sensor 35 is mounted near the angular transducer bearing circle 36 or the steering column (not shown) etc., and the rotation of steering axle is detected as the steering angle, outputs to controller 50.
Eyespot pick-up unit 37 comprises near the small-sized infrared camera that for example is arranged on the bearing circle 36, for calculating the height (being called eyepoint height later on) the eyes from ground to the driver who takes a seat, takes driver's face-image.Controller 50 is according to calculating driver's eyepoint height from the signal of eyespot pick-up unit 37.In addition, detect fore-and-aft direction position, the adjuster position of seat belt, the seat belt amount of batching of driver's seat, infer eyepoint height according to body weight/height (physique) of the driver who infers from these detected values by eyespot pick-up unit 37.
The operation counter-force that controller 50 bases produce in driver behavior equipment when controlling this vehicle of driver's driver behavior with respect to the potential risk of barrier.Here, as driver behavior equipment, use accelerator pedal 72.In addition, also will convey to the driver as visual information, show control, so that driver's driver behavior is directed on the suitable direction according to the state of a control that the operation counter-force of potential risk is controlled.The control details of controller 50 illustrates in the back.
Accelerator pedal counter-force control device 70 is according to the instruction that comes self-controller 50, the control moment of torsion that servo motor unit 71 in the link mechanism of accelerator pedal 72 produces of packing into.Servo motor unit 71 is according to the counter-force that the command value control from accelerator pedal counter-force control device 70 produces, the operation counter-force (legpower) that produces in the time of can controlling the driver arbitrarily and operate accelerator pedal 72.Do not operate common spring load characteristic under the situation of counter-force control and for example can set elastic force for, increase the operation counter-force pro rata with the amount of entering into of accelerator pedal 72 by torsion spring.
Then use Fig. 3 to describe the action of the vehicle steering operation assisting device 1 of first embodiment of the present invention in detail.Fig. 3 is the process flow diagram that the driver behavior of expression controller 50 is assisted the processing procedure of control program.This contents processing is carried out every fixed intervals (for example 50msec) continuously.
At first, judge whether to carry out the operation counter-force control corresponding among the step S1000 with potential risk.Specifically, by the barrier of laser radar 10 these vehicle fronts of detection, judge whether to carrying out the state of the operation counter-force control corresponding with potential risk RP.Step S1000 is judged as and enters step S1010 when sure, is judged as to finish this processing when negating.
Among the step S1010, read in the environmental information of this vehicle periphery.Here, environmental information is the information about the travel conditions of this vehicle that comprises the barrier situation of this vehicle front.Therefore, read in laser radar 10 detected to the place ahead barrier vehicle headway D and relative velocity Vr and the place ahead barrier have direction θ 1, by the speed of operation V of 30 detected vehicles of vehicle speed sensor.In addition, also read in the rotation angle sensor 35 detected steering angle S that turn to.
Among the step S1011, obtain Driver Information.Specifically, according to signal, calculate driver's eyepoint height he from eyespot pick-up unit 37.In addition, calculate the fore-and-aft direction of eyes (eyespot) apart from dc and the fore-and-aft direction distances dd from HUD81 to the eyespot according to the seat position of driver's seat from this vehicle front (forefront) to the driver.Fore-and-aft direction also can be redefined for setting apart from dc, dd.
Among the step S1020, calculate the potential risk RP of this vehicle with respect to the place ahead barrier.At first, calculate the surplus time T TC and the workshop time T HW of this vehicle and the place ahead barrier.
Surplus time T TC is that this current vehicle of expression is with respect to the place ahead barrier, as the physical quantity of first degree of closeness of driving a vehicle.Surplus time T TC is illustrated under the situation that current travel conditions continues, promptly at this vehicle speed V, under driving vehicle velocity V f and relative vehicle velocity V r are fixing earlier the situation, the value that vehicle headway D vanishing after what seconds, this vehicle and elder generation drive a vehicle and contact.Relative velocity Vr=V-Vf.Surplus time T TC is obtained by following formula (1).
TTC＝D/Vr ...........(1)
The value of surplus time T TC is more little, and is urgent more with contacting of driving earlier, means with the degree of closeness of driving earlier big.During for example near driving earlier, surplus time T TC be below 4 seconds before, nearly all driver knows the action that reduces speed now.
Workshop time T HW is that this vehicle of expression is followed when car travels in advance, and the speed of a motor vehicle of the driving earlier in the future of supposing changes the influence degree to surplus time T TC, i.e. the physical quantity of the influence degree when the relative vehicle velocity V r of expression supposition changes.Workshop time T HW is obtained by following formula (2).
THW＝D/V ...........(2)
Workshop time T HW obtains vehicle headway D divided by this vehicle speed V, represent that this vehicle arrives the time of driving current location earlier.Time T HW is big more in this workshop, and the relative surrounding environment change of predicted impact degree is more little.That is, under the big situation of workshop time T HW, even if in the future earlier the speed of a motor vehicle of driving changed, the degree of closeness with driving is earlier produced big influence hardly, surplus time T TC shows as basic not big the variation.This vehicle is followed under the situation of first driving, the driving vehicle velocity V f of this vehicle speed V=elder generation, and also can using in advance in the formula (2), alternative this vehicle speed V of vehicle velocity V f calculates workshop time T HW.
Then, use surplus time T TC and workshop time T HW to calculate potential risk RP from following formula (3).
RP＝A/THW+B/TTC .........(3)
A, B are the constants that the inverse to the inverse of workshop time T HW and surplus time T TC carries out suitable weighting respectively, preestablish for example A=1, B=8 (A＜B) of suitable value.
Potential risk is meant " potential danger/risk ", here, approaching between the barrier of especially representing to exist along with this vehicle and this vehicle periphery, the size of risk is big more.Therefore, it is how approaching that potential risk is that expression this vehicle and barrier have, i.e. the physical quantity of the approaching degree (degree of closeness) of this vehicle and barrier.
Among the step S1030, judge the relative transport condition of this vehicle and the place ahead barrier.Use flowchart text the processing here of Fig. 4.
The steering angle S that reads in according to step S1010 among the step S1100 infers whether this vehicle carries out the track change.For example detect than this vehicle and maintain under the situation of the big steering angle S of standard steering angular region under the situation of travelling in the track, be judged as this vehicle just at change lane.Perhaps also can infer the track change of this vehicle according to driver's indicator (ゥ ィ Application カ) operation, by the track change intention deduction that the whole bag of tricks carries out.
Be judged as among the step S1100 when not carrying out the track change, enter step S1105, judge whether laser radar 10 or the place ahead camera 20 have detected the barrier of this vehicle front, for example driving earlier.Detect under the situation of driving earlier, enter step S1110, judge whether in cycle last time, also to have detected first driving., be judged as this vehicle and following first driving (scenario A) to entering step S1115 under the situation of first driving from cycle detection last time.
Be judged as among the step S1100 when carrying out the track change, enter step S1120, judge whether to have detected first driving.Do not detect under the situation of driving earlier, enter step S1125.In this case, shown in Fig. 5 (a), be judged as because this vehicle carries out the track change and do not detect first driving.The relative transport condition of this moment is made as scenario B.On the other hand, step S1120 is judged as under the situation that detects driving earlier, enters step S1130.In this case, shown in Fig. 5 (c), be judged as owing to this vehicle to change lane detects first driving.The relative transport condition of this moment is made as scene D.
Be not judged as among the step S1105 when detecting driving earlier and enter step S1132, judge whether in cycle last time, not detect first driving yet.Detect in cycle last time under the situation of driving a vehicle earlier and enter step S1135.In this case, shown in Fig. 5 (b), be judged as owing to drive a vehicle change lane earlier and do not detect first driving.The relative transport condition of this moment is made as scene C.On the other hand, be not judged as among the step S1132 when cycle last time detects driving earlier and enter step S1137, be judged as and do not detect first driving (scene F).
Be judged as among the step S1110 and enter step S1140 when not detecting driving earlier in cycle last time.In this case, shown in Fig. 5 (d), be judged as owing to the change lane of driving a vehicle earlier detects first driving.The relative transport condition of this moment is made as scene E.In addition, scene E also comprises this vehicle near the driving earlier that is present in a distant place and begin detected situation.
Like this, enter step S1040 after judging the relative transport condition of this vehicle and driving earlier among the step S1030.Calculate the reference point of the image that on HUD81, shows among the step S1040.Image when the (a) and (b) of Fig. 6 are represented the relation of this vehicle and driving earlier and watched driving earlier by HUD81.
The eyespot of representing the driver in Fig. 6 (b) with P1, the last afterbody center of driving is earlier represented with P2 in promptly corresponding with direction of visual lines position.Here, the last afterbody center P2 with driving earlier is a reference point.Position of eye point P1 sets according to driver center and eyepoint height he.HUD81 is last show with reference point P2 be the center circle with reference to frame 82.Become the barrier of object when potential risk RP is calculated in expression with reference to frame 82, watch from the driver, be presented at car position overlapped in advance on.Also show timer 83 on the HUD81, this point illustrates in the back.
Reference point P2 is represented with relative lateral attitude (reference point lateral attitude) Δ RP2 by the relative height with respect to position of eye point P1 on the HUD81 (reference point height) Δ RP1.The calculation method of reference point height Δ RP1 at first, is described.The relation of this vehicle shown in the (a) and (b) of Fig. 7 and driving earlier and the figure that calculates notion of reference point height Δ RP1.
To establish eyepoint height in Fig. 7 (b) be he, the distance from the eyespot to HUD81 is dd, be d1 from eyespot to the aftermost distance of driving earlier, be h1 to the height at first driving center.Aftermost being set at apart from d1 is added to the value that laser radar 10 detected vehicle headway D obtain with the forefront from eyespot to this vehicle apart from dc from eyespot to driving earlier.Overall height degree h1 is set at half of the overall height of driving a vehicle earlier in advance.Reference point height Δ RP1 on the HUD81 can calculate from following formula (4).
ΔRP1＝dd(he-h1)/d1 .............(4)
The calculation method of reference point lateral attitude Δ RP2 then is described.The relation of this vehicle shown in the (a) and (b) of Fig. 8 and driving earlier and the figure that calculates notion of reference point lateral attitude Δ RP2.Establish in Fig. 8 (b) the detected driving earlier of laser radar 10 with respect to this vehicle exist direction (angle) for θ 1, from this vehicle fore-and-aft direction center (vehicle center) to eyespot the distance at (driver center) be lc, from eyespot to the aftermost distance of driving earlier for (dc+dcos θ 1), be (dsin θ 1-lc) from eyespot to the distance of the transverse center position of driving earlier.Reference point lateral attitude Δ RP2 on the HUD81 can calculate from following formula (5).
ΔRP2＝dd{(d·sinθ1-lc)/(d·cosθ1)} .............(5)
The reference point of calculating among that then judge according to step S1030 in step S1050 and relative transport condition driving earlier and the step S1040 carries out the demonstration control of HUD81.Use flowchart text the processing here of Fig. 9.
