JP4803044B2 - Vehicle obstacle detection device - Google Patents

Description

  The present invention relates to an obstacle detection device for a vehicle.

Conventionally, a vehicle obstacle detection device is known (see, for example, Patent Document 1). This apparatus detects obstacles in front of the host vehicle, and receives the obstacle detection information from the obstacle detection unit, and operates the host vehicle (for example, a brake unit or a seat belt pretensioner). Operating device control means for controlling This improves the safety of passengers.
JP 2004-136785 A

  By the way, when the obstacle ahead of the own vehicle is a stationary object such as a manhole, a road sign, a viaduct or the like, the obstacle does not interfere with the running of the own vehicle.

  However, in the obstacle detection device for a vehicle described above, when an obstacle ahead of the host vehicle is detected, the operating device is operated uniformly regardless of the obstacle, so that the obstacle interferes with the traveling of the host vehicle. Even if it is not, the operating device will operate. For this reason, the occupant felt troublesome.

  This invention is made | formed in view of this point, The place made into the objective is to suppress that a passenger | crew feels troublesome.

  According to a first aspect of the present invention, there is provided an obstacle detection unit that detects an obstacle ahead of the host vehicle, and an operation device control unit that receives the obstacle detection information from the obstacle detection unit and controls the operation device of the host vehicle. An obstacle detection device for a vehicle, comprising: a stationary object determination unit that determines whether the obstacle detected by the obstacle detection unit is a stationary object; and the obstacle detection unit that determines whether the obstacle is detected by the stationary object determination unit. Position determining means for determining whether the obstacle is at or near the passing position of the preceding vehicle when it is determined that the object is a stationary object, and the operating device control means includes the position determining means. Therefore, when it is determined that the obstacle is at or near the passing position of the preceding vehicle, the operating device is not operated.

  As a result, it is determined whether or not the obstacle ahead of the host vehicle is a stationary object, and if it is determined that the obstacle is a stationary object, whether or not the obstacle is at or near the passing position of the preceding vehicle. If it is determined whether or not the obstacle is at or near the passing position of the preceding vehicle, the operating device is not operated. In other words, even if an obstacle ahead of the host vehicle is detected, if it is determined that the obstacle is a stationary object and is at or near the passing position of the preceding vehicle, the obstacle will interfere with the running of the host vehicle. Do not operate the operating device because it is considered to be unreliable. For this reason, it can suppress that a passenger | crew feels troublesome.

  The second invention further comprises intrusion detection means for detecting that an obstacle detected by the obstacle detection means has entered an area in which the operating device is to be operated in the first invention, The equipment control means is a case where the stationary object determination means determines that the obstacle is not a stationary object, or the position determination means determines that the obstacle is not at or near the passing position of the preceding vehicle. When the intrusion detecting means detects that the obstacle has entered the area, the operating device is activated, and the obstacle is located at or near the passing position of the preceding vehicle by the position determining means. If it is determined that the obstacle has entered the area, the intrusion detection means is configured not to operate the operating device. It is characterized in that there.

  Thereby, when it is determined that the obstacle ahead of the host vehicle is not a stationary object, or when the obstacle ahead of the host vehicle that is a stationary object is not at or near the passing position of the preceding vehicle, the obstacle When it is detected that an object has entered the area where the operating device is to be operated, the operating device is operated. That is, in this case, it is considered that the host vehicle may collide with the obstacle, so that the operating device is operated. For this reason, a passenger | crew's safety | security can be ensured.

  On the other hand, when it is determined that an obstacle in front of the vehicle that is a stationary object is at or near the passing position of the preceding vehicle, the operating device is detected even if it is detected that the obstacle has entered the area in which the operating device is to be operated. Do not operate. In other words, even if an obstacle ahead of the host vehicle is detected, if it is determined that the obstacle is a stationary object and is at or near the passing position of the preceding vehicle, the obstacle will interfere with the running of the host vehicle. Since it is considered that the obstacle does not work, even if it is detected that the obstacle has entered the area, the operating device is not operated. For this reason, it can suppress that a passenger | crew feels troublesome.

