Vehicle control device, system, and vehicle control method

Abstract

To provide a vehicle control device capable of improving collision determination accuracy, a system and a vehicle control method.SOLUTION: A vehicle control device is mounted on a vehicle and controls the vehicle based on a detection time indicating a distance measured by a distance measurement device for measuring a distance to an object around the vehicle through transmission / reception of sonic waves. The vehicle control device comprises an acquisition circuit and an estimation coordinate calculation circuit. The acquisition circuit acquires a detection time. In a case where an object exists in the vicinity of the distance measurement device but a distance to the object is not measured, the estimation coordinate calculation section calculates an estimation coordinate indicating an estimation position of the object based on the detection time acquired by the acquisition circuit.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device, a system, and a vehicle control method. [Background technology]

[0002] Conventionally, there is known a technology for controlling a vehicle (typically by activating the brakes) to avoid a collision with an object based on the results of object detection by a distance measuring device such as a sonar mounted on the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-081050 Summary of the Invention [Problem to be solved by the invention]

[0004] However, while conventional technologies can determine the possibility of an object being present in the area near the distance measuring device, it is difficult to measure the distance to the object, which makes it difficult to identify the position of the object in the area near the distance measuring device, and this can lead to a decrease in the accuracy of collision detection.

[0005] The present disclosure has been made in view of the above, and aims to provide a vehicle control device, system, and vehicle control method that are capable of improving the accuracy of collision determination. [Means for solving the problem]

[0006] In order to achieve the above object, a vehicle control device of the present disclosure is a vehicle control device that is mounted on a vehicle and controls the vehicle based on a detection time indicating a distance measured by a distance measuring device that measures a distance to an object around the vehicle by transmitting and receiving sound waves, the vehicle control device including: an acquisition circuit that acquires the detection time; an estimated line calculation circuit that calculates an estimated line connecting positions of an object that change over time based on the detection time acquired by the acquisition circuit;When an object is present in the vicinity of the distance measuring device but the distance to the object is not measured, A position in a predetermined area near the distance measuring device where the distance from the distance measuring device to the estimated straight line is the shortest is determined. Estimated coordinates indicating the estimated position of the object as and an estimated coordinate calculation circuit for calculating the estimated coordinates. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to improve the accuracy of collision determination. Note that the effects described herein are not necessarily limited to those described herein, and may be any of the effects described in this specification. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle control system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of the sonar device according to the embodiment. [Figure 3] FIG. 3 is a diagram for explaining object detection and generation of detection time by the sonar device of the embodiment. [Figure 4] FIG. 4 is a diagram for explaining a change in reverberation according to a transmitted wave in the embodiment. [Figure 5] FIG. 5 is a diagram for explaining a change in reverberation according to a transmitted wave in the embodiment. [Figure 6] 6 is a diagram illustrating a change in reverberation according to a transmitted wave according to an embodiment, and is a diagram illustrating an example of a configuration of a receiving system according to a second embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a hardware configuration of the vehicle control device according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of functions of the vehicle control device according to the embodiment. [Figure 9A] FIG. 9A is a diagram for explaining a method of calculating coordinates by the sonar device of the embodiment. [Figure 9B] FIG. 9B is a diagram for explaining a method of calculating coordinates by the sonar device of the embodiment. [Figure 10]FIG. 10 is a diagram for explaining a detection area by the device of the embodiment. [Figure 11A] FIG. 11A is a diagram for explaining a method for calculating an estimated straight line according to an embodiment. [Figure 11B] FIG. 11B is a diagram for explaining a method for calculating an estimated straight line according to the embodiment. [Figure 12] FIG. 12 is a diagram for explaining a method of calculating an estimated straight line when there is one coordinate in the embodiment. [Figure 13] FIG. 13 is a diagram for explaining a method of calculating an estimated straight line when coordinates are not calculated and there is one detection time in the embodiment. [Figure 14] FIG. 14 is a diagram for explaining a method of calculating an estimated straight line when coordinates are not calculated and there are two detection times in the embodiment. [Figure 15] FIG. 15 is a diagram for explaining a method of calculating an estimated straight line when coordinates are not calculated and there are three detection times in the embodiment. [Figure 16] FIG. 16 is a diagram for explaining a method for calculating estimated coordinates according to the embodiment. [Figure 17] FIG. 17 is a diagram for explaining a method for correcting an estimated straight line according to an embodiment. [Figure 18] FIG. 18 is a diagram for explaining an example of a variation of the method for calculating the estimated line. [Figure 19] FIG. 19 is a diagram for explaining an example of a variation of the method for calculating the estimated line. [Figure 20] FIG. 20 is a diagram for explaining vehicle control when the estimated coordinates are located inside the vehicle relative to the nearby area. [Figure 21] FIG. 21 is a flowchart illustrating an example of the operation of the vehicle control device according to the embodiment. [Figure 22] FIG. 22 is a diagram illustrating a detailed example of the process of calculating an estimated straight line according to the embodiment. [Figure 23] FIG. 23 is a diagram illustrating a detailed example of the process of calculating an estimated straight line according to the embodiment. [Figure 24]FIG. 24 is a diagram illustrating a detailed example of the process of calculating estimated coordinates according to the embodiment. [Figure 25] FIG. 25 is a flowchart showing an example of an operation related to vehicle control of the vehicle control device according to the embodiment. [Figure 26] FIG. 26 is a diagram for explaining a comparative example. [Figure 27] FIG. 27 is a diagram for explaining a comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle control device, a system, and a vehicle control method according to embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0010] A schematic configuration of a vehicle control system 1 mounted on a vehicle of this embodiment will be described using FIG. 1. The vehicle control system 1 is an example of a "system," and as shown in FIG. 1, the vehicle system 1 includes a sonar device 10, a vehicle information detection device 20, and a vehicle control device 30. These devices are connected via a network 40 such as a CAN (Controller Area Network). Note that the types and number of devices included in the vehicle system 1 are not limited to those shown in FIG. 1, and other devices may also be included. For example, the vehicle control system 1 may include an HMI device including a display capable of displaying information.