At first, among the step S1052, whether be judged as scenario A (following) among the determining step S1030.Be judged as under the situation of scenario A and enter step S1053, judge whether stable with respect to the follow running state of driving earlier.Whether the workshop time T HW that calculates among the determining step S1020 specifically, continues in specialized range at the appointed time.Workshop time T HW for example in 2 ± 0.25 seconds scope, continue under the situation more than 5 seconds, being judged as is stable follow running state, enter step S1054, in step S1054, after upwards counting continues the stipulated time from the workshop time T HW in the specialized range, promptly carry out elapsed time (following the time) after the affirmative determination at first from step S1053.
Step S1052 or step S1053 are judged as under the negative situation, enter step S1055, will reset the time of following.
Among the step S1056 then, according to potential risk RP, with the relative transport condition of driving earlier and reference point locations etc., determine the show state of display image on HUD81 to show control and treatment.Expression potential risk RP calculates object, i.e. the object barrier of counter-force control be that the center shows with reference to frame 82 with the reference point P2 that step S1040 calculates.With reference to the size of the profile of frame 82 as shown in figure 10, it is big more to set potential risk RP for, and it is big more.Potential risk RP, makes with reference to frame 82 flickers to arouse driver's attention when for example RP=2 is above at setting.
In addition, in the size that changes with reference to frame 82, according to the Show Color of potential risk RP change with reference to frame 82.Specifically, as shown in figure 11,, Show Color slowly is changed to green, blueness, yellow, redness along with the change of potential risk RP is big.Here, set Show Color for and slowly change to redness, potential risk RP is divided into a plurality of zones, for distributing Show Color respectively in each zone but also can set for from green.
Preestablish into a plurality of patterns such as polygon shown in (c) of the quadrilateral shown in (b) of the circle shown in (a) of Figure 12, Figure 12 and Figure 12 with reference to frame 82.Certainly can set shapes beyond these with reference to frame 82.And, each shape of switching when driving a vehicle earlier with reference to frame 82 of changing.Can set the visuality that under overlapping situation about being shown in the driving earlier on the HUD81, does not hinder vehicle front for reference to the rugosity of frame 82.
Brightness with reference to frame 82 is set with the relative transport condition of driving earlier according to this vehicle.Figure 13 (a)～(e) expression from scenario A to scene E with reference to the brightness of frame 82 over time.This vehicle is followed under the situation of the scenario A of driving a vehicle earlier, and shown in Figure 13 (a), the brightness of establishing with reference to frame 82 is fixing.Under the situation of scenario B, shown in Figure 13 (b), set for and begin brightness from the time t1 that is judged as scenario B and slowly be reduced to zero.Under the situation of scene C, shown in Figure 13 (c), set for and begin brightness from the time t2 that is judged as scene C and slowly be reduced to zero.Setting the brightness pace of change of this moment for compares slowlyer with the situation of scenario B and changes.
Under the situation of scene D, shown in Figure 13 (d), be judged as the time t3 of scene D, with reference to frame 82, making it flash of light with lit at maximum brightness.Moment with lit at maximum brightness with reference to frame 82 after, brightness is reduced to setting, continue to light.Under the situation of scene E, shown in Figure 13 (e), be judged as the time t4 of scene E, with lit at maximum brightness with reference to frame 82, temporarily reduce brightness after, once more brightness is made as maximum.That is, glisten and be reduced to setting to make it secondary, continue to light to brightness with reference to frame 82 from lighting with reference to frame 82.In addition, the high-high brightness of lighting when making it to glisten with reference to frame 82 will suitably be set, not hinder driver's driver behavior.
Decision is with reference to the display format of frame 82, to display control unit 80 output signals, to show with reference to frame 82 on HUD81 by size, color and the brightness set like this.Follow under the situation of the first scenario A of driving being judged as this vehicle, counted under the situation of the time of following, shown in Fig. 6 (b), when showing with reference to frame 82, the time of will following shows as timer 83.Preferably timer 83 is presented at the below of HUD81, not hinder the visuality of vehicle front.Do not count under the situation of the time of following, show random number, extinguish timer 83.
Among the step S1060 then, to alarm device 90 output orders, sound gives the alarm.Specifically, image field scape D and scene E are such, newly detect at laser radar 10 or the place ahead camera 20 under the situation of driving earlier, for example send " bang " such report sound, begin to detect first driving to driver's notice.Potential risk RP for example under the situation that RP=2 is high, sends " Pi Pi " such report sound, to arouse driver's attention than setting.
Among the step S1070,, be controlled at the operation counter-force that produces in the accelerator pedal 72 according to the potential risk RP that step S1020 calculates.Therefore, according to corresponding diagram shown in Figure 14, calculate the accelerator pedal counter-force control command value FA corresponding with potential risk RP.As shown in figure 14, it is big than setting Rpmax that accelerator pedal counter-force control command value FA sets potential risk RP for, and its value is big more.When potential risk RP was bigger than setting Rpmax, accelerator pedal counter-force control command value FA set the maximal value FAmax of regulation for.
The following describes the effect of the vehicle steering operation assisting device 1 of first embodiment.Figure 15 has gathered the movement content of scenario A～scene F.Under the situation of scenario A, do not follow first driving, guide driver's driver behavior, make it keep the liftoff follow running of suitable following distance owing to this vehicle does not carry out track change etc.Therefore, show constant brightness make it to overlap on the barrier of the object that becomes counter-force control with reference to frame 82, the elapsed time that the follow running state of self-stabilization is begun is presented on the HUD81 as timer 83 simultaneously.This timer 83 has the message informing driver's that stable follow running state is continued indicator feature.
Under the situation of scenario B, will can not detect the message informing driver of driving earlier owing to this vehicle to change lane.Therefore, make the overlapping image retention that is presented in the driving earlier fade out residually and extinguish with reference to frame 82.Thus, will owing to the driving earlier that does not have the object that becomes counter-force control, situation that the accelerator pedal counter-force reduces as visual information, make the driver know this situation really.
Under the situation of scene C, the message informing driver that will can not be detected owing to first driving change lane etc.At this moment, also be to make the overlapping image retention that is presented in the driving earlier fade out residually and extinguish with reference to frame 82.Owing to be, fade out with reference to frame 82 because of the movement of driving a vehicle earlier is not detected slowlyer.Thus, will owing to the driving earlier that does not have the object that becomes counter-force control, situation that the accelerator pedal counter-force reduces as visual information, make the driver know this situation really.After not detecting driving earlier, under the situation that is newly detecting other driving earlier, change shows with reference to the shape of frame 82, produce simultaneously the report sound (bang).Thereby, also can be used as the auditory information notice and detect first driving.
Under the situation of scene D, will begin to detect the message informing driver of driving earlier owing to this vehicle to change lane.Therefore, moment show brightly make it flash of light with reference to frame 82 after, with its overlapping being presented in the driving earlier that newly becomes the counter-force controlling object.In addition, produce the report sound (bang).Thus, which barrier the driver is clearly discerned with is that object is calculated potential risk RP and carried out counter-force control.Owing to reference to frame 82 and Show Color, can confirm the operation counter-force that produces from accelerator pedal 72 by visual information according to the big minor change of potential risk RP.
Under the situation of scene E, will begin to detect the message of driving earlier or the message informing driver that this vehicle front begins to detect new elder generation's driving owing to the change lane of driving a vehicle earlier.At this moment, no matter the driver behavior of this vehicle how, all detects first driving, therefore, after 2 moments show to make it flash of light with reference to frame 82 brightly, it overlappingly is presented at the driving earlier that newly becomes the counter-force controlling object and goes up and show.In addition, produce the report sound (bang).Thus, which barrier the driver is clearly discerned with is that object is calculated potential risk RP and carried out counter-force control.Owing to reference to frame 82 and Show Color, can confirm the operation counter-force that produces from accelerator pedal 72 by visual information according to the big minor change of potential risk RP.
Under the situation of scene F,, do not carry out the control of accelerator pedal counter-force and show control owing to there is not first driving.
Like this, more than in Shuo Ming first embodiment, can be achieved as follows action effect.
(1) vehicle steering operation assisting device 1 detects the barrier that is present in this vehicle front, according to the testing result of barrier, calculates the potential risk RP of this vehicle with respect to barrier.Then, the tactile data via driver behavior equipment conveys to the driver during as this vehicle of driver's driver behavior with the potential risk RP that calculates, simultaneously potential risk RP is conveyed to the driver as visual information.Specifically, the barrier of calculating object (object barrier) that will become potential risk RP is passed on as visual information.By potential risk RP is conveyed to the driver together as visual information and tactile data, can make the driver visually confirm reception and registration state, the understanding of auxiliary tactile data, the control that can understand easily via the tactile data of driver behavior equipment.By the object barrier is passed on as visual information, it is object control with which barrier that the driver can hold the operation counter-force that produces from driver behavior equipment.
(2) vehicle steering operation assisting device 1 carries out the reception and registration of tactile data by the operation counter-force that produces according to potential risk RP control driver behavior equipment.During driver behavior,, can pass on potential risk RP to the driver continuously or intuitively by potential risk RP is passed on as the operation counter-force that the driver behavior equipment from the frequent contact of driver produces.
(3) vehicle steering operation assisting device 1 will be passed on as visual information with respect to the size of the potential risk RP of object barrier.Thus, except that the size of operation counter-force, also can make the driver visually discern the size of the potential risk RP of this vehicle.
(4) vehicle steering operation assisting device 1 will represent that the demonstration of potential risk RP overlaps on the object barrier.Reception and registration which barrier in easy to understand ground is the object barrier thus.
(5) vehicle steering operation assisting device 1 comprises head up display (HUD) 81, on the overlapping position corresponding with the object barrier that is presented at HUD81 of the demonstration of expression potential risk RP.For example, shown in Fig. 6 (b), demonstration is looked from the driver with reference to frame 82 on the position corresponding with driving earlier of HUD81, overlaps to drive a vehicle earlier to go up with reference to frame 82 to show.Here, with reference to frame 82 be the demonstration of expression potential risk RP.Thus, driver limit under steam watches this vehicle front, and the instantaneous certain assurance in limit is calculated go forward side by side line operate counter-force control of potential risk RP to which barrier.
(6) controller 50 is when the object barrier changes, and the shape of the demonstration of potential risk RP is represented in change.For example, shown in Figure 12 (a)～(c), prepare circular, quadrilateral and polygonal with reference to frame 82 because track changes etc. are when changing driving earlier, or newly detect under the situation of driving earlier, show the shape different with last time with reference to frame 82.Thus, driver's replacing of identifying object barrier really.
(7) controller 50 is according to the size of potential risk RP, and the size of the demonstration of potential risk RP is represented in change.Specifically, potential risk RP is big more, and is big more with reference to the profile size of frame 82.Thus, but the message that easy to understand ground visually passes on potential risk RP to increase.
(8) controller 50 is according to the size of potential risk RP, and the Show Color of potential risk RP is represented in change.Specifically, potential risk RP is big more, presses green, blue, yellow, red variation with reference to the color of frame 82.Owing to change Show Color the teleseme that on road, is provided with, can make the driver know the increase of potential risk RP intuitively.
(9) controller 50 makes the demonstration flicker of expression potential risk RP according to the size of potential risk RP.Specifically, increase (for example RP 〉=2), be judged as this vehicle and contact with barrier under the high situation of possibility,, can arouse driver's attention by making with reference to frame 82 flickers at potential risk RP.
