Vehicle Contact Avoidance Device

Abstract

To provide a vehicle contact avoidance device which can avoid the contact between an own vehicle and a structure existing on a roadside by contact avoidance control without unnecessarily executing the contact avoidance control such as a warning and the like for avoiding contact between the own vehicle and the structure.SOLUTION: A vehicle contact avoidance device 10 executes contact avoidance control for avoiding contact of a structure ST existing a side of a road RD on which an own vehicle 100 travels with the own vehicle when the own vehicle approaches a prescribed distance from the structure. The vehicle contact avoidance device sets a first distance as the prescribed distance when the height of the structure is lower than the height of a side mirror of the own vehicle, and sets a second distance longer than the first distance as the prescribed distance when the height of the structure is higher than the height of the side mirror.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] A vehicle contact avoidance device is known that issues an alarm when the amount of deviation of the vehicle from the lane toward the shoulder exceeds a threshold, thereby informing the driver of the vehicle that the vehicle is deviating from the lane and prompting the driver to steer the vehicle, thereby avoiding contact between the vehicle and a guardrail or soundproof wall installed on the other side of the shoulder (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-56484 A Summary of the Invention

[0004] The side mirror attached to the vehicle protrudes outward from the side of the vehicle. Therefore, when the vehicle deviates from the lane to the side of a structure existing on the side of the road and comes into contact with the structure, the part of the vehicle that comes into contact with the structure differs depending on whether the height of the structure is higher or lower than the side mirror. Specifically, when the height of the structure is higher than the side mirror, the part of the vehicle that comes into contact with the structure is the side mirror, and when the height of the structure is lower than the side mirror, the part of the vehicle that comes into contact with the structure is the side of the vehicle.

[0005] Therefore, if the height of the structure is higher than the side mirror of the vehicle, the side mirror may come into contact with the structure even if the distance between the structure and the side of the vehicle is relatively long. Therefore, if a warning is not issued when the vehicle is approaching a tall structure until the distance between the structure and the side of the vehicle becomes short, the driver may not notice the possibility of contact between the vehicle and the structure, and the side mirror of the vehicle may come into contact with the structure.

[0006] On the other hand, if the height of the structure is lower than the side mirror of the vehicle, if an alarm is issued while the distance between the structure and the side of the vehicle is relatively long, the alarm will be issued even though the driver is trying to avoid contact between the vehicle and the structure by operating the steering wheel, which will be annoying for the driver.

[0007] An object of the present invention is to provide a vehicle contact avoidance device that can avoid contact between the vehicle and a structure on the side of the road through contact avoidance control without unnecessarily executing contact avoidance control such as an alarm to avoid contact between the vehicle and the structure.

[0008] The vehicle contact avoidance device according to the present invention is a device that executes contact avoidance control to avoid contact between the host vehicle and a structure present at the side of a road on which the host vehicle is traveling, and is configured to execute the contact avoidance control when the host vehicle approaches the structure within a predetermined distance. The vehicle contact avoidance device according to the present invention is configured to set a first distance as the predetermined distance when the height of the structure is lower than the height of a side mirror of the host vehicle, and to set a second distance longer than the first distance as the predetermined distance when the height of the structure is equal to or greater than the height of the side mirror. Furthermore, the vehicle contact avoidance device of the present invention is configured to, when the structure is present on the left side of the vehicle, acquire the distance between the left front corner of the vehicle and the structure as the target distance, and when the structure is present on the right side of the vehicle, acquire the distance between the right front corner of the vehicle and the structure as the target distance, and determine that the vehicle has approached the structure to the specified distance when the target distance becomes shorter than the specified distance.

[0009] When the height of a structure that the host vehicle is approaching is equal to or greater than the height of the side mirror of the host vehicle, if the host vehicle were to come into contact with the structure, there is a possibility that the side mirror of the host vehicle will come into contact with the structure before the side of the host vehicle. According to the vehicle contact avoidance device of the present invention, when the height of the structure is equal to or greater than the height of the side mirror of the host vehicle, a second distance longer than the first distance is set as the predetermined distance, so that when the host vehicle deviates from the lane and approaches the structure, contact avoidance control is started at an earlier timing than when the height of the structure is lower than the height of the side mirror of the host vehicle.

