Attention reminder device

Abstract

The present disclosure relates to a caution reminder device, which performs caution reminder control when it is determined that an approaching vehicle is an oncoming vehicle that may collide with a host vehicle (SV). The caution reminder device uses a determination partition (Sa1, Sa2) to determine whether the approaching vehicle is an oncoming vehicle. When an angle condition related to the travel direction angle (θs) of the approaching vehicle is satisfied, the attention reminder device sets the determination partition (Sa1) so that the determination partition is located on the turning direction side of the host vehicle relative to the front-rear direction axis (Ax) of the host vehicle and extends continuously toward the front from the host vehicle or the vicinity of the host vehicle. When the angle condition is not satisfied, the attention reminder device sets the determination partition (Sa2) so that the determination partition is located on the turning direction side relative to the front-rear direction axis and is a specified distance (dx) away from the host vehicle to the front of the host vehicle.

Description

Technical Field

[0001] The present disclosure relates to an attention prompting device configured to perform attention prompting control. Background Art

[0002] Conventionally, there is known a caution calling device (see, for example, Patent Document 1) configured to detect a moving object approaching a vehicle and notify the driver of the vehicle of the presence of such a moving object (to call the driver's attention).

[0003] After that, it is assumed that the vehicle is traveling on a road with traffic on the left. The device described in Patent Document 1 (hereinafter referred to as "the conventional device") determines whether the vehicle (the vehicle) is likely to collide with another vehicle (e.g., an oncoming vehicle) when the vehicle (the vehicle) turns right at an intersection. The conventional device performs attention reminder control when it is determined that the vehicle is likely to collide with another vehicle. For example, the attention reminder control includes outputting an alarm sound by a buzzer and displaying a warning mark on a display.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-280453

[0007] Sometimes, intersections have complex structures. For example, even if there are other vehicles approaching the vehicle at an intersection where three roads intersect each other at non-right angles, sometimes the other vehicles will not interfere with the route of the vehicle. In this case, since the vehicle will not collide with other vehicles, the driver should not be reminded to pay attention. However, in the past, the device did not design countermeasures for right turns at intersections with complex structures, so attention reminder control may be performed in such a situation. Therefore, the problem of the driver feeling troubled will arise. Summary of the invention

[0008] One of the objects of the present disclosure is to provide a caution calling device that can perform caution calling control in an appropriate situation where the host vehicle may collide with another vehicle when the host vehicle turns (right or left) at an intersection.

[0009] The attention reminder device in one or more embodiments comprises: a sensor (14) for acquiring object information, wherein the object information is information related to an object existing in a surrounding area of ​​the vehicle including at least a front area of ​​the vehicle; and a control unit (10) configured to select other vehicles existing in the surrounding area and moving toward the vehicle as approaching vehicles based on the object information when the vehicle turns at an intersection, and to execute attention reminder control for reminding the driver of the vehicle to pay attention to the existence of the oncoming vehicle when it is determined that the approaching vehicle is an oncoming vehicle that may collide with the vehicle.

[0010] The control unit is configured to: set a determination partition for determining whether the approaching vehicle is the oncoming vehicle; and determine that the approaching vehicle is the oncoming vehicle when a first condition or a second condition is met, wherein the first condition is that the specific position (Pi) of the approaching vehicle exists within the determination partition, and the second condition is that the predicted trajectory (dv') of the approaching vehicle intersects with the determination partition.

[0011] The control unit is configured to: when the angle condition that the travel direction angle (θs) formed by the front-rear direction axis (Ax) of the host vehicle and the travel direction (dv') of the approaching vehicle is within a specified angle range, set the judgment partition to be located on the turning direction side of the host vehicle relative to the front-rear direction axis and extend continuously toward the front from the host vehicle or the vicinity of the host vehicle; and when the angle condition is not met, set the judgment partition to be located on the turning direction side of the front-rear direction axis and away from the host vehicle by a specified distance (dx) toward the front of the host vehicle.

[0012] When the angle condition is satisfied, the attention reminding device having the above structure sets the determination zone to extend continuously from the host vehicle or the vicinity of the host vehicle toward the front. Thus, the first condition or the second condition is satisfied for the oncoming vehicle that may collide with the host vehicle. Therefore, the attention reminding device can perform attention reminding control under appropriate conditions.

[0013] On the other hand, when the angle condition is not satisfied, the vehicle may be turning at an intersection with a complex structure. Therefore, the possibility of the approaching vehicle colliding with the vehicle is low. In this case, the attention reminder device sets the determination partition to be a predetermined distance away from the vehicle to the front of the vehicle. For the approaching vehicle, the first condition or the second condition is not easy to be satisfied. Thus, the attention reminder device can reduce the possibility of an approaching vehicle with a low possibility of colliding with the vehicle being determined as an oncoming vehicle. The attention reminder device can reduce the possibility of performing attention reminder control in unnecessary situations.

[0014] In more than one embodiment, the control unit is configured to: determine that the angle condition is met when the travel direction angle is within a first angle range in a first condition where the approaching vehicle is located on the side opposite to the turning direction side with respect to the front-rear direction axis of the host vehicle; and determine that the angle condition is met when the travel direction angle is within a second angle range in a second condition where the approaching vehicle is located on the turning direction side with respect to the front-rear direction axis of the host vehicle.

[0015] The first angular range is larger than the second angular range.

[0016] In the first situation, the travel direction angle of the approaching vehicle that may collide with the vehicle changes greatly depending on the degree of turning of the vehicle. On the other hand, in the second situation, the range of the travel direction angle of the approaching vehicle that may collide with the vehicle is narrow. In consideration of these circumstances, the first angle range is larger than the second angle range. According to this configuration, the attention reminder device can determine whether the approaching vehicle is an oncoming vehicle with high accuracy.