(10) controller 50 is judged the relative transport condition of this vehicle and object barrier, according to relative transport condition, changes the demonstration of expression potential risk RP.Specifically, as shown in figure 15, this vehicle and first relative transport condition of driving a vehicle are divided into 6 scenes, corresponding each scene shown in Figure 13 (a)～(e), changes the brightness with reference to frame 82.Do not detect in the scenario B, C of driving earlier,, make with reference to frame 82 and fade out, can be visually pass in the future not with respect to the potential risk RP of driving earlier to the driver by slowly reducing brightness.Begin to detect among scene D, the E of driving earlier,, can visually pass on to begin new object barrier is operated counter-force control to the driver owing to, make with reference to frame 82 luminous making it and glisten by with lit at maximum brightness.
" second embodiment "
The following describes the vehicle steering operation assisting device of second embodiment of the invention.The basic structure of the vehicle steering operation assisting device of second embodiment is identical with first embodiment illustrated in figures 1 and 2.The difference of the main here explanation and first embodiment.
The vehicle steering operation assisting device of second embodiment is used as display device 81 to substitute HUD with the demonstration of guider with monitor.When beginning the counter-force control corresponding, show with the image that shows this vehicle front zone that the place ahead camera 20 is taken on the monitor 81, simultaneously with reference on the frame 82 overlapping the place ahead barriers of calculating object that are presented at as potential risk RP with potential risk RP.Figure 16 represents to show an example with the display image of monitor 81.
Demonstration is definite equally with the display format and above-mentioned first embodiment of the image that shows on the monitor 81, but adjusts with the display frame of monitor 81 according to showing with reference to the size and the display position of frame 82.With reference to frame 82 except that the method for first embodiment explanation, for example also to the Flame Image Process of the photographs Implementation Modes identification of the place ahead camera 20 etc., decision display position, and overlapping demonstration.Specifically, discern the driving earlier that this vehicle front exists, the center of discerning of driving earlier is set at the reference point P2 that shows with on the monitor 81 by pattern-recognition.
Substitute the demonstration monitor of guider, the LCD monitor that is provided with in the panel board can be used as display device 81.
Like this, in above-mentioned second embodiment, except that the effect of above-mentioned first embodiment, also be achieved as follows action effect.
(1) vehicle steering operation assisting device 1 comprises the place ahead camera 20 of being photographed in this vehicle front zone, in the image of the front region of being photographed by the place ahead camera 20, the demonstration of potential risk RP is represented in overlapping demonstration on the position corresponding with the object barrier.For example, as shown in figure 16, with reference to frame 82 overlapping being presented in the driving earlier that is present in the place ahead, this vehicle road.As shown in figure 16, comprise a plurality of barriers in the image of the front region that the place ahead camera 20 is photographed, but by adding with reference to frame 82, can easily pass on which barrier to the driver be that object is calculated potential risk RP and the control of executable operations counter-force.
(2) vehicle steering operation assisting device 1 shows the demonstration of the image and the expression potential risk RP of front region on the monitor apparatus 81 of guider.Be used as display device by monitor apparatus 81, can avoid because the cost that causes that appends of new display device rises with guider.
The variation of second embodiment
Here, substitute the photographs of the place ahead camera 20, and become the image of the barrier of calculating object of potential risk RP, the image that generates is presented at shows on the usefulness monitor 81 according to the testing result of laser radar 10 and the place ahead camera 20.Generate a plurality of images when watching barrier from different directions, show according to the selected image of driver's operation.
(a)～(c) expression of Figure 17 generates the demonstration example of image.In the driving 84 earlier in the display image overlapping demonstration represent as potential risk RP calculate object with reference to frame 82.Determine equally with above-mentioned first embodiment with reference to the size of frame 82, Show Color, shape etc.Display image when driving is earlier watched in Figure 17 (a) expression from the rear when watching driving earlier as driver's reality in car, shows driving 84 earlier and with reference to frame 82 and the line index 85 of representing this track.
Display image when driving is earlier watched in (b) expression of Figure 17 from the side.In this display image,, change the shown size of driving 84 earlier according to this vehicle and the relative transport condition of driving a vehicle earlier.Specifically, because the track change of driving earlier etc. do not detect among the scene C of driving earlier, the size of driving 84 earlier that reduces to show because the track change of driving earlier etc. begin to detect among the scene E of driving earlier, increases the size of driving 84 earlier that shows.In addition, in the display frame, show the indicator 86 of the size of the vehicle headway D of this vehicle and driving earlier and expression potential risk RP on the position suitable with the rear of driving 84 earlier.
Display image when driving is earlier watched in (c) expression of Figure 17 from the top.In this display image,, as shown by arrows, change the shown lateral attitude of driving 84 earlier according to this vehicle and the relative transport condition of driving a vehicle earlier.For example, this vehicle when the right change lane, in the display frame driving 84 earlier left direction move.This vehicle is left during the direction change lane, and driving earlier 84 is moved to right in the display frame.The indicator 86 that in display frame, shows the size of the vehicle headway D of this vehicle and driving earlier and expression potential risk RP on the position suitable with the rear of driving earlier.
Display image can switch with near the operating rod (not shown) the monitor 81 in demonstration by for example driver's operation setting.Perhaps can utilize numerical key that is arranged on the guider etc.Substitute the demonstration monitor of guider, the LCD monitor that is provided with in the panel board can be used as display device 81.
Like this, when controller 50 is created on and watches the object barrier from the rear, at least one image when watching the object barrier when watching the object barrier and from the top from the side, the demonstration of potential risk RP is represented in overlapping demonstration on the image of the object barrier that generates.Thus, can show the object barrier seen from various angles and the relation of this vehicle.
" the 3rd embodiment "
The following describes the vehicle steering operation assisting device of third embodiment of the invention.The basic structure of the vehicle steering operation assisting device of the 3rd embodiment is identical with first embodiment illustrated in figures 1 and 2.The difference of the main here explanation and first embodiment.
In the 3rd embodiment, change the display position that on HUD81, shows with reference to frame 82 according to this vehicle and the degree of closeness of driving a vehicle earlier.Specifically, under the situation of this vehicle near driving earlier, make picture with reference to frame 82 virtually near this vehicle, the reduction display position.On the other hand, when this vehicle is driven a vehicle away from elder generation, make as leave the rising display position virtually with reference to frame 82.Watch synoptic diagram under the situation of driving earlier by HDU81 when this vehicle of expression is near driving earlier among Figure 18.According to degree of closeness, be displaced to than reference point P2 by offset RP1 ' with reference to frame 82 and show by the position of below.
Figure 19 represents the relation of TTCi reciprocal and the offset RP1 ' of surplus time T TC.This vehicle and elder generation's driving are more near (TTCi＞0), and offset RP1 ' increases in negative direction more.This vehicle and driving are earlier got over away from (TTCi＜0), and offset RP1 ' increases in positive dirction more.Be expressed as (Δ RP1+ Δ RP1 ') with reference to the center P3 of frame 82 with respect to the relative height of position of eye point P1.
Like this, more than in Shuo Ming the 3rd embodiment, except that the effect of above-mentioned first embodiment, also be achieved as follows action effect.
(1) controller 50 is calculated the degree of closeness of this vehicle and object barrier, according to the degree of closeness of calculating, makes the display position skew of the demonstration of expression potential risk RP.As degree of closeness, for example use TTCi reciprocal and the relative velocity Vr of surplus time T TC.Like this, the display position skew of the demonstration by making expression potential risk RP with respect to the object barrier can be visually notified the message that is changing near state of this vehicle and object barrier to the driver.
(2) controller 50 is under the approaching situation of this vehicle and object barrier, the demonstration of expression potential risk RP is offset downwards with respect to the object barrier, the two away from the time will represent that the demonstration of potential risk RP is offset upward with respect to the object barrier.Near the object barrier, under the prediction situation that potential risk RP can increase in the future, by make as with reference to frame 82 near this vehicle, the increase of the potential risk RP in future can be visually notified in skew downwards to the driver.In addition,, under the prediction situation that potential risk RP can reduce in the future, be offset upward as leaving this vehicle, can visually notify the reduction of potential risk RP in the future to the driver with reference to frame 82 by making away from the object barrier.
In addition, can be with the 3rd embodiment and the combination of above-mentioned second embodiment.That is, under frame 82 overlapping situations about being presented on the place ahead camera 20, show with respect to the skew of object barrier with reference to frame 82 according to degree of closeness.Applicable to overlapping situation about generating on the image with reference to frame 82 shown in Figure 17 (a)～(c).But, shown in Figure 17 (b), show from the side and watch under the situation of figure of object barrier that with reference to frame 82 direction to the left and right, promptly the place ahead of the object barrier of Xian Shiing or rear are offset according to degree of closeness.
More than in Shuo Ming first～the 3rd embodiment, use the surplus time T TC of this vehicle and barrier and workshop time T HW to calculate potential risk RP.But, being not limited to this, the inverse that for example can use surplus time T TC is as potential risk RP, or uses the inverse of workshop time T HW and vehicle headway D as potential risk RP.In addition, can set virtual elastic body in the place ahead of this vehicle, the bounce when virtual elastic body is compressed with driving collision earlier is calculated as potential risk RP.
In above-mentioned first embodiment, illustrated at front glass to constitute HDU81 on the whole.But, be not limited to this, can in front glass, comprise at least in the zone of driver's side in the place ahead, this vehicle road and constitute HUD81.In above-mentioned second embodiment, illustrated under the situation of carrying out the operation counter-force control corresponding with potential risk RP, with the place ahead image be presented at reference to frame 82 on the monitor apparatus 81 of guider, but also can switch cartographic information and the place ahead image of guider by switching manipulation etc.
More than in Shuo Ming first～the 3rd embodiment, illustrated according to the big minor change of potential risk RP size and Show Color with reference to frame 82, but variable size and Show Color one of them.In addition, under the situation of changing driving earlier, also can fix shape with reference to frame 82.Change brightness according to the relative transport condition of this vehicle and driving earlier, but also can only when beginning to detect the object barrier, light, extinguish when not detecting with reference to frame 82 with reference to frame 82 with reference to frame 82.Among scene C, the D, extinguish if can make with reference to frame 82, then underspeeding of brightness is not limited to above-mentioned embodiment with fading out.In addition, among scene D, the E, make respectively with reference to frame 82 and light flashily, but the number of times of flash of light is not limited to above-mentioned embodiment.
More than in Shuo Ming first～the 3rd embodiment, use Figure 14 to calculate accelerator pedal counter-force control command value FA from potential risk RP.But the relation of potential risk RP and counter-force control command value FA is not limited to shown in Figure 14, and for example can press exponential function according to the increase of potential risk RP increases counter-force control command value FA.Also can be according to potential risk RP from accelerator pedal 72 driver behavior equipment in addition, for example brake pedal and bearing circle 36 produce the operation counter-forces.
More than in Shuo Ming first～the 3rd embodiment, shown in the (a) and (b) of the (a) and (b) of Fig. 7 and Fig. 8, calculate reference point height Δ RP1 and reference point lateral attitude Δ RP2.But these calculation methods are not limited to above-mentioned embodiment, can adopt the whole bag of tricks.In addition, when calculating reference point height Δ RP1 and reference point lateral attitude Δ RP2,, use different numerical value (d1, dc+dcos θ 1), but can use same numerical value as the aftermost distance of driving a vehicle from eyespot to elder generation.But, as mentioned above,, can carry out more detailed reference point and calculate by using different numerical value.
