Conflict victim reduction device

Abstract

To provide a collision damage reduction device which can reduce unnecessary execution of collision damage reduction control when predicting a future position of an object and determining whether or not to execute the collision damage reduction control on the basis of the predicted position.SOLUTION: A collision damage reduction device 10 executes collision damage reduction control which reduces damage by which an own vehicle 100 collides with an object 200. The collision damage reduction device executes the collision damage reduction control when the object exists in a first region which is a region in front of a traveling direction of the own vehicle and having a first width which is set on the basis of a width of the own vehicle. In addition, the collision damage reduction device executes the collision damage reduction control when it is predicted that the object exists in a second region which is a region in front of the traveling direction of the own vehicle after a prescribed time although the object does not exist in the first region and having a smaller width than the first width.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a collision damage reduction device.

Background Art

[0002] There is known a collision damage reduction device that executes collision damage reduction control for reducing damage caused by a vehicle colliding with an object. As such a collision damage reduction device, based on whether an object exists in a predetermined region in front of the traveling direction of the vehicle and whether the object exists in the predetermined region after a predetermined time, it is determined whether there is a possibility that the vehicle will collide with the object, and when it is determined that there is such a possibility, a collision damage reduction device configured to execute collision damage reduction control is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Conventional collision damage reduction devices, for example, detect the moving speed of an object based on a camera image and use that moving speed to determine whether the object will exist in a predetermined region after a predetermined time. However, the detection accuracy of the moving speed of an object based on a camera image may be low. In that case, the determination accuracy of whether the object will exist in the predetermined region after a predetermined time, that is, the determination accuracy of the possibility that the vehicle will collide with the object after a predetermined time, becomes low. As a result, the collision damage reduction control may be executed unnecessarily. That is, when predicting the future position of an object and determining whether to execute the collision damage reduction control based on the predicted position, the collision damage reduction control may be executed unnecessarily.

[0005] The object of the present invention is to provide a collision damage mitigation device that can reduce the instances in which collision damage mitigation control is performed unnecessarily when predicting the future position of an object and determining whether or not to perform collision damage mitigation control based on the predicted position.

[0006] The collision damage mitigation device according to the present invention includes a control device that performs collision damage mitigation control to reduce damage caused by a vehicle colliding with an object. Furthermore, in the collision damage mitigation device according to the present invention, the control device is configured to perform the collision damage mitigation control when the object is present in a first region which is a region in front of the vehicle in the direction of travel and has a first width set based on the width of the vehicle. Moreover, the control device is configured to perform the collision damage mitigation control when the object is not present in the first region, but it is predicted that the object will be present in a second region which is a region in front of the vehicle in the direction of travel and has a width smaller than the first width after a predetermined time.

[0007] When predicting the future position of an object and deciding whether or not to perform collision mitigation control based on the prediction result, if the same region used to decide whether or not to perform collision mitigation control based on the current position of the object (the first region of this invention) is used as is, depending on the accuracy of the prediction result, there is a possibility that collision mitigation control may be activated unnecessarily.

[0008] According to the present invention, when predicting the future position of an object and determining whether or not to perform collision damage mitigation control based on the prediction result, a narrower region (second region) is used than the region (first region) used to determine whether or not to perform collision damage mitigation control based on the current position of the object. Therefore, the unnecessary activation of collision damage mitigation control can be reduced.

[0009] Furthermore, in the collision damage mitigation device according to the present invention, the control device may be configured to predict whether the object will be in the second region after the predetermined time based on the distance traveled, which is the distance the object is expected to travel during the predetermined time, and if the distance traveled is greater than the upper limit distance, to limit the distance traveled to a distance less than or equal to the upper limit distance in order to predict whether the object will be in the second region after the predetermined time.

[0010] If the predicted distance an object will travel over a given period of time is excessively large, there is a possibility that the prediction is incorrect. In such cases, if collision mitigation control is executed, it may be an unnecessary operation.

[0011] According to the present invention, if the distance an object is expected to travel within a predetermined time (travel distance) is greater than the upper limit distance, the travel distance is limited to a distance less than or equal to the upper limit distance, and a decision is made as to whether or not to perform collision damage mitigation control based on that limited travel distance. Therefore, the unnecessary activation of collision damage mitigation control can be reduced.

[0012] Furthermore, in the collision damage mitigation device according to the present invention, the control device may be configured to detect the movement speed of the object, and if the movement speed is greater than a predetermined speed, and the object is not present in the first region, it may not execute the collision damage mitigation control regardless of whether the object is present in the second region after the predetermined time.

[0013] If the detected object's movement speed is excessively high, there may be an error in the speed detection result, and if collision damage mitigation control is executed at this time, the execution may be unnecessary.

[0014] According to the present invention, if the detected object's movement speed is greater than a predetermined speed, and the object is not present in the first region, collision damage mitigation control will not be performed regardless of whether the object is present in the second region after a predetermined time. Therefore, the unnecessary activation of collision damage mitigation control can be reduced.