  As described above, it is possible to suppress the passenger from feeling troublesome while ensuring the safety of the passenger.

  According to a third invention, in the first or second invention, the obstacle detection means is a millimeter wave radar.

  Thereby, an obstacle can be detected stably even in a rainy or foggy state.

  According to a fourth invention, in any one of the first to third inventions, the operating device is a brake means for applying a braking force to the vehicle.

  As a result, when it is considered that the obstacle in front of the host vehicle does not interfere with the traveling of the host vehicle, the brake means is not operated, so that it is possible to reliably suppress the passenger from feeling annoyance. it can.

  According to a fifth invention, in any one of the first to third inventions, the operating device is a seat belt pretensioner that forcibly retracts the seat belt.

  As a result, when the obstacle ahead of the host vehicle is considered not to interfere with the driving of the host vehicle, the seat belt pretensioner is not operated, so that the passenger is surely prevented from feeling annoyance. be able to.

  According to the present invention, even if an obstacle ahead of the host vehicle is detected, if it is determined that the obstacle is a stationary object and is at or near the passing position of the preceding vehicle, the obstacle travels on the host vehicle. Since it is thought that it does not cause trouble, the operating device is not operated, so that it is possible to prevent the passenger from feeling troublesome.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a vehicle 1 including a vehicle obstacle detection device 2 according to an embodiment of the present invention, and FIG. 2 shows a block diagram of the vehicle obstacle detection device 2. As shown in FIGS. 1 and 2, the obstacle detection device 2 includes a millimeter wave radar 3 (obstacle detection means, intrusion detection means) that detects an obstacle 50 (see FIG. 3) in front of the host vehicle 1. I have. Millimeter waves have features such as having sharp directivity, ensuring a wide band for high-speed communication, and miniaturizing and micro-parts. As indicated by a thick line in FIG. 3, the detection range of the millimeter wave radar 3 is radially extended within a distance of approximately 100 m. Further, the millimeter wave radar 3 is arranged offset to the right side from the center in the width direction of the vehicle 1. Further, the millimeter wave radar 3 detects that the obstacle 50 has entered the areas A <b> 1 to A <b> 3 where the operating device of the vehicle 1 is to be operated. The operating equipment and areas A1 to A3 will be described later.

  As shown in FIGS. 1 and 2, the obstacle detection device 2 includes a control unit 10 having an operation device control means 10 a that receives the obstacle detection information from the millimeter wave radar 3 and controls the operation device. . The control unit 10 has a role of operating the operating device based on information from various sensors such as the collision sensor 11 and the vehicle speed sensor 12.

  The vehicle 1 includes a brake belt 14 that applies a braking force to the vehicle 1 as an operating device and a seat belt pretensioner 15 that increases the restraining force of the occupant by taking the slack of the seat belt 16.

  Hereinafter, features of the present embodiment will be described.

  The control unit 10 further includes a stationary object determination unit 10b, a position determination unit 10c, and a mark unit 10d. The stationary object determination unit 10b determines whether or not the obstacle 50 detected by the millimeter wave radar 3 is a stationary object. Specifically, the stationary object determination unit 10b obtains the relative speed of the obstacle 50 with respect to the vehicle 1 based on the output from the millimeter wave radar 3, and based on the relative speed and the detected value from the vehicle speed sensor 12. Then, it is determined whether or not the obstacle 50 is a stationary object.

  When the obstacle 50 is determined to be a stationary object by the stationary object determination means 10b, the position determination unit 10c is configured to detect the passing position of the preceding vehicle 4 (see FIG. 4) where the obstacle 50 precedes the vehicle 1 or It is determined whether or not it is in the vicinity. Specifically, the position determination means 10c obtains the position of the obstacle 50 and the place where the preceding vehicle 4 has passed in the past based on the output from the millimeter wave radar 3, and the obstacle 50 is the preceding vehicle. It is determined whether 4 is past or near the past. Here, the passing position of the preceding vehicle 4 or the vicinity thereof is, for example, a portion of the traveling lane 5a (see FIG. 4) of the preceding vehicle 4 where the preceding vehicle 4 has already traveled, its side vicinity, or the upper space thereof. It is.

