Vehicle driving control device

Abstract

To provide a vehicle travel control device that suppresses erroneous detection of a sensor and suppresses malfunction of travel control.SOLUTION: A vehicle travel control device 2 is equipped with an imaging device 11 that obtains an image, a sensor device 21 that obtains peripheral information, an information memory portion 4a that stores a camera position and a sensor position, and a control unit 4. The vehicle travel control device controls travel on the basis of obtained information of a camera and a sensor. The vehicle travel control device is equipped with a travel path detecting portion that detects that a vehicle is traveling on a road satisfying a predetermined condition on the basis of the image, an imaging height detecting portion that detects a distance h3 between a road surface and the camera position during the traveling on the road, an alienating height estimating portion that estimates a depth h5 of an alienating portion on the basis of a detection result of the imaging height detecting portion and a regulation camera position, and a sensor height estimating portion that estimates a distance h4 between an alienating portion upper surface and the sensor position on the basis of an estimation result of the alienating height estimating portion and a regulation sensor position h1. The control unit stops a detection function of the sensor device when an estimation value of the sensor height estimating portion is a predetermined threshold value or less.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for suppressing erroneous detections of various sensors that occur when a vehicle equipped with a cruise control device travels on a road, thereby preventing malfunctions in the vehicle's cruise control. [Background technology]

[0002] In recent years, automatic driving control technology has been developed for vehicles such as automobiles, which allows the vehicle to travel automatically without the driver's operation. In addition, various proposals have been made for vehicle travel control devices that assist the driver's driving operation by utilizing such automatic driving control technology, with the aim of reducing the burden of the driver's driving operation and improving safety when the vehicle is travelling, and these devices are being generally put into practical use.

[0003] For example, conventional vehicle driving control devices are equipped with a surrounding environment recognition device that uses various sensors (autonomous sensor devices) such as an imaging device (camera), a radar device, and a sonar device, and recognize obstacles (e.g., other vehicles, pedestrians, bicycles, motorcycles, and other moving objects and fixed objects) that exist in the vehicle's direction of travel (forward and rearward areas) and in the side areas of the vehicle.Based on the recognition results, driving control such as emergency braking control (AEB (Autonomous Emergency Braking); so-called collision damage mitigation brake) to avoid collision or contact with the obstacles, steering control, and rear side vigilance support control when changing lanes is performed.

[0004] In order to ensure that these various driving controls are always performed safely and reliably, it is desirable that the various sensors included in the driving control device always operate with a predetermined detection accuracy.

[0005] Meanwhile, in recent years, for example, a situation may arise where a road on which a vehicle is traveling is flooded due to heavy rainfall caused by abnormal weather, a typhoon, or the like, causing rivers to overflow. In general, when a vehicle travels on a flooded road, the vehicle may be adversely affected in some cases. For this reason, it is desirable to avoid traveling a vehicle on a flooded road as much as possible. However, depending on the situation of the vehicle, there may be cases where the vehicle has no choice but to travel on a flooded road.

[0006] In response to this, various proposals have been submitted, for example in JP 2018-203042 A, for cruise control devices that perform cruise control to allow a vehicle to safely enter a flooded road.

[0007] The driving control device disclosed in the above-mentioned JP 2018-203042 A and the like estimates the water depth of the flooded area on the flooded road ahead of the vehicle based on surrounding environment information such as three-dimensional image data acquired by an on-board camera and three-dimensional map data, and controls driving based on an entry speed according to the estimated water depth, thereby enabling the vehicle to safely enter and drive through the flooded area. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2018-203042 A Summary of the Invention [Problem to be solved by the invention]

[0009] However, among the various sensors included in conventional driving control devices, some are installed at a relatively low position above the road surface on the outer surface of the vehicle (e.g., a position about 500 mm above the road surface), specifically, on the surfaces of the front and rear bumpers or on the sides of the vehicle, for example.

[0010] When a vehicle with various sensors installed in such positions travels on a flooded road, the various sensors installed in low positions on the outer surface of the vehicle (on the front and rear bumper surfaces, etc.) may not be able to ensure the usual predetermined detection accuracy and may erroneously detect surrounding obstacles, etc. As a result, there is a problem in that malfunction may occur in the driving control for the driving assistance control executed based on the detection results of these various sensors.

[0011] In conventional driving control devices disclosed in the above-mentioned JP 2018-203042 A and the like, no consideration was given to such problems.

[0012] Furthermore, in the past, when a vehicle equipped with a cruise control device was forced to drive through a flooded section of a flooded road, the driver was required to assess the surrounding situation and manually stop certain functions of the various cruise controls that were performed based on the detection results of various sensors depending on the situation.

