WO2016185653A1 - 保護制御装置 - Google Patents

保護制御装置 Download PDF

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Publication number
WO2016185653A1
WO2016185653A1 PCT/JP2016/001818 JP2016001818W WO2016185653A1 WO 2016185653 A1 WO2016185653 A1 WO 2016185653A1 JP 2016001818 W JP2016001818 W JP 2016001818W WO 2016185653 A1 WO2016185653 A1 WO 2016185653A1
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WIPO (PCT)
Prior art keywords
threshold
collision
collision object
unit
cyclist
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Application number
PCT/JP2016/001818
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English (en)
French (fr)
Japanese (ja)
Inventor
亜星 若林
健士 堀口
和久 橋本
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to DE112016002257.3T priority Critical patent/DE112016002257B4/de
Publication of WO2016185653A1 publication Critical patent/WO2016185653A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
    • B60R21/36—Protecting non-occupants of a vehicle, e.g. pedestrians using airbags

Definitions

  • the present disclosure relates to a protection control apparatus (Protection Control Apparatus) that controls the operation of a protection apparatus for protecting a person who collides with a vehicle.
  • a protection control apparatus Protection Control Apparatus
  • the vehicle A technique for protecting a pedestrian that collides with the pedestrian is known (for example, Patent Document 1).
  • the primary collision here refers to the first collision between the vehicle and a pedestrian or the like
  • the secondary collision refers to an object colliding with the vehicle (referred to as a colliding object) falls to the vehicle side.
  • a threshold value (determined as a pedestrian threshold value) for determining that the pedestrian is in contact with the output value of the collision detection sensor for detecting the primary collision is set in advance.
  • the protection device is operated.
  • a protective device for protecting the pedestrian who collided with the vehicle there is a pop-up hood in addition to the above-described airbag deployed outside.
  • the above-mentioned protective device should also operate when a bicycle on which an occupant rides collides with a vehicle.
  • a bicycle occupant and a mobile body including the bicycle are referred to as a cyclist.
  • Non-Patent Document 1 describes a difference between a collision mode when a cyclist collides with a vehicle and a collision mode when a pedestrian collides with a vehicle.
  • the collision mode when the cyclist collides with the vehicle is different from the collision mode when the pedestrian collides with the vehicle.
  • the protection device in the configuration in which the protection device is operated when the output value of the collision detection sensor exceeds the pedestrian threshold (that is, the conventional configuration), when the collision object is a cyclist, the protection device does not operate. It seems that can occur.
  • An object of the present disclosure is to provide a protection control device that can more appropriately protect a bicycle occupant in addition to a pedestrian.
  • the protection control device is used in a vehicle, and an output value acquisition unit that acquires an output value of a collision sensor that detects a collision between an object and the vehicle;
  • An object recognizing unit that obtains information about an object existing around the vehicle, a collision object identifying unit that identifies a type of a colliding object that is an object that collides with the vehicle, based on information acquired by the object recognizing unit; Compare the output value output by the collision sensor with the operation threshold value for operating the protection device to protect the collision object, and operate the protection device when the output value is larger than the operation threshold value.
  • a threshold value determination unit that determines a value to be adopted as the operation threshold value based on the type of the collision object specified by the collision object specifying unit.
  • the threshold determination unit adopts a pedestrian threshold as an operation threshold when the collision object is specified by the collision object specification unit as a pedestrian, and the collision object specification unit determines that the collision object is a bicycle. If specified, a cyclist threshold value smaller than the pedestrian threshold value is employed as the action threshold value.
  • the protection device when the collision object is a bicycle, a cyclist threshold value smaller than the pedestrian threshold value is adopted as an operation threshold value used for determining whether or not to operate the protection device. Therefore, according to the above configuration, when the vehicle and the bicycle collide, the protection device operates to determine whether to operate the protection device using a predetermined threshold value smaller than the pedestrian threshold value. The possibility of not doing can be suppressed. That is, the bicycle occupant can be protected more appropriately.
  • FIG. 1 It is a block diagram which shows an example of a schematic structure of the protection apparatus control system concerning 1st Embodiment. It is a schematic diagram which shows the area
  • FIG. 1 is a diagram illustrating an example of a schematic configuration of a protection device control system 100 according to the present embodiment.
  • This protection device control system 100 is mounted on a vehicle.
  • the vehicle on which the protection device control system 100 is mounted is also referred to as the own vehicle (host vehicle) or the subject vehicle.
  • the protection device control system 100 is a system for protecting a person who collides with the own vehicle.
  • a mode assuming a primary collision with various moving bodies at the front end portion of the host vehicle is illustrated, but of course, as another mode, the rear end portion and the side portion collide with various moving bodies. It may be a system that assumes a case, and in that case, the system may be appropriately modified and applied according to the assumed collision direction.
  • the protection device control system 100 in this embodiment includes a control device 1 (also referred to as an electronic control device 1), a millimeter wave radar 2, a camera 3, a collision sensor 4, and an external protection device 5.