[0010] Furthermore, if the height of the structure is lower than the height of the side mirror of the host vehicle, if the host vehicle comes into contact with the structure, the side of the host vehicle will come into contact with the structure. According to the vehicle contact avoidance device of the present invention, when the height of the structure is lower than the height of the side mirror of the host vehicle, the first distance shorter than the second distance is set as the predetermined distance, so that when the host vehicle deviates from the lane and approaches the structure, contact avoidance control is started at a later timing than when the height of the structure is equal to or higher than the height of the side of the host vehicle.

[0011] Therefore, contact between the host vehicle and the structure can be avoided by the contact avoidance control without unnecessarily executing the contact avoidance control for avoiding contact between the host vehicle and the structure.

[0012] In the vehicle contact avoidance device according to the present invention, the contact avoidance control is, for example, a control for issuing a warning to the driver of the host vehicle.

[0013] According to this, when there is a possibility that the vehicle may come into contact with a structure, the driver of the vehicle can be notified of this and the driver can be prompted to perform driving operations to avoid contact between the vehicle and the structure.

[0014] In the vehicle contact avoidance device according to the present invention, the contact avoidance control is, for example, control for forcibly steering the host vehicle so that the host vehicle moves away from the structure.

[0015] According to this, when there is a possibility that the vehicle may come into contact with a structure, the vehicle is forcibly moved away from the structure, thereby making it possible to reliably avoid contact between the vehicle and the structure.

[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 contact avoidance device according to an embodiment of the present invention and a vehicle (host vehicle) on which the vehicle contact avoidance device is mounted. [Diagram 2] FIG. 2A is a diagram showing the lane in which the vehicle is traveling and the dividing lines that define it, 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 is a diagram showing a situation in which contact avoidance control is executed. [Figure 4] FIG. 4(A) is a diagram showing the distance between the host vehicle and a structure when the structure is present on the left side of the host vehicle, and FIG. 4(B) is a diagram showing the distance between the host vehicle and a structure when the structure is present on the right side of the host vehicle. [Diagram 5] FIG. 5(A) is a diagram showing a situation where a tall structure is present on the left side of the vehicle's lane, and FIG. 5(B) is a diagram showing a situation where a low structure is present on the left side of the vehicle's lane. [Figure 6] FIG. 6(A) shows a situation in which contact avoidance control is executed when a guardrail, which is a tall structure, is installed on the left side of the vehicle's lane, and FIG. 6(B) shows a situation in which contact avoidance control is executed when a curb, which is a low structure, is installed on the left side of the vehicle's lane. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle contact avoidance device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle contact avoidance device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the vehicle contact avoidance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a vehicle contact avoidance device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a vehicle contact avoidance device 10 according to an embodiment of the present invention is mounted on a host vehicle 100. In the following description, the driver of the host vehicle 100 will be referred to as "driver DR".

[0019] <ecu> The vehicle contact avoidance device 10 includes an ECU 90. ECU is an abbreviation for electronic control unit. The ECU 90 includes a microcomputer as a main part. 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] <Running gear> The host vehicle 100 is also equipped with a traveling device 20. The traveling device 20 includes 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 (drive force) 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 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 (braking force) 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 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 (steering force) 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 output from the steering device 23 by controlling the operation of the steering device 23.

[0024] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a steering wheel 35, a steering shaft 36, a steering angle sensor 37, a steering torque sensor 38, a vehicle momentum detection device 50, a surrounding information detection device 60, and a warning device 70.

[0025] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31, and is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 transmits information about the detected operation amount of the accelerator pedal 31 to the ECU 90. The ECU 90 acquires the operation amount of the accelerator pedal 31 as the accelerator pedal operation amount AP based on that information. The ECU 90 acquires a required driving torque (required driving force) based on the accelerator pedal operation amount AP and the host vehicle speed V100 (the traveling speed of the host vehicle 100), and controls the operation of the drive device 21 so that the required driving torque is output from the drive device 21.

[0026] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 34 is a sensor that detects the amount of operation of the brake pedal 33, and is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 transmits information about the detected amount of operation of the brake pedal 33 to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 33 as a brake pedal operation amount BP based on that information. The ECU 90 obtains a required braking torque (required braking force) based on the brake pedal operation amount BP, and controls the operation of the braking device 22 so that the required braking is output from the braking device 22.

[0027] <Steering angle sensor> The steering angle sensor 37 is a sensor that detects the rotation angle of the steering shaft 36 with respect to the neutral position, and is electrically connected to the ECU 90. The steering angle sensor 37 transmits information on the detected rotation angle of the steering shaft 36 to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft 36 as a steering angle θs based on the information.