[0017] In one or more embodiments, the control unit may be implemented by a microprocessor programmed to perform one or more functions described in this specification. In one or more embodiments, the control unit may be implemented in whole or in part by hardware composed of one or more application specific integrated circuits, i.e., ASICs (Application Specific Integrated Circuits).

[0018] In the above description, for the constituent elements corresponding to one or more embodiments described later, the names and / or figure marks used in the embodiments are added in brackets. However, each constituent element is not limited to the embodiments specified by the names and / or figure marks. From the description of one or more embodiments described with reference to the following drawings, it will be easy to understand other purposes, other features and accompanying advantages of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a schematic diagram of the configuration of the attention alerting device according to the first embodiment.

[0020] Figure 2 A diagram for explaining object information acquired by surrounding sensors.

[0021] Figure 3 This is a diagram showing an example of a situation in which the host vehicle turns right at an intersection.

[0022] Figure 4 This is a diagram for explaining the content of processing in a two-dimensional coordinate system.

[0023] Figure 5 This is a diagram for explaining a process of determining whether an approaching vehicle is an oncoming vehicle (oncoming vehicle determination process).

[0024] Figure 6 This is a diagram showing determination sections used in the oncoming vehicle determination process.

[0025] Figure 7 This is a diagram for explaining oncoming vehicle determination processing.

[0026] Figure 8 This is a diagram for explaining the result of executing the oncoming vehicle determination process at an intersection having a complicated structure.

[0027] Fig. 9 It is a diagram for explaining the traveling direction angle θs.

[0028] Fig.10 It is a diagram for explaining the traveling direction angle θs.

[0029] Fig.11 : is a diagram showing a first section for determining whether an approaching vehicle is an oncoming vehicle.

[0030] Fig.12 : is a diagram showing a second section for determining whether an approaching vehicle is an oncoming vehicle.

[0031] Fig.13 This is a diagram for explaining the angle conditions related to the traveling direction angle θs.

[0032] Fig.14 This is a diagram for explaining the angle conditions related to the traveling direction angle θs.

[0033] Fig.15 is used for Figure 8 A diagram illustrating the result of executing the oncoming vehicle determination process using the second partition under the condition of FIG.

[0034] Fig.16This is a flowchart showing the “first routine” executed by the CPU of the attention reminder ECU.

[0035] Fig.17 This is a flowchart showing the “second routine” executed by the CPU of the attention reminder ECU.

[0036] Fig.18 is a diagram showing another example of the first partition.

[0037] Description of reference numerals:

[0038] 10: Attention reminder ECU, 20: Engine ECU, 30: Brake ECU, 40: Instrument ECU, 50: Navigation ECU. DETAILED DESCRIPTION

[0039] Hereinafter, one or more embodiments will be described with reference to the accompanying drawings. The accompanying drawings illustrate specific embodiments, but are not intended to limit the technical scope of the present disclosure.

[0040] like Figure 1 As shown, the attention reminder device of the present embodiment is applied to a vehicle SV. In order to distinguish it from other vehicles, the vehicle SV is sometimes referred to as a "host vehicle SV".

[0041] The attention reminder device includes an attention reminder ECU 10, an engine ECU 20, a brake ECU 30, a meter ECU 40, and a navigation ECU 50. Some or all of these ECUs may be integrated into one ECU. Hereinafter, the attention reminder ECU 10 is simply referred to as "ECU 10".

[0042] The ECU 10 to ECU 50 described above are electric control devices (Electric Control Unit) including a microcomputer as a main part, and are connected to each other so as to be able to transmit and receive information via a CAN (Controller Area Network) (not shown).

[0043] The microcomputer includes a CPU (Central Processing Unit), a ROM (Read-Only Memory), a RAM (Random Access Memory), a nonvolatile memory, and an interface I / F, etc. For example, the ECU 10 includes a microcomputer including a CPU 101, a ROM 102, a RAM 103, a nonvolatile memory 104, and an interface (I / F) 105, etc. The CPU 101 implements various functions by executing instructions (programs, routines) stored in the ROM 102.

[0044] The ECU 10 is connected to the following sensors to receive their detection signals or output signals. It should be noted that each sensor may also be connected to an ECU other than the ECU 10. In this case, the ECU 10 receives the detection signal or output signal of the sensor from the ECU to which the sensor is connected via the CAN.

[0045] The vehicle speed sensor 11 detects the speed (travel speed) of the vehicle SV and outputs a signal indicating the speed Vs. The steering angle sensor 12 detects the steering angle of the vehicle SV and outputs a signal indicating the steering angle θ [deg]. The yaw rate sensor 13 detects the yaw rate Yr of the vehicle SV and outputs a signal indicating the yaw rate Yr.

[0046] It should be noted that the steering angle θ and the yaw rate Yr are zero when the vehicle SV is traveling straight. The steering angle θ and the yaw rate Yr are positive values ​​when the vehicle SV turns left, and are negative values ​​when the vehicle SV turns right.

[0047] Hereinafter, “information indicating the running state of the vehicle SV” outputted from the sensors 11 to 13 may be referred to as “running state information.” It should be noted that the vehicle SV may further include a sensor for acquiring other running state information (eg, acceleration).

