Vehicle control system

Abstract

To provide information for investigating a time when an automatic brake is activated as compared with conventional cases.SOLUTION: A vehicle control system of the present invention is a vehicle control system including: an image pickup device that picks up an image of surroundings of a vehicle; and a vehicle control device that controls the vehicle. The vehicle control device includes a first acquisition unit that acquires image pickup information including a picked-up image picked up by the image pickup device, a second acquisition unit that acquires vehicle information indicating a state of the vehicle, and a generation unit that generates first information including the image pickup information and the vehicle information.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a vehicle control system.

Background Art

[0002] Conventionally, in a vehicle (such as a passenger car), based on sensor data (such as camera image data), an object (such as another vehicle or a pedestrian) existing around the host vehicle is detected, and when the object enters a predetermined area including the planned travel route, a collision risk degree is calculated based on the relative speed of the object with respect to the host vehicle, and a process according to the collision risk degree is executed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, as a process according to the collision risk degree, in order to reduce collision damage, the vehicle may be decelerated by an automatic brake. In this process, for example, camera image data may only be stored at the timing when the automatic brake is activated, and may be insufficient as information for an operator or the like to investigate the time when the automatic brake is activated, and there is room for further improvement.

[0005] An object of the present invention is made in view of the above problems, and to provide a vehicle control system that can provide information for investigating the time when the automatic brake is activated as compared with the conventional art.

Means for Solving the Problems

[0006] In order to solve the above problems, a vehicle control system according to the present invention is a vehicle control system including an imaging device that images the periphery of a vehicle and a vehicle control device that controls the vehicle. The vehicle control device includes a first acquisition unit that acquires imaging information including an imaging image captured by the imaging device, a second acquisition unit that acquires vehicle information indicating the state of the vehicle, and a generation unit that generates first information including the imaging information and the vehicle information.

[0007] According to this configuration, since the vehicle control system generates first information in which the imaging image and the vehicle information are linked when the automatic brake is activated, it is possible to provide information for investigating the situation when the automatic brake is activated to an operator or the like, as compared with the conventional case.

[0008] Further, the vehicle control system further includes an external storage device, and the vehicle control device includes an output unit that outputs the generated first information to the external storage device. Further, the generation unit generates the first information by associating the date and time when the imaging image was captured, which is included in the imaging information, with the date and time when the state of the vehicle, which is included in the vehicle information, was output.

[0009] According to this configuration, the vehicle can effectively utilize the storage capacity of the external storage device. Further, since an operator or the like can acquire the first information from the external storage device, the working time can be reduced as compared with the conventional case.

[0010] The imaging image is an image that images the periphery of the vehicle at least in any one of the front, rear, right, and left of the vehicle. Thereby, an operator or the like can grasp not only the front of the vehicle but also the targets existing around the vehicle after the automatic brake of the vehicle is activated.

Effect of the Invention

[0011] According to the present invention, it is possible to provide information for investigating the situation when the automatic brake is activated.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

[0013] Hereinafter, embodiments of the vehicle control system of the present invention will be described with reference to the accompanying drawings.

[0014] FIG. 1 is a block diagram showing the configuration of a vehicle control system 1 according to an embodiment. The vehicle control system 1 has a collision warning function, a primary braking function (soft braking function), and a secondary braking function (hard braking function) as driving assistance functions for avoiding collisions between the vehicle and targets (other vehicles, pedestrians, etc.) existing around the vehicle or reducing damage caused by collisions.

[0015] The collision warning function is a function of warning (notifying) the driver of the possibility of a collision using an alarm 26 (details will be described later). The primary braking function decelerates the vehicle at a primary target deceleration by automatic braking in order to prompt the driver to take collision avoidance actions. The secondary braking function decelerates the vehicle at a secondary target deceleration greater than the primary target deceleration by automatic braking for collision avoidance and reduction of collision damage.

[0016] The vehicle control system 1 includes an ECU (Electronic Control Unit). The ECU 11 is an example of a vehicle control device. The ECU 11 includes a microcomputer (microcontroller) 12. The microcomputer 12 has a built-in CPU 13 and a memory 14. In addition to the ECU 11, a plurality of ECUs for controlling each part are mounted on the vehicle, and the ECU 11 is connected to other ECUs so as to enable two-way communication by the CAN (Controller Area Network) communication protocol. The memory 14 is also referred to as an internal storage device.