[0015] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a diagram showing a vehicle control device including a collision damage mitigation device according to an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the routine executed by a vehicle control device according to an embodiment of the present invention. [Figure 3] Figure 3 is a flowchart showing the routine executed by a vehicle control device according to an embodiment of the present invention. [Figure 4] Figure 4(A) shows the current position determination area when the vehicle is reversing straight ahead; Figure 4(B) shows the future position determination area when the vehicle is reversing straight ahead; Figure 4(C) shows a scenario when the vehicle is reversing straight ahead and the object is not within the current position determination area; and Figure 4(D) shows a scenario when the vehicle is reversing straight ahead and the object is predicted to be within the future position determination area. [Figure 5]Figure 5(A) shows the current object position determination area when the vehicle is reversing while turning, Figure 5(B) shows the future object position determination area when the vehicle is reversing while turning, Figure 5(C) shows a scenario when the object is not within the current position determination area when the vehicle is reversing while turning, and Figure 5(D) shows a scenario when the object is predicted to be within the future position determination area when the vehicle is reversing while turning. [Modes for carrying out the invention]

[0017] Hereinafter, a vehicle control device including a collision damage mitigation device according to an embodiment of the present invention will be described with reference to the drawings. In this example, the vehicle control device 10 according to an embodiment of the present invention is mounted on the vehicle 100, as shown in Figure 1. Hereinafter, the vehicle control device 10 will be described using the case where the operator of the vehicle 100 is a person who is riding in the vehicle 100 and driving the vehicle 100 (i.e., the driver of the vehicle 100) as an example.

[0018] However, the operator of the vehicle 100 may be a person who operates the vehicle 100 remotely without riding in the vehicle 100 (i.e., a remote operator of the vehicle 100). If the operator of the vehicle 100 is a remote operator, the vehicle control device 10 is installed in the vehicle 100 and in the remote control equipment installed outside the vehicle 100 for remote operation of the vehicle 100, and the functions of the vehicle control device 10 described below are shared between the vehicle control device 10 installed in the vehicle 100 and the vehicle control device 10 installed in the remote control equipment.

[0019] As shown in FIG. 1, the vehicle control device 10 includes an ECU 90 as a control device. The ECU 90 is an electronic control unit (electronic control device). The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the ROM. In this example, the vehicle control device 10 includes one ECU. However, as will be described later, it may be configured to include a plurality of ECUs and execute various processes described later by sharing them among these ECUs respectively.

[0020] Next, the operation of the vehicle control device 10 will be described. Hereinafter, the operation of the vehicle control device 10 in a scene where the host vehicle 100 reverses will be described. However, the present invention is also applicable to a scene where the host vehicle 100 moves forward.

[0021] The vehicle control device 10 is configured to execute the routine shown in FIG. 2 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle control device 10 starts processing from step S200 of the routine shown in FIG. 2, advances the processing to step S205, and determines whether the host vehicle 100 is moving straight backward or moving backward while turning based on the shift position and the steering angle θ of the host vehicle 100.

[0022] As shown in FIG. 1, a shift lever 41 and a shift position sensor 42 are mounted on the host vehicle 100. The shift position sensor 42 is a sensor that detects the shift position (set position) of the shift lever 41 and is electrically connected to the ECU 90. The vehicle control device 10 can detect the shift position of the shift lever 41 by the shift position sensor 42 and determine whether the host vehicle 100 is moving forward or backward based on the detection result.

[0023] Furthermore, the vehicle 100 is equipped with a steering wheel 31, a steering shaft 32, and a steering angle sensor 33. The steering wheel 31 is connected to the steering shaft 32. The steering angle sensor 33 is a sensor that detects the rotation angle of the steering shaft 32 relative to the neutral position and is electrically connected to the ECU 90. The vehicle control device 10 obtains the rotation angle of the steering shaft 32 as the steering angle θ from the steering angle sensor 33. Based on the steering angle θ, the vehicle control device 10 can determine whether the vehicle 100 is moving in a straight line or moving while turning.

[0024] If the vehicle control device 10 determines "Yes" in step S205, it proceeds to step S210 and sets the current position threshold Pp_th.

[0025] The current position threshold Pp_th, set when the vehicle 100 is reversing straight, consists of a left current position threshold Pp_left_th and a right current position threshold Pp_right_th. As shown in Figure 4(A), when the vehicle 100 is reversing straight, the left current position threshold Pp_left_th is a value that defines a line Lleft that extends in the longitudinal direction of the vehicle 100 along the center line CL to the left of the vehicle 100, and the right current position threshold Pp_right_th is a value that defines a line Lright that extends in the longitudinal direction of the vehicle 100 along the center line CL to the right of the vehicle 100, and In this example, the left current position threshold Pp_left_th is set to a value that defines the line Lleft extending to the left of the left wall surface of the vehicle 100, and the right current position threshold Pp_right_th is set to a value that defines the line Lright extending to the right of the right wall surface of the vehicle 100.

[0026] Furthermore, as shown in Figure 4(A), the current position threshold Pp_th is a value that defines a predetermined area (current position determination area Ap) in front of the vehicle 100 in the direction of travel. The current position determination area Ap (first area) is an area used to determine whether the vehicle 100 may collide with an object 200 such as a person if such an object 200 is present in the current position determination area Ap, and is an area enclosed by the line Lleft defined by the left current position threshold Pp_left_th, the line Lright defined by the right current position threshold Pp_right_th, the vehicle rear end line Lend, and the vehicle rear line Lrear. In addition, the current position determination area Ap is an area having a predetermined width (first width W1). Furthermore, the vehicle rear end line Lend is a line that extends horizontally in the width direction of the vehicle 100 along the rear end of the vehicle 100, and the vehicle rear line Lrear is a line that extends horizontally in the width direction of the vehicle 100 at a predetermined distance (predetermined rear distance DRth) behind the vehicle 100 in the front-rear direction of the vehicle 100.

