WO2013038531A1 - 運転支援装置及び運転支援方法 - Google Patents
運転支援装置及び運転支援方法 Download PDFInfo
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- WO2013038531A1 WO2013038531A1 PCT/JP2011/071039 JP2011071039W WO2013038531A1 WO 2013038531 A1 WO2013038531 A1 WO 2013038531A1 JP 2011071039 W JP2011071039 W JP 2011071039W WO 2013038531 A1 WO2013038531 A1 WO 2013038531A1
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- driving support
- driving
- host vehicle
- moving body
- time
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 27
- 238000010586 diagram Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0026—Lookup tables or parameter maps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
Definitions
- the present invention relates to a driving support apparatus and a driving support method for performing driving support for avoiding a collision between a host vehicle and a moving body.
- a device described in Patent Document 1 As a conventional driving support device, for example, a device described in Patent Document 1 is known.
- the driving support device described in Patent Document 1 the position of an object existing in the traveling direction of the host vehicle is detected, and it is determined whether or not the lateral movement speed with respect to the traveling direction of the detected object is equal to or lower than a predetermined speed. Yes.
- the contact between the host vehicle and the moving body is based on the detection angle formed by the detection direction of the moving body and the traveling direction of the host vehicle.
- the own vehicle is positioned without the driving support for avoiding a collision with the pedestrian.
- the pedestrian may have already crossed the road.
- a conventional driving support device even in such a situation, it is possible to determine the possibility of contact based on a detection angle made with the host vehicle when the lateral movement speed is equal to or lower than a predetermined speed, and to perform driving support There is sex. Therefore, there is a possibility that unnecessary driving assistance may be implemented, and a problem may arise that the driver feels uncomfortable with the actual situation.
- the present invention has been made in order to solve the above-described problems, and an object thereof is to provide a driving support device and a driving support method that can appropriately determine whether driving support is necessary and perform effective driving support. To do.
- a driving support device is a driving support device that performs driving support that avoids a collision between the host vehicle and a moving body, and the driving support device according to the present invention has A first time prediction means for predicting a first time until the host vehicle reaches a crossing point where the host vehicle and the mobile body cross in the crossing direction; and a crossing point in the direction in which the mobile body crosses the traveling direction.
- a second time prediction means for predicting a second time until the vehicle arrives, and the first and second times predicted by the first and second time prediction means are applied to a preset first map, Driving assistance determining means for determining whether or not to provide driving assistance in the vehicle, and driving assistance for controlling driving assistance in the own vehicle when the first driving assistance judging means determines that the driving assistance is to be implemented in the own vehicle control If it is determined that the driving support is not performed by the first driving support determination means, the speed in the direction intersecting the traveling direction of the moving body is equal to or lower than the first threshold, and the first time is equal to or lower than the second threshold.
- a second driving support determination means for determining that the driving support is performed in the host vehicle when the condition is satisfied, and the driving support control means is provided by the second driving support determination means.
- Time is predicted, and the predicted first time and second time are applied to the first map to determine whether or not driving assistance is necessary.
- the necessity of driving assistance can be appropriately determined by predicting the second time until the moving body reaches the intersection.
- effective driving support can be implemented.
- the driving support in the above-described driving support device when the movement of the moving body is stopped, that is, when the speed of the moving body becomes “0”, it is determined that driving support is unnecessary. In this case, since the driving support is not performed even though the moving body is located in front of the host vehicle, the driver may feel uncomfortable. Therefore, in the present invention, when it is determined by the first driving support determination means that the driving support is not performed, the speed in the direction intersecting the traveling direction of the moving body is equal to or lower than the first threshold value and the first time is the first time. It is determined whether or not the threshold value is equal to or less than two threshold values, and when this condition is satisfied, the driving support in the host vehicle is continued even when the first driving support determination unit determines that the driving support is not performed. Continue driving support. Therefore, since the driving assistance is continued even when the moving body stops, it is possible to reduce the driver's uncomfortable feeling.
- the vehicle includes a traveling state detection unit that detects a traveling state of the host vehicle, and a moving body state detection unit that detects a state of the moving body.
- the first and second time prediction units detect the vehicle state detected by the traveling state detection unit.
- the first time and the second time are predicted based on the running state of the vehicle and the state of the moving body detected by the moving body state detecting means. According to such a configuration, the first time and the second time can be predicted more accurately.