[0013] However, in such a situation, the driver may not be able to make calm decisions as usual, or the driver may forget to perform a predetermined manual operation.

[0014] The present invention has been made in consideration of the above-mentioned points, and its object is to provide a vehicle driving control device that can prevent malfunction of driving control for driving assistance control by suppressing erroneous detections of various sensors that occur when a vehicle equipped with a driving control device travels on a road. [Means for solving the problem]

[0015] In order to achieve the above object, a vehicle driving control device according to one aspect of the present invention includes an imaging device that acquires the driving environment ahead of the vehicle as image information, a sensor device that acquires surrounding environment information including the sides of the vehicle, an information storage unit that pre-stores height position information of the imaging device and height position information of the sensor device, and a control unit that performs overall control of the entire device. In the vehicle driving control device that controls the driving of the vehicle based on the information acquired by the imaging device and the sensor device, a road detection unit that detects that the vehicle is driving on a road that satisfies predetermined conditions based on the image information acquired by the imaging device, and when the road detection unit detects that the vehicle is driving on a road that satisfies the predetermined conditions, The system includes an imaging height detection unit that detects the height distance from a road surface that satisfies predetermined conditions to an installation position of the imaging device, a deviation height estimation unit that estimates the height of a deviation between the surface of the road on which the wheels of the vehicle are in contact with the ground and the surface of the road that satisfies the predetermined conditions based on the detection result by the imaging height detection unit and predetermined height position information of the imaging device, and a sensor height estimation unit that estimates the distance from an upper surface of the deviation in the direction of gravity to the installation position of the sensor device based on the estimation result by the deviation height estimation unit and predetermined height position information of the sensor device, and the control unit stops the detection function of the sensor device when the estimate by the sensor height estimation unit becomes equal to or less than a predetermined threshold. Effect of the Invention

[0016] According to the present invention, it is possible to provide a vehicle driving control device that can prevent malfunction of driving control for driving assistance control by suppressing erroneous detections of various sensors that occur when a vehicle equipped with the driving control device travels on a road. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a vehicle equipped with a cruise control device according to an embodiment of the present invention. [Diagram 2]FIG. 1 is a conceptual diagram illustrating a specific situation in which a vehicle equipped with a cruise control device according to an embodiment of the present invention travels on a flooded road; [Diagram 3] A flowchart showing the operation related to the present invention among the operations of the cruise control device according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] The present invention will be described below with reference to the illustrated embodiments. The drawings used in the following description are schematic, and the dimensional relationship and scale of each component may be different for each component in order to show each component at a size that can be recognized on the drawing. Therefore, the present invention is not limited to the illustrated form with respect to the quantity of each component, the shape of each component, the size ratio of each component, the relative positional relationship of each component, etc. shown in each drawing.

[0019] A cruise control device according to an embodiment of the present invention is a device that is mounted on a vehicle such as an automobile and executes cruise control to assist the driver of the vehicle in driving the vehicle. The cruise control device according to the present embodiment acquires information about the environment surrounding the vehicle using various sensors such as a camera unit (imaging device) and a radar device. These various sensors are each applied with an autonomous sensor device (autonomous sensor device) that operates autonomously.

[0020] Here, the information on the surrounding environment of the vehicle refers to information on various objects present around the vehicle, such as other vehicles traveling around the vehicle, such as a preceding vehicle, a following vehicle, an oncoming vehicle, a vehicle traveling alongside the vehicle, moving objects such as pedestrians and bicycles, or fixed objects including buildings and various structures, etc. Hereinafter, information on the surrounding environment of the vehicle will be referred to as surrounding environment information, etc.

[0021] The driving control device of this embodiment appropriately uses surrounding environment information acquired using various sensors such as a camera unit and a radar device as information for performing driving control to assist the driving operation of the vehicle driver.

[0022] A schematic configuration of a cruise control device according to one embodiment of the present invention will be described below with reference to Fig. 1. Fig. 1 is a block diagram showing a schematic configuration of a vehicle equipped with a cruise control device according to one embodiment of the present invention.

[0023] As described above, the cruise control device 2 of this embodiment is a device mounted on a vehicle M such as an automobile. The cruise control device 2 basically has a configuration substantially similar to that of a conventional cruise control device of the same type. Therefore, in FIG. 1, only the configurations of the components of the cruise control device 2 of this embodiment that are directly related to the present invention are illustrated, and the illustration of the components that are not directly related to the present invention is omitted. In the following description, the components other than the components directly related to the present invention are assumed to be substantially similar to those of the conventional cruise control device, and detailed description of only the components directly related to the present invention is omitted.