[0027] In this example, the current position threshold Pp_th is defined by coordinates in an XY coordinate system based on the vehicle 100. The XY coordinate system has the origin O as the intersection point of the rear wheel shaft of the vehicle 100 and the center line CL of the vehicle 100, the X-axis as the line extending horizontally in the width direction (lateral direction) of the vehicle 100, and the Y-axis as the line extending horizontally in the front-rear direction of the vehicle 100. In this example, the XY coordinate system defines the area in front of the origin O as positive on the X-axis, and the area to the left of the origin O as positive on the Y-axis.

[0028] Specifically, the vehicle control device 10 obtains the current Y coordinate threshold Yp_th as the left current position threshold Pp_left_th and the right current position threshold Pp_right_th by calculation according to the following equation 1. In the following equation 1, "W" is the width of the vehicle 100, and "M" is a preset judgment margin.

[0029] Yp_th = (W / 2) + M …(1)

[0030] Next, the vehicle control device 10 proceeds to step S215 to set the future position threshold Pf_th, and then proceeds to step S295 to terminate the processing of this routine.

[0031] The future position threshold Pf_th, set when the vehicle 100 is reversing straight, consists of a left future position threshold Pf_left_th and a right future position threshold Pf_right_th. As shown in Figure 4(B), the left future position threshold Pf_left_th is a value that defines a line Lleft that extends in the longitudinal direction of the vehicle 100 along the center line CL to the left of the vehicle 100, and the right future position threshold Pf_right_th is a value that defines a line Lright that extends in the longitudinal direction of the vehicle 100 along the center line CL to the right of the vehicle 100. In this example, the left future position threshold Pf_left_th is set to a value that defines the line Lleft extending between the center line CL of the vehicle 100 and the left wall surface of the vehicle 100, and the right future position threshold Pf_right_th is set to a value that defines the line Lright extending between the center line CL of the vehicle 100 and the right wall surface of the vehicle 100.

[0032] Furthermore, as shown in Figure 4(B), the future position threshold Pf_th is a value that defines a predetermined area (future position determination area Af) in front of the vehicle 100 in the direction of travel. The future position determination area Af (second area) is an area used to determine whether the vehicle 100 may collide with an object 200 when it is predicted that the object 200 will be in the future position determination area Af after a predetermined time Δt. It is an area enclosed by the line Lleft defined by the left future position threshold Pf_left_th, the line Lright defined by the right future position threshold Pf_right_th, the vehicle rear end line Lend, and the vehicle rear line Lrear. In addition, the future position determination area Af is an area having a predetermined width (second width W2) that is smaller than the width (first width W1) of the current position determination area Ap.

[0033] In this example, the future position threshold Pf_th is also defined by coordinates in an XY coordinate system based on the vehicle 100. That is, the vehicle control device 10 sets the future Y coordinate threshold Yf_th as the left future position threshold Pf_left_th and the right future position threshold Pf_right_th by calculation according to equation 2 below.

[0034] Yf_th = M …(2)

[0035] On the other hand, if the vehicle control device 10 determines "No" in step S205, it proceeds to step S220 and sets the current position threshold Pp_th.

[0036] The current position threshold Pp_th, which is set when the vehicle 100 is reversing while turning, consists of an inner current position threshold Pp_in_th and an outer current position threshold Pp_out_th. As shown in Figure 5(A), the inner current position threshold Pp_in_th is a value that defines an arc-shaped line Lin with a radius shorter than the distance from the turning center TC of the vehicle 100 to the center line CL of the vehicle 100, and the outer current position threshold Pp_out_th is a value that defines an arc-shaped line Lout with a radius longer than the distance from the turning center TC of the vehicle 100 to the center line CL of the vehicle 100. In this example, the internal current position threshold Pp_in_th is set to a value that defines the line Lin, which is the line that intersects with the wall of the vehicle 100 on the side of the turning center TC, rather than the wall on the turning center TC side of the vehicle 100. The external current position threshold Pp_out_th is set to a value that defines the line Lout, which is the line that intersects with the line that is that extends horizontally from the turning center TC towards the vehicle 100 on the side of the vehicle 100 on the side of the vehicle 100 that is further from the turning center TC, rather than the wall on the side of the vehicle 100 that is further from the turning center TC.

[0037] Furthermore, as shown in Figure 5(A), the current position threshold Pp_th is a value that defines a predetermined area (current position determination area Ap). The current position determination area Ap is an area used to determine whether the vehicle 100 has a chance of colliding with an object 200 if that object 200 is present in the current position determination area Ap, and is an area enclosed by the line Lin defined by the inner current position threshold Pp_in_th, the line Lout defined by the outer current position threshold Pp_out_th, the vehicle rear end line Lend, and the vehicle rear line Lrear. Furthermore, as mentioned above, the vehicle rear end line Lend is a line that extends horizontally in the width direction of the vehicle 100 along the rear end of the vehicle 100, and the vehicle rear line Lrear is a line that extends horizontally perpendicular to the line Lin defined by the inner current position threshold Pp_in_th and the line Lout defined by the outer current position threshold Pp_out_th, at a predetermined distance (predetermined rear distance DRth) rearward from the vehicle 100 along the turning direction of the vehicle 100.

