Vehicle control device

Abstract

A vehicle control device is provided that is capable of ensuring a control margin time necessary for evasive steering and collision avoidance control.A means and a device are provided in which detection information of a two-wheeled vehicle is stored. When the two-wheeled vehicle is overtaken, the detection information of the two-wheeled vehicle, detected in the past, is read as a trigger when a carrier vehicle makes a left turn at an intersection to determine the possibility of a collision with the carrier vehicle. Predictive detection information is calculated when the obstacle is actually detected during the carrier vehicle's left turn. By using the pre-calculated predictive detection information, it is immediately confirmed that the detected obstacle is a re-detection of a previously detected moving object, and an evasive control maneuver is performed.Accordingly, it is possible to secure a control margin time for collision avoidance with respect to an obstacle coming from the rear of the carrier vehicle when turning left, which is difficult to avoid, and it is possible to prevent a collision.

Description

Technical area

[0001] The present invention relates to a vehicle control device. State of the art

[0002] Conventionally, a vehicle control apparatus and a vehicle control method have been proposed that perform collision avoidance control for avoiding a collision between an object in front of a host vehicle and the host vehicle.

[0003] As a conventional vehicle control device, there is known a vehicle control device that determines a possibility of collision between an object and a host vehicle using a detection result of the object in front of the host vehicle and performs collision avoidance control for avoiding a collision between the object in front of the host vehicle and the host vehicle in a case where it is determined that the possibility of collision between the object and the host vehicle is high.

[0004] In order to solve a problem that, in a case where, when the host vehicle turns right / left at an intersection, a detection range changes with a change in the direction of the host vehicle and an object located in a blind spot enters the detection range, an operation timing of the collision avoidance control is delayed because the object and the host vehicle are close to each other at the time of detecting the object, a technique has been proposed in which, in a case where it is determined that the host vehicle is turning right / left after it is determined that the host vehicle has overtaken the object, the operation timing of the collision avoidance control is delayed compared to a case where it is not determined that the host vehicle has overtaken the object and a case where it is determined that the host vehicle is not turning right / left after it is determinedthat the carrier vehicle has overtaken the object (see PTL 1), is brought forward., Citation listPatent literature

[0005] PTL 1: Japanese Patent No. 6617696 Summary of the inventionTechnical problem

[0006] Incidentally, to execute avoidance control, an object is typically detected by an external detection sensor, such as a camera sensor mounted on a vehicle, followed by tracking for a specified period of time, and determining and specifying whether the object is an avoidance target. Then, the process follows the flow of performing avoidance control on the avoidance target. To specify an object as an avoidance target, a specified tracking processing time is generally required to prevent erroneous detection.

[0007] Furthermore, a case is considered where, when the host vehicle turns right / left at an intersection, avoidance control is performed on an object (a bicycle, a two-wheeled vehicle, or the like) coming from an intersection direction or the rear. In the case of avoidance control for the object coming from the intersection direction, a position at which avoidance control is started is away from the host vehicle, and thus it is easy to secure a control margin time for avoidance. On the other hand, in the case of avoidance control for the object coming from the rear, the position at which avoidance control is started is close to the host vehicle, and thus it is difficult to secure the control margin time for avoidance.Since the host vehicle is also moving, it is actually more difficult to secure the control margin time for avoidance control with respect to the object approaching from the rear. As described above, whether or not avoidance control is performed varies depending on a difference in the direction in which the object approaches the host vehicle (see ). Fig. 1).

[0008] Therefore, in a case where a moving obstacle at a high speed such as a bicycle approaches the vehicle from the rear, a time for confirming the moving obstacle as an avoidance target is equally required, but even if switching to the avoidance control after confirmation as the avoidance target, there is a high possibility that the moving obstacle cannot be avoided in time.

[0009] The collision avoidance control proposed by the method of PTL 1 is intended to respond to an object located in a blind spot by advancing the operation timing after determination as an avoidance target under an additional condition, but a time until determination as an avoidance target is not taken into account. Therefore, even if PTL 1 is applied, in a case where a high-speed moving object, such as a bicycle, approaches from the rear, a time for confirmation as an avoidance target is equally required, and thus there is a high possibility that the collision cannot be avoided even if the operation timing is advanced.

[0010] The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control apparatus capable of securing a control margin time necessary for the evasive control and the execution of the collision avoidance control. Solution to the problem

[0011] A vehicle control device according to the present invention includes: an external environment detection unit that detects external environment information at least ahead of a host vehicle; a control unit that controls the host vehicle based on the external environment information detected by the external environment detection unit; and a storage unit that stores moving object detection information detected by the external environment detection unit when the host vehicle overtakes the moving object.The external environment detection unit reads past detection information of the moving object stored in the storage unit when a course change of the host vehicle is predicted, determines a possibility of collision between the host vehicle and the moving object, sets as prediction detection information a moving object with a high probability of collision with the host vehicle when the host vehicle changes course based on the possibility of collision, and determines whether detection information of a moving object detected by the external environment detection unit when the host vehicle changes course is the same as past detection information of the moving object included in the prediction detection information. Advantageous effects of the invention

[0012] According to the present invention, it is possible to secure a control margin time for avoidance control with respect to, for example, an obstacle coming from the rear of a host vehicle at the time of right / left turning at an intersection, and to perform collision avoidance control.

[0013] According to the present invention, it is possible to realize prevention of, for example, a hooked accident of a two-wheeled vehicle at the time of right / left turning at an intersection, which has been conventionally difficult to deal with.

[0014] Problems, configurations, and effects different from those described above will be clarified by the following description of embodiments. Short description of the drawings Fig. 1 is a schematic view of a problem to be solved by the present invention. Fig. 2 is a schematic view of an embodiment of the present invention. Fig. 1 is a schematic block diagram of a vehicle control device according to the embodiment of the present invention. Fig. 4 is an overall flowchart according to the embodiment of the present invention. Fig. 5 is a flowchart relating to collision possibility determination in the embodiment of the present invention. Fig. 6 is a flowchart relating to prediction range setting according to the embodiment of the present invention. Fig. 7 is a flowchart relating to tracking processing reduction using predictive detection information according to the embodiment of the present invention. Fig. 8 is a flowchart relating to right / left turn determination in the embodiment of the present invention. Description of embodiments

[0015] An embodiment of the present invention will be described below with reference to the drawings.