- the second driving support determination means determines whether or not the first time is equal to or less than the second threshold using a preset second map. As described above, by using the preset second map, it is possible to satisfactorily determine whether or not the first time is equal to or less than the second threshold value.
- the second driving support determination means determines whether the second time is within the determination area. It is determined that one hour is less than or equal to the second threshold, and driving assistance is determined to be performed when the moving body is located within the determination area. As described above, by using the second map in which the determination region is set, it is possible to accurately determine whether or not to perform driving support.
- It has a plurality of second maps in which a determination area is set according to the speed of the moving body, and the second driving support determination means changes the second map used according to the speed in the direction intersecting the traveling direction of the moving body. To do. Thereby, the necessity of driving assistance can be determined more appropriately.
- the driving support control means performs control to make the braking control release gradient when releasing the braking control gentler than usual when it is determined by the second driving support determination means that the driving support is performed. Thereby, driving assistance is continuously implemented.
- the driving support control means performs control for maintaining a predetermined braking amount for a certain period of time when it is determined by the second driving support determination means that the driving support is performed. Thereby, driving assistance is continuously implemented.
- the first map is set such that the first time is set on the vertical axis and the second time is set on the horizontal axis, and the first area in which driving support is determined to be unnecessary, and driving support is determined to be required.
- the first region is set, and the first driving support determination means determines that driving support is to be performed in the host vehicle when a point where the first time and the second time intersect exists in the second region. .
- a driving support method is a driving support method for avoiding a collision between the host vehicle and a moving body, and the host vehicle and the moving body intersect in a traveling direction of the host vehicle and a direction intersecting the traveling direction.
- a first time prediction step for predicting a first time until the host vehicle reaches the intersection where the vehicle moves, and a second time for predicting a second time until the mobile body reaches the intersection in a direction intersecting the traveling direction.
- a driving support control step for controlling driving support in the host vehicle when it is determined in the driving support determining step and the first driving support determining step that the driving support is performed in the host vehicle; When it is determined in the determination step that driving assistance is not performed, it is determined whether or not the speed in the direction intersecting the traveling direction of the moving body is equal to or less than the first threshold and the first time is equal to or less than the second threshold. And a second driving support determination step that determines that driving support is to be performed in the host vehicle when the condition is satisfied. In the driving support control step, it is determined that driving support is performed in the second driving support determination step. In this case, the driving support in the host vehicle is continued even when it is determined that the driving support is not performed in the first driving support determination step.
- FIG. 1 is a diagram illustrating a configuration of a driving support system including a driving support device according to an embodiment.
- a driving support system 100 illustrated in FIG. 1 is a system that is mounted on a vehicle such as a car and performs driving support for avoiding a collision with a moving body such as a pedestrian or a bicycle.
- driving assistance includes performing interventional control such as braking and steering directly in the host vehicle and warning the driver.
- the driving support system 100 includes a driving support device 1 and a PCS (Pre-Crash System) 20.
- the driving support device 1 includes an ECU (Electronic Control Unit) 3.
- the ECU 3 is connected with a moving body detection sensor (moving body state detection means) 5, a vehicle sensor (running state detection means) 7, an HMI (Human Machine Interface) 9, and an intervention control ECU 11.
- the ECU 3 and the intervention control ECU 11 are electronic control units including a CPU [Central Processing Unit], ROM [Read Only Memory], RAM [Random Access Memory], and the like, and operate according to a program.
- the PCS 20 operates in parallel with the ECU 3 of the driving support device 1. Although not shown, the PCS 20 is connected to the moving body detection sensor 5, the vehicle sensor 7, the HMI 9, and the intervention control ECU 11, similarly to the ECU 3.
- the PCS 20 calculates TTC (Time To Collision) for the moving body based on information detected by the moving body detection sensor 5 and the vehicle sensor 7 described later.
- TTC is a value indicating how many seconds later when the host vehicle and the moving body travel in the current traveling state.
- the PCS 20 causes the intervention control ECU 11 to perform automatic intervention control when the TTC becomes equal to or less than a predetermined value.
- the moving body detection sensor 5 is an external sensor that detects a moving body.
- the moving body detection sensor 5 is an imaging unit such as a laser radar, a millimeter wave radar, or a camera.
- the moving object detection sensor 5 detects a moving object located in front of the host vehicle by transmitting and receiving a radar wave of a frequency-modulated millimeter wave band, and moves based on the detection result. Generates moving body information such as body position and speed.
