WO2013129184A1 - 走行制御装置及び走行制御方法 - Google Patents
走行制御装置及び走行制御方法 Download PDFInfo
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- WO2013129184A1 WO2013129184A1 PCT/JP2013/053994 JP2013053994W WO2013129184A1 WO 2013129184 A1 WO2013129184 A1 WO 2013129184A1 JP 2013053994 W JP2013053994 W JP 2013053994W WO 2013129184 A1 WO2013129184 A1 WO 2013129184A1
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- 238000001514 detection method Methods 0.000 claims abstract description 286
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
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- 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
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- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/40—Circuit details for pick-up tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
Definitions
- the present invention relates to a travel control device and a travel control method.
- Patent Document 1 A technique for detecting an obstacle approaching the periphery of a vehicle using an obstacle sensor mounted on the vehicle is conventionally known (see, for example, Patent Document 1).
- Japanese Patent Application Laid-Open No. H10-260260 detects shooting of an obstacle by a camera mounted on a vehicle, triggered by the detection of an obstacle by an ultrasonic sensor in order to detect and record a weak impact or theft at the time of parking and stopping. Video recording has started.
- Patent Document 1 when it is determined that the obstacle detected by the ultrasonic sensor is within a preset distance, only shooting of the obstacle and recording of the video by the camera mounted on the vehicle is started. . For this reason, the danger level of the detected obstacle cannot be notified to the driver.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a travel control that changes the warning timing according to the danger level of an obstacle and notifies the driver of the danger level of the obstacle.
- An apparatus and a traveling control method are provided.
- the travel control apparatus includes an ultrasonic obstacle detection unit, an image acquisition unit, an image obstacle detection unit, a backward movement preparation detection unit, a warning unit, and a warning control unit. And a threshold control unit.
- the ultrasonic obstacle detection unit detects the obstacle entering the rear of the host vehicle and the distance from the obstacle using ultrasonic waves.
- An image acquisition part acquires the image of the range including the back of the own vehicle.
- the image obstacle detection unit detects an obstacle entering behind the host vehicle using the image acquired by the image acquisition unit.
- the backward movement preparation detection unit detects preparation that the host vehicle moves backward.
- the warning unit issues a warning for the obstacle detected by the ultrasonic obstacle detection unit or the image obstacle detection unit.
- the warning control unit controls the warning unit to issue a warning when the distance from the obstacle detected by the ultrasonic obstacle detection unit is equal to or less than a warning threshold value.
- the threshold control unit controls the operation threshold according to the vehicle speed of the own vehicle so that the operation threshold increases as the vehicle speed of the own vehicle increases.
- the threshold control unit sets the operation threshold to the vehicle speed of the vehicle.
- the operation threshold value is controlled to a constant value regardless of the speed of the host vehicle so that a warning is more easily performed than in the case where the control is performed accordingly.
- the travel control method includes the ultrasonic obstacle detection unit, the image acquisition unit, the image obstacle detection unit, the backward movement preparation detection unit, and the warning unit.
- a travel control method using a travel control device wherein the warning unit is controlled so that a warning is issued when the distance from the obstacle detected by the ultrasonic obstacle detection unit is equal to or less than a warning threshold value.
- the rear threshold value detector detects the preparation for moving the vehicle backward, controlling the threshold value according to the vehicle speed so that the threshold value increases as the vehicle speed increases.
- the operation threshold value is set so that the warning is easier to be performed than when the operation threshold value is controlled according to the vehicle speed. Regardless of the vehicle speed, control to a constant value.
- FIG. 1 is a schematic diagram illustrating a vehicle layout example of a travel control device according to an embodiment.
- FIG. 2 is a block diagram illustrating a configuration of the travel control apparatus according to the embodiment.
- FIG. 3 is a block diagram showing a specific configuration example of the host vehicle information acquisition unit 21 of FIG.
- FIG. 4 is a block diagram illustrating a specific configuration example of the peripheral information acquisition unit 22 of FIG.
- FIG. 5 is a block diagram illustrating a specific configuration example of the control determination information calculation unit 24 of FIG.
- FIG. 6 is a plan view showing ultrasonic detection ranges CRL, CNL, CNR, and CRR in which the ultrasonic obstacle detection sensors 13e to 13h can detect an obstacle.
- FIG. 1 is a schematic diagram illustrating a vehicle layout example of a travel control device according to an embodiment.
- FIG. 2 is a block diagram illustrating a configuration of the travel control apparatus according to the embodiment.
- FIG. 3 is a block diagram showing a specific configuration example of the host vehicle
- FIG. 7 is a plan view showing detection angle regions GDL, GDC1, GDC2, and GDR in which the image obstacle detection unit 44 can detect an obstacle.
- FIG. 8 is a graph showing an example of the relationship between the first threshold value SV1 to the fourth threshold value SV4 calculated by the first threshold value calculation unit 48 to the fourth threshold value calculation unit 51 and the vehicle speed. is there.
- FIG. 9 is a plan view showing a case where the image obstacle detection unit 44 detects an obstacle OBJ in the left side detection angle region GDL.
- FIG. 10 is a plan view showing a case where the image obstacle detection unit 44 detects an obstacle OBJ in the rear detection angle region GDC1 or GDC2.
- FIG. 11 is a plan view showing a case where the image obstacle detection unit 44 detects an obstacle OBJ in the left side detection angle region GDL and detects an obstacle OBJ in the rear detection angle region GDC1 within a predetermined time.
- FIG. 12 is a flowchart illustrating the operation of the travel control device when executing the travel control process.