[0016] Before describing an embodiment of the present invention, problems to be solved by the present invention will be described with reference to Fig. 1 described. Fig. 1 illustrates a situation where a vehicle turns left at an intersection, and includes a host vehicle 50 having an avoidance control function for traveling on a general road 55 having an intersection, a sensor detection area 51 used for the avoidance control function, a time period 54 required to specify an avoidance target when avoiding control is performed, a bicycle 53 coming from behind the host vehicle 50, and a bicycle 52 coming from an intersection direction to the host vehicle 50.

[0017] Consider a case where avoidance control is performed on each of the bicycle 52 approaching from the intersection direction and the bicycle 53 approaching from behind when the host vehicle 50 turns left at an intersection. The avoidance control function prevents a collision by actually performing avoidance control after an obstacle is detected in the sensor detection area 51 and specified as an avoidance target.

[0018] First, in the case of the avoidance control for the bicycle 52 coming from the intersection direction, the avoidance control is actually started after the time period 54 in which the bicycle 52 enters the sensor detection area 51 and is specified as the avoidance target, but a control margin time for the avoidance can be ensured because a position at which the avoidance control is started is away from the host vehicle 50.

[0019] On the other hand, in the case of avoidance control for the bicycle 53 coming from behind, the avoidance control is actually started after the time period 54 in which the bicycle 53 enters the sensor detection area 51 and is specified as the avoidance target, and the control margin time for avoidance cannot be ensured because the position where the avoidance control is started is close to the host vehicle 50. Since the host vehicle 50 is also moving, it is actually more difficult to secure the control margin time for the avoidance control with respect to the obstacle coming from the rear.

[0020] As described above, whether or not the avoidance control is performed varies depending on a difference in a direction in which the bicycles 52 and 53 approach the host vehicle 50. Even in a case where the above-described conventional technique (PTL 1) is applied to such a problem, it is difficult to deal with the case of the bicycle 53 coming from behind because the time period 54 for specifying the avoidance target is not clearly described.

[0021] Moreover, the notion that it is sufficient that the avoidance control is simply started at a stage of entering the sensor detection area 51 is problematic from the point of view of preventing a malfunction, and it is not realistic to simply shorten the time period 54 for specifying the detected object as the avoidance target.

[0022] In the present invention, the problem is how to shorten a time period for specifying an obstacle coming from behind as well as an obstacle coming from the intersection direction or from the front as an avoidance target for which avoidance control is performed, while preventing a malfunction.

[0023] In the embodiment of the present invention, in relation to the present problem, there are provided a means and an apparatus having three operations: (1) an operation in which detection information of a moving object such as a bicycle is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past;(2) an operation in which the moving object information specified as a result of determining the collision possibility as having a high collision possibility is used to calculate, as predicted detection information, a detection time and a detection range in which the moving object is predicted to be detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which the moving object is predicted to be detected is set in the sensor detection range at least in front of the host vehicle;and (3) an operation in which, in a case where the object is detected at the predicted detection time or in the detection range when the host vehicle turns left at the intersection, it is determined that the moving object stored in the past is newly detected to shorten a time period for specifying an avoidance target for which avoidance control is performed, thereby ensuring a control margin time necessary for the avoidance control.;

[0024] First, a basic concept of the present proposal is presented with reference to Fig. 2. A vehicle control device 100 ( Fig. 3) of the present embodiment is mounted on a host vehicle 3 and performs collision avoidance control for avoiding a collision between an object in front of the host vehicle and the host vehicle. In the present embodiment, it is assumed that the collision avoidance control is performed on a general road 1 including a traffic light 2 and an intersection.

[0025] Fig. 2 is a conceptual view in a case where the collision avoidance control is performed with respect to a two-wheeled vehicle 6 traveling from behind when the host vehicle 3 turns left at the intersection, and the operation will be separately described in step 1, step 2, and step 3 indicating the operation flow of the present embodiment.

[0026] Among the three processes of the embodiment of the present invention, a description will be given using steps 1 and 2 about (1) the operation in which detection information of a moving object such as a bicycle is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past.

[0027] First drive as in step 1 of Fig. 2, the host vehicle 3, and the two-wheeled vehicle 6 on the general road 1. When the two-wheeled vehicle 6 is detected in the sensor detection area 4 of the host vehicle 3, a speed, a relative position to the host vehicle, a detection time, and the like are detected as the detection information of the two-wheeled vehicle 6, and when the host vehicle 3 overtakes the two-wheeled vehicle 6 and the two-wheeled vehicle 6 deviates from the sensor detection area 4, the information is stored in a storage unit 5 as reusable information.

[0028] Next, as in step 2, a travel route of the host vehicle 3 is acquired from map information such as a navigation system, and it is determined whether there is a possibility that the host vehicle 3 will pass through the intersection. If it is determined that the host vehicle 3 will pass through the intersection, the detection information of the two-wheeled vehicle 6 stored in the storage unit 5 is read, and the possibility of a collision at the time of a left turn at the intersection between the two-wheeled vehicle 6 and the host vehicle 3 is determined from the read past detection information. Specifically, a distance of the host vehicle 3 to the intersection is obtained, and an intersection arrival time is calculated.Next, the intersection arrival time of the two-wheeled vehicle 6 is calculated from the detection information of the two-wheeled vehicle 6 read from the storage unit 5, assuming that the two-wheeled vehicle 6 is performing a uniform linear movement from the detection time point. The calculated intersection arrival times of the host vehicle 3 and the two-wheeled vehicle 6 are compared, and the possibility of the two-wheeled vehicle 6 coming from behind at the time the host vehicle 3 turns left at the intersection is determined as a collision possibility. In a case where it is determined that the collision possibility is high, the detection information (past detection information) stored in the storage unit 5 as the predictive detection information is specified as an obstacle that is highly likely to be detected again at the time of a left turn at the intersection.Accordingly, it is possible to store the detection information of a moving object such as a bicycle when the moving object is overtaken at the time of traveling before the intersection, read the detection information stored in the past when the host vehicle is predicted to turn left at the intersection, and determine the collision possibility between the host vehicle and the moving object stored in the past.