[0028] <Steering torque sensor> The steering torque sensor 38 is a sensor that detects the torque input by the driver DR to the steering shaft 36 via the steering wheel 35, and is electrically connected to the ECU 90. The steering torque sensor 38 transmits information on the detected torque to the ECU 90. The ECU 90 acquires the torque (driver input torque) input by the driver DR to the steering shaft 36 via the steering wheel 35 based on that information. When the ECU 90 is not executing a steering avoidance process described later, the ECU 90 acquires a required steering torque (required steering force) based on the steering angle θs, the driver input torque, and the host vehicle speed V100 (the traveling speed of the host vehicle 100), and controls the operation of the steering device 23 so that the required steering torque is output from the steering device 23.

[0029] <Vehicle motion detection device> The vehicle motion quantity detection device 50 is a device that detects the motion quantity of the host vehicle 100, and in this example, includes a vehicle speed detection device 51, a vertical acceleration sensor 52, a lateral acceleration sensor 53, and a yaw rate sensor .

[0030] <Vehicle speed detection device> The vehicle speed detection device 51 is a device that detects the vehicle speed (host vehicle speed V100) of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle speed detection device 51 transmits information on the detected vehicle speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the host vehicle speed V100 based on the information.

[0031] <Vertical acceleration sensor> The vertical acceleration sensor 52 is a sensor that detects the acceleration in the forward / rearward direction of the host vehicle 100. The vertical acceleration sensor 52 is electrically connected to the ECU 90. The vertical acceleration sensor 52 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.

[0032] <Lateral acceleration sensor> The lateral acceleration sensor 53 is a sensor that detects the acceleration in the lateral direction (width direction) of the host vehicle 100. The lateral acceleration sensor 53 is electrically connected to the ECU 90. The lateral acceleration sensor 53 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.

[0033] <Yaw rate sensor> The yaw rate sensor 54 is a sensor that detects the yaw rate YR of the host vehicle 100. The yaw rate sensor 54 is electrically connected to the ECU 90. The yaw rate sensor 54 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.

[0034] <Peripheral information detection device> The surrounding information detection device 60 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 61 and an image sensor 62. The radio wave sensor 61 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 62 is, for example, a camera. The surrounding information detection device 60 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0035] <Radio wave sensor> The radio wave sensor 61 is electrically connected to the ECU 90. The radio wave sensor 61 transmits radio waves and receives radio waves (reflected waves) reflected by objects. The radio wave sensor 61 transmits information (detection results) related to the transmitted radio waves and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 61 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) related to the detected objects to the ECU 90. The ECU 90 can obtain information (periphery detection information IS) related to objects present in the vicinity of the vehicle 100 based on the information (radio wave information). In this example, the objects are a card rail, a soundproof wall, a pole, a curb, another vehicle, a motorcycle, a bicycle, a person, and the like.

[0036] <Image sensor> The image sensor 62 is also electrically connected to the ECU 90. The image sensor 62 captures an image of the surroundings of the vehicle 100 and transmits information related to the captured image to the ECU 90. The ECU 90 acquires information (surroundings detection information IS) related to the surroundings of the vehicle 100 based on the information (camera image information).

[0037] 2A, a road is provided with a left-side marking (left-side marking LML) and a right-side marking (right-side marking LMR) that define a lane LN. The ECU 90 recognizes the left-side marking LML and the right-side marking LMR that define the lane in which the host vehicle 100 is traveling (host vehicle driving lane LN) based on the surrounding detection information IS, and can identify the range of the host vehicle driving lane LN based on the recognized left-side marking LML and right-side marking LMR.

[0038] The ECU 90 can also obtain the yaw angle YA of the host vehicle 100 based on the recognized left lane marking LML and right lane marking LMR. The yaw angle YA is the angle between the host vehicle lane extension line LNC (a line indicating the direction in which the host vehicle lane LN extends) and the host vehicle center longitudinal line CL (a line extending in the longitudinal direction of the host vehicle 100 at the center in the width direction of the host vehicle 100) as shown in (B) and (C) of FIG.

[0039] <Warning device> The warning device 70 is a device used to warn the driver DR, and in this example, includes an audio device 71 and a display device 72. The audio device 71 is, for example, a buzzer or a speaker. The display device 72 is, for example, a combination meter, a head-up display, a car navigation display, or the like.

