Vehicle collision avoidance support device

Abstract

To provide a vehicle collision avoidance support device for enabling a driver to start a steering wheel operation to avoid a collision at as early a timing as possible.SOLUTION: When a driver of a self vehicle 100 performs a collision avoidance steering operation for turning the self vehicle in order to avoid a collision between the self vehicle and an object 200 present in front of the self vehicle when the self vehicle has a possibility to collide with the object, a vehicle collision avoidance support device 10 performs collision avoidance steering operation assistance for adding steering force to assist the collision avoidance steering operation to the self vehicle. The vehicle collision avoidance support device includes a peripheral information detection device for detecting peripheral information of the self vehicle including a front side of the self vehicle. When it is determined that the self vehicle has a possibility to collide with the object present in front of the self vehicle based on the information detected by the peripheral information detection device, a notification is issued to notify the driver of necessity to perform the collision avoidance steering operation.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a vehicle collision avoidance assistance device. [Background technology]

[0002] A vehicle collision avoidance assistance device is known that, when a driver determines that there is a possibility that the vehicle will collide with an object in front and performs steering operation to avoid a collision between the vehicle and the object, applies a steering torque (auxiliary steering torque) to the steering shaft to assist in the steering operation, thereby making it possible to more reliably avoid a collision between the vehicle and the object (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-39017 A Summary of the Invention

[0004] A conventional vehicle collision avoidance support device starts applying an auxiliary steering torque to the steering shaft when the driver starts a steering operation to avoid a collision between the vehicle and an object (a collision avoidance steering operation). Therefore, if the driver is late in starting the collision avoidance steering operation, the driver must perform a large collision avoidance steering operation, and the vehicle collision avoidance support device must apply a large auxiliary steering torque to the steering shaft, which may result in the vehicle being unable to safely avoid a collision between the vehicle and the object.

[0005] An object of the present invention is to provide a vehicle collision avoidance assistance device that allows a driver to start a collision avoidance steering operation as early as possible.

[0006] The vehicle collision avoidance support device according to the present invention includes a control device that performs a collision avoidance steering operation assistance by applying a steering force to the host vehicle to assist in a collision avoidance steering operation when the driver of the host vehicle performs a collision avoidance steering operation to turn the host vehicle in order to avoid a collision between the host vehicle and the object when there is a possibility that the host vehicle will collide with an object present in front of the host vehicle.Furthermore, the vehicle collision avoidance support device according to the present invention includes a surrounding information detection device that detects information about the surroundings of the host vehicle including the area in front of the host vehicle.The control device detects the surroundings of the host vehicle including the area in front of the host vehicle based on the information detected by the surrounding information detection device. The first object is When it is determined that there is a possibility of a collision with the vehicle, the vehicle driver is notified that a collision avoidance steering operation is required. 1. Provide notifications. Furthermore, when it is necessary to turn the host vehicle in one direction and then in the opposite direction to avoid a collision between the host vehicle and the first object, the control device provides a second notification, which is a notification to notify the driver that a collision avoidance steering operation needs to be performed to turn the host vehicle in the opposite direction and cause the host vehicle to travel straight.

[0007] According to the present invention, the vehicle 1. When it is determined that there is a possibility of collision with an object and that the driver needs to perform a collision avoidance steering operation, a notification is issued to inform the driver that a collision avoidance steering operation is required. This increases the likelihood that the driver will be made aware of the need to perform a collision avoidance steering operation even in a situation where the driver does not realize that a collision avoidance steering operation is required. This makes it possible to have the driver start a collision avoidance steering operation early, and as a result, it is possible to more safely avoid a collision between the host vehicle and an object. Furthermore, according to the present invention, after the driver starts a collision avoidance steering operation, the driver can be prompted to perform a desirable collision avoidance steering operation to safely avoid a collision between the vehicle and the first object.

[0010] The control device also determines whether the vehicle and the vehicle obstacle are in a collision avoidance steering operation when the collision avoidance steering operation assistance is started. 1. The vehicle may be configured to set a driving path of the vehicle to avoid a collision with an object as a target collision avoidance path, and if the vehicle deviates from the target collision avoidance path by a predetermined distance or more, to notify the driver that the collision avoidance steering operation needs to be performed in a direction to bring the vehicle closer to the target collision avoidance path.

[0011] According to the present invention, after the driver starts a collision avoidance steering operation, 1. It is possible to prompt the driver to perform a desirable collision avoidance steering operation in order to safely avoid a collision with an object.

[0012] In addition, in the case where the vehicle collision avoidance support device according to the present invention is equipped with a display device for displaying an image, the control device 1. An image showing the contents of the notification is displayed on the display device. 1. Notify and performing the second notification by displaying an image representing the content of the second notification on the display device. It may be configured as follows.

[0013] If an image indicating that a specific collision avoidance steering operation is required is presented to the driver, the driver can intuitively understand that the specific collision avoidance steering operation is required. 1. Notice and Second Notice This is done by displaying an image, so that the driver can more reliably understand that a specific collision avoidance steering operation is required.

[0014] In addition, in the case where the vehicle collision avoidance support device according to the present invention is provided with a steering wheel operated by the driver to turn the host vehicle, the control device may be configured to control the host vehicle and the 1. By displaying an image representing the steering wheel on the display device while indicating a direction in which the steering wheel should be operated to avoid a collision with an object, 1. notification and the second notice The control unit 10 may be configured to perform the following steps.

