Vehicle control device

Abstract

To provide a vehicle control device which suppresses erroneous detection in the time of object detection by a plurality of sensors even when a surrounding environment of a vehicle deteriorates and realizes optimum drive support.SOLUTION: A vehicle control device comprises: a recognition unit which recognizes a target on the basis of a detection result by sensors included in each pattern by referring to pattern information defining a plurality of patterns indicating a combination of the sensors used for recognition of the target correspondingly to each drive support function; a vehicle control unit which executes the drive support function corresponding to the patterns with which the recognition result is obtained on the basis of the recognition result by the recognition unit; and a control determination unit which controls at least one of the recognition unit and the vehicle control unit on the basis of a surrounding environment of the vehicle. The control determination unit executes at least one of a change of adoption / rejection of the detection result of the sensors in the recognition unit, a change of the combination of the sensors and a change of an execution mode of the drive support function in the vehicle control unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Recently, automobiles and other vehicles are equipped with perimeter monitoring sensors to implement driving assistance functions such as autonomous emergency braking (AEB) and adaptive cruise control (ACC). In recent years, in order to add functionality and improve the performance of driving assistance functions, multiple perimeter monitoring sensors are sometimes employed to detect directions other than the vehicle's front and to improve the reliability of detection results. When an object is detected by a single or multiple sensors, it is necessary to accurately determine whether it is an obstacle that needs to be avoided or whether it is a detection target for implementing driving assistance functions. This technology of collating the detection results of an object (target) from multiple sensors is called sensor fusion.

[0003] As such a sensor fusion technology, a technology has been disclosed that recognizes pedestrians based on the results of pedestrian recognition by image recognition processing of an in-vehicle camera and the results of target recognition by laser radar (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-237898 Summary of the Invention [Problem to be solved by the invention]

[0005] However, each sensor has its own strengths and weaknesses in detection, and the detection accuracy of each sensor may be reduced depending on the vehicle's surrounding environment (driving environment), for example, weather conditions (rainfall, snowfall, fog, strong wind, sunshine, etc.). In such cases, even when multiple sensors are detecting the same object, some sensors may maintain good detection performance while other sensors may experience reduced detection accuracy. As a result, even when sensor fusion technology is used, this may cause false detection or erroneous determination of objects, resulting in reduced driving assistance accuracy.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a vehicle control device that suppresses erroneous detection and erroneous judgment when detecting objects using multiple sensors, even when the vehicle's surrounding environment (driving environment) deteriorates, and that realizes optimal driving assistance. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a vehicle control device according to the present invention is a vehicle control device that executes one or more driving assistance functions based on detection signals received from a plurality of types of sensors that detect targets around the vehicle, and and for each detection target in the driving assistance function, a plurality of types of sensors are selected based on their suitability for performance. The vehicle control system includes a recognition unit that refers to pattern information that defines a plurality of patterns indicating the combinations of sensors used to recognize the target and recognizes the target based on the detection results by the sensors included in each of the patterns; a vehicle control unit that executes the driving assistance function corresponding to the pattern from which the recognition result was obtained based on the recognition result by the recognition unit; and a control determination unit that controls at least one of the recognition unit and the vehicle control unit based on the surrounding environment of the vehicle, wherein the control determination unit executes at least one of changing whether or not to accept the detection results of the sensors in the recognition unit, changing the combination of the sensors, and changing the execution mode of the driving assistance function in the vehicle control unit. [Effects of the Invention]

[0008] According to the present invention, by performing at least one of changing whether to accept or reject detection results from sensors, changing the combination of sensors, and changing the execution mode of a driving assistance function according to the surrounding environment (driving environment) of the vehicle, it is possible to suppress erroneous recognition (erroneous detection) and erroneous determination of targets such as vehicles and pedestrians even when the recognition accuracy of the sensors is reduced, thereby realizing optimal driving assistance. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an exemplary schematic diagram showing the layout and detection ranges of various sensors of a vehicle to which a vehicle control device according to an embodiment can be applied. [Figure 2] FIG. 2 is an exemplary schematic diagram showing the electrical configuration of a vehicle to which the vehicle control device according to the embodiment can be applied. [Figure 3] FIG. 3 is an exemplary schematic block diagram showing a functional configuration of a vehicle control device (drive control ECU) according to the embodiment. [Figure 4] FIG. 4 is an exemplary diagram showing characteristics of various sensors that can be used in the vehicle control device according to the embodiment. [Figure 5] FIG. 5 is an exemplary diagram showing the performance of various sensors that can be used in the vehicle control device according to the embodiment. [Figure 6] FIG. 6 is an exemplary diagram illustrating a pattern table that can be used in the vehicle control device according to the embodiment. [Figure 7] FIG. 7 is an exemplary flowchart showing the flow of operations of the vehicle control device (drive control ECU) according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of a vehicle control device according to the present invention will be described in detail with reference to Figures 1 to 7. Furthermore, the present invention is not limited to the following embodiments, and the components in the following embodiments include those that would be easily conceived by a person skilled in the art, those that are substantially the same, and those that are within the scope of what is called equivalents. Furthermore, various omissions, substitutions, modifications, and combinations of the components can be made without departing from the spirit of the following embodiments.

[0011] (Layout and detection range of various sensors on the vehicle) 1 is a diagram showing an example of the layout and detection range of various sensors of a vehicle to which a vehicle control device according to an embodiment can be applied. With reference to FIG. 1, an example of the layout and detection range of various sensors of a vehicle 1 according to this embodiment will be described.