[0029] Next, a description will be given using step 3 of remaining two operations: (2) the operation in which the moving object information specified as a result of determining the collision possibility as having a high collision possibility is used to calculate, as prediction detection information, a detection time point and a detection range in which the moving object is predicted to be detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which the moving object is predicted to be detected is set in the sensor detection range at least in front of the host vehicle, and (3) the operation in which, in a case where the object is detected at the predicted detection time point or in the detection range when the host vehicle turns left at the intersection,that the moving object stored in the past is detected again to shorten a period for specifying an avoidance target for which avoidance control is performed, thereby securing a control margin time necessary for the avoidance control.

[0030] Step 3 is a situation where the two-wheeled vehicle 6 is approaching from behind at a time when the host vehicle 3 is actually turning left at the intersection. Whether the host vehicle 3 is turning left at the intersection is determined based on control information from a turn signal or the like. Using the left turn of the host vehicle 3 at the intersection as a trigger, it is determined whether or not the predictive detection information calculated in Step 2 is present.In a case where the predictive detection information is present, an obstacle detection time (also referred to as a predicted detection time) and a detection range (also referred to as a predicted detection range) at the time of a left turn at the intersection are predicted from the predictive detection information, and a prediction range 8 corresponding to the predicted detection range is set for an image 7 generated by an image processing unit.Accordingly, a detection timing and a detection range in which the moving object is predicted to be detected in the sensor detection range of the host vehicle when the host vehicle turns left may be calculated as the prediction detection information using the moving object information specified as having a high collision possibility, and a range in which the moving object is predicted to be detected may be set in the sensor detection range at least in front of the host vehicle.

[0031] When an object is detected in the sensor detection area 4 when the host vehicle 3 turns left at the intersection, it can be immediately determined whether the obstacle is predicted in advance or not by performing condition determination together with the prediction detection information, and switching to the avoidance control (or alarm) can be made with a shortened time period necessary for normal collision avoidance control and for specifying an avoidance target.Specifically, when an object is detected in the sensor detection area 4, based on conditions such as whether or not the detected timing coincides with the predicted timing or whether or not the detection position is detected in the prediction area 8 (corresponding to the predicted detection area), it is immediately specified whether the object is the stored two-wheeled vehicle 6 in order to shorten the time necessary for specifying the avoidance target in the collision avoidance control.

[0032] According to the present proposal, the time required to execute collision avoidance control—that is, the time required to detect the object, detect the object for a certain period of time, and specify the avoidance target—which is difficult to shorten, can be shortened by adding predictive detection information. By shortening this time, the timing of starting the avoidance control can be advanced, making it possible to secure a control margin time for avoiding the obstacle.

[0033] Fig. Figure 3 illustrates a configuration diagram of the vehicle control device according to the embodiment of the present invention. The vehicle control device 100 of the present embodiment is a vehicle control device including an external environment detection unit 101 that performs obstacle detection and traffic light detection, a control unit 102 that actually instructs evasive control, and a storage unit 106 that stores detection information by the external environment detection unit 101 and implements collision avoidance control.

[0034] The external environment detection unit 101 detects external environment information in front of the host vehicle and includes an image processing unit 103 for generating an image to be used in detection processing, a detection unit 104 that performs detection of a vehicle or a lane, time-series tracking of a detection target, and the like, and an obstacle prediction detection unit 105 that determines a possibility of a collision when the host vehicle turns left at an intersection based on past detection information stored in the storage unit 106 that stores the information detected by the detection unit 104, and generates prediction detection information.

[0035] The obstacle prediction detection unit 105 includes: an intersection distance calculation unit 114 that receives map information 129 from an MPU that includes high-precision map information such as intersection width information, data on road structures such as intersection stop line positions and the number of lanes, and three-dimensional road object information such as road signs and traffic light positions; a global navigation satellite system (GNSS) that acquires position information of a host vehicle via a positioning satellite or the like and calculates a distance from the host vehicle to an intersection; an intersection arrival time calculation unit 115 that calculates an intersection arrival time when an obstacle travels to the intersection with uniform linear motion and an intersection arrival time when the host vehicle arrives at the intersection based on obstacle information (past detection information).stored in the storage unit 106; a collision possibility determination unit 116 that determines a collision possibility based on a comparison in the intersection arrival time calculated by the intersection arrival time calculation unit 115 between the obstacle and the host vehicle and calculates prediction detection information; and a prediction reliability setting unit 117 that adds reliability to the prediction detection information calculated by the collision possibility determination unit 116 based on an elapsed time after detection of the obstacle, an external factor that reduces detection accuracy, such as weather conditions at the time of detection, and the like. Note that the reliability set by the prediction reliability setting unit 117 is used to determine the possibility that the obstacle,detected by the prediction area detection determining unit 112, which will be described later (when the host vehicle turns left at the intersection), is an obstacle detected in the past and stored in the storage unit 106 (determination of a match or identity between detection information of the obstacle and past detection information).