[0015] If the driver is notified that a specific collision avoidance steering operation is required by using an image of the steering wheel while indicating the direction in which the steering wheel should be turned, the driver can more intuitively understand how the specific collision avoidance steering operation is required. 1. Notice and Second Notice This is done by displaying an image of the steering wheel while indicating the direction in which the steering wheel should be operated, so that the driver can more reliably understand that a specific collision avoidance steering operation is required. Furthermore, in a case where the vehicle collision avoidance assistance device according to the present invention includes a display device for displaying an image, the control device may be configured to set a travel path of the host vehicle for avoiding a collision between the host vehicle and the first object as a target collision avoidance path when starting the collision avoidance steering operation assistance. In this case, the first notification, for example, causes the display device to display a handle image representing a handle of the host vehicle and an arrow image representing an arrow of a first shape with a first length, and the second notification, for example, causes the display device to display the handle image in a neutral position and the arrow image of a second shape changed from the first shape with a second length shorter than the first length based on the positional relationship between the current position of the host vehicle and the target collision avoidance path. In addition, when the control device determines that there is a possibility that the host vehicle will collide with a second object different from the first object while the collision avoidance steering operation assistance is being performed, the control device may be configured to perform collision avoidance braking to avoid a collision between the host vehicle and the second object by applying a braking force to the host vehicle to forcibly stop it, and when the collision avoidance braking is being performed, to provide a notification to inform the driver that the collision avoidance braking is being performed, instead of the first notification or the second notification. Furthermore, the control device may be configured to terminate the collision avoidance steering operation assist when a steering operation assist termination condition, which is a condition for terminating the collision avoidance steering operation assist, is satisfied after the start of the collision avoidance steering operation assist. Furthermore, the steering operation assistance termination condition is, for example, at least one of the following conditions: the host vehicle is passing straight past the first object; the driver input torque input by the driver to the steering shaft of the host vehicle via the steering wheel of the host vehicle has reached a predetermined torque or greater; or the host vehicle has stopped when the control device is configured to brake the host vehicle while the collision avoidance steering operation assistance is being performed. Furthermore, the control device may be configured to determine that the host vehicle is passing straight beside the first object when an absolute value of the yaw angle of the host vehicle becomes equal to or less than a predetermined yaw angle, or when an absolute value of the yaw rate of the host vehicle becomes equal to or less than a predetermined yaw rate.

[0016] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing a vehicle collision avoidance support device according to an embodiment of the present invention and a vehicle (host vehicle) on which the vehicle collision avoidance support device is mounted. [Diagram 2] FIG. 2A is a diagram showing the dividing lines that define the lane in which the vehicle is traveling (the vehicle's lane), FIG. 2B is a diagram showing the yaw angle of the vehicle, and FIG. 2C is also a diagram showing the yaw angle of the vehicle. [Diagram 3] FIG. 3(A) is a diagram showing the vehicle driving area, FIG. 3(B) is a diagram showing a scene in which an object (vehicle) is present in the vehicle driving area, and FIG. 3(C) is a diagram showing a collision avoidance route. [Figure 4]FIG. 4(A) is a diagram showing a steering wheel image and an arrow image before the driver starts a collision avoidance steering operation, and FIG. 4(B) is a diagram showing a steering wheel image and an arrow image after the driver starts a collision avoidance steering operation. [Diagram 5] FIG. 5(A) is a diagram showing a target collision avoidance path, FIG. 5(B) is a diagram showing a scene immediately after the driver starts a collision avoidance steering operation, and FIG. 5(C) is a diagram showing a scene in which the vehicle is traveling while avoiding an object after the driver starts a collision avoidance steering operation. [Figure 6] FIG. 6 is a diagram showing a situation in which a condition for terminating the collision avoidance steering assist is met. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle collision avoidance assistance device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle collision avoidance assistance device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the vehicle collision avoidance assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a vehicle collision avoidance support device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a vehicle collision avoidance support device 10 according to an embodiment of the present invention is mounted on a host vehicle 100.

[0019] <ecu> The vehicle collision avoidance support device 10 includes an ECU 90. ECU is an abbreviation for electronic control unit. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and an interface. The CPU realizes various functions by executing instructions, programs, or routines stored in the ROM.

[0020] <Drive unit, etc.> In addition, the host vehicle 100 is equipped with a drive device 21, a braking device 22, and a steering device 23.

[0021] <Drive unit> The drive device 21 is a device that outputs a drive torque TQ_D (drive force) that is applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive torque TQ_D output from the drive device 21 by controlling the operation of the drive device 21.

[0022] <Brake device> The braking device 22 is a device that outputs a braking torque TQ_B (braking force) that is applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a brake device. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking torque TQ_B output from the braking device 22 by controlling the operation of the braking device 22.

[0023] <Steering system> The steering device 23 is a device that outputs a steering torque TQ_S (steering force) that is applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering torque TQ_S output from the steering device 23 by controlling the operation of the steering device 23.

[0024] <Display device> Furthermore, the vehicle 100 is equipped with a display device 30. The display device 30 is a device that displays various images so that the driver of the vehicle 100 can see them, and is, for example, a head-up display, a multi-information display, or a display of a navigation device. The head-up display is a display device that displays images by projecting the images onto the windshield of the vehicle. The multi-information display is a display device that is provided in a combination meter installed in the instrument panel of the vehicle and displays images. The navigation device is a device that displays a map on its display and also displays the position of the vehicle 100, thereby displaying the position of the vehicle 100 on the map and providing guidance on a route to a destination.