[0011] The sonar device 10 is an example of a "distance measuring device" that is mounted on a vehicle and is capable of measuring the detection time (time of flight) that indicates the distance to an object in the vicinity of the vehicle by transmitting and receiving sound waves (e.g., ultrasonic waves). The vehicle information detection device 20 is a device that detects vehicle information such as vehicle speed and the amount of movement of the vehicle (amount that indicates the direction and amount of movement). The vehicle control device 30 is a device that calculates distance information from the detection time measured by the sonar device 10 and controls the vehicle based on the vehicle information detected by the vehicle information detection device 20. Note that, although the sonar device 10 determines the detection time in this embodiment, the invention is not limited to this, and the detection time may also be determined by the vehicle control device 30, for example.

[0012] Next, a specific configuration of the sonar device 10 will be described. As shown in Fig. 2, the sonar device 10 includes a piezoelectric element 11, a drive circuit 12, a receiving circuit 13, and a controller 14. Under the control of the controller 14, the piezoelectric element 11 converts the drive voltage applied by the drive circuit 12 into sound pressure and outputs the sound pressure, thereby emitting ultrasonic waves. When the ultrasonic waves emitted by the piezoelectric element 11 hit objects (road surface, obstacles, etc.) around the vehicle, they are reflected, and a portion of them returns to the sonar device 10 (piezoelectric element 11). The receiving circuit 13 converts the sound pressure emitted by the piezoelectric element into voltage, and can generate an echo waveform that shows the temporal change in voltage corresponding to the sound pressure emitted by the piezoelectric element 11.

[0013] The controller 14 controls the drive circuit 12, detects objects around the vehicle based on the echo waveform generated by the receiving circuit 13, and generates a detection time to the detected object. The controller 14 of this embodiment can also generate a near flag based on the echo waveform, which indicates a state in which an object is present near the sonar device 10 but the distance to the object has not been measured. The specific configuration of the controller 14 will be described below.

[0014] As shown in Figure 2, the controller 14 includes a timer 15 for determining the drive timing of the drive circuit 12 (the timing for applying the drive voltage), a waveform memory 16 for storing echo waveforms, a judgment circuit 17, a threshold memory 18 for storing thresholds, and a communication circuit 19 for communicating with the network 40.

[0015] The determination circuit 17 detects an object present in the vicinity of the vehicle by comparing the echo waveform with a threshold value (threshold value for object detection) stored in the threshold memory 18, and can generate a detection time. As shown in FIG. 3, the period from when an ultrasonic wave is transmitted until the vibration of the piezoelectric element 11 subsides is called reverberation (reverberation period). When the reverberation falls below the threshold value and the received wave (the reflected ultrasonic wave) exceeds the threshold value, the determination circuit 17 detects an object in the vicinity of the vehicle and can generate a detection time by measuring the time from when the wave is transmitted to when the wave is received. When the determination circuit 17 detects an object in the vicinity of the vehicle and generates a detection time, it sends the generated detection time to the communication circuit 19. The communication circuit 19 transmits information about the detection of an object in the vicinity of the vehicle and the detection time to the vehicle control device 30 via the network 40.