[0024] As shown in FIG. 1, the driving control device 2 of this embodiment is configured to include various sensors (11, 21, etc.) provided to recognize the surrounding environment of the vehicle M, and a control unit 4 that comprehensively controls the entire driving control device 2.

[0025] As various sensors (autonomous sensor devices) for recognizing the surrounding environment of the vehicle M, in addition to, for example, a camera unit 11 which is an imaging device and a radar device 21, etc., although not shown, for example, a longitudinal acceleration sensor which detects the longitudinal acceleration of the vehicle itself, a wheel speed sensor which detects the rotational speed of each of the front, rear, left and right wheels, a gyro sensor which detects the angular velocity or angular acceleration of the vehicle itself, a GNSS (Global Navigation Satellite System) receiver which receives positioning signals transmitted from a plurality of positioning satellites, etc. are provided. These various sensors are connected to, for example, a control unit 4. Then, the control unit 4 receives outputs from these various sensors and appropriately executes a predetermined driving control via a predetermined control unit (not shown).

[0026] The camera unit 11, which is an imaging device, is composed of, for example, a stereo camera consisting of a main camera 11a and a sub-camera 11b fixed to the upper center of the front part of the passenger compartment of the vehicle M, an image processing unit (IPU) 11c connected to the stereo camera (two cameras 11a, 11b), and an image recognition device 11d connected to the IPU 11c.

[0027] The main camera 11a and the sub-camera 11b constituting the stereo camera are, for example, autonomous sensor devices that sense the real space in front of the vehicle M and acquire image information of the surrounding driving environment mainly in front of the vehicle. The main camera 11a and the sub-camera 11b in the stereo camera are arranged, for example, at symmetrical positions on either side of the center in the vehicle width direction. As a result, the stereo camera acquires two sets of image data obtained by capturing a predetermined area (see symbol V in FIG. 2) in front of the vehicle M from different viewpoints using the two cameras 11a and 11b.

[0028] The IPU 11c is a circuit unit that performs a predetermined image processing based on two image data acquired by the two cameras 11a and 11b. For example, the IPU 11c generates stereo image information (three-dimensional image information) based on the two image data acquired by the two cameras 11a and 11b, and generates image information (hereinafter referred to as distance image information) including distance information obtained from the positional deviation amount on the two images for the same object captured in each of the two image data. The distance image information generated in this way is transmitted to the image recognition device 11d.

[0029] The image recognition device 11d receives distance image information etc. transmitted from the IPU 11c, and recognizes the surface condition of the road on which the vehicle M is traveling (hereinafter referred to as road surface condition) based on the distance image information etc. For example, the image recognition device 11d recognizes lane markings dividing the left and right of the driving lane of the road on which the vehicle M is traveling, and obtains various information such as the road curvature [1 / m] of each of the left and right lane markings and the width between the left and right markings (lane width).

[0030] There are various known methods for calculating road curvature and lane width. For example, a binarization process based on brightness differences in image information is performed to recognize the left and right dividing lines, and the curvature of the left and right dividing lines is then calculated for each specified section using a curve approximation formula based on the least squares method.

[0031] Furthermore, the image recognition device 11d performs predetermined pattern matching based on the distance image information to recognize three-dimensional objects such as guardrails, curbs, etc. along the road, as well as pedestrians, motorcycles, and other vehicles other than motorcycles that are present on the road on which the vehicle M is traveling. Here, the recognition of three-dimensional objects in the image recognition device 11d recognizes various information such as the type of the three-dimensional object, the distance to the three-dimensional object, the moving speed of the three-dimensional object, and the relative speed between the three-dimensional object and the vehicle M.

[0032] Furthermore, when recognizing the road surface condition based on the distance image information, the image recognition device 11d also performs the following recognition. For example, when the vehicle M is traveling on a flooded road, the image recognition device 11d recognizes the surface condition of the flooded area (hereinafter, referred to as the water surface condition) based on the distance image information. The flooded area refers to a discrepancy between the surface of the road on which the vehicle's wheels are in contact with the ground and the surface of the road that satisfies a predetermined condition (the flooded road in this embodiment).