[0048] The surrounding sensor 14 obtains information related to three-dimensional objects existing in the surrounding area of ​​the vehicle SV. The surrounding area of ​​the vehicle SV includes at least the area in front of the vehicle SV. In this example, the surrounding area of ​​the vehicle SV includes the area in front of the vehicle SV, the area to the right of the vehicle SV, and the area to the left of the vehicle SV. Three-dimensional objects include, for example, moving objects such as four-wheeled vehicles, two-wheeled vehicles, and pedestrians, as well as fixed objects such as utility poles, trees, and guardrails. Hereinafter, these three-dimensional objects are simply referred to as "objects." The surrounding sensor 14 calculates and outputs information related to the object (hereinafter referred to as "object information").

[0049] like Figure 2 As shown, the surrounding sensor 14 uses a two-dimensional coordinate system defined by an x-axis and a y-axis to acquire object information. The origin of the x-axis and the origin of the y-axis are the center position O of the front of the vehicle SV in the vehicle width direction. The x-axis is a coordinate axis extending in the front-rear direction of the vehicle SV through the center position O of the vehicle SV and having a positive value in the front. The x-axis coincides with an axis Ax (front-rear direction axis) extending in the front-rear direction of the vehicle SV. The y-axis is a coordinate axis orthogonal to the x-axis and having a positive value in the right direction of the vehicle SV.

[0050] The object information about the object (n) includes "longitudinal distance Dfx(n), lateral position Dfy(n), travel direction vector dv, relative speed Vfx(n), category, etc." of the object (n).

[0051] The longitudinal distance Dfx(n) is the signed distance between the object (n) and the origin O in the x-axis direction. The lateral position Dfy(n) is the signed distance between the object (n) and the origin O in the y-axis direction. The relative speed Vfx(n) is the speed of the object (n) relative to the vehicle SV in the x-axis direction. That is, the relative speed Vfx(n) is the difference between the speed Vn of the object (n) in the x-axis direction and the speed Vs of the vehicle SV in the x-axis direction (=Vn-Vs).

[0052] The traveling direction vector dv(n) is a direction vector indicating the traveling direction of the object (n) with respect to the x-axis (i.e., the longitudinal axis Ax of the vehicle SV). The category of the object (n) is information indicating whether the object corresponds to a moving object or a fixed object. In this example, when the object is a moving object, the category of the object (n) also includes information indicating whether the object (n) corresponds to a four-wheeled vehicle, a two-wheeled vehicle, or a pedestrian.

[0053] Refer again Figure 1 The surrounding sensor 14 includes a radar sensor 15 , a camera sensor 16 , and an object detection ECU 17 .

[0054] The radar sensor 15 includes a radar wave transceiver and an information processing unit. The radar wave transceiver radiates electromagnetic waves (for example, radio waves in the millimeter wave band, referred to as "millimeter waves") and receives millimeter waves (i.e., reflected waves) reflected by objects within the radiation range. The information processing unit detects the object (n) based on the reflected wave information. The reflected wave information includes the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from the transmission of the millimeter wave to the reception of the reflected wave. Moreover, the information processing unit acquires (calculates) object information about the object (n) based on the reflected wave information.

[0055] The camera sensor 16 includes a camera and an image processing unit. The camera outputs image data to the image processing unit at a predetermined frame rate. The image processing unit detects an object (n) based on the image data, and acquires (calculates) object information about the object (n). It should be noted that the image processing unit identifies (determines) the category of the object (n). The image processing unit stores data obtained by patterning objects such as four-wheeled vehicles, two-wheeled vehicles, and pedestrians in a memory (e.g., ROM) in advance. The image processing unit identifies which of the four-wheeled vehicle, two-wheeled vehicle, and pedestrian the object corresponds to by performing pattern matching on the image data.

[0056] The image processing unit may also detect a plurality of dividing lines that specify a lane based on the image data. The plurality of dividing lines include a dividing line that specifies a lane on which the vehicle SV is traveling and a dividing line that specifies an opposite lane. The image processing unit may also acquire (calculate) information (position and lane width) related to the plurality of dividing lines in a two-dimensional coordinate system as lane information.

[0057] The object detection ECU 17 determines final object information by synthesizing the object information obtained by the radar sensor 15 and the object information obtained by the camera sensor 16. The object detection ECU 17 outputs the object information and the lane information to the ECU 10 as "vehicle surrounding information".

[0058] The engine ECU 20 is connected to the engine actuator 21. The engine actuator 21 includes a throttle actuator that changes the opening of the throttle of the spark ignition gasoline fuel injection type internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to the drive wheels (not shown) via the transmission (not shown). Therefore, the engine ECU 20 can control the driving force by controlling the engine actuator 21 to change the acceleration state (acceleration) of the vehicle SV.

[0059] It should be noted that, when the vehicle SV is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the vehicle driving source. Moreover, when the vehicle SV is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the vehicle driving source.

[0060] The brake ECU 30 is connected to the brake actuator 31. The brake actuator 31 includes a hydraulic circuit. The hydraulic circuit includes a master cylinder, a flow path for the brake fluid to flow, a plurality of valves, a pump, and a motor for driving the pump. The brake ECU 30 adjusts the hydraulic pressure supplied to the wheel cylinder built into the brake mechanism 32 by controlling the brake actuator 31. Through the hydraulic pressure, the wheel cylinder generates a friction braking force on the wheel. Therefore, the brake ECU 30 can control the braking force by controlling the brake actuator 31 to change the acceleration state (deceleration, i.e., negative acceleration) of the vehicle SV.

[0061] The meter ECU 40 is connected to a display 41, a speaker 42, and a turn signal switch 43. The display 41 is a multi-information display provided in front of the driver's seat. It should be noted that a head-up display may be used as the display 41. It should be noted that, hereinafter, the display 41 and the speaker 42 are sometimes collectively referred to as a "reporting device."

