Automatic emergency braking system

Abstract

To provide an automatic emergency braking device capable of preventing a delay in automatic emergency braking at a time of entering an opposing lane as well as preventing erroneous activation.SOLUTION: An automatic emergency braking device 12 includes a collision determination unit 13 that implements collision determination of determining whether there is a possibility of a collision between a vehicle 1 and opposing vehicle, a brake control unit 14 that activates an automatic emergency brake of the vehicle 1 according to a result of the determination by the collision determination unit, and an implementation timing change unit 15 that changes the implementation timing of collision determination. The implementation timing change unit 15 includes a determination block 16 that determines whether a condition for prediction under which entry of the vehicle 1 to the opposing lane is predicted is established, and a setting unit 17 that, when the condition for prediction is established, sets the implementation timing of collision determination to timing which is earlier than timing to be adopted in a case where the condition for prediction is not established.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatic emergency braking system. [Background technology]

[0002] 2. Description of the Related Art A driving assistance device having an automatic emergency braking function for avoiding a collision with an oncoming vehicle when a vehicle enters an oncoming lane, such as when turning right at an intersection on a left-hand traffic road, is known (for example, Patent Document 1).

[0003] Patent document 1 discloses a vehicle driving control device that takes into account the relative speed of an oncoming vehicle to the vehicle and the shape of the road, sets a position where the vehicle should stop without colliding with the oncoming vehicle as a "virtual wall," and activates an automatic emergency brake. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-175795 A Summary of the Invention [Problem to be solved by the invention]

[0005] An automatic emergency braking device determines whether or not to apply the brakes depending on the result of a collision determination between the host vehicle and an oncoming vehicle. When the host vehicle enters an oncoming lane, the faster the host vehicle's speed is, the earlier the host vehicle will start steering, so the automatic emergency braking device needs to perform the collision determination early. However, if the automatic emergency braking device performs the collision determination too early, there is a high possibility of a malfunction in which the brakes are applied even in a situation where brake application is not necessary. On the other hand, if the automatic emergency braking device does not perform the collision determination early to prevent this malfunction, there is a high possibility of a delay in the application of the brakes.

[0006] The vehicle driving control device disclosed in Patent Document 1 simply performs collision detection based on the relationship between the position and speed of oncoming vehicles and the vehicle's path, and there is room for improvement in terms of preventing both delays in automatic emergency braking and malfunctions.

[0007] The present invention has been made in consideration of the above, and aims to provide an automatic emergency braking device that can prevent both delays in automatic emergency braking and malfunction when entering an oncoming lane. [Means for solving the problem]

[0008] In order to solve the above problems, the automatic emergency braking device of the present invention comprises a collision judgment unit that performs a collision judgment to judge whether or not there is a possibility of a collision between the host vehicle and an oncoming vehicle, a brake control unit that activates an automatic emergency brake of the host vehicle depending on the result of the collision judgment, and an execution time change unit that changes the execution time of the collision judgment, wherein the execution time change unit has a judgment unit that judges whether or not a prediction condition indicating that the host vehicle is predicted to enter an oncoming lane is satisfied, and a setting unit that, when the prediction condition is satisfied, sets the execution time of the collision judgment to an earlier time than when the prediction condition is not satisfied. Effect of the Invention

[0009] According to the present invention, it is possible to provide an automatic emergency braking device that can prevent both delay and erroneous operation of the automatic emergency braking when entering an oncoming lane. Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a functional configuration of a vehicle equipped with an automatic emergency braking device according to a first embodiment. [Diagram 2] 2 is a flowchart showing the process of the automatic emergency braking device shown in FIG. 1 . [Diagram 3]3 is a diagram for explaining the collision determination performed in step S108 shown in FIG. 2. [Figure 4] 10 is a flowchart showing the processing of an automatic emergency braking device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that components with the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise specified, and the description thereof will be omitted.

[0012] [Embodiment 1] An automatic emergency braking device 12 according to the first embodiment will be described with reference to Figs. 1 to 3. FIG. 1 is a diagram showing a functional configuration of a vehicle 1 equipped with an automatic emergency braking device 12 according to the first embodiment.

[0013] The vehicle 1 is a vehicle equipped with an automatic emergency braking device 12. The vehicle 1 of this embodiment is a vehicle equipped with an advanced driver assistance system (ADAS) that assists the driver in driving. The vehicle 1 may be a vehicle equipped with an autonomous driving system (ADS) that realizes autonomous driving. In this embodiment, the vehicle 1 may be referred to as the host vehicle in order to clarify that the vehicle 1 is different from other vehicles.

[0014] The vehicle 1 is equipped with a navigation device 2, a turn indicator 3, a driving lane sensor 4, an oncoming vehicle sensor 5, a steering angle sensor 6, a vehicle speed sensor 7, a driving assistance control device 10, a vehicle motion control device (VMC) 20, and a brake actuator 30.