[0025] The display device 30 is electrically connected to the ECU 90. The ECU 90 can cause the display device 30 to display various images.

[0026] <Sound equipment> Furthermore, the vehicle 100 is equipped with an acoustic device 40. The acoustic device 40 is a device that outputs sounds, and includes a voice output device 41 and an alarm sound output device 42. The voice output device 41 is a device that outputs various sounds, such as a speaker. The alarm sound output device 42 is a device that outputs various alarm sounds, such as a buzzer.

[0027] The audio device 40 is electrically connected to the ECU 90. The ECU 90 can cause the audio device 40 to output various sounds and various warning sounds.

[0028] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 51, a brake pedal 52, a steering wheel 53, a steering shaft 54, an accelerator pedal operation amount sensor 61, a brake pedal operation amount sensor 62, a steering angle sensor 63, a steering torque sensor 64, a vehicle speed detection device 65, a vertical acceleration sensor 66, a lateral acceleration sensor 67, a yaw rate sensor 68 and a surrounding information detection device 69.

[0029] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 61 is a sensor that detects the amount of operation of the accelerator pedal 51. The accelerator pedal operation amount sensor 61 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 61 transmits information on the detected amount of operation of the accelerator pedal 51 to the ECU 90. Based on that information, the ECU 90 obtains the amount of operation of the accelerator pedal 51 as an accelerator pedal operation amount AP.

[0030] The ECU 90 calculates and obtains a required driving torque TQ_D_req (required driving force) based on the accelerator pedal operation amount AP and the vehicle speed SPD of the host vehicle 100. The required driving torque TQ_D_req is a driving torque TQ_D that is required to be output from the driving device 21. The ECU 90 controls the operation of the driving device 21 so that the required driving torque TQ_D_req is output.

[0031] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 62 is a sensor that detects the amount of operation of the brake pedal 52. The brake pedal operation amount sensor 62 is electrically connected to the ECU 90. The brake pedal operation amount sensor 62 transmits information on the detected amount of operation of the brake pedal 52 to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 52 as a brake pedal operation amount BP based on the information.

[0032] The ECU 90 acquires a required braking torque TQ_B_req (required braking force) by calculation based on the brake pedal operation amount BP. The required braking torque TQ_B_req is a braking torque TQ_B that is required to be output from the braking device 22. The ECU 90 controls the operation of the braking device 22 so that the required braking torque TQ_B_req is output.

[0033] <Steering angle sensor> The steering angle sensor 63 is a sensor that detects the rotation angle of the steering shaft 54 ​​with respect to the neutral position. The steering angle sensor 63 is electrically connected to the ECU 90. The steering angle sensor 63 transmits information on the detected rotation angle of the steering shaft 54 ​​to the ECU 90. The ECU 90 acquires the rotation angle of the steering shaft 54 ​​as the steering angle θsteer based on the information.

[0034] <Steering torque sensor> The steering torque sensor 64 is a sensor that detects the torque input by the driver to the steering shaft 54 ​​via the steering wheel 53. The steering torque sensor 64 is electrically connected to the ECU 90. The steering torque sensor 64 transmits information on the detected torque to the ECU 90. The ECU 90 acquires the torque input by the driver to the steering shaft 54 ​​via the steering wheel 53 (driver input torque TQ_S_driver) based on the information.

[0035] <Vehicle speed detection device> The vehicle speed detection device 65 is a device that detects the vehicle speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 65 is electrically connected to the ECU 90. The vehicle speed detection device 65 transmits information on the detected vehicle speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the vehicle speed SPD of the host vehicle 100 based on the information.

[0036] The ECU 90 calculates and obtains the required steering torque TQ_S_req based on the acquired steering angle θsteer, driver input torque TQ_S_driver, and vehicle speed SPD. The required steering torque TQ_S_req is the steering torque TQ_S that is requested to be output from the steering device 23. The ECU 90 controls the operation of the steering device 23 so that the required steering torque TQ_S_req is output from the steering device 23. When performing a steering operation assist described later, the ECU 90 appropriately determines the steering torque TQ_S required to drive the host vehicle 100 along the target collision avoidance path Rtgt as the required steering torque TQ_S_req regardless of the steering angle θsteer, etc., and controls the operation of the steering device 23 so that the required steering torque TQ_S_req is output.

[0037] <Vertical acceleration sensor> The vertical acceleration sensor 66 is a sensor that detects the acceleration in the forward / rearward direction of the host vehicle 100. The vertical acceleration sensor 66 is electrically connected to the ECU 90. The vertical acceleration sensor 66 transmits information on the detected acceleration to the ECU 90. The ECU 90 acquires the acceleration in the forward / rearward direction of the host vehicle 100 as the vertical acceleration Gx based on the information.

[0038] <Lateral acceleration sensor> The lateral acceleration sensor 67 is a sensor that detects the acceleration in the lateral direction (width direction) of the host vehicle 100. The lateral acceleration sensor 67 is electrically connected to the ECU 90. The lateral acceleration sensor 67 transmits information on the detected acceleration to the ECU 90. The ECU 90 obtains the lateral acceleration of the host vehicle 100 as the lateral acceleration Gy based on the information.