[0016] Next, a method for generating a near flag by the determination circuit 17 will be described. Prior to describing the method for generating a near flag, the behavior of reverberation will be described. The reverberation may appear to be longer than normal when (1) a foreign object adheres to the piezoelectric element 11, or (2) an object is present near the piezoelectric element 11 (sonar device 10). When the reverberation is longer than normal (for example, determined using a threshold value indicating the normal period), (1) or (2) is distinguished, and if it is determined to be (2), a near flag is generated.

[0017] Next, we will explain how reverberation changes depending on the transmitted wave. For example, when the transmitted wave generates a high sound pressure, as shown in Figure 4, if the object is close and the received wave returns during reverberation, the reverberation will appear to be extended (it will be difficult to detect the received wave) because it will not fall below the threshold within the normal reverberation period. Furthermore, when the transmitted wave is high, the received wave will also be high. Therefore, even if the received wave (first wave) is completely buried in the reverberation, as shown in Figure 5, the reverberation will appear to be extended due to waves that have been reflected multiple times between objects. On the other hand, if the transmitted wave generates a low sound pressure and there is no foreign object attached, the received wave will also be low, as shown in Figure 6, and its effect on the reverberation will be reduced. In this case, the duration of the original reverberation itself will also be shorter, so the reverberation and received wave will not overlap, and normal detection may be possible.

[0018] As described above, if a foreign object adheres to the piezoelectric element 11, the reverberation appears to be longer than normal, regardless of whether the transmitted wave has a high sound pressure or a low sound pressure. On the other hand, if an object is present near the piezoelectric element 11, the reverberation appears to be longer than normal if the transmitted wave has a high sound pressure, and if the transmitted wave has a low sound pressure, the reverberation does not appear to be extended as much, and normal detection may be possible. Utilizing this, the determination circuit 17 of this embodiment can generate a near flag based on changes in reverberation that accompany changes in the level of the oscillated ultrasonic waves. More specifically, the determination circuit 17 can determine that an object is present near the sonar device 10, rather than that a foreign object is attached, based on the extent to which the reverberation of the two types of transmitted waves is extended, and generate (set) a near flag.

[0019] When the determination circuit 17 generates a near flag in the manner described above, it sends the generated near flag to the communication circuit 19. The communication circuit 19 transmits the near flag received from the determination circuit 17 to the vehicle control device 30 via the network 40. In the following description, information transmitted from the sonar device 10 to the vehicle control device 30 via the network 40 may be referred to as "sonar information." The sonar information includes the detection time, the near flag, etc.

[0020] Next, a specific configuration of the vehicle control device 30 will be described. As shown in Fig. 7, the vehicle control device 30 includes a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, and a communication I / F 34.

[0021] The CPU 31 executes programs to comprehensively control the operation of the vehicle control device 30 and realize various functions of the vehicle control device 30. The ROM 32 is a non-volatile memory that stores various data including programs for starting up the vehicle control device 30. The RAM 33 is a volatile memory that has a work area for the CPU 31. The communication I / F 34 is an interface for connecting to the network 40.

[0022] As shown in FIG. 8, the vehicle control device 30 includes an acquisition unit 310, a calculation unit 320, a collision determination unit 330, and a vehicle control unit 340.

[0023] The acquisition unit 310 acquires the sonar information transmitted from the sonar device 10 and the vehicle information transmitted from the vehicle information detection device 20.

[0024] The calculation unit 320 performs various calculation processes based on the information (sonar information, vehicle information) acquired by the acquisition unit 310. As shown in Fig. 8, the calculation unit 320 includes a coordinate calculation unit 321, an estimated line calculation unit 322, an estimated coordinate calculation unit 323, and a proximity mode setting unit 324.