[0038] The vehicle control device 10 sets the inner current distance threshold Dp_in_th as the inner current position threshold Pp_in_th by calculation according to equation 3 below, and sets the outer current distance threshold Dp_out_th as the outer current position threshold Pp_out_th by calculation according to equation 4 below. In equations 3 and 4 below, "Ytc" is the Y coordinate of the turning center TC, as shown in Figure 5.

[0039] Dp_in_th = Ytc - W / 2 - M …(3) Dp_out_th = Ytc + W / 2 + M …(4)

[0040] Next, the vehicle control device 10 proceeds to step S225 to set the future position threshold Pf_th, and then proceeds to step S295 to terminate the processing of this routine.

[0041] The future position threshold Pf_th set when the vehicle 100 is reversing while turning consists of an inner future position threshold Pf_in_th and an outer future position threshold Pf_out_th. As shown in Figure 5(B), the inner future position threshold Pf_in_th is a value that defines an arc-shaped line Lin centered on the turning center TC of the vehicle 100 and with a radius shorter than the distance from the turning center TC to the center line CL of the vehicle 100, and the outer future position threshold Pf_out_th is a value that defines an arc-shaped line Lout centered on the turning center TC of the vehicle 100 and with a radius longer than the distance from the turning center TC to the center line CL of the vehicle 100. In this example, the inner future position threshold Pf_in_th is set to a value that defines the line Lin that intersects with the line extending horizontally in the width direction of the vehicle 100 from the turning center TC toward the vehicle 100, on the side of the wall of the vehicle 100 that is further toward the turning center TC. The outer future position threshold Pf_out_th is set to a value that defines the line Lout that intersects with the line extending horizontally in the width direction of the vehicle 100 from the turning center TC toward the vehicle 100, on the side of the wall of the vehicle 100 that is further toward the turning center TC.

[0042] Furthermore, as shown in Figure 5(B), the future position threshold Pf_th is a value that defines a predetermined area (future position determination area Af). The future position determination area Af is an area used to determine whether the vehicle 100 may collide with an object 200 if the object 200 is present in the future position determination area Af, and is an area enclosed by the line Lin defined by the inner future position threshold Pf_in_th, the line Lout defined by the outer future position threshold Pf_out_th, the vehicle rear end line Lend, and the vehicle rear line Lrear. Furthermore, as previously stated, the vehicle rear end line Lend is a line that extends horizontally in the width direction of the vehicle 100 along the rear end of the vehicle 100, and the vehicle rear line Lrear is a line that extends horizontally in the turning direction of the vehicle 100 at a predetermined distance (predetermined rear distance DRth) rearward from the vehicle 100, perpendicular to the line Lin defined by the inner future position threshold Pf_in_th and the line Lout defined by the outer future position threshold Pf_out_th.

[0043] The vehicle control device 10 sets the inner future distance threshold Df_in_th as the inner future position threshold Pf_in_th by calculation according to equation 5 below, and sets the outer future distance threshold Df_out_th as the outer future position threshold Pf_out_th by calculation according to equation 6 below.

[0044] Df_in_th = Ytc - M …(5) Df_out_th = Ytc + M …(6)

[0045] Furthermore, the vehicle control device 10 is configured to execute the routine shown in Figure 3 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle control device 10 starts processing from step S300 of the routine shown in Figure 3, proceeds to step S305, and determines whether or not an object 200 has been detected based on the image information IC.

[0046] As shown in Figure 1, the vehicle 100 is equipped with an image sensor 60. The image sensor 60 is a sensor that captures image data of the area around the vehicle 100, and is, for example, a camera sensor. The image sensor 60 is electrically connected to the ECU 90. The vehicle control device 10 acquires image data from the image sensor 60.

[0047] If the vehicle control device 10 determines "Yes" in step S305, it proceeds to step S310 and determines whether the stationary condition Cs is met for the detected object 200.

[0048] The static condition Cs is the condition that the number of consecutive times (number of determinations N) in which a value correlated with the moving speed of object 200 (object velocity Vobj) (object velocity index value I) is determined to be greater than a predetermined object velocity index value Ith (I>Ith) is greater than or equal to a predetermined number Nth (N≧Nth). In this example, the object velocity index value I is the square of the object velocity Vobj (I=Vobj 2 The condition is as follows. Furthermore, if it is determined that the object velocity index value I is less than or equal to the predetermined object velocity index value Ith before the number of judgments N reaches a predetermined number Nth or more, the number of judgments N is cleared or reset. In addition, the vehicle control device 10 acquires the object velocity Vobj based on the image information IC.

[0049] If the vehicle control device 10 determines "Yes" in step S310, it proceeds to step S315 and obtains the current object X coordinate Xp and current object Y coordinate Yp as the current object coordinates XYp (current object position).