[0062] The meter ECU 40 controls the notification device according to the instruction from the ECU 10. Specifically, the meter ECU 40 displays a mark (for example, a warning light) for calling attention on the display 41. In addition, according to the instruction from the ECU 10, the meter ECU 40 causes the speaker 42 to output a "warning sound to call attention to the driver".

[0063] The meter ECU 40 flashes a left turn signal lamp or a right turn signal lamp (not shown) according to a signal from the turn signal switch 43. The meter ECU 40 transmits the operating status of the left turn signal lamp or the right turn signal lamp to the ECU 10.

[0064] The navigation ECU 50 is connected to a GPS (Global Positioning System) receiver 51, a map storage unit 52, and a touch panel 53. The GPS receiver 51 receives a GPS signal for detecting the "latitude and longitude" of the location where the vehicle is located. The map storage unit 52 stores map information. The map information includes road information. The road information includes information such as the position of the lane, the number of lanes, the length of the lane in the road width direction (i.e., the lane width), and the type of lane (e.g., a right-turn lane, a left-turn lane). The navigation ECU 50 performs various calculations based on the latitude and longitude of the location where the vehicle is located and the map information, and causes the touch panel 53 to display the position of the vehicle on the map.

[0065] (Processing content in the two-dimensional coordinate system)

[0066] In order to execute the attention calling control described later, the ECU 10 executes the following processing in the two-dimensional coordinate system.

[0067] exist Figure 3 In the example shown in FIG. 1 , the host vehicle SV is traveling in the first traveling lane Ln1. The host vehicle SV is about to turn right at the intersection Is1. Furthermore, the first other vehicle OV1 is traveling in the first opposing lane Lo1 which is a lane opposite to the first traveling lane Ln1.

[0068] In this example, the ECU 10 depicts the own vehicle SV and the first other vehicle OV1 in a simplified manner in a two-dimensional coordinate system based on the object information. Figure 4 As shown, ECU10 draws a first rectangle 410 representing the body of the own vehicle SV in the two-dimensional coordinate system. Information related to the size of the body of the vehicle SV is stored in ROM102. ECU10 sets the size of the first rectangle 410 based on the information. In addition, ECU10 draws a second rectangle 420 representing the body of the first other vehicle OV1. It should be noted that the size of the second rectangle 420 can be set according to the size of the body of an ordinary vehicle.

[0069] The xy coordinates of the center position of the second rectangle 420 in the two-dimensional coordinate system are denoted as “Pi.” The center position Pi corresponds to the center position of the front portion of the first other vehicle OV1 in the vehicle width direction. Hereinafter, the center position Pi is sometimes referred to simply as “position Pi.”

[0070] (Overview of attention reminder control)

[0071] When the host vehicle SV turns right at the intersection, the ECU 10 determines whether there is an oncoming vehicle that may collide with the host vehicle SV based on a method described below. The ECU 10 is configured to execute the attention calling control when it is determined that there is an oncoming vehicle that may collide with the host vehicle SV.

[0072] Specifically, the ECU 10 determines whether the vehicle SV is about to turn right based on the working condition of the right turn signal lamp and / or the driving state information (e.g., the steering angle θ or the yaw rate Yr). In this example, when the right turn signal lamp is on, the ECU 10 determines that the vehicle SV is about to turn right and performs the following processing.

[0073] In another example, when the right turn signal lamp is on and the yaw rate Yr is smaller than a predetermined right turn start threshold value (negative value) Yrth, the ECU 10 may determine that the host vehicle SV is about to turn right.

[0074] ECU10 identifies objects existing in the surrounding area of ​​the vehicle SV based on the object information. Then, ECU10 selects (extracts) other vehicles existing in the surrounding area of ​​the vehicle SV and moving toward the vehicle SV from among the identified objects. Hereinafter, the other vehicles thus selected are referred to as "approaching vehicles".

[0075] When an approaching vehicle is selected, as described later, the ECU 10 uses information in the two-dimensional coordinate system to determine whether the approaching vehicle is an oncoming vehicle that may collide with the host vehicle SV. In this specification, "oncoming vehicle" means a vehicle that enters the path of the host vehicle SV when the host vehicle SV turns. Hereinafter, the process of determining whether the approaching vehicle is an oncoming vehicle is referred to as "oncoming vehicle determination process".

[0076] When it is determined that the approaching vehicle is an oncoming vehicle, the ECU 10 performs attention reminder control. The attention reminder control is a control for reminding the driver of the host vehicle SV to pay attention to the presence of the oncoming vehicle. Specifically, the ECU 10 sends an attention reminder instruction signal to the meter ECU 40. When the attention reminder instruction signal is received from the ECU 10, the meter ECU 40 controls the reporting device according to the attention reminder instruction signal. The meter ECU 40 causes the display 41 to display a mark for attention reminder and causes the speaker 42 to output an alarm sound.

[0077] (Oncoming vehicle determination process)

[0078] Next, the oncoming vehicle determination process will be described. Figure 5 Representation and Figure 4 The first other vehicle OV1 is present in the surrounding area of ​​the host vehicle SV and is moving toward the host vehicle SV. Therefore, the ECU 10 selects the first other vehicle OV1 as an approaching vehicle.

[0079] When the vehicle SV turns right at the intersection Is1, the oncoming vehicle that may collide with the vehicle SV is usually in front of the vehicle SV and on the turning direction side (i.e., the right side) relative to the vehicle SV. Considering this situation, the ECU 10 sets a determination section Sa in the two-dimensional coordinate system for determining whether the approaching vehicle is an oncoming vehicle.

