JP5904067B2 - Approaching object detection device - Google Patents

Description

  The present invention relates to an approaching object detection device that detects an approaching object such as another vehicle or a pedestrian approaching the host vehicle.

  Patent Document 1 discloses an apparatus that detects an obstacle located on the side of the host vehicle by using a side sonar attached to the side of the host vehicle. Various literatures also disclose devices in which sonars for detecting obstacles are attached to the front and rear.

Japanese Patent No. 4461920

  Now, the present inventors considered attaching a diagonal sonar described below to a vehicle, assuming a case where the vehicle starts from a parking position. In this oblique sonar, the detection directing direction of the sonar is aligned with the direction (oblique direction) located between the front and the side in the traveling direction. According to this, approaching objects such as other vehicles and pedestrians approaching when starting from the parking position can be detected, and measures such as notifying the driver of that fact can be taken. In particular, when the vehicle is parked forward, the vehicle starts moving backward, and thus detecting an approaching object in this way is effective in preventing a collision.

  However, when an approaching object is detected with the diagonal sonar when the vehicle starts to start, if there is an obstacle such as a parked vehicle or a building next to the own vehicle, the diagonal sonar detects the obstacle. Then, due to this detection, the detection accuracy of the oblique sensor for an approaching object that is originally desired to be detected deteriorates.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an approaching object detection device capable of detecting an approaching object with high accuracy.

  One disclosed invention employs the following technical means to achieve the above object. In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of the disclosed invention is limited Not what you want.

One of the disclosed inventions includes an oblique sensor attached to the host vehicle so as to detect an approaching object positioned between the front and side of the traveling direction of the host vehicle, and an obstacle positioned on the side of the host vehicle. Whether the side sensor attached to the host vehicle to detect and an obstacle exists on the side of the host vehicle, and at least a part of the obstacle is in the detection area of the oblique sensor, If the failure determination means makes a positive determination based on the detection result of the side sensor and the failure determination means determines that it is within the detection area, an oblique sensor is used for an area within a predetermined distance from the host vehicle in the detection area. And a mask processing means for performing mask processing that does not detect an approaching object, and the predetermined distance is set to be longer than the distance of the obstacle detected by the side sensor .

According to the above invention, in addition to the oblique sensor, a side sensor for detecting an obstacle located on the side is provided, and the obstacle present next to the host vehicle (side) is detected using the side sensor. It is determined whether it is in the detection area of the oblique sensor. Therefore, it becomes possible to grasp whether or not the detection accuracy of the approaching object by the oblique sensor is deteriorated (detection inhibition state). Thus, for a region within a predetermined distance from the vehicle among the detected area by oblique Me sensor by performing the masking process that does not detect the approaching object, the so that to improve the accuracy of detecting an approaching object by oblique sensor,
It is possible to cope with the detection inhibition state.

The figure which shows the approaching object detection apparatus concerning one Embodiment of this invention. The figure which shows the state immediately after making it start from a parking position. The flowchart which shows the procedure of control by ECU of FIG. The figure which shows the detection result of the diagonal sensor and the side sensor at the time of implementing the process of FIG.

  Hereinafter, an embodiment of an approaching object detection device according to the present invention will be described with reference to the drawings.

  A plurality of sensors 11, 12, 13, 14, 15, 16 are mounted on the vehicle V1 (own vehicle) shown in FIG. These sensors 11 to 16 are distance measuring sensors that are used for detecting a distance to an obstacle by transmitting a survey wave and receiving a reflected wave of the search wave reflected by the obstacle. Specific examples of exploration waves include sound waves, light waves, and electromagnetic waves (particularly millimeter waves). In this embodiment, sonar that transmits and receives ultrasonic waves is used as the sensors 11 to 16.

  Among these sensors 11 to 16, those attached to the side of the vehicle V <b> 1 are referred to as side sensors 11 and 16, and those attached to the rear of the vehicle V <b> 1 are referred to as rear sensors 13 and 14. In addition, sensors positioned between the side sensors 11 and 16 and the rear sensors 13 and 14 are referred to as oblique sensors 12 and 15.

  A dotted line 16 a in FIG. 1 indicates a detection area of the side sensor 16, and an alternate long and short dash line 16 b indicates a detection directing direction of the side sensor 16. The side sensor 16 is attached in such a direction that the intersection angle between the detection directing direction 16b and the vehicle longitudinal direction (vertical direction in FIG. 1) is about 90 degrees. The same applies to the side sensor 11. Thereby, the side sensors 11 and 16 can detect the obstacle in the detection area | regions 11a and 16a located in the side of the own vehicle V1. The side sensor 16 is located on the rear side of the center in the front-rear direction of the vehicle V1, and in the example of FIG.

  The rear sensors 13 and 14 are attached so that the crossing angle between the detection directing direction and the vehicle front-rear direction is about 0 degrees. Thereby, the rear sensors 13 and 14 can detect an obstacle in the detection areas 13a and 14a located behind the host vehicle V1.

  The oblique sensors 12 and 15 are attached such that the intersection angle between the detection directing direction and the vehicle front-rear direction is smaller than the side sensor 11 and larger than the rear sensors 13 and 14. Yes. The crossing angle related to the oblique sensors 12 and 15 is desirably in the range of 5 to 85 degrees (desirably 45 to 85 degrees, more desirably 70 to 80 degrees). Thereby, the diagonal sensors 12 and 15 can detect the obstacle in the detection area | regions 12a and 15a located diagonally back of the own vehicle V1.