  The marking means 10d is configured such that when the position determination means 10c determines that the obstacle 50, which is a stationary object, is at or near the passing position of the preceding vehicle 4, the obstacle 50 interferes with the traveling of the vehicle 1. For example, a manhole disposed on the road 5, a road sign 6 (see FIG. 4) installed at a high place across the road 5, a viaduct built at a high place across the road 5, etc. The obstacle 50 is marked as not subject to PCS (PRE CLASH SAFTY SYSYTEM) control (excluded from control of the operating device), which will be described later.

  Then, the operating device control unit 10a determines that the obstacle 50 is not a stationary object (is a moving object) by the stationary object determination unit 10b, or the position determination unit 10c determines that the obstacle 50 is a stationary object. When it is determined that it is not at or near the passing position (distant from the passing position of the preceding vehicle 4) and the obstacle 50 is detected by the millimeter wave radar 3 to enter the areas A1 to A3 Then, the brake means 14 and the seat belt pretensioner 15 are operated.

  Specifically, as shown in FIG. 1 to FIG. 3, when the millimeter wave radar 3 determines that the obstacle 50 has entered the range of a predetermined distance from the vehicle 1 (T1 second point P1 until the collision). The actuating device control means 10a sends a signal to the brake means 14 to actuate a relatively weak primary brake for alerting the driver. Further, when the millimeter wave radar 3 determines that the obstacle 50 has further entered the short distance (point P2 of T2 seconds until the collision) from the vehicle 1, the operating device control means 10a sends a signal to the brake means 14. Is sent and a strong secondary brake is activated to avoid a collision. The detection ranges A1 and A2 of the primary brake and the secondary brake are cut at the left and right tip sides. Specifically, the primary brake area A1 includes a point of steering avoidance time (not shown) with an offset of 10% from the vehicle width direction end of the vehicle 1, and a point P1 with an offset of 40% and up to T1 seconds until the collision. It is a mountain-shaped range up to the tip of the vehicle 1 whose outer side is cut from the line connecting the two. The secondary brake area A2 is the tip of the vehicle 1 whose outer side is cut from a line connecting a point of steering avoidance time (not shown) with an offset of 10% and a point P2 of offset 40% and T2 seconds until the collision. The range is up to Yamagata. Further, the secondary brake area A2 includes a range up to a point P4 at T4 seconds after the collision. This is a control continuation time for absorbing the measurement variation of the millimeter wave radar 3, and is provided for reasons such as preventing the brake means 14 from being released after a collision.

  The seat belt pretensioner 15 includes a first seat belt pretensioner 15a and a second seat belt pretensioner 15b. The millimeter wave radar 3 causes the obstacle 50 to move from the vehicle 1 to a predetermined distance (T3 until the collision). The first seat belt pretensioner 15a pulls the seat belt 16 into the retractor (not shown) when it is detected that it has entered the range of the second point P3) (hereinafter referred to as the seat belt area A3). It is constrained by the tension of (which does not affect the collision avoidance operation). When the collision sensor 11 detects that the vehicle has collided, the second seat belt pretensioner 15b further retracts the seat belt 16 to restrain the occupant with a strong restraining force. The first seat belt pretensioner 15a is configured to retract the seat belt 16 by an electric motor (not shown). The second seat belt pretensioner 15b is configured to retract the seat belt 16 by an inflator (not shown) such as gunpowder.

  On the other hand, even if the operating device control means 10a detects by the millimeter wave radar 3 that the obstacle 50 marked as not subject to PCS control by the marking means 10d has entered the areas A1 to A3, the operating equipment control means 10a The belt pretensioner 15 is not operated. The operating device control unit 10a detects that the obstacle 50 marked as not subject to PCS control and the obstacle 50 that is subject to PCS control have entered the areas A1 to A3. The seat belt pretensioner 15 is actuated.