[0012] As shown in FIG. 1, vehicle 1 is equipped with multiple sensors and executes at least one of the following driving assistance functions based on the detection results of the sensors: automatic emergency braking (AEB), adaptive cruise control (ACC), and pedal misapplication prevention. Automatic emergency braking (AEB) is a function that automatically applies the brakes to avoid a collision when a collision with an obstacle is predicted, or reduces the severity of the collision even if a collision with the obstacle is unavoidable, thereby mitigating damage to the vehicle. Adaptive cruise control (ACC) is a function that automatically accelerates and decelerates the vehicle within a preset vehicle speed range, enabling it to maintain a safe distance from another vehicle ahead during long-distance travel on a highway. The pedal misapplication prevention function is a function that determines that a driver has mistakenly pressed the accelerator pedal if the accelerator pedal is pressed too hard and the speed and amount of pressure are greater than a predetermined value. It then closes the electronic throttle to control the engine speed and automatically applies the brakes after a predetermined time. As shown in (a) of Figure 1, the vehicle 1 is equipped with, as an example, a front camera sensor 2, four sonar sensors 3, a front millimeter-wave radar 4, two front-side millimeter-wave radars 5, two rear-side millimeter-wave radars 6, and four surround-view cameras 7.

[0013] The front camera sensor 2 is provided on the upper part of the windshield of the vehicle 1, etc., and is an imaging device that recognizes targets such as vehicles, motorcycles, and pedestrians in front within a detection range 2a shown in (b) of Fig. 1. The sonar sensor 3 is provided on the corners of the front bumper and rear bumper of the vehicle 1, etc., and is a sensor that detects targets by emitting ultrasonic waves within a detection range 3a shown in (b) of Fig. 1. The front millimeter-wave radar 4 is provided on the back side of the front bumper of the vehicle 1, etc., and is a radar device that detects targets in front of the vehicle 1 within a detection range 4a shown in (b) of Fig. 1 by emitting millimeter-wave band radio waves toward the front of the vehicle 1 and receiving the reflected radio waves that return.

[0014] The front-side millimeter-wave radar 5 is provided at a corner of the front bumper of the vehicle 1, and is a radar device that detects targets present on the front sides of the vehicle 1 by emitting millimeter-wave radio waves toward the front sides of the vehicle 1 and receiving the reflected radio waves within a detection range 5a shown in FIG. 1(b). The rear-side millimeter-wave radar 6 is provided at a corner of the rear bumper of the vehicle 1, and is a radar device that detects targets present on the rear sides of the vehicle 1 by emitting millimeter-wave radio waves toward the rear sides of the vehicle 1 and receiving the reflected radio waves within a detection range 6a shown in FIG. 1(b). The surround-view cameras 7 are provided at the front side, back door side, and left and right side mirrors of the vehicle 1, and are imaging devices that generate a bird's-eye view of the vehicle 1 from above using images captured within a wide-angle imaging range 7a shown in FIG. 1(b).

[0015] In this way, the vehicle 1 realizes the various driving assistance functions described above by mounting multiple types of sensors and performing sensor fusion to compare the detection results of targets from each sensor. Note that the various sensors of the vehicle 1 shown in Figure 1 are merely examples, and the number, types, and placement positions of the sensors are not limited to those shown in Figure 1.

[0016] (Vehicle electrical configuration) 2 is a diagram showing an example of the electrical configuration of the vehicle 1 to which the vehicle control device according to the embodiment can be applied. The electrical configuration of the vehicle 1 according to the present embodiment will be described with reference to FIG.

[0017] 2, the vehicle 1 includes a plurality of ECUs (Electronic Control Units) for controlling various parts. Each ECU includes a microcomputer (microcontroller unit), and the microcomputer includes, for example, a CPU (Central Processing Unit), a nonvolatile memory such as a flash memory, and a volatile memory such as a DRAM (Dynamic Random Access Memory).

[0018] Specifically, as shown in Fig. 2, the vehicle 1 includes a drive ECU 11, a steering ECU 12, a brake ECU 13, a meter ECU 14, a body ECU 15, a driving control ECU 31, a camera ECU 32, a sonar ECU 33, and a radar ECU 34. The ECUs are connected to each other via a bus line 19 so as to be able to communicate with each other. The bus line 19 realizes communication based on a serial communication protocol such as CAN (Controller Area Network). Note that the protocol is not limited to CAN, and other serial communication protocols may also be applied.

[0019] The vehicle 1 also includes a drive unit 21, a steering angle sensor 22a, a steering unit 22b, a braking unit 23, a function switch 24, headlamps 25, a positioning signal receiving unit 35, a vehicle speed sensor 36, a display device 37, a speaker 38, and a rain sensor 39. The vehicle 1 also includes a first monocular camera 42a, a second monocular camera 42b, a third monocular camera 42c, a first stereo camera 42d, a second stereo camera 42e, a sonar sensor 43, a first millimeter wave radar 44a, and a second millimeter wave radar 44b as sensors used to realize the driving assistance function.

[0020] The drive ECU 11 is an ECU that controls a drive unit 21 of the vehicle 1 based on input accelerator pedal signals and the like. The drive unit 21 is connected to the drive ECU 11 and includes at least one of an engine or a motor as a drive source. The drive unit 21 also includes, for example, an electronic throttle that electronically controls the throttle opening of the engine to adjust the amount of intake air and control the engine output. The drive unit 21 also includes a transmission that changes the speed of the drive force from the drive source and outputs it as necessary.

[0021] The steering ECU 12 is an ECU that receives a detection signal from the steering angle sensor 22a and controls a steering device 22b of the vehicle 1. The steering angle sensor 22a is connected to the steering ECU 12 and is a sensor that detects the angle of the steering wheel. The steering device 22b is connected to the steering ECU 12 and is an electric power steering device that transmits the torque of an electric motor to a steering mechanism. The steering mechanism includes, for example, a rack-and-pinion steering gear, and is configured so that when a rack shaft moves in the vehicle width direction due to the torque of the electric motor, the left and right steered wheels turn left and right in accordance with the movement of the rack shaft.