[0040] <Sound equipment> The audio device 71 is electrically connected to the ECU 90. The audio device 71 outputs various sounds in accordance with commands from the ECU 90. When the audio device 71 is a buzzer, the buzzer outputs a buzzer sound in accordance with commands from the ECU 90. When the audio device 71 is a speaker, the speaker outputs a voice announcement in accordance with commands from the ECU 90.

[0041] <Display device> The display device 72 is electrically connected to the ECU 90. The display device 72 displays various images in accordance with commands from the ECU 90.

[0042] <Overview of vehicle contact avoidance device operation> Next, an outline of the operation of the vehicle contact avoidance device 10 will be described.

[0043] As shown in Fig. 3, a structure ST may exist beside the road on which the host vehicle 100 is traveling (host vehicle traveling road RD). Examples of such a structure ST include a curb, a pole, a guard rail, and a soundproof wall. When the host vehicle 100 is traveling on a road on which such a structure ST exists, the host vehicle 100 may deviate from the host vehicle traveling lane LN for some reason and approach the structure ST. If the host vehicle 100 continues traveling in this state, the host vehicle 100 will come into contact with the structure ST.

[0044] Therefore, the vehicle contact avoidance device 10 is configured to execute contact avoidance control when the host vehicle 100 approaches a predetermined distance Dth from a structure ST (target structure ST) existing at the side of the host vehicle travel road RD in order to avoid contact between the host vehicle 100 and the target structure ST. This contact avoidance control will be described below.

[0045] The vehicle contact avoidance device 10 judges whether or not a target structure ST (a structure ST existing beside the road RD on which the vehicle is traveling) exists. The judgment of whether or not the target structure ST exists is performed based on the surrounding detection information IS.

[0046] When the vehicle contact avoidance device 10 determines that a target structure ST exists, it acquires the distance (target distance D) between the target structure ST and the vehicle 100. In this example, as shown in Fig. 4A, when the target structure ST exists on the left side of the vehicle 100, the vehicle contact avoidance device 10 acquires the distance between a left front corner portion 100L of the vehicle 100 and the target structure ST as the target distance D, and as shown in Fig. 4B, when the target structure ST exists on the right side of the vehicle 100, the vehicle contact avoidance device 10 acquires the distance between a right front corner portion 100R of the vehicle 100 and the target structure ST as the target distance D.

[0047] While the vehicle contact avoidance device 10 is detecting the target structure ST, it acquires the target distance D at a predetermined calculation cycle and monitors whether the target distance D has been shortened to the predetermined warning distance Da_th.

[0048] 3, when the vehicle 100 advances to the point Pa and determines that the target distance D has been shortened to the predetermined warning distance Da_th, the vehicle contact avoidance device 10 executes a warning process as contact avoidance control. The warning process is a process of outputting an alarm sound or a voice announcement for informing the driver DR that the vehicle 100 may come into contact with the target structure ST from the audio device 71 and / or a process of displaying an image for informing the driver DR that the vehicle 100 may come into contact with the target structure ST on the display device 72. This makes it possible to prompt the driver DR to operate the steering wheel to avoid contact between the vehicle 100 and the target structure ST, and when the driver DR operates the steering wheel, contact between the vehicle 100 and the target structure ST is avoided.

[0049] Furthermore, while the vehicle contact avoidance device 10 is detecting the target structure ST, it also monitors whether the target distance D has been shortened to a predetermined steering intervention distance Ds_th.

[0050] As shown in Fig. 3, when the vehicle 100 advances to the point Ps, the vehicle contact avoidance device 10 executes a steering avoidance process as contact avoidance control when it is determined that the target distance D has been shortened to a predetermined steering intervention distance Ds_th. The steering avoidance process is a process in which the steering device 23 forcibly steers the vehicle 100 so that the vehicle 100 moves away from the target structure ST and returns to the center of the vehicle driving lane LN. This makes it possible to avoid contact between the vehicle 100 and the target structure ST.

[0051] In addition, even if the target distance D is short, if the yaw angle YA of the vehicle 100 is zero, the vehicle 100 travels parallel to the target structure ST, so there is a low possibility of contacting the target structure ST. If the contact avoidance control is executed in such a case, the execution of the contact avoidance control becomes unnecessary.

