Vehicle control device and program

Abstract

To provide a vehicle control device and a program which can determine a property of an object when contacting the object.SOLUTION: A vehicle control device comprises a control part that determines a property of an object contacting a vehicle. The control part recognizes the property of the object existing outside the vehicle, on the basis of a detection value for detecting an environment around the vehicle; calculates relative speed of the vehicle with respect to the object; and when acceleration occurring on the vehicle is within a range of a determination threshold set on the basis of a relation between the relative speed and the acceleration, determines that the vehicle has contacted the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a program for estimating a contacted object. [Background technology]

[0002] Patent Document 1 describes a collision detection device that detects a collision between a vehicle and a vulnerable road user such as a pedestrian or a bicycle and reports the collision to an external party. This collision detection device detects an object, detects the acceleration of the vehicle, calculates the predicted timing of a collision between the object and the vehicle, and determines that the vehicle has collided with the object if the detection timing at which acceleration exceeding a threshold is detected coincides with the predicted collision timing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-169016 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology described in Patent Document 1, if the acceleration detection timing and the collision prediction timing are the same, it is determined that the vehicle has collided with an object. Therefore, there is a possibility that the object that actually collided with and the detected object may not be the same, which could lead to an incorrect determination of the object.

[0005] The present invention aims to provide a vehicle control device and program capable of determining the attributes of an object upon contact. [Means for solving the problem]

[0006] One aspect of the present invention is a vehicle control device that includes a control unit that determines the attributes of an object that has come into contact with a vehicle, and the control unit recognizes the attributes of the object outside the vehicle based on detection values ​​obtained by detecting the environment around the vehicle, calculates the relative speed between the vehicle and the object, and determines that the vehicle has come into contact with the object if the acceleration occurring in the vehicle is within a determination threshold range set based on the relationship between the relative speed and the acceleration. [Effects of the Invention]

[0007] According to the present invention, the attributes of an object can be determined upon contact. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of a vehicle according to an embodiment. [Figure 2] FIG. 4 is a diagram showing the configuration of a determination map; [Figure 3] 3 is a flowchart showing a flow of processing of a vehicle control method executed in a vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1, a vehicle 1 includes, for example, a vehicle control device 10 that executes control related to driving. The vehicle control device 10 controls the driving of the vehicle 1 based on an operation by a driver. The vehicle control device 10 executes driving assistance control that assists driving operation based on a detection value detected by a detection unit 2 that detects a detection value related to the driving of the vehicle.

[0010] The detection unit 2 is equipped with an exterior camera 2A that captures images of the environment outside the vehicle 1. The detection unit 2 may be equipped with one or more exterior cameras 2A that capture images of a predetermined imaging range around the vehicle 1. The exterior camera 2A generates imaging data of the environment around the vehicle 1 and outputs the imaging data to the vehicle control device 10. The detection unit 2 is equipped with a LIDAR device 2B that measures the environment outside the vehicle 1. The LIDAR device 2B measures the environment outside the vehicle 1 using laser light and acquires three-dimensional data of the environment around the vehicle 1 based on received data of reflected light. The LIDAR device 2B outputs the detection value to the vehicle control device 10.

[0011] The detection unit 2 includes a radar device 2C that measures the external environment of the vehicle 1. The radar device 2C measures the external environment of the vehicle 1 based on microwaves, and measures the distance to an object existing around the vehicle 1 based on received data of the reflected waves. The radar device 2C outputs the detection value to the vehicle control device 10.

[0012] The detection unit 2 includes an acceleration sensor 2D that detects acceleration occurring in the vehicle 1. The acceleration sensor 2D is provided, for example, at the front end of the vehicle 1. In the unlikely event that the vehicle 1 comes into contact with an object, the acceleration sensor 2D detects acceleration that occurs at the time of contact. The acceleration sensor 2D outputs the detected value to the vehicle control device 10. The detection unit 2 includes a position sensor 2E that detects current position data of the vehicle 1. The position sensor 2E is configured by a sensor that detects three-dimensional coordinates of the vehicle 1, such as a GPS (Global Positioning System). The position sensor 2E outputs the detected value to the vehicle control device 10.

[0013] The vehicle 1 includes an input / output unit 3 that receives operations from the occupant and outputs information. The input / output unit 3 is configured, for example, with a touch panel display device such as a liquid crystal display. For example, while driving assistance control is being executed, the input / output unit 3 outputs information to the occupant that driving assistance control is being executed.