[0022] The brake ECU 13 is an ECU that controls a braking device 23 of the vehicle 1. The braking device 23 is connected to the brake ECU 13 and is a hydraulic or electric braking device. For example, if the braking device 23 is a hydraulic braking device, the braking device 23 includes a brake actuator that distributes hydraulic pressure to wheel cylinders of brakes provided on each wheel using the function of the brake actuator, and applies braking force from each brake to the wheels, including the drive wheels, using the hydraulic pressure.

[0023] The meter ECU 14 is an ECU that controls each part of the meter panel of the vehicle 1. The meter panel includes instruments that display vehicle speed and engine RPM, and displays such as a liquid crystal display (LCD) for displaying various information. The meter ECU 14 is also connected to a function switch 24 for enabling or disabling various driving assistance functions, for example. Note that some driving assistance functions may be constantly enabled due to their nature, regardless of whether they are switched on or off by the function switch 24.

[0024] The body ECU 15 is an ECU that controls the left and right turn signals, door lock motors, etc., which need to operate even when the vehicle ignition switch is off. In Fig. 2, headlamps 25 are connected to the body ECU 15 and turn on in accordance with commands from the body ECU 15.

[0025] The driving control ECU 31 is an ECU that serves as the center of control for driving assistance functions and is an example of a vehicle control device. The driving control ECU 31 executes various driving assistance functions based on sensor fusion, which collates target detection results based on detection signals from various sensors aggregated by the camera ECU 32, sonar ECU 33, and radar ECU 34. The driving control ECU 31 also includes a memory 41a and an external I / F 41b. As shown in FIG. 2, the driving control ECU 31 is also connected to a positioning signal receiving unit 35, a vehicle speed sensor 36, a display device 37, a speaker 38, a rain sensor 39, and the like.

[0026] The memory 41a is a non-volatile storage device such as a flash memory that stores pattern tables that define patterns of combinations of various sensors used in the sensor fusion of the driving control ECU 31. A pattern table exists for each driving assistance function and for each detection target (vehicle, motorcycle, pedestrian, etc.) for that driving assistance function. The pattern tables will be described later.

[0027] The external I / F 41b is an interface for performing data communication with an external information processing device such as an external device 51. The external I / F 41b is an interface conforming to standards such as Ethernet (registered trademark) or USB (Universal Serial Bus). The external device 51 is an information processing device such as a PC (Personal Computer) used for processes such as saving, editing, and updating the pattern table stored in the memory 41a.

[0028] The camera ECU 32 is connected to the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, and the second stereo camera 42e, and generates image data by receiving and processing image signals captured by each camera. The camera ECU 32 processes the image signals received from each camera and transmits the processed image data to the driving control ECU 31. The first monocular camera 42a, the second monocular camera 42b, and the third monocular camera 42c are camera sensors capable of continuously capturing still images of a search range in front of or behind the vehicle 1 at a predetermined frame rate. The first stereo camera 42d and the second stereo camera 42e are camera sensors capable of measuring the distance to a target from the parallax of images captured by two imaging units arranged parallel and equidistant from each other.

[0029] The sonar ECU 33 is connected to the sonar sensor 43 and is an ECU that receives and processes detection signals of targets obtained by the sonar sensor 43. The sonar ECU 33 transmits data obtained by processing the detection signals received from the sonar sensor 43 to the driving control ECU 31. The sonar sensor 43 is a sensor that detects targets by emitting ultrasonic waves.

[0030] The radar ECU 34 is connected to the first millimeter-wave radar 44a and the second millimeter-wave radar 44b, and is an ECU that receives and processes target detection signals obtained by each millimeter-wave radar. The radar ECU 34 processes the detection signals received from each millimeter-wave radar and transmits the processed data to the driving control ECU 31. The first millimeter-wave radar 44a and the second millimeter-wave radar 44b are radar devices that detect targets present around the vehicle 1 by emitting millimeter-wave band radio waves and receiving the reflected radio waves.

[0031] The various sensors of the vehicle 1 shown in FIG. 2 are merely examples, and the number, types, and locations of the sensors are not limited to those shown in FIG.

[0032] The positioning signal receiving unit 35 is a receiving device that receives positioning signals from positioning satellites based on the GNSS (Global Navigation Satellite System). The positioning signal receiving unit 35 is communicably connected to the driving control ECU 31 via, for example, a USB standard communication cable, and outputs the received positioning signals to the driving control ECU 31. The driving control ECU 31 detects the location of the vehicle 1 based on the positioning signals received from the positioning signal receiving unit 35. An example of the GNSS is, for example, a GPS (Global Positioning System).

[0033] The vehicle speed sensor 36 is a sensor that is installed, for example, near a wheel of the vehicle 1 and generates a vehicle speed pulse that indicates the rotation speed or number of rotations of the wheel. The vehicle speed sensor 36 is communicably connected to the driving control ECU 31 and outputs the generated vehicle speed pulse to the driving control ECU 31. The driving control ECU 31 calculates the vehicle speed of the vehicle 1 by counting the vehicle speed pulses received from the vehicle speed sensor 36.

[0034] The display device 37 is a display device such as an LCD (Liquid Crystal Display) or an OLED (Organic Electro-Luminescent Display) that displays object recognition information and the like and is installed on a dashboard or the like inside the vehicle 1. The display device 37 is connected to the driving control ECU 31 so as to be able to communicate with it.

[0035] The speaker 38 is an acoustic device that outputs sounds and voices and is installed in the passenger compartment of the vehicle 1. The speaker 38 is connected to the driving control ECU 31 so as to be able to communicate with it.