- FIG. 13A is a graph showing an example of the operating threshold value SSV and the distance DOD from the obstacles detected by the ultrasonic obstacle detection sensors 13e to 13h, which change with time.
- FIG. 13C is a graph showing an example of an obstacle approach warning determination state by the warning unit.
- the vehicle 1 (hereinafter referred to as “own vehicle”) includes brake lamps 4 a and 4 b, an ignition switch 18 for instructing start and stop of a driving force generator including an engine and a motor, and an obstacle approaching the front PD of the own vehicle 1.
- the front obstacle detection sensors 13a to 13d are provided, for example, in the front bumper of the own vehicle 1, and the ultrasonic obstacle detection sensors 13e to 13h and the camera 46 are provided, for example, in the rear bumper of the own vehicle 1.
- a sonar that detects a distance from the own vehicle 1 to a relatively nearby area using the ultrasonic wave and the obstacle.
- a detector can be used.
- the front obstacle detection sensor 19e is provided in a front bumper of the host vehicle 1, for example.
- a radar detector that detects an obstacle that enters an area relatively far from the vehicle 1 using electromagnetic waves can be used.
- the vehicle control device 2 is configured by an arithmetic processing device such as an ECU (Engine Control Unit), and controls the operation of the entire host vehicle 1 by executing a computer program stored in advance by a CPU in the arithmetic processing device.
- the travel control device includes a host vehicle information acquisition unit 21 that acquires information of the host vehicle 1, a peripheral information acquisition unit 22 that acquires information about the periphery of the host vehicle, a system state selection unit 23, and control determination information.
- a calculation unit 24 and a warning device that issues a warning to an obstacle detected by the surrounding information acquisition unit 22 are provided.
- the warning device includes a braking force generation system (25 to 27) that generates a braking force as an obstacle approach warning, and an accelerator pedal operation reaction force that generates an accelerator pedal operation reaction force as an obstacle approach warning.
- a system 28 to 30
- a notification system 31 to 33
- a driving force control system 34 to 36
- the host vehicle information acquisition unit 21 detects wheel speed sensors 11 a to 11 d installed on the wheels 20 a to 20 d of the host vehicle 1 and accelerator opening detection installed on the accelerator pedal of the host vehicle 1.
- a brake pedal position detector 6 that detects the position of the brake pedal of the vehicle 1
- a shift position detector 9 (rear movement preparation detector) that detects the shift position of the vehicle 1
- the SW operation recognition unit 3 that detects the state of the on / off switch, the steering sensor 10 that detects the steering angle of the steering of the host vehicle 1, and the acceleration / deceleration sensor 12 that detects the acceleration / deceleration of the host vehicle 1 are provided. .
- the wheel speed sensors 11a to 11d detect the rotational speeds of the wheels 20a to 20d of the vehicle 1 respectively.
- the own vehicle speed calculation unit 40 calculates the own vehicle speed (wheel speed) from the respective rotation speeds of the wheels 20a to 20d in consideration of the rotation radii of the wheels 20a to 20d. Further, the host vehicle speed calculation unit 40 calculates the travel distance by integrating the host vehicle speed.
- the brake pedal position detector 6 detects whether or not the driver is depressing the brake pedal and the amount of depression of the brake pedal.
- the shift position detector 9 detects the state of the shift position in order to detect the current state of the transmission. An example of detecting that the vehicle 1 is ready to move backward includes that the shift position detection unit 9 detects a reverse (R) position.
- the SW operation recognition unit 3 detects the switch state of the travel control device and the switch state of the ignition switch 18.
- the steering angle calculation unit 41 performs a filtering process on the steering angle of the steering detected by the steering sensor 10 as necessary.
- the acceleration / deceleration calculation unit 42 performs filter processing on the acceleration / deceleration of the host vehicle 1 detected by the acceleration / deceleration sensor 12 as necessary.
- the own vehicle information output unit 43 determines the vehicle speed of the own vehicle 1, the accelerator opening, the position of the brake pedal, the shift position, the state of the on / off switch of the travel control device, the steering angle and the acceleration / deceleration. The information is transferred to the system state selection unit 23 or the control determination information calculation unit 24.
- the own vehicle speed calculation unit 40, the steer angle calculation unit 41, the acceleration / deceleration calculation unit 42, and the own vehicle information output unit 43 can be configured as a part of the vehicle control device 2 of FIG.
- an arithmetic processing device different from the vehicle control device 2 is prepared, and a CPU in the arithmetic processing device executes a computer program stored in advance.
- the peripheral information acquisition unit 22 includes at least the ultrasonic obstacle detection sensors 13e to 13h and a camera 46 (image acquisition unit) that acquires an image in a range including the rear of the host vehicle 1.
- the relative distance calculation unit 39 performs a filtering process on the value of the distance from the obstacle detected by the ultrasonic obstacle detection sensors 13e to 13h as necessary.
- the relative speed estimation unit 38 estimates the relative speed with the obstacle from the distance to the obstacle. The sign of the relative speed is positive when the obstacle approaches the host vehicle 1 and negative when the obstacle moves away.
- the relative speed estimation unit 38 determines the time (approach time) required for the obstacle to approach the host vehicle 1 from the distance and relative speed with the obstacle detected by the ultrasonic obstacle detection sensors 13e to 13h. calculate.
- the approach time may be, for example, TTC (collision time) obtained by dividing the distance from the obstacle by the relative speed.
- the image obstacle detection unit 44 detects an obstacle approaching the rear of the host vehicle 1 and the distance from the obstacle using an image acquired by the camera 46.