[0014] The vehicle 1 is equipped with a communication unit 4 that can be connected to a network W. The communication unit 4 is configured, for example, by a wireless communication interface. The communication unit 4 is configured to transmit and receive information to and from a server device 20 via the network W. The server device 20 is configured as a monitoring server that monitors the traveling of the vehicle 1. For example, when some incident occurs in the vehicle 1 and the server device 20 receives a notification from the vehicle control device 10, the server device 20 transmits a predetermined notification to relevant organizations.

[0015] The vehicle 1 is equipped with a drive unit 5 that serves as a drive source when traveling. If the vehicle 1 is an internal combustion engine vehicle, the drive unit 5 is configured with an internal combustion engine. If the vehicle 1 is an electric vehicle, the drive unit 5 is configured with an electric motor. If the vehicle 1 is a hybrid vehicle, the drive unit 5 may be configured as a hybrid system that combines an internal combustion engine and an electric motor. The drive unit 5 is controlled by the vehicle control device 10 based on input operations by the driver, and adjusts the acceleration and deceleration of the vehicle 1. The drive unit 5 is automatically controlled by the vehicle control device 10 when driving assistance control is executed.

[0016] The vehicle 1 is equipped with a braking unit 6 that controls braking while the vehicle is traveling. The braking unit 6 is configured, for example, by a brake device. If the vehicle 1 is an electric vehicle or a hybrid vehicle, the braking unit 6 may be configured by the drive unit 5. If driving assistance control is executed, the braking unit 6 is automatically controlled by the vehicle control device 10. The vehicle 1 is equipped with a steering unit 7 that controls the direction while the vehicle is traveling. The steering unit 7 is configured, for example, by a steering device that adjusts the angle of the steering wheels. If the vehicle 1 is an electric vehicle or a hybrid vehicle, the steering unit 7 may be configured by the drive unit 5. If driving assistance control is executed, the steering unit 7 is automatically controlled by the vehicle control device 10.

[0017] The vehicle control device 10 includes a control unit 11 that determines whether the vehicle 1 has come into contact with an object based on the detection value detected by the detection unit 2, and executes driving assistance control. The control unit 11 is configured with at least one hardware processor such as a CPU (Central Processing Unit). The vehicle control device 10 includes a storage unit 12 that stores data and programs required for control. The storage unit 12 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a solid state disk (SSD).

[0018] The control unit 11 determines whether or not an object exists around the vehicle 1 based on the detection value detected by the detection unit 2. The control unit 11 determines whether or not an object exists around the vehicle 1 based on, for example, image data captured by the exterior camera 2A. The control unit 11 is configured to perform machine learning such as deep learning using the image data captured in advance as training data, and to be able to recognize various objects from the image data.

[0019] When the control unit 11 determines that an object exists based on the imaging data, it recognizes the attributes of the object. For example, the control unit 11 recognizes the attributes of the object, including traffic participants such as automobiles (also referred to as other vehicles), motorcycles, bicycles, and pedestrians, based on the imaging data. The control unit 11 calculates the relative speed between the vehicle and the object. The control unit 11 calculates the distance d between the vehicle 1 and the object based on the detection values ​​of the LIDAR device 2B and the radar device 2C.

[0020] The control unit 11 determines whether the vehicle 1 and the object are approaching each other based on the traveling direction of the vehicle 1 and the rate of decrease over time in the distance d between the vehicle 1 and the object. If the control unit 11 determines that the vehicle 1 and the object are approaching each other, it calculates the distance between the vehicle and the object after a unit time has elapsed, and calculates the relative speed Vr between the vehicle 1 and the object based on the calculation result.

[0021] The control unit 11 calculates the time to collision (TTC) until the collision between the vehicle 1 and the object based on the distance d between the vehicle 1 and the object and the relative speed Vr. The control unit 11 calculates the TTC based on the distance d between the vehicle 1 and the object, the relative speed Vr, and the following equation (1). TTC=d / Vr (1)

[0022] The control unit 11 continuously calculates the TTC and compares the TTC with a threshold value (TTCref). The control unit 11 continuously calculates the TTC. When the TTC becomes equal to or less than the threshold value, the control unit 11 starts a timer and starts measuring time (t). For example, when the TTC becomes equal to or less than the threshold value, the control unit 11 stops the output of the drive unit 5 and controls the braking unit 6 to execute driving assistance control to automatically decelerate the vehicle 1. For example, when the TTC becomes equal to or less than the threshold value, the control unit 11 controls the steering unit 7 to execute driving assistance control to avoid the vehicle 1 from an object. After starting the timer, the control unit 11 monitors the acceleration Gf detected by the acceleration sensor 2D. When the acceleration Gf is detected, the control unit 11 determines whether or not the object has come into contact with the vehicle 1.

