Vehicle control system

Abstract

This reduces the possibility of falsely detecting obstacles in the vehicle's path that do not actually need to be detected. [Solution] The vehicle control device 1 performs the following processes: determining the presence or absence of an obstacle based on the output from a sensor 2 mounted on the front of the vehicle and detecting obstacles below the front of the vehicle; and determining whether or not an aftermarket part is attached to the front of the vehicle. When it is determined that an aftermarket part is attached to the front of the vehicle, the threshold value for determining the presence or absence of an obstacle is set to a larger value than when the aftermarket part is not attached to the front of the vehicle.

Description

Technical Field

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

Background Art

[0002] For example, Patent Document 1 describes "a vehicle control device that detects an object around a vehicle by a sensor and performs an avoidance action so as not to collide with the detected object."

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above Patent Document 1, when a retrofit part is attached to the front part of the vehicle, the weight of the front part of the vehicle increases due to the retrofit part, so the center of gravity of the vehicle changes compared to the case where the retrofit part is not attached, and at the same time, the detection range of the sensor changes, so there is a possibility of erroneously detecting an obstacle that does not need to be detected on the vehicle's path.

[0005] In view of such circumstances, an object of the present invention is to provide a vehicle control device that reduces the possibility of erroneously detecting an obstacle that does not need to be detected on the vehicle's path.

Means for Solving the Problems

[0006] The present invention is a vehicle control device that performs a process of determining the presence or absence of an obstacle based on the output from a sensor mounted on the front of a vehicle that detects obstacles below the front of the vehicle, and a process of determining whether or not an aftermarket part is attached to the front of the vehicle, characterized in that when it is determined that an aftermarket part is attached to the front of the vehicle, the threshold value for determining the presence or absence of an obstacle is set to a larger value than when the aftermarket part is not attached to the front of the vehicle.

[0007] With this configuration, if it is determined that an aftermarket part is attached to the front of the vehicle, even if the detection range of the sensor changes due to the attachment of the aftermarket part, the possibility of falsely detecting an obstacle that does not need to be detected in the vehicle's path can be reduced compared to the case where no aftermarket part is attached to the front of the vehicle.

[0008] The aforementioned aftermarket parts include, for example, heavy objects that change the vehicle's forward-sloping posture, thereby altering the detection range of the sensor. Furthermore, the obstacles that do not need to be detected include, for example, low steps or ramp entrances, or any object that the vehicle will not collide with.

[0009] As a result, even if there is an obstacle in the vehicle's path that does not normally need to be detected, the vehicle will not have to perform emergency braking to avoid a collision with that obstacle.

[0010] Furthermore, if there is an obstacle that should be detected in the vehicle's path, the system can reliably detect the obstacle, making it possible to appropriately control the vehicle's movement to appropriately avoid collisions with obstacles in its path. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a vehicle control device that reduces the possibility of falsely detecting obstacles in the vehicle's path that do not actually need to be detected. [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows a schematic configuration of one embodiment of a vehicle control device according to the present invention. [Figure 2] This diagram shows a flowchart used to explain the operation of a vehicle control system. [Figure 3] This figure shows a graph illustrating the relationship between the sensor's detection distance and the peak value of the reflected wave to the sensor. [Modes for carrying out the invention]

[0013] The best embodiment for carrying out the present invention will be described in detail below with reference to the accompanying drawings.

[0014] Figures 1 to 3 show one embodiment of the present invention. The vehicle control device 1 illustrated in this embodiment is connected to a sensor 2, a bumper WH3, a relay unit 4, a display device 5, an operation unit 6, and the like.

[0015] The vehicle control device 1 consists of an ECU (Electronic Control Unit). Although not shown in detail, this ECU includes a CPU, ROM, RAM (also called memory), communication interface, and input / output interface, all of which are connected to each other via a bus for communication.

[0016] The vehicle control device 1 has at least a function to control collision avoidance. This function will be described in detail later.

[0017] Incidentally, the collision avoidance can be used, for example, in autonomous driving. Examples of the autonomous driving include known Adaptive Cruise Control (ACC). This ACC automatically controls driving processes, braking processes, steering processes, etc. to maintain a constant distance between the host vehicle and the preceding vehicle while driving the host vehicle at a constant speed and to steer to avoid obstacles on the driving path, thereby automatically assisting the driving of the host vehicle (a driving assistance function).

[0018] The vehicle control device 1 varies the threshold value for determining the presence or absence of an obstacle in front of the vehicle depending on whether a retrofit part is attached to the bumper (not shown) of the vehicle or not.

[0019] Examples of the retrofit part include heavy objects such as a bull bar or a nudge bar that change the front-down posture of the vehicle and thus change the detection range of the sensor 2. The bull bar and the nudge bar protect the front surface of the vehicle and are also utilized as a stay for attaching a fog lamp.

[0020] The sensor 2 is attached to the bumper of the vehicle and detects the presence or absence of an obstacle on the driving path of the vehicle. When the obstacle is detected, a detection signal is output to the vehicle control device 1 and the relay unit 4, and when the obstacle is not detected, a non-detection signal is output to the vehicle control device 1 and the relay unit 4, respectively.