- the peripheral information acquisition unit 22 also performs arithmetic processing for processing the front obstacle detection sensors 13a to 13d and 19e installed at the front portion of the vehicle 1 shown in FIG. A part.
- the surrounding information output unit 45 uses the front PD of the vehicle 1 and the presence or absence of obstacles behind, the distance and relative speed with the obstacle, the approach time, and the detection direction or angle of the obstacle described later as the surrounding information. Then, the data is transferred to the system state selection unit 23 or the control determination information calculation unit 24.
- the relative distance calculation unit 39, the relative speed estimation unit 38, the image obstacle detection unit 44, and the peripheral information output unit 45 can be configured as a part of the vehicle control device 2 in FIG. Of course, an arithmetic processing device different from the vehicle control device 2 is prepared, and a CPU in the arithmetic processing device executes a computer program stored in advance. Accordingly, the operations of the relative distance calculation unit 39, the relative speed estimation unit 38, the image obstacle detection unit 44, and the peripheral information output unit 45 may be realized.
- the system state selection unit 23 determines whether to turn the system state on or off based on the state of the on / off switch of the travel control device detected by the SW operation recognition unit 3.
- the ultrasonic obstacle detection sensors 13e to 13h as the ultrasonic obstacle detection unit include at least sensors 13f and 13g installed in the central portion in the rear portion of the own vehicle 1 and sensors installed in the left portion in the rear portion of the own vehicle 1. 13e and a sensor 13h installed on the right side of the rear of the host vehicle 1. In the embodiment, a case where two ultrasonic obstacle detection sensors 13f and 13g are installed in the central portion is shown, but only one may be used.
- the ultrasonic obstacle detection sensors 13e to 13h can detect the distances between the obstacles entering the ultrasonic detection ranges CRL, CNL, CNR, and CRR extending from the rear bumper of the vehicle 1 to the rear and the obstacles, respectively. it can.
- the ultrasonic detection ranges CNL and CNR are formed in a region including the central portion in the rear part of the own vehicle 1, and the ultrasonic detection ranges CRL and CRR are formed in regions adjacent to both sides of the ultrasonic detection ranges CNL and CNR, respectively. Yes.
- the ultrasonic obstacle detection sensors 13e to 13h and the ultrasonic detection ranges CRL, CNL, CNR, and CRR have a one-to-one correspondence.
- the adjacent ultrasonic detection ranges CRL, CNL, CNR, and CRR partially overlap each other.
- the detection angle regions GDL, GDC1, GDC2, and GDR are regions in which the image obstacle detection unit 44 can detect an obstacle using an image captured by the camera 46.
- the image obstacle detection unit 44 divides a range including the rear of the host vehicle 1 into a plurality of detection angle regions GDL, GDC1, GDC2, and GDR, and the obstacle entering the rear of the host vehicle 1 is based on the edge information of the image. Thus, detection is performed for each detection angle region. That is, the image obstacle detection unit 44 can specify an obstacle that enters the rear of the host vehicle 1, a distance from the obstacle, and detection angle regions GDL, GDC1, GDC2, and GDR where the obstacle has entered.
- the image obstacle detection unit 44 includes at least a rear detection angle region (GDC1, GDC2) including the rear of the host vehicle 1 as a plurality of detection angle regions, and a left side detection angle region GDL adjacent to both sides of the rear detection angle region. And the right detection angle region GDR.
- GDC1, GDC2 a rear detection angle region including the rear of the host vehicle 1 is further divided into two regions GDC1 and GDC2 will be described, but the two regions GDC1 and GDC2 may not be divided.
- the control determination information calculation unit 24 includes a first threshold value calculation unit 48 that calculates a first threshold value that is a warning determination criterion, and a second threshold value that calculates a second threshold value that is a warning determination criterion.
- a threshold value setting unit 52 for selecting an operation threshold value from the first threshold value to the fourth threshold value.
- the operation threshold value selected by the threshold setting unit 52 is transmitted to the braking control determination unit 25, the accelerator pedal operation reaction force determination unit 28, the notification determination unit 31, and the driving force control determination unit 34, respectively.
- the first threshold value SV1 calculated by the first threshold value calculation unit 48 changes according to the vehicle speed. Specifically, the first threshold value SV1 increases as the vehicle speed of the host vehicle 1 increases. When the host vehicle speed is 0, the vehicle speed may be offset to take a predetermined value.
- the first threshold value calculation unit 48 calculates the first threshold value SV1 for each of the ultrasonic obstacle detection sensors 13e to 13h. Further, the first threshold value calculation unit 48 may change the first threshold value SV1 according to the approach time calculated by the relative speed estimation unit 38. Further, the first threshold value calculation unit 48 may change the first threshold value SV1 based on the acceleration of the host vehicle 1 detected by the acceleration / deceleration sensor 12 or the steering angle detected by the steering sensor 10. Good.
- the second threshold value calculating unit 49 does not depend on the host vehicle speed as shown in FIG. A constant value SV2 (for example, 1.5 m) is calculated.
- the second threshold value calculation unit 49 sets the second threshold value to 0 when the image obstacle detection unit 44 has not detected an obstacle approaching the rear of the host vehicle 1.
- the third threshold value calculating unit 50 does not depend on the own vehicle speed as shown in FIG. A constant value SV3 (for example, 1.0 m) is calculated.
- the third threshold value calculation unit 50 sets the third threshold value to 0 when the image obstacle detection unit 44 has not detected an obstacle approaching the rear of the host vehicle 1.
