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Pre-collision control device

A technology of control device and control unit, which is applied in the direction of control device, measuring device, automatic starting device, etc., and can solve the problems of undetected object mark and excessive approach of vehicle to object mark, etc.

Active Publication Date: 2020-08-07
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are cases where the second sensor unit does not detect an actually existing object mark due to misrecognition.
In this case, there is a concern that the vehicle will get too close to the object

Method used

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Experimental program
Comparison scheme
Effect test

no. 1 approach ＞

[0071] The pre-collision control device (hereinafter, sometimes referred to as "first device") according to the first embodiment of the present invention is applied to a vehicle.

[0072] like figure 1 As shown, the first device includes a pre-collision control ECU 10 , an engine ECU 20 , a brake ECU 30 , a steering ECU 40 , and an alarm ECU 50 . In addition, hereinafter, the pre-collision control ECU 10 is also simply referred to as "PCSECU 10".

[0073] The above-mentioned ECU is an electric control unit (Electric Control Unit) equipped with a microcomputer as a main part, and can be connected via a CAN (Controller Area Network) not shown so as to transmit and receive information to each other. In this specification, a microcomputer includes a CPU, RAM, ROM, nonvolatile memory, interface I / F, and the like. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM. Some or all of the above ECUs can be integrated into one ECU.

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no. 2 approach ＞

[0153] Next, a pre-collision control device (hereinafter, sometimes referred to as a "second device") according to a second embodiment of the present invention will be described. The difference between the second device and the first device is that, in the case that the selected object recognized by the single-sensor object object information is not the object recognized by the dual-sensor object object information in the past, according to whether the selected object is used Whether to execute the PCS control is determined based on which information of the radar sensor object information and the camera object information recognizes the object. Hereinafter, description will be made centering on this difference.

[0154] In general, the camera sensor 17 has a lower precision in detecting an object (particularly, the longitudinal distance Dfx to the object) than the radar sensor 16 . Therefore, for the second device, in the case that the selected object is not an object stored ...

no. 3 approach ＞

[0161] Next, a pre-collision control device (hereinafter, sometimes referred to as a "third device") according to a third embodiment of the present invention will be described. The third means differs from the first means in that whether to execute PCS control is determined based on the vehicle speed SPD and the accelerator pedal operation amount AP. Hereinafter, the operation of the third device will be described for "the case where the selected object is an object recognized by dual-sensor object information" and "the case where the selected object is an object recognized by single-sensor object information".

[0162] (When the selected object is an object recognized by dual-sensor object information)

[0163] When the collision prediction time TTCmin of the selected object is equal to or less than the predetermined time threshold Tth, the PCSECU 10 of the third device determines whether to execute the PCS control based on the traveling state information. Specifically, PCSE...

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PUM

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Abstract

A pre-collision control device is provided with a first sensor unit (16); a second sensor unit (17); a control unit (10a) that executes the first pre-collision control; and a storage unit (10b) that stores the information (401) that specifies the target detected by the dual sensor unit when the target detected by the dual sensor unit, which is the target detected by both the first sensor unit andthe second sensor unit, is detected. The pre-collision control device is configured to execute the first pre-collision control when it is determined that there is a target on the basis of either the first sensor unit or the second sensor unit and the target is stored in the storage unit as a target detected by the dual sensor unit.

Description

technical field [0001] The present invention relates to a pre-collision control device that performs pre-collision control when an object exists in front of a vehicle. Background technique [0002] Conventionally, there is known a pre-collision control device that executes pre-collision control when an object (object) existing in front of the vehicle has a high possibility of colliding with the vehicle (for example, refer to Patent Document 1). Such pre-collision control includes attention calling control for calling attention to the driver, driving force suppression control for suppressing the driving force of the vehicle, braking force control for applying braking force to the wheels of the vehicle, and the like. [0003] Patent Document 1: Japanese Patent Laid-Open No. 2017-043173 (for example, refer to Figure 4 ) [0004] The device described in Patent Document 1 (hereinafter referred to as "conventional device") uses a first sensor unit (ultrasonic sensor or laser sen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/08B60W50/14
CPCB60W30/08B60W50/14B60W2520/10B60W2540/10B60W2050/143B60W2540/12B60W30/09B60T7/22B60T2201/022B60T8/17558G01S13/931G01S13/867G08G1/166B60W10/06B60W10/184B60W10/20B60W30/0953B60W30/0956G05D1/0214G05D1/0223G08G1/165G06V20/58
Inventor 新保祐人星川佑磨
Owner TOYOTA JIDOSHA KK