[0036] The rain sensor 39 can be used as one of the sensors that detects the surrounding environment (driving environment) of the vehicle 1. The rain sensor 39 is, for example, an optical (infrared) sensor that detects rainfall on the vehicle 1 and is disposed, for example, inside the windshield of the vehicle 1. In this case, when there are no raindrops on the windshield, infrared light emitted from the light-emitting unit is reflected by the windshield surface and enters the light-receiving unit. On the other hand, when there are raindrops on the windshield, the infrared light passes through the raindrops, reducing the amount of light entering the light-receiving unit. In other words, the presence and amount of raindrops (level of rainfall) can be determined based on the amount of light incident on the light-receiving unit, and the generated detection signal is output to the driving control ECU 31. The driving control ECU 31 determines the surrounding environment (rainfall conditions) of the vehicle 1 based on the detection signal received from the rain sensor 39. For example, it can be determined that the recognition accuracy of a sensor that uses images for sensing has decreased due to rainfall. Note that when the detection signal from the rain sensor 39 is used, the deterioration of the sensor's recognition accuracy may be determined in stages depending on the amount of rainfall.

[0037] The detection of the surrounding environment (driving environment) of the vehicle 1 is not limited to the rain sensor 39, and may be performed based on, for example, image data acquired from the camera ECU 32. When image data is used, for example, if the contrast of the image (image data) sent from the camera ECU 32 continues to be lower by a predetermined level or more compared to a standard image (a standard image prepared in advance when visibility is good) for a predetermined period of time, it can be determined that there is a possibility of poor visibility due to rainfall, snowfall, fog, or the like. In this case, it can be determined that the target recognition level has deteriorated below the level at which driving assistance of the vehicle 1 can be performed without hindrance. In other words, the image data sent from the camera ECU 32 itself can be used to determine the surrounding environment (driving environment) of the vehicle 1. Similarly, if the edge included in the image (image data) sent from the camera ECU 32 continues to be more difficult to distinguish (blurred) than the standard image for a predetermined period of time, it can be determined that there is a possibility of poor visibility due to rainfall, snowfall, fog, or the like. In this case, it can also be determined that the target recognition level has deteriorated below the level at which driving assistance of the vehicle 1 can be performed without hindrance. In other words, the image data itself sent from the camera ECU 32 can be used to determine the surrounding environment (driving environment) of the vehicle 1. Furthermore, since the detection signal sent from the sonar ECU 33 is a signal based on the reflection of sound waves, if the surrounding conditions of the vehicle 1 are exposed to winds stronger than those during normal driving, the pattern of the detection signal clearly changes from that when there is no strong wind. Based on the degree of change, the surrounding environment (driving environment) of the vehicle 1 can be determined (determined whether or not there is a strong wind) based on the degree of change. In this way, if a detection value that does not reach a predetermined detection value threshold (standard value) for each sensor is detected continuously for a predetermined period, it can be determined that the surrounding environment of the vehicle 1 has deteriorated. By recognizing a change (deterioration) in the surrounding environment of the vehicle 1, various change processes for driving assistance control according to the surrounding environment (driving environment) of the vehicle 1, which will be described later, can be realized.

[0038] Note that the electrical configuration of vehicle 1 shown in Fig. 2 is an example, and does not necessarily include all of the components shown in Fig. 2, or may include other components. Furthermore, the various ECUs shown in Fig. 2 are not limited to being independent hardware, and may be configured as an integrated ECU. For example, the driving control ECU 31 and the camera ECU 32 may be configured as a single integrated ECU, and this ECU may have the functions of both the driving control ECU 31 and the camera ECU 32.

[0039] (Functional block configuration and operation of vehicle driving control ECU) FIG. 3 is an exemplary schematic block diagram showing the functional configuration of a vehicle control device (driving control ECU). FIG. 4 is a diagram showing an example of the characteristics of various sensors that can be used in the vehicle control device according to the embodiment. FIG. 5 is a diagram showing an example of the performance of various sensors that can be used in the vehicle control device according to the embodiment. FIG. 6 is a diagram showing an example of a pattern table that can be used in the vehicle control device according to the embodiment. The functional block configuration and operation of the driving control ECU 31 of the vehicle 1 according to the present embodiment will be described with reference to FIGS. 3 to 6.

[0040] 3, the driving control ECU 31 includes a setting unit 61, a storage unit 62, a recognition unit 63, a vehicle control unit 64, and an output control unit 65. The recognition unit 63 includes a control determination unit 63a. The vehicle control unit 64 includes a variable processing unit 64a.

[0041] The setting unit 61 is a functional unit that executes setting processes such as saving, editing, and updating the pattern table stored in the storage unit 62 in response to a command from the external device 51 .

[0042] As described above, the pattern table (an example of pattern information) is prepared for each driving assistance function and for each detection target (vehicle, motorcycle, pedestrian, etc.) for that driving assistance function, and defines the combination patterns of the various sensors described above. Here, the various sensors described above, namely, the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, and the second millimeter-wave radar 44b, each have different characteristics. For example, FIG. 4 shows an example of the characteristics of each sensor type. FIG. 4 shows the sensor characteristics, such as the sensing method, detection distance, lateral resolution, detectable objects, and weather dependency. For example, in the case of a monocular sensor, the sensing method is based on images, the detection distance is up to 100 meters, the lateral resolution is particularly excellent, the detectable objects are somewhat poor, and the weather dependency is moderate. It can also be seen that millimeter-wave radar is particularly superior to sonar sensors and laser radar in terms of detection distance. Note that in Figure 4, sensors of the same type are described as having the same characteristics, but it goes without saying that sensors of the same type can have different characteristics.

[0043] As shown in Fig. 4, various sensors have different characteristics depending on the type, and therefore, their suitability for performing various performances required for executing various driving assistance functions, such as vehicle identification performance, pedestrian identification performance, and distance measurement performance, is determined. Fig. 5 shows the suitability of various performances required for executing various driving assistance functions, determined based on the characteristics of the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, and the second millimeter-wave radar 44b mounted on the vehicle 1. For example, Fig. 5 shows that, for performing vehicle identification performance, the first monocular camera 42a, the second monocular camera 42b, and the first stereo camera 42d are suitable, the second millimeter-wave radar 44b is somewhat unsuitable, and the third monocular camera 42c, the first millimeter-wave radar 44a, the second stereo camera 42e, and the sonar sensor 43 are unsuitable. It also indicates that any sensor other than the second monocular camera 42b is suitable for achieving the required distance measurement performance. Note that the method of displaying the suitability of various performances shown in Fig. 5 is merely an example, and the suitability evaluation may be expressed, for example, by a numerical evaluation value.