[0033] In general, the water surface condition on a flooded road is often choppy, so when the image recognition device 11d recognizes a predetermined condition that is different from a general road surface as a result of recognizing the road surface condition based on the distance image information, it estimates that the vehicle is traveling on a flooded road. Here, the predetermined state is specifically, for example, a state that matches a characteristic water surface condition that represents a rippling water surface. Also, for example, when there are no waves on the water surface, the water surface is completely flat, and at this time, the water surface is considered to be in a state close to a so-called mirror surface. In this case, since the surrounding scenery is reflected on the water surface, it can be estimated that the surface is a water surface that is different from a general road surface. Therefore, in this case, it can also be estimated that the vehicle is traveling on a flooded road.

[0034] In this case, the image recognition device 11d of the camera unit 11 (imaging device) is a road detection unit that detects that the vehicle M is traveling on a road that satisfies predetermined conditions (in this embodiment, a flooded road) based on image information acquired by the two cameras 11a, 11b (imaging devices), and functions as a flood detection unit. As described above, the predetermined conditions here refer to conditions under which the recognition result of the road surface condition by the image recognition device 11d is a predetermined state different from a general road surface, for example, a condition under which it is estimated that the road surface is a water surface or a snow-covered surface, etc. Recognition conditions such as a water surface or a snow-covered surface can be determined using a conventionally known image recognition technology.

[0035] Also, at this time, image recognition device 11d detects the distance between the recognized water surface (see reference symbol 110a in FIG. 2) and the camera position (see reference symbol h3 in FIG. 2). In this case, when image recognition device 11d, which serves as the driving path detection unit and submergence detection unit, detects that vehicle M is traveling on a road that satisfies predetermined conditions (a flooded road in this embodiment), it serves as an imaging height detection unit that detects the height distance from the surface of the road that satisfies the predetermined conditions (a flooded road in this embodiment), i.e., the water surface of the submerged area, to the installation positions of two cameras 11a, 11b (imaging devices), and functions as a water surface height detection unit.

[0036] The control unit 4 is configured by a well-known microcomputer including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a non-volatile storage unit, and peripheral devices thereof. The ROM stores programs executed by the CPU and fixed data such as data tables in advance. In particular, the ROM stores, for example, information on the installation positions of the radar device 21 and the camera unit 11 in the vehicle M in advance. Thus, the ROM functions as an information storage unit 4a that stores in advance height position information of the camera unit 11 (imaging device) and height position information of the radar device 21 (sensor device).

[0037] Here, the installation position information of the camera unit 11 is specifically, for example, information on the height direction distance from the wheel contact surface (road surface; see reference numeral 100a in FIG. 2) of the vehicle M to the installation positions of the two cameras 11a and 11b (see reference numeral h2 in FIG. 2). Similarly, the installation position information of the radar device 21 is specifically, for example, information on the height direction distance from the wheel contact surface (road surface; see reference numeral 100a in FIG. 2) of the vehicle M to the installation position of the radar device 21 (see reference numeral h1 in FIG. 2). Therefore, each installation position information of the radar device 21 and the camera unit 11 (reference numerals h1 and h2 in FIG. 2) is information that is treated as a fixed value (predefined value) that is predefined for a specific vehicle M.

[0038] The radar device 21 is composed of a plurality of radar devices. In this embodiment, an example is shown in which the vehicle M has four radar devices. Here, the plurality (four) of radars include, for example, a left front-side radar device 21fl, a right front-side radar device 21fr, a left rear-side radar device 21rl, and a right rear-side radar device 21rr. Each of these plurality of radar devices (21fl, 21fr, 21rl, 21rr) is connected to the control unit 4.

[0039] Of the multiple radar devices (21fl, 21fr, 21rl, 21rr) in the radar device 21, the left front side radar device 21fl and the right front side radar device 21fr are provided, for example, on the left and right sides of a front bumper of the vehicle M, respectively. The left front side radar device 21fl and the right front side radar device 21fr recognize objects in areas diagonally forward and to the left and right of the vehicle M that cannot be recognized by image data acquired by the stereo camera (two cameras 11a and 11b). Note that a part of the area recognized by the left front side radar device 21fl and the right front side radar device 21fr is set to overlap a part of the area recognized by the stereo camera (two cameras 11a and 11b). This allows the stereo camera (two cameras 11a, 11b) and the left front-side radar device 21fl and right front-side radar device 21fr to recognize almost the entire area from the left and right sides toward the front of the vehicle M.

[0040] Among the multiple radar devices (21fl, 21fr, 21rl, 21rr) in the radar device 21, the left rear side radar device 21rl and the right rear side radar device 21rr are provided, for example, on the left and right sides of the rear bumper of the vehicle M, respectively. These left rear side radar device 21rl and right rear side radar device 21rr recognize objects in the area from the left and right sides toward the rear of the vehicle M to the rear, which cannot be recognized by the above-mentioned left front side radar device 21fl and right front side radar device 21fr. Note that the areas recognized by the left rear side radar device 21rl and the right rear side radar device 21rr are set to overlap each other in part. As a result, the left rear side radar device 21rl and the right rear side radar device 21rr are configured to be able to recognize almost the entire area from the left and right sides toward the rear of the vehicle M to the rear.