[0025] The coordinate calculation unit 321 is an example of a "position information calculation unit" and calculates coordinates (an example of "position information") indicating the position of an object based on the detection time acquired by the acquisition unit 310. For example, a case where coordinates are generated by a single sonar device 10 will be described. As shown in FIG. 9, a single sonar device 10 can measure the distance to an object (a pole in the example of FIG. 9) but cannot determine the direction. Therefore, the coordinate calculation unit 321 can generate coordinates indicating the position of the object using two detection times measured before and after the vehicle moves. More specifically, the coordinate calculation unit 321 can calculate, as coordinates indicating the position of the detected object, the intersection of an arc-shaped trajectory connecting multiple positions where the object may exist, obtained based on the detection time before the movement, and an arc-shaped trajectory connecting multiple positions where the object may exist, obtained based on the detection time after the movement.

[0026] Returning to FIG. 8 , the explanation continues. The estimated line calculation unit 322 calculates an estimated line connecting the positions of objects that change over time based on the detection time acquired by the acquisition unit 310. For example, the estimated line calculation unit 322 can calculate the estimated line based on the position coordinates calculated by the coordinate calculation unit 321. As shown in FIG. 10 , the detection area of ​​the sonar device 10 for detecting the sides of the vehicle is divided into a detectable area, which indicates an area where an object can be detected and the distance to the object can be measured, and a nearby area, which is close to the sonar device 10 and where the distance to the object cannot be measured due to reverberation but where a near flag can be generated. As shown in FIG. 11 , the coordinate calculation unit 321 sequentially calculates coordinates indicating the position of an object detected in the detectable area over time, and the estimated line calculation unit 322 can calculate an estimated line that estimates the inclination of the object from the calculated coordinate group. For example, the estimated line calculation unit 322 can calculate a regression line of the coordinate group as the estimated line.

[0027] Furthermore, for example, as shown in FIG. 12, when the coordinate calculation unit 321 calculates one coordinate, the estimated line calculation unit 322 can calculate a line that passes through the one coordinate and is parallel to the vehicle as the estimated line.

[0028] Furthermore, for example, when coordinates are not calculated by the coordinate calculation unit 321 and only one detection time has been acquired by the acquisition unit 310, the estimated line calculation unit 322 can calculate, as an estimated line, a line that passes through the position closest to the vehicle (worst point) and is parallel to the vehicle among the trajectories connecting multiple positions where an object may exist, which are obtained based on the one detection time (see FIG. 13).

[0029] Furthermore, for example, when coordinates are not calculated by the coordinate calculation unit 321 and two detection times have been acquired by the acquisition unit 310, the estimated line calculation unit 322 can calculate, as an estimated line, a line that corresponds one-to-one to the two detection times and is commonly tangent to two trajectories connecting multiple positions where an object may exist, obtained based on the corresponding detection times (see FIG. 14).

[0030] Furthermore, for example, when coordinates are not calculated by the coordinate calculation unit 321 and three or more detection times have been acquired by the acquisition unit 310, the estimated line calculation unit 322 can calculate the latest estimated line based on a first line indicating a line commonly tangent to a trajectory connecting multiple positions where an object may exist, which is obtained based on the latest detection time, and a trajectory connecting multiple positions where an object may exist, which is obtained based on the detection time immediately before the latest, and a second line indicating an estimated line calculated before the latest detection time was acquired. For example, the estimated line calculation unit 322 can calculate, as the latest estimated line, a line that has an average slope of the first line and the second line and passes through the intersection of the first line and the second line (see FIG. 15 ).

[0031] Returning to Figure 8, the explanation will continue. When an object is present near the sonar device 10 but the distance to the object has not been measured, the estimated coordinate calculation unit 323 calculates estimated coordinates that indicate the estimated position of the object based on the detection time already acquired by the acquisition unit 310. In this embodiment, when the above-mentioned near flag is acquired by the acquisition unit 310 (corresponding to a case where an object is present near the sonar device 10 but the distance to the object has not been measured), the estimated coordinate calculation unit 323 calculates estimated coordinates based on the detection time already acquired by the acquisition unit 310.

[0032] More specifically, the estimated coordinate calculation unit 323 calculates estimated coordinates based on the estimated straight line calculated by the estimated straight line calculation unit 322. In this embodiment, as shown in Fig. 16, the estimated coordinate calculation unit 323 can calculate, as the estimated coordinates, the position in a predetermined area near the sonar device 10 (the nearby area described above) that is closest to the estimated straight line from the sonar device 10.