More than in Shuo Ming first～the 3rd embodiment, laser radar 10 and the place ahead camera 20 are as the detection of obstacles parts, controller 50 is calculated parts, relative transport condition decision means and degree of closeness as potential risk and is calculated parts, controller 50 and accelerator pedal counter-force control device 70 are passed on parts and operation counter-force control assembly as tactile data, controller 50, display control unit 80 and display device 81 are passed on parts as visual information, and the place ahead camera 20 is as photographic unit.But be not limited to this, as the detection of obstacles parts, alternative laser radar 10 uses for example millimetre-wave radar of alternate manner.More than explanation only is an example, when explaining invention, should not stick to the corresponding relation of the specified particular of the specified particular of above-mentioned embodiment and claim.
" the 4th embodiment "
The following describes the vehicle steering operation assisting device of four embodiment of the invention.Figure 20 is the system diagram of expression according to the structure of the vehicle steering operation assisting device of the 4th embodiment.Has position mark same-sign among Figure 20 with the first embodiment identical function illustrated in figures 1 and 2.The difference of the main here explanation and first embodiment.
Vehicle steering operation assisting device 2 comprises laser radar 10, the place ahead camera 20, vehicle speed sensor 30, rotation angle sensor 35, eyespot pick-up unit 37, accelerator pedal counter-force control device 70, display control unit 80, warning device 90 and controller 100.In addition, as described later,, also design selector switch 95 by driver's operation for selecting determining method with reference to the demonstration size of frame (mark, sign) 82.
Then use Figure 21 to describe the action of the vehicle steering operation assisting device 2 of the 4th embodiment of the present invention in detail.Figure 21 is the process flow diagram that the driver behavior of expression controller 100 is assisted the processing procedure of control program.This contents processing is carried out every fixed intervals (for example 50msec) continuously.
At first, judge whether to carry out the operation counter-force control corresponding among the step S2000 with potential risk.Specifically, by the barrier of laser radar 10 these vehicle fronts of detection, judge whether to carrying out the state of the operation counter-force control corresponding with potential risk RP.Step S2000 is judged as and enters step S2010 when sure, is judged as to finish this processing when negating.
Among the step S2010, read in the environmental information of this vehicle periphery.Here, environmental information is the information about the travel conditions of this vehicle that comprises the barrier situation of this vehicle front.Therefore, read in laser radar 10 detected to the place ahead barrier vehicle headway D and relative velocity Vr and the place ahead barrier have direction θ 1, by the speed of operation V of 30 detected vehicles of vehicle speed sensor.
Among the step S2011, obtain Driver Information.Specifically, according to signal, calculate driver's eyepoint height he from eyespot pick-up unit 37.In addition, according to the seat position of driver's seat, the fore-and-aft direction of calculating the eyes (eyespot) from this vehicle front (forefront) to the driver is apart from dc and the fore-and-aft direction distances dd from HUD81 to the eyespot.Fore-and-aft direction also can be redefined for setting apart from dc, dd.
Among the step S2020, calculate the potential risk RP of this vehicle with respect to the place ahead barrier.Use surplus time T TC and workshop time T HW to calculate potential risk RP from above-mentioned formula (3).Calculate the upward reference point P2 of the image of demonstration of HUD81 among the step S2030.The calculation method of reference point P2 identical with the processing of the step S1040 of the process flow diagram of Fig. 3 (with reference to (b) of (a)～Fig. 8 of figure 6).
Among the step S2040 then, the potential risk RP that calculates according to step S2020 calculates the size of mark 82.Mark 82 is display boxes of the ring-type on the overlapping barrier that is presented at controlling object on the HUD81, and the size of mark 82 is illustrated in the size that HUD81 goes up the external diameter of the mark 82 that shows.Here, bidding note 82 is Ms with respect to the size of the reference value RPs of potential risk RP, and mark 82 can be calculated from following formula (6) with respect to the big or small Mc of any potential risk RP (RP=1).
Mc＝Ms×(RP1/RPs) ...........(6)
The reference value RPs of potential risk RP for example is set at about 0.8.The benchmark size Ms of mark 82 is set at from driver's eyespot and sees that the visual angle is about 3 degree.For example, when the distance from the eyespot to HUD81 was 1m, the benchmark of mark 82 size Ms was about 5cm.Thus, when potential risk RP increased with respect to reference value RPs, the size of mark 82 also increased with respect to reference value, and on the contrary, when potential risk RP reduced with respect to reference value RPs, the size of mark 82 also reduced.
To display control unit 80 output signals, make that the reference point P2 that calculates with step S2030 is the center among the step S2050, in step S2040, set big or small mark 82 and be presented on the HUD81.
Among the step S2060 then,, produce alarm tone to alarm device 90 output orders.Specifically, newly detect at laser radar 10 or the place ahead camera 20 under the situation of driving earlier, for example send " bang " such report sound and begin to detect first driving to driver's notice.Potential risk RP sends " Pi Pi " such report sound, to arouse driver's attention than under the high situation of setting, for example RP=2.
The potential risk RP that calculates according to step S2020 among the step S2070 is controlled at the operation counter-force that produces in the accelerator pedal 72.Specifically, same with the processing of the step S1070 of the process flow diagram of Fig. 3, according to the corresponding diagram of Figure 14, calculate the accelerator pedal counter-force control command value FA corresponding with potential risk RP, the accelerator pedal counter-force control command value FA that calculates is exported to accelerator pedal counter-force control device 70.Corresponding therewith, as to produce in the command value control accelerator pedal 72 of accelerator pedal counter-force control device 70 according to slave controller 50 inputs operation counter-force.Finish this processing thus.
The demonstration example of expressive notation 82 in the (a) and (b) of Figure 22.Mark 82 is overlapping to be presented on the barrier (driving earlier) of this vehicle front that becomes the counter-force controlling object.The vehicle headway of this vehicle and driving earlier is substantially maintained fixed and follows under the state that first driving, potential risk RP do not change by fixed speed, shown in Figure 22 (a), and overlapping the big or small constant of mark 82 in the driving earlier that be presented at.Afterwards, this vehicle and driving earlier be approaching, when potential risk RP increases, and the size of mark 82 also increases.Thus, can show the dangerous mark 82 that increases such feeling of risk that meets the driver.
Owing to when the barrier that becomes the counter-force controlling object has been switched in the track change of this vehicle and barrier etc., change the display format of mark 82.For example, the driver is discerned easily switched the object barrier by the display shape of mark 82 is changed into quadrilateral or polygon from circle.
Substitute potential risk RP, can use the accelerator pedal counter-force control command value FA that calculates according to potential risk RP, calculate the big or small Mc of mark 82.
Like this, more than in Shuo Ming the 4th embodiment, can be achieved as follows action effect.
(1) vehicle steering operation assisting device 2 detects the barrier that is present in this vehicle front, according to the testing result of barrier, calculates the potential risk RP of this vehicle with respect to barrier.Then, tactile data via driver behavior equipment conveys to the driver during as this vehicle of driver's driver behavior with the potential risk RP that calculates, will convey to the driver as visual information with respect to the potential risk RP as the barrier of the object of sense of touch transmitting control information simultaneously.Specifically, will pass on as visual information with respect to the size of the potential risk RP of object barrier.Thus, can make the driver visually confirm reception and registration state, the understanding of auxiliary tactile data, the control that can understand easily via the tactile data of driver behavior equipment.By the object barrier is passed on as visual information, it is which barrier to be object by the size control of much degree with that the driver can hold the operation counter-force that produces from driver behavior equipment.
(2) controller 100 is when having switched the object barrier, and the display format of the mark of potential risk RP is represented in change.For example change the overlapping shape that is presented at the mark 82 on the object barrier.Thus, the driver can easily discern the barrier that becomes operation counter-force controlling object and is switched.
The variation of the 4th embodiment
As mentioned above, the size of mark 82 also can be selected the calculation method of driver's hobby from a plurality of calculation methods except that calculating according to potential risk RP.
The calculation method of the size of mark 82 has following example.
(a) calculate according to potential risk RP
(b) the vehicle headway D according to this vehicle and barrier calculates
(c) calculate according to projected area
(d) sense is calculated according to the projected area size
(e) calculate according to the control bounce
(f) calculate according to the control content of deceleration control
The driver selects one of above-mentioned (a)～(f) by operational label size selector switch 95.Default setting becomes the size according to (a) potential risk RP selected marker 82.
The following describes each calculation method.Because therefore the above-mentioned situation that has illustrated that (a) calculates according to potential risk RP is omitted here.
(b) calculate according to vehicle headway D
The width of the place ahead barrier when the driver watches and height reduce along with the elongated of the vehicle headway D of this vehicle and barrier, along with vehicle headway D shortens and increases.Therefore, when bidding note 82 was Ms with respect to the size of the reference value Ds of vehicle headway D, (=D1) big or small Mc calculated from following formula (7) mark 82 with respect to any vehicle headway D.
Mc＝Ms×(Ds/D1) .........(7)
The reference value Ds of vehicle headway D is set at for example about 20m.The benchmark size Ms of mark 82 is set at and watches the visual angle from driver's eyespot is about 3 degree.Thus, when vehicle headway D increased with respect to reference value Ds, the size of mark 82 reduced with respect to the benchmark size, and when opposite vehicle headway D reduced with respect to reference value Ds, mark 82 increased.
(c) calculate according to projected area
The apparent size of the barrier when the driver watches is along with changing with the distance of this vehicle.Therefore, 2 powers of the projected area of mark 82 and vehicle headway D are inversely proportional to.Thereby when the size of the reference value Ds of mark 82 relative vehicle headway D was Ms, (=D1) big or small Mc calculated from following formula (8) mark 82 with respect to any vehicle headway D.
Mc＝Ms×(Ds/D1)
2 .........(8)
The reference value Ds of vehicle headway D is set at for example about 20m.The benchmark size Ms of mark 82 is set at and watches the visual angle from driver's eyespot is about 3 degree.Thus, vehicle headway D with respect to reference value Ds increase, when the apparent area of the place ahead barrier reduces, the size of mark 82 reduces with respect to the benchmark size, and is opposite, vehicle headway D with respect to reference value Ds reduce, when the apparent area of the place ahead barrier increases, mark 82 increases.
(d) calculate according to the size sense of projected area
Report that the relation between the sensation intensity of area and this area of perception can be represented by 0.7 power function according to Stevens (ス テ ィ one Block Application ス) power function law.Be object near or away from the time, the size of 0.7 power of sensation area (physics size) is the size of this object.Therefore, when mark 82 was established Ms with respect to the size of the reference value Ds of vehicle headway D, (=D1) big or small Mc calculated from following formula (9) mark 82 with respect to any vehicle headway D.
Mc＝{Ms×(Ds/D1)
2}
0.7 .........(9)
The reference value Ds of vehicle headway D is set at for example about 20m.The benchmark of mark 82 size Ms is set at and watches then from driver's eyespot that the visual angle is about 3 degree.Thus, vehicle headway D with respect to reference value Ds increase, when the area of the place ahead barrier reduces, the size of mark 82 reduces with respect to the benchmark size, on the contrary, with respect to reference value Ds vehicle headway D reduce, when the area of the place ahead barrier increases, mark 82 increases.