- the moving body detection sensor 5 outputs the moving body information to the ECU 3. If the moving body detection sensor 5 is a camera, the captured image is subjected to image processing to generate moving body information.
- the moving body detection sensor 5 may be composed of both a millimeter wave radar and a camera.
- Vehicle sensor 7 is an internal sensor that detects the traveling state of the host vehicle.
- the vehicle sensor 7 is, for example, a yaw rate sensor that detects the yaw rate of the host vehicle, a steering angle sensor that detects the steering angle of the steering, a vehicle speed sensor that detects the vehicle speed (traveling speed) of the vehicle, and the like.
- the vehicle sensor 7 outputs vehicle information indicating the detected traveling state of the host vehicle to the ECU 3.
- the ECU 3 includes a collision time prediction unit (first time prediction unit, second time prediction unit) 31, a map storage unit 33, a driving support determination unit (first driving support determination unit) 35, and an extension mode determination unit (first 2 driving support determination means) 37 and a driving support control unit (driving support control means) 39.
- the collision time prediction unit 31 is a part that predicts the time until the host vehicle and the moving body reach the intersection (collision point).
- the collision time prediction unit 31 receives the moving body information output from the moving body detection sensor 5 and the vehicle information output from the vehicle sensor 7, the collision time prediction unit 31 determines whether the own vehicle and the moving body are based on the moving body information and the vehicle information. Collision time, that is, the time until the host vehicle and the moving body reach the intersection where the host vehicle and the moving body cross each other is calculated.
- the collision time predicting unit 31 obtains the predicted trajectory of the own vehicle based on the vehicle information, and how many seconds it takes for the own vehicle to travel in the traveling direction in the current state, that is, the time until the own vehicle reaches the intersection.
- TTC first time
- TTV Time To Vehicle, the second time
- the collision time prediction unit 31 calculates TTC and TTV by the following equations (1) and (2).
- TTC x / (V ⁇ vx) (1)
- TTV y / vy (2)
- V speed of the host vehicle
- x, y relative position of the moving body
- vx, vy speed of the moving body.
- the collision time prediction unit 31 outputs TTC information and TTV information indicating the calculated TTC and TTV to the driving support determination unit 35.
- the map storage unit 33 stores a map (first map) M.
- FIG. 2 is a diagram showing a map. As shown in FIG. 2, in the map M, the vertical axis is TTC [s], the horizontal axis is TTV [s], and the origin is set at the intersection of the host vehicle and the moving body. In the map M, as the distance from the origin increases (as TTC and TTV increase), the map M is located away from the intersection. In the map M, a driving assistance unnecessary area (first area) A1 and a driving assistance area (second area) A2 are set. The map M will be specifically described below.
- the two straight lines that define the driving support area A2 are set as a difference between TTC and TTV (TTC-TTV).
- T 1 and T 2 are set to 1 to 3 seconds, for example.
- driving support control details are set in advance, and an HMI area A21, an intervention control area A22, and an emergency intervention control area A23 are set.
- the HMI area A21 is an area where driving assistance is performed such as warning the driver.
- the intervention control area A22 is set inside the HMI area A21.
- the intervention control area A22 is an area where intervention control such as braking is performed.
- the emergency intervention control area A23 is an area in which emergency braking control for avoiding a collision is performed by performing sudden braking or the like.
- the emergency intervention control area A23 is set near the origin of the map M, that is, near the intersection between the host vehicle and the moving body.
- the driving support unnecessary area A1 is a portion other than the driving support area A2, and is an area that does not require driving support for avoiding a collision between the host vehicle and the moving body. That is, in the case where it corresponds to the driving assistance unnecessary area A1, when the own vehicle reaches the intersection, the moving body has already passed the intersection, or the moving body is located at a place away from the intersection. Will be.
- the driving assistance area A2 and the driving assistance unnecessary area A1 may be set based on experimental data or the like, or the driving assistance area by learning the driving characteristics (accelerator characteristics, brake characteristics, etc.) of the driver. A2 and driving support unnecessary area A1 may be set.
- the driving assistance control amounts may be set in the intervention control area A22 and the emergency intervention control area A23, respectively.
- the map M stored (stored) in the map storage unit 33 can be rewritten (update of the map M).
- the driving support determination unit 35 is a part that determines whether or not driving support is performed in the host vehicle.
- the driving support determination unit 35 applies TTC and TTV to the map M, and determines whether or not driving support is to be performed in the host vehicle.