[0033] Furthermore, as shown in Fig. 17, for example, when the calculated estimated coordinates are outside the vehicle relative to the nearby area, the estimated coordinate calculation unit 322 can correct the position in the nearby area closest to the estimated line as the estimated coordinates. When the estimated coordinates are corrected in this way, the estimated line can be calculated using the determined coordinate group without including the corrected estimated coordinates, as shown in Fig. 18, for example. Furthermore, the estimated line can be calculated from the corrected estimated coordinates and the determined coordinate group, as shown in Fig. 19, for example.

[0034] Continuing the explanation, returning to Fig. 8, the proximity mode setting unit 324 can set the control mode related to braking of the vehicle to a proximity mode in which control is performed to brake the vehicle when an operation is performed to turn the vehicle in the direction where an object is present (typically, an operation to turn the steering wheel in the direction where the object is present). For example, as shown in Fig. 20, when the estimated coordinates calculated by the estimated coordinate calculation unit 322 are located inside the vehicle rather than the proximity area, the proximity mode setting unit 324 can set the control mode related to braking of the vehicle to the proximity mode.

[0035] Furthermore, in this embodiment, the proximity mode setting unit 324 can set the proximity mode to OFF when the detection time has been acquired by the acquisition unit 310. Furthermore, the proximity mode setting unit 324 can set the proximity mode to OFF when the detection time has not been acquired by the acquisition unit 310 and the near flag has not been acquired (a state in which neither the detection time nor the near flag is included in the sonar information). Furthermore, the proximity mode setting unit 324 can set the proximity mode to ON when the near flag has been acquired by the acquisition unit 310 and an estimated line has not been calculated.

[0036] Continuing with the explanation of Fig. 8, the collision determination unit 330 performs collision determination based on the coordinates (including estimated coordinates) calculated by the calculation unit 320. The vehicle control unit 340 performs control to activate the brakes of the vehicle when it is determined that a collision will occur (when the vehicle approaches a coordinate that exists in the traveling direction of the vehicle). The above is the specific configuration of the vehicle control device 30 of this embodiment.

[0037] 21, first, if the sonar information acquired by acquisition unit 310 does not include a detection time, for example, if the detection time has not been acquired (step S1: No), the process proceeds to step 2. In step S2, if the sonar information acquired by acquisition unit 310 includes a near flag, for example, if a near flag has been acquired (step S2: Yes), the process proceeds to step S3. On the other hand, if a near flag has not been acquired in step S2 (step S2: No), proximity mode setting unit 324 sets the proximity mode to off (step S4).

[0038] In step S3, if the estimated line has been calculated (step S3: Yes), the estimated coordinate calculation unit 323 calculates the estimated coordinate (step S5). The method of calculating the estimated coordinate is as described above. On the other hand, in step S3, if the estimated line has not been calculated (step S3: No), the proximity mode setting unit 324 sets the proximity mode to ON (step S6).

[0039] In the above-mentioned step S1, if the detection time has been acquired (step S1: Yes), the process proceeds to step S7. In step S7, if the coordinate calculation unit 322 can calculate the coordinates (step S7: Yes), the coordinate calculation unit 322 calculates the coordinates (step S8). The method of calculating the coordinates is as described above. Next, the estimated line calculation unit 322 calculates an estimated line from the coordinates calculated by the coordinate calculation unit 322 (step S9). The method of calculating the estimated line is as described above.

[0040] On the other hand, if coordinate calculation is not performed by the coordinate calculation unit 322 in step S7 (step S7: No) and there is an estimated line calculated by the estimated line calculation unit 322 (step S10: Yes), the process proceeds to step S4, and the neighborhood mode setting unit 324 sets the neighborhood mode to off. Also, if coordinate calculation is not performed by the coordinate calculation unit 322 in step S7 (step S7: No) and there is no estimated line calculated by the estimated line calculation unit 322 (step S10: No), the estimated coordinate calculation unit 323 calculates an estimated line from the acquired detection time (step S11). The method of calculating this estimated line is as described above.

[0041] Fig. 22 is a diagram showing a detailed example of the process of calculating the estimated line in step 9 of Fig. 21. As shown in Fig. 22, when two or more coordinates have been calculated by the coordinate calculation unit 322 (step S20: Yes), the estimated line calculation unit 322 calculates a regression line of the coordinate group as an estimated line (step S21). On the other hand, when only one coordinate has been calculated by the coordinate calculation unit 322 (step S20: No), the estimated line calculation unit 322 calculates a line that passes through the one coordinate and is parallel to the vehicle as an estimated line (step S22).