[0041] In this way, the radar device 21 is a sensor device that acquires surrounding environment information in front of, behind, and on the left and right sides of the vehicle M. As the radar device 21, for example, a millimeter wave radar device, a laser radar device, a LiDAR (Light Detection and Ranging) device, etc. are applied.

[0042] The radar device 21 emits radar waves (radio waves, laser beams, etc.) in the horizontal direction for each preset frame period and receives the reflected waves of the emitted radar waves. In this way, the radar device 21 detects a plurality of reflection points on a three-dimensional object existing around the vehicle M. Then, the radar device 21 recognizes the three-dimensional object by analyzing the positions (relative positions with respect to the vehicle itself) and moving speeds of the detected plurality of reflection points and performing grouping processing.

[0043] Furthermore, the radar device 21 sets, among the reflection points on the recognized three-dimensional object, the reflection point that is closest in straight-line distance to the vehicle M as a representative point of the three-dimensional object. Then, the radar device 21 recognizes, as information on the representative point, for example, the position and relative speed of the reflection point corresponding to the representative point, and also recognizes the size of the three-dimensional object calculated from the distribution of the reflection points.

[0044] The information on the objects recognized by the radar device 21 in this manner is input to the control unit 4. In response to this, the control unit 4 can recognize as three-dimensional objects not only a preceding vehicle in front of the vehicle M, other vehicles traveling parallel to the left and right sides of the vehicle M, other intersecting vehicles approaching the vehicle M from a direction intersecting the traveling path of the vehicle M at an intersection or the like, and other following vehicles behind the vehicle M, but also various moving objects such as pedestrians and bicycles that are present around the vehicle M.

[0045] The control unit 4 controls, for example, the operation status of the camera unit 11 and the radar device 21, receives detection results (surrounding environment information data) from each sensor, and sends them to a predetermined configuration unit (not shown) to appropriately contribute to predetermined driving control. The schematic configuration of the driving control device 2 of this embodiment has been described above.

[0046] The operation of the cruise control device 2 of this embodiment configured as described above will be described below with reference to Figures 2 and 3. Figure 2 is a conceptual diagram illustrating a specific situation in which a vehicle equipped with a cruise control device of one embodiment of the present invention travels on a flooded road. Also, Figure 3 is a flow chart illustrating the operation of the cruise control device of one embodiment of the present invention that is related to the present invention.

[0047] The processing sequence shown in Fig. 3 is a process that is continuously executed at all times in parallel with various controls of the driving control device 2 of this embodiment. That is, the processing sequence of Fig. 3 is started to be executed at the same time as the driving control device 2 starts to operate, and is continuously executed while the driving control device 2 is operating. Then, the processing sequence is stopped at the same time as the operation of the driving control device 2 is stopped.

[0048] A vehicle M equipped with the cruise control device 2 of this embodiment is assumed to be traveling on a flooded road, as shown in Fig. 2. In Fig. 2, reference numeral 100 conceptually indicates a road cross section (hereinafter referred to as road 100), and reference numeral 100a indicates the surface of the road 100 (hereinafter referred to as road surface 100a).

[0049] The situation illustrated in Figure 2 shows a situation in which a road 100 is flooded, where reference numeral 110 in Figure 2 conceptually indicates a cross-section of the flooded portion (hereinafter referred to as the flooded portion 110), and reference numeral 110a indicates the surface of the flooded portion 110 (hereinafter referred to as the water surface 110a).

[0050] In FIG. 2, the symbol V conceptually indicates the viewing range (of the vertical angle of view) of the two cameras 11a and 11b in the camera unit 11 (hereinafter referred to as viewing range V).

[0051] 2 indicates the height distance (hereinafter referred to as sensor height h1) from the road surface 100a to the installation position of the radar device 21, which is one of the various sensors included in the cruise control device 2. This sensor height h1 is a specified value specific to the vehicle M on which the cruise control device 2 is mounted.

[0052] The vehicle M on which the cruise control device 2 of this embodiment is mounted is assumed to be a standard passenger car, as shown in Fig. 2. Therefore, the sensor height h1 in the vehicle M is assumed to be, for example, about 500 mm, taking into consideration the positions of the front and rear bumpers of the vehicle M. The specified value of the sensor height h1 is appropriately set to a different value depending on the type of the vehicle M.