[0017] The vehicle is equipped with a camera 21, a vehicle speed sensor 22, a steering angle sensor 23, a yaw rate sensor 24, a brake actuator 25, an alarm 26, and an external storage device 27. The camera 21 is an example of an imaging device. The camera 21 is, for example, a stereo camera capable of continuously capturing still images at a predetermined frame rate. The camera 21 is installed at a position where it can image the surroundings of the vehicle in a wide angle. The camera 21 is installed, for example, on the front glass surface on the back side of the rearview mirror at the center of the front part of the vehicle interior.

[0018] The camera 21 extracts, for example, target pixels corresponding to the same target object in each image captured by the image sensor from a pair of image data input from the left and right eye image sensors, detects the amount of displacement of the positions of the target pixels between the pair of images, and calculates the distance to the same target object based on the principle of triangulation. The output signal of the camera 21 is input to the ECU 11. Note that the camera 21 is not limited to a stereo camera and may be a monocular camera.

[0019] The vehicle speed sensor 22 outputs, as a detection signal, a pulse signal synchronized with the rotation of a rotating body (e.g., a drive shaft) that rotates as the vehicle travels. The steering angle sensor 23 outputs a detection signal corresponding to the steering angle (absolute steering angle) with respect to the steering angle midpoint of the vehicle's steering mechanism (e.g., the steering wheel). The steering angle takes a positive value when the steering mechanism is turned to the right from the steering angle midpoint (the steering wheel is turned to the right side), and a negative value when it is turned to the left (the steering wheel is turned to the left side). The yaw rate sensor 24 outputs a detection signal corresponding to the yaw rate, which is the rotational angular velocity around the vertical axis passing through the center of gravity of the host vehicle C1. The detection signals of the vehicle speed sensor 22, the steering angle sensor 23, and the yaw rate sensor 24 are input to the ECU 11.

[0020] The vehicle is equipped with a hydraulic braking system. The braking system includes a brake pedal, a brake booster, a master cylinder, a brake actuator 25, brakes provided on each wheel, etc. The brake pedal is arranged at a position convenient for a driver sitting in the driver's seat to step on with the right foot. When the brake pedal is stepped on, the stepping force input to the brake pedal is transmitted to the brake booster. In the brake booster, the negative pressure generated in the intake system of the engine is utilized, and the stepping force of the brake pedal is amplified by the pressure difference between the negative pressure and the atmospheric pressure.

[0021] The force amplified by the brake booster is transmitted from the brake booster to the master cylinder, and hydraulic pressure corresponding to that force is generated from the master cylinder. The hydraulic pressure of the master cylinder is transmitted to the brake actuator 25, and hydraulic pressure is supplied from the brake actuator 25 to the wheel cylinders of the brakes provided on each wheel, and braking force is applied to the wheels from each brake by that hydraulic pressure.

[0022] In addition, the brake actuator 25 incorporates an electric pump. When the automatic brake is activated, the electric pump is driven by electric power from the battery, and the hydraulic pressure generated by the electric pump is supplied to each wheel cylinder.

[0023] The alarm 26 outputs various alarms, which may be output by light, sound, or voice. The external storage device 27 is, for example, a drive recorder. The external storage device 27 is a device that stores the captured images captured by the camera of the drive recorder. The external storage device 27 has a non-volatile memory.

[0024] By the way, when the operation of the collision warning function occurs, the ECU 11 may decelerate the vehicle by automatic braking in order to reduce the collision damage as a process according to the collision risk. In this process, for example, in the memory 14, there may be a case where only the captured image captured by the camera 21 at the timing when the automatic brake is activated is stored.

[0025] Therefore, when an operator or the like conducts an investigation after the automatic brake of the vehicle is activated, the information for investigating the time when the automatic brake is activated may be insufficient, and there is room for further improvement. Therefore, the ECU 11 of the present embodiment has each function shown in FIG. 2.

[0026] FIG. 2 is a block diagram showing an example of the functional configuration of the ECU 11 of the present embodiment. The ECU 11 includes a first acquisition unit 111, a second acquisition unit 112, a generation unit 113, and an output unit 114. Note that the functional configuration included in the ECU 11 is not limited to this.