- the driving support determination unit 35 applies the TTC information and the TTV information output from the collision time prediction unit 31 to the map M, and in which area of the map M the intersection where TTC and TTV intersect is located.
- the driving support determination unit 35 outputs support non-execution information indicating that driving support is not performed to the extension mode determination unit 37.
- the driving support determination unit 35 determines that the driving support is performed in the own vehicle because it is the driving support area A2 (intervention control area A22).
- the driving support determination unit 35 provides the driving support control unit 39 with support execution information including information indicating any one of the HMI area A21, the intervention control area A22, and the emergency intervention control area A23. Output.
- the extension mode determination unit 37 determines whether or not to execute the extension mode when the driving support determination unit 35 determines that the driving support is performed and the speed vy of the moving body becomes a predetermined value (first threshold value) or less. It is a part to determine whether. When the extension mode determination unit 37 receives the support non-execution information from the driving support determination unit 35, the extension mode determination unit 37 determines whether or not to implement the extension mode.
- the extension mode will be described with reference to FIG.
- FIG. 4 is a diagram for explaining the extension mode.
- the host vehicle and the moving body when they are approaching the intersection in a constant state, they will be present on the line L1 with “t 1 ” and “t 2 ” as time passes.
- the TTV becomes infinite (TTV ⁇ ⁇ ), so that the locus becomes a line L2.
- the driving support determination unit 35 determines that driving support is not performed.
- the PCS 20 operates to avoid a collision.
- the TTC is equal to or less than a predetermined value (corresponding to the emergency intervention control area A23 in the map M). ) Does not work until it is determined. Therefore, when the driving support determination unit 35 determines the end of driving support, that is, until the PCS 20 operates from the state where the speed vy of the moving body is “0” (Ta [ s]) occurs.
- the driving support determination unit 35 performs driving support in order to connect control from the end of the driving support in the driving support device 1 to the start of driving support in the PCS 20. Extend (continue) the driving assistance implemented in This control is the extension mode.
- the extension mode determination unit 37 determines whether or not to implement the extension mode using the determination map (second map) MC.
- FIG. 5 is a diagram showing a determination map.
- the determination map MC shown in FIG. 5 is stored (stored) in the map storage unit 33.
- the vertical axis is set to TTC [s] and the horizontal axis is set to Y [m].
- a determination area (determination area) HA is set in the determination map MC.
- TTC is set to a predetermined time (second threshold)
- the lateral direction (width direction of the host vehicle C) Y is set to a predetermined distance
- intervention control for collision avoidance by the PCS 20 is performed. This is the area where the extension mode is extended to extend the intervention control until it is executed.
- the determination area HA may be set based on experimental data or the like, or the determination area HA may be set by learning the driving characteristics (accelerator characteristics, brake characteristics, etc.) of the driver. .
- the determination area HA includes at least a range where intervention control is performed in the PCS 20.
- the extension mode determination unit 37 when the moving body is located in the determination area HA in the determination map MC, that is, when the TTC is equal to or shorter than a predetermined time and the moving body is within a predetermined range in the lateral direction, It is determined that the extension mode is performed. When it is determined that the extension mode is to be performed, the extension mode determination unit 37 outputs extension mode information to the driving support control unit 39.
- the driving support control unit 39 is a part that controls driving support in the host vehicle.
- the driving support control unit 39 controls driving support (intervention control) based on the support execution information.
- the intervention control is, for example, braking control or steering control.
- the driving support control unit 39 outputs a warning instruction signal to the HMI 9 when the support execution information includes information indicating the HMI area A21.
- the driving support control unit 39 calculates the control amount of the intervention control.
- the driving support control unit 39 determines the braking control amount (target acceleration (deceleration acceleration), Speed).
- the driving support control unit 39 calculates the braking control amount based on the following equation (3). ⁇ ⁇ TTC + ⁇ ⁇ TTV + ⁇ (3)
- ⁇ and ⁇ are coefficients, and ⁇ is a constant.
- ⁇ , ⁇ , and ⁇ are set based on experimental values and the like.
- the steering control amount is calculated based on experimental values, predetermined formulas, and the like.
- the driving support control unit 39 outputs an intervention control signal including a control amount to the intervention control ECU 11.
- the driving support control unit 39 receives the extension mode information output from the extension mode determination unit 37, the driving support control unit 39 calculates the extension mode control amount. Specifically, as shown in FIG. 6, the driving support control unit 39 calculates a control amount such that the braking control release gradient at the end of the braking control becomes gentler than usual.