[0050] The current object X coordinate Xp and current object Y coordinate Yp are the X and Y coordinates of the current position where object 200 is located, respectively. In this example, the vehicle control device 10 acquires the current object X coordinate Xp and current object Y coordinate Yp based on the image information IC, taking into account the vehicle speed Vego, longitudinal acceleration Gx, and lateral acceleration Gy as appropriate.

[0051] As shown in Figure 1, the vehicle 100 is equipped with a vehicle speed detection device 51. The vehicle speed detection device 51 is a device that detects the driving speed of the vehicle 100 and includes, for example, wheel speed sensors provided on each wheel of the vehicle 100. The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle control device 10 acquires the driving speed of the vehicle 100 as the vehicle speed Vego from the vehicle speed detection device 51.

[0052] Furthermore, the vehicle 100 is equipped with an acceleration sensor 52. The acceleration sensor 52 is a sensor that detects the acceleration of the vehicle 100 in the longitudinal direction (front-to-back direction) and the lateral direction (width direction), and is electrically connected to the ECU 90. The vehicle control device 10 acquires the longitudinal acceleration of the vehicle 100 as longitudinal acceleration Gx and the lateral acceleration of the vehicle 100 as lateral acceleration Gy using the acceleration sensor 52.

[0053] Next, the vehicle control device 10 proceeds to step S320 and determines whether the execution condition Cexe is met based on the current object coordinates XYp obtained in step S315.

[0054] The execution condition Cexe is met when either of the following first domain condition Ca_1 or second domain condition Ca_2 is satisfied.

[0055] The first domain condition Ca_1 is the condition that, when the vehicle 100 is moving straight backward, the rear distance DR is less than or equal to a predetermined rear distance DRth (DR ≤ DRth) and the absolute value of the current object Y coordinate Yp is less than or equal to the current Y coordinate threshold Yp_th (|Yp| ≤ Yp_th). In other words, the first domain condition Ca_1 is the condition that, when the vehicle 100 is moving straight backward, object 200 is located within the current position determination domain Ap. Note that the rear distance DR is the distance between the vehicle rear end line Lend and the line extending horizontally in the width direction of the vehicle 100 through object 200, when object 200 is located behind the vehicle 100 beyond the vehicle rear end line Lend.

[0056] Furthermore, the second domain condition Ca_2 is the condition that when the vehicle 100 is reversing while turning, the rear distance DR is less than or equal to a predetermined rear distance DRth (DR ≤ DRth) and the current object distance Dp is greater than or equal to the inner current distance threshold Dp_in_th and less than or equal to the outer current distance threshold Dp_out_th (Dp_in_th ≤ Dp ≤ Dp_out_th). In other words, the second domain condition Ca_2 is the condition that when the vehicle 100 is reversing while turning, the object 200 is located within the current position determination region Ap. Note that the current object distance Dp is the distance from the current position of the object 200 to the turning center TC of the vehicle 100. The vehicle control device 10 obtains the XY coordinates of the position of the turning center TC in the XY coordinate system based on the image information IC, and obtains the current object distance Dp from these XY coordinates and the current object coordinates XYp.

[0057] According to this, for example, if object 200 is stationary, then execution condition Cexe is met if the stationary object 200 is located within the current position determination area Ap, as shown in Figure 4(A) or Figure 5(A).

[0058] If the vehicle control device 10 determines "Yes" in step S320, it proceeds to step S325 and executes collision damage mitigation control.

[0059] Collision mitigation control is a type of autonomous driving control that reduces the damage caused by a collision between the vehicle 100 and an object 200. Collision mitigation control can include a control that warns the driver of the vehicle 100 when it is determined that the vehicle 100 may collide with the object 200, or a control that autonomously steers the vehicle 100 to avoid the object 200. In this example, the collision mitigation control is an autonomous braking control that autonomously applies braking force to the vehicle 100 when it is determined that the vehicle 100 may collide with the object 200, stopping the vehicle 100 before it reaches the object 200.

[0060] As shown in Figure 1, the vehicle 100 is equipped with a braking system 20. The braking system 20 is a device that applies braking force to the vehicle 100, and is, for example, a hydraulic brake system. The braking system 20 is electrically connected to the ECU 90. The vehicle control device 10 can control the braking force applied to the vehicle 100 by the braking system 20.

[0061] Next, the vehicle control device 10 proceeds to step S330 to determine whether the vehicle 100 has stopped. The vehicle control device 10 determines that the vehicle 100 has stopped if the vehicle speed Vego is zero.

[0062] If the vehicle control device 10 determines "Yes" in step S330, it proceeds to step S335 to terminate the collision damage mitigation control, and then proceeds to step S395 to temporarily terminate the processing of this routine.

[0063] On the other hand, if the vehicle control device 10 determines "No" in step S330, it proceeds directly to step S395 and terminates the processing of this routine.

[0064] Furthermore, if the vehicle control device 10 determines "No" in step S320, it proceeds to step S340, and if collision damage mitigation control is being executed, it stops the collision damage mitigation control, then proceeds to step S395, and temporarily terminates the processing of this routine. On the other hand, if the vehicle control device 10 proceeds to step S340 and collision damage mitigation control is not being executed, it proceeds to step S395 without executing the collision damage mitigation control, and temporarily terminates the processing of this routine.