-PCS control-
Hereinafter, the PCS control performed by the control unit 10 of the vehicle obstacle detection device 2 will be described with reference to the flowchart of FIG.

  First, in step S1, it is determined whether or not the obstacle 50 has been detected. If the determination result in step S1 is YES, the process proceeds to step S2, and if NO, the process returns to step S1. In step S2, it is determined whether or not the obstacle 50 is a stationary object. If the determination result in step S2 is YES, the process proceeds to step S3. If NO (if it is a moving object), the process proceeds to step S5.

  In step S3, it is determined whether or not the obstacle 50, which is a stationary object, is at or near the passing position of the preceding vehicle 4. If the determination result in step S3 is YES, the process proceeds to step S4. If NO (if the vehicle is far from the passing position of the preceding vehicle 4), the process proceeds to step S5. In step S4, the obstacle 50 is marked as not subject to PCS control. Thereafter, the process proceeds to step S5.

  In step S5, it is determined whether or not the obstacle 50 is in the primary brake area A1, the secondary brake area A2, or the seat belt area A3. If the determination result in step S5 is YES, the process proceeds to step S6, and if NO (if outside the primary brake area A1, secondary brake area A2, and seat belt area A3), the process proceeds to return. In step S6, it is determined whether or not the obstacle 50 in the primary brake area A1, the secondary brake area A2, or the seat belt area A3 is marked as not subject to PCS control. If the determination result in step S6 is YES (if the obstacle 50 is not subject to PCS control), the process proceeds to return, and if NO (if the obstacle 50 is subject to PCS control), the process proceeds to step S7. move on.

  In step S7, PCS control is started. Details thereof have been described above. Then proceed to return.

-Effect-
As described above, according to the present embodiment, it is determined that the obstacle 50 in front of the host vehicle is not a stationary object, or the obstacle 50 in front of the host vehicle that is a stationary object is not at or near the passing position of the preceding vehicle 4. When it is determined that the obstacle 50 is detected to have entered the areas A1 to A3 in which the operating devices 14 and 15 are to be operated, the operating devices 14 and 15 are operated. That is, in this case, since it is considered that the host vehicle 1 may collide with the obstacle 50, the operating devices 14 and 15 are operated. For this reason, a passenger | crew's safety | security can be ensured.

  On the other hand, when it is determined that the obstacle 50 in front of the vehicle, which is a stationary object, is at or near the passing position of the preceding vehicle 4, the obstacle 50 is in the areas A1 to A3 where the operating devices 14 and 15 are to be operated. Even if it is detected that it has entered, the operating devices 14 and 15 are not operated. That is, even if the obstacle 50 in front of the host vehicle is detected, if it is determined that the obstacle 50 is a stationary object and is at or near the passing position of the preceding vehicle 4, the obstacle 50 is Since it is considered that the vehicle does not interfere with traveling, even if it is detected that the obstacle 50 enters the areas A1 to A3, the operating devices 14 and 15 are not operated. For this reason, it can suppress that a passenger | crew feels troublesome.

  As described above, it is possible to suppress the passenger from feeling troublesome while ensuring the safety of the passenger.

  In addition, since the obstacle detection means is constituted by the millimeter wave radar 3, the obstacle 50 can be detected stably even in a rainy or foggy state.

  Further, when it is considered that the obstacle 50 in front of the host vehicle does not interfere with the traveling of the host vehicle 1, the brake means 14 is not actuated, so that it is surely suppressed that the passenger feels bothersome. be able to.

  Further, when it is considered that the obstacle 50 in front of the host vehicle does not interfere with the traveling of the host vehicle 1, the seat belt pretensioner 15 is not operated, so that it is ensured that the occupant feels troublesome. Can be suppressed.