[0044] In this way, the developer organizes in advance the suitability of various performances required for executing various driving assistance functions, as shown in FIG. 5, according to the characteristics of the various sensors mounted on the vehicle 1. Then, the developer creates, via the external device 51, a pattern table that specifies patterns of combinations of sensors used to detect the detection target corresponding to the various performances (i.e., combinations of sensors that may confirm detection of the detection target), based on the suitability of the various sensors for the various performances for each driving assistance function and for each detection target of the driving assistance function. FIG. 6 shows, as an example of a pattern table, a pattern table corresponding to a vehicular AEB as a driving assistance function. This vehicular AEB detects a vehicle as a detection target and includes vehicle identification processing and distance measurement processing. Therefore, the developer sets the pattern table for the vehicular AEB according to the suitability of the various sensors for the vehicle identification performance and distance measurement performance shown in FIG. 5. The pattern table may be created by the external device 51 and then stored or updated in the storage unit 62 by the setting unit 61. Alternatively, the pattern table stored in the storage unit 62 may be edited by the setting unit 61 in response to a command from the external device 51.

[0045] As a standard for the pattern of combinations of various sensors specified in the pattern table corresponding to the vehicle AEB, the developer sets, for example, a sensor combination that satisfies either the following condition (1) or condition (2) as a sensor combination that may confirm detection for the vehicle.

[0046] Condition (1): The vehicle identification performance is "good" and the distance measurement performance is "good" Condition (2): A combination of a sensor with a vehicle identification performance rating of "△" and two other sensors with distance measurement performance ratings of "〇"

[0047] FIG. 6 shows examples in which patterns (1) to (14) are set in the pattern table as patterns of sensor combinations that satisfy the above conditions. For example, in pattern (1), the suitability of both the vehicle identification performance and the distance measurement performance of the first monocular camera 42a is "good," so condition (1) is satisfied and the detection of a vehicle can be confirmed by the first monocular camera 42a alone. In pattern (2), the suitability of the vehicle identification performance of the second monocular camera 42b is "good," and the suitability of the distance measurement performance of the third monocular camera 42c is "good," so this combination satisfies condition (1) and the detection of a vehicle can be confirmed. In pattern (7), the suitability of the vehicle identification performance of the second millimeter-wave radar 44b is "good," and the suitability of the distance measurement performance of the third monocular camera 42c and the first millimeter-wave radar 44a is "good," so this combination satisfies condition (2) and the detection of a vehicle can be confirmed.

[0048] The above conditions for defining the sensor combination patterns are merely examples, and other conditions may be used to define the patterns. Also, in Fig. 6, patterns (1) to (14) are defined in the pattern table, but it is not necessary to use all of these patterns for target recognition. In this case, unnecessary patterns may be deleted from the pattern table.

[0049] Furthermore, if an existing sensor is removed or a new sensor is installed in response to a change in the specifications of the vehicle 1, the developer may use the external device 51 to change the pattern table via the setting unit 61. For example, if an existing sensor is removed, the developer may delete a column corresponding to the sensor in the pattern table and reconfigure a pattern of a sensor combination that satisfies the above-mentioned conditions. Furthermore, if a new sensor is installed, the developer may add a new column for the sensor in the pattern table and additionally configure a pattern of a sensor combination that satisfies the above-mentioned conditions. Alternatively, the developer may create a pattern table in advance that corresponds to the maximum number and types of sensors expected to be installed, and edit and configure the content of the patterns defined in the pattern table in response to the removal of a sensor or the installation of a new sensor. In this case, the effort of deleting or adding columns in the pattern table can be eliminated.

[0050] Although the pattern table shown as an example in FIG. 6 is information in table format, it is not limited to being in table format, and any format of information (an example of pattern information) may be used as long as it can define a pattern of combinations of various sensors.

[0051] The storage unit 62 is a functional unit that stores pattern tables corresponding to each driving assistance function and each detection target in the driving assistance function. The storage unit 62 is realized by the memory 41a shown in Fig. 2. Note that the storage unit 62 may also be realized by an external storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive).

[0052] The recognition unit 63 is a functional unit that, when each sensor is performing the various functions shown in Fig. 4, refers to a pattern table in the storage unit 62 that corresponds to the driving assistance function enabled in the vehicle control unit 64, and uses sensor fusion to compare the detection results of each pattern defined in the pattern table to recognize a target. Target recognition involves, for example, recognizing the position of the target and identifying the type of the target. The recognition unit 63 outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65.

[0053] For example, if the driving assistance function enabled in the vehicle control unit 64 is the vehicle AEB, the recognition unit 63 refers to a pattern table in the storage unit 62 that corresponds to the vehicle AEB (i.e., the AEB as a driving assistance function and the vehicle as a detection target). Next, the recognition unit 63 compares the positions of targets recognized by the sensors belonging to each pattern defined in the pattern table and the types of identified targets. If the comparison results in a match, the recognition unit 63 determines the position and type of the target as the final recognition result. For example, if patterns (1) to (3) are set in the pattern table, the recognition unit 63 compares the positions of targets recognized by patterns (1) to (3), respectively, and if a match is found, determines the position of the target as the final recognition result. Similarly, the recognition unit 63 compares the types of targets identified by patterns (1) to (3), respectively, and if a match is found, determines the type of the target as the final recognition result. In addition, even if the detection results to be compared (for example, the detection results of the target position) in the recognition unit 63 do not necessarily match exactly, if the difference is less than a predetermined value or is very small, they may be considered to match and used as the final recognition result.