(e) calculate according to the control bounce
In the respective embodiments described above, according to the potential risk RP of this vehicle with respect to barrier, the operation counter-force that produces in the control driver behavior device.But be not limited to this, can control the braking force that this vehicle produces according to potential risk RP.At this moment, can carry out braking force control according to the potential risk RP that calculates from above-mentioned formula (3) certainly, but can carry out braking force control according to following notion.
Shown in Figure 23 (a), suppose in the place ahead of this vehicle 210 virtual elastic body 220 is set, consider for example first driving collision of this virtual elastic body 220 and the place ahead barrier 230 and be compressed, produce this model of virtual running resistance this vehicle 210.Here, shown in Figure 23 (b), be defined as that virtual elastic body 220 bumps against with driving earlier 230 and elastic force when being compressed for the potential risk RP of the place ahead barrier.The calculation method of potential risk RP uses the flowchart text of Figure 24.
At first, the surplus time T TC that calculates this vehicle among the step S10 and drive a vehicle earlier.Whether the surplus time T TC that determining step S10 calculates among the step S20 is less than threshold value Th.Threshold value Th is the critical value that judges whether to begin the braking force control corresponding with potential risk RP, preestablishes suitable value.Enter step S30 under the situation of TTC＜Th, calculate the reference range L of the length of the virtual elastic body 220 of expression.
Reference range L uses the relative distance Vr of threshold value Th and this vehicle and barrier to calculate from following formula (10).
L＝Th×Vr ...........(10)
The reference range L that uses step S30 to calculate among the step S40 calculates the potential risk RP of this vehicle with respect to barrier from following formula (11).
RP＝K·(L-D) ..........(11)
Here, K is the spring constant of virtual elastic body 220.Thus, the vehicle headway D of this vehicle and barrier is short more, virtual, and elastic body 220 is compressed more, and then potential risk RP is big more.
That step S20 is judged as is negative, during surplus time T TC 〉=Th, it is low with the risk that driving earlier contacts to be judged as this vehicle, enters step S50, is made as potential risk RP=0.
Like this, calculate potential risk RP after, calculate the driving force correcting value that is used to calculate braking force control and the bounce Fc of damping force correcting value.Here, bounce Fc can be thought of as the bounce of the virtual elastic body 220 shown in the (a) and (b) of Figure 23.Therefore, according to relation shown in Figure 25, calculate bounce Fc, make potential risk RP big more, bounce Fc is big more.And calculate the braking force correcting value, make and only driving force is reduced bounce Fc, increase damping force, carry out the braking force control corresponding with potential risk RP.
When carrying out the braking force control of above explanation, can set the size of mark 82 according to the bounce Fc of the controlled quentity controlled variable of controlling as braking force.When bidding note 82 was Ms with respect to the size of the reference value Freps of bounce Fc, (=Frepc) big or small Mc calculated from following formula (12) mark with respect to any bounce Fc.
Mc＝Ms×(Frepc/Freps) ......(12)
The reference value Freps of bounce Fc is set in for example about 400N.The benchmark size Ms of mark 82 sets for and watches the visual angle from driver's eyespot is about 3 degree.Thus, when bounce Fc increased with respect to reference value Freps, the size of mark 82 was with respect to the big or small increase of reference value, and on the contrary, when bounce Fc reduced with respect to reference value Freps, mark 82 reduced.
(f) calculate according to the control content of deceleration control
This vehicle produces under the situation of slowing down in above-mentioned braking force control, can set the size of mark 82 according to the retarded velocity that this vehicle produces.The retarded velocity of braking force control can be obtained from above-mentioned bounce Fc.When mark 82 was Ms with respect to the size of the reference value as of retarded velocity, mark can be calculated from following formula (13) with respect to the big or small Mc of any retarded velocity ac.
Mc＝Ms×(ac/as) ......(13)
The reference value as of retarded velocity is set in for example about 0.02G.The benchmark size Ms of mark 82 sets for and watches the visual angle from driver's eyespot is about 3 degree.Thus, when retarded velocity increased with respect to reference value as, the size of mark 82 was with respect to the big or small increase of reference value, and on the contrary, when retarded velocity reduced with respect to reference value as, mark 82 reduced.
" the 5th embodiment "
The following describes the vehicle steering operation assisting device of fifth embodiment of the invention.The basic structure of the vehicle steering operation assisting device of the 5th embodiment is identical with the 4th embodiment shown in Figure 20.The difference of main here explanation and the 4th embodiment.
In the 5th embodiment, represent of the distribution of this vehicle with respect to the potential risk RP of barrier with level line.Use Figure 26 to describe the action of the vehicle steering operation assisting device 2 of the 5th embodiment in detail.Figure 26 is the process flow diagram that the driver behavior of expression controller 100 is assisted the processing procedure of control program.This contents processing is carried out continuously every fixed intervals (for example 50msec).
Judge whether carrying out the operation counter-force control corresponding among the step S3000 with potential risk.Step S3000 is judged as and enters step S3010 when sure, is judged as to finish this processing when negating.Among the step S3010, read in the environmental information of this vehicle periphery.Here environmental information is the information about the travel conditions of this vehicle that comprises the barrier situation of this vehicle front.Therefore, read in laser radar 10 detected to the place ahead barrier vehicle headway D and relative velocity Vr and the place ahead barrier have direction θ 1, by the speed of operation V of 30 detected vehicles of vehicle speed sensor.In addition, also obtain the runway information in the track of the information of other vehicles that the adjacent vehicle that exists on the adjacent lane etc., this vehicle periphery exist and this vehicle '.
Among the step S3020,, calculate the potential risk RP of this vehicle with respect to each barrier that this vehicle periphery exists.Be simplified illustration later on, suppose only to detect the barrier (the first driving) of the controlling object that this vehicle front exists.Therefore, use above-mentioned formula (3) to calculate the potential risk RP that drives a vehicle with respect to earlier.
Calculate HUD81 among the step S3030 and go up the level line that shows.For calculating level line, on virtual plane shown in Figure 27, make the risk corresponding diagram.For example set a plurality of virtual point at interval on the virtual plane, calculate the potential risk RPx of virtual point x by laterally vertical 2m.
Be made as A/THW at potential risk RPsteady near under the transition state of state variation with relative velocity Vr and vehicle headway D change, this vehicle and barrier, and with relative velocity Vr be roughly zero, when this vehicle was followed potential risk RPtransient under the steady state (SS) of barrier and is made as B/TTC when vehicle headway D was substantially maintained fixed, formula (14) expression below the potential risk RP that use formula (3) is calculated uses.
RP＝RPsteady+Rptransient
＝A/THW+B/TTC ...(14)
The potential risk RPx of virtual point x can use the calculating from following formula (15) apart from rx2 apart from rx1, virtual point x and barrier of vehicle headway D, this vehicle and the virtual point x of this vehicle and barrier.
RPx＝RPsteady×(rx1/D)+Rptransient×(rx2/D) ...(15)
After calculating potential risk RPx for each virtual point on the virtual plane from formula (15), with predetermined distance, for example connecting the value of calculating of potential risk RP and depict with this vehicle every 0.5 is the level line at center.
Among the step S3040 then, the level line that step S3030 is calculated is presented on the HUD81.The isocontour demonstration example of the distribution of expression potential risk RP illustrates at Figure 28.Here, according to the isocontour Show Color of big minor change of potential risk RP.Specifically, as shown in figure 29, along with the change of potential risk RP is big, Show Color slowly changes by green, blue, yellow, redness.
In the demonstration example shown in Figure 28, the 2 piece level line red display nearest with this vehicle, along with leaving this vehicle, isocontour Show Color changes by yellow, blue, green.Here, be set at Show Color and slowly change to redness, potential risk RP is divided into a plurality of zones, Show Color is distributed in each zone respectively but also can set for from green
At last, the potential risk RP that calculates according to step S3020 among the step S3050 is controlled at the operation counter-force that produces in the accelerator pedal 72.Finish this processing thus.
In addition, at laser radar 10, when the place ahead camera 20 detects a plurality of barrier that is present in this vehicle periphery, calculate the potential risk RPx of each virtual point x from following formula (16).
RPx＝∑RPx(n)
＝∑{Rpsteady(n)×(rx1/D)+Rptransient(n)×(rx2/D)}
...........(16)
In addition, under the situation that detects a plurality of barriers that are present in this vehicle periphery, can make as the weight of the potential risk RP of the outer barrier of the barrier of the operation counter-force controlling object of vehicle steering operation assisting device 2 and object different.For example when above-mentioned formula (16) is calculated the potential risk RPx of each virtual point x, make weight, than big with respect to the weight of the potential risk RP (RPsteady+Rptransient) that is present in the outer barrier of controlling object that adjacent lane etc. locates with respect to the potential risk RP (RPsteady+Rptransient) of the controlling object barrier that is present in this vehicle front.
Like this, in the 5th embodiment of above explanation, except that the effect of above-mentioned the 4th embodiment, also can be achieved as follows action effect.
(1) vehicle steering operation assisting device 2 shows the level line of expression with respect to the size of the potential risk RP of object barrier on display device 81.Thus, the distribution of the potential risk RP of this vehicle periphery can be shown as level line in real time.If change isocontour Show Color, then can make the driver hold the size of potential risk RP easily from isocontour Show Color and isocontour interval and distribute according to potential risk RP.
" the 6th embodiment "
The following describes the vehicle steering operation assisting device of sixth embodiment of the invention.The basic structure of the vehicle steering operation assisting device of the 6th embodiment is identical with the 4th embodiment shown in Figure 20.The difference of main here explanation and the 4th embodiment.
In the 6th embodiment, by mark 82 show these vehicles with respect to by sensor to the potential risk RP of whole barriers of existing of this vehicle periphery.Use Figure 30 to describe the action of the vehicle steering operation assisting device 2 of the 6th embodiment in detail.Figure 30 is the process flow diagram that the driver behavior of expression controller 100 is assisted the processing procedure of control program.This contents processing is carried out every fixed intervals (for example 50msec) continuously.
At first, judge whether to carry out the operation counter-force control corresponding among the step S4000 with potential risk.Step S4000 is judged as and enters step S4010 when sure, is judged as to finish this processing when negating.Among the step S4010, read in the environmental information of this vehicle periphery.Here, environmental information is the information about the travel conditions of this vehicle that comprises the barrier situation of this vehicle front.Therefore, read in laser radar 10 detected to the place ahead barrier vehicle headway D and relative velocity Vr and the place ahead barrier have direction θ 1, by the speed of operation V of 30 detected vehicles of vehicle speed sensor.In addition, also obtain the runway information in the track of the information of other vehicles that the adjacent vehicle that exists on the adjacent lane etc., this vehicle periphery exist and this vehicle '.
Among the step S4011, obtain Driver Information.Specifically, according to signal, calculate driver's eyepoint height he from eyespot pick-up unit 37.Also calculate the fore-and-aft direction of eyes (eyespot) apart from dc and the fore-and-aft direction distances dd from HUD81 to the eyespot from this vehicle front (forefront) to the driver according to the seat position of driver's seat.In addition, fore-and-aft direction also can be redefined for setting apart from dc, dd.