- a portion indicated by a broken line La is a braking control release gradient at the end of normal braking control
- a portion indicated by a solid line Lb is a braking control release gradient at the end of braking control in the extension mode.
- the driving support control unit 39 uses the following equation (4) to calculate an extension mode control amount that provides a braking control release gradient as shown in FIG.
- Ax off deceleration at the end of control
- Ax PCS deceleration connected to PCS
- TTC off TTC at the end of control
- TTC PCS TTC for performing PCS control
- ⁇ , ⁇ control adjustment It is a variable for.
- the driving support control unit 39 outputs an extension control signal including a control amount in the extension mode to the intervention control ECU 11.
- the HMI 9 is a buzzer, HUD (Head Up Display), a navigation system monitor, a meter panel, and the like.
- HMI 9 receives the warning instruction signal output from the ECU 3
- the HMI 9 plays a sound for warning the driver that the moving body exists ahead, or displays a warning text or the like. For example, when the HMI 9 is HUD, a pop-up indicating that a moving body is present on the windshield is displayed.
- the intervention control ECU 11 is an ECU that executes intervention control in the host vehicle.
- the intervention control ECU 11 is composed of a brake ECU, an engine ECU (not shown), and the like.
- a brake actuator Upon receiving an intervention control signal output from the ECU 3, for example, a brake actuator, Automatic intervention is performed by controlling a steering actuator (both not shown).
- the intervention control ECU 11 controls the brake actuator according to the extension mode control amount included in the extension control signal, and performs the braking control as shown in FIG.
- FIG. 7 is a flowchart showing the operation of the driving support apparatus.
- the state of the moving body is detected by the moving body detection sensor 5 (step S01). Further, the traveling state of the host vehicle is detected by the vehicle sensor 7 (step S02). Next, TTC and TTV are calculated by the collision time prediction unit 31 based on the moving body information and the vehicle information detected by the moving body detection sensor 5 and the vehicle sensor 7 (step S03).
- the TTC and TTV calculated by the collision time prediction unit 31 are applied to the map M stored in the map storage unit 33 (step S04), and it is determined whether or not driving assistance is to be performed in the host vehicle. This is performed in the support determination unit 35.
- the driving support determination unit 35 determines whether or not the intersection of TTC and TTV is the HMI area A21, that is, whether or not it is the driving support area A2 (step S05). If it is determined that the area is the HMI area A21, the HMI operation flag is set to “1” (step S06). On the other hand, if it is not determined that the area is the HMI area A21, that is, if it is determined that the area is the driving assistance unnecessary area A1, the process returns to step S01.
- step S07 it is determined in the driving support control unit 39 whether or not it is the intervention control area A22 (step S07). If it is determined that it is the intervention control area A22, the driving support control unit 39 calculates the control amount of the intervention control based on, for example, the map M (step S08). On the other hand, if it is not determined that it is the intervention control area A22, the process proceeds to step S12.
- step S09 it is determined in the driving support control unit 390 whether or not it is the emergency intervention control area A23 (step S09).
- the driving assistance control unit 39 calculates a control amount for emergency avoidance (step S10).
- the process proceeds to step S12.
- step S11 driving support is implemented. Specifically, a warning is given to the driver by the HMI 9. In addition, intervention control is performed by the intervention control ECU 11 together with a warning by the HMI 9.
- step S12 it is determined whether or not the moving object is a target (previous (past) control execution target) for which it is determined whether or not the driving support determination unit 35 performs driving support. If it is determined that it is the previous control target, the process proceeds to step S13. On the other hand, if it is not determined that it is the previous control target, the process proceeds to step S11.
- step S13 the extension mode determination unit 37 determines whether or not to implement the extension mode using the determination map MC. If it is determined that the extension mode is to be performed, the process proceeds to step S14. On the other hand, if it is not determined that the extension mode is to be executed, the driving support is ended (step S16).
- step S14 the driving support control unit 39 calculates the driving extension mode control amount. Then, the intervention control ECU 11 performs driving support in the extension mode (step S15).
- the collision time prediction unit 31 calculates and predicts the TTC and TTV, and applies the TTC and TTV to the map M to determine whether or not to perform driving support in the host vehicle. Is determined by the support determination unit 35.