[0054] The vehicle control unit 64 is a functional unit that executes various driving assistance functions based on the recognition results by the recognition unit 63 and controls the traveling of the vehicle 1 by outputting commands to the drive ECU 11, the steering ECU 12, the brake ECU 13, etc. Furthermore, when it is necessary to output a display by the display device 37 or an alarm sound or voice guidance by the speaker 38 in accordance with the driving assistance function, the vehicle control unit 64 outputs a command to the output control unit 65 to cause such output. Note that the number of driving assistance functions executed by the vehicle control unit 64 is not limited to multiple, and a single driving assistance function may be executed.

[0055] The output control unit 65 is a functional unit that controls the display of the display device 37 and the output of sound or audio from the speaker 38. For example, the output control unit 65 may cause the display device 37 to display the recognition result received from the recognition unit 63. Furthermore, the output control unit 65 causes the display device 37 to output a display or the speaker 38 to output a warning sound, a guidance voice, or the like, in accordance with the driving assistance function executed by the vehicle control unit 64.

[0056] As described above, the recognition (detection) accuracy of various sensors may decrease due to changes in the surrounding environment (driving environment) of the vehicle 1 (mainly deterioration of the surrounding environment). Therefore, the vehicle control device of this embodiment realizes appropriate driving assistance control in accordance with changes in the surrounding environment (driving environment) of the vehicle 1 even when the recognition accuracy of the sensors decreases. Note that changes in the surrounding environment (driving environment) of the vehicle 1 can be detected by a dedicated sensor such as the rain sensor 39. Furthermore, in other embodiments, changes in the surrounding environment (driving environment) of the vehicle 1 can also be detected based on a decrease in the recognition (detection) accuracy of various sensors connected to the camera ECU 32, the sonar ECU 33, and the radar ECU 34. Note that a decrease in the recognition accuracy of a sensor also includes the suspension of the recognition function.

[0057] For example, in the case of a monocular camera or stereo camera that uses images as a sensing method, the detection performance (recognition accuracy) of targets such as vehicles and pedestrians may be reduced due to weather conditions such as rain, snow, fog, and sunlight shining in at sunrise or sunset. Similarly, distance measurement performance may be reduced. This may result in an erroneous determination of the presence or absence of a target or an erroneous measurement of the distance to the target. Therefore, the recognition unit 63 of this embodiment includes a control determination unit 63a that controls at least one of the recognition unit 63 and the vehicle control unit 64 based on the surrounding environment of the vehicle 1, making it possible to respond even when the recognition accuracy of the sensor is reduced.

[0058] The control determination unit 63a can, for example, change whether to accept or reject the detection results of the sensors in the recognition unit 63, depending on the surrounding environment of the vehicle 1. That is, the control determination unit 63a decides whether to accept or reject the sensor results acquired by the recognition unit 63, depending on the identification (detection) accuracy of the sensors. For example, if it is determined based on the detection result of the rain sensor 39 that the surrounding environment of the vehicle 1 is raining and the sensing performance using images is deemed to be degraded, the sensor results of the monocular camera and the stereo camera are rejected. As a result, driving assistance control that would be executed by the vehicle control unit 64 based on the sensor results of the monocular camera and the stereo camera is not executed. In this case, erroneous determination and erroneous measurement of targets due to degradation of sensing performance are suppressed, and inappropriate driving assistance control that uses recognition results with degraded recognition accuracy is suppressed.

[0059] Furthermore, the control determination unit 63a may change the combination of sensors referenced in the storage unit 62 depending on the detection accuracy of the sensors. That is, the pattern table to be referenced may be changed. For example, if it is determined based on the detection result of the first millimeter-wave radar that the recognition accuracy of the first millimeter-wave radar has decreased (if it is determined that the surrounding environment of the vehicle 1 has deteriorated), the control determination unit 63a does not reference patterns including the first millimeter-wave radar in the pattern table shown in FIG. 6. In the case of FIG. 6, due to the deterioration of the recognition accuracy of the first millimeter-wave radar, patterns (3), (7), and (9) to (11) are not referenced. In other words, target detection and measurement using the first millimeter-wave radar with reduced sensing performance are not permitted. In this case, too, erroneous determinations and erroneous measurements are suppressed, and it is possible to prevent inappropriate driving assistance control from being performed using recognition results with reduced recognition accuracy.

[0060] The control determination unit 63a may also change the execution mode of the driving assistance function in the vehicle control unit 64 depending on the detection accuracy of the sensor. The control determination unit 63a may request the variable processing unit 64a of the vehicle control unit 64 to change the amount and timing of driving assistance control intervention depending on the detection accuracy of the sensor. For example, if it is determined based on the detection result of the rain sensor 39 that the recognition accuracy of targets such as vehicles and pedestrians has decreased due to rainfall or the like, the control determination unit 63a may limit the amount of intervention in the driving assistance control to a distance at which targets can be reliably recognized. For example, if the driving assistance function is steering control, the control determination unit 63a may reduce the torque to be applied or the control steering angle. Similarly, the control determination unit 63a may delay the timing of intervention in the driving assistance control until targets can be reliably recognized. For example, in the case of automatic braking control such as automatic emergency braking, the control determination unit 63a may delay the timing of starting the automatic braking until targets can be reliably recognized. In other words, the braking operation of the vehicle 1 is left to the driver's manual operation. In this case too, it is possible to suppress erroneous detections by sensors with reduced recognition accuracy and the resulting erroneous judgments, thereby preventing the execution of inappropriate driving assistance control using recognition results with reduced recognition accuracy.