[0021] Examples of the sensor 2 include a sonar. In addition, other examples include radars such as a millimeter-wave radar and an infrared laser radar, or a stereo camera and a monocular camera.

[0022] The bumper WH3 is, for example, the wire harness of the sensor 2. The bumper WH3 may include, in addition to the wire harness of the sensor 2 described above, wire harnesses of a direction indicator and a fog lamp (not shown).

[0023] The relay unit 4 is a relay wire harness for connecting the bumper WH3 to the vehicle control device 1, and is also referred to as the "intermediate WH". This relay unit 4 outputs a connection signal to the vehicle control device 1 only when it is conducting by being connected to the bumper WH3.

[0024] The display device 5 is a display device for displaying various information, and is installed, for example, inside the meter panel (not shown) of the vehicle.

[0025] The operation unit 6 is, for example, a connection confirmation switch for the driver of the vehicle to select and input "YES" or "NO" when a confirmation message such as "Has the aftermarket part been connected?" is displayed on the display device 5.

[0026] First, referring to the flowchart shown in FIG. 2, the collision avoidance control by the vehicle control device 1 will be described in detail.

[0027] First, in step S1, it is determined whether the bumper of the vehicle has been detached. In this step S1, it is examined whether the bumper WH3 has been detached from the relay unit 4 and then reattached (connected) again. That is, due to the detachment of this bumper WH3, it is determined that an aftermarket part made of a heavy object that changes the vehicle's front part to a downward posture and changes the detection range of the sensor 2 has been attached.

[0028] For example, when the vehicle control device 1 recognizes that the bumper WH3 and the bumper (not shown) have been detached when the conduction signal stops being input from the state where it is input from the relay unit 4, and recognizes that the bumper WH3 and the bumper (not shown) have been attached (connected) when the connection signal starts being input from the state where it is not input, the presence or absence of the detachment of the bumper can be determined based on these recognition results.

[0029] Then, in step S1, if the determination is negative, the process proceeds to step S2, while if the determination is positive, the process proceeds to step S3.

[0030] In step S2, the "threshold for judgment in step S1" is set to reference value A (see solid line in Figure 3), and then this flowchart is terminated. The reference value A is determined in advance through experiments, simulations, etc.

[0031] In step S3, it is determined whether or not an aftermarket part has been attached to the bumper. In step S3, a confirmation message such as "Has an aftermarket part been attached?" and selection buttons such as "YES" and "NO" are displayed on the display device 5, and the system waits for the vehicle driver to input an ON operation (YES operation) or an OFF operation (NO operation) of the connection confirmation switch, which is the control unit 6.

[0032] Then, in step S3, if the result is negative, that is, if no aftermarket parts are attached to the bumper, the process proceeds to step S2. On the other hand, if the result is positive, that is, if aftermarket parts are attached to the bumper, the process proceeds to step S4.

[0033] In step S4, it is determined whether the vehicle driver has turned on the connection confirmation switch, which is the control unit 6.

[0034] Then, in step S4, if a negative determination is made, that is, if the connection confirmation switch is not turned on, the process proceeds to step S2. On the other hand, if a positive determination is made, that is, if the connection confirmation switch is pressed down, the process proceeds to step S5.

[0035] In step S5, the "judgment threshold" is set to a specific value B (see the dashed line in Figure 3), and then this flowchart is terminated. The specific value B is any value greater than the reference value A, but it is determined in advance through experiments or simulations.

[0036] As described above, according to the embodiment to which the present invention is applied, if it is determined that an aftermarket part consisting of a heavy object that changes the posture of the vehicle and thus changes the detection range of the sensor 2 is attached to the front of the vehicle, even if the detection range of the sensor 2 is changed due to the attachment of the aftermarket part, the possibility of falsely detecting obstacles that do not need to be detected in the vehicle's path (for example, low steps or ramp entrances, or other objects that the vehicle will not collide with) can be reduced compared to the case where no aftermarket part is attached to the front of the vehicle.

[0037] As a result, even if there is an obstacle in the vehicle's path that does not normally need to be detected, the vehicle will not have to perform emergency braking to avoid a collision with that obstacle.

[0038] Furthermore, if there is an obstacle that should be detected in the vehicle's path, the system can reliably detect the obstacle, making it possible to appropriately control the vehicle's movement to appropriately avoid collisions with obstacles in its path.

[0039] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate within the scope of the claims and equivalents thereof. For example, the vehicle control device 1 of the present invention can be applied to various types of vehicles. [Industrial applicability]

[0040] The present invention can be suitably used in vehicle control devices. [Explanation of Symbols]

[0041] 1. Vehicle control system 2 sensors 3 Bumper WH 4. Relay section 5 Display device 6 Control section

Claims

[Claim 1] A vehicle control device that performs the following processes: determining the presence or absence of an obstacle based on the output from a sensor mounted on the front of the vehicle that detects obstacles below the front of the vehicle; and determining whether or not an aftermarket part is attached to the front of the vehicle, A vehicle control device characterized in that, when it is determined that an aftermarket part is attached to the front of the vehicle, the threshold value for determining the presence or absence of an obstacle is set to a larger value than when the aftermarket part is not attached to the front of the vehicle.

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