[0023] Figure 2 shows a judgment map set based on the relationship between relative speed and acceleration. The magnitude of acceleration Gf that occurs when vehicle 1 comes into contact with an object varies depending on various factors, such as the mass, rigidity, and structure of both vehicles, the relative speed at the time of collision, the collision position, overlap ratio, and the presence or absence of surrounding parts. Therefore, the attributes of an object that comes into contact with vehicle 1 cannot be uniquely determined based on the magnitude of acceleration Gf. However, there is a clear difference between the acceleration that occurs when a pedestrian comes into contact with vehicle 1 and the acceleration that occurs when a car comes into contact with vehicle 1, due to the difference in mass between the pedestrian and the car.

[0024] In the determination map, a range of determination thresholds is set in advance, in which an upper limit (Gfrefmax) and a lower limit (Gfrefmin) are defined for the threshold value Gfref of acceleration Gf for each attribute of the object. In the determination map, the lower limit value of acceleration Gf may be set to 0 G, and a range of determination thresholds may be set only for the upper limit value. In the determination map, for example, determination thresholds are set individually according to multiple attributes. In the illustrated example, three determination thresholds are shown according to the attributes of three objects: automobiles, motorcycles, pedestrians, and bicycles. The illustrated setting of the determination map is an example, and settings different from the illustrated setting may be used as long as it is possible to determine the association between acceleration and the object.

[0025] For example, in the determination map, when the relative speed between the vehicle 1 and an object is Vr, three determination threshold ranges are determined for the acceleration. When the relative speed is Vr and acceleration Gf is detected, the control unit 11 refers to the determination map and determines the attribute of the object that has come into contact with the vehicle. When the acceleration Gf occurring in the vehicle 1 is within the range of the determination threshold corresponding to the predetermined attribute, the control unit 11 determines that the vehicle 1 has come into contact with the predetermined object.

[0026] The control unit 11 refers to the determination map, and if the acceleration Gf occurring in the vehicle 1 is within a range of a determination threshold corresponding to the attributes of the pedestrian, determines that the vehicle 1 has come into contact with a pedestrian. The control unit 11 refers to the determination map, and if the acceleration Gf occurring in the vehicle 1 is within a range of a determination threshold corresponding to the attributes of the motorcycle, determines that the vehicle 1 has come into contact with a motorcycle. The control unit 11 refers to the determination map, and if the acceleration Gf occurring in the vehicle 1 is within a range of a determination threshold corresponding to the attributes of the automobile, determines that the vehicle 1 has come into contact with an automobile.

[0027] For example, when the control unit 11 recognizes the attribute of the object based on the imaging data and acquires the acceleration Gf and the relative velocity Vr, the control unit 11 refers to the determination map and sets a range of the determination threshold for the acceleration Gf according to the recognized attribute. If the acceleration Gf is within the range of the determination threshold for the recognized attribute, the control unit 11 compares the elapsed time t from the start time of the timer with the TTC.

[0028] The control unit 11 determines whether the elapsed time t and the TTC approximately match based on a determination formula (2) that includes an error tolerance α that is set taking into account the effects of, for example, measurement error, calculation error, and fluctuations in the vehicle state. (TTC-α)≦t≦(TTC+α) (2)

[0029] If the elapsed time t is within the range of the determination formula (2), the control unit 11 determines that the vehicle 1 has come into contact with the object. If the control unit 11 determines that the vehicle 1 has come into contact with the object, it executes vehicle assistance control according to the object's attributes. If the control unit 11 estimates that the object's attributes are a vulnerable road user such as a pedestrian, it executes driving assistance control to protect the vulnerable road user. For example, if the control unit 11 determines that the vehicle 1 has come into contact with the vulnerable road user, it sends a predetermined notification to the server device 20. If the server device 20 receives the predetermined notification, it notifies relevant organizations and arranges for an ambulance, etc.

[0030] For example, when the control unit 11 determines that the vehicle 1 has come into contact with a vulnerable road user, it executes driving assistance control such as control to activate an external airbag (not shown) to protect the vulnerable road user and control to pop up the hood. When the control unit 11 determines that the vehicle 1 has come into contact with an automobile, it executes driving assistance control such as control to activate an internal airbag (not shown) to protect the occupants and control to increase the tension of seat belts. The control unit 11 transmits a predetermined notification to the server device 20. When the server device 20 receives the predetermined notification, it notifies relevant authorities such as the police.