[0042] Fig. 23 is a diagram showing a detailed example of the process of calculating an estimated line in step 11 of Fig. 21. As shown in Fig. 23, when one detection time has been acquired by the acquisition unit 310 (step S30: Yes), the estimated line calculation unit 322 calculates an estimated line using a method corresponding to the case where there is one detection time (step S31). In this case, as described above, the estimated line calculation unit 322 calculates, as an estimated line, a line that passes through a position closest to the vehicle and is parallel to the vehicle, from among the trajectories that connect multiple positions where an object may exist, which are obtained based on one detection time.

[0043] If two detection times have been acquired by the acquisition unit 310 (step S30: No, step S32: Yes), the estimated line calculation unit 322 calculates an estimated line by a method corresponding to the case where two detection times are acquired (step S33). In this case, as described above, the estimated line calculation unit 322 calculates, as an estimated line, a line that corresponds one-to-one with the two detection times and is tangent in common to two trajectories that connect multiple positions where an object may exist, obtained based on the corresponding detection times.

[0044] When the number of detection times already acquired by the acquisition unit 310 is three or more (step S30: No, step S32: No, step S34: Yes), the estimated line calculation unit 322 calculates an estimated line using a method corresponding to the case where the detection time is three or more (step S35). In this case, as described above, the estimated line calculation unit 322 calculates the latest estimated line based on a first line indicating a line commonly tangent to a trajectory connecting multiple positions where an object may exist, which is obtained based on the latest detection time, and a trajectory connecting multiple positions where an object may exist, which is obtained based on the detection time immediately before the latest, and a second line indicating an estimated line calculated before the latest detection time was acquired.

[0045] 24 is a diagram showing a detailed example of the process of calculating estimated coordinates in step S5 of FIG. 21. As shown in FIG. 24, when the estimated line calculated by the estimated line calculation unit 322 passes through the neighborhood area (step S40: Yes), the estimated coordinate calculation unit 323 calculates the position where the distance from the sonar device 10 to the estimated line is the shortest as the estimated coordinate (step S41), as described above. When the estimated line does not pass through the neighborhood area and is located outside the neighborhood area of ​​the vehicle (step S40: No, step S42: Yes), the estimated coordinate calculation unit 323 calculates the position in the neighborhood area that is the closest to the estimated line as the estimated coordinate (step S43), as described above. On the other hand, when the estimated line is located inside the neighborhood area of ​​the vehicle of the vehicle (step S42: No), the neighborhood mode setting unit 324 sets the neighborhood mode to on (step S44), as described above.

[0046] Fig. 25 is a flowchart showing an example of operation related to vehicle control by the vehicle control device 30. As shown in Fig. 25, if coordinates (including estimated coordinates) calculated by the calculation unit 320 exist (step S50: Yes), the collision determination unit 330 determines whether the vehicle is approaching the coordinates (step S51). In this example, if the vehicle is approaching the coordinates that exist in the traveling direction of the vehicle, the determination result of step S51 becomes affirmative (Yes), and the vehicle control unit 340 performs control to activate the brakes of the vehicle (step S52).

[0047] On the other hand, if the coordinates calculated by the calculation unit 320 do not exist and the proximity mode is set to on (step S50: No, step S54: Yes), the vehicle control unit 340 controls the braking of the vehicle in the proximity mode. In this example, the vehicle control unit 340 controls the braking of the vehicle when the steering angle (a steering angle toward the object is considered positive) exceeds a threshold value (step S55: Yes).

[0048] As described above, when an object is present near the sonar device 10 but the distance to the object cannot be measured (when the above-mentioned near flag is generated), the vehicle control device 30 of this embodiment calculates estimated coordinates indicating the estimated position of the object based on the detection time (one or more detection times) already acquired from the sonar device 10. Collision determination can be performed using these estimated coordinates, thereby improving the accuracy of collision determination in the nearby area.

[0049] Here, as a comparative example, a configuration that does not have the above-mentioned estimated coordinate calculation function is assumed. In the comparative example, for example, in a case like that shown in Figure 26, even though it is necessary to apply the brakes, coordinates have not been generated in the nearby area, making it difficult to determine the collision and resulting in a collision with an object.

[0050] In order to avoid a collision like the one shown in Figure 26 above, if the brakes are activated when a near flag is generated, the brakes may be activated even in cases where the vehicle can travel straight without colliding with an object, as shown in Figure 27.