[0052] Therefore, the vehicle contact avoidance device 10 may be configured to take into consideration not only the target distance D but also the yaw angle YA of the host vehicle 100 to determine whether or not to execute contact avoidance control.

[0053] In this case, when the target structure ST is on the left side of the vehicle 100 and the yaw angle YA of the vehicle 100 is greater than zero in the counterclockwise direction, the vehicle contact avoidance device 10 lengthens the predetermined warning distance Da_th and the predetermined steering intervention distance Ds_th as the yaw angle YA increases. When the vehicle contact avoidance device 10 determines that the target distance D has been shortened to the lengthened predetermined warning distance Da_th, the vehicle contact avoidance device 10 executes a warning process, and when the vehicle contact avoidance device 10 determines that the target distance D has been shortened to the lengthened predetermined steering intervention distance Ds_th, the vehicle contact avoidance device 10 executes a steering avoidance process. Similarly, when the target structure ST is on the right side of the vehicle 100 and the yaw angle YA of the vehicle 100 is greater than zero in the clockwise direction, the vehicle contact avoidance device 10 lengthens the predetermined warning distance Da_th and the predetermined steering intervention distance Ds_th as the yaw angle YA increases. Then, when the vehicle contact avoidance device 10 determines that the target distance D has been shortened to the increased predetermined warning distance Da_th, it executes a warning process, and when the target distance D has been shortened to the increased predetermined steering intervention distance Ds_th, it executes a steering avoidance process.

[0054] 5, side mirrors 100M are attached to the left and right side surfaces (host vehicle side surfaces 100S) of the host vehicle 100. These side mirrors 100M protrude outward from the left and right side surfaces (host vehicle side surfaces 100S) of the host vehicle 100. Therefore, when the host vehicle 100 deviates from the host vehicle driving lane LN toward the target structure ST and comes into contact with the target structure ST, the part of the host vehicle 100 that comes into contact with the target structure ST differs depending on whether the height Hs of the target structure ST is lower or higher than the height Hm of the side mirror 100M (in this example, the height from the ground to the bottom end of the side mirror 100M).

[0055] Specifically, as shown in (A) of Figure 5, when the height Hs of the target structure ST is higher than the height Hm of the side mirror 100M, the part of the vehicle 100 that comes into contact with the target structure ST is the side mirror 100M, and as shown in (B) of Figure 5, when the height Hs of the target structure ST is lower than the height Hm of the side mirror 100M, the part of the vehicle 100 that comes into contact with the target structure ST is the side surface 100S of the vehicle.

[0056] Therefore, when the height Hs of the target structure ST is higher than the height Hm of the side mirror 100M of the vehicle 100, even if the distance (target distance D) between the target structure ST and the side surface 100S of the vehicle is relatively long, the side mirror 100M may come into contact with the target structure ST. For this reason, if the contact avoidance control is not executed until the distance (target distance D) between the target structure ST and the side surface 100S of the vehicle becomes short when the vehicle 100 is approaching a tall target structure ST, the driver DR may not notice the possibility of contact between the vehicle 100 and the target structure ST, and the side mirror 100M of the vehicle 100 may come into contact with the target structure ST.

[0057] On the other hand, if the height Hs of the target structure ST is lower than the height Hm of the side mirror 100M of the vehicle 100, if contact avoidance control is executed while the distance (target distance D) between the target structure ST and the side surface 100S of the vehicle is relatively long, contact avoidance control will be executed even though the driver DR is trying to avoid contact between the vehicle 100 and the target structure ST by operating the steering wheel himself, which will be annoying for the driver DR.

[0058] Therefore, the vehicle contact avoidance device 10 sets a predetermined warning distance Da_th and a predetermined steering intervention distance Ds_th according to the height Hs of the target structure ST, thereby making it possible to avoid contact between the vehicle 100 and the target structure ST through contact avoidance control without unnecessarily executing contact avoidance control.

[0059] Specifically, when the vehicle contact avoidance device 10 detects the target structure ST, it obtains the height Hs of the target structure ST based on the surrounding detection information IS.

[0060] When the vehicle contact avoidance device 10 acquires the height Hs of the target structure ST, it determines whether the height Hs is lower than the height Hm of the side mirror 100M. The height Hm of the side mirror 100M is stored in advance in the vehicle contact avoidance device 10.