  • the control device 1 and each of the millimeter wave radar 2, the camera 3, the collision sensor 4, and the external protection device 5 are connected via a communication network built in the vehicle.
  • the control device 1 controls the operation of the external protection device 5 for protecting a person colliding with the host vehicle based on data provided from the millimeter wave radar 2, the camera 3, and the collision sensor 4.
  • This control device 1 is also referred to as a protection control device.
  • the control device 1 will be described again after describing the millimeter wave radar 2, the camera 3, the collision sensor 4, and the external protection device 5.
  • the millimeter wave radar 2 transmits and receives millimeter waves or quasi-millimeter waves to acquire information about an object existing in a predetermined range (referred to as a radar detection area 21) in front of the host vehicle. Specifically, an object existing in the radar detection area 21 is detected, and the direction, distance, relative speed, type, and the like in which the detected object exists are estimated. The detection results of the millimeter wave radar 2 are sequentially provided to the control device 1. Information is used not only as countable nouns but also as countable nouns. The plurality of information is equivalent to the plurality of information items.
  • the type of the detected object may be identified based on the reception level of the reflected wave corresponding to the detected object.
  • the reception level is equal to or higher than the predetermined first threshold
  • the detection level is lower than the first threshold and equal to or higher than the predetermined second threshold.
  • the second threshold value is a threshold value for distinguishing moving objects other than four-wheeled vehicles from noise
  • the first threshold value is a threshold value for identifying moving objects other than four-wheeled vehicles and four-wheeled vehicles.
  • the first threshold value and the second threshold value may be designed as appropriate. However, the first threshold value is higher than the second threshold value.
  • the moving body other than the four-wheeled vehicle is, for example, a pedestrian, an occupant riding a bicycle (that is, a cyclist), a motorbike, a two-wheeled vehicle, or the like.
  • the cyclist here includes not only a bicycle occupant but also a bicycle on which the occupant is riding.
  • information such as the size of the object and the traveling speed of the host vehicle may be used for identifying the type of the detected object.
  • the relative speed of the host vehicle may be used to identify whether the detected object is a moving object or a stationary object.
  • the millimeter wave radar 2 is arranged at a position where the vehicle is appropriately designed so as to form a desired radar detection area 21.
  • the vehicle may be provided on the front grille, the front bumper, or the like so that the central direction of directivity faces the front of the host vehicle.
  • the millimeter wave radar 2 in the present embodiment transmits and receives quasi-millimeter waves, and the horizontal direction angle is 45 degrees and the maximum detection distance is 35 m from the front end of the vehicle.
  • the radar detection area 21 is a range corresponding to the directivity angle and the maximum detection distance of the millimeter wave radar 2.
  • the millimeter wave radar 2 estimates the direction, distance, relative speed, type, etc. of the detected object by analyzing the reception result of the reflected wave of the quasi-millimeter wave transmitted to the radar detection area 21.
  • the present invention is not limited to this.
  • the millimeter wave radar 2 provides the reception result to the control device 1, and the control device 1 analyzes the reception result of the reflected wave provided from the millimeter wave radar 2, thereby detecting the direction in which the detected object exists. It is good also as an aspect which estimates a distance, relative speed, a classification, etc.
  • a laser radar may be employed instead of the millimeter wave radar 2 as a radar device that detects an object existing in front of the host vehicle.
  • the millimeter wave radar 2 and the laser radar may be used in combination.
  • the type of the detected object it is preferable to determine the type of the detected object more finely. For example, it is preferable that it is possible to identify whether the detected object corresponds to a pedestrian, a cyclist, a motorcycle, or a four-wheeled vehicle from the contour and size of the detected object by a known pattern matching process.
  • the camera 3 is an optical camera, and for example, a CMOS camera or a CCD camera can be used.
  • the camera 3 may be installed in the vicinity of the upper portion of the windshield (for example, in the vicinity of the room mirror) so as to capture a predetermined range (referred to as the imaging range 31) in front of the host vehicle shown in FIG. Image data taken by the camera 3 is provided to the control device 1 sequentially.
  • the installation position of the camera 3 is not limited to the vicinity of the rearview mirror, but may be attached to a position that does not block the driver's view of the front of the vehicle.
  • the camera 3 may be an infrared camera, a near infrared camera, or the like.
  • the camera 3 may be a stereo camera.
  • both the millimeter wave radar 2 and the camera 3 function as devices for detecting an object existing around the vehicle (in this case, forward).
  • Such an apparatus for detecting an object is referred to as an object detection apparatus for convenience.
  • the collision sensor 4 is a sensor for detecting a collision (primary collision) between the front end portion of the host vehicle and an object, and is provided on a front bumper of the vehicle.
  • the collision sensor 4 outputs a value corresponding to the magnitude of the impact of the collision.
  • the output value of the collision sensor 4 is input to the control device 1.
  • the collision sensor 4 may be realized by using, for example, a pressure sensor for sensing pressure in a tube (or chamber) disposed on the front bumper.
  • the collision sensor 4 is not limited to a pressure sensor.