[0051] In contrast, in the present embodiment, collision detection is performed using estimated coordinates generated in the vicinity area, which improves the accuracy of collision detection compared to the comparative example, making it possible to apply the brakes at an appropriate timing that does not interfere with the running of the host vehicle while avoiding a collision with an object.

[0052] Although the embodiments of the present disclosure have been described above, the above-described embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These novel embodiments and modifications thereof are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as defined in the claims.

[0053] Furthermore, the effects of the embodiments described in this specification are merely examples and are not limiting, and other effects may also be obtained.

[0054] Furthermore, the notation "... section" in the above-described embodiments may be replaced with other notations such as "... circuitry," "... assembly," "... device," "... unit," or "... module."

[0055] In the above embodiment, the present disclosure has been described as an example configured using hardware, but the present disclosure can also be realized by software in cooperation with hardware.

[0056] Furthermore, each functional block used in the description of the above embodiments is typically realized as an LSI (Large Scale Integrated Circuit), which is an integrated circuit. The integrated circuit controls each functional block used in the description of the above embodiments and may have input and output terminals. These may be individually integrated into single chips, or some or all of them may be integrated into a single chip. Here, we refer to an LSI, but depending on the degree of integration, it may also be called an IC, system LSI, super LSI, or ultra LSI.

[0057] Furthermore, the method of integration is not limited to LSI, but may be realized using dedicated circuits or general-purpose processors and memories. It is also possible to use FPGAs (Field Programmable Gate Arrays), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow the connections or settings of circuit cells within LSIs to be reconfigured.

[0058] Furthermore, if an integrated circuit technology that can replace LSI emerges due to advances in semiconductor technology or other derivative technologies, it is natural that such technology could be used to integrate functional blocks. The application of biotechnology, etc. is also a possibility. [Explanation of symbols]

[0059] 1. Vehicle control system 10 Sonar Equipment 11 Piezoelectric element 12 Drive circuit 13 Receiving circuit 14 Controller 15 Timer 16 waveform memories 17 Judgment circuit 18 Threshold Memory 19 Communication Circuits 20 Vehicle information detection device 30 Vehicle control device 40 Network 310 Acquisition Department 320 Arithmetic unit 321 Coordinate calculation unit 322 Estimated straight line calculation section 323 Estimated coordinate calculation unit 324 Proximity mode setting section 330 Collision determination section 340 Vehicle control unit

Claims

1. A vehicle control device that is mounted on a vehicle and controls the vehicle based on a detection time indicating a distance measured by a distance measuring device that measures a distance to an object around the vehicle by transmitting and receiving a sound wave, an acquisition circuit for acquiring the detection time; an estimated line calculation circuit that calculates an estimated line connecting positions of an object that change over time based on the detection time acquired by the acquisition circuit; an estimated coordinate calculation circuit that, when an object exists near the distance measuring device but the distance to the object is not measured, calculates a position in a predetermined area near the distance measuring device that is closest to the estimated line as estimated coordinates indicating the estimated position of the object; Vehicle control device.

2. a position information calculation circuit that calculates position information indicating a position of an object based on the detection time acquired by the acquisition circuit; the estimated line calculation circuit calculates the estimated line based on the position information calculated by the position information calculation circuit. The vehicle control device according to claim 1 .

3. When the position information calculated by the position information calculation circuit is one, the estimated line calculation circuit calculates a line that passes through the position coordinates included in the position information and is parallel to the vehicle as the estimated line. The vehicle control device according to claim 2.

4. When the position information calculation circuit does not calculate the position information and the acquisition circuit has acquired only one detection time, the estimated line calculation circuit calculates, as the estimated line, a line that passes through a position closest to the vehicle and is parallel to the vehicle among trajectories connecting a plurality of positions where an object may exist, which are obtained based on the detection times. The vehicle control device according to claim 2.

5. When the position information calculation circuit does not calculate the position information and the acquisition circuit has already acquired two detection times, the estimated line calculation circuit calculates, as the estimated line, a line that corresponds one-to-one to the two detection times and is tangent in common to two loci that connect multiple positions where an object may exist, and that are obtained based on the corresponding detection times. The vehicle control device according to claim 2.