[0036] The recognition unit 104 includes a moving object detection unit 111 that identifies a moving object such as a two-wheeled vehicle traveling on a general road, the prediction area detection determination unit 112, and a tracking processing unit 113. The prediction area detection determination unit 112 receives the prediction detection information from the obstacle prediction detection unit 105, calculates an area (prediction area) in which detection of an obstacle included in the prediction detection information is predicted in an image captured by an imaging unit 126, and inputs the prediction area information to a prediction area setting unit 110 of the image processing unit 103.The prediction range setting unit 110 sets a prediction range for the image captured by the imaging unit 126 (specifically, at least a part of the image) (see . Fig. 2). When the moving object is actually detected by the moving object detection unit 111, the prediction range detection determination unit 112 determines whether the moving object is detected in the prediction range. The prediction range detection determination unit 112 determines a possibility that the detected obstacle is an obstacle detected in the past based on a condition of whether the moving object was detected in the prediction range and a condition of whether a time at which the moving object was detected is a predicted time, and outputs the possibility to the tracking processing unit 113.In other words, the prediction range detection determining unit 112 determines whether the detection information of the detected moving object is the same as past detection information of the moving object or not based on conditions of the predicted detection time and the predicted detection range, and outputs the result to the tracking processing unit 113.The tracking processing unit 113 normally performs detection of a vehicle or a lane, time-series tracking of a detection target, and the like, but in the case of the collision avoidance control of the present embodiment, in order to specify an obstacle as an avoidance target for which the avoidance control is performed, it is necessary to perform tracking processing for a certain period of time after an obstacle is first detected and to determine whether or not the obstacle is an obstacle with a collision possibility.In addition to the normal tracking processing, in a case where the predictive detection information indicating that the detected obstacle is likely to be an obstacle detected in the past is advanced (in other words, in a case where it is determined that the detection information of the detected moving object is the same as the past detection information of the moving object included in the predictive detection information), the tracking processing unit 113 of the present embodiment can shorten the tracking processing time for specifying the detected obstacle as the avoidance target by adding information detected in advance, compared to the normal tracking processing. Accordingly, it is possible to shorten the time period for specifying the avoidance target for which the collision avoidance control is performed.

[0037] The control unit 102 controls the host vehicle based on the external environment information acquired by the external environment recognition unit 101 and includes a right / left turn determination unit 120, a collision risk calculation unit 121, a route planning unit 122, and a control instruction unit 123. The right / left turn determination unit 120 determines whether the host vehicle is in a right / left turn state or not based on information from a yaw rate sensor 125, a steering angle sensor 127, and a direction indicator 130.The collision risk calculation unit 121 calculates a time-to-collision (TTC) with respect to the obstacle with a high collision possibility determined by the external environment detection unit 101 (in other words, specified as the avoidance target of the avoidance control), determines a collision risk, and determines the necessity of executing the avoidance control. The route planning unit 122 calculates a travel route for performing collision avoidance. The control instruction unit 123 calculates a control value of the collision avoidance control and instructs a braking / driving force control ECU 124.

[0038] The braking force / driving force control ECU 124 outputs an appropriate control instruction to each actuator of the vehicle according to the control instruction value of the control instruction unit 123.

[0039] An alarm notification unit 128 has a function of issuing an alarm to a driver that a collision risk is imminent or notifying the driver that avoidance control is in progress through displays or audible signals during collision avoidance control based on the information from the collision risk calculation unit 121 or the like. Furthermore, the configurations described above are interconnected by a communication network 131.

[0040] In the present embodiment, the external environment detection unit 101 is exemplified by an imaging unit (camera sensor) mounted on a vehicle front side and imaging at least the front side of the host vehicle as a means for acquiring external environment information from at least the front side of the host vehicle. However, the present invention can be applied not only to a single camera sensor, but also to a combination of a camera sensor and a radar sensor, or a combination of other sensors.

[0041] The external environment detection unit 101 and the control unit 102 operate independently in the present embodiment, but the present invention can also be applied to a configuration in which the external environment detection unit 101 and the control unit 102 are integrated.

[0042] The obstacle prediction detection unit 105 acquires the detection information from the storage unit 106 at the time of performing the collision possibility determination. However, in order to reduce the computation load of data, the obstacle prediction detection unit 105 may filter whether the obstacle is a two-wheeled vehicle based on the width information of the detected obstacle included in the detection information to limit the data to be acquired.

[0043] The storage unit 106 may be shared with a normal storage unit used in the external environment detection unit 101 or may be arranged independently as a dedicated storage unit in the present embodiment.

[0044] The number of prediction ranges set by the prediction range setting unit 110 is not limited to one, and a plurality of prediction ranges may be set. At this time, a method for setting the prediction range may be changed according to the reliability contained in the prediction recognition information.

[0045] In the prediction area set by the prediction area setting unit 110, in a case where setting information is not detected even after a predicted detection time point has passed from the detection time point included in the prediction detection information, the setting information may be deleted from the storage unit 106. In other words, in a case where the moving object included in the prediction detection information is not detected even after the detection time point for the prediction area set by the prediction area setting unit 110 is predicted, the prediction detection information may be deleted from the storage unit 106.

[0046] As an example of determining the collision possibility by the collision possibility determining unit 116, a method for simply obtaining the collision possibility based on comparing the intersection arrival times of the host vehicle 3 and the two-wheeled vehicle 6 has been described. However, the method for determining the collision possibility is not limited to this, and a method for improving the determination accuracy of the collision possibility, such as predicting the future path of the two-wheeled vehicle 6 to determine the collision possibility, is not limited in the present embodiment.

[0047] Since the time at which the host vehicle 3 arrives at the intersection is changed by the driver's control until the host vehicle 3 arrives at the intersection after the collision possibility determination unit 116 determines the collision possibility, the collision possibility determination can be performed as needed (in cycle time) until the host vehicle 3 arrives at the intersection.

[0048] The right / left turn determining unit 120 can detect a steering angle control value and determine a right / left turn.

[0049] In the present embodiment, the intersection distance calculation is calculated by the intersection distance calculation unit 114 based on the information of the map information 129, but may be calculated based on a detection result of a sensor (a camera sensor or the like) mounted on the host vehicle, or may be calculated based on road-to-vehicle communication information received from a road communicator.In other words, for a trigger for calculating the intersection distance and reading the obstacle information (past detection information) from the storage unit 106, the past detection information may be read when the travel route of the host vehicle is calculated based on the map information 129, and it is determined that the possibility of turning right / left at the intersection is high, the past detection information may be read when it is determined that the possibility of turning right / left at the intersection is high based on the intersection detection result by the external environment detection unit 101, or the past detection information may be read when the intersection information acquired through road-to-vehicle communication is used, and it is determined that the possibility of turning right / left at the intersection is high.