  • it may be of a type that detects a collision based on a change in the amount of light output from an optical fiber arranged along the vehicle body.
  • An acceleration sensor may be used as the collision sensor 4.
  • the external protection device 5 is a device for protecting a person colliding with the host vehicle.
  • Examples of the external protection device 5 include a pop-up hood that instantaneously lifts the rear of the hood, an external airbag that is deployed in a predetermined area outside the vehicle, and the like.
  • the external protection device 5 operates based on an instruction from the control device 1.
  • the external protection device 5 is also referred to as a protection device.
  • the control device 1 determines whether or not the external protection device 5 should be operated based on various signals input from the millimeter wave radar 2, the camera 3, and the collision sensor 4. If it is determined that it should be operated, the external protection device 5 is operated.
  • the control device 1 is configured as an ordinary computer as an example, and includes a CPU, a RAM as a main storage device (so-called memory), a flash memory as an auxiliary storage device (so-called storage), I / O and a bus line connecting these components.
  • the storage stores a program for causing a normal computer to function as the control device 1 in the present embodiment.
  • the control device 1 includes an output value acquisition unit 11, a radar information acquisition unit 12, an image recognition unit 13, a collision object identification unit 14, a threshold value determination unit 15, and an operation determination unit as functional blocks realized by executing the program. 16. Note that each functional block included in the control device 1 may be realized in hardware by one or a plurality of ICs.
  • the output value acquisition unit 11 acquires the output value P of the collision sensor 4.
  • the output value P acquired by the output value acquisition unit 11 is provided to the operation determination unit 16.
  • a collision detection signal indicating that a collision has occurred is sent to the collision object specifying unit. 14 to provide.
  • the collision detection threshold value used here is a threshold value for distinguishing between disturbances such as vibrations caused by traveling of the vehicle and occurrence of collisions.
  • the collision detection threshold value may be a value equal to or smaller than the smallest threshold value among various threshold values (described later) for operating the external protection device 5.
  • the radar information acquisition unit 12 acquires a detection result of the millimeter wave radar 2, that is, information about an object existing in the radar detection area 21.
  • the detection result acquired by the radar information acquisition unit 12 is provided to the collision object specifying unit 14.
  • the image recognition unit 13 analyzes the image data input from the camera 3 and identifies the detection of the moving body that is set in advance as a detection target and its type. For example, the image recognition unit 13 performs known image processing such as edge detection on the image data, and extracts the contours of all objects included in the image. Then, a pattern matching process is performed on the image data that has been subjected to image processing, thereby detecting a moving object that is a detection target and specifying the type of the moving object.
  • the moving objects to be detected are pedestrians, cyclists, motorcycles, four-wheeled vehicles, animals, and the like. Accordingly, the image recognition unit 13 determines whether the detected object belongs to a pedestrian, a cyclist, a motorcycle, a four-wheeled vehicle, or an animal.
  • the motorcycle here refers to a two-wheeled vehicle other than a bicycle, such as a two-wheeled vehicle or a motor-driven bicycle.
  • Animals refer to non-human animals such as deer, horses and cows.
  • the image recognition unit 13 also detects structures such as utility poles, signboards, and guardrails.
  • the data used for detecting the moving object to be detected from the image data may be stored in a storage medium (not shown).
  • the image recognition data corresponds to, for example, data representing a shape pattern of the type of moving object to be detected.
  • the image recognition unit 13 estimates the relative distance between the detected object and the host vehicle from the position and size of the detected object in the image data. Further, the mobile body once detected is tracked with the aid of a well-known object tracking method. Thereby, the relative moving direction and moving speed of the detected object are estimated from the degree of change in position and size between a plurality of consecutive frames. If the camera 3 is a stereo camera, the relative position may be estimated based on the difference in position of the same object in each image data.
  • the image recognition unit 13 in the present embodiment also detects and identifies an object using image data of a predetermined number of frames. Specifically, by generating one image data with a higher resolution (super-resolution) from image data for a specified number of frames, image recognition processing is performed on the image data with the higher resolution. Object detection and type identification.
  • the image recognition unit 13 may perform image recognition processing on each of continuous image data for the specified number of frames, and determine the recognition result based on the processing results. . That is, the consistency of the results of image recognition processing for each of a plurality of continuous image data is determined, and when the processing results match (including substantially matching), the recognition results (type, position, etc.) are displayed. It may be confirmed.
  • the result of the image recognition processing by the image recognition unit 13 is provided to the collision object specifying unit 14.
  • the radar information acquisition unit 12 and the image recognition unit 13 are also referred to as an object recognition unit.
  • the colliding object identification unit 14 uses the millimeter wave radar detection result acquired by the radar information acquisition unit 12 and the recognition result of the image recognition unit 13 in a complementary manner, thereby allowing a predetermined range (front detection area) in front of the host vehicle. To obtain information about an object existing in Specifically, the type, relative position, relative speed, etc. of the moving body existing in the front detection area are acquired.