[0027] The first acquisition unit 111 acquires imaging information including the captured image captured by the camera 21. Specifically, when the ECU 11 generates the operation of the collision warning function, the first acquisition unit 111 acquires imaging information including the captured image captured by the camera 21. Further, the imaging information includes time information including the date and time captured by the camera 21.

[0028] The second acquisition unit 112 acquires vehicle information indicating the state of the vehicle. Specifically, when the ECU 11 generates the operation of the collision warning function, the second acquisition unit 112 acquires vehicle information indicating the state of the vehicle. The second acquisition unit 112 acquires vehicle information from each sensor provided in the vehicle according to, for example, the CAN communication protocol.

[0029] The vehicle state includes, for example, the operating state of the collision warning function, the vehicle speed output by the vehicle speed sensor 22, the steering angle smoothing value indicating the current value of the steering angle output by the steering angle sensor 23, steering angle information such as the steering speed indicating the speed of the steering angle, the yaw rate information output by the yaw rate sensor 24, and the operating states of the brake actuator 25 and the alarm 26, including the operating state of the collision warning function. The vehicle information is each data in which the above-described vehicle state is output in time series. That is, the vehicle information includes time information including the date and time when the vehicle state was output from each sensor. Note that the above-described vehicle state is not limited to this.

[0030] Further, the ECU 11 acquires the above-described imaging information and vehicle information retroactively by a predetermined time from the timing when the ECU 11 generates the operation of the collision warning function. Specifically, the ECU 11 always stores the above-described imaging information and vehicle information, and saves them retroactively by a predetermined time from the timing when the operation of the collision warning function is generated. This is because when an operator or the like investigates the automatic brake, it is necessary to grasp and investigate an event including the situation of the vehicle and its surroundings that occurred before the operation of the collision warning function. The predetermined time is, for example, 5 seconds. Note that the predetermined time is not limited to this.

[0031] The generation unit 113 generates first information including the imaging information and the vehicle information. Specifically, the generation unit 113 associates the date and time when the imaging image was captured, which is included in the imaging information acquired by the first acquisition unit 111, with the date and time when the vehicle state was output, and generates the first information. The generation unit 113 associates, for example, the date and time when the imaging image was captured with the date and time when the vehicle state was output based on the time information output by the meter ECU, which is one of the other ECUs serving as a reference, and generates the first information including the imaging information and the vehicle information.

[0032] The time information is, for example, the time information included in the GPS signals received by the GPS (Global Positioning System) equipped in the vehicle, or the time information received by the communication interface capable of communicating with the outside, which is equipped in the vehicle, from an NTP (Network Time Protocol) server.

[0033] The generation unit 113 generates first information including the imaging information and the vehicle information. Thus, an operator or the like can use the first information as information for investigating the time when the automatic brake is activated, and therefore, the time required for the investigation can be reduced as compared with the conventional case.

[0034] The output unit 114 outputs the first information. Specifically, the output unit 114 outputs the first information generated by the generation unit 113 to the external storage device 27. Thereby, the vehicle can effectively utilize the storage capacity of the external storage device 27. In addition, since an operator or the like can acquire the first information from the external storage device 27, the working time can be reduced as compared with the conventional case. Furthermore, since the output unit 114 outputs the first information to the external storage device 27, there is no need to change the system configuration (hardware) of the existing ECU 11.

[0035] FIG. 3 is a flowchart showing an example of the operation flow of the ECU 11 according to the embodiment. The processing in FIG. 3 is assumed to start when the ECU 11 causes the operation of the collision warning function to occur.

[0036] First, in step S31, the first acquisition unit 111 acquires imaging information including the imaging image captured by the camera 21 (step S31). Subsequently, the second acquisition unit 112 acquires vehicle information indicating the state of the vehicle (step S32).

[0037] Subsequently, the generation unit 113 generates first information including the imaging information and the vehicle information (step S33). Subsequently, the output unit 114 outputs the first information generated by the generation unit 113 to the external storage device 27 (step S34). When step S34 ends, the processing of the ECU 11 ends.