[0039] <Yaw rate sensor> The yaw rate sensor 68 is a sensor that detects the yaw rate YR of the host vehicle 100. The yaw rate sensor 68 is electrically connected to the ECU 90. The yaw rate sensor 68 transmits information on the detected yaw rate YR to the ECU 90. The ECU 90 acquires the yaw rate YR of the host vehicle 100 based on the information.

[0040] <Peripheral information detection device> The surrounding information detection device 69 is a device that detects information about the surroundings of the vehicle 100, and includes, for example, a camera, a radar sensor (such as a millimeter wave radar), an ultrasonic sensor (clearance sonar), and a laser radar (LiDAR).

[0041] The surrounding information detection device 69 is electrically connected to the ECU 90. The surrounding information detection device 69 detects information about the surroundings of the host vehicle 100, and transmits the detected information (surrounding information I_S) to the ECU 90.

[0042] The ECU 90 can detect an object present in front of the host vehicle 100 based on the surrounding information I_S (particularly, information ahead of the host vehicle 100). When the ECU 90 detects such an object, the ECU 90 can obtain, based on the surrounding information I_S, the "distance between the object and the host vehicle 100 (object distance D200)" and the "speed of the host vehicle 100 relative to the object (relative speed dSPD)" and the like.

[0043] Furthermore, as shown in FIG. 2A, the ECU 90 can recognize "the left-side demarcation line LM_L and the right-side demarcation line LM_R that define the driving lane (own vehicle lane LN) of the own vehicle 100" based on the surrounding information I_S. When the ECU 90 recognizes the left and right demarcation lines LM (i.e., the left-side demarcation line LM_L and the right-side demarcation line LM_R), the ECU 90 can obtain the yaw angle θyaw based on the left and right demarcation lines LM. As shown in FIG. 2B and FIG. 2C, the yaw angle θyaw is the angle between the own vehicle lane extension direction line LLN (a line indicating the direction in which the own vehicle lane LN extends) and the own vehicle center front-rear line L100 (a line extending in the front-rear direction of the own vehicle 100 at the center in the width direction of the own vehicle 100). Furthermore, the ECU 90 can specify the range of the own vehicle lane LN based on the recognized left and right demarcation lines LM.

[0044] <Overview of operation of vehicle collision avoidance support system> Next, an overview of the operation of the vehicle collision avoidance support device 10 will be described. While the host vehicle 100 is traveling, the vehicle collision avoidance support device 10 determines whether or not an object exists ahead of the host vehicle 100 in the traveling direction based on the surrounding information I_S (particularly, information ahead of the host vehicle 100). More specifically, while the host vehicle 100 is traveling, the vehicle collision avoidance support device 10 determines whether or not an object exists within the host vehicle traveling area A100 based on the surrounding information I_S.

[0045] As shown in Fig. 3A, the host vehicle travel area A100 is an area having a width equal to the width of the host vehicle 100 and centered on the travel route R100 of the host vehicle 100. The travel route R100 of the host vehicle 100 is the route that the host vehicle 100 travels when the host vehicle 100 travels while maintaining the steering angle θsteer at that time. In this example, the objects are vehicles, people, bicycles, etc.

[0046] The vehicle collision avoidance support device 10 executes normal driving control when no object exists within the host vehicle driving area A100. The vehicle collision avoidance support device 10 also executes normal driving control when an object exists within the host vehicle driving area A100 but the host vehicle 100 is unlikely to collide with the object.

[0047] Normal driving control is control in which, when the required driving torque TQ_D_req (required driving force) is greater than zero, the operation of the driving device 21 is controlled so that the required driving torque TQ_D_req is output from the driving device 21, when the required braking torque TQ_B_req (required braking force) is greater than zero, the operation of the braking device 22 is controlled so that the required braking torque TQ_B_req is output from the braking device 22, and when the required steering torque TQ_S_req (required steering force) is greater than zero, the operation of the steering device 23 is controlled so that the required steering torque TQ_S_req is output from the steering device 23.

[0048] 3B, when the vehicle collision avoidance support device 10 determines that the object 200 exists in the host vehicle driving area A100, the vehicle collision avoidance support device 10 acquires the object distance D200 and the relative speed dSPD based on the surrounding information I_S as described above. Then, the vehicle collision avoidance support device 10 acquires the predicted arrival time TTC by calculation based on the acquired object distance D200 and relative speed dSPD.

[0049] The predicted arrival time TTC is the time estimated to be required for the host vehicle 100 to reach the object 200. The vehicle collision avoidance support device 10 obtains the predicted arrival time TTC by dividing the object distance D200 by the relative speed dSPD (TTC=D200 / dSPD). While the vehicle collision avoidance support device 10 determines that the object 200 exists within the host vehicle driving area A100, it obtains the object distance D200, the relative speed dSPD, and the predicted arrival time TTC at a predetermined calculation cycle.

[0050] <Satisfaction of steering wheel operation requirements> When the relative speed dSPD is constant, the predicted arrival time TTC becomes shorter as the host vehicle 100 approaches the object 200. When the host vehicle 100 approaches the object 200 and the predicted arrival time TTC becomes shorter to a predetermined time (predetermined predicted arrival time TTC_T), the vehicle collision avoidance support device 10 determines that the handle operation request condition (steering operation request condition) is satisfied. That is, the vehicle collision avoidance support device 10 acquires the predicted arrival time TTC as an index value representing the possibility that the host vehicle 100 will collide with the object 200, and determines that the handle operation request condition is satisfied when the index value becomes equal to or greater than a predetermined index value. Therefore, in this case, the index value representing the possibility that the host vehicle 100 will collide with the object 200 becomes larger as the predicted arrival time TTC becomes shorter.