  • the front detection area is an area obtained by adding the radar detection area 21 and the imaging range 31 together. Since the technology that complementarily uses the detection result of the millimeter wave radar and the recognition result of the image recognition unit 13 is well known as a sensor fusion technology, detailed description thereof is omitted here. Normally, the identification accuracy of the type of detected object is higher in the image recognition unit 13 that performs identification using image data than in the millimeter wave radar 2. Accordingly, the collision object specifying unit 14 preferentially adopts the recognition result by the image recognition unit 13 as the type of the moving body.
  • the collision object identification unit 14 When the collision detection signal is input from the output value acquisition unit 11, the collision object identification unit 14 further collides with the host vehicle from the information of the detection object acquired up to that point (referred to as a collision occurrence point).
  • the identified object (referred to as a collision object) is identified. Specifically, among the detected objects existing in the front detection area, it is determined that the detected object present at the position closest to the host vehicle at the time of occurrence of the collision (or immediately before) is the collision object.
  • the collision object specifying unit 14 means that the collision object cannot be recognized.
  • the collision object specifying unit 14 calculates TTC (time to collation) as an index indicating the degree of danger of collision for each detection object existing in the detection area from the relative position and relative speed of the detection object. May be.
  • the collision object specifying unit 14 has a TTC that is equal to or smaller than a predetermined threshold value at the time (or immediately before) when the collision detection signal is input from the output value acquisition unit 11. What is necessary is just to determine with having collided with the detected object.
  • information such as the traveling speed and steering angle of the host vehicle may be used to identify the collision object.
  • the collision object specifying unit 14 includes a reliability evaluation unit 141 as a smaller functional block.
  • the reliability evaluation unit 141 makes a determination based on a combination of object detection devices that have detected (or captured) a collision object. Specifically, when the collision object can be recognized from the image data of the camera 3, the reliability with respect to the identification result is determined to be a high level. On the other hand, when the colliding object cannot be captured by the camera 3 and the colliding object can be detected only by the millimeter wave radar 2, it is determined that the reliability of the specific result is low. This is because, as described above, the accuracy of identifying the type of object is higher in the image recognition unit 13 than in the millimeter wave radar 2. In addition, when neither the millimeter wave radar 2 nor the camera 3 has captured the collision object, the type of the collision object may be treated as unknown. Information about the collision object (type and reliability thereof) identified by the collision object identification unit 14 is provided to the threshold value determination unit 15.
  • the reliability is evaluated based on the degree of coincidence. Also good. For example, when the degree of matching of a shape pattern prepared in advance is equal to or higher than a predetermined reference level, the reliability is determined to be high, and when it is less than the reference level, it is determined to be low. .
  • the threshold value determination unit 15 determines an operation threshold value Pth, which is a threshold value for determining whether or not the external protection device 5 should be operated based on the information about the collision object provided from the collision object specifying unit 14. Details of the threshold value determination unit 15 will be described later.
  • the determined operation threshold value Pth is provided to the operation determination unit 16.
  • the threshold determination unit 15 is also referred to as a threshold selection unit 15.
  • the operation determination unit 16 determines whether or not the external protection device 5 should be operated based on the operation threshold value Pth provided from the threshold value determination unit 15 and the output value P provided from the output value acquisition unit 11. When it is determined that the operation should be performed, an operation instruction signal for instructing the external protection device 5 to operate is output and operated.
  • the operation determination unit 16 is also referred to as an operation instruction unit.
  • ⁇ Operation determination related processing> a series of processing (determined as operation determination related processing) for determining whether or not to operate the external protection device 5 performed by the control device 1 will be described using the flowchart shown in FIG. 3 may be started when, for example, the output value P equal to or greater than the collision detection threshold is output from the collision sensor 4. Independently of the motion determination related process, a process of collecting information about an object existing ahead of the host vehicle is performed.
  • the described flowchart includes a plurality of sections (or referred to as steps), and each section is expressed as, for example, S1. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section.
  • Each section can be referred to as a device, module, or unique name, for example, an acquisition section can be referred to as an acquisition device, acquisition module, or retainer.
  • the section includes (i) not only a section of software combined with a hardware unit (eg, a computer) but also (ii) a section of hardware (eg, an integrated circuit, a wiring logic circuit) and related devices. It can be realized with or without the function.
  • the hardware section can be included inside the microcomputer.
  • the output value acquisition unit 11 acquires the output value P, provides the output value P to the operation determination unit 16, outputs a collision detection signal to the collision object specifying unit 14, and proceeds to S2. .
  • the colliding object identification unit 14 identifies the type of the colliding object based on the detection result of the millimeter wave radar 2 acquired by the radar information acquisition unit 12 and the recognition result of the image recognition unit 13. If the type of the colliding object can be specified in S2, S3 becomes YES and the process proceeds to S4. If the type of the colliding object cannot be specified in S2, S3 becomes NO and the process moves to S6. In addition, when S3 becomes YES, the collision object specific
  • the threshold value determination unit 15 determines whether the collision object specified by the collision object specification unit 14 corresponds to either a four-wheel vehicle or a structure.