[0050] In the present embodiment, an example was described in which collision avoidance control is performed with respect to the obstacle coming from the rear when the host vehicle turns left. However, the present invention is not limited to the case of left turns and can be applied to general course changes such as right turns.

[0051] Based on the above configuration, an overall flow of the present embodiment will be described with reference to a flowchart of Fig. 4, (1) the operation in which detection information of a moving object such as a bicycle is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past, will be described with reference to a flowchart of Fig. 5, (2) the operation in which the information of the moving object specified as a result of determining the collision possibility as having a high collision possibility is used to calculate, as prediction detection information, a detection time point and a detection range in which the moving object is predicted to be detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which the moving object is predicted to be detected is set in the sensor detection range at least in front of the host vehicle, will be described with reference to a flowchart of Fig. 6, (3) the operation in which, in a case where the object is detected at the predicted detection time or in the detection range when the host vehicle turns left at the intersection, it is determined that the moving object stored in the past is detected again to shorten a period for specifying an avoidance target for which avoidance control is performed, thereby securing a control margin time necessary for the avoidance control, will be described with reference to a flowchart of Fig. 7, and a process of left turn determination of the host vehicle by the right / left turn determination unit 120 will be described with reference to a flowchart of Fig. 8 described.

[0052] First, the flowchart of Fig. 4. Please note that steps 1 to 3 in Fig. 4 steps 1 to 3 in Fig. 2 correspond.

[0053] First, the external environment detection unit 101 mounted on the host vehicle acquires external environment information regarding the front of the host vehicle (S300). It is determined whether a two-wheeled vehicle is included in the acquired external environment information (S301). If No, the process returns to S300, and if Yes, the process proceeds to S302. The detection information or the detection time of the two-wheeled vehicle detected by the detection unit 104 is stored in the storage unit 106 (S302).

[0054] The obstacle prediction detection unit 105 acquires the travel plan information of the host vehicle from the map information 129, the position information of the host vehicle, and the like (S303). For the moving object information in the obstacle information (past detection information) stored in the storage unit 106, the obstacle prediction detection unit 105 determines a collision possibility when the host vehicle turns right / left and extracts the obstacle determined to have a high collision possibility (S304).

[0055] Next, the right / left turn determination unit 120 determines whether the host vehicle is turning right / left (S305). If No, the process returns to S300, and if Yes, the process proceeds to S306. A moving object with a high collision possibility when the host vehicle turns right / left is specified, and a detection timing (predicted detection timing) or a detection range (predicted detection range) in which the moving object is predicted to be detected within the detection range of the host vehicle during the right / left turn is acquired as predicted detection information (S306). It is determined whether or not the obstacle has been detected within the detection range of the host vehicle (S307). If No, the process returns to S306, and if Yes, the process proceeds to S308.Using the predictive detection information acquired in S306, the detection time and the detection range actually detected in S307 are compared with the predictive detection information, and a possibility that the obstacle actually detected in S307 is the same as the obstacle specified in the predictive detection information is determined (S308). In other words, it is determined whether the moving object detection information actually acquired in S307 when the host vehicle turns right / left is the same as the past moving object detection information included in the predictive detection information. If it is determined that the possibility is high, the process proceeds to S309, and if it is determined that the possibility is low, the process proceeds to S310.In a case where it is determined that the possibility that the obstacle detected again in S308 is the same as the prediction detection information acquired in the past is high, the time period (the number of detection times) required for the normal collision avoidance control to specify the obstacle as the avoidance target is reduced, and it is immediately confirmed that the obstacle is detected in the prediction detection information (S309). In a case where it is determined that the possibility that the obstacle detected again in S308 is the same as the prediction detection information acquired in the past is low, as in the normal collision avoidance control, tracking processing is performed for a certain period of time (ie,At the normal number of detections, the obstacle is specified as the avoidance target (S310). Avoidance control is performed, or an alarm is issued with respect to the avoidance target specified in the preceding process (S311).

[0056] Next, in (1) the operation in which detection information of a moving object such as a bicycle is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past, a description will be given with reference to Fig. 5 describes the operation in which the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past.

[0057] The obstacle prediction detection unit 105 acquires the travel plan information of the host vehicle from the map information 129, the position information of the host vehicle, and the like (S400). The obstacle prediction detection unit 105 determines whether the host vehicle is scheduled to pass through the intersection based on the map information 129, the position information of the host vehicle, and the like (S401). If No, the process returns to S400, and if Yes, the process proceeds to S402. The moving object information is read from the past detection information stored in the storage unit 106 (S402).The prediction reliability setting unit 117 calculates a reliability with respect to the moving object information read from the storage unit 106 based on the time at which the moving object is detected, the detection accuracy, and the like, and adds the reliability (S403). The intersection distance calculation unit 114 calculates a distance to the intersection based on the current location of the host vehicle and the information of the map information 129 (S404). The intersection arrival time calculation unit 115 calculates an intersection arrival time at which the host vehicle is predicted to arrive at the intersection and turn right / left based on the intersection distance information calculated in S404 (S405).The collision possibility determination unit 116 calculates an intersection right / left turn time (intersection arrival time) with respect to each piece of moving object information read in S402, and determines a collision possibility with respect to each piece of moving object information when the host vehicle turns right / left for each piece of moving object information (S406). The prediction reliability setting unit 117 evaluates and sets a reliability with respect to the determined collision possibility (S407). The moving object information with a high collision possibility when the host vehicle turns right / left at the intersection is specified based on the collision possibility evaluated in S406 and the reliability evaluated in S407, and is passed to the recognition unit 104 as prediction recognition information (S408).

[0058] With reference to Fig. 6, (2) the operation is described in which the information of the moving object specified as having a high collision possibility is used as a result of determining the collision possibility to calculate, as prediction detection information, a detection timing and a detection range in which the moving object is predicted to be detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which the moving object is predicted to be detected is set in the sensor detection range at least in front of the host vehicle.