- the support determination unit 35 it is possible to appropriately determine whether or not driving assistance is necessary by predicting the collision time in the direction in which the moving body reaches the intersection, that is, the direction in which the moving body approaches the host vehicle.
- the extension mode determination unit 37 performs driving support in the extended mode. If it is determined that the extension mode is to be executed, the driving support control unit 39 calculates the extension mode control amount and extends (continues) the driving support. As a result, there is no time during which the driving support is not performed before the driving support in the driving support device 1 is completed and the driving support by the PCS 20 is performed. Therefore, even when the moving body is stopped, the intervention control is continued until the next driving assistance, so that the driver's uncomfortable feeling can be reduced.
- the determination map MC is used to determine whether or not the extended mode determination unit 37 performs driving support in the extended mode. As a result, it is possible to reliably determine whether or not to implement the extension mode.
- the extension mode determination unit 37 determines the extension mode using the determination map MC.
- the determination map shown in FIGS. 8 and 9 may be used.
- FIG. 8 is a diagram showing a determination map according to another embodiment.
- the determination area HA of the determination map MC becomes narrower (tapered) as the TTC increases from a portion where the TTC is equal to or longer than a predetermined time.
- This determination map MC is used when the speed of the moving body is not more than a predetermined value in the moving body information detected by the moving body detection sensor 5. That is, the extension mode determination unit 37 extracts the determination map MC from the map storage unit 33 according to the speed of the moving object. By using such a determination map MC, a more appropriate extension mode can be determined.
- FIG. 9 is a diagram showing a determination map according to another embodiment.
- the determination area HA of the determination map MC becomes wider as the TTC increases from the portion where the TTC is equal to or longer than the predetermined time.
- This determination map MC is used when the speed of the moving body is a predetermined value or more in the moving body information detected by the moving body detection sensor 5. That is, the extension mode determination unit 37 extracts the determination map MC from the map storage unit 33 according to the speed of the moving object. By using such a determination map MC, a more appropriate extension mode can be determined.
- the driving support control unit 39 may calculate the extension mode control amount as follows. As shown in FIG. 10, the driving support control unit 39 calculates the extension mode control amount so that the predetermined braking amount is maintained for a certain period of time. Specifically, the driving support control unit 39 calculates the extension mode control amount by the following equation (5). TTC off -TTC PCS + ⁇ (5)