[0080] like Figure 6 As shown, the determination section Sa is a section located on the turning direction side (right side) with respect to the longitudinal axis Ax (ie, x-axis) of the host vehicle SV and extending continuously forward from the host vehicle SV.

[0081] The determination partition Sa is a rectangular area defined by four vertices v1 to v4. The long side of the determination partition Sa is parallel to the x-axis, and the short side of the determination partition Sa is parallel to the y-axis.

[0082] The vertex v1 corresponds to the right corner of the front part of the host vehicle SV. The x-coordinate value of the vertex v1 is the smallest among the four vertices v1 to v4, which is 0. The y-coordinate value of the vertex v1 is the smallest among the four vertices v1 to v4.

[0083] The x-coordinate value of vertex v2 is the largest among the four vertices v1 to v4. The y-coordinate value of vertex v2 is the same as the y-coordinate value of vertex v1.

[0084] The x-coordinate value of vertex v3 is the same as the x-coordinate value of vertex v2. The y-coordinate value of vertex v3 is the largest among the four vertices v1 to v4.

[0085] The x-coordinate value of vertex v4 is the same as the x-coordinate value of vertex v1, which is 0. The y-coordinate value of vertex v4 is the same as the y-coordinate value of vertex v3.

[0086] When the approaching vehicle is present in the determination section Sa set in this way, there is a high possibility that the approaching vehicle is an oncoming vehicle (that is, a vehicle that may collide with the host vehicle SV).

[0087] Taking this into consideration, the ECU 10 determines whether the position Pi of the approaching vehicle (the first other vehicle OV1 ) exists within the determination section Sa. If the position Pi of the approaching vehicle exists within the determination section Sa, the ECU 10 determines that the approaching vehicle is an oncoming vehicle.

[0088] On the other hand, Figure 7 As shown, after the host vehicle SV starts to turn right, the first other vehicle OV1 may also drive toward the first oncoming lane Lo1. In this case, the position Pi of the approaching vehicle (the first other vehicle OV1) does not exist in the determination section Sa. Even in such a situation, it should be determined that the approaching vehicle is an oncoming vehicle.

[0089] Taking this into consideration, the ECU 10 uses additional conditions to determine whether the approaching vehicle is an oncoming vehicle. Figure 7 As shown, ECU10 draws the extension line dv' of the traveling direction vector dv of the approaching vehicle in the two-dimensional coordinate system. The extension line dv' can also be said to be the trajectory (predicted trajectory) predicted to be the first other vehicle OV1 that will pass. When the extension line dv' intersects with the determination partition Sa, the approaching vehicle may collide with the host vehicle SV. Therefore, ECU10 determines whether the extension line dv' of the traveling direction vector dv of the approaching vehicle intersects with the determination partition Sa. When the extension line dv' intersects with the determination partition Sa, ECU10 determines that the approaching vehicle is an oncoming vehicle.

[0090] As described above, the ECU 10 determines that the approaching vehicle is an oncoming vehicle when the following condition A1 or condition A2 is satisfied.

[0091] (Condition A1): The position Pi of the approaching vehicle exists within the determination section Sa.

[0092] (Condition A2): The extension line dv′ of the traveling direction vector dv of the approaching vehicle intersects the determination section Sa.

[0093] However, sometimes intersections have complex structures. Figure 8As for the intersection Is2 shown in the figure, the three roads RD1, RD2 and RD3 intersect each other at non-right angles. At the intersection Is2, as shown by the arrow ar1, the vehicle SV is about to turn right from the road RD1 to the road RD2. Although the first other vehicle OV1 traveling on the road RD3 is approaching the vehicle SV, it is impossible for the first other vehicle OV1 to collide with the vehicle SV. However, ECU10 selects the first other vehicle OV1 as the approaching vehicle and determines that the above-mentioned condition A1 is met. Therefore, ECU10 determines that the approaching vehicle is an oncoming vehicle and executes the attention reminder control. Although the first other vehicle OV1 is unlikely to collide with the vehicle SV, the attention reminder control will be executed, so the driver will feel troubled.

[0094] In order to solve the above-mentioned problem, the inventors of the present application studied the configuration of various intersections and found the following configuration. Specifically, the ECU 10 uses the traveling direction angle θs of the approaching vehicle to change the position and size of the determination partition Sa. Thus, the possibility of an approaching vehicle with a low possibility of colliding with the vehicle SV being determined as an oncoming vehicle can be reduced.

[0095] First, the “approaching vehicle traveling direction angle θs” will be described. The traveling direction angle θs is an angle formed by the longitudinal axis Ax (ie, the x-axis) of the host vehicle SV and the approaching vehicle traveling direction vector dv.

[0096] exist Fig. 9 In the example, the approaching vehicle (n1) is on the left side relative to the x-axis (the side opposite to the turning direction). Hereinafter, such a situation will be referred to as the "first situation". ECU10 draws the extension line dv(n1)' of the traveling direction vector dv(n1) of the approaching vehicle (n1) in the two-dimensional coordinate system. The traveling direction angle θs is the angle between the x-axis and the extension line dv(n1)'. In the first situation, ECU10 sets the x-axis to 0°, and calculates the clockwise angle from the x-axis to the extension line dv(n1)' as the traveling direction angle θs. In this example, the clockwise angle from the x-axis is calculated as a positive value. Therefore, in the first situation, the range of the traveling direction angle θs is 0° to 180°.