- the fourth threshold value calculation unit 51 does not depend on the vehicle speed as shown in FIG. 8 as the fourth threshold value.
- a constant value SV4 (for example, 1.5 m) is calculated.
- the fourth threshold value calculation unit 51 sets the fourth threshold value to 0 when the image obstacle detection unit 44 has not detected an obstacle approaching the rear of the host vehicle 1.
- the threshold value setting unit 52 is constant regardless of the vehicle speed of the host vehicle 1.
- the third threshold value SV3 is constant regardless of the vehicle speed of the host vehicle 1.
- the fourth threshold value SV4 is constant regardless of the vehicle speed of the host vehicle 1.
- the threshold setting unit 52 sets the first threshold as the operation threshold.
- the value SV1 is selected.
- the threshold value setting unit 52 can control the operation threshold value so that the operation threshold value increases as the vehicle speed of the host vehicle 1 increases.
- the threshold value setting unit 52 changes the operation threshold value according to the detection angle regions GDC1, GDC2, GDL, and GDR where the obstacle is detected. Specifically, when an obstacle is detected in the left side detection angle region GDL or the right side detection angle region GDR, the threshold value setting unit 52 uses the second threshold value SV2 (for example, 1.. 5m) is selected. When not detected in the left side detection angle region GDL and the right side detection angle region GDR but detected in the rear detection angle region GDC1 or GDC2, the threshold value setting unit 52 sets the third threshold value SV3 as the operation threshold value. (For example, 1.0 m) is selected.
- the threshold value setting unit 52 selects the fourth threshold value SV4 (for example, 1.5 m) as the operation threshold value.
- the threshold value setting unit 52 performs the detection in the rear detection angle region GDC1 or GDC2.
- the operation threshold value is increased as compared with the case where an obstacle is detected.
- the threshold value setting unit 52 may change the operation threshold value for each of the ultrasonic obstacle detection sensors 13e to 13h according to the detection angle regions GDC1, GDC2, GDL, and GDR where the obstacle is detected.
- the ultrasonic obstacle detection sensor 13e will be described.
- the ultrasonic obstacle detection sensor 13e does not detect an obstacle at a predetermined time before the host vehicle 1 starts moving backward, or the distance of the obstacle detected by the ultrasonic obstacle detection sensor 13e is When the distance is changed by a predetermined distance (for example, 0.1 m) or more, the operating threshold value of the ultrasonic obstacle detection sensor 13e is set to the larger one (maximum value) of the first threshold value SV1 and the second threshold value SV2.
- the second threshold value SV2 may be selected only when the image obstacle detection unit 44 detects an obstacle in the left side detection angle region GDL.
- the ultrasonic obstacle detection sensor 13e detects the obstacle at a predetermined time before the host vehicle 1 starts moving backward, and the obstacle distance detected by the ultrasonic obstacle detection sensor 13e is a predetermined distance. When it has not changed (for example, 0.1 m) or when the image obstacle detection unit 44 has not detected an obstacle in the left-side detection angle region GDL, the operation threshold value of the ultrasonic obstacle detection sensor 13e. As an alternative, the first threshold value SV1 may be selected. When a parked vehicle or curbstone behind the host vehicle 1 is detected as an obstacle, or when the image obstacle detection unit 44 does not detect an obstacle in the left side detection angle region GDL, The operating threshold value of the sonic obstacle detection sensor 13e can be changed according to the vehicle speed.
- the ultrasonic obstacle detection sensor 13f will be described.
- the operation threshold value of the ultrasonic obstacle detection sensor 13f is set to the first threshold value SV1, the second threshold value SV2, the third threshold value SV3, And the maximum value of the fourth threshold value SV4.
- the second threshold value SV2 may be selected only when the image obstacle detection unit 44 detects an obstacle in the left side detection angle region GDL.
- the third threshold value SV3 or the fourth threshold value SV4 may be selected. Then, the ultrasonic obstacle detection sensor 13f detects the obstacle at a predetermined time before the vehicle 1 starts moving backward, and the obstacle distance detected by the ultrasonic obstacle detection sensor 13f is a predetermined distance. When it has not changed (for example, 0.1 m) or when the image obstacle detection unit 44 has not detected an obstacle in the rear detection angle region GDC1, the operation threshold value of the ultrasonic obstacle detection sensor 13f is used. The first threshold value SV1 may be selected.
- the ultrasonic obstacle detection sensor 13g will be described.
- the operation threshold value of the ultrasonic obstacle detection sensor 13g is set to the first threshold value SV1, the second threshold value SV2, the third threshold value SV3, And the maximum value of the fourth threshold value SV4.
- the second threshold value SV2 may be selected only when the image obstacle detection unit 44 detects an obstacle in the right side detection angle region GDR.
- the third threshold value SV3 or the fourth threshold value SV4 may be selected. Then, the ultrasonic obstacle detection sensor 13g detects the obstacle at a predetermined time before the vehicle 1 starts moving backward, and the obstacle distance detected by the ultrasonic obstacle detection sensor 13g is a predetermined distance. When it has not changed (for example, 0.1 m) or when the image obstacle detection unit 44 has not detected an obstacle in the rear detection angle region GDC2, the operation threshold value of the ultrasonic obstacle detection sensor 13g is used. The first threshold value SV1 may be selected.
- the ultrasonic obstacle detection sensor 13h will be described.