Among the step S4020,, calculate the potential risk RP of this vehicle for each barrier that this vehicle periphery exists.Under the situation that detects the driving earlier that is present in the place ahead, this vehicle road, use above-mentioned formula (3) to calculate the potential risk RP that drives a vehicle with respect to earlier.When having other vehicles on the adjacent lane, use poor (relative velocity) and this vehicle speed V of fore-and-aft direction distance (vehicle headway), this vehicle speed V and other vehicle speeds of this vehicle and other vehicles, from calculating potential risk RP with the same formula of calculating of formula (3).
In addition, on the direct of travel that is not present in this vehicle, this vehicle ' is not produced the barrier of big influence, the value of using the coefficient k o (ko＜1) of regulation to obtain to the potential risk RP that calculates is used as potential risk RP.The coefficient k o of regulation considers the size of the influence that the barrier beyond barrier on this track and this track produces this vehicle ' respectively, for example is set at about 0.2.
In addition, for the potential risk RP among the potential risk RP that the barrier of this vehicle periphery is calculated, below setting, in the processing afterwards, handle as RP=0.Here, setting for example is set at about 0.2.
Among the step S4030, the potential risk RP that calculates for step S4020 is each barrier of RP＞0, calculates the reference point P2 of the image that shows on HUD81.The processing of the step S1040 of the calculation method of reference point P2 and the process flow diagram of Fig. 3 same (with reference to (b) of (a)～Fig. 8 of figure 6).
Among the step S4040 then,, calculate size for the mark 82 of each barrier according to the potential risk RP that step S4020 calculates.The size of mark 82 for example can be calculated from above-mentioned formula (6) according to the size of the potential risk RP of the barrier of overlapping show tags 82.
Among the step S4050, to display control unit 80 output signals, make that the reference point P2 that calculates with step S4030 is the center, the mark 82 for each barrier of step S4040 having been set size is presented on the HUD81.During show tags 82, for each barrier distributes difform mark 82.Serve as a mark 82 shape for example preestablishes a plurality of patterns such as polygon shown in (c) of the quadrilateral shown in (b) of the circle shown in (a) of Figure 31, Figure 31 and Figure 31.In addition, continue to detect same barrier during, the mark that overlapping demonstration is identical shaped.
Among the step S4060 then, among the potential risk RP that calculates according to step S4020, the maximum potential risk RP of value with respect to a plurality of barriers, the operation counter-force of generation in the control accelerator pedal 72.Finish this processing thus.
The demonstration example of Figure 32 expressive notation 82.Express the example under the situation that detects 3 barrier A, B and C in this vehicle front zone among Figure 32.On the A of driving earlier in this place ahead, track of the value maximum of the potential risk RP that step S4020 calculates, overlappingly showing circular mark 82A.Travel near this vehicle on the adjacent lane of the right side in this track other cars B, overlappingly showing leg-of-mutton mark 82B, other car C more farther than other cars B goes up the overlapping tetragonal mark 82C that showing.The Show Color of these marks 82A, 82B and 82C is set respectively according to potential risk RP.When the potential risk RP of this vehicle and each barrier changed, the size of mark 82A, 82B and 82C also changed.
Like this, more than in Shuo Ming the 6th embodiment, except that the above-mentioned the 4th and the effect of the 5th embodiment, also can be achieved as follows action effect.
(1) vehicle steering operation assisting device 2 is calculated the potential risk RP of a plurality of barriers that exist with respect to this vehicle front respectively, shows the potential risk RP with respect to a plurality of barriers on display device 81.Specifically, shown in figure 32, for laser radar 10, the place ahead camera 20 detected a plurality of barriers that are present in this vehicle front zone, show tags 82A～82C.The potential risk RP that can show thus, a plurality of barriers that go out by sensor respectively.
(2) only show with respect in a plurality of barriers, the potential risk RP of the barrier of potential risk RP more than setting.Thus, detecting under the situation of a plurality of barriers, also can only show the barrier that travelling of this vehicle is had risk.
In addition, substitute show tags 82 on HUD81, also can use the display frame of navigational system.In this case, the image in this vehicle front zone that the place ahead camera 20 is captured is presented in the display frame, on the mark 82 overlapping barriers that are presented in the display frame.Like this, even use display device beyond the HUD81, also can obtain and same action effect when using HUD81.
" the 7th embodiment "
The following describes the vehicle steering operation assisting device of seventh embodiment of the invention.Figure 33 is the system diagram of structure of the vehicle steering operation assisting device 3 of expression the 7th embodiment.Among Figure 33, mark same-sign in the position that has with the 4th embodiment identical function shown in Figure 20.The difference of main here explanation and the 4th embodiment.
As shown in figure 33, vehicle steering operation assisting device 3 comprises the track change intention apparatus for predicting 97 of the track change intention of inferring the driver.Track change intention apparatus for predicting 97 is for example obtained the operation signal of indicator control lever, infers that the driver carries out the driver behavior intention of track change.Certainly also can constitute track change intention apparatus for predicting 97, make it except that the indicator operation, also can making ins all sorts of ways infers track change intention.
In the 7th embodiment,, show the barrier that can become operation counter-force controlling object according to the direction of this vehicle in advance.As the explanation of above-mentioned the 6th embodiment like that, this vehicle periphery exists under the situation of a plurality of barriers, with sensor to a plurality of barriers in, the object of potential risk RP maximum is as the barrier processing of controlling object.But, other vehicles that exist on the adjacent lane etc., with the little barrier in inclination angle (relative angle) of the relative direction of this vehicle, exist because the track change of this vehicle etc. may become the possibility of controlling object future.Therefore, according to the 7th embodiment, under the situation that detects a plurality of barriers that this vehicle periphery exists,, actually show before becoming controlling object at it for the barrier that may become controlling object in the future.
Use Figure 34 to describe the action of the vehicle steering operation assisting device 3 of the 7th embodiment in detail.Figure 34 is the process flow diagram that the driver behavior of expression controller 150 is assisted the processing procedure of control program.This contents processing is carried out every fixed intervals (for example 50msec) continuously.
At first, judge whether to carry out the operation counter-force control corresponding among the step S5000 with potential risk.Step S5000 is judged as and enters step S5010 when sure, is judged as to finish this processing when negating.Among the step S5010, read in the environmental information of this vehicle periphery.Here, environmental information is the information about the travel conditions of this vehicle that comprises the barrier situation of this vehicle front.Therefore, read in laser radar 10 detected to the place ahead barrier vehicle headway D and relative velocity Vr and the place ahead barrier have direction (relative angle) θ 1, by the speed of operation V of 30 detected vehicles of vehicle speed sensor.In addition, also obtain the runway information in the track of the information of other vehicles that the adjacent vehicle that exists on the adjacent lane etc., this vehicle periphery exist and this vehicle '.In addition, obtain the signal of operating about driver's indicator from track change intention apparatus for predicting 97.
Among the step S5011, obtain Driver Information.Specifically, according to signal, calculate driver's eyepoint height he from eyespot pick-up unit 37.In addition, calculate the fore-and-aft direction of eyes (eyespot) apart from dc and the fore-and-aft direction distances dd from HUD81 to the eyespot according to the seat position of driver's seat from this vehicle front (forefront) to the driver.In addition, fore-and-aft direction also can be redefined for setting apart from dc, dd.
Among the step S5020,, selectedly can become the barrier that vehicle steering operation assisting device 3 is operated the object of counter-force control for the detected a plurality of barriers of step S5010.Specifically, will be with the direction of this vehicle, be that the barrier of relative angle θ 1 in specialized range is made as the barrier that can become controlling object.The barrier that can become controlling object comprises current barrier and the barrier that may become controlling object in the future as operation counter-force controlling object.
Shown in Figure 35 (a), fore-and-aft direction center line with this vehicle is under the situation of benchmark (=0), is made as the barrier that can become controlling object with barrier in specialized range θ 1 of the relative angle θ 1 of this vehicle (1/2 °≤θ of θ 1≤+ θ 1/2 °).Specialized range θ 1 can use this vehicle ' the track lane width W1 and calculate from following formula (17) to the vehicle headway D of driving earlier of this vehicle front.
θ1＝2arctanW1/2D .........(17)
Exist in the specialized range θ 1 under the situation of a plurality of barriers, they all are chosen to be the barrier that can become controlling object.But the specialized range θ 1 that the sensing range that detects the laser radar 10 of barrier is represented than formula (17) is wide a lot.
According to signal about the indicator operation from track change intention apparatus for predicting 97, infer under the driver's who wants change lane the situation of intention, specialized range θ 1 is expanded to track change direction.For example, infer when the driver is about to the right the adjacent lane change lane, shown in Figure 35 (b), with specialized range θ 1 to right spread corrections angle θ m.Therefore, infer that the specialized range θ 1 that change under the situation of intention in the track can obtain from following formula (18).
θ1＝2arctanW1/2D+θm .........(18)
Shown in Figure 35 (b), by specialized range θ 1 is expanded to right, under the situation that is not having change intention in track shown in (a) of Figure 35, Xuan Ding adjacent vehicle is not chosen to be the barrier that can become controlling object yet.Like this, infer under the situation of track change intention,, can go out the barrier that may become controlling object in the future from wideer angular detection by expansion specialized range θ 1.
Among the step S5030, in the barrier that can become controlling object that step S5020 selectes, having judged whether current is not controlling object, but may become the barrier of controlling object in the future.For example, the controlling object that the adjacent vehicle shown in Figure 35 (b) is current and the not operation counter-force is controlled, but because this vehicle just at change lane, may become controlling object in the future.Under the situation that detects other such vehicles, make affirmative determination and enter step S5090 at step S5030.On the other hand, only detect current controlling object situation etc., do not detect under the situation of the barrier that may become controlling object in the future, enter step S5040.
Among the step S5040, calculate potential risk RP with respect to current controlling object from above-mentioned formula (3).Among the step S5050, calculate the reference point P2 of the image that on HUD81, shows.Processing among the step S1040 in the calculation method of reference point P2 and the process flow diagram of Fig. 3 same (with reference to (b) of (a)～Fig. 8 of figure 6).Among the step S5060 then,, calculate for size as the mark 82 of the barrier of controlling object according to the potential risk RP that step S5040 calculates.The size of mark 82 is calculated from above-mentioned formula (6) according to for example size of the potential risk RP of the barrier of overlapping show tags 82.
Among the step S5090, for current controlling object and may become in the future controlling object barrier the two, calculate potential risk RP.For current controlling object, what for example the place ahead, this vehicle road existed drives a vehicle earlier, uses above-mentioned formula (3) to calculate potential risk RP.For the barrier that may become controlling object in the future, other vehicles that for example on adjacent lane, travel, use poor (relative velocity) and this vehicle speed V of fore-and-aft direction distance (vehicle headway), this vehicle speed V and other vehicle speeds of this vehicle and other vehicles, from calculating potential risk RP with the same formula of calculating of formula (3).
For the barrier that may become controlling object in the future, the value of using the coefficient k o (ko＜1) of regulation to obtain to the potential risk RP that calculates is used as potential risk RP.The coefficient k o of regulation considers the size of the influence that the barrier beyond barrier on this track and this track produces this vehicle ' respectively, for example is set at about 0.2.
Among the step S5100,, calculate the reference point P2 of the image that on HUD81, shows for the controlling object of calculating potential risk RP among the step S5090 and the barrier that may become controlling object in the future.The processing of step S1040 in the calculation method of reference point P2 and the process flow diagram of Fig. 3 same (with reference to (b) of (a)～Fig. 8 of figure 6).