[0038] As described above, the vehicle control system 100 according to the present embodiment is a vehicle control system 1 including an imaging device that images the periphery of the vehicle and a vehicle control device that controls the vehicle. The vehicle control device acquires imaging information including the imaging image captured by the imaging device, acquires vehicle information indicating the state of the vehicle, and generates first information including the imaging information and the vehicle information.

[0039] Thereby, since the vehicle control system 100 generates the first information in which the imaging image and the vehicle information are linked when the automatic brake is activated, compared with the conventional case, it is possible to provide information for investigating the situation when the automatic brake is activated to workers and the like. In addition, since workers and the like can use the first information, the time required for the investigation can be reduced compared with the conventional case.

[0040] Further, the vehicle control system 1 further includes an external storage device 27, and the vehicle control device outputs the generated first information to the external storage device 27. Further, the vehicle control device generates the first information by associating the date and time when the imaging image was captured included in the imaging information with the date and time when the state of the vehicle included in the vehicle information was output.

[0041] Thereby, the vehicle can effectively utilize the storage capacity of the external storage device 27. In addition, since workers and the like can acquire the first information from the external storage device 27, the working time can be reduced compared with the conventional case.

[0042] Although one embodiment of the present invention has been described above, the present invention can also be implemented in other forms.

[0043] (First Modification Example) For example, the camera 21 may be a plurality of cameras. Specifically, four cameras may be further installed so that each of them images the front, rear, left, and right of the vehicle. The four cameras are a front camera, a first side camera, a second side camera, and a back camera.

[0044] The front camera is provided at the front part of the vehicle such as the front bumper, and captures a front image of the vehicle. The first side camera is provided at the right side part of the vehicle, such as the right side mirror, when viewed from the driver's seat, and captures a right side image of the vehicle. The second side camera is provided at the left side part of the vehicle, such as the left side mirror, when viewed from the driver's seat, and captures a left side image of the vehicle. The first side camera and the second side camera are collectively referred to as side cameras. The back camera is provided at the rear part of the vehicle, such as the rear bumper, and captures a rear image of the vehicle. The front camera, the first side camera, the second side camera, and the back camera are communicably connected to the ECU11.

[0045] The peripheral images captured by these front camera, first side camera, second side camera, and back camera are used, for example, for vehicle peripheral monitoring. For this reason, in order to minimize blind spots as much as possible, wide-angle lenses such as fish-eye lenses are used for these front camera, first side camera, second side camera, and back camera. The front camera, the first side camera, the second side camera, and the back camera are, for example, monocular cameras and cameras having an optical axis downward.

[0046] When the ECU11 generates an operation of the collision warning function, the first acquisition unit 111 of the ECU11 may acquire imaging information including the captured images captured by the camera 21, the front camera, the first side camera, the second side camera, and the back camera. The captured images acquired by the first acquisition unit 111 of the ECU11 may be images that capture the periphery of the vehicle at least in any one of the front, rear, right, and left of the vehicle. Thereby, an operator or the like can grasp the targets existing not only in front of the vehicle but also around the vehicle before and after the automatic brake operation of the vehicle.

[0047] In addition, imaging images in two or more directions may be stored in time series. Further, imaging images in two or more adjacent directions may be stored in time series in synchronization. In this case, for example, when a target approaches the vehicle obliquely, the relationship between the vehicle and the target can be easily and widely grasped over two or more directions, and it can be easily grasped from which direction and how the target approaches.

[0048] (Second Modification Example) In the above-described embodiment, the first acquisition unit 111 of the ECU 11 has been described in a form of acquiring imaging information including an imaging image captured by the camera 21 when the ECU 11 generates an operation of the collision warning function, but it is not limited thereto. For example, the first acquisition unit 111 of the ECU 11 may acquire imaging information including an imaging image captured by the camera 21 according to a predetermined acceleration detected by a G-sensor provided in the vehicle.

[0049] FIG. 4 is a block diagram showing the configuration of the vehicle control system 10 of the second modification example. The vehicle control system 1 includes an ECU 11, a camera 21, a vehicle speed sensor 22, a steering angle sensor 23, a yaw rate sensor 24, a brake actuator 25, an alarm 26, an external storage device 27, and a G-sensor 28.