[0051] <Collision avoidance route acquisition> When the vehicle collision avoidance support device 10 determines that the steering operation request condition is satisfied, it acquires a collision avoidance route R. As shown in Fig. 3C, the collision avoidance route R is a travel route of the host vehicle 100 that allows the host vehicle 100 to pass by avoiding the object 200 while traveling in the host lane LN. The collision avoidance route R shown in Fig. 3C is a route that passes by the right side of the object 200, but if there is a space on the left side of the object 200 that allows the host vehicle 100 to pass by avoiding the object 200 while traveling in the host lane LN, a route that passes by the left side of the object 200 may be acquired as the collision avoidance route R.

[0052] <Steering wheel operation notification> Furthermore, when it is determined that the steering operation request condition is satisfied, the vehicle collision avoidance assistance device 10 starts a steering operation notification (steering operation notification).

[0053] The steering operation notification started at this time is a notification (steering operation request notification or steering operation request notification) for informing the driver of the host vehicle 100 that the steering wheel 53 needs to be operated (collision avoidance steering operation or collision avoidance steering operation) to avoid the host vehicle 100 colliding with the object 200. In this example, the steering operation notification is performed by displaying the steering wheel image IMG_SW and the arrow image IMG_AR (steering wheel operation request display) by the display device 30, as shown in (A) of Fig. 4.

[0054] The steering wheel image IMG_SW is an image representing a steering wheel, and in this example, particularly, an image representing a steering wheel with a part of the steering wheel (in this example, the lower part P_SW of the steering wheel) colored in a conspicuous color such as red, and is an image representing a steering wheel that has been rotated in a direction in which the host vehicle 100 should be turned in order to avoid a collision between the host vehicle 100 and the object 200. In other words, the vehicle collision avoidance assistance device 10 performs a steering wheel operation request display by displaying, on the display device 30, an image representing the steering wheel (steering wheel image IMG_SW) while indicating the direction in which the steering wheel should be operated in order to avoid a collision between the host vehicle 100 and the object 200.

[0055] Moreover, the arrow image IMG_AR is an image that represents an arrow indicating a route along which the host vehicle 100 should travel in order to avoid a collision between the host vehicle 100 and the object 200 (a collision avoidance route R).

[0056] 4A shows an example in which the vehicle 100 must first be turned right and then turned left to travel straight ahead in order to avoid a collision between the vehicle 100 and the object 200. Therefore, the steering wheel image IMG_SW is an image representing a steering wheel that has been turned right, and the arrow image IMG_AR is an image representing an arrow that curves rightward and then curves leftward before becoming straight.

[0057] The steering wheel image IMG_SW may be an image having an arrow along the outer periphery of the steering wheel indicating the direction in which the steering wheel 53 should be rotated.

[0058] Furthermore, the vehicle collision avoidance support device 10 may be configured to only display a steering operation request when the steering operation request condition is met, but in this example, in addition to this, it outputs a voice (steering operation request voice output or steering operation request voice output) from the voice output device 41 as a steering operation notification. The voice output from the voice output device 41 at this time is a voice that urges the driver to perform a steering operation to avoid a collision.

[0059] Furthermore, the vehicle collision avoidance support device 10 may be configured to only display a steering operation request or to display a steering operation request and output a steering operation request voice when the steering operation request condition is satisfied, but in this example, in addition to this, an alarm sound (output of a steering operation request alarm sound or output of a steering operation request alarm sound) from the alarm sound output device 42 may be output as a steering operation notification. The alarm sound output from the alarm sound output device 42 at this time is, for example, a buzzer sound.

[0060] According to this, when it is determined that there is a possibility that the host vehicle 100 will collide with the object 200 and that the driver needs to perform a collision avoidance steering operation, a steering operation request display is performed. This increases the possibility that the driver can be made aware of the need to perform a collision avoidance steering operation even in a situation where the driver does not realize that a collision avoidance steering operation is required. This makes it possible to make the driver start a collision avoidance steering operation early, and as a result, it is possible to avoid a collision between the host vehicle 100 and the object 200 more safely.

[0061] Furthermore, in this example, when it is determined that there is a possibility that the host vehicle 100 will collide with the object 200 and that the driver needs to perform a steering operation to avoid the collision, a steering operation request voice is also output. This makes it possible to more reliably have the driver perform a steering operation to avoid the collision early, and as a result, it is possible to more reliably avoid a collision between the host vehicle 100 and the object 200 without destabilizing the behavior of the host vehicle 100.

[0062] <Steering operation assistance> When a steering operation assistance start condition (steering operation assistance start condition) is satisfied after the steering operation request condition is satisfied, the vehicle collision avoidance support device 10 sets the latest collision avoidance path R obtained at that time point as the target collision avoidance path Rtgt, as shown in (A) of Fig. 5. The steering operation assistance start condition is satisfied when the vehicle collision avoidance support device 10 detects a collision avoidance steering operation by the driver (when the driver starts a collision avoidance steering operation) while the steering operation request condition is satisfied.

[0063] When the vehicle collision avoidance assistance device 10 sets the target collision avoidance path Rtgt, it starts a process (handling operation assistance or steering operation assistance) of controlling the steering torque TQ_S (steering force) output from the steering device 23 so that the host vehicle 100 travels along the set target collision avoidance path Rtgt.