[0015] The navigation device 2 includes a GNSS receiver that acquires position information of the vehicle 1. The navigation device 2 includes a storage device that stores map information including road information such as lanes and intersections, and stores driving history information of the vehicle 1 including information on past driving routes. The turn indicator 3 issues information in advance to notify the driver that the vehicle 1 will turn right or left. The steering angle sensor 6 detects the steering angle of the vehicle 1. The vehicle speed sensor 7 detects the vehicle speed of the vehicle 1.

[0016] The driving lane sensor 4 is configured with a monocular camera or a stereo camera, etc., and recognizes the driving lane of the vehicle 1. The driving lane sensor 4 can measure the yaw angle of the vehicle 1 with respect to the driving lane of the vehicle 1 (the rotation angle of the vehicle 1 around an axis extending in the vertical direction of the vehicle 1). The yaw angle of the vehicle 1 with respect to the driving lane of the vehicle 1 may be measured by the automatic emergency braking device 12 or the driving assistance control device 10 based on information on the driving lane of the vehicle 1 recognized by the driving lane sensor 4.

[0017] The oncoming vehicle sensor 5 is configured with a radar, a lidar, a stereo camera, or the like, and recognizes oncoming vehicles and oncoming lanes. The oncoming vehicle sensor 5 measures the relative distance and relative speed between the vehicle 1 and the oncoming vehicle. The relative distance and relative speed between the vehicle 1 and the oncoming vehicle may be measured by the automatic emergency braking device 12 or the driving assistance control device 10 based on information on the oncoming vehicle and the oncoming lane recognized by the oncoming vehicle sensor 5.

[0018] The driving assistance control device 10 is a controller that controls each component of an advanced driving assistance system (ADAS). The driving assistance control device 10 includes a processor and a memory, and the processor executes a program stored in the memory to realize various functions of the ADAS. The driving assistance control device 10 includes a path estimation unit 11 and an automatic emergency braking device (AEB) 12. The driving assistance control device 10 may include an adaptive cruise control system (ACC) or a lane departure prevention system (LKAS), etc.

[0019] The path estimation unit 11 estimates the path along which the vehicle 1 will travel, based on the steering angle of the vehicle 1 detected by the steering angle sensor 6 and the vehicle speed of the vehicle 1 detected by the vehicle speed sensor 7. The path estimation unit 11 outputs information on the estimated path of the vehicle 1 (hereinafter also referred to as the “estimated path”) to the collision determination unit 13. The path estimation unit 11 may be included in the automatic emergency braking device 12.

[0020] The automatic emergency braking device 12 is a device that automatically applies the brakes to avoid a collision between the vehicle 1 and a surrounding object, based on the state of the traveling vehicle 1 and the surrounding environment of the vehicle 1. In particular, the automatic emergency braking device 12 applies the automatic emergency brakes to avoid a collision between the vehicle 1 and an oncoming vehicle when the vehicle 1 enters an oncoming lane, such as when turning right at an intersection on a left-hand traffic road or turning left at an intersection on a right-hand traffic road.

[0021] The automatic emergency braking device 12 includes a collision determination unit 13, a brake control unit 14, and an execution timing change unit 15.

[0022] The collision determination unit 13 executes a collision determination to determine whether or not there is a possibility of a collision between the vehicle 1 and an oncoming vehicle. Specifically, the collision determination unit 13 acquires the steering angle of the vehicle 1 detected by the steering angle sensor 6. The collision determination unit 13 acquires the vehicle speed of the vehicle 1 detected by the vehicle speed sensor 7. The collision determination unit 13 acquires information on the estimated path of the vehicle 1 estimated by the path estimation unit 11. The collision determination unit 13 acquires the relative distance and relative speed with respect to the oncoming vehicle measured by the oncoming vehicle sensor 5. The collision determination unit 13 can acquire the yaw angle of the vehicle 1 with respect to the traveling lane of the vehicle 1 measured by the traveling lane sensor 4. The collision determination unit 13 executes an entry determination to determine whether or not an entry condition indicating that the vehicle 1 enters an oncoming lane is satisfied based on the acquired steering angle or yaw angle of the vehicle 1. When the entry condition is satisfied, the collision determination unit 13 executes a collision determination based on the acquired estimated path of the vehicle 1, the relative distance and relative speed with respect to the oncoming vehicle. Details of the collision determination will be described later with reference to FIG. 3.

[0023] When a prediction condition indicating that the vehicle 1 is predicted to enter an oncoming lane is satisfied, an execution time change unit 15 changes the execution time of the collision judgment by the collision judgment unit 13 to an earlier time than in a normal case in which the prediction condition is not satisfied.

[0024] The execution time changing unit 15 includes a judgment unit 16 that judges whether a prediction condition indicating that the vehicle 1 is predicted to enter an oncoming lane is satisfied or not, and a setting unit 17 that changes the execution time of the collision judgment depending on the judgment result of the judgment unit 16.