- the ultrasonic obstacle detection sensor 13h does not detect an obstacle at a predetermined time before the host vehicle 1 starts moving backward, or the distance of the obstacle detected by the ultrasonic obstacle detection sensor 13h is When the distance is changed by a predetermined distance (for example, 0.1 m) or more, the operating threshold value of the ultrasonic obstacle detection sensor 13h is set to the larger one (maximum value) of the first threshold value SV1 and the second threshold value SV2.
- the second threshold value SV2 may be selected only when the image obstacle detection unit 44 detects an obstacle in the right side detection angle region GDR.
- the ultrasonic obstacle detection sensor 13h detects the obstacle at a predetermined time before the vehicle 1 starts moving backward, and the obstacle distance detected by the ultrasonic obstacle detection sensor 13h is a predetermined distance.
- the operation threshold value of the ultrasonic obstacle detection sensor 13h The first threshold value SV1 may be selected as
- the warning timing can be appropriately changed for each of the ultrasonic obstacle detection sensors 13e to 13h according to the detection direction.
- the threshold value setting unit 52 includes an ultrasonic obstacle detection sensor 13e in which the ultrasonic detection ranges CRL, CNL, CNR, and CRR overlap with the detection angle regions GDL, GDC1, GDC2, and GDR where the obstacle is detected.
- the operating threshold values of 13 to 13h may be set larger than the operating threshold values of the ultrasonic obstacle detection sensors 13e to 13h in which the ultrasonic detection ranges CRL, CNL, CNR, and CRR do not overlap. Thereby, the warning timing can be advanced with respect to the obstacle detection direction.
- the second threshold value SV2 may be set to the fourth threshold value SV4 or more, and the fourth threshold value SV4 may be set to the third threshold value SV3 or more. Accordingly, it is determined that an obstacle approaching the host vehicle 1 from the side of the host vehicle 1 is higher in risk than an obstacle approaching the host vehicle 1 from directly behind the host vehicle 1, and the warning timing is advanced. be able to.
- the operation thresholds of the ultrasonic obstacle detection sensors 13e (CRL) and 13f (CNL) are detected.
- a constant value (second to fourth threshold values) that does not depend on the host vehicle speed may be selected as the value.
- the ultrasonic obstacle detection sensors 13f (CNL) and 13g (CNR) operate.
- the threshold value a constant value (second to fourth threshold values) independent of the host vehicle speed may be selected.
- the image obstacle detection unit 44 detects the obstacle OBJ in the right side detection angle region GDR and detects the obstacle OBJ in the rear detection angle region GDC2 within the predetermined time.
- the operation threshold values of the selected ultrasonic obstacle detection sensors 13e to 13h are used as a warning control unit as a braking control determination unit 25, an accelerator pedal operation reaction force determination unit 28, a notification determination unit 31, and a driving force control determination unit. 34 respectively.
- the brake control determination unit 25, the accelerator pedal operation reaction force determination unit 28, the notification determination unit 31, and the driving force control determination unit 34 calculate the respective operation thresholds with different weights for each warning control. For example, R1_K1 ⁇ R1_K2 ⁇ R1_K4 ⁇ R1_K3. This enables weighting that operates in the order of notification, driving force control, accelerator pedal operation reaction force control, and braking control.
- the braking control determination unit 25 determines that a braking force is generated as an obstacle approach warning when the following condition A01 is satisfied. However, the distance from the obstacle detected by the ultrasonic obstacle detection sensors 13e to 13h is referred to as “ultrasonic sensor detection distance”.
- the operation threshold value obtained by multiplying the braking control coefficient R1_K1 is defined as a braking operation threshold value.
- the braking control unit 26 increases the brake pressure at a predetermined rate of change when the braking control determination unit 25 determines to activate a warning by braking, and maintains the state when a predetermined target brake pressure is reached.
- a predetermined time for example, 0.8 seconds
- the brake pressure is reduced to 0 at a predetermined change rate. Note that both the predetermined rate of change and the predetermined target brake pressure may be changed according to the vehicle speed or the distance from the obstacle.
- the braking force generator 27 controls the actual brake pressure for each of the wheels 20a to 20d so that the target brake pressure calculated by the brake controller 26 is obtained.
- the accelerator pedal operation reaction force determination unit 28 determines that an accelerator pedal operation reaction force is generated as an obstacle approach warning when the following condition A04 is satisfied. However, the operation threshold value obtained by multiplying the accelerator pedal reaction force coefficient R1_K2 is set as the APD operation threshold value.
- the accelerator pedal operation reaction force control unit 29 determines that the accelerator pedal operation reaction force determination unit 28 generates an accelerator pedal operation reaction force
- the accelerator pedal operation reaction force control unit 29 increases the reaction force command value at a predetermined rate of change, thereby increasing the predetermined reaction force command.
- the value is reached, keep that state.
- the holding time reaches a predetermined time (for example, 0.8 seconds)
- the reaction force command value is decreased to 0 at a predetermined change rate. Note that both the predetermined change rate and the predetermined reaction force command value may be changed according to the vehicle speed or the distance from the obstacle.
- the accelerator pedal operation reaction force generator 30 controls the operation reaction force of the accelerator pedal so that the reaction force command value calculated by the accelerator pedal operation reaction force control unit 29 is obtained.
- the notification determination unit 31 determines that a warning by a voice or a buzzer is given as an obstacle approach warning when the following A07 condition is satisfied. However, the operation threshold value multiplied by the alarm coefficient R1_K3 is set as the alarm operation threshold value.
- the notification control unit 32 repeats turning on and off of the buzzer drive signal for a predetermined time when the notification determination unit 31 determines that an alarm is issued.