[0065] Furthermore, if the vehicle control device 10 determines "No" in step S310, it proceeds to step S345 and obtains the current object X coordinate Xp and current object Y coordinate Yp as the current object coordinates XYp.

[0066] Next, the vehicle control device 10 proceeds to step S350 and obtains the travel distance Dm (i.e., the travel distance Dm_x in the X-axis direction and the travel distance Dm_y in the Y-axis direction).

[0067] In this example, the X-axis movement distance Dm_x and the Y-axis movement distance Dm_y are the distances that the object 200 is predicted to move in the X-axis and Y-axis directions during a predetermined time Δt, respectively. The vehicle control device 10 obtains the X-axis movement distance Dm_x by calculation according to equation 7 below, and the Y-axis movement distance Dm_y by calculation according to equation 8 below. In equation 7, "Vobj_x" is the X component of the object velocity Vobj, and in equation 8, "Vobj_y" is the Y component of the object velocity Vobj.

[0068] Dm_x = Vobj_x · Δt …(7) Dm_y = Vobj_y · Δt …(8)

[0069] Furthermore, in this case, the vehicle control device 10 may be configured to obtain the distance (travel distance Dm) that the object 200 is expected to travel during a predetermined time Δt by calculation according to the following equation 9, and if the travel distance Dm is greater than the upper limit distance Dm_limit, it may be configured to limit the travel distance Dm to a distance less than or equal to the upper limit distance Dm_limit. In this case, the vehicle control device 10 corrects the travel distance Dm_x in the X-axis direction by calculation according to the following equation 10 to obtain the corrected travel distance Dm_x_c in the X-axis direction, corrects the travel distance Dm_y in the Y-axis direction by calculation according to the following equation 11 to obtain the corrected travel distance Dm_y_c in the Y-axis direction, and obtains the obtained corrected travel distance Dm_x_c and corrected travel distance Dm_y_c in the X-axis direction as Dm_x and the travel distance Dm_y in the Y-axis direction, respectively.

[0070] Dm = √(Dm_x) 2 +Dm_y 2 ) …(9) Dm_x_c=Dm_x·Dm_limit / Dm …(10) Dm_y_c=Dm_y·Dm_limit / Dm …(11)

[0071] Next, the vehicle control device 10 proceeds to step S355 and obtains the future object X coordinate Xf and future object Y coordinate Yf as future object coordinates XYf (future object position).

[0072] The future object X coordinate Xf and future object Y coordinate Yf are the X and Y coordinates of the position where the object 200 will be located after a predetermined time Δt, respectively. In this example, the vehicle control device 10 obtains the future object X coordinate Xf by calculation according to equation 12 below, and obtains the future object Y coordinate Yf by calculation according to equation 13 below.

[0073] Xf = Xp + Dm_x …(12) Yf = Yp + Dm_y …(13)

[0074] Next, the vehicle control device 10 proceeds to step S360 and determines whether or not the execution condition Cexe is met.

[0075] The execution condition Cexe is met when any of the first domain condition Ca_1 and the second domain condition Ca_2, as well as the third domain condition Ca_3 through the fifth domain condition Ca_5 described below, are met.

[0076] The third domain condition Ca_3 is the condition that, when the vehicle 100 is moving straight backward, the rear distance DR is less than or equal to a predetermined rear distance DRth (DR ≤ DRth), the absolute value of the current object Y coordinate Yp is greater than the current Y coordinate threshold Yp_th (|Yp| > Yp_th), and the absolute value of the future object Y coordinate Yf is less than or equal to the future Y coordinate threshold Yf_th (|Yf| ≤ Yf_th). In other words, the third domain condition Ca_3 is the condition that, when the vehicle 100 is moving straight backward, object 200 is not currently in the position determination domain Ap, but it is predicted that object 200 will be in the future position determination domain Af after a predetermined time Δt.

[0077] The fourth region condition Ca_4 is a condition where, when the host vehicle 100 is reversing while turning, the rear distance DR is less than or equal to a predetermined rear distance DRth (DR ≦ DRth), the current object distance Dp is greater than the outer current distance threshold Dp_out_th (Dp > Dp_out_th), and the future object distance Df is greater than or equal to the inner future distance threshold Df_in_th and less than or equal to the outer future distance threshold Df_out_th (Df_in_th ≦ Df ≦ Df_out_th). That is, the fourth region condition Ca_4 is a condition where, when the host vehicle 100 is reversing while turning, the object 200 does not exist within the current position determination region Ap, but it is predicted that the object 200 will exist within the future position determination region Af after a predetermined time Δt. Incidentally, the future object distance Df is the distance from the position of the object 200 after a predetermined time Δt to the turning center TC of the host vehicle 100, and the vehicle control device 10 acquires the future object distance Df from the XY coordinates of the position of the turning center TC in the XY coordinate system and the future object coordinates XYf.

[0078] The fifth region condition Ca_5 is a condition where, when the host vehicle 100 is reversing while turning, the rear distance DR is less than or equal to a predetermined rear distance DRth (DR ≦ DRth), the current object distance Dp is less than the inner current distance threshold Dp_in_th (Dp < Dp_in_th), and the future object distance Df is greater than or equal to the inner future distance threshold Df_in_th and less than or equal to the outer future distance threshold Df_out_th (Df_in_th ≦ Df ≦ Df_out_th). That is, the fifth region condition Ca_5 is a condition where, when the host vehicle 100 is reversing while turning, the object 200 does not exist within the current position determination region Ap, but it is predicted that the object will exist within the future position determination region Af after a predetermined time Δt.