Among the step S5110 then,, calculate with respect to the size of controlling object with the mark 82 of the barrier that may become controlling object in the future according to the potential risk RP that step S5090 calculates.According to for example size of the potential risk RP of the barrier of overlapping show tags 82, calculate the size of mark 82 from above-mentioned formula (6).
Among the step S5070,, make mark 82 be presented on the HUD81 to display control unit 80 output signals.Only detect under the situation of current controlling object, the reference point P2 that calculates with step S5050 is the center, and step S5060 has been set big or small mark 82 overlapping being presented on the controlling object.Also detect under the situation of the barrier that may become controlling object in the future, the reference point P2 that calculates with step S5100 is the center, and step S5110 has been set big or small mark 82 overlapping being presented at may be become on the barrier of controlling object in the future.At this moment, overlap the mark 82 on the barrier that may become controlling object in the future, set different Show Colors and shape for the mark 82 on overlapping current controlling object.
Among the step S5080 then, according to the potential risk RP that calculates among step S5040 or the S5090, the operation counter-force that produces in the control accelerator pedal 72 with respect to the barrier of current controlling object.Finish this processing thus.
The demonstration example of Figure 36 expressive notation 82.Figure 36 be illustrated in infer this vehicle to the right under the state of the intention of adjacent lane change lane, detect the example under the situation of the barrier B that may become controlling object on the barrier A of controlling object of this vehicle front and the right side adjacent lane in the future.The barrier A of controlling object goes up the overlapping circular mark 82A that showing.Travel and overlappingly on the barrier B on the adjacent lane of right side showing leg-of-mutton mark 82B.Mark 82B shows with the Show Color different with mark 82A according to potential risk RP.Mark 82A lights always, and mark 82B flicker, expression are the barriers that may become controlling object in the future.
Like this, more than in Shuo Ming the 7th embodiment, except that the effect of above-mentioned the 4th～the 6th embodiment, also can be achieved as follows action effect.
(1) vehicle steering operation assisting device 3 shows in a plurality of barriers that exist with respect to this vehicle periphery, may become the potential risk RP of the barrier of controlling object in the future.Thus, can arouse driver's attention from beginning to report controlling object in the future earlier.In addition, as shown in figure 36, by showing, can make driver's current controlling object and controlling object in the future of understanding easily in the mode that can clearly distinguish expression and may become in the future the mark 82A of the current controlling object of the mark 82B of barrier of controlling object and expression.
" the 8th embodiment "
The following describes the vehicle steering operation assisting device of eighth embodiment of the invention.Figure 37 is the system diagram of structure of the vehicle steering operation assisting device 4 of expression the 8th embodiment.Among Figure 37, mark same-sign in position with the 4th embodiment identical function shown in Figure 20.The difference of main here explanation and the 4th embodiment.
As shown in figure 37, vehicle steering operation assisting device 4 also comprise the driving force that this vehicle of control produces driving-force control apparatus 260, control the gradual braking device 270 of the damping force that this vehicle produces and detect the accelerator pedal stroke sensor 73 of the amount of entering into (operational ton) of accelerator pedal 72.
Driving-force control apparatus 260 is calculated the steering order to engine, controls the driving force that this vehicle produces, so that realize the desired deceleration of slave controller 250 inputs.Specifically, driving-force control apparatus 260 is calculated the driver corresponding with accelerator pedal operation amount SA and is required driving force drv_trq according to relation shown in Figure 38.And,, calculate steering order to engine by requiring driving force drv_trq to deduct the value suitable with desired deceleration from driver.In addition, follow in the follow running control of the control of driving earlier, no matter accelerator pedal operation amount SA how, for the time between the target carriage that realizes setting, carries out the acceleration control of this vehicle at the vehicle headway that keeps almost fixed.
Gradual braking device 270 output brake fluid pressure instructions for realizing the desired deceleration of slave controller 250 inputs, are controlled the damping force that this vehicle produces.Make the clamping device action that is provided with on each wheel according to instruction from gradual braking device 270.
Controller 250 by making this vehicle produce retarded velocity, is passed on potential risk RP and is aroused driver's attention (RP passes on control) simultaneously according to the operation counter-force that produces in the potential risk RP control accelerator pedal 72.In addition, the time is controlled the acceleration-deceleration of this vehicle between the target carriage that controller 250 is set according to the driver, makes this vehicle and the vehicle headway of driving earlier roughly remain fixed range (follow running control).Controller 250 passes on control to make under the situation that produces retarded velocity in this vehicle as RP, shown in Figure 23 (a), calculates the target acceleration-deceleration according to the bounce Fc at the virtual elastic body 220 of this vehicle front setting.
Like this, controller 250 can be carried out a plurality of different control of the retarded velocity of this vehicle of control generation.But, pass under control and all movable state of follow running control at RP, pass on the action of controlling with respect to RP, the action of follow running control is preferential.That is, in fact only carry out follow running control.Under this state, accelerator pedal 72 is entered into when operating, and follow running control becomes with RP passes on control additional override (override) state, is transformed into the only state of RP reception and registration control action.Be follow running control according to driver's driver behavior state and by override.
Like this, pass under control and all movable state of follow running control at RP, when accelerator pedal 72 had been carried out entering into operation, the control of actual act switched to RP from follow running control and passes on control.At this moment,, follow running control passes on the poor of desired deceleration that control newly becomes target down, sometimes big retarded velocity when this vehicle produces than the follow running control action because becoming the desired deceleration of target and RP down.At this moment, no matter whether the driver oneself enters into operation accelerator pedal 72 quickens, and all violates the vehicle movement of driver's intention.
Therefore, in the 8th embodiment, follow running control becomes the override state and is transformed into when only RP passes on the state of control action, makes mark 82 flickers of expression controlling object barrier.Thereby notify driver's override state.
Use Figure 39 to describe the action of the vehicle steering operation assisting device 4 of the 8th embodiment in detail.Figure 39 is the process flow diagram that the driver behavior of expression controller 250 is assisted the processing procedure of control program.This contents processing is carried out every fixed intervals (for example 50msec) continuously.The processing of step S6000～S6040 is identical with the processing of the step S2000～S2040 of the process flow diagram of Figure 21, and explanation is omitted.
Among the step S6050, accelerator pedal 72 judges whether to have entered into.Specifically, accelerator pedal stroke sensor 73 detected accelerator pedal operation amount SA were judged as the accelerator pedal 72 of having entered into greater than 0 o'clock, entered step S6080.In this case, be judged as the operation of entering into owing to accelerator pedal 72, follow running is controlled to be the override state.
Under the situation of accelerator pedal operation amount SA=0, enter step S6060.The reference point P2 that calculates with step S6030 among the step S6060 is the center, will set big or small mark 82 overlapping being presented on the controlling object among the step S6040.Among the step S6070 then, according to the time between the target carriage of driver's setting, the acceleration-deceleration of controlling this vehicle makes this vehicle and the vehicle headway of driving earlier be maintained fixed, and carries out the follow running control and treatment.
Among the step S6080, driver that will be corresponding with accelerator pedal operation amount SA requires driving force drv_trq and bounce-back moment of torsion Fc to compare.Here, bounce-back moment of torsion Fc calculates according to the corresponding diagram of Figure 25, as the bounce of the virtual elastic body 220 that is arranged on this vehicle front shown in the (a) and (b) of Figure 23.Under the situation of drv_trq＜Fc, pass on control to set than driver by RP and require the big bounce-back moment of torsion Fc of driving force drv_trq, though accelerator pedal 72 is entered into, this vehicle is not the state that quickens.In this case, S6080 makes affirmative determination to step, enters step S6090.
Among the step S6090, the reference point P2 that calculates with step S6030 is the center, and step S6040 has been set big or small mark 82 overlapping being presented on the controlling object.In order to notify to the driver is that follow running is controlled to be the override state at this moment, though and accelerator pedal 72 entered into, this vehicle is not the state that quickens, with the show tags 82 that glimmers slowly.Flicker slowly is to instigate mark 82 with slow frequency, for example 0.8Hz flicker.
On the other hand, under the situation of drv_trq 〉=Fc, compare with the bounce-back moment of torsion Fc that passes on control to set by RP, driver requires driving force drv_trq big.Therefore, be judged as RP reception and registration and be controlled in the action and the acceleration of this vehicle, enter step S6100.Among the step S6100, the reference point P2 that calculates with step S6030 is the center, and step S6040 has been set big or small mark 82 overlapping being presented on the controlling object.In order to notify to the driver is that follow running is controlled to be the override state at this moment, and the situation about quickening of this vehicle of entering into by accelerator pedal 72, with the show tags 82 that glimmers fast.Flicker fast is to instigate mark 82 with fast frequency, for example 2.0Hz flicker.
Enter step S6110 afterwards, according to the potential risk RP that step S6020 calculates, the operation counter-force that produces in the control accelerator pedal 72.Finish this processing thus.
Figure 40 represents the demonstration example of the mark 82 of the override state that follow running is controlled.Accelerator pedal 72 is entered into, when follow running is controlled to be the override state, the mark 82 on the overlapping barrier that is presented at controlling object is shown by flicker.The flicker cycle of this moment is by override accelerator pedal operation amount SA constantly and the relation decision of bounce Fc.
Like this, more than in Shuo Ming the 8th embodiment, except that the effect of above-mentioned the 4th～the 7th embodiment, also can be achieved as follows action effect.
(1) vehicle steering operation assisting device 4 carries out the operation counter-force control corresponding with potential risk RP, control the braking force (the first braking force control assembly) that this vehicle produces according to potential risk RP simultaneously, or control the feasible vehicle headway (the second braking force control assembly) that is maintained to the object barrier of this vehicles whose braking forces/driving force.And, according to driver's driver behavior state, detect the follow running of keeping vehicle headway when being controlled to be the override state, change the display format of the mark 82 of expression potential risk RP.For example, in the action of follow running control, light show tags 82 overlappingly with the object barrier, when follow running is controlled to be the override state, as shown in figure 40, flicker show tags 82.Thus, can make the driver discern the operating state of the control of vehicle steering operation assisting device 4.
Above-mentioned the 4th embodiment and the 5th embodiment can be combined.In the 5th embodiment, as shown in figure 28, represent the distribution of potential risk RP with level line, but but show tags 82 also in addition make it to overlap on the barrier of current controlling object.And, certainly the 5th embodiment and the 6th, the 7th embodiment are combined.
On display device 81 during show tags 82, also can be according to the brightness of change marks 82 such as potential risk RP.Also can according to the Show Color of change such as potential risk RP mark 82 and brightness one of them.
More than in Shuo Ming the 4th～the 8th embodiment, laser radar 10 and the place ahead camera 20 are as the detection of obstacles parts, controller 100,150,250 are used as potential risk calculates parts, controller 100,150 and accelerator pedal counter-force control device 70 pass on parts as tactile data, controller 100,150,250 and display control unit 80 and display device 81 pass on parts, controller 250 as visual information, driving-force control apparatus 260 and gradual braking device 270 are as the first braking force control device, the second braking force control device and braking force control device.But, be not limited to this, as the detection of obstacles parts, alternative laser radar 10 uses for example millimeter wave laser radar of other modes.Above explanation example just when explaining invention, should not be limited to the corresponding relation of the specified particular in the scope of the specified particular of above-mentioned embodiment and claim.