[0031] 3 is a flowchart showing the processing flow of a vehicle control method executed in the vehicle control device 10. The vehicle control method is executed based on a computer program installed in the vehicle control device 10. The computer program causes the vehicle control device 10 to execute the following processes.

[0032] The control unit 11 determines whether or not an object exists ahead of the traveling vehicle 1 based on the detection value detected by the detection unit 2 (step S100). The control unit 11 also determines the attributes of the object based on the detection value. When the control unit 11 recognizes the object, it calculates the relative speed Vr between the object and the vehicle 1, and calculates the time to collision TTC of the vehicle 1 based on the detected value of the relative distance between the object and the vehicle 1 and the calculated relative speed (step S102). The control unit 11 continuously calculates the TTC, compares the TTC with a threshold (TTCref), and determines whether the TTC is equal to or less than the threshold (step S104). When the control unit 11 determines that the TTC is equal to or less than the threshold, it starts a timer and starts measuring time (t) (step S106). The control unit 11 acquires the calculated value of the relative speed Vr and the detected value of the acceleration Gf (step S108).

[0033] The control unit 11 refers to the determination map and determines whether the acceleration Gf occurring in the vehicle 1 is within the range of a determination threshold corresponding to the attribute of the recognized object (step S110). If the acceleration Gf is within the range of the determination threshold corresponding to the attribute of the recognized object, the control unit 11 determines whether the elapsed time t and the TTC approximately match based on a determination formula (2) including an error allowance α (step S112). If the elapsed time t and the TTC approximately match, the control unit 11 determines that the vehicle 1 has come into contact with the recognized object (step S114).

[0034] If the control unit 11 determines that the vehicle 1 has come into contact with the object, it executes vehicle assistance control according to the attribute (step S116). If the control unit 11 determines in step S110 that the acceleration Gf occurring in the vehicle 1 is not within the range of the judgment threshold corresponding to the attribute of the recognized object, it determines whether the TTC exceeds the judgment threshold (step S118). If the TTC does not exceed the judgment threshold, the control unit 11 returns the process to step S108. If the TTC exceeds the judgment threshold, the control unit 11 determines that the vehicle 1 has not come into contact with the recognized object (step S120).

[0035] As described above, the vehicle control device 10 can determine the attributes of the object at the time of contact by referring to the determination map and evaluating the magnitude of the detected acceleration Gf. The vehicle control device 10 can determine whether the attributes of the recognized object match the attributes of the contacted object, thereby reducing errors in determining contact with the object.

[0036] In the above-described embodiment, the computer program executed in each component of the vehicle control device 10 may be provided in a form recorded on a computer-readable, portable, non-transitory recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0037] 1 vehicle 2. Detection unit 2A Exterior camera 2B Lidar Device 2C radar equipment 2D Accelerometer 2E Position Sensor 3 Input / output section 4. Communications Department 5 Drive unit 6 Braking part 7 Steering section 10 Vehicle control device 11 Control section 12 Storage section 20 Server device

Claims

1. a control unit for determining attributes of an object that has come into contact with the vehicle; The control unit Recognizing the attribute of the object present outside the vehicle based on a detection value obtained by detecting an environment around the vehicle; Calculating a relative velocity between the vehicle and the object; If the acceleration occurring in the vehicle is within a range of a determination threshold set based on the relationship between the relative velocity and the acceleration, it is determined that the vehicle has come into contact with the object. Vehicle control device.

2. The control unit When it is determined that the vehicle has come into contact with the object, the vehicle executes driving assistance control according to the attribute. The vehicle control device according to claim 1 .

3. The control unit setting a range of a determination threshold for the acceleration in accordance with the recognized attribute; If the acceleration is within the range of the determination threshold, it is determined that the vehicle has come into contact with the object. The vehicle control device according to claim 1 .

4. The control unit When the attribute is estimated to be that of a vulnerable road user, driving assistance control is executed to protect the vulnerable road user. The vehicle control device according to claim 3.

5. A program installed on a computer mounted on a vehicle control device that determines attributes of an object that has come into contact with a vehicle, Recognizing the attribute of the object present outside the vehicle based on a detection value obtained by detecting an environment around the vehicle; Calculating a relative velocity between the vehicle and the object; causing the computer to execute a process of determining that the vehicle has come into contact with the object when the acceleration occurring in the vehicle is within a range of a determination threshold set based on the relationship between the relative velocity and the acceleration; program.

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