[0025] The prediction conditions are at least one of: (A) vehicle 1 entering an intersection; (B) the turn signal 3 of vehicle 1 predicting that vehicle 1 will enter the oncoming lane; (C) the lane in which vehicle 1 is traveling is a lane for entering the oncoming lane; and (D) vehicle 1 has a driving history of entering the oncoming lane from the lane in which vehicle 1 is traveling.

[0026] The execution time changing unit 15 acquires position information of the vehicle 1 acquired by the navigation device 2, and map information and driving history information stored in the navigation device 2. The execution time changing unit 15 acquires information notifying a right or left turn of the vehicle 1 notified by the direction indicator 3. The execution time changing unit 15 acquires information on the driving lane recognized by the driving lane sensor 4.

[0027] The determination unit 16 determines whether or not the prediction condition is satisfied based on the acquired information. For example, when the condition is (A), the determination unit 16 can determine whether or not the condition (A) is satisfied based on the position information and map information of the vehicle 1. When the condition is (B), the determination unit 16 can determine whether or not the condition (B) is satisfied based on the advance notice information of a right or left turn. When the condition is (C), the determination unit 16 can determine whether or not the condition (C) is satisfied based on the information of the lane in which the vehicle 1 is traveling, or the position information and map information. When the condition is (D), the determination unit 16 can determine whether or not the condition (D) is satisfied based on the position information, map information, and driving history information of the vehicle 1.

[0028] The determination unit 16 may determine that the prediction condition is satisfied even when only condition (B) of the conditions (A) to (D) is satisfied and the others are not satisfied. The determination unit 16 may determine that the prediction condition is satisfied when two or more conditions other than condition (B) of the conditions (A) to (D) are satisfied. Since condition (B) has a higher probability that the vehicle 1 will enter the oncoming lane compared to the other conditions, the determination unit 16 can determine that the prediction condition is satisfied when condition (B) is satisfied alone. The determination unit 16 outputs the determination result of whether the prediction condition is satisfied or not to the setting unit 17.

[0029] When the prediction condition is not satisfied, the setting unit 17 sets the execution time of the collision determination to a predetermined normal time. When the prediction condition is satisfied, the setting unit 17 sets the execution time of the collision determination to an earlier time than normal. The setting unit 17 can change the execution time of the collision determination according to the determination result of the determination unit 16.

[0030] The setting unit 17 changes the execution time of the collision determination by changing the threshold value set in the collision determination unit 13. The threshold value set in the collision determination unit 13 is a threshold value that distinguishes whether or not the above-mentioned entry condition is satisfied. In other words, the execution time changing unit 15 changes the execution time of the collision determination by changing the threshold value that distinguishes whether or not the vehicle 1 enters an oncoming lane.

[0031] The threshold value is a predetermined value for at least one of (1) the steering angle of vehicle 1, (2) the change in the steering angle over time, (3) the yaw angle of vehicle 1 relative to the lane in which vehicle 1 is traveling, and (4) the change in the yaw angle over time.

[0032] The entry condition is at least one of: (1) the steering angle of vehicle 1 is greater toward the oncoming lane than a threshold value; (2) the change in the steering angle over time is greater toward the oncoming lane than a threshold value; (3) the yaw angle of vehicle 1 relative to the lane in which vehicle 1 is traveling is greater toward the oncoming lane than a threshold value; and (4) the change in the yaw angle over time is greater toward the oncoming lane than a threshold value.

[0033] When the determination unit 16 determines that the prediction condition is not satisfied, the setting unit 17 sets a predetermined normal first threshold as the threshold in the collision determination unit 13. When the determination unit 16 determines that the prediction condition is satisfied, the setting unit 17 sets a predetermined special second threshold as the threshold in the collision determination unit 13. The second threshold is a value that makes it easier to distinguish that the vehicle 1 is entering an oncoming lane than the first threshold.

[0034] The collision determination unit 13 determines whether or not the entry condition is satisfied based on a threshold value (first threshold value or second threshold value) set by the setting unit 17. If the entry condition is satisfied, the collision determination unit 13 executes a collision determination. If the entry condition is not satisfied, the collision determination unit 13 suspends execution of the collision determination.

[0035] In this embodiment, the threshold value is (1) a value θh that is previously determined for the steering angle θ of the vehicle 1, and the entry condition is (1) that the steering angle θ of the vehicle 1 is larger toward the oncoming lane than the threshold θh. When the prediction condition is not satisfied, the setting unit 17 sets the normal first threshold θh1 as the threshold θh to the collision determination unit 13. When the prediction condition is satisfied, the setting unit 17 sets the special second threshold θh2 as the threshold θh to the collision determination unit 13. The second threshold θh2 is smaller than the first threshold θh1. As a result, when the prediction condition is satisfied, the collision determination unit 13 determines that the vehicle 1 will enter the oncoming lane (the entry condition is satisfied) from the stage when the steering angle θ of the vehicle 1 is small, and therefore performs the collision determination from the stage when the steering angle θ of the vehicle 1 is small. That is, when the prediction condition is satisfied, the collision determination unit 13 performs the collision determination from an earlier stage than when the prediction condition is not satisfied. In other words, when the prediction condition is satisfied, the execution timing change unit 15 changes the execution timing of the collision determination to an earlier timing than when the prediction condition is not satisfied. If the first threshold value θh1 is a normal value, the second threshold value θh2 can be said to be a value that is closer to the earlier execution side of the collision determination than the first threshold value θh1.