  • S4 becomes YES and this flow is ended. That is, the external protection device 5 is not operated. This is because it is not necessary to operate the external protection device 5 when the collision object is a four-wheel vehicle or a structure.
  • a device such as an indoor airbag for protecting the passengers of the host vehicle may be appropriately operated according to the output value P.
  • the threshold determination unit 15 performs a process of determining a value to be adopted as the operation threshold Pth based on the collision object information provided from the collision object specifying unit 14 (referred to as a threshold determination process). This threshold value determination process will be separately described with reference to FIG. When the threshold value determination process in S5 is completed, the process proceeds to S7.
  • the threshold value determination unit 15 adopts a value (that is, a pedestrian threshold value) Th1 for determining that the pedestrian is in contact as the operation threshold value Pth, and proceeds to S7.
  • the threshold value Th1 for pedestrians is sufficiently higher than the value of the range output by the collision sensor 4 due to vibration or the like accompanying traveling of the host vehicle, and further, the collision sensor is in contact with a small animal or a plastic cone. It is preferable that the output value P is sufficiently larger than the output value P output from 4.
  • This pedestrian threshold Th1 may be determined by various tests.
  • the pedestrian threshold Th1 may be registered in advance in a flash memory included in the control device 1.
  • the operation determination unit 16 compares the operation threshold value Pth determined by the above processing with the output value P, and determines whether or not the external protection device 5 should be operated. That is, when the output value P is larger than the operation threshold value Pth, it is determined that the external protection device 5 should be operated (S7 YES), and the process proceeds to S8. On the other hand, when the output value P is less than or equal to the operation threshold value Pth, it is determined that the external protection device 5 should not be operated (NO in S7), and this flow ends. That is, when the output value P is less than or equal to the operation threshold value Pth, the external protection device 5 is not operated.
  • the operation determination unit 16 outputs an operation instruction signal to the external protection device 5, operates it, and ends this flow. Therefore, the case where the external protection device 5 operates is a case where the output value P is larger than the operation threshold value Pth determined according to the type of the moving body.
  • the type of the collision object is determined based on the collision object information provided from the collision object specifying unit 14.
  • the process proceeds to S510. If it is determined that the collision object is a cyclist, the process proceeds to S520. If it is determined that the collision object is a motorcycle, the process proceeds to S530. If it is determined that the collision object is an animal other than a human, the process proceeds to S540.
  • the pedestrian threshold value Th1 is adopted as the motion threshold value Pth, and the process returns to the motion determination related process (FIG. 3) which is the caller of the threshold value determination process.
  • S520 it is determined whether the reliability for the specific result that the collision object is a cyclist is high level or low level.
  • the process proceeds to S521, and a first cyclist threshold Th2a described later is adopted as the operation threshold Pth, and the process returns to the caller of the threshold determination process.
  • the process moves to S522, the second cyclist threshold Th2b is adopted as the operation threshold Pth, and the process returns to the caller of the threshold determination process.
  • the first cyclist threshold Th2a and the second cyclist threshold Th2b used here are both smaller than the pedestrian threshold Th1. This is because when the collision object is a cyclist, the output value of the collision sensor 4 may be smaller than when the collision object is a pedestrian. Even when the collision object is a cyclist, the external protection device 5 is configured so that the operation threshold value Pth when the collision object is a cyclist is set to a value smaller than that assumed when contact with a pedestrian is assumed. The possibility of operating can be increased.
  • thresholds adopted as the operation threshold Pth when the collision object is a cyclist such as the first cyclist threshold Th2a and the second cyclist threshold Th2b, are referred to as cyclist thresholds.
  • the second cyclist threshold Th2b used when the reliability is at a low level is a value brought closer to the pedestrian threshold Th1 from the first cyclist threshold Th2a used when the reliability is at a high level.
  • the second cyclist threshold Th2b is larger than the first cyclist threshold Th2a, and the pedestrian threshold Th1, the first cyclist threshold Th2a, and the second cyclist threshold Th2b are Th1> Th2b. It is assumed that the relationship> Th2a is satisfied. Accordingly, it is possible to determine whether or not the external protection device 5 should be operated according to the recognition accuracy of the object.
  • S530 it is determined whether the reliability with respect to the specific result that the collision object is a motorcycle is high level or low level. If the reliability is high, the process moves to S531, adopts the first motorcycle threshold Th3a as the operation threshold Pth, and returns to the caller of the threshold determination process. On the other hand, if the reliability is at a low level, the process proceeds to S532, the second motorcycle threshold Th3b is adopted as the operation threshold Pth, and the process returns to the caller of the threshold determination process.
  • the first motorcycle threshold Th3a may be a value equal to or greater than the pedestrian threshold Th1.
  • the collision object may be mistakenly recognized as a motorcycle depending on the luggage loaded on the bicycle, the shooting direction, and the like.
  • the output value of the collision sensor 4 may be a relatively small value.
  • the second motorcycle threshold employed when the reliability is at a low level is set to a value smaller than the first motorcycle threshold Th3a.