- the notification device 33 issues an alarm based on the buzzer drive signal calculated by the notification control unit 32. For example, a predetermined tone color “beep” is repeatedly generated. Alternatively, the alarm may continue to sound while the obstacle satisfies the above conditions. Further, simultaneously with the alarm, a light emitting object such as an indicator installed in the meter may be turned on or blinked.
- the driving force control determination unit 34 determines that the driving force control is performed as an obstacle approach warning when the following condition A10 is satisfied. However, the operation threshold value obtained by multiplying the driving force coefficient R1_K4 is set as the driving force operation threshold value.
- the driving force control unit 35 increases the reduction amount of the accelerator opening at a predetermined change rate.
- the reduction amount of the accelerator opening reaches a predetermined value, the state is maintained. If the reduction amount is maintained for a predetermined time, the reduction amount of the accelerator opening is reduced to zero.
- the final throttle opening of the engine is a value obtained by subtracting the reduction amount of the accelerator opening calculated by the driving force control unit 35 from the accelerator opening of the driver operation. Note that both the predetermined change rate and the predetermined amount of reduction in the accelerator opening may be changed according to the vehicle speed or the distance from the obstacle.
- the driving force generator 36 controls the engine output based on the final engine throttle opening calculated by the driving force control unit 35.
- the determination unit 31, the notification control unit 32, the driving force control determination unit 34, and the driving force control unit 35 can be configured as a part of the vehicle control device 2 in FIG.
- an arithmetic processing device different from the vehicle control device 2 is prepared, and a CPU in the arithmetic processing device executes a computer program stored in advance.
- the control unit of the travel control device having the above-described configuration performs the following travel control process when the host vehicle 1 moves backward, thereby performing the ultrasonic obstacle detection sensors 13e to 13h or the image obstacle detection unit 44.
- the obstacle detected by can be warned at an appropriate warning timing.
- operation movement of the traveling control apparatus at the time of performing traveling control processing is demonstrated.
- the system state selection unit 23 determines that the on / off switch of the travel control device is on, and the shift position detection unit 9 determines that the shift position of the vehicle 1 is R (reverse).
- the travel control process is started at the timing when it is determined that the vehicle is in the position, and the process proceeds to step S1.
- the traveling control process is repeatedly executed as long as the on / off switch of the traveling control device is in the on state and the shift position of the vehicle 1 is positioned at the R position.
- the timing for starting the travel control process is not limited to the above conditions. For example, in addition to the above conditions, conditions such as the vehicle speed being a predetermined value or less and the steering angle being a predetermined value or less may be added.
- the own vehicle information acquisition unit 21 uses the wheel speed of the system own vehicle 1, the accelerator opening, the position of the brake pedal, the shift position, and the on / off switch of the travel control device as the own vehicle information.
- the state, steering angle and acceleration / deceleration are acquired.
- step S2 the peripheral information acquisition unit 22 acquires the detection results by the ultrasonic obstacle detection sensors 13e to 13h, that is, the presence / absence of the obstacle and the distance from the obstacle.
- the peripheral information acquisition unit 22 acquires the detection result by the image obstacle detection unit 44, that is, the presence or absence of an obstacle.
- step S2 or S3 as surrounding information, presence / absence of obstacles present in the front PD, rear and side of the vehicle 1, distance and relative speed with the obstacle, approach time, and obstacle detection described later The direction or the detection angle may be acquired.
- step S4 the first threshold value calculation unit 48 to the fourth threshold value calculation unit 51 calculate the first threshold value SV1 to the fourth threshold value SV4, respectively.
- step S5 the threshold value setting unit 52 selects any one of the first threshold value SV1, the second threshold value SV2, the third threshold value SV3, and the fourth threshold value SV4 as the operation threshold value. To do.
- the braking control determination unit 25, the accelerator pedal operation reaction force determination unit 28, the notification determination unit 31, and the driving force control determination unit 34 calculate the respective operation thresholds by changing the weight for each warning control. To do.
- Each of the braking control determination unit 25, the accelerator pedal operation reaction force determination unit 28, the notification determination unit 31, and the driving force control determination unit 34 makes an obstacle approach warning according to the above-described conditions A01, A04, A07, and A010. It is determined whether or not to perform.
- each calculated operation threshold value is compared with the distance from the obstacle acquired in step S2.
- the process proceeds to step S7, where an obstacle approach warning is given.
- the distance from the obstacle is equal to or greater than the operating threshold (NO in S6), the warning in FIG.
- the operation threshold value SSV is the first threshold value regardless of whether the ultrasonic obstacle detection sensors 13e to 13h detect the obstacle. Set to the value SV1. Therefore, the operation threshold value SSV changes according to the host vehicle speed. As time elapses, the distance DOD to the obstacle becomes shorter, and the obstacle is started to be detected by the image obstacle detection unit 44 (time t2).
- the operating threshold value SSV is a value other than the first threshold value SV1, and is set to any one of the second threshold value SV2 to the fourth threshold value SV4 that is larger than the first threshold value SV1.
- the warning timing can be advanced from time t4 to time t3 by changing the operation threshold.
- the shift position detection unit 9 determines that the shift position of the vehicle 1 is in the R (reverse) position and the image obstacle detection unit 44 detects an obstacle, the risk of the obstacle is high. It can be judged. Therefore, in this case, by controlling the operation threshold value to a constant value regardless of the vehicle speed of the host vehicle 1, the warning timing is changed according to the danger level of the obstacle, and the danger level of the obstacle is driven. Can be notified to the person.