[0036] The brake control unit 14 activates the automatic emergency brake of the vehicle 1 according to the result of the collision determination by the collision determination unit 13. When it is determined that there is a possibility of a collision by the collision determination, the brake control unit 14 calculates the time required for the vehicle 1 to collide with an oncoming vehicle (hereinafter also referred to as "time to collision TTC"). The brake control unit 14 determines whether or not to activate the automatic emergency brake based on the calculated time to collision TTC. When activating the automatic emergency brake, the brake control unit 14 calculates the deceleration required for the vehicle 1 to avoid a collision with an oncoming vehicle. The brake control unit 14 generates a braking command, which is a control command to activate the automatic emergency brake, according to the calculated deceleration, and outputs the braking command to the vehicle motion control device 20.

[0037] The vehicle motion control device 20 controls the motion of the vehicle 1 in response to a control command output from the driving assistance control device 10. The vehicle motion control device 20 includes a brake actuator control unit 21 that controls the brake actuator 30. The brake actuator control unit 21 generates a drive control command for controlling the drive of the brake actuator 30 in response to a braking command output from the brake control unit 14 of the automatic emergency braking device 12, and outputs the drive control command to the brake actuator 30.

[0038] The brake actuator 30 includes a drive control device 31 that controls the drive of each actuator constituting the brake actuator 30. The drive control device 31 drives each actuator in response to a drive control command output from the brake actuator control unit 21 of the vehicle motion control device 20. As a result, the automatic emergency brake of the vehicle 1 is activated.

[0039] Fig. 2 is a flowchart showing the process of the automatic emergency braking device 12 shown in Fig. 1. Fig. 3 is a diagram for explaining the collision determination performed in step S108 shown in Fig. 2.

[0040] 2 shows an example in which a vehicle 1 traveling on a relatively heavy traffic trunk road with left-hand traffic makes a right turn at the next intersection or the next intersection while traveling in a lane where a right turn is possible (e.g., a right-turn lane). The automatic emergency braking device 12 executes the process shown in FIG. 2 at a predetermined cycle (e.g., every 50 ms).

[0041] In step S101, the automatic emergency braking device 12 acquires information from the navigation device 2, the turn indicator 3, and the driving lane sensor 4. Specifically, the automatic emergency braking device 12 acquires position information, map information, and driving history information of the vehicle 1 from the navigation device 2. The automatic emergency braking device 12 acquires information informing the driver of a right or left turn of the vehicle 1 from the turn indicator 3. The automatic emergency braking device 12 acquires information on the driving lane of the vehicle 1 from the driving lane sensor 4.

[0042] In step S102, the automatic emergency braking device 12 acquires each piece of information on the state of the vehicle 1 and the oncoming vehicle sensor 5. Specifically, the automatic emergency braking device 12 acquires, as the state of the vehicle 1, the steering angle of the vehicle 1 from the steering angle sensor 6, and the vehicle speed of the vehicle 1 from the vehicle speed sensor 7. The automatic emergency braking device 12 acquires, from the oncoming vehicle sensor 5, information on the oncoming vehicle and oncoming lane, as well as the relative distance and relative speed between the vehicle 1 and the oncoming vehicle.

[0043] In step S103 , the automatic emergency braking device 12 acquires information on the estimated path of the vehicle 1 from the path estimation unit 11 .

[0044] In step S104, the automatic emergency braking device 12 determines whether the prediction condition is satisfied. If the prediction condition is satisfied, the automatic emergency braking device 12 proceeds to step S106. If the prediction condition is not satisfied, the automatic emergency braking device 12 proceeds to step S105.

[0045] In step S105, the automatic emergency braking device 12 sets a normal first threshold value θh1 as the threshold value θh for distinguishing whether or not the vehicle 1 is entering an oncoming lane. After that, the automatic emergency braking device 12 proceeds to step S107.

[0046] In step S106, the automatic emergency braking device 12 sets a second threshold θh2 smaller than the first threshold θh1 as the threshold θh for distinguishing whether or not the vehicle 1 is entering an oncoming lane.

[0047] In step S107, the automatic emergency braking device 12 determines whether the steering angle θ of the vehicle 1 is greater on the oncoming lane side than the threshold value θh. That is, the automatic emergency braking device 12 determines whether the entry condition is satisfied. If the entry condition is satisfied, the automatic emergency braking device 12 proceeds to step S108 to execute a collision determination. If the entry condition is not satisfied, the automatic emergency braking device 12 ends this process shown in FIG. 2 to suspend execution of the collision determination.