  • the value is approximately the same as the second cyclist threshold Th2b.
  • S540 it is determined whether the reliability for the specific result that the collision object is an animal is high or low. If the reliability is high, the process moves to S541, adopts the first animal threshold Th4a as the operation threshold Pth, and returns to the caller of the threshold determination process. On the other hand, if the reliability is at a low level, the process proceeds to S542, where the second animal threshold Th4b is adopted as the motion threshold Pth, and the process returns to the caller of the threshold determination process.
  • the external protection device 5 Basically, animals other than humans (for example, deer) are often not protected by the external protection device 5. Further, there is a demand for suppressing the operation of the external protection device 5 due to a collision with an animal. Therefore, the first animal threshold Th4a used when the reliability is high and it is determined that the collision object is an animal is a sufficiently large value (or an upper limit value) that the collision sensor 4 hardly outputs. ). This reduces the possibility of operating the external protection device 5 when the collision object is an animal.
  • the second animal threshold value Th4b used when the reliability of the determination that the collision object is an animal is low is set to a value similar to the pedestrian threshold value Th1.
  • the various threshold values described above may be designed by various tests and registered in advance in a nonvolatile storage medium such as a flash memory included in the control device 1 in the same manner as the pedestrian threshold value Th1.
  • the control device 1 when an output value equal to or greater than the collision detection threshold is input from the collision sensor 4, the control device 1 is configured to detect an object ahead of the host vehicle detected by the millimeter wave radar 2 or the image recognition unit 13. The type of the collision object is specified based on the information. Then, the threshold determination unit 15 determines an operation threshold Pth for operating the external protection device 5 based on the type of collision object and the reliability with respect to the identification result. The operation determination unit 16 operates the external protection device 5 when the output value P of the collision sensor 4 exceeds the operation threshold value Pth.
  • the external protection device 5 is operated using the operation threshold value Pth corresponding to the type of moving object and the reliability of the specified result. That is, in the above configuration, the operation threshold value Pth is a value that takes into account the difference in the tendency of the output value of the collision sensor 4 for each type of collision object. Therefore, according to the above configuration, it is more appropriately determined whether or not the external protection device 5 should be operated according to the type of the collision object, and unnecessary operation of the external protection device 5 or external protection in a necessary scene. The malfunction of the device 5 can be suppressed.
  • the cyclist thresholds Th2a and Th2b applied as the operation threshold Pth are both smaller than the pedestrian threshold Th1. Therefore, when the collision object is a cyclist, the possibility that the external protection device 5 does not operate can be suppressed.
  • the pedestrian threshold Th1 is a value having a sufficient gap from the value in the range output by the collision sensor 4 due to vibration or the like accompanying the traveling of the host vehicle. According to the above configuration, the case where the motion threshold value Pth is smaller than the pedestrian threshold value Th1 is only when it is determined that the collision object may be a cyclist. The possibility of causing the external protection device 5 to malfunction due to vibration or the like can also be suppressed.
  • the amount of decrease from the pedestrian threshold Th1 is set to a different value depending on the reliability level. Specifically, the reduction amount when the reliability is low is set smaller than the reduction amount when the reliability is high. As a result, it is possible to limit the scene to be used by reducing the operation threshold value Pth relatively larger than the pedestrian threshold value Th1, and cause the external protection device 5 to malfunction due to erroneous recognition of the collision object. This can reduce the risk of being lost.
  • the reliability may be evaluated in three or more stages such as three or four stages.
  • the protection device control system 100 in the second embodiment includes a control device 1, a camera 3, a collision sensor 4, and an external protection device 5 as shown in FIG. 5, and the control device 1 includes a millimeter wave radar 2, a camera 3, Each of the collision sensor 4 and the external protection device 5 is connected via a communication network built in the vehicle.
  • the main difference between the first embodiment and the second embodiment is the method for determining the operation threshold value Pth.
  • the configuration and operation of the control device 1 in the second embodiment will be described with a focus on portions related to this difference.
  • the image recognition unit 13 in the present embodiment performs image recognition processing on the image data for each frame and provides the result to the collision object specifying unit 14. That is, in the first embodiment described above, the result of the image recognition process is determined using the image data of the prescribed number of frames, and the result is provided to the collision object specifying unit 14, but in the present embodiment, The recognition result for each frame is provided to the collision object specifying unit 14. As another mode, both the recognition result for each frame and the result of the recognition process determined using the image data of a prescribed number of frames may be sequentially provided to the collision object specifying unit 14.
  • the colliding object specifying unit 14 holds the recognition result for each frame provided from the image recognition unit 13 in a memory for a certain number (for example, 10 frames) from a new one.
  • the collision object is specified based on the latest frame recognition result at the time when the collision detection signal is input (that is, when the collision occurs).
  • an object detected as a collision object candidate from the latest frame is regarded as a collision object.
  • the collision object candidate is an object that is highly likely to come into contact with the host vehicle.