[0061] The variable processing unit 64a of the vehicle control unit 64 prohibits, changes the intervention amount, or changes the intervention timing of various driving assistance functions based on the results of changes made by the control determination unit 63a, such as when the acceptance or rejection of sensor detection results is changed, when the sensor combination (pattern table to be referenced) is changed, or when the execution mode of a driving assistance function is changed. The vehicle control unit 64 continues to control (drive) the vehicle 1 by outputting appropriate commands to the drive ECU 11, steering ECU 12, brake ECU 13, etc., even when sensor function is degraded. Furthermore, the vehicle control unit 64 may output a command to the output control unit 65 requesting display output by the display device 37 or output of a warning sound or voice guidance by the speaker 38, depending on the change processing by the variable processing unit 64a. In this case, for example, a message such as "Sensor recognition accuracy has decreased. Intervention of driving assistance control is being restricted. Please drive while paying close attention to the surrounding conditions" or "Sensor recognition accuracy has decreased. Driving assistance control will be temporarily suspended" may be output. Furthermore, an image notifying the user of a sensor whose recognition accuracy has decreased may be displayed on the display unit 37. For example, an overhead image showing the vehicle 1 and the detection range of the sensor, as shown in (b) of Figure 1, may be displayed, and the detection range where the recognition accuracy is declining may be displayed in flashing red, or conversely, the detection range where the recognition accuracy is declining may not be displayed.

[0062] The setting unit 61, recognition unit 63, vehicle control unit 64, and output control unit 65 shown in Fig. 3 are realized, for example, by a program being executed by the CPU of the driving control ECU 31 shown in Fig. 2. Some or all of these functional units may be realized by hardware such as a logic circuit.

[0063] Note that the functional units of the driving control ECU 31 shown in Fig. 3 are conceptual representations of functions, and are not limited to such configurations. For example, the multiple functional units illustrated as independent functional units in Fig. 3 may be configured as a single functional unit. On the other hand, the function of a single functional unit in Fig. 3 may be divided into multiple units and configured as multiple functional units. For example, the control determination unit 63a may be provided separately from the recognition unit 63, and the variable processing unit 64a may be provided separately from the vehicle control unit 64.

[0064] (Flow of operation of the vehicle's driving control ECU) Fig. 7 is a flowchart showing an example of the flow of operation of the vehicle control device (drive control ECU) of the vehicle according to this embodiment. The flow of operation of the drive control ECU 31 of the vehicle 1 according to this embodiment will be described with reference to Fig. 7. Note that the flowchart shown in Fig. 7 shows an example in which the control determination unit 63a of the recognition unit 63 changes the pattern table to be referenced depending on the ambient environment (driving environment) of the vehicle 1, thereby performing drive assist control while suppressing erroneous detection (erroneous recognition) and erroneous determination even when the recognition accuracy of the sensor is reduced.

[0065] <Step S11> The developer creates in advance, via the external device 51, a pattern table that specifies patterns of combinations of sensors to be used to detect detection targets corresponding to various performance capabilities for each driving assistance function and for each detection target in the driving assistance function, based on the suitability of the various sensors for the various performance capabilities. Then, the setting unit 61 stores the pattern table in the storage unit 62 in response to a command from the external device 51. Furthermore, when an existing sensor is removed or a new sensor is installed in response to a change in the specifications of the vehicle 1, the developer changes and sets the pattern table via the setting unit 61 using the external device 51. Then, the process proceeds to step S12.

[0066] <Step S12> If the driver has started driving the vehicle 1 (step S12: Yes), the process proceeds to step S13, and if the driver has not started driving the vehicle 1 (step S12: No), the process waits.

[0067] <Step S13> If the recognition unit 63 determines that there is no degradation in the functionality of the sensors (the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, the second millimeter-wave radar 44b, etc.) based on the detection results from sensors that detect the environment (driving environment) around the vehicle 1, such as the rain sensor 39, and the detection results that indicate a degradation in the recognition accuracy of the various sensors themselves for sensing targets such as vehicles and pedestrians, the recognition unit 63 proceeds to step S14. In this case, the various sensors are the first monocular camera 42a, the second monocular camera 42b, the third monocular camera 42c, the first stereo camera 42d, the second stereo camera 42e, the sonar sensor 43, the first millimeter-wave radar 44a, the second millimeter-wave radar 44b, etc. If it determines that there is degradation in the functionality of the sensors (step S13: Yes), the recognition unit 63 proceeds to step S17.

[0068] <Step S14> The recognition unit 63 refers to a pattern table in the storage unit 62 that corresponds to the enabled driving assistance functions and the detection targets of the driving assistance functions. The recognition unit 63 then obtains the results of the detection process by the sensors that belong to each pattern defined in the pattern table. Then, the process proceeds to step S15.

[0069] <Step S15> The recognition unit 63 performs sensor fusion to compare the target position and the identified target type obtained as the detection result of each pattern. If the comparison result shows a match, the recognition unit 63 determines the target position and type as the final recognition result. Then, the recognition unit 63 outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65. Then, the process proceeds to step S16.

[0070] <Step S16> The vehicle control unit 64 executes various driving assistance functions based on the recognition result by the recognition unit 63, and controls the running of the vehicle 1 by outputting commands to the drive ECU 11, the steering ECU 12, the brake ECU 13, etc.

[0071] <Step S17> In step S13, if it is determined that there is a deterioration in the functionality of the sensor (step S13: Yes), the control determination unit 63a modifies the pattern table to be referenced. For example, if it is determined that there is a deterioration in the recognition accuracy of the first millimeter wave radar 44a, the control determination unit 63a modifies the pattern table so that patterns including the first millimeter wave radar 44a are not referenced. Then, the process proceeds to step S18. Note that if it is determined that there is a deterioration in the recognition accuracy of multiple sensors, the patterns including each of the sensors are similarly not referenced.