[0048] In step S108, the automatic emergency braking device 12 determines whether or not there is a possibility of a collision between the vehicle 1 and the oncoming vehicle, based on the acquired information on the estimated path of the vehicle 1 and the relative distance and relative speed between the vehicle 1 and the oncoming vehicle. That is, the automatic emergency braking device 12 executes a collision determination.

[0049] In Fig. 3, vehicle 1 is traveling in driving lane L1 at a vehicle speed V1 and is about to turn right at an intersection via estimated path P. An oncoming vehicle is traveling in oncoming lane L2 at a vehicle speed V2 and is located before the intersection. In Fig. 3, the relative distance between vehicle 1 and the oncoming vehicle in the direction along driving lane L1 is assumed to be d. The relative speed between vehicle 1 and the oncoming vehicle is assumed to be Vrel.

[0050] In FIG. 3, position Pa is the intersection of the estimated path P of vehicle 1 and the center line Lc, which is the boundary line between the driving lane L1 and the oncoming lane L2. Position Pa indicates the position where vehicle 1 enters the oncoming lane L2. In FIG. 3, the time required for vehicle 1 to reach the entry position Pa is T. Position Pb indicates the position of the oncoming vehicle traveling at vehicle speed V2 after the passage of time T. Position Pc is the intersection of the estimated path P of vehicle 1 and the estimated path of the oncoming vehicle. Position Pc indicates the position where it is estimated that vehicle 1 will collide with the oncoming vehicle (hereinafter also referred to as the "estimated collision position").

[0051] The collision determination unit 13 of the automatic emergency braking device 12 defines a possible collision area X based on an estimated collision position Pc, which is the intersection point between the estimated path P of the vehicle 1 and the estimated path of the oncoming vehicle. The possible collision area X is composed of a margin Xa that is determined in advance taking into consideration the measurement errors of various sensors equipped in the vehicle 1, and a margin Xb that is determined in advance taking into consideration the measurement errors of various sensors equipped in the vehicle 1 and a value equivalent to the vehicle length of the oncoming vehicle. The margin Xa is a portion of the possible collision area X that extends toward the vehicle 1 side from the estimated collision position Pc, and the margin Xb is a portion of the possible collision area X that extends toward the oncoming vehicle side from the estimated collision position Pc.

[0052] The collision determination unit 13 determines that there is a possibility of collision when the position Pb of the oncoming vehicle at the time T has elapsed is within the collision possibility area X. The collision determination unit 13 determines that there is no possibility of collision when the position Pb of the oncoming vehicle at the time T has elapsed is not within the collision possibility area X. If there is a possibility of a collision, the automatic emergency braking device 12 proceeds to step S109. The automatic emergency braking device 12 ends this process shown in FIG. 2 in order to suspend the operation of the automatic emergency braking.

[0053] In step S109, the automatic emergency braking device 12 calculates the collision time TTC required for the vehicle 1 to collide with an oncoming vehicle. When a collision with an oncoming vehicle occurs when the vehicle 1 enters an oncoming lane, the yaw angle of the vehicle 1 when the vehicle 1 enters the oncoming lane is relatively small. Therefore, among the influences of the displacement of the vehicle 1 until the collision with the oncoming vehicle on the collision time TTC, the influence of the lateral displacement is negligibly small, and the influence of the displacement in the straight direction (direction along the driving lane) is dominant. Therefore, the automatic emergency braking device 12 can calculate the collision time TTC using the following formula (1). The relative distance between the vehicle 1 and the oncoming vehicle in the direction along the driving lane L1 is d, and the relative speed between the vehicle 1 and the oncoming vehicle is Vrel. TTC=d / Vrel …(1)

[0054] In step S110, the automatic emergency braking device 12 determines whether the calculated time to collision TTC satisfies the following equation (2). 0 <TTC<Tth …(2)

[0055] The threshold value Tth is a threshold value for distinguishing whether or not to activate the automatic emergency brake of the vehicle 1. The threshold value Tth can be calculated from the following formula (3) using the average braking deceleration Gave at the vehicle speed V1 of the vehicle 1. Tth = V1 / (2 Gave) … (3) For example, the vehicle speed V1 of vehicle 1 is 11.1 [m / s] and the average braking deceleration Gave is 4.9 [m / s 2 ] (i.e., 0.5 G), the threshold Tth is 1.1 [s].

[0056] If the collision time TTC satisfies the formula (2), i.e., if the collision time TTC is less than the threshold value Tth, the automatic emergency braking device 12 proceeds to step S111 to activate the automatic emergency brake. If the collision time TTC does not satisfy the formula (2), i.e., if the collision time TTC is equal to or greater than the threshold value Tth, the automatic emergency braking device 12 ends the process shown in FIG. 2 to suspend activation of the automatic emergency brake.