[0061] When the height Hs of the target structure ST is lower than the height Hm of the side mirror 100M, the vehicle contact avoidance device 10 sets a reference distance (first warning distance Da_1) as the predetermined warning distance Da_th, and also sets a reference distance (first steering intervention distance Ds_1) as the predetermined steering intervention distance Ds_th. The first warning distance Da_1 is set to a distance longer than the first steering intervention distance Ds_1.

[0062] On the other hand, when the height Hs of the target structure ST is equal to or greater than the height Hm of the side mirror 100M, the vehicle contact avoidance device 10 sets the predetermined warning distance Da_th to a distance (second warning distance Da_2) longer than the first warning distance Da_1, and sets the predetermined steering intervention distance Ds_th to a distance (second steering intervention distance Ds_2) longer than the first steering intervention distance Ds_1. The second warning distance Da_2 is set to a distance longer than the second steering intervention distance Ds_2.

[0063] According to this, when the height Hs of the target structure ST is greater than or equal to the height Hm of the side mirror 100M and there is a possibility that the side mirror 100M will come into contact with the target structure ST before the side surface 100S of the host vehicle, as shown in (A) of Figure 6, when the host vehicle 100 proceeds to point Pa2 and the target distance D shortens to the second warning distance Da_2, a warning process is initiated, and when the host vehicle 100 proceeds to point Ps2 and the target distance D shortens to the second steering intervention distance Ds_2, a steering avoidance process is initiated.

[0064] On the other hand, if the height Hs of the target structure ST is lower than the height Hm of the side mirror 100M and the vehicle 100 comes into contact with the target structure ST, when the side mirror 100M does not come into contact with the target structure ST but the side surface 100S of the vehicle makes contact, as shown in (B) of Figure 6, when the vehicle 100 proceeds to point Pa1 and the target distance D shortens to the first warning distance Da_1, a warning process is initiated, and when the vehicle 100 proceeds to point Ps1 and the target distance D shortens to the first steering intervention distance Ds_1, a steering avoidance process is initiated.

[0065] Therefore, when the height Hs of the target structure ST is equal to or greater than the height Hm of the side mirror 100M and there is a possibility that the side mirror 100M will come into contact with the target structure ST before the vehicle side surface 100S does, a warning process is executed earlier when the vehicle 100 approaches the target structure ST, and steering avoidance process is executed earlier than when this is not the case. This makes it possible to more reliably avoid contact between the vehicle 100 and the target structure ST.

[0066] On the other hand, when the height Hs of the target structure ST is lower than the height Hm of the side mirror 100M and the vehicle 100 comes into contact with the target structure ST, if the side mirror 100M does not come into contact with the target structure ST but the side surface 100S of the vehicle comes into contact, a warning process is executed when the vehicle 100 approaches relatively close to the target structure ST, and a steering avoidance process is also executed. This makes it possible to avoid unnecessary warning processes and steering avoidance processes.

[0067] Therefore, according to the vehicle contact avoidance device 10, it is possible to more reliably avoid contact between the host vehicle 100 and the target structure ST while avoiding the execution of unnecessary warning processing and steering avoidance processing.

[0068] <Specific operation of vehicle contact avoidance device> Next, a specific operation of the vehicle contact avoidance device 10 will be described. The CPU of the ECU 90 of the vehicle contact avoidance 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, advances the process to step 705, and determines whether or not a target structure ST exists.

[0069] If the CPU judges "Yes" in step 705, it advances the process to step 710 and judges whether the height Hs of the target structure ST is equal to or less than the height Hm of the side mirror 100M.

[0070] If the CPU determines "Yes" in step 710, the CPU proceeds to step 715 and sets the first warning distance Da_1 as the predetermined warning distance Da_th. Next, the CPU proceeds to step 720 and sets the first steering intervention distance Ds_1 as the predetermined steering intervention distance Ds_th. After that, the CPU proceeds to step 795 and temporarily ends this routine.

[0071] On the other hand, if the CPU determines "No" in step 710, the process proceeds to step 725, where the CPU sets the second warning distance Da_2 as the predetermined warning distance Da_th. Next, the CPU proceeds to step 730, where the CPU sets the second steering intervention distance Ds_2 as the predetermined steering intervention distance Ds_th. After that, the CPU proceeds to step 795, where the CPU temporarily ends this routine.

[0072] If the CPU determines "No" in step 705, the CPU proceeds directly to step 795 and ends this routine.