  • the collision object identification unit 14 identifies the collision object
  • the result of the image recognition processing for each frame stored in the memory is sequentially traced from the newest one, and is detected as a collision object candidate in the latest frame.
  • the number of frames (the number of consecutive detections) in which the same object as the existing object can be detected as a collision object candidate is specified.
  • the threshold determination unit 15 determines an operation threshold Pth corresponding to the type of collision object and the number of consecutive detections.
  • FIG. 6 is a conceptual diagram for explaining operations of the image recognition unit 13, the collision object specifying unit 14, and the threshold value determination unit 15.
  • FIG. 6 shows that a cyclist is detected as a collision object candidate from the latest frame and the frame one previous to the latest frame, and from the frame two previous to the latest frame. This indicates that no object corresponding to the collision object candidate is detected.
  • the collision object specifying unit 14 determines that the collision object is a cyclist based on the result of the recognition process for the latest frame. Further, since the number of frames in which a cyclist can be detected as a colliding object candidate is 2, the continuous detection number is determined to be 2. Then, the threshold determination unit 15 determines that the collision object type is a cyclist and an operation threshold Pth corresponding to the number of consecutive detections.
  • the flowchart shown in FIG. 7 shows the operation of the collision object identification unit 14 and the threshold value determination unit 15 when the collision object identification unit 14 determines that the collision object is a cyclist based on the recognition result for the latest frame.
  • the collision object specifying unit 14 may specify the collision object, for example, at the timing of S2 shown in FIG.
  • the flowchart shown in FIG. 7 may be started when it is determined in S501 that the collision object is a cyclist. That is, the flowchart shown in FIG. 7 corresponds to a process in place of S520 to 522 shown in FIG.
  • the collision object specifying unit 14 sets the integers N and J as parameters used in the processing to 1, respectively, and proceeds to S1502.
  • N is a number (referred to as a reference frame number) indicating what number frame from the latest frame is referred to. Note that the reference frame number counts the latest frame as the 0th frame.
  • J is a parameter representing the number of consecutive detections. Since the cyclist has already been detected in the latest frame at the start of this flow, the continuous detection number J is set to 1 at the time of S1501.
  • the colliding object specifying unit 14 refers to the result of the image recognition processing for the Nth frame from the latest frame, and determines whether or not a cyclist is detected as a colliding object candidate. If a cyclist is detected as a collision object candidate, S1503 becomes YES and the process moves to S1504. On the other hand, it is determined whether or not a cyclist is detected as a collision object candidate. If no cyclist is detected as a collision object candidate, S1503 is NO and the process proceeds to S1507.
  • the continuous detection number J is updated by adding 1 to the continuous detection number J, and the process proceeds to S1505.
  • the reference frame number N is less than M-1.
  • M used here is the number of frames (that is, the prescribed number of frames) used when the result of the image recognition process is determined using a plurality of consecutive frames.
  • the prescribed number of frames M may be designed as appropriate, but is assumed to be 3 as an example here.
  • the reference frame number N 1
  • S1505 2
  • S1505 3
  • S1505 3
  • S1505 3
  • the process proceeds to S1507.
  • the operation threshold value Pth corresponding to the continuous detection number J is determined.
  • the value of Pth is determined by the following equation.
  • FIG. 8 is a graph showing the relationship between the continuous detection number J and the operation threshold value Pth.
  • the threshold values Th2a to Th2c all correspond to threshold values for cyclists.
  • the operation threshold Pth is determined by a linear function having the continuous detection number J as a variable, but is not limited thereto. For example, it may be determined by a quadratic function using the continuous detection number J as a variable. Further, a table representing the correspondence relationship between the continuous detection number J and the operation threshold value Pth is stored in the flash memory, and the operation threshold value Pth corresponding to the continuous detection number J is determined by referring to the table. Good.
  • the processing after determining the operation threshold value Pth as described above is the same as the processing after S7 shown in FIG. That is, the determined operation threshold value Pth is compared with the output value P, and the external protection device 5 is operated when the output value P is larger than the operation threshold value Pth. If the output value P is less than or equal to the operation threshold value Pth, the flow is terminated without operating the external protection device 5.
  • the operation of the collision object identification unit 14 and the threshold value determination unit 15 when the collision object determination unit 14 determines that the collision object is a cyclist has been described above.
  • the collision object is an object of another type.
  • a threshold value corresponding to the continuous detection number J may be determined.
  • the operation threshold value Pth corresponding to the type of the collision object is determined as in the first embodiment described above.
  • the operation threshold Pth when the collision object is a cyclist is determined to be a value smaller than the pedestrian threshold Th1. Therefore, according to this 2nd Embodiment, the cyclist as a collision object can be protected more appropriately like 1st Embodiment.
  • a general image recognition unit uses a specified number of frames of image data to determine the result of image recognition processing.
  • the control device 1 cannot identify the type of the collision object, and cannot apply the operation threshold value Pth corresponding to the type of the collision object.