[0057] In step S111, the automatic emergency braking device 12 calculates the deceleration Gcmd required for the vehicle 1 to avoid a collision with an oncoming vehicle. If a collision with an oncoming vehicle occurs when the vehicle 1 enters an oncoming lane, the vehicle 1 needs to stop before entering the oncoming lane, and the yaw angle of the vehicle 1 before entering the oncoming lane is relatively small. Therefore, among the influences of the displacement of the vehicle 1 until it stops before entering the oncoming lane on the deceleration Gcmd, the influence of the lateral displacement is negligibly small, and the influence of the displacement in the straight direction (direction along the traveling lane) is dominant. Therefore, the automatic emergency braking device 12 can calculate the deceleration Gcmd using the following formula (4). Gcmd = (V1 × Vrel) / (2d) … (4)

[0058] In step S112, the automatic emergency braking device 12 generates a braking command for activating the automatic emergency braking based on the calculated deceleration Gcmd, and outputs the braking command to the vehicle motion control device 20. After that, the automatic emergency braking device 12 ends this process shown in FIG.

[0059] As described above, the automatic emergency braking device 12 of the first embodiment includes a collision determination unit 13 that executes a collision determination to determine whether or not there is a possibility of a collision between the vehicle 1 and an oncoming vehicle, a brake control unit 14 that activates the automatic emergency brake of the vehicle 1 depending on the result of the collision determination, and an execution timing change unit 15 that changes the execution timing of the collision determination. The execution timing change unit 15 includes a determination unit 16 that determines whether or not a prediction condition indicating that the vehicle 1 is predicted to enter an oncoming lane is satisfied, and a setting unit 17 that sets the execution timing of the collision determination to an earlier time when the prediction condition is satisfied than when the prediction condition is not satisfied.

[0060] That is, the automatic emergency braking device 12 of the first embodiment can set the activation timing of the automatic emergency brake, which is activated when it is determined by the collision determination that there is a possibility of collision, earlier than usual when it is predicted in advance that the vehicle 1 will enter an oncoming lane. As a result, the automatic emergency braking device 12 of the first embodiment can prevent the activation of the automatic emergency brake from being delayed even if the vehicle speed is high when it is predicted in advance that the vehicle 1 will enter an oncoming lane. Furthermore, the automatic emergency braking device 12 of the first embodiment can set the activation timing of the automatic emergency brake to a normal time that is carefully determined to prevent the occurrence of erroneous activation when it is not predicted in advance that the vehicle 1 will enter an oncoming lane. As a result, the automatic emergency braking device 12 of the first embodiment can prevent the occurrence of erroneous activation when it is not predicted in advance that the vehicle 1 will enter an oncoming lane. Therefore, the automatic emergency braking device 12 of the first embodiment can achieve both prevention of delay and prevention of erroneous activation of the automatic emergency brake when entering an oncoming lane.

[0061] Furthermore, in the automatic emergency braking device 12 of the first embodiment, the execution timing change unit 15 changes the execution timing of the collision determination by changing the threshold value for distinguishing whether or not the vehicle 1 enters an oncoming lane. When the prediction condition is not satisfied, the setting unit 17 sets the first threshold value as the threshold value in the collision determination unit 13, and when the prediction condition is satisfied, sets the second threshold value, which is easier to distinguish that the vehicle 1 enters an oncoming lane than the first threshold value, as the threshold value in the collision determination unit 13. The collision determination unit 13 determines whether or not an entry condition indicating that the vehicle 1 enters an oncoming lane is satisfied based on the threshold value set by the setting unit 17. When the entry condition is satisfied, the collision determination unit 13 executes the collision determination, and when the entry condition is not satisfied, the execution of the collision determination is suspended.

[0062] As a result, the automatic emergency braking device 12 of the first embodiment can determine whether the vehicle 1 actually enters the oncoming lane (whether the entry condition is satisfied or not) using stricter criteria than usual when the vehicle 1 is predicted to enter the oncoming lane in advance. Furthermore, the automatic emergency braking device 12 of the first embodiment can determine whether the vehicle 1 actually enters the oncoming lane in advance when the vehicle 1 is not predicted to enter the oncoming lane in advance, using normal criteria carefully determined to prevent the occurrence of erroneous operation. And, when the vehicle 1 actually enters the oncoming lane, the automatic emergency braking device 12 of the first embodiment can execute a collision determination and activate the automatic emergency brake, and when the vehicle 1 does not actually enter the oncoming lane, it can suspend the execution of the collision determination and suspend the activation of the automatic emergency brake. Therefore, the automatic emergency braking device 12 of the first embodiment can reliably activate the automatic emergency brake early in a situation where the automatic emergency brake should be activated early, and can reliably not activate the automatic emergency brake when the situation becomes one in which activation of the automatic emergency brake is unnecessary. Therefore, the automatic emergency braking device 12 of the first embodiment can more reliably prevent both delay and erroneous operation of the automatic emergency braking when entering an oncoming lane.

[0063] Furthermore, in the automatic emergency braking device 12 of embodiment 1, the prediction condition is at least one of (A) vehicle 1 entering an intersection, (B) the turn signal 3 of vehicle 1 notifying vehicle 1 of its entry into an oncoming lane, (C) the lane in which vehicle 1 is traveling is a lane for entering an oncoming lane, and (D) vehicle 1 has a driving history of entering an oncoming lane from the lane in which vehicle 1 is traveling.