- the image obstacle detection unit 44 divides a range including the rear of the host vehicle 1 into a plurality of detection angle regions GDL, GDC1, GDC2, and GDR, and detects an obstacle entering the rear of the host vehicle 1 as a detection angle region GDL, Detection is performed for each of GDC1, GDC2, and GDR.
- the threshold value setting unit 52 changes the operation threshold value according to the detection angle regions GDL, GDC1, GDC2, and GDR where the obstacle is detected. Thereby, the danger level of an obstacle can be changed according to the detection direction of an obstacle, and the warning timing can be changed according to the danger level of an obstacle.
- the image obstacle detection unit 44 is adjacent to at least the rear detection angle regions GDC1 and GDC2 including the rear of the host vehicle and both sides of the rear detection angle regions GDC1 and GDC2 as a plurality of detection angle regions GDL, GDC1, GDC2, and GDR.
- the left side detection angle region GDL and the right side detection angle region GDR are divided.
- the threshold value setting unit 52 detects the obstacle in the rear detection angle regions GDC1 and GDC2.
- the operating threshold value is increased compared to the case where As a result, it is possible to advance the timing of warning when it is detected on the left and right sides compared to when it is detected directly behind, so the timing of the warning is appropriately changed according to the danger level of the obstacle be able to.
- a plurality of ultrasonic obstacle detection sensors 13e to 13h for detecting obstacles and their distances in different ultrasonic detection ranges CRL, CNL, CNR, and CRR are provided.
- the threshold value setting unit 52 changes the operation threshold value for each of the ultrasonic obstacle detection sensors 13e to 13h according to the detection angle regions GDL, GDC1, GDC2, and GDR where the obstacle is detected.
- the warning timing can be appropriately changed for each of the ultrasonic obstacle detection sensors 13e to 13h according to the obstacle detection direction.
- the threshold setting unit 52 includes ultrasonic obstacle detection sensors 13e to 13h in which the ultrasonic detection ranges CRL, CNL, CNR, and CRR overlap with the detection angle regions GDL, GDC1, GDC2, and GDR where the obstacle is detected. Is set larger than the operation threshold values of the ultrasonic obstacle detection sensors 13e to 13h in which the ultrasonic detection ranges CRL, CNL, CNR, and CRR do not overlap. Thereby, the warning timing can be advanced with respect to the obstacle detection direction.
- the threshold value setting unit 52 controls the operation threshold value to a constant value regardless of the vehicle speed of the host vehicle 1.
- the operation threshold value By controlling the operation threshold value to a constant value only when the obstacle entered after the start of reversal or the obstacle is a moving object, it is possible to adjust the speed of the adjacent parked vehicle or wall according to the vehicle speed. Since the operation threshold value can be controlled, the warning timing can be appropriately changed according to the danger level of the obstacle.
- the warning timing can be changed according to the danger level of the obstacle to notify the driver of the danger level of the obstacle. Therefore, the present invention has industrial applicability.
- Driving force control unit (warning control unit) 36 ... Driving force generator (warning section) 38 ... Relative speed estimation unit 44 ... Image obstacle detection unit 46 ... Camera (image acquisition unit) 52 ... Threshold setting unit (threshold control unit) 61 ... Vehicle (obstacle) CRL, CNL, CNR, CRR ... Ultrasonic detection range GDC1, GDC2 ... Back detection angle region GDL ... Left side detection angle region GDR ... Right side detection angle region OBJ ... Obstacle