[0097] exist Fig.10 In the example, the approaching vehicle (n2) is on the right side (turning direction side) relative to the x-axis. Hereinafter, such a situation will be referred to as the "second situation". Fig. 9Similarly, ECU10 draws the extension line dv(n2)' of the traveling direction vector dv(n2) approaching the vehicle (n2) in the two-dimensional coordinate system. The traveling direction angle θs is the angle between the x-axis and the extension line dv(n2)'. In the second condition, ECU10 sets the x-axis to 0° and calculates the counterclockwise angle from the x-axis to the extension line dv(n2)' as the traveling direction angle θs. In this example, the counterclockwise angle from the x-axis is calculated as a negative value. Therefore, in the second condition, the range of the traveling direction angle θs is 0° to -180°.

[0098] The inventors have obtained the following findings regarding the relationship between the traveling direction angle θs and the determination section Sa.

[0099] When the angle condition that the traveling direction angle θs is within the predetermined angle range is satisfied, Fig.11 The first section Sa1 shown is used as a determination section Sa to determine with high accuracy whether an approaching vehicle is an oncoming vehicle.

[0100] When the angle condition is not met, Fig.12 The second section Sa2 shown is used as the determination section Sa to reduce the possibility that an approaching vehicle having a low possibility of colliding with the host vehicle SV is determined to be an oncoming vehicle.

[0101] Specifically, the angle condition includes the following condition B1 and condition B2. The angle condition is satisfied when condition B1 or condition B2 is satisfied.

[0102] (Condition B1): In the first condition, the travel direction angle θs is within the first angle range. Fig.13 As shown, the first angle range is a range of greater than 180° and less than 180° of the first angle θ1. The first angle θ1 is set to a value greater than 90° and less than 180°. In one or more embodiments, the first angle θ1 may also be set to a value greater than 110° and less than 180°.

[0103] (Condition B2): In the second condition, the travel direction angle θs is within the second angle range. Fig.14 As shown, the second angle range is a range of less than -180° and greater than the second angle θ2. The second angle θ2 is set to a value less than -90° and greater than -180°. In one or more embodiments, the second angle θ2 may also be set to a value less than -135° and greater than -180°.

[0104] Fig.11 The first partition Sa1 shown is Figure 6The first partition Sa1 is the same as the determination partition Sa. As described above, the vertex v1 is equivalent to the right corner of the front part of the vehicle SV. Therefore, the first partition Sa1 is located on the turning direction side (right side) relative to the front-rear direction axis Ax (i.e., the x-axis) of the vehicle SV, and extends continuously from the vehicle SV toward the front.

[0105] The length Lx of the first partition Sa1 in the x-axis direction (front-rear direction of the vehicle SV) is greater than the length Ly of the first partition Sa1 in the y-axis direction (left-right direction of the vehicle SV). In this example, the length Lx is set larger so that the first partition Sa1 includes the oncoming vehicle. The length Ly is set to a size greater than the lane width of the oncoming lane.

[0106] Fig.12 The second section Sa2 shown is located on the turning direction side (right side) with respect to the longitudinal axis Ax (ie, x-axis) of the host vehicle SV and is separated from the host vehicle SV by a predetermined distance dx toward the front of the host vehicle SV.

[0107] Specifically, the x-coordinate value of the vertex v1 of the second partition Sa2 is greater than the x-coordinate value of the vertex v1 of the first partition Sa1. The y-coordinate value of the vertex v1 of the second partition Sa2 is the same as the y-coordinate value of the vertex v1 of the first partition Sa1. The x-coordinate value of the vertex v4 of the second partition Sa2 is the same as the x-coordinate value of the vertex v1 of the second partition Sa2. The y-coordinate value of the vertex v4 of the second partition Sa2 is the same as the y-coordinate value of the vertex v4 of the first partition Sa1. The x-coordinate value and y-coordinate value of the vertex v2 of the second partition Sa2 are the same as the x-coordinate value and y-coordinate value of the vertex v2 of the first partition Sa1. The x-coordinate value and y-coordinate value of the vertex v3 of the second partition Sa2 are the same as the x-coordinate value and y-coordinate value of the vertex v3 of the first partition Sa1.

[0108] Therefore, the length Lx of the second partition Sa2 is smaller than the length Lx of the first partition Sa1. The length Ly of the second partition Sa2 is the same as the length Ly of the first partition Sa1.

[0109] According to this configuration, the following effects are achieved. Fig.15 Shown with Figure 8 The same situation. The approaching vehicle OV1 exists on the right side of the x-axis. Therefore, Fig.15 The situation is the second situation. The traveling direction angle θs of the approaching vehicle OV1 is outside the second angle range. Therefore, ECU10 uses the second partition Sa2 as the determination partition Sa, and determines whether the approaching vehicle is an oncoming vehicle. In this situation, both condition A1 and condition A2 are not met. Therefore, ECU10 determines that the approaching vehicle is not an oncoming vehicle. ECU10 does not perform attention reminder control. In a situation where the approaching vehicle is unlikely to collide with the host vehicle SV, the attention reminder control is not performed, so the driver does not feel troubled.

[0110] It should be noted that, in this example, the following equation 1 holds true regarding the first angle θ1 and the second angle θ2.

[0111] |θ1|<|θ2|……(1)

[0112] In other words, the size of the first angle range is larger than the size of the second angle range. This is based on the following reason. After the vehicle SV starts to turn right at the intersection, in most cases, the oncoming vehicle is on the left side (the side opposite to the turning direction) relative to the x-axis (for example, refer to Figure 7 . ). When the degree of right turn of the host vehicle SV is small, the traveling direction angle θs is large. The greater the degree of right turn of the host vehicle SV, the smaller the traveling direction angle θs. In this way, in the first situation, the traveling direction angle θs of the oncoming vehicle that may collide with the host vehicle SV varies greatly depending on the degree of right turn of the host vehicle SV. According to such a situation, in order to accurately determine whether the approaching vehicle is an oncoming vehicle, the first angle range is set to be wider.