[0059] First, the right / left turn determination unit 120 detects that the host vehicle is turning right / left (S500). If No, the process returns to S500, and if Yes, the process proceeds to S501. The recognition unit 104 determines whether the prediction recognition information obtained with reference to Fig. 5 (determined by the collision possibility determination unit 116) have been received by the obstacle prediction recognition unit 105 or not (S501). If No, the process ends, and if Yes, the process proceeds to S502. The recognition unit 104 calculates and predicts a time at which the host vehicle will collide with the moving object having a high collision possibility when the host vehicle turns right / left, which is included in the received prediction recognition information (S502). In addition, the recognition unit 104 calculates a sensor detection area predicted to be detected when the host vehicle turns right / left, based on the relative position information of the moving object to the host vehicle included in the prediction recognition information (S503).The prediction range setting unit 110 of the image processing unit 103 sets the sensor detection range as the prediction range (see . Fig. 2) in (at least a part of) the sensor detection area at least in front of the host vehicle based on the predictive detection information including the calculated collision time and the sensor detection area information (S504).

[0060] With reference to Fig. 7, (3) describes the operation in which, in a case where the object is detected at the predicted detection time or in the detection range when the host vehicle turns left at the intersection, it is determined that the moving object stored in the past is detected again to shorten a time period for specifying an avoidance target for which avoidance control is performed, thereby ensuring a control margin time necessary for the avoidance control.

[0061] The right / left turn determination unit 120 determines whether the host vehicle is under right / left turn control or not (S600). If No, the process ends, and if Yes, the process proceeds to S601. The detection unit 104 determines whether a moving object is detected in the sensor detection area at least in front of the host vehicle or not (S601). If No, the process returns to S600, and if Yes, the process proceeds to S602. For the moving object detected in S601, the prediction area detection determination unit 112 of the detection unit 104 compares the collision time included in the prediction detection information obtained by the operation of Fig. 6, with the time at which the moving object is actually detected (S602). In other words, it is determined whether the moving object is detected at the predicted collision time or not. If No, the process proceeds to S604, and if Yes, the process proceeds to S603. In addition, the prediction range detection determining unit 112 determines whether the moving object detected in S601 is detected in the prediction range determined by the operation of Fig. 6 is set (S603). In other words, it is determined whether the moving object has been detected in the prediction range or not. If No, the process proceeds to S604, and if Yes, the process proceeds to S606. That is, it is determined based on conditions of the predicted detection time and the predicted detection range whether the moving object detection information acquired in S601 when the host vehicle turns right / left is the same as the past moving object detection information included in the prediction detection information.

[0062] In S604, the prediction range detection determining unit 112 determines that the possibility that the moving object detected in S601 is the same as the moving object included in the prediction detection information and detected in the past and determined to have a high collision possibility is low, and cancels the setting of the prediction range detected in Fig. 6 is set to (S604). Then, the tracking processing performed in normal collision avoidance control is performed (S605).

[0063] If YES in S603, the prediction range detection determination unit 112 determines that the possibility that the moving object detected in S601 is the same as the moving object included in the prediction detection information, which was detected in the past and determined to have a high collision possibility, is high. That is, it is determined that the moving object detection information acquired in S601 when the host vehicle turns right / left is the same as the past moving object detection information included in the prediction detection information.In this case, tracking processing is performed only on the moving object detected in the prediction range. The avoidance target can be specified with the number of detections (tracking processing time) required for tracking processing reduced by using the prediction detection information. The tracking processing method can be simplified while maintaining detection accuracy. As a result, the time required for normal collision avoidance control and for specifying the avoidance target can be shortened (S606). The control unit 102 performs collision avoidance control or alarm with respect to the avoidance target specified by the detection processing in S605 or S606 (S607).

[0064] Finally, how the right / left turn determination unit 120 of the control unit 102 determines the right / left turn of the host vehicle will be explained with reference to Fig. 8 described.

[0065] The right / left turn determination unit 120 acquires control information of the turn indicator 130 (S700). The right / left turn determination unit 120 acquires information of the host vehicle's position from the information of the yaw rate sensor 125, the map information 129, and the like (S701). Based on the information acquired in S700, it is determined whether the turn indicator is being operated for a left / right turn (S702). Based on the yaw rate sensor information acquired in S701, it is determined whether the host vehicle is turning in the same direction as the direction indicated by the turn indicator (S703). If the determination results in S702 and S703 are Yes, the right / left turn determination unit 120 determines that the vehicle is in a left / right turn state (S704).

[0066] In the present embodiment, with the above three methods, (1) the operation in which detection information of a moving object such as a bicycle is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past, (2) the operation in which the information of the moving object specified as having a high collision possibility is used as a result of determining the collision possibility to calculate, as prediction detection information, a detection time point and a detection range in which it is predicted,that the moving object is detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which the moving object is predicted to be detected is set in the sensor detection range at least in front of the host vehicle, and (3) the operation in which, in a case where the object is detected at the predicted detection time or in the detection range when the host vehicle turns left at the intersection, it is determined that the moving object stored in the past is detected again in order to shorten a time period for specifying an avoidance target for which avoidance control is performed, thereby securing a control margin time necessary for the avoidance control, the time period necessary until the collision avoidance control is executed, that is, the time period for detecting the object,Detecting the object for a specific period of time and specifying the avoidance target, which is difficult to shorten, can be shortened by adding predictive detection information. By shortening the period of time, the starting time of avoidance control can be advanced from the initial detection of the obstacle, making it possible to secure a control margin for avoiding the obstacle.

[0067] Regarding securing the control margin time of the avoidance control with respect to the obstacle coming from the rear of the host vehicle at the time of right / left turning at the intersection, which is defined as the problem at the beginning of this specification, the prediction detection information is used to shorten the time period for specifying the avoidance target, so that it is possible to secure the control margin time of the avoidance control with respect to the obstacle coming from the rear and perform the collision avoidance control.