  • the collision object is specified based on the image recognition result with respect to the latest frame photographed at (or immediately before) the collision occurrence time. Therefore, compared to the conventional configuration in which the image recognition processing result is determined using image data of a prescribed number of frames, the possibility that the operation threshold value Pth corresponding to the type of the collision object cannot be set is reduced. I can do things. For example, when a cyclist as a collision object can be photographed with only the latest frame, a value lower than the pedestrian threshold (that is, the cyclist threshold) can be applied as the motion threshold Pth.
  • pre-crash safety system a system that automatically applies braking force to the host vehicle when there is a possibility of a collision.
  • the pre-crash safety system is mounted on the host vehicle as described above, the pre-crash safety system is activated when the camera 3 has captured an object that is likely to collide with the host vehicle for more than the specified number of frames. Therefore, the possibility that the collision candidate collides with a cyclist or the like while the host vehicle is actually traveling is suppressed.
  • the motion threshold value Pth is used for the pedestrian.
  • a value lower than the threshold can be applied. That is, even if the host vehicle collides with a cyclist in a manner that cannot be handled by the pre-crash safety system, the cyclist as the collision object can be protected.
  • the operation threshold value Pth is determined using not only the type of the collision object detected from the latest frame but also the continuous detection number J. This is due to the following reason. There is a possibility that the type of the collision object is erroneously recognized only by the result of the recognition process for the latest frame. However, if the detected object detected as a colliding object candidate in the latest frame can be detected continuously more than a certain number of times in the past frames, the type of the colliding object may be misrecognized. Is reduced. That is, as the number of consecutive detections J increases, the probability (that is, the reliability) of the identification result of the collision object type increases.
  • the collision object is detected when the cyclist is detected as a collision object candidate in the latest two frames of image data, rather than when the cyclist is detected as a collision object candidate only in the latest one frame. This suggests that the possibility of being a cyclist is high.
  • the continuous detection number J represents the reliability with respect to the specified result by the collision object specifying unit 14, similarly to the reliability introduced in the first embodiment. Therefore, according to the above configuration, as in the first embodiment, unnecessary operation of the external protection device 5 and inactivation of the external protection device 5 in a necessary scene can be suppressed.
  • the reliability may be determined as a high level, and if the continuous detection number J is 1, it may be determined as a low level. Further, the reliability may be expressed as a specific numerical value instead of being expressed by a category such as a high level or a low level. For example, the reliability may be expressed as a function that increases as the number of consecutive detections J increases.
  • the detection success rate is calculated as 66.7%. Then, the higher the detection success ratio, the closer the movement threshold Pth is to the first cyclist threshold Th2a, and the lower the detection success ratio is, the closer the movement threshold Pth is to the pedestrian threshold Th1. Even in such an aspect, the same effects as those of the second embodiment described above can be obtained.
  • the protection device control system 100 does not include the millimeter wave radar 2 and the control device 1 also exemplifies a mode in which the detection result of the millimeter wave radar 2 is not acquired.
  • the protection device control system 100 according to the second embodiment may include the millimeter wave radar 2, and the control device 1 may acquire a detection result from the millimeter wave radar 2. That is, the control device 1 includes the radar information acquisition unit 12, and the collision object specifying unit 14 and the threshold value determination unit 15 specify the collision object using the detection result of the millimeter wave radar 2 acquired by the radar information acquisition unit 12. Or an operating threshold value may be determined.
  • the millimeter wave radar 2 detects a moving body other than a four-wheeled vehicle as a collision object candidate, and detects a moving body other than the four-wheeled vehicle (for example, a cyclist) from the latest frame by the image recognition unit 13. If it is, the collision object may be determined to be a cyclist. That is, if there is no contradiction between the detection result by the millimeter wave radar 2 and the recognition result for the latest frame by the image recognition unit 13, the result of the image recognition process may be adopted. Further, when there is a contradiction between the detection result by the millimeter wave radar 2 and the recognition result for the latest frame by the image recognition unit 13, the collision object may be processed as unknown (S3, NO in FIG. 3).
  • the operation threshold value Pth may be corrected based on the detection result of the millimeter wave radar 2, which is determined based on the recognition result (for example, the continuous detection number J) of the image recognition unit 13. .
  • the reliability for the specific result of the collision object is calculated by the same method as in the above-described embodiment, and when the reliability is high, the operation threshold Pth determined based on the continuous detection number J is set. Just adopt it.
  • the motion threshold value Pth determined based on the continuous detection number J may be set to a value obtained by approaching the pedestrian threshold value Th1. For example, a value obtained by adding the motion threshold Pth determined based on the continuous detection number J and the pedestrian threshold Th1 and dividing the result by 2 may be determined as the final motion threshold Pth.
  • an object of the same type (or similar) as the collision object detected by the image recognition unit 13 with respect to the latest frame is represented by the millimeter wave radar. 2 is detected, and the case where it is determined that the reliability level is low is the case where the millimeter wave radar 2 cannot detect the collision object detected by the image recognition unit 13 for the latest frame. do it.
  • An object with a similar type here refers to an object with the same reception level of reflected waves or an object with the same size when the millimeter wave radar 2 identifies the type of the object.

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