[0113] On the other hand, it is known that in the second situation, the traveling direction angle θs of the oncoming vehicle that may collide with the host vehicle SV is small and its range is also narrow. Therefore, if the second angle range is set to be the same as the first angle range, the attention reminder control may be performed in a situation where the approaching vehicle is unlikely to collide with the host vehicle SV. In consideration of this situation, the second angle range is set to be smaller than the first angle range.

[0114] (Work)

[0115] As described above, the CPU 101 (hereinafter referred to as "CPU") of the ECU 10 determines whether the vehicle SV is about to turn right. After determining that the vehicle SV is about to turn right, the CPU executes the following operation every time a predetermined time dT has passed. Fig.16 and Fig.17 of each of the routines.

[0116] It should be noted that, every time the time dT elapses, the CPU acquires the travel state information from the various sensors 11 to 13 and the vehicle surrounding information from the surrounding sensor 14 , and stores these information in the RAM 103 .

[0117] Furthermore, the CPU sets a flag X1 to be described later to "0" in an initialization routine executed when an ignition switch (not shown) is turned from OFF to ON.

[0118] When the specified timing is reached, the CPU Fig.16The process starts from step 1600 and proceeds to step 1601 to determine whether there is one or more objects in the surrounding area of ​​the vehicle SV based on the object information. If there is no object in the surrounding area of ​​the vehicle SV, the CPU determines "no" in step 1601 and directly proceeds to step 1695 to temporarily end this routine.

[0119] In contrast, when there are more than one object, the CPU determines "yes" in step 1601 and proceeds to step 1602. In step 1602, the CPU determines whether there is an approaching vehicle among the objects identified in step 1601. As described above, when there is a vehicle that exists in the surrounding area of ​​the host vehicle SV and is moving toward the host vehicle SV, the CPU selects the vehicle as the approaching vehicle. In this case, the CPU determines "yes" in step 1602 and proceeds to step 1603 to set the value of the flag X1 to "1". The flag X1 indicates that there is no approaching vehicle when its value is "0", and indicates that there is an approaching vehicle when its value is "1". Thereafter, the CPU proceeds to step 1695 to temporarily end this routine.

[0120] It should be noted that, when there is no approaching vehicle, the CPU makes a "No" determination in step 1602 and directly proceeds to step 1695 to temporarily terminate this routine.

[0121] When the specified timing is reached, the CPU executes Fig.17 It should be noted that in Fig.16 When it is determined in the routine that there are multiple approaching vehicles, the CPU executes the Fig.17 routine.

[0122] CPU from Fig.17 The processing starts from step 1700 and proceeds to step 1701 to determine whether the value of flag X1 is "1". If the value of flag X1 is not "1", the CPU determines "No" in step 1701 and directly proceeds to step 1795 to temporarily end this routine.

[0123] Now, since it is assumed that there is an approaching vehicle, the value of flag X1 is "1". In this case, the CPU determines "yes" in step 1701 and proceeds to step 1702 to calculate the traveling direction angle θs of the approaching vehicle as described above. Next, the CPU determines in step 1703 whether the above-mentioned angle condition is satisfied. Specifically, the CPU determines whether condition B1 or condition B2 is satisfied.

[0124] Assume that the angle condition is satisfied. In this case, the CPU determines "yes" in step 1703 and proceeds to step 1704. Fig.11The first partition Sa1 shown is set on the two-dimensional coordinate system as the determination partition Sa. Next, the CPU uses the first partition Sa1 in step 1705 to determine whether the above-mentioned condition A1 or condition A2 is met. When condition A1 or condition A2 is met, the CPU determines that the approaching vehicle is an oncoming vehicle. The CPU determines "yes" in step 1705 and enters step 1706 to perform attention reminder control. After that, the CPU enters step 1795 to temporarily end this routine. It should be noted that when the attention reminder control ends, the CPU resets the flag X1 to "0".

[0125] On the other hand, when both the condition A1 and the condition A2 are not satisfied in step 1705 , the CPU makes a “No” determination and directly proceeds to step 1795 to temporarily terminate this routine.

[0126] It is assumed that the angle condition is not satisfied in step 1703. In this case, the CPU determines "No" in step 1703 and proceeds to step 1707. Fig.12 The second partition Sa2 shown is set on the two-dimensional coordinate system as the determination partition Sa. Next, the CPU uses the second partition Sa2 in step 1708 to determine whether the above-mentioned condition A1 or condition A2 is met. When condition A1 or condition A2 is met, the CPU determines that the approaching vehicle is an oncoming vehicle. The CPU determines "yes" in step 1708 and enters step 1709 to perform attention reminder control. After that, the CPU enters step 1795 to temporarily end this routine. It should be noted that when the attention reminder control ends, the CPU resets the flag X1 to "0".

[0127] On the other hand, when both the condition A1 and the condition A2 are not satisfied in step 1708 , the CPU makes a “No” determination and directly proceeds to step 1795 to temporarily terminate this routine.