[0072] <Step S18> The recognition unit 63 refers to the modified pattern table in the storage unit 62, which corresponds to the enabled driving assistance function and the detection target of the driving assistance function. The recognition unit 63 then obtains the results of the detection process by the sensor belonging to each pattern defined in the modified pattern table. Then, the process proceeds to step S19.

[0073] <Step S19> The recognition unit 63 performs sensor fusion to compare the target position obtained as the detection result of each pattern and the type of identified target. If the comparison result shows a match, the recognition unit 63 determines the target position and type as the final recognition result. The recognition unit 63 then outputs the recognition result for the target to the vehicle control unit 64 and the output control unit 65. Then, the process proceeds to step S16, where each driving assistance function is executed when the sensor recognition accuracy has decreased.

[0074] The flowchart in FIG. 7 illustrates an example in which the control determination unit 63a of the recognition unit 63 changes the pattern table to be referenced when the recognition accuracy of the sensor deteriorates. In another embodiment, the control determination unit 63a of the recognition unit 63 may change whether to accept or reject the detection result of the sensor when the recognition accuracy of the sensor deteriorates, depending on the surrounding environment (driving environment) of the vehicle 1, and execute each driving assistance function when the recognition accuracy of the sensor deteriorates. In another embodiment, the control determination unit 63a of the recognition unit 63 may change the execution mode of the driving assistance function of the vehicle control unit 64 depending on the surrounding environment (driving environment) of the vehicle 1. In either case, erroneous recognition or erroneous determination of targets that may occur due to a deterioration in the identification accuracy of the sensor is suppressed, and optimal driving assistance control of the vehicle 1 can be provided. Note that the control determination unit 63a may execute the above-described changes alone or in combination of two or more of them, and similar effects can be obtained.

[0075] (Effects of this embodiment) As described above, the vehicle control device (driving control ECU 31) of the vehicle 1 according to this embodiment is a device that executes one or more driving assistance functions based on detection signals received from multiple types of sensors that detect targets around the vehicle 1. The recognition unit 63 references a pattern table that defines multiple patterns indicating combinations of sensors used to recognize targets, corresponding to each driving assistance function, and recognizes targets based on detection results by the sensors included in each pattern. The vehicle control unit 64 executes a driving assistance function corresponding to the pattern from which the recognition result was obtained, based on the recognition result by the recognition unit 63. The control determination unit 63a controls at least one of the recognition unit 63 and the vehicle control unit 64 based on the environment surrounding the vehicle. The control determination unit 63a executes at least one of changing whether to accept or reject the detection results of the sensors in the recognition unit 63, changing the sensor combination (pattern table), and changing the execution mode of the driving assistance function of the vehicle control unit 64. In this way, by changing the acceptance or rejection of the sensor detection results, changing the combination of sensors, or changing the execution mode of the driving assistance function according to the surrounding environment (driving environment) of the vehicle 1, it is possible to suppress erroneous recognition (false detection) and erroneous determination of targets even when the recognition accuracy of the sensors is reduced, thereby realizing optimal driving assistance.

[0076] Furthermore, if the control determination unit 63a continuously detects detection values ​​that do not reach the detection value thresholds predetermined for each sensor for a predetermined period of time, it determines that the environment around the vehicle 1 has deteriorated, and can change whether or not to accept the detection results of the sensors described above, change the combination of sensors, or change the execution mode of the driving assistance function. In this case, it is possible to easily recognize changes (deterioration) in the environment around the vehicle 1 and reflect them in control while suppressing increases in costs. [Explanation of symbols]

[0077] 1 vehicle 31 Driving control ECU 32 Camera ECU 33 Sonar ECU 34 Radar ECU 41a Memory 42a First monocular camera 42b Second monocular camera 42c Third Monocular Camera 42d 1st stereo camera 42e Second stereo camera 43 Sonar Sensor 44a First millimeter wave radar 44b Second millimeter wave radar 51 External device 61 Setting section 62 Memory section 63 Recognition part 63a Control judgment unit 64 Vehicle control unit 64a Variable processing section 65 Output control section

Claims

1. A vehicle control device that executes one or more driving assistance functions based on detection signals received from multiple types of sensors that detect targets around a vehicle, a recognition unit that, for each of the driving assistance functions and for each detection target in the driving assistance functions, refers to pattern information that defines a plurality of patterns indicating combinations of the sensors to be used to recognize the target corresponding to each performance, based on suitability of each of the plurality of types of sensors for the performance of each of the sensors, and recognizes the target based on detection results by the sensors included in each of the patterns; a vehicle control unit that executes the driving assistance function corresponding to the pattern for which the recognition result is obtained based on the recognition result by the recognition unit; a control determination unit that controls at least one of the recognition unit and the vehicle control unit based on the surrounding environment of the vehicle; Including, The control determination unit performs at least one of changing whether or not to accept the detection results of the sensors in the recognition unit, changing the combination of the sensors, and changing the execution mode of the driving assistance function in the vehicle control unit.

2. A vehicle control device that executes one or more driving assistance functions based on detection signals received from multiple types of sensors that detect targets around the vehicle, a recognition unit that, for each of the driving assistance functions and for each detection target in the driving assistance functions, refers to pattern information that defines a plurality of patterns indicating combinations of the sensors to be used to recognize the target corresponding to each performance, based on suitability of each of the plurality of types of sensors for the performance of each of the sensors, and recognizes the target based on detection results by the sensors included in each of the patterns; a vehicle control unit that executes the driving assistance function corresponding to the pattern for which the recognition result is obtained based on the recognition result by the recognition unit; a control determination unit that controls at least one of the recognition unit and the vehicle control unit based on the surrounding environment of the vehicle; Including, The control determination unit changes the combination of the sensors.

3. 3. The vehicle control device according to claim 1, wherein the control determination unit determines that the surrounding environment of the vehicle has deteriorated and executes the change when a detection value that does not reach a detection value threshold predetermined for each of the sensors is continuously detected for a predetermined period of time.

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