[0064] As a result, the automatic emergency braking device 12 of the first embodiment can determine whether or not the vehicle 1 is predicted to enter an oncoming lane by simply processing information from sensors and devices equipped on the existing vehicle 1 and driving assistance device. Therefore, the automatic emergency braking device 12 of the first embodiment can easily achieve both prevention of delay and prevention of erroneous operation of the automatic emergency braking when entering an oncoming lane.

[0065] Furthermore, in the automatic emergency braking device 12 of the first embodiment, the threshold for distinguishing whether the vehicle 1 enters an oncoming lane is a value determined in advance for at least one of (1) the steering angle of the vehicle 1, (2) the time change of the steering angle, (3) the yaw angle of the vehicle 1 with respect to the lane in which the vehicle 1 is traveling, and (4) the time change of the yaw angle. The entry condition is at least one of (1) the steering angle of the vehicle 1 being greater toward the oncoming lane than the threshold, (2) the time change of the steering angle being greater toward the oncoming lane than the threshold, (3) the yaw angle of the vehicle 1 with respect to the lane in which the vehicle 1 is traveling being greater toward the oncoming lane than the threshold, and (4) the time change of the yaw angle being greater toward the oncoming lane than the threshold.

[0066] As a result, the automatic emergency braking device 12 of the first embodiment can determine whether or not the vehicle 1 will actually enter an oncoming lane by simply processing information from sensors and devices equipped on the existing vehicle 1 and driving assistance device. Therefore, the automatic emergency braking device 12 of the first embodiment can easily achieve both prevention of delay and prevention of erroneous operation of the automatic emergency braking when entering an oncoming lane.

[0067] [Embodiment 2] An automatic emergency braking device 12 of the second embodiment will be described with reference to Fig. 4. In the automatic emergency braking device 12 of the second embodiment, the description of the same configuration and operation as in the first embodiment will be omitted.

[0068] In the automatic emergency braking device 12 of the second embodiment, the configurations related to the judgment unit 16 and the setting unit 17 of the execution timing change unit 15 are different from those of the first embodiment. The judgment unit 16 of the second embodiment judges whether or not a reset condition indicating that the satisfaction of the prediction condition is reset is satisfied after the prediction condition is satisfied. When the reset condition is satisfied, the setting unit 17 of the second embodiment sets a first threshold value in the collision judgment unit 13 as a threshold value for distinguishing whether or not the entry condition is satisfied. When the reset condition is not satisfied, the setting unit 17 of the second embodiment sets a second threshold value in the collision judgment unit 13 as a threshold value for distinguishing whether or not the entry condition is satisfied.

[0069] The reset condition is at least one of: a predetermined time has elapsed after the prediction condition is met; vehicle 1 has traveled a predetermined distance or more after the prediction condition is met; and vehicle 1 has traveled at a predetermined speed or more after the prediction condition is met.

[0070] FIG. 4 is a flowchart showing the process of the automatic emergency braking device 12 of the second embodiment.

[0071] In steps S101 to S103, the automatic emergency braking device 12 performs the same processes as those in steps S101 to S103 shown in FIG.

[0072] In step S201, the automatic emergency braking device 12 determines whether or not the prediction condition is satisfied. If the prediction condition is satisfied, the automatic emergency braking device 12 proceeds to step S202. If the prediction condition is not satisfied, the automatic emergency braking device 12 proceeds to step S105.

[0073] In step S202, the automatic emergency braking device 12 determines whether or not the reset condition is satisfied. If the reset condition is satisfied, the automatic emergency braking device 12 proceeds to step S203. If the reset condition is not satisfied, the automatic emergency braking device 12 proceeds to step S106.

[0074] In step S203, the automatic emergency braking device 12 resets the satisfaction of the prediction condition. After that, the automatic emergency braking device 12 proceeds to step S105.

[0075] In steps S105 to S112, the automatic emergency braking device 12 performs the same processes as those in steps S105 to S112 shown in Fig. 2. Thereafter, the automatic emergency braking device 12 ends this process shown in Fig. 4.

[0076] If vehicle 1 is no longer entering the oncoming lane, such as after vehicle 1 crosses the oncoming lane or when vehicle 1 stops entering the oncoming lane and continues going straight, if the collision detection execution timing remains set to be earlier than normal, there is a non-zero possibility that a malfunction will occur in which the automatic emergency brake is activated even if the vehicle 1 performs a steering maneuver to correct the swerving.