[0128] The attention reminding device having the above structure uses the first partition Sa1 as the determination partition Sa when the angle condition is satisfied. The first partition Sa1 is located on the right side relative to the front-rear direction axis Ax (i.e., the x-axis) of the vehicle SV, and extends continuously from the vehicle SV toward the front. Thus, for the oncoming vehicle that may collide with the vehicle SV, condition A1 or condition A2 is satisfied. Therefore, the attention reminding device can perform attention reminding control under appropriate conditions.

[0129] On the other hand, if the angle condition is not satisfied, the host vehicle SV may be turning at an intersection having a complex structure (see Figure 8. ). Therefore, the possibility of the approaching vehicle colliding with the vehicle SV is low. The attention reminder device uses the second partition Sa2 as the determination partition Sa. The second partition Sa2 is located at a position away from the vehicle SV to the front of the vehicle SV by a specified distance dx, so conditions A1 and A2 are not easy to be satisfied. As a result, the attention reminder device can reduce the possibility of an approaching vehicle with a low possibility of colliding with the vehicle SV being determined as an oncoming vehicle. The attention reminder device can reduce the possibility of performing attention reminder control in unnecessary situations.

[0130] It should be noted that the present disclosure is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present disclosure.

[0131] (Variant 1)

[0132] The first partition Sa1 is not limited to the above example. Fig.18 As shown, the first partition Sa1 can also be set to be located on the turning direction side (right side) relative to the front-rear direction axis Ax (i.e., the x-axis) of the vehicle SV, and extend continuously from the vicinity of the vehicle SV toward the front. Vertex v1 and vertex v4 can also be set at any position within the area Sb near the vehicle SV. In one or more embodiments, the x-coordinate of vertex v1 and the x-coordinate of vertex v4 can also be negative values. In one or more embodiments, the x-coordinate of vertex v1 and the x-coordinate of vertex v4 can also be the same x-coordinate value as the rear end portion 410b of the first rectangle 410 of the vehicle SV (refer to Fig.18 In one or more embodiments, the x-coordinate of vertex v1 and the x-coordinate of vertex v4 may be respectively smaller than the x-coordinate value of the rear end portion 410b. In one or more embodiments, the y-coordinate value of vertex v1 may be set to a positive value corresponding to a position that is a predetermined distance away from the first rectangle 410 of the host vehicle SV in the right direction.

[0133] (Variant 2)

[0134] For the first partition Sa1 and the second partition Sa2, the CPU may also change the length Ly based on the lane information and / or the road information. For example, if the road is a single lane on one side, the CPU may also set the length Ly to the length of one lane width. If the road is a double lane on one side, the CPU may also set the length Ly to the length of two lane widths.

[0135] (Variant 3)

[0136] The CPU can also Fig.17 In step 1708 of the routine, it is determined whether only the condition A1 is satisfied. According to this configuration, the possibility that an approaching vehicle with a low possibility of colliding with the host vehicle SV is determined as an oncoming vehicle can be further reduced.

[0137] (Variant 4)

[0138] The first partition Sa1 and the second partition Sa2 may be in shapes other than quadrilaterals. The first partition Sa1 and the second partition Sa2 may be in polygonal shapes such as triangles or quadrilaterals, or in circular shapes (including circular and elliptical shapes).

[0139] (Variant 5)

[0140] The CPU may also determine whether the vehicle SV is about to turn right based on information from the navigation ECU 50. Alternatively, if the vehicle SV is determined to be approaching an intersection or traveling in a right-turn lane based on information from the navigation ECU 50, the CPU may start Fig.16 and Fig.17 Execution of the routine.

[0141] (Variant 6)

[0142] In the above-mentioned embodiment, an example in a country or region where traffic is on the left side is described, but the above-mentioned configuration can also be applied to a country or region where traffic is on the right side.

Claims

1. A reminder device, comprising: Sensors, obtain object information, where The object information is information related to an object existing in a surrounding area of ​​the host vehicle including at least a front area of ​​the host vehicle; as well as a control unit configured to, when the host vehicle is turning at an intersection, select another vehicle existing in the surrounding area and moving toward the host vehicle as an approaching vehicle based on the object information, and, when it is determined that the approaching vehicle is an oncoming vehicle that may collide with the host vehicle, execute attention reminder control for reminding the driver of the host vehicle to pay attention to the existence of the oncoming vehicle, The control unit is configured to: Setting a determination zone for determining whether the approaching vehicle is the oncoming vehicle; as well as When a first condition or a second condition is satisfied, it is determined that the approaching vehicle is the oncoming vehicle, wherein the first condition is that the specific position of the approaching vehicle exists within the determination partition, and the second condition is that the predicted trajectory of the approaching vehicle intersects the determination partition, The control unit is configured to: When an angle condition that a traveling direction angle, which is an angle between a front-rear direction axis of the host vehicle and a traveling direction of the approaching vehicle, is within a predetermined angle range is satisfied, setting the determination section so that the determination section is located on a turning direction side of the host vehicle relative to the front-rear direction axis and extends continuously forward from the host vehicle or the vicinity of the host vehicle; as well as When the angle condition is not satisfied, the determination section is set so as to be located on the turning direction side with respect to the front-rear direction axis and to be away from the host vehicle to the front of the host vehicle by a predetermined distance.

2. The attention reminder device according to claim 1, wherein: The control unit is configured to: determining that the angle condition is satisfied when the traveling direction angle is within a first angle range in a first condition in which the approaching vehicle is located on a side opposite to the turning direction side with respect to the front-rear direction axis of the host vehicle; as well as When the traveling direction angle is within a second angle range in a second condition where the approaching vehicle is located on the turning direction side with respect to the front-rear direction axis of the host vehicle, it is determined that the angle condition is satisfied, The first angular range is larger than the second angular range.

Images