[0073] Furthermore, the CPU is configured to execute the routine shown in Fig. 8 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts the process from step 800 in Fig. 8, advances the process to step 805, and determines whether or not a target structure ST exists.

[0074] If the CPU determines "Yes" in step 805, the process proceeds to step 810, where it determines whether the target distance D is equal to or less than a predetermined warning distance Da_th.

[0075] If the CPU determines "Yes" in step 810, the process proceeds to step 815, where it executes a warning process. After that, the CPU proceeds to step 895, where it temporarily ends this routine.

[0076] On the other hand, if the CPU determines "No" in step 810, the process proceeds to step 820, and if a warning process is being executed, the CPU stops the warning process. After that, the CPU proceeds to step 895, and ends this routine.

[0077] If the CPU determines "No" in step 805, the CPU proceeds directly to step 895 and ends this routine.

[0078] Furthermore, the CPU is configured to execute the routine shown in Fig. 9 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts the process from step 900 in Fig. 9, advances the process to step 905, and determines whether or not a target structure ST exists.

[0079] If the CPU determines "Yes" in step 905, the process proceeds to step 910, where it determines whether the target distance D is equal to or less than a predetermined steering intervention distance Ds_th.

[0080] If the CPU determines "Yes" in step 910, the process proceeds to step 915, where it executes steering avoidance processing. Next, the CPU proceeds to step 920, where it sets the value of the steering avoidance processing flag Xexe to "1." The steering avoidance processing flag Xexe is a flag that indicates whether or not steering avoidance processing is being executed, and when the value is "1," it indicates that steering avoidance processing is being executed, and when the value is "0," it indicates that steering avoidance processing is not being executed.

[0081] Thereafter, the CPU advances the process to step 995 and ends this routine.

[0082] On the other hand, if the CPU determines "No" in step 910, the process proceeds to step 925, where it determines whether the value of the steering avoidance in progress flag Xexe is "1".

[0083] If the CPU determines "Yes" in step 925, the process proceeds to step 930, where it executes steering avoidance processing. Next, the CPU proceeds to step 935, where it determines whether or not the steering avoidance processing is completed, that is, whether or not the host vehicle 100 has left the target structure ST and returned to the center of the host vehicle driving lane LN.

[0084] If the CPU determines "Yes" in step 935, the process proceeds to step 940, where it ends the steering avoidance process. Next, the CPU proceeds to step 945, where it sets the value of the steering avoidance in progress flag Xexe to "0." After that, the CPU proceeds to step 995, where it ends this routine.

[0085] On the other hand, if the CPU determines "No" at step 935, it proceeds directly to step 995 and temporarily ends this routine.

[0086] Also, if the CPU determines "No" in step 905 or step 925, it proceeds directly to step 995 and temporarily ends this routine.

[0087] The specific operation of the vehicle contact avoidance device 10 has been described above.

[0088] 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]

[0089] 10...vehicle contact avoidance device, 23...steering device, 60...peripheral information detection device, 70...warning device, 90...ECU, 100...own vehicle, 100M...side mirror, 100S...side of own vehicle, ST...structure< / ecu>

Claims

1. A vehicle contact avoidance device that executes contact avoidance control to avoid contact between a structure present at a side of a road on which a vehicle is traveling and the vehicle, A vehicle contact avoidance device configured to execute the contact avoidance control when the host vehicle approaches the structure within a predetermined distance, When the height of the structure is lower than the height of the side mirror of the host vehicle, a first distance is set as the predetermined distance; When the height of the structure is equal to or greater than the height of the side mirror, a second distance that is longer than the first distance is set as the predetermined distance. It is configured as follows: In the vehicle contact avoidance device, When the structure is present on the left side of the vehicle, a distance between a left front corner portion of the vehicle and the structure is acquired as a target distance; When the structure is present on the right side of the vehicle, the distance between the right front corner portion of the vehicle and the structure is acquired as a target distance; When the target distance becomes shorter to the predetermined distance, it is determined that the host vehicle has approached the structure to the predetermined distance. It is configured as follows: Vehicle contact avoidance device.

2. The vehicle contact avoidance device according to claim 1, The contact avoidance control is a control for issuing a warning to a driver of the host vehicle. Vehicle contact avoidance device.

3. The vehicle contact avoidance device according to claim 1, The contact avoidance control is a control for forcibly steering the host vehicle so as to move away from the structure. Vehicle contact avoidance device.

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