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Abstract
Description
特許文献1は、駐停車時における弱い衝撃や盗難を検出して映像に記録するために、超音波センサが障害物を検出したことをトリガーとして、車両に搭載されたカメラによる障害物の撮影及び映像の記録を開始している。
図1を参照して、実施の形態に係わる走行制御装置の車両レイアウト例について説明する。車両1(以後、「自車」という)には、ブレーキランプ4a、4b、エンジンやモータを含む駆動力発生装置の始動及び停止を指示するイグニッションスイッチ18、自車1の前方PDに接近する障害物を検出する前方障害物検出センサ13a~13d、19e、自車1の後方に接近する障害物及び障害物との距離を超音波を用いて検出する超音波障害物検出部としての複数の超音波障害物検出センサ13e~13h、自車1の後方を含む範囲の画像を取得するカメラ46(画像取得部)、自車の駆動力を発生する駆動力発生装置36、制動力発生装置27、アクセルペダル操作反力発生装置30、ドライバに対して障害物の接近を報知する報知装置33と、自車1全体を制御する車両制御装置2とが搭載されている。
以上説明した構成を有する走行制御装置の制御部は、自車1が後退する際、以下に示す走行制御処理を実行することにより、超音波障害物検出センサ13e~13h或いは画像障害物検出部44が検出した障害物について、適切な警告タイミングで警告を行うことができる。以下、図12に示すフローチャートを参照して、走行制御処理を実行する際の走行制御装置の動作について説明する。
13e~13h…障害物障害物検出センサ(超音波障害物検出部)
25…制動制御判断部(警告制御部)
26…制動制御部(警告制御部)
27…制動力発生装置(警告部)
28…アクセルペダル操作反力判断部(警告制御部)
29…アクセルペダル操作反力制御部(警告制御部)
30…アクセルペダル操作反力発生装置(警告部)
31…報知判断部(警告制御部)
32…報知制御部(警告制御部)
33…報知装置(警告部)
34…駆動力制御判断部(警告制御部)
35…駆動力制御部(警告制御部)
36…駆動力発生装置(警告部)
38…相対速度推定部
44…画像障害物検出部
46…カメラ(画像取得部)
52…しきい値設定部(しきい値制御部)
61…車両(障害物)
CRL,CNL,CNR,CRR…超音波検出範囲
GDC1,GDC2…後方検出角度領域
GDL…左側方検出角度領域
GDR…右側方検出角度領域
OBJ…障害物
Claims (7)
- 自車の後方に進入する障害物及び前記障害物との距離を超音波を用いて検出する超音波障害物検出部と、
自車の後方を含む範囲の画像を取得する画像取得部と、
自車の後方に進入する障害物を、前記画像取得部により取得された画像を用いて検出する画像障害物検出部と、
前記自車が後方へ移動する準備を検出する後方移動準備検出部と、
前記超音波障害物検出部或いは前記画像障害物検出部が検出した障害物について警告を行う警告部と、
前記超音波障害物検出部が検出した障害物との距離が、警告の作動しきい値以下である場合に前記警告を行うように前記警告部を制御する警告制御部と、
自車の車速が速くなるにつれて前記作動しきい値が大きくなるように、前記作動しきい値を自車の車速に応じて制御するしきい値制御部と、を有し、
前記自車が後方へ移動する準備を前記後方移動準備検出部が検出し、前記画像障害物検出部が障害物を検出している場合、前記しきい値制御部は、前記作動しきい値を前記自車の車速に応じて制御する場合に比べて前記警告が行われやすくなるように、前記作動しきい値を前記自車の車速にかかわらず一定の値に制御する
ことを特徴とする走行制御装置。 - 前記画像障害物検出部は、自車の後方を含む範囲を複数の検出角度領域に分割し、自車の後方に進入する障害物を、検出角度領域毎に検出し、
前記自車が後方へ移動する準備を前記後方移動準備検出部が検出し、前記画像障害物検出部が障害物を検出している場合、前記しきい値制御部は、障害物が検出された検出角度領域に応じて、前記作動しきい値を変更する
ことを特徴とする請求項1に記載の走行制御装置。 - 前記画像障害物検出部は、前記複数の検出角度領域として少なくとも、自車の後方を含む後方検出角度領域と、前記後方検出角度領域の両側にそれぞれ隣接する左側方検出角度領域及び右側方検出角度領域とに分割し、
前記画像障害物検出部が前記左側方検出角度領域或いは前記右側方検出角度領域において障害物を検出している場合、前記しきい値制御部は、後方検出角度領域において障害物を検出している場合に比べて、前記作動しきい値を大きくする
ことを特徴とする請求項2に記載の走行制御装置。 - 前記超音波障害物検出部は、互いに異なる超音波検出範囲において障害物及び前記障害物との距離を検出する複数の超音波障害物検出センサを備え、
前記しきい値制御部は、障害物が検出された検出角度領域に応じて、超音波障害物検出センサ毎に前記作動しきい値を変更する
ことを特徴とする請求項2または請求項3のいずれか一項に記載の走行制御装置。 - 前記しきい値制御部は、障害物が検出された検出角度領域に対して超音波検出範囲が重複する超音波障害物検出センサの前記作動しきい値を、前記超音波検出範囲が重複していない超音波障害物検出センサの前記作動しきい値に比べて、大きくすることを特徴とする請求項4に記載の走行制御装置。
- 前記自車が後方への移動を開始する前の所定時間に前記超音波障害物検出部が障害物を検出していない場合、或いは、前記超音波障害物検出部が検出する障害物の距離が変化している場合に限り、前記しきい値制御部は、前記作動しきい値を前記自車の車速に応じて制御する場合に比べて前記警告が行われやすくなるように、前記作動しきい値を前記自車の車速にかかわらず一定の値に制御することを特徴とする請求項1から請求項5のいずれか一項に記載の走行制御装置。
- 自車の後方に進入する障害物及び前記障害物との距離を超音波を用いて検出する超音波障害物検出部と、
自車の後方を含む範囲の画像を取得する画像取得部と、
自車の後方に接近する障害物を、前記画像取得部により取得された画像を用いて検出する画像障害物検出部と、
前記自車が後方へ移動する準備を検出する後方移動準備検出部と、
前記超音波障害物検出部或いは前記画像障害物検出部が検出した障害物について警告を行う警告部と、を有する走行制御装置を用いた走行制御方法であって、
前記超音波障害物検出部が検出した障害物との距離が、警告の作動しきい値以下である場合に前記警告を行うように前記警告部を制御し、
自車の車速が速くなるにつれて前記作動しきい値が大きくなるように、前記作動しきい値を前記自車の車速に応じて制御し、
前記自車が後方へ移動する準備を前記後方移動準備検出部が検出し、前記画像障害物検出部が障害物を検出している場合、前記作動しきい値を前記自車の車速に応じて制御する場合に比べて前記警告が行われやすくなるように、前記作動しきい値を前記自車の車速にかかわらず一定の値に制御する
ことを特徴とする走行制御方法。
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CN104136282A (zh) | 2014-11-05 |
US9744915B2 (en) | 2017-08-29 |
CN104136282B (zh) | 2016-07-27 |
EP2821292B1 (en) | 2018-09-05 |
JP5794381B2 (ja) | 2015-10-14 |
EP2821292A4 (en) | 2015-03-25 |
US20150015714A1 (en) | 2015-01-15 |
JPWO2013129184A1 (ja) | 2015-07-30 |
EP2821292A1 (en) | 2015-01-07 |
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