[0064] Furthermore, when the vehicle collision avoidance assistance device 10 starts the steering operation assistance, it acquires the current position of the host vehicle 100 based on the longitudinal acceleration Gx, the lateral acceleration Gy, the yaw rate YR, the left and right lane lines LM, etc., and adjusts the content of the steering operation notification so as to inform the driver of the operation of the steering wheel 53 required to make the host vehicle 100 travel along the target collision avoidance path Rtgt based on the acquired current position of the host vehicle 100. Therefore, the steering operation notification given after the start of the steering operation assistance is a notification (steering operation assistance notification or steering operation assistance notification) for informing the driver of the host vehicle 100 of the operation of the steering wheel 53 (collision avoidance steering operation) for safely and reliably avoiding a collision between the host vehicle 100 and the object 200.

[0065] The vehicle collision avoidance support device 10 determines the rotation direction of the steering wheel 53 required for driving the vehicle 100 along the target collision avoidance path Rtgt from the positional relationship between the current position of the vehicle 100 and the target collision avoidance path Rtgt, and displays a steering wheel image IMG_SW representing the steering wheel rotated in the rotation direction on the display device 30. In addition, the vehicle collision avoidance support device 10 displays an arrow image IMG_AR whose length has been shortened or whose shape has been changed so as to represent an appropriate collision avoidance path from the positional relationship between the current position of the vehicle 100 and the target collision avoidance path Rtgt on the display device 30. In addition, the vehicle collision avoidance support device 10 may display an arrow image IMG_AR whose thickness and / or color has been changed on the display device 30 in accordance with this.

[0066] For example, when the vehicle collision avoidance assistance device 10 determines that the vehicle 100 has reached a point where it is necessary to turn left and continue straight after the driver has started a collision avoidance steering operation to turn the vehicle 100 to the right, the vehicle collision avoidance assistance device 10 displays on the display device 30 a steering wheel image IMG_SW representing the steering wheel 53 maintained in the neutral position, and an arrow image IMG_AR whose length has been shortened and whose shape has been distorted, as shown in (B) of Figure 4.

[0067] In other words, when the vehicle 100 is turned in one direction (e.g., to the right) to avoid a collision between the vehicle 100 and the object 200 and then needs to be turned in the opposite direction (e.g., to the left), the vehicle collision avoidance assistance device 10 notifies the driver that a collision avoidance steering operation is required to turn the vehicle 100 in the opposite direction (to the left) when the vehicle 100 reaches a point where it needs to be turned in the opposite direction (to the left).

[0068] Furthermore, at this time, the vehicle collision avoidance support device 10 performs a process of outputting, as a steering operation notification, from the audio output device 41, a voice urging the driver to operate the steering wheel 53 to turn the vehicle 100 left and move straight ahead (steering operation support voice output or steering operation support voice output). At this time, the volume of the voice output from the audio output device 41 may be changed to a lower volume than before, or the speed of the voice may be changed to a slower speed than before.

[0069] According to this, after the driver starts a collision avoidance steering operation, it is possible to prompt the driver to perform a desirable collision avoidance steering operation in order to safely avoid a collision between the host vehicle 100 and the object 200.

[0070] Furthermore, when the vehicle collision avoidance assistance device 10 determines that the vehicle 100 has deviated from the target collision avoidance path Rtgt by a predetermined distance or more after the driver has started a collision avoidance steering operation, the vehicle collision avoidance assistance device 10 may be configured to display on the display device 30 a steering wheel image IMG_SW representing the steering wheel being rotated in a direction to bring the vehicle 100 closer to the target collision avoidance path Rtgt.

[0071] In other words, the vehicle collision avoidance assistance device 10 may be configured to, when it is determined that the vehicle 100 has deviated from the target collision avoidance path Rtgt by a predetermined distance or more after the driver has started a collision avoidance steering operation, provide a notification (handling operation request notification or steering operation request notification) to inform the driver that a collision avoidance steering operation is required to bring the vehicle 100 closer to the target collision avoidance path Rtgt.

[0072] According to this, after the driver starts a collision avoidance steering operation, it is possible to prompt the driver to perform a desirable collision avoidance steering operation in order to safely avoid a collision between the host vehicle 100 and the object 200.

[0073] As a result, the host vehicle 100 travels along the target collision avoidance path Rtgt as shown in FIG. 5(B), and a collision between the host vehicle 100 and the object 200 is avoided as shown in FIG. 5(C).

[0074] Furthermore, if there is no space beside the object 200 in which the host vehicle 100 can safely travel around the object 200 and therefore the target collision avoidance path Rtgt cannot be set, the vehicle collision avoidance assistance device 10 prohibits the implementation of steering operation assistance.

[0075] In addition, the vehicle collision avoidance assistance device 10 may perform steering operation assistance and may also decelerate the host vehicle 100 by reducing the driving torque TQ_D (driving force) applied to the host vehicle 100 or limiting it to a certain value or less, or by applying a braking torque TQ_B (braking force) to the host vehicle 100.

[0076] Furthermore, the vehicle collision avoidance support device 10 may be configured to perform collision avoidance braking (PCS) to prevent the host vehicle 100 from colliding with another object by applying a braking force to the host vehicle 100 to forcibly stop the host vehicle 100 when there is a possibility that the host vehicle 100 will collide with another object, such as a person jumping out from behind the shadow of the object 200, while the steering wheel operation assistance is being performed. The vehicle collision avoidance support device 10 is configured to perform a notification to inform the driver that collision avoidance braking is being performed, instead of a steering wheel operation notification, while the collision avoidance braking is being performed.