(Other embodiments)
In the above embodiment, when it is determined that the obstacle 50 that is a stationary object is at or near the passing position of the preceding vehicle 4, the obstacle 50 is marked as not subject to PCS control, and the marked obstacle Even if it is detected that the object 50 has entered the areas A1 to A3, the brake means 14 and the seat belt pretensioner 15 are not operated. The brake means 14 and the seat belt pretensioner 15 may not be operated when it is determined that they are in the vicinity. That is, in the flowchart of FIG. 5, when the determination result in step S3 is YES, the process may proceed to return.

  In the above embodiment, when it is determined that the obstacle 50 that is a stationary object is at or near the passing position of the preceding vehicle 4, the obstacle 50 is marked as not subject to PCS control and is marked. Even if it is detected that the obstacle 50 has entered the areas A1 to A3, the brake means 14 and the seat belt pretensioner 15 are not operated. However, the obstacle 50 is at or near the passing position of the preceding vehicle 4. Even if it is detected that the obstacle 50 has entered the areas A1 to A3 when it is determined that the vehicle is in the area, any means can be used as long as the brake means 14 and the seat belt pretensioner 15 are not operated. good.

  Further, in the above embodiment, the millimeter wave radar 3 is arranged to be offset to the right side from the center in the width direction of the vehicle 1, but it is not always necessary to be offset.

  In the above embodiment, the obstacle detection means and the intrusion detection means are configured by the millimeter wave radar 3, but the present invention is not limited thereto, and may be configured by, for example, an infrared laser.

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is defined by the claims, and is not limited by the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, the obstacle detection device for a vehicle according to the present invention is useful for an application for suppressing an occupant from feeling annoying.

It is a conceptual diagram of the vehicle provided with the obstacle detection apparatus of the vehicle which concerns on embodiment of this invention. It is a block diagram which shows the obstruction detection apparatus of a vehicle. It is a conceptual diagram which shows the detection range of a millimeter wave radar. It is a top view which shows a road. It is a flowchart which shows PCS control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Obstacle detection apparatus 3 Millimeter wave radar (obstacle detection means, intrusion detection means)
4 preceding vehicle 10 control unit 10a actuating equipment control means 10b stationary object judging means 10c position judging means 10d mark means 14 brake means (actuating equipment)
15 Seat belt pretensioner (operating equipment)
50 Obstacle A1 Primary brake area A2 Secondary brake area A3 Seat belt area

Claims (5)

An obstacle for a vehicle, comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and operating device control means for receiving the obstacle detection information from the obstacle detection means to control the operating device of the host vehicle. A detection device,
Stationary object determination means for determining whether the obstacle detected by the obstacle detection means is a stationary object; and
Position determining means for determining whether the obstacle is at or near the passing position of the preceding vehicle when the obstacle is determined to be a stationary object by the stationary object determining means;
The operating device control means is configured not to operate the operating device when the position determination means determines that the obstacle is at or near the passing position of the preceding vehicle. Vehicle obstacle detection device. The obstacle detection device for a vehicle according to claim 1,
An intrusion detecting means for detecting that the obstacle detected by the obstacle detecting means has entered the area where the operating device is to be operated;
The operating device control means includes
The intrusion detection is performed when the stationary object determining means determines that the obstacle is not a stationary object, or the position determining means determines that the obstacle is not at or near the passing position of the preceding vehicle. When it is detected by the means that the obstacle has entered the area, the operating device is operated,
When it is determined by the position determination means that the obstacle is at or near the passing position of the preceding vehicle, the actuating device is operated even if the intrusion detection means detects that the obstacle has entered the area. An obstacle detection device for a vehicle, characterized in that it is configured not to operate. In the obstacle detection device for a vehicle according to claim 1 or 2,
The obstacle detection device for a vehicle, wherein the obstacle detection means is a millimeter wave radar. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
The obstacle detection device for a vehicle, wherein the operating device is a brake means for applying a braking force to the vehicle. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
An obstacle detection device for a vehicle, wherein the operating device is a seat belt pretensioner that forcibly retracts a seat belt.

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