[0053] 2 indicates the height distance from the road surface 100a to the installation positions of the two cameras 11a, 11b of the camera unit 11 in the driving control device 2 (hereinafter referred to as the camera height h2). Like the sensor height h1, this camera height h2 is a specified value specific to the vehicle M on which the driving control device 2 is mounted. For the specified value of the camera height h2 as well, a different numerical value is appropriately applied depending on the type of vehicle M.

[0054] 2 indicates the height distance from the water surface 110a to the installation positions of the two cameras 11a and 11b (hereinafter referred to as the camera height h3 from the water surface). This camera height h3 from the water surface is an estimated value that is detected at the same time that the image recognition device 11d of the camera unit 11 recognizes the water surface conditions.

[0055] 2 indicates the height distance from the water surface 110a to the installation position of the radar device 21 (hereinafter referred to as the sensor height h4 from the water surface). This sensor height h4 from the water surface is an estimated value calculated by the control unit 4.

[0056] 2 indicates the height distance from the road surface 100a to the water surface 110a, that is, the water depth of the submerged portion 110 (hereinafter referred to as water depth h5). This water depth h5 is an estimated value calculated by the control unit 4.

[0057] Under such circumstances, the driving control device 2 uses various sensors such as the camera unit 11 and the radar device 21 to recognize the surrounding environment of the vehicle M while driving (step S11 in FIG. 3).

[0058] Specifically, the camera unit 11 acquires two image data of the real space of the field of view V, which is a predetermined area in front of the vehicle M, using the two cameras 11a and 11b, and the acquired two image data are sent to the IPU 11c. In response to this, the IPU 11c performs a predetermined image processing to generate stereo image information (three-dimensional image information) and also generates distance image information, etc. The distance image information, etc. thus generated are sent to the image recognition device 11d. In response to this, the image recognition device 11d recognizes the road surface condition or the water surface condition. The recognition result is transmitted from the image recognition device 11d to the control unit 4. In this case, if the recognition result is the water surface condition, the image recognition device 11d further detects the camera height h3 from the water surface based on the recognition result of the recognized water surface condition. This information on the camera height h3 from the water surface is also transmitted from the image recognition device 11d to the control unit 4.

[0059] 3, the control unit 4 receives the recognition result of the road surface condition or water surface condition by the image recognition device 11d, and checks whether the vehicle M is currently traveling on a flooded road. In this case, if it is confirmed that the vehicle M is traveling on a flooded road, the process proceeds to step S13. On the other hand, if it is confirmed that the vehicle M is not traveling on a flooded road but is traveling on a normal road, the process returns to step S11.

[0060] As described above, when the recognition result by the image recognition device 11d is the water surface state, the image recognition device 11d detects the camera height h3 from the water surface based on the recognition result of the recognized water surface state (step S13 in FIG. 3). This information is transmitted from the image recognition device 11d to the control unit 4.

[0061] Next, in step S14, the control unit 4 calculates an estimated value of the water depth h5. Here, the water depth h5 is calculated based on the camera height h2 (a specified value) and the camera height h3 from the water surface detected in the process of step S13 described above, as follows: h5=h2-h3 … (1) It can be calculated using formula (1) above.

[0062] In this case, the control unit 4 functions as a water depth estimation unit that estimates the water depth h5 (height of the divergence part) of the submerged part 110 based on the detection results by the image recognition device 11d, which is an imaging height detection unit and a water surface height detection unit, and the pre-defined height position information (predefined value) of the camera unit 11. Next, in step S15, the control unit 4 calculates an estimated value of the sensor height h4 from the water surface. Here, the sensor height h4 from the water surface is calculated based on the sensor height h1 (predetermined value) and the water depth h5 calculated in the process of step S14 described above, as follows: h4=h1-h5 … (2) It can be calculated using formula (2) above.

[0063] In this case, the control unit 4 functions as a deviation height estimation unit and a sensor height estimation unit that estimates the distance h4 from the water surface 110a (upper surface in the direction of gravity) of the submerged portion 110 (deviation portion) to the installation position of the radar device 21 based on the estimation result of the water depth h5 estimated by the water depth estimation unit and the height position information (predefined value) of the radar device 21 (sensor device) that is specified in advance.

[0064] Next, in step S16, the control unit 4 checks whether the sensor height h4 from the water surface calculated in the process of step S15 described above is smaller than a predetermined threshold value H or not.