[0079] According to this, for example, when the object 200 is moving, as shown in (A) of FIG. 4 or (A) of FIG. 5, if the moving object 200 exists within the current position determination region Ap, the execution condition Cexe is satisfied.

[0080] Furthermore, when object 200 is moving, as shown in Figure 4(C), if the moving object 200 is not currently within the position determination area Ap, and as shown in Figure 4(D), if the object 200 will be within the future position determination area Af after a predetermined time Δt, then the execution condition Cexe is met.

[0081] Similarly, when object 200 is moving, as shown in Figure 5(C), the execution condition Cexe is met when the moving object 200 is not currently within the position determination region Ap, and as shown in Figure 5(D), when the object 200 will be within the future position determination region Af after a predetermined time Δt.

[0082] Furthermore, the vehicle control device 10 may be configured to determine that the execution condition Cexe is met when the entry condition Cin is met, to determine that the execution condition Cexe is met from the time the entry condition Cin is met until the exit condition Cout is met, and to determine that the execution condition Cexe is no longer met when the exit condition Cout is met.

[0083] In this case, entry condition Cin is met when any of the following entry conditions Cin_1 through Cin_5 are met.

[0084] The first entry condition Cin_1 is the condition that the first region condition Ca_1 is met when the vehicle 100 is moving straight backward and the execution condition Cexe is not met. In other words, the first entry condition Cin_1 is the condition that the object 200 has entered the current position determination region Ap when the vehicle 100 is moving straight backward and the execution condition Cexe is not met.

[0085] The second entry condition Cin_2 is the condition that the second region condition Ca_2 is met when the vehicle 100 is moving backward while turning and the execution condition Cexe is not met. In other words, the second entry condition Cin_2 is the condition that the object 200 has entered the current position determination region Ap when the vehicle 100 is moving backward while turning and the execution condition Cexe is not met.

[0086] The third entry condition Cin_3 is the condition that when the vehicle 100 is moving straight backward and the execution condition Cexe is not met, the third region condition Ca_3 is met. In other words, the third entry condition Cin_3 is the condition that when the vehicle 100 is moving straight backward and the execution condition Cexe is not met, the object 200 has not entered the current position determination region Ap, but it is predicted that the object 200 will enter the future position determination region Af after a predetermined time Δt.

[0087] The fourth entry condition Cin_4 is the condition that when the vehicle 100 is reversing while turning, the execution condition Cexe is not met, and the fourth domain condition Ca_4 is met. In other words, the fourth entry condition Cin_4 is the condition that when the vehicle 100 is reversing while turning, the execution condition Cexe is not met, the object 200 has not entered the current position determination region Ap, but it is predicted that the object 200 will enter the future position determination region Af after a predetermined time Δt.

[0088] The fifth entry condition Cin_5 is the condition that when the vehicle 100 is reversing while turning, the execution condition Cexe is not met, and the fifth region condition Ca_5 is met. In other words, the fifth entry condition Cin_5 is the condition that when the vehicle 100 is reversing while turning, the execution condition Cexe is not met, the object 200 has not entered the current position determination region Ap, but it is predicted that the object 200 will enter the future position determination region Af after a predetermined time Δt.

[0089] On the other hand, the exit condition Cout is a condition that is satisfied when any one of the following first exit condition Cout_1 to third exit condition Cout_3 is satisfied.

[0090] The first exit condition Cout_1 is that when the host vehicle 100 is moving straight backward, after the execution condition Cexe is satisfied, the rear distance DR becomes greater than a predetermined rear distance DRth (DR > DRth), or the rear distance DR is less than or equal to the predetermined rear distance DRth, but the absolute value of the current object Y coordinate Yp is greater than the current Y coordinate threshold value Yp_th and the absolute value of the future object Y coordinate Yf is greater than the future Y coordinate threshold value Yf_th (|Yp_th| > Yp and |Yf| > Yf_th). That is, the first exit condition Cout_1 is that when the host vehicle 100 is moving straight backward, after the execution condition Cexe is satisfied, the object 200 does not exist within the current position determination region Ap and it is predicted that the object 200 will not exist within the future position determination region Af after a predetermined time Δt.

[0091] The second exit condition Cout_2 is that when the host vehicle 100 is moving backward while turning, after the execution condition Cexe is satisfied, the rear distance DR becomes greater than a predetermined rear distance DRth (DR > DRth), or the current object distance Dp is less than the inner current distance threshold value Dp_in_th and the future object distance Df is less than the inner future distance threshold value Df_in_th (Dp < Dp_in_th and Df < Df_in_th). That is, the second exit condition Cout_2 is that when the host vehicle 100 is moving backward while turning, after the execution condition Cexe is satisfied, the object 200 does not exist within the current position determination region Ap and it is predicted that the object 200 will not exist within the future position determination region Af after a predetermined time Δt.