[0050] The G-sensor 28 is an acceleration sensor that detects the acceleration applied to the vehicle. The G-sensor 28 is connected to a protection device control unit such as a circuit or device that controls the operation of a protection device such as an airbag mounted on the vehicle.

[0051] The first acquisition unit 111 of the ECU 11 acquires imaging information including an imaging image captured by the camera 21 according to a predetermined acceleration detected by the G-sensor 28. Here, the predetermined acceleration is the acceleration when the vehicle is decelerated at a primary target deceleration by an automatic brake. The predetermined acceleration is not limited to this, and may be the acceleration when the vehicle actually collides with a target.

[0052] (Third Modification Example) The vehicle information according to the above-described embodiment may include the operation state of the vehicle by the driver. The operation state of the vehicle includes, for example, throttle opening, engine speed, accelerator operation, brake operation, and the like. Further, the state of the vehicle in the above-described embodiment includes, for example, the state of presence or absence of abnormality of various devices provided in the vehicle, including sensors such as the ECU 11 and the camera 21, the voltage state of the battery for driving the vehicle, the operation state of the wiper, the shift range state, the estimated curve radius indicating the running road curve radius estimated by the camera 21, the target TTC (Time-To-Collision: time to collision) indicating the prediction time until collision with the target, the target distance indicating the distance to the target, the current gradient estimate indicating the estimated road surface gradient, the time counter indicating the elapsed time since ignition-on, the trip counter indicating the number of times of ignition-on to ignition-off, the state of the stop lamp switch indicating the operation state of the brake pedal or the brake hydraulic pressure, the vehicle acceleration, and the odometer information indicating the total mileage.

[0053] (Fourth Modification Example) For example, the vehicle control system 1 may set the holding period of the first information output to the external storage device 27, that is, the period stored in the external storage device 27, and may be set to delete when the set period is exceeded. The period stored in the external storage device 27 may be set according to, for example, the number of times of a predetermined trip counter. The period stored in the external storage device 27 is not limited to this, and for example, the period may be set to delete at the timing of ignition-on of the vehicle or at the predetermined ignition-on / off timing. Thereby, the vehicle control system 1 can effectively utilize the storage capacity of the external storage device 27.

[0054] (Fifth Modification Example) In the above-described embodiment, the form in which the external storage device 27 is a drive recorder has been described, but it is not limited thereto. The external storage device 27 may be, for example, a server that can be connected via a communication network in cooperation with a communication interface provided in the vehicle.

[0055] Although some embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

[0056] In addition, the program executed by the ECU 11 of the present embodiment can be provided by being recorded on a recording medium readable by a computer device such as a CD (Compact Disc)-ROM (Read Only Memory), a flexible disk (FD), a CD-R (Recordable), a DVD (Digital Versatile Disk), etc. in an installable format or an executable format file. Further, the program may be provided or distributed via a network such as the Internet.

Explanation of Reference Numerals

[0057] 1, 10... Vehicle control system, 11... ECU, 12... Microcomputer, 13... CPU, 14... Memory, 21... Camera, 22... Vehicle speed sensor, 23... Steering angle sensor, 24... Yaw rate sensor, 25... Brake actuator, 26... Alarm, 27... External storage device, 28... G sensor, 111... First acquisition unit, 112... Second acquisition unit, 113... Generation unit, 114... Output unit

Claims

1. A vehicle control system comprising an imaging device that images the periphery of a vehicle and a vehicle control device that controls the vehicle, wherein the vehicle control device includes a first acquisition unit that acquires imaging information including an imaging image captured by the imaging device, a second acquisition unit that acquires vehicle information indicating the state of the vehicle, and a generation unit that generates first information including the imaging information and the vehicle information. The vehicle control system according to claim 1.

2. The vehicle control system further includes an external storage device, and the vehicle control device includes an output unit that outputs the generated first information to the external storage device. The vehicle control system according to claim 1.

3. The generation unit generates the first information by associating the date and time when the imaging image was captured, which is included in the imaging information, with the date and time when the state of the vehicle was output, which is included in the vehicle information. The vehicle control system according to claim 1 or 2.

4. The imaging image is an image that images the periphery of the vehicle at least in any one of the front, rear, right, and left of the vehicle. The vehicle control system according to claim 1.

Images