[0065] In general, the deeper the water depth h5 of the submerged portion 110, the closer the distance between the water surface 110a and the installation position of the radar device 21. In this case, if the water surface 110a approaches the installation position of the radar device 21 by a predetermined distance or more, it may become difficult for the radar device 21 to operate with normal detection accuracy.

[0066] Therefore, in the cruise control device 2 of this embodiment, a predetermined distance between the water surface 110a and the installation position of the radar device 21 when operation with a normal predetermined detection accuracy by the radar device 21 can be ensured is set in advance as a predetermined threshold value H. Specifically, when the sensor height h1 (prescribed value) is, for example, about 500 mm, the predetermined threshold value H is set to about 200 to 300 mm.

[0067] 3, if it is confirmed that h4>H is not satisfied, the process proceeds to step S17. If it is confirmed that h4>H is satisfied, the process proceeds to step S19.

[0068] In step S17, the control unit 4 checks whether the radar device 21 is in an off state (detection function disabled state). If it is confirmed that the radar device 21 is in an off state, the process returns to step S11. If it is confirmed that the radar device 21 is not in an off state (is in an on state), the process proceeds to step S18.

[0069] In step S18, the control unit 4 executes a sensor-off process for stopping the detection function of the radar device 21. After that, the process returns to step S11.

[0070] On the other hand, in step S19, the control unit 4 checks whether the radar device 21 is on (detection function operating state). If it is confirmed that the radar device 21 is on, the process returns to step S11. If it is confirmed that the radar device 21 is not on (off), the process proceeds to step S20.

[0071] In step S20, the control unit 4 executes a sensor-on process for starting the operation of the detection function of the radar device 21. After that, the process returns to step S11.

[0072] As described above, according to the embodiment, even when driving on a flooded road, if a situation arises in which erroneous detection of various sensors included in the driving control device 2 is likely to occur, the function of the corresponding sensor device (in this embodiment, the radar device 21 is exemplified) is automatically switched to an off state, thereby suppressing the occurrence of erroneous detection of the sensor device. This makes it possible to reliably suppress malfunctions of driving control for driving assistance control performed based on the detection results of the sensor device. Therefore, safer and more reliable vehicle driving control can be performed.

[0073] In this embodiment, the sensor device whose detection function is stopped while driving on a flooded road is exemplified as the radar device 21, but this is not limited to this, and the present invention can be easily applied to cases where other sensor devices are the target.

[0074] In addition, in this embodiment, an example of a situation in which a vehicle equipped with the cruise control device 2 travels on a flooded road is described, but the response of the cruise control device 2 of the present invention is not limited to travel on flooded roads. The cruise control device 2 of the present invention can also respond to, for example, a snow-covered road situation in addition to a flooded road situation.

[0075] In this case, the flooding detection unit (image recognition device 11d) as a driving path detection unit in the above-mentioned embodiment functions as a snow accumulation detection unit as a driving path detection unit that detects that the vehicle is traveling on a road that satisfies predetermined conditions (here, a snow-covered road) based on image information acquired by the imaging device (camera unit 11).

[0076] In addition, the water surface height detection unit (image recognition device 11d) as an imaging height detection unit in the above-mentioned embodiment functions as a snow height detection unit as an imaging height detection unit that detects the vertical distance from the surface of the snow to the installation position of the imaging device (camera unit 11) when the snow detection unit detects that the vehicle is traveling on a snow-covered road.

[0077] The water depth estimation unit (control unit 4) as the deviation height estimation unit in the above-mentioned embodiment functions as a snow depth estimation unit that estimates the snow depth based on the detection result by the snow height detection unit as the deviation height estimation unit and the height position information of the imaging device (camera unit 11) that is specified in advance.

[0078] The sensor height estimation unit (control unit 4) in the above-described embodiment functions as a constituent unit that estimates the distance from the surface of the snow to the installation position of the sensor device (radar device 21) based on the estimation result by the snow depth estimation unit and predefined height position information of the sensor device (radar device 21).

[0079] By configuring in this way, the driving control device 2 of the above-described embodiment can function in the same way and obtain the same effects even when driving on snowy roads.