[0092] The third exit condition Cout_3 is the condition that, while the vehicle 100 is reversing while turning, after the execution condition Cexe is met, the rear distance DR becomes greater than a predetermined rear distance DRth (DR>DRth), or the current object distance Dp is greater than the outer current distance threshold Dp_out_th and the future object distance Df is greater than the outer future distance threshold Df_out_th (Dp>Dp_out_th and Df>Df_out_th). In other words, the third exit condition Cout_3 is the condition that, while the vehicle 100 is reversing while turning, after the execution condition Cexe is met, the object 200 is not currently within the position determination area Ap and it is predicted that the object 200 will not be within the future position determination area Af after a predetermined time Δt.

[0093] Furthermore, the vehicle control device 10 may be configured to determine that the execution condition Cexe is not met if the object velocity Vobj is greater than a predetermined speed and the object 200 is not present in the current position determination area Ap, regardless of whether the object 200 will be present in the future position determination area Af after a predetermined time Δt, and to refrain from executing collision damage mitigation control.

[0094] If the vehicle control device 10 determines "Yes" in step S360, it proceeds to step S365 to execute collision damage mitigation control, and then proceeds to step S370 to determine whether the vehicle 100 has stopped.

[0095] If the vehicle control device 10 determines "Yes" in step S370, it proceeds to step S375 to terminate the collision damage mitigation control, and then proceeds to step S395 to temporarily terminate the processing of this routine.

[0096] On the other hand, if the vehicle control device 10 determines "No" in step S370, it proceeds directly to step S395 and terminates the processing of this routine.

[0097] Furthermore, if the vehicle control device 10 determines "No" in step S360, it proceeds to step S380, and if collision damage mitigation control is being executed, it stops the collision damage mitigation control, then proceeds to step S395, and temporarily terminates the processing of this routine. On the other hand, if the vehicle control device 10 proceeds to step S380 and collision damage mitigation control is not being executed, it proceeds to step S395 without executing the collision damage mitigation control, and temporarily terminates the processing of this routine.

[0098] Furthermore, if the vehicle control device 10 determines "No" in step S305, it proceeds directly to step S395 and terminates the processing of this routine.

[0099] <Effects> When predicting the future position of object 200 and deciding whether or not to perform collision mitigation control based on the prediction result, if the same region (current position determination region Ap) used to decide whether or not to perform collision mitigation control based on the current position of object 200 is used as is, depending on the accuracy of the prediction result, collision mitigation control may be activated unnecessarily.

[0100] According to the vehicle control device 10, when predicting the future position of an object 200 (future object position) and deciding whether or not to perform collision damage mitigation control based on the prediction result, a narrower area (future position determination area Af) is used than the area (current position determination area Ap) used to decide whether or not to perform collision damage mitigation control based on the current position of the object 200 (current object position). Therefore, the unnecessary activation of collision damage mitigation control can be reduced.

[0101] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0102] For example, the vehicle control device 10 may be configured not to determine that the execution condition Cexe has been met, even if any of the above-mentioned third-domain conditions Ca_3 to fifth-domain conditions Ca_5 are met, if the object 200 is located relatively far away in the width direction of the vehicle 100 from the rear region of the vehicle 100. In other words, the vehicle control device 10 may be configured not to determine that the execution condition Cexe has been met, and not to execute collision damage mitigation control, even if any of the above-mentioned third-domain conditions Ca_3 to fifth-domain conditions Ca_5 are met, if the absolute value of the object's Y coordinate Yp is currently greater than or equal to a predetermined value that is relatively large.

[0103] Furthermore, in the example described above, the judgment margin M is set to the same value in all cases where the current Y coordinate threshold Yp_th, future Y coordinate threshold Yf_th, inner current distance threshold Dp_in_th, outer current distance threshold Dp_out_th, inner future distance threshold Df_in_th, and outer future distance threshold Df_out_th are obtained, but it may be set to a different value in each case. [Explanation of symbols]

[0104] 10...Vehicle control device, 20...Brake system, 60...Image sensor, 90...ECU, 100...Own vehicle, 200...Object, Ap...Current position determination area (1st area), Af...Future position determination area (2nd area), W1...1st width, W2...2nd width

Claims

1. In a collision damage mitigation system equipped with a control device that performs collision damage mitigation control to reduce damage caused by the vehicle colliding with an object, The control device is If the object is located in the first region, which is the region in front of the vehicle in the direction of travel and has a first width set based on the width of the vehicle, the collision damage mitigation control is executed. If the object is not present in the first region, but is predicted to be present in the second region, which is a region in front of the vehicle in the direction of travel and has a width smaller than the first region, the collision damage mitigation control is executed. It is structured in such a way. Collision damage mitigation device.

2. In the collision damage mitigation device according to claim 1, The control device is Based on the distance traveled, which is the distance the object is expected to travel during the predetermined time, it is predicted whether the object will be in the second region after the predetermined time. If the aforementioned travel distance is greater than the upper limit distance, the travel distance is limited to a distance less than or equal to the upper limit distance to predict whether or not the object will be in the second region after the predetermined time. It is structured in such a way. Collision damage mitigation device.

3. In the collision damage mitigation device according to claim 1 or claim 2, The control device is configured to detect the movement speed of the object, and if the movement speed is greater than a predetermined speed, and the object is not present in the first region, it will not perform the collision damage mitigation control, regardless of whether the object is present in the second region after the predetermined time. Collision damage mitigation device.

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