6. When the position information calculation circuit does not calculate the position information and the number of detection times already acquired by the acquisition circuit is three or more, the estimated line calculation circuit calculates the latest estimated line based on a first line indicating a line commonly tangent to a trajectory connecting a plurality of positions where an object may exist, which is obtained based on the latest detection time, and a trajectory connecting a plurality of positions where an object may exist, which is obtained based on the detection time immediately before the latest, and a second line indicating the estimated line calculated before the latest detection time was acquired. The vehicle control device according to claim 4 or 5.

7. A vehicle control device that is mounted on a vehicle and controls the vehicle based on a detection time indicating a distance measured by a distance measuring device that measures a distance to an object around the vehicle by transmitting and receiving sound waves, an acquisition circuit for acquiring the detection time; an estimated line calculation circuit that calculates an estimated line connecting positions of an object that change over time based on the detection time acquired by the acquisition circuit; an estimated coordinate calculation circuit that, when an object is present near the distance measuring device but the distance to the object is not measured, calculates estimated coordinates indicating an estimated position of the object based on the detection time already acquired by the acquisition circuit, and, when the calculated estimated coordinates are outside the vehicle beyond a predetermined neighborhood area indicating an area near the distance measuring device, corrects the estimated coordinates to a position in the neighborhood area that is closest to the estimated straight line; Vehicle control device.

8. a proximity mode setting circuit that sets a control mode for braking the vehicle to a proximity mode in which, when the estimated coordinates calculated by the estimated coordinate calculation circuit are located inside the vehicle with respect to the proximity area, the control mode performs control for braking the vehicle when an operation is performed to turn the vehicle toward an object; The vehicle control device according to claim 7.

9. A system including a distance measuring device mounted on a vehicle and measuring a distance to an object around the vehicle by transmitting and receiving sound waves, and a vehicle control device that controls the vehicle based on a detection time indicating the distance measured by the distance measuring device, The vehicle control device includes: an acquisition circuit for acquiring the detection time; an estimated line calculation circuit that calculates an estimated line connecting positions of an object that change over time based on the detection time acquired by the acquisition circuit; an estimated coordinate calculation circuit that, when an object exists near the distance measuring device but the distance to the object is not measured, calculates a position in a predetermined area near the distance measuring device that is closest to the estimated line as estimated coordinates indicating the estimated position of the object; system.

10. A vehicle control method using a vehicle control device that controls a vehicle based on a detection time indicating a distance measured by a distance measuring device that is mounted on the vehicle and measures a distance to an object around the vehicle by transmitting and receiving sound waves, the method comprising: an acquisition step of acquiring the detection time; an estimated line calculation step of calculating an estimated line connecting positions of the object that change over time based on the detection time acquired in the acquisition step; an estimated coordinate calculation step of, when an object exists near the distance measuring device but the distance to the object is not measured, calculating a position in a predetermined area near the distance measuring device that is closest to the estimated line as estimated coordinates indicating the estimated position of the object, Vehicle control method.

11. A system including a distance measuring device mounted on a vehicle and measuring the distance to an object around the vehicle by transmitting and receiving sound waves, and a vehicle control device that controls the vehicle based on a detection time indicating the distance measured by the distance measuring device, The vehicle control device includes: an acquisition circuit for acquiring the detection time; an estimated line calculation circuit that calculates an estimated line connecting positions of an object that change over time based on the detection time acquired by the acquisition circuit; an estimated coordinate calculation circuit that, when an object is present near the distance measuring device but the distance to the object is not measured, calculates estimated coordinates indicating an estimated position of the object based on the detection time already acquired by the acquisition circuit, and, when the calculated estimated coordinates are outside the vehicle beyond a predetermined neighborhood area indicating an area near the distance measuring device, corrects the estimated coordinates to a position in the neighborhood area that is closest to the estimated straight line; system.

12. A vehicle control method for controlling a vehicle based on a detection time indicating a distance measured by a distance measuring device mounted on the vehicle and measuring a distance to an object around the vehicle by transmitting and receiving sound waves, comprising: an acquisition step of acquiring the detection time; an estimated line calculation step of calculating an estimated line connecting positions of the object that change over time based on the detection time acquired in the acquisition step; an estimated coordinate calculation step of calculating, when an object is present near the distance measuring device but the distance to the object is not measured, estimated coordinates indicating an estimated position of the object based on the detection time already acquired in the acquisition step, and when the calculated estimated coordinates are outside the vehicle beyond a predetermined neighborhood area indicating an area near the distance measuring device, correcting the estimated coordinates to a position in the neighborhood area that is closest to the estimated straight line. Vehicle control method.

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