[0080] The present invention is not limited to the above-mentioned embodiment, and various modifications and applications can be implemented within the scope of the gist of the invention. Furthermore, the above-mentioned embodiment includes inventions at various stages, and various inventions can be extracted by appropriate combinations of the disclosed multiple constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the above-mentioned one embodiment, if the problem to be solved by the invention can be solved and the effect of the invention can be obtained, the configuration from which the constituent elements are deleted can be extracted as the invention. Furthermore, the constituent elements across different embodiments may be appropriately combined. The present invention is not restricted by its specific embodiment except as limited by the attached claims. [Explanation of symbols]

[0081] 2...Drive control device 4…Control unit 4a...Information storage section 11...Camera unit 11a…Main camera 11b…Sub camera 11c…Image Processing Unit (IPU) 11d…Image recognition device 21...Radar device 21fl…Left front side radar device 21fr…Right front side radar device 21rl…Left rear side radar device 21rr…Right rear side radar device 100…road 100a...Road surface 110…Flooded area 110a…Water surface H: Predetermined threshold M…Vehicle V: Field of view (vertical) h1: Sensor height h1 h2…Camera height h3…Camera height from the water surface h4: Sensor height above the water surface h5…Water depth

Claims

1. A vehicle travel control device includes an imaging device that acquires a travel environment in front of a vehicle as image information, a sensor device that acquires surrounding environment information including the sides of the vehicle, an information storage unit that stores height position information of the imaging device and height position information of the sensor device in advance, and a control unit that performs overall control of the entire device, the vehicle travel control device controlling the travel of the vehicle based on information acquired by the imaging device and the sensor device, a roadway detection unit that detects whether the vehicle is traveling on a road that satisfies a predetermined condition based on image information acquired by the imaging device; an imaging height detection unit that detects, when the roadway detection unit detects that the vehicle is traveling on a road that satisfies a predetermined condition, a distance in a height direction from a surface of the road that satisfies the predetermined condition to an installation position of the imaging device; a deviation height estimation unit that estimates a height of a deviation between a surface of a road on which the wheels of the vehicle are in contact with ground and a surface of the road that satisfies the predetermined condition, based on a detection result by the imaging height detection unit and predetermined height position information of the imaging device; a sensor height estimation unit that estimates a distance from an upper surface of the deviation portion in the gravity direction to an installation position of the sensor device based on an estimation result by the deviation height estimation unit and predefined height position information of the sensor device; Equipped with The control unit stops a detection function of the sensor device when the estimated value by the sensor height estimation unit becomes equal to or smaller than a predetermined threshold value.

2. the road on which the vehicle satisfies the predetermined condition is a flooded road; the roadway detection unit is a flood detection unit that detects whether the vehicle is traveling on a flooded road based on image information acquired by the imaging device, the imaging height detection unit is a water surface height detection unit that detects a distance in a height direction from a water surface of the submerged portion, which is the deviation portion, to an installation position of the imaging device when the submergence detection unit detects that the vehicle is traveling on a flooded road; the deviation height estimation unit is a water depth estimation unit that estimates the water depth of the submerged portion based on a detection result by the water surface height detection unit and predetermined height position information of the imaging device, 2. The vehicle driving control device according to claim 1, wherein the sensor height estimation unit estimates a distance from the water surface of the submerged portion to an installation position of the sensor device based on an estimation result by the water depth estimation unit and predetermined height position information of the sensor device.

3. the road on which the vehicle satisfies the predetermined condition is a snow-covered road, the roadway detection unit is a snow accumulation detection unit that detects whether the vehicle is traveling on a snow-covered road based on image information acquired by the imaging device; the imaging height detection unit is a snow accumulation height detection unit that detects a distance in a height direction from a surface of the snow accumulation portion, which is the deviation portion, to an installation position of the imaging device when the snow accumulation detection unit detects that the vehicle is traveling on a snow-covered road, the deviation height estimation unit is a snow depth estimation unit that estimates the depth of the snow accumulation portion based on a detection result by the snow accumulation height detection unit and predetermined height position information of the imaging device, The vehicle driving control device described in claim 1, characterized in that the sensor height estimation unit estimates the distance from the surface of the snow accumulation area to the installation position of the sensor device based on the estimation result by the snow accumulation depth estimation unit and predetermined height position information of the sensor device.

4. 3. The vehicle driving control device according to claim 2, wherein the predetermined threshold value is set to a value corresponding to a minimum distance between the sensor device and the water surface of the submerged portion when the sensor device can ensure operation with a predetermined detection accuracy.

5. A driving control device for a vehicle as described in Claim 3, characterized in that the specified threshold value is set to a value equivalent to the minimum distance between the sensor device and the surface of the snow-covered area when operation of the sensor device with a specified detection accuracy can be ensured.

6. the imaging device is a camera unit including a stereo camera consisting of two cameras, The sensor device is a millimeter wave radar device, 4. The vehicle cruise control device according to claim 2, wherein the millimeter wave radar device is installed at a position closer to a road surface than the camera unit.

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