[0077] As described above, the setting unit 17 of the second embodiment sets the first threshold value in the collision determination unit 13 when the reset condition is satisfied, and sets the second threshold value in the collision determination unit 13 when the reset condition is not satisfied. That is, the execution timing change unit 15 of the second embodiment can return the execution timing of the collision determination to the normal timing when the reset condition is satisfied after the prediction condition is satisfied. Therefore, the automatic emergency braking device 12 of the second embodiment can reliably prevent the occurrence of a malfunction of the automatic emergency braking caused by the continuation of a state in which the execution timing of the collision determination is set earlier than normal. Therefore, the automatic emergency braking device 12 of the second embodiment can achieve both prevention of delay and malfunction of the automatic emergency braking when entering an oncoming lane, and can prevent malfunction when it is not entering an oncoming lane.

[0078] Furthermore, in the automatic emergency braking device 12 of embodiment 2, the reset condition is at least one of: a predetermined time has elapsed after the prediction condition is satisfied; the vehicle 1 has traveled a predetermined distance or more after the prediction condition is satisfied; and the vehicle 1 has traveled at a predetermined speed or more after the prediction condition is satisfied.

[0079] As a result, the automatic emergency braking device 12 of the second embodiment can determine whether or not to reset the satisfaction of the prediction condition by simply processing information from sensors and devices equipped in the existing vehicle 1 and driving assistance device. Therefore, the automatic emergency braking device 12 of the second embodiment can easily prevent erroneous operation of the automatic emergency braking when the vehicle is not entering an oncoming lane.

[0080] [others] The present invention is not limited to the above-described embodiments, and includes various modified examples. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the configurations described. In addition, it is possible to replace a part of the configuration of a certain embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of a certain embodiment. In addition, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.

[0081] In addition, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole by hardware, for example by designing them in an integrated circuit. In addition, the above-mentioned configurations, functions, etc. may be realized by software, in which a processor interprets and executes a program that realizes each function. Information such as the program, tape, file, etc. that realizes each function can be stored in a memory, a recording device such as a hard disk or SSD (solid state drive), or a recording medium such as an IC card, SD card, DVD, etc.

[0082] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be considered that almost all components are connected to each other. [Explanation of symbols]

[0083] 1...vehicle (own vehicle), 3...direction indicator, 12...automatic emergency braking device, 13...collision determination unit, 14...brake control unit, 15...execution time change unit, 16...determination unit, 17...setting unit, L1...driving lane, L2...oncoming lane

Claims

1. a collision determination unit that performs collision determination to determine whether or not there is a possibility of a collision between the host vehicle and an oncoming vehicle; a brake control unit that activates an automatic emergency brake of the host vehicle in response to a result of the collision determination; an execution time change unit that changes the execution time of the collision determination, The execution time change unit is a determination unit that determines whether a prediction condition indicating that the host vehicle is predicted to enter an oncoming lane is satisfied; a setting unit that sets the execution time of the collision determination to an earlier time when the prediction condition is satisfied than when the prediction condition is not satisfied, the execution timing change unit changes a threshold value for determining whether or not the host vehicle is entering the oncoming lane, thereby changing the execution timing of the collision determination; The setting unit is If the prediction condition is not satisfied, a first threshold is set as the threshold in the collision determination unit; When the prediction condition is satisfied, a second threshold value that is easier to distinguish that the host vehicle is entering the oncoming lane than the first threshold value is set as the threshold value in the collision determination unit; The collision determination unit determining whether or not an entry condition indicating that the host vehicle will enter the oncoming lane is satisfied based on the threshold value set by the setting unit; When the entry condition is satisfied, the collision determination is executed; If the entry condition is not satisfied, the execution of the collision determination is suspended. An automatic emergency braking device characterized by:

2. The determination unit determines whether or not a reset condition indicating that the prediction condition is to be reset is satisfied; The setting unit is When the reset condition is satisfied, the first threshold is set as the threshold in the collision determination unit; When the reset condition is not satisfied, the second threshold is set as the threshold in the collision determination unit.

2. The automatic emergency braking system according to claim 1.

3. The prediction condition is at least one of the following: the host vehicle enters an intersection; a turn signal of the host vehicle notifies the host vehicle of its entry into the oncoming lane; the lane in which the host vehicle is traveling is a lane for entering the oncoming lane; and the host vehicle has a travel history of entering the oncoming lane from the lane in which the host vehicle is traveling.

2. An automatic emergency braking system according to claim 1.

4. the threshold value is a value determined in advance for at least one of a steering angle of the host vehicle, a time change in the steering angle, a yaw angle of the host vehicle with respect to a driving lane of the host vehicle, and a time change in the yaw angle, The entry condition is at least one of the following: the steering angle is greater on the oncoming lane side than the threshold; the time change in the steering angle is greater on the oncoming lane side than the threshold; the yaw angle is greater on the oncoming lane side than the threshold; and the time change in the yaw angle is greater on the oncoming lane side than the threshold.

2. An automatic emergency braking system according to claim 1.

5. The reset condition is at least one of: a predetermined time has elapsed since the prediction condition was satisfied; the host vehicle has traveled a predetermined distance or more since the prediction condition was satisfied; and the host vehicle has traveled at a predetermined speed or more since the prediction condition was satisfied.

3. An automatic emergency braking system according to claim 2.

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