[0068] As described above, the vehicle control device 100 of the present embodiment includes: the external environment detection unit 101 that acquires external environment information at least in front of a host vehicle; the control unit 102 that controls the host vehicle based on the external environment information acquired by the external environment detection unit 101; and the storage unit 106 that stores detection information of a moving object acquired by the external environment detection unit 101 when the host vehicle overtakes the moving object. The external environment detection unit 101 reads past detection information of the moving object stored in the storage unit 106 when a course change of the host vehicle is predicted, determines a possibility of a collision between the host vehicle and the moving object,sets, as predictive detection information (predicted detection time and predicted detection range), a moving object with a high probability of collision with the host vehicle when the host vehicle changes course based on the possibility of collision (obstacle prediction detection unit 105), and determines whether detection information of a moving object detected by the external environment detection unit when the host vehicle changes course is the same as past detection information of the moving object included in the predictive detection information (detection unit 104).

[0069] In a case where it is determined that the detection information of the moving object detected by the external environment detection unit 101 when the host vehicle changes course is the same as the past detection information of the moving object included in the prediction detection information, the vehicle control device 100 specifies the moving object as the avoidance target with a shortened time period for specifying an avoidance target of a collision avoidance control and switches to the avoidance control or the alarm with respect to the moving object (detection unit 104).

[0070] The predicted detection information includes a predicted detection time and a predicted detection range of the moving object, and in at least part of the external environment information of the host vehicle acquired by the external environment detection unit 101, the vehicle control device 100 sets a predicted detection range (obtained by predicting a detection range) in which it is predicted that the moving object will be detected by the external environment detection unit 101 when the host vehicle changes course, and sets a predicted detection time (obtained by predicting a detection time) in which it is predicted that the moving object will be detected by the external environment detection unit 101 when the host vehicle changes course, and determines whether the detection information of the moving object,which are detected by the external environment detection unit 101 when the host vehicle changes course are the same as the past detection information of the moving object based on conditions of the predicted detection time and the predicted detection range (detection unit 104).,

[0071] The vehicle control device 100 determines the possibility of a collision by comparing an intersection arrival time of the host vehicle with an intersection arrival time of the moving object calculated based on the past detection information of the moving object (obstacle prediction detection unit 105).

[0072] In a case where it is determined that the detection information of the moving object detected by the external environment detection unit 101 when the host vehicle changes course is the same as the past detection information of the moving object included in the prediction detection information, the vehicle control device 100 shortens a tracking processing time for specifying an avoidance target of collision avoidance control and specifies the moving object as the avoidance target (detection unit 104).

[0073] The vehicle control device 100 sets the predicted detection range in a part of an image captured by a camera sensor that images at least a front side of the host vehicle (recognition unit 104).

[0074] The vehicle control device 100 sets a reliability with respect to the prediction detection information based on a time at which the moving object is detected and a detection accuracy (weather condition or the like), and uses the reliability to determine a consistency (identity) between the detection information and the past detection information.

[0075] In other words, the vehicle control device 100 according to the present embodiment includes the control unit 102 that performs collision avoidance control for avoiding a collision between an object in front of a host vehicle and the host vehicle, the external environment detection unit 101 that performs obstacle detection, the storage unit 106 that stores obstacle detection information, the obstacle prediction detection unit 105 that calculates a distance of the host vehicle to an intersection and an intersection arrival time, determines a possibility that the host vehicle will collide at the time of a right / left turn at the intersection with respect to each piece of obstacle information stored in the storage unit 106, and generates prediction detection information, and the prediction range setting unit that specifies an obstacle with a high collision possibility.When the host vehicle turns left at the intersection, the vehicle control device 100 determines, based on the prediction detection information, that an obstacle is detected within a prediction range set by the prediction range setting unit when the host vehicle turns left at the intersection, that a moving object stored in the past is detected again to shorten the time for specifying an avoidance target for which avoidance control is performed, thereby ensuring a control margin time necessary for the avoidance control.

[0076] That is, in the vehicle control device 100 according to the present embodiment, there are provided a means and a device in which detection information is stored when a two-wheeled vehicle is overtaken, the detection information of the two-wheeled vehicle detected in the past is read at the time of a right / left turn at an intersection to determine a possibility of collision with the host vehicle and calculate predictive detection information, when the obstacle is actually detected at the left turn of the host vehicle, by using the predictive detection information, it is immediately confirmed that the obstacle is a re-detection of a moving object detected in the past, and avoidance control is performed.

[0077] According to the present invention, when the host vehicle is traveling on a road before an intersection, a total of three operations are performed, which include (1) the operation in which detection information of a moving object, such as a bicycle, is stored when the moving object is overtaken at the time of traveling before an intersection, so that when the host vehicle is predicted to turn left at the intersection, the detection information stored in the past is read to determine a collision possibility between the host vehicle and the moving object stored in the past, (2) the operation in which the information of the moving object specified as having a high collision possibility is used as a result of determining the collision possibility to obtain a detection time and a detection range as predictive detection information,in which it is predicted that the moving object will be detected in the sensor detection range of the host vehicle when the host vehicle turns left, and an area in which it is predicted that the moving object will be detected is set in the sensor detection range at least in front of the host vehicle, and (3) the operation in which, in a case where the object is detected at the predicted detection time or in the detection range when the host vehicle turns left at the intersection, it is determined that the moving object stored in the past is detected again in order to shorten a time period for specifying an avoidance target for which avoidance control is performed, thereby ensuring a control margin time necessary for the avoidance control, such as securing the margin time of the avoidance control with respect to the obstacle,which comes from the rear of the host vehicle at the time of a right / left turn at the intersection, which is the current problem, the prediction detection information is used to shorten the time period for specifying the avoidance target, so that it is possible to secure the control tolerance time of the avoidance control with respect to the obstacle coming from the rear and to perform the collision avoidance control.

[0078] According to the present embodiment, it is possible to realize prevention of, for example, a hooked accident of a two-wheeled vehicle at the time of a right / left turn at an intersection, which has been conventionally difficult to deal with.