[0077] <End of steering assistance> The vehicle collision avoidance support device 10 ends the steering wheel operation assist when a condition for ending the steering wheel operation assist (a steering wheel operation assist ending condition or a steering wheel operation assist ending condition) is met. For example, even if the steering wheel operation assist is ended when the host vehicle 100 is passing straight beside the object 200 after the start of the steering wheel operation assist as shown in Fig. 6, the host vehicle 100 will not collide with the object 200. Thus, for example, a condition that the host vehicle 100 is passing straight beside the object 200 after the start of the steering wheel operation assist is set as the steering wheel operation assist ending condition.

[0078] When the host vehicle 100 passes straight past the object 200, the absolute value of the yaw angle θyaw becomes small. In this example, the vehicle collision avoidance support device 10 is configured to determine that the host vehicle 100 passes straight past the object 200 when the absolute value of the yaw angle θyaw becomes equal to or smaller than a predetermined yaw angle after the start of the steering operation assistance. Also, when the host vehicle 100 passes straight past the object 200, the absolute value of the yaw rate YR of the host vehicle 100 becomes small. Therefore, the vehicle collision avoidance support device 10 may be configured to determine that the host vehicle 100 passes straight past the object 200 when the absolute value of the yaw rate YR of the host vehicle 100 becomes equal to or smaller than a predetermined yaw rate.

[0079] In addition, when the vehicle collision avoidance assistance device 10 is configured to provide steering assistance while braking the host vehicle 100 to stop the host vehicle 100, the device 10 may be configured to determine that the steering assistance termination condition is met when the host vehicle 100 has stopped.

[0080] Furthermore, the vehicle collision avoidance assistance device 10 may be configured to discontinue the steering assist when the driver input torque TQ_S_driver becomes equal to or greater than a comparatively large predetermined torque TQ_T while the steering assist is being performed.

[0081] The above is an outline of the operation of the vehicle collision avoidance assistance device 10.

[0082] <Specific operation of the vehicle collision avoidance support device> Next, a specific operation of the vehicle collision avoidance support device 10 will be described. The CPU of the ECU 90 of the vehicle collision avoidance support device 10 executes the routine shown in Fig. 7 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts the process from step 700 in Fig. 7, and advances the process to step 705, where it is determined whether or not a steering wheel operation request condition is satisfied.

[0083] If the CPU determines "Yes" in step 705, the process proceeds to step 710, where it starts the steering wheel operation notification. Next, the CPU proceeds to step 715, where it sets the value of the notification in progress flag X1 to "1." The notification in progress flag X1 is set to "1" when the steering wheel operation notification is started, and is set to "0" when the steering wheel operation notification is ended. Next, the CPU proceeds to step 725.

[0084] On the other hand, if the CPU determines "No" in step 705, it advances the process to step 720 and determines whether the value of the notification in progress flag X1 is "1".

[0085] If the CPU determines “Yes” in step 720 , it proceeds to step 725 .

[0086] When the CPU advances the process to step 725, it determines whether the value of the assist on flag X2 is "0." The value of the assist on flag X2 is set to "1" when the steering wheel operation assist is started, and is set to "0" when the steering wheel operation assist is ended.

[0087] If the CPU determines "Yes" in step 725, the process proceeds to step 730 and executes the routine shown in Fig. 8. Therefore, when the CPU advances the process to step 730, it starts the process from step 800 in Fig. 8, and advances the process to step 805 to obtain a collision avoidance route R. Next, the CPU advances the process to step 810 and determines whether or not a steering operation assistance start condition has been established. That is, the CPU determines whether or not a collision avoidance steering operation has been performed by the driver.

[0088] If the CPU determines "Yes" in step 810, the process proceeds to step 815, where it sets the collision avoidance route R acquired in step 805 as the target collision avoidance route Rtgt. Next, the CPU proceeds to step 820, where it starts the steering operation assistance. Next, the CPU proceeds to step 825, where it sets the value of the assistance in progress flag X2 to "1". Then, the CPU proceeds to step 795 in FIG. 7 via step 895, where it temporarily ends this routine.

[0089] On the other hand, if the determination in step 810 is "No", the process proceeds to step 795 in FIG. 7 via step 895, and this routine is temporarily terminated.

[0090] On the other hand, if the CPU determines "No" in step 725 in Fig. 7, it advances the process to step 735 and executes the routine shown in Fig. 9. Therefore, when the CPU advances the process to step 735, it starts the process from step 900 in Fig. 9, advances the process to step 905, and determines whether or not the steering wheel operation assistance end condition is satisfied.

[0091] If the CPU determines "Yes" in step 905, the process proceeds to step 910, where it ends the steering wheel operation assistance. Then, the CPU proceeds to step 915, where it ends the steering wheel operation notification. Then, the CPU proceeds to step 920, where it sets the value of the assistance in progress flag X2 to "0". Then, the CPU proceeds to step 925, where it sets the value of the notification in progress flag X1 to "0". Then, the CPU proceeds to step 795 in FIG. 7 via step 995, where it temporarily ends this routine.