- the driving support control unit 39 may calculate the extension mode control amount as follows. As shown in FIG. 11, the driving support control unit 39 calculates the deceleration with respect to the moving object from the end of the braking control, selects the minimum value, and calculates the control amount. Specifically, the driving support control unit 39 calculates the extension mode control amount by the following equation (6). vx 2 / 2L (6) In Expression (6), L is a distance to the moving body.
- the warning by the HIM 9 is also performed at the same time.
- the warning by the HIM 9 may not be performed.
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Abstract
Description
TTC=x/(V-vx) …(1)
TTV=y/vy …(2)
上記式(1),(2)において、V:自車両の速度、x,y:移動体の相対位置、vx,vy:移動体の速度である。衝突時間予測部31は、算出したTTC及びTTVを示すTTC情報及びTTV情報を運転支援判断部35に出力する。
α×TTC+β×TTV+γ …(3)
ここで、α,βは係数であり、γは定数である。α,β,γは、実験値などに基づいて設定されている。また、操舵の制御量は、実験値や所定の式などに基づいて算出する。運転支援制御部39は、制御量を含む介入制御信号を介入制御ECU11に出力する。
上記式(4)において、Axoff:制御終了時の減速度、AxPCS:PCSに繋ぐ減速度、TTCoff:制御終了時のTTC、TTCPCS:PCS制御を行うTTC、α,β:制御調整用の変数である。運転支援制御部39は、延長モードにおける制御量を含む延長制御信号を介入制御ECU11に出力する。
TTCoff-TTCPCS+α …(5)
vx2/2L …(6)
式(6)において、L:移動体までの距離である。
Claims (9)
- 自車両と移動体との衝突を回避する運転支援を実施する運転支援装置であって、
前記自車両の進行方向と当該進行方向に交差する方向とにおいて前記自車両と前記移動体とが交差する交差地点に前記自車両が到達するまでの第1時間を予測する第1時間予測手段と、
前記移動体が前記進行方向に交差する方向において前記交差地点に到達するまでの第2時間を予測する第2時間予測手段と、
前記第1及び第2時間予測手段によって予測された前記第1及び第2時間を予め設定された第1マップに適用して、前記自車両において運転支援を実施するか否か判断する第1運転支援判断手段と、
前記第1運転支援判断手段により前記自車両において運転支援を実施すると判断された場合に、前記自車両における運転支援を制御する運転支援制御手段と、
前記第1運転支援判断手段によって運転支援を実施しないと判断された場合に、前記移動体の前記進行方向に交差する方向の速度が第1閾値以下であり、且つ前記第1時間が第2閾値以下であるか否かを判断して、当該条件を満たす場合に前記自車両において運転支援を実施すると判断する第2運転支援判断手段と、
を備え、
前記運転支援制御手段は、前記第2運転支援判断手段によって運転支援を実施すると判断された場合に、前記第1運転支援判断手段によって運転支援を実施しないと判断された場合であっても前記自車両における運転支援を継続することを特徴とする運転支援装置。 - 前記自車両の走行状態を検出する走行状態検出手段と、
前記移動体の状態を検出する移動体状態検出手段と、
を備え、
前記第1及び第2時間予測手段は、前記走行状態検出手段によって検出された前記自車両の走行状態と前記移動体状態検出手段によって検出された前記移動体の状態とに基づいて、前記第1時間及び前記第2時間をそれぞれ予測する、請求項1記載の運転支援装置。 - 前記第2運転支援判断手段は、予め設定された第2マップを用いて前記第1時間が前記第2閾値以下であるか否かを判断する、請求項1又は2記載の運転支援装置。
- 前記第2マップには、前記第1時間と前記自車両の幅方向の距離とで規定される判定領域が設定されており、
前記第2運転支援判断手段は、前記第1時間が前記判定領域内である場合に前記第1時間が前記第2閾値以下であると判断し、且つ前記判定領域内に前記移動体が位置する場合に運転支援を実施すると判断する、請求項3記載の運転支援装置。 - 前記移動体の速度に応じて判定領域が設定された複数の第2マップを有し、
前記第2運転支援判断手段は、前記移動体の前記進行方向に交差する方向の速度に応じて用いる第2マップを変更する、請求項4記載の運転支援装置。 - 前記運転支援制御手段は、前記第2運転支援判断手段によって運転支援を実施すると判断された場合に、制動制御を解除するときの制動制御解除勾配を通常よりも緩やかにする制御を行う、請求項1~5のいずれか一項記載の運転支援装置。
- 前記運転支援制御手段は、前記第2運転支援判断手段によって運転支援を実施すると判断された場合に、所定の制動量を一定時間維持する制御を行う、請求項1~5のいずれか一項記載の運転支援装置。
- 前記第1マップは、前記第1時間が縦軸で且つ前記第2時間が横軸として設定されていると共に、運転支援が不要であると判断される第1領域と、運転支援が必要であると判断される第2領域とが設定されており、
前記第1運転支援判断手段は、前記第1時間と前記第2時間とが交わる点が前記第2領域に存在する場合に、前記自車両において運転支援を実施すると判断する、請求項1~7のいずれか一項記載の運転支援装置。 - 自車両と移動体との衝突を回避する運転支援方法であって、
前記自車両の進行方向と当該進行方向に交差する方向とにおいて前記自車両と前記移動体とが交差する交差地点に前記自車両が到達するまでの第1時間を予測する第1時間予測ステップと、
前記移動体が前記進行方向に交差する方向において前記交差地点に到達するまでの第2時間を予測する第2時間予測ステップと、
前記第1及び第2時間予測ステップにおいて予測された前記第1及び第2時間を予め設定された第1マップに適用して、前記自車両において運転支援を実施するか否か判断する第1運転支援判断ステップと、
前記第1運転支援判断ステップにおいて前記自車両において運転支援を実施すると判断された場合に、前記自車両における運転支援を制御する運転支援制御ステップと、
前記第1運転支援判断ステップにおいて運転支援を実施しないと判断された場合に、前記移動体の前記進行方向に交差する方向の速度が第1閾値以下であり、且つ前記第1時間が第2閾値以下であるか否かを判断して、当該条件を満たす場合に前記自車両において運転支援を実施すると判断する第2運転支援判断ステップと、
を含み、
前記運転支援制御ステップでは、前記第2運転支援判断ステップにおいて運転支援を実施すると判断された場合に、前記第1運転支援判断ステップにおいて運転支援を実施しないと判断された場合であっても前記自車両における運転支援を継続することを特徴とする運転支援方法。
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