[0079] It should be noted that the embodiments described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not compromised. Although various embodiments have been described above, the present invention is not limited to these contents. Other aspects conceivable within the scope of the technical spirit of the present invention are also included within the scope of the present invention.

[0080] Furthermore, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention and are not necessarily limited to those having all of the described configurations. Moreover, some or all of the above-described configurations, functions, processing units, processing means, and the like may be achieved by hardware, for example, by designing with an integrated circuit. Furthermore, each of the above-described configurations, functions, and the like may be achieved by software by a processor that interprets and executes a program for achieving each function.Information such as a program, a table, and a file for achieving each function may be stored in a storage device such as a memory, a hard disk, and a solid-state drive (SSD), or a recording medium such as an IC card, an SD card, and a DVD. List of reference symbols 1 general road including intersection 2 traffic lights 3 Carrier vehicle 4 Sensor detection range 5 storage unit 6 two-wheeled vehicle 7 Image generated by the image processing unit 8 Forecast range 50 carrier vehicles 51 Sensor detection range 52 bicycles 53 Bicycle 54 Time period for specifying the avoidance target 55 general road with intersection 100 vehicle control device 101 Outdoor environment detection unit 102 Control unit 103 Image processing unit 104 Detection unit 105 Obstacle prediction detection unit 106 storage unit 110 Forecast range setting unit 111 Detection unit for a moving object 112 Prediction area detection determination unit 113 Tracking processing unit 114 Intersection distance calculation unit 115 Intersection arrival time calculation unit 116 Collision Possibility Determination Unit 117 Prediction reliability setting unit 120 Right / left turn determination unit 121 Collision risk calculation unit 122 Route planning unit 123 Control instruction unit 124 Brake / Torque Control ECU 125 Yaw rate sensor 126 imaging unit 127 Steering angle sensor 128 Alarm instruction unit 129 map information 130 direction indicators 131 Communication network QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 6617696

[0005]

Claims

[1] Vehicle control device comprising: an external environment detection unit that detects external environment information at least in front of a host vehicle; a control unit that controls the host vehicle based on the external environment information acquired by the external environment detection unit; and a storage unit that stores detection information of a moving object detected by the external environment detection unit when the host vehicle overtakes the moving object, wherein the external environment detection unit reads past detection information of the moving object stored in the storage unit when a course change of the host vehicle is predicted, determines a possibility of collision between the host vehicle and the moving object, inputs, as prediction detection information, a moving object with a high possibility of collision with the host vehicle when the course change of the host vehicle based on the possibility of the collision, and determines whether detection information of a moving object detected by the external environment detection unit when the host vehicle changes course is the same as past detection information of the moving object included in the prediction detection information. [2] The vehicle control device according to claim 1, wherein in a case where it is determined that the detection information of the moving object detected by the external environment detection unit when the host vehicle changes course is the same as the past detection information of the moving object included in the prediction detection information, the vehicle control device specifies the moving object as the avoidance target with a shortened time period for specifying an avoidance target of a collision avoidance control and switches to the avoidance control or the alarm with respect to the moving object. [3] Vehicle control device according to claim 1, wherein the predictive detection information includes a predicted detection time and a predicted detection range of the moving object, and in at least part of the external environment information of the host vehicle detected by the external environment detection unit, the vehicle control device sets a predicted detection range in which the moving object is predicted to be detected by the external environment detection unit when the host vehicle changes course, and sets a predicted detection time point in which the moving object is predicted to be detected by the external environment detection unit when the host vehicle changes course, and determines whether the detection information of the moving object detected by the external environment detection unit when the host vehicle changes course is the same as the past detection information of the moving object based on conditions of the predicted detection time point and the predicted detection range. [4] The vehicle control device according to claim 1, wherein the vehicle control device determines the possibility of collision by comparing an intersection arrival time of the host vehicle with an intersection arrival time of the moving object calculated based on the past detection information of the moving object. [5] The vehicle control device according to claim 1, wherein, in a case where it is determined that the detection information of the moving object detected by the external environment recognition unit when the host vehicle changes course is the same as the past detection information of the moving object included in the prediction recognition information, the vehicle control device shortens a tracking processing time for specifying an avoidance target of collision avoidance control and specifies the moving object as the avoidance target. [6] The vehicle control device according to claim 3, wherein the vehicle control device sets the predicted detection range in a part of an image captured by a camera sensor imaging at least a front side of the host vehicle. [7] The vehicle control device according to claim 1, wherein the vehicle control device performs the collision possibility determination as needed until the host vehicle reaches an intersection. [8] The vehicle control device according to claim 3, wherein in a case where the moving object included in the prediction detection information is not detected in the predicted detection range even after the predicted detection time has elapsed, the vehicle control device deletes the prediction detection information from the storage unit. [9] The vehicle control device according to claim 1, wherein the vehicle control device sets a reliability with respect to the prediction detection information based on a time at which the moving object is detected and a detection accuracy, and uses the reliability to determine a consistency between the detection information and the past detection information. [10] The vehicle control device according to claim 1, wherein the vehicle control device reads the past detection information as a trigger for reading the past detection information when a travel route of the host vehicle is calculated based on map information and it is determined that a possibility of turning right / turning left at an intersection is high. [11] The vehicle control device according to claim 1, wherein the vehicle control device reads the past detection information as a trigger for reading the past detection information when it is determined that a possibility of right turning / left turning at an intersection is high based on an intersection detection result by the external environment detection unit. [12] The vehicle control device according to claim 1, wherein the vehicle control device reads the past detection information as a trigger for reading the past detection information when intersection information acquired by road-to-vehicle communication is used and it is determined that a possibility of right turning / left turning at an intersection is high. [13] The vehicle control device according to claim 3, wherein in a case where it is determined that the detection information of the moving object detected by the external environment detection unit when the host vehicle changes course is not the same as the past detection information of the moving object included in the prediction detection information, the vehicle control device cancels the setting of the predicted detection range.

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