[0092] On the other hand, if the CPU determines "No" in step 905, the process proceeds to step 930 to continue the steering wheel operation assist. Next, the CPU proceeds to step 935 to continue the steering wheel operation notification. Then, the CPU proceeds to step 795 in Fig. 7 via step 995 to temporarily end this routine.

[0093] Moreover, if the CPU determines "No" in step 720 of FIG. 7, it proceeds directly to step 795 and temporarily ends this routine.

[0094] The specific operation of the vehicle collision avoidance assistance device 10 has been described above.

[0095] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0096] 10...vehicle collision avoidance support device, 21...driving device, 22...braking device, 23...steering device, 30...display device, 40...acoustic device, 53...steering wheel, 69...peripheral information detection device, 90...ECU, 100...host vehicle, 200...object, A100...host vehicle driving area, Rtgt...target collision avoidance path, IMG_SW...steering wheel image, IMG_AR...arrow image< / ecu>

Claims

1. A vehicle collision avoidance support device including a control device that performs a collision avoidance steering operation assist by applying a steering force to a vehicle to assist in a collision avoidance steering operation when a driver of the vehicle performs a collision avoidance steering operation to turn the vehicle in order to avoid a collision between the vehicle and an object when there is a possibility that the vehicle will collide with the object in front of the vehicle, the device comprising: a surrounding information detection device that detects information about the surroundings of the host vehicle including a front of the host vehicle; When the control device determines that there is a possibility that the host vehicle will collide with a first object that is an object present in front of the host vehicle based on the information detected by the surrounding information detection device, the control device issues a first notification to inform the driver that it is necessary to perform the collision avoidance steering operation; and When it is necessary to turn the host vehicle in one direction and then in the opposite direction in order to avoid a collision between the host vehicle and the first object, a second notification is given to the driver, which is a notification that notifies the driver that it is necessary to perform the collision avoidance steering operation so as to turn the host vehicle in the opposite direction and make the host vehicle travel straight. It is configured as follows: Vehicle collision avoidance assistance device.

2. In the vehicle collision avoidance assistance device according to claim 1, The control device is configured to set a travel path of the host vehicle for avoiding a collision between the host vehicle and the first object as a target collision avoidance path when starting the collision avoidance steering operation assistance, and to notify the driver that the host vehicle needs to perform the collision avoidance steering operation in a direction to bring the host vehicle closer to the target collision avoidance path when the host vehicle deviates from the target collision avoidance path by a predetermined distance or more. Vehicle collision avoidance assistance device.

3. In the vehicle collision avoidance assistance device according to claim 1 or claim 2, A display device for displaying an image is provided, The control device is configured to perform the first notification by displaying an image representing the content of the first notification on the display device, and to perform the second notification by displaying an image representing the content of the second notification on the display device. Vehicle collision avoidance assistance device.

4. In the vehicle collision avoidance assistance device according to claim 3, a steering wheel operated by the driver to turn the vehicle; The control device is configured to perform the first notification and the second notification by displaying, on the display device, an image representing the steering wheel while indicating a direction in which the steering wheel should be operated to avoid a collision between the host vehicle and the first object. Vehicle collision avoidance assistance device.

5. In the vehicle collision avoidance assistance device according to claim 1, A display device for displaying an image is provided, the control device is configured to set a travel path of the host vehicle for avoiding a collision between the host vehicle and the first object as a target collision avoidance path when starting the collision avoidance steering operation assist, the first notification is to cause the display device to display a steering wheel image representing a steering wheel of the host vehicle and an arrow image representing an arrow having a first length and a first shape; The second notification is to display, on the display device, the handle image in a neutral position and the arrow image in a second shape that is changed from the first shape and has a second length that is shorter than the first length based on a positional relationship between a current position of the host vehicle and the target collision avoidance path. Vehicle collision avoidance assistance device.

6. A vehicle collision avoidance assistance device according to any one of claims 1 to 5, The control device includes: when it is determined that the host vehicle may collide with a second object different from the first object during the implementation of the collision avoidance steering operation assistance, a collision avoidance braking is implemented to avoid a collision between the host vehicle and the second object by applying a braking force to the host vehicle to forcibly stop it, When the collision avoidance braking is being performed, a notification is provided to inform the driver that the collision avoidance braking is being performed, instead of the first notification or the second notification. It is configured as follows: Vehicle collision avoidance assistance device.

7. A vehicle collision avoidance support device according to any one of claims 1 to 6, The control device is configured to end the collision avoidance steering operation assist when a steering operation assist end condition, which is a condition for ending the collision avoidance steering operation assist, is satisfied after the start of the collision avoidance steering operation assist. Vehicle collision avoidance assistance device.

8. The vehicle collision avoidance assistance device according to claim 7, The steering operation assistance end condition is at least one of the following conditions: the host vehicle passes straight beside the first object; the driver input torque input by the driver to the steering shaft of the host vehicle via the steering wheel of the host vehicle becomes equal to or greater than a predetermined torque; or the host vehicle stops when the control device is configured to brake the host vehicle while the collision avoidance steering operation assistance is being performed. Vehicle collision avoidance assistance device.

9. The vehicle collision avoidance assistance device according to claim 8, The control device is configured to determine that the host vehicle is passing straight beside the first object when an absolute value of a yaw angle of the host vehicle is equal to or smaller than a predetermined yaw angle, or when an absolute value of a yaw rate of the host vehicle is equal to or smaller than a predetermined yaw rate. Vehicle collision avoidance assistance device.

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