Claims (27)
1. a vehicle steering operation assisting device is characterized in that, comprising:
The detection of obstacles parts detect the barrier that is present in this vehicle front;
Potential risk is calculated parts, according to the signal from above-mentioned detection of obstacles parts, calculates the potential risk of above-mentioned vehicle with respect to above-mentioned barrier;
Tactile data is passed on parts, and above-mentioned potential risk is calculated the above-mentioned potential risk that parts are calculated, and the tactile data via driver behavior equipment during as above-mentioned vehicle of driver's driver behavior conveys to the driver;
Visual information is passed on parts, and above-mentioned potential risk is calculated the object barrier (being called for short the object barrier later on) that becomes object when calculating above-mentioned potential risk in the parts, passes on as visual information.
2. vehicle steering operation assisting device according to claim 1 is characterized in that,
It is operation counter-force control assemblies of controlling the operation counter-force that produces in the above-mentioned driver behavior equipment according to above-mentioned potential risk that above-mentioned tactile data is passed on parts.
3. vehicle steering operation assisting device according to claim 1 and 2 is characterized in that,
Above-mentioned visual information passes on parts to pass on as visual information with respect to the size of the above-mentioned potential risk of above-mentioned object barrier.
4. vehicle steering operation assisting device according to claim 3 is characterized in that,
Above-mentioned visual information passes on parts will represent that the demonstration of above-mentioned potential risk overlaps on the above-mentioned object barrier.
5. vehicle steering operation assisting device according to claim 4 is characterized in that,
Above-mentioned visual information passes on parts to comprise head-up display, on the overlapping position corresponding with above-mentioned object barrier that is presented at above-mentioned head-up display of the demonstration of representing above-mentioned potential risk.
6. vehicle steering operation assisting device according to claim 4 is characterized in that,
Also comprise the photographic unit that the front region of above-mentioned vehicle is photographed,
Above-mentioned visual information pass on parts in the image of the above-mentioned front region of photographing by above-mentioned photographic unit on the position corresponding with above-mentioned object barrier overlapping demonstration represent the demonstration of above-mentioned potential risk.
7. vehicle steering operation assisting device according to claim 6 is characterized in that,
Above-mentioned visual information is passed on parts image that shows above-mentioned front region on the monitor apparatus of guider and the demonstration of representing above-mentioned potential risk.
8. vehicle steering operation assisting device according to claim 4 is characterized in that,
At least one image when watching above-mentioned object barrier when watching above-mentioned object barrier when above-mentioned visual information passes on parts to generate to watch from the rear above-mentioned object barrier, from the side and from the top, the demonstration of above-mentioned potential risk is represented in overlapping demonstration on the image of the above-mentioned object barrier that generates.
9. according to the described vehicle steering operation assisting device of one of claim 4 to 8, it is characterized in that,
Above-mentioned visual information passes on parts when above-mentioned object barrier changes, the shape of the demonstration of the above-mentioned potential risk of change expression.
10. vehicle steering operation assisting device according to claim 4 is characterized in that,
Above-mentioned visual information is passed on the size of parts according to above-mentioned potential risk, the size of the demonstration of the above-mentioned potential risk of change expression.
11. vehicle steering operation assisting device according to claim 4 is characterized in that,
Above-mentioned visual information is passed on the size of parts according to above-mentioned potential risk, the color of the demonstration of the above-mentioned potential risk of change expression.
12. vehicle steering operation assisting device according to claim 4 is characterized in that,
Above-mentioned visual information is passed on the size of parts according to above-mentioned potential risk, makes the demonstration flicker of the above-mentioned potential risk of expression.
13. vehicle steering operation assisting device according to claim 4 is characterized in that,
Also comprise the relative transport condition decision means of judging above-mentioned vehicle and the relative transport condition of above-mentioned object barrier,
The above-mentioned relative transport condition that above-mentioned visual information passes on parts to judge according to above-mentioned relative transport condition decision means changes the brightness of the demonstration of the above-mentioned potential risk of expression.
14. vehicle steering operation assisting device according to claim 4 is characterized in that,
The degree of closeness that also comprises the degree of closeness of calculating above-mentioned vehicle and above-mentioned object barrier is calculated parts,
Above-mentioned visual information passes on parts to calculate the above-mentioned degree of closeness that parts are calculated according to above-mentioned degree of closeness, makes the display position skew of the demonstration of the above-mentioned potential risk of expression.
15. vehicle steering operation assisting device according to claim 14 is characterized in that,
Above-mentioned visual information passes on parts under the approaching situation of above-mentioned vehicle and above-mentioned object barrier, the demonstration of the above-mentioned potential risk of expression is offset downwards with respect to above-mentioned object barrier, above-mentioned vehicle and above-mentioned object barrier away from situation under, the demonstration of the above-mentioned potential risk of expression is offset upward with respect to above-mentioned object barrier.
16. a vehicle steering auxiliary operation method is characterized in that:
Detection is present in the barrier of this vehicle front;
According to testing result, calculate the potential risk of above-mentioned vehicle with respect to above-mentioned barrier to above-mentioned barrier;
The tactile data via driver behavior equipment with above-mentioned potential risk during as above-mentioned vehicle of driver's driver behavior conveys to the driver;
The barrier that becomes object when calculating above-mentioned potential risk is passed on as visual information.
17. a vehicle comprises the vehicle steering operation assisting device, this vehicle steering operation assisting device comprises:
The detection of obstacles parts detect the barrier that is present in this vehicle front;
Potential risk is calculated parts, according to the signal from above-mentioned detection of obstacles parts, calculates the potential risk of above-mentioned vehicle with respect to above-mentioned barrier;
Tactile data is passed on parts, and above-mentioned potential risk is calculated the above-mentioned potential risk that parts are calculated, and the tactile data via driver behavior equipment during as above-mentioned vehicle of driver's driver behavior conveys to the driver;
Visual information is passed on parts, above-mentioned potential risk is calculated the barrier that becomes object when calculating above-mentioned potential risk in the parts pass on as visual information.
18. a vehicle steering operation assisting device comprises:
The detection of obstacles parts detect the barrier that is present in this vehicle front;
Potential risk is calculated parts, according to the signal from above-mentioned detection of obstacles parts, calculates the potential risk of above-mentioned vehicle with respect to above-mentioned barrier;
Tactile data is passed on parts, and the tactile data via driver behavior equipment when above-mentioned potential risk is calculated above-mentioned potential risk that parts calculate as above-mentioned vehicle of driver's driver behavior conveys to the driver;
Visual information is passed on parts, will pass on as visual information with respect to the potential risk of the object barrier (being called for short the object barrier later on) of the controlling object of passing on parts as above-mentioned tactile data.
19. vehicle steering operation assisting device according to claim 18 is characterized in that,
Above-mentioned potential risk is calculated the potential risk that parts are calculated a plurality of barriers that exist with respect to this vehicle front respectively,
Above-mentioned visual information reception and registration parts show the above-mentioned potential risk with respect to above-mentioned a plurality of barriers on display unit.
20. vehicle steering operation assisting device according to claim 19 is characterized in that,
Above-mentioned visual information pass on parts show with respect in above-mentioned a plurality of barriers, may become the potential risk of the barrier of above-mentioned object barrier in the future.
21. vehicle steering operation assisting device according to claim 19 is characterized in that,
Above-mentioned visual information pass on parts show with respect in above-mentioned a plurality of barriers, the potential risk of the barrier of above-mentioned potential risk more than setting.
22. vehicle steering operation assisting device according to claim 18 is characterized in that,
Above-mentioned visual information passes on parts to show the level line of expression with respect to the size of the above-mentioned potential risk of above-mentioned object barrier on display unit.
23. vehicle steering operation assisting device according to claim 18 is characterized in that,
Above-mentioned visual information passes on parts to comprise the display unit that shows the mark of representing above-mentioned potential risk, under the situation of having switched above-mentioned object barrier, changes the display format of the above-mentioned mark of the above-mentioned potential risk of expression.
24. vehicle steering operation assisting device according to claim 18 is characterized in that,
Above-mentioned visual information passes on parts to comprise the display unit that shows the mark of representing above-mentioned potential risk, represents the size of the above-mentioned mark of above-mentioned potential risk according to the apparent area change of the above-mentioned object barrier that changes along with the distance with above-mentioned vehicle.
25. vehicle steering operation assisting device according to claim 18 is characterized in that,
Above-mentioned visual information passes on parts to comprise the display unit that shows the mark of representing above-mentioned potential risk, represents the size of the above-mentioned mark of above-mentioned potential risk according to the vehicle headway change of above-mentioned object barrier and above-mentioned vehicle.
26. vehicle steering operation assisting device according to claim 18 is characterized in that, also comprises:
The first braking force control assembly is calculated the braking force that produces in above-mentioned vehicle of above-mentioned potential risk control that parts calculate according to above-mentioned potential risk;
The second braking force control assembly is controlled above-mentioned vehicles whose braking forces/driving force, to be maintained to the vehicle headway of above-mentioned object barrier; And
The override detection part is the override state according to the action of above-mentioned driver's the above-mentioned second braking force control assembly of driver behavior state-detection,
Above-mentioned visual information passes on parts to comprise to show the display unit of the mark of the above-mentioned potential risk of expression, when above-mentioned override detection part detects above-mentioned override state, changes the display format of the above-mentioned mark of the above-mentioned potential risk of expression.
27. vehicle steering operation assisting device according to claim 18 is characterized in that,
Also comprise the braking force control assembly, this braking force control assembly is calculated the above-mentioned potential risk that parts are calculated according to above-mentioned potential risk, controls the braking force that produces in above-mentioned the vehicle,
Above-mentioned visual information passes on parts to comprise the display unit that shows the mark of representing above-mentioned potential risk, according to the controlled quentity controlled variable of above-mentioned braking force control assembly to above-mentioned braking force, and the size of the above-mentioned mark of the above-mentioned potential risk of change expression.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005325065 | 2005-11-09 | ||
| JP2005325065 | 2005-11-09 | ||
| JP2005-325065 | 2005-11-09 | ||
| JP2006233141A JP4887980B2 (en) | 2005-11-09 | 2006-08-30 | VEHICLE DRIVE OPERATION ASSISTANCE DEVICE AND VEHICLE WITH VEHICLE DRIVE OPERATION ASSISTANCE DEVICE |
| JP2006-233141 | 2006-08-30 | ||
| JP2006233141 | 2006-08-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1967147A true CN1967147A (en) | 2007-05-23 |
| CN1967147B CN1967147B (en) | 2011-08-17 |
Family
ID=38076036
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101385789A Expired - Fee Related CN1967147B (en) | 2005-11-09 | 2006-11-09 | Vehicular driving assist operation device and vehicle possessing same |
Country Status (2)
| Country | Link |
|---|---|
| JP (2) | JP5327182B2 (en) |
| CN (1) | CN1967147B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2011070686A (en) | 2011-04-07 |
| JP5077415B2 (en) | 2012-11-21 |
| JP5327182B2 (en) | 2013-10-30 |
| JP2011070685A (en) | 2011-04-07 |
| CN1967147B (en) | 2011-08-17 |
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