  The vehicle V1 is equipped with an electronic control unit (ECU 20) including a microcomputer and the like, and detection signals from the sensors 11 to 16 are input to the ECU 20. Based on these detection signals, the ECU 20 determines whether there is an obstacle on the side, rear, and obliquely rear of the vehicle V1, and calculates the distance from the vehicle V1 to the obstacle.

  The ECU 20 performs various controls exemplified below according to the determination result of the presence or absence of an obstacle. For example, when it is determined that there is an obstacle, the driver is notified of that. Alternatively, when the vehicle V1 is parked at a predetermined position or started from the parking position, the steering angle is automatically controlled so as not to collide with the obstacle according to the distance between the vehicle V1 and the obstacle. Alternatively, the possibility of collision with an obstacle is predicted, and the traveling output is limited so as not to collide with the obstacle according to the prediction result. Alternatively, the brake is automatically applied to reduce or stop the traveling speed according to the distance between the vehicle V1 and the obstacle.

  FIG. 2 shows a state immediately after the vehicle V1 parked forward is started while retreating from the parking position, and the locus of the rear wheel at the time of reverse start is shown by a one-dot chain line in the figure. The ECU 20 executes control (reverse detection control) for detecting that an obstacle (an approaching object V3) such as another vehicle or a pedestrian is approaching from an oblique side of the vehicle V1 when the vehicle starts to move backward. .

  FIG. 3 is a flowchart showing an execution procedure of the above-described reverse detection control, and this process is repeatedly executed at a predetermined cycle by the microcomputer of the ECU 20 (failure determination means).

  First, in step S10 of FIG. 3, it is determined whether or not the vehicle is moving backward. In particular, it is desirable to determine whether or not the vehicle is moving backward from the parking state. For example, when it is detected that an obstacle V2 exists within a predetermined distance from the host vehicle V1, and within a predetermined time since the ignition switch is switched from OFF to ON, and the automatic gear shift stage is operated. When the shift lever position to be operated is within a predetermined time after the parking position (P) is switched to the back travel position (R) and within a predetermined time after the parking brake is operated from on to off, the parking state It is determined that the vehicle is starting to move backward.

  If it is determined that the vehicle is moving backward (S10: YES), the process proceeds to step S11 (obstacle determination means), where an obstacle V2 exists on the side of the host vehicle, and at least a part of the obstacle V2 is present. It is determined whether or not the “detection inhibition state” is in the detection areas 12 a and 15 a of the oblique sensors 12 and 15. Hereinafter, the “detection inhibition state” will be described.

  For example, in the state of FIG. 1, the exploration wave w1 (oscillation sound wave) transmitted from the side sensor 11 is reflected by the adjacent parked vehicle (obstacle V2), and the reflected wave w1 (reflection sound wave) is reflected from the side sensor. 11 receives. Thereby, it is detected that the obstacle V2 exists in the side vicinity of the own vehicle V1. On the other hand, the exploration wave w2 (oscillation sound wave) transmitted from the oblique sensor 12 is reflected by an approaching object V3 such as another vehicle or a pedestrian approaching from the oblique rear side of the host vehicle V1, and the reflected wave w2 (reflection) The oblique sensor 12 receives a sound wave. However, since the approaching object V3 is also located in the detection region 12a of the oblique sensor 12, the exploration wave w2 transmitted from the oblique sensor 12 is reflected by the obstacle V2 as indicated by reference numeral w3, and the reflected wave The oblique sensor 12 also receives w3.

  And when the obstacle V2 is located in the detection area 12a in this way, the detection accuracy of the approaching object V3 that is originally desired to be detected deteriorates. Alternatively, only the closest object (obstacle V2) is detected, and other objects (approaching object V3) cannot be detected due to the influence of the detection. That is, the side obstacle V2 hinders detection of the approaching object V3 by the oblique sensor 12, and this state is a “detection inhibition state”.

  On the other hand, in the state of FIG. 2, since the obstacle V2 is removed from the detection area 12a, the approaching object V3 can be detected with high accuracy. Alternatively, the approaching object V3 can be detected. That is, the side obstacle V2 does not hinder the detection of the approaching object V3 by the oblique sensor 12, and has escaped from the “detection inhibition state”.

  In step S11, based on the reception result of the reflected wave w1 by the side sensor 11, it is determined whether or not the detection inhibition state is present. For example, when the reception voltage by the side sensor 11 is a predetermined value or more, or when the detection distance by the side sensor 11 is less than the predetermined value, or the change in the detection distance by the side sensor 11 is less than the predetermined value. In some cases, it is determined that the state is a detection inhibition state.

  When an affirmative determination is made that the detection inhibition state is present (S11: YES), in the subsequent step S12, it is determined whether or not the approaching object V4 is detected in the vicinity of the rear side of the host vehicle V1. Specifically, it is determined whether or not the approaching object V4 is detected in a region within a predetermined distance from the host vehicle V1 (a portion not hatched in the drawing) in the detection region 12a by the oblique sensor 12. The predetermined distance is set to a value shorter than the distance between the obstacle V2 detected by the side sensor 11 and the host vehicle V1. When it is determined that there is no approaching object V4 in the vicinity (S12: NO), in the subsequent step S13 (mask processing means), a mask process described below is executed.

  The upper part of FIG. 4 shows changes in the transmission voltage A1 and the reception voltage B1 by the side sensor 11, and the lower part of FIG. 4 shows changes in the transmission voltage A2 and the reception voltages B2, B3, B4 by the oblique sensor 12. The vertical axis in FIG. 4 represents the output voltages of the sensors 11 and 12, and the horizontal axis represents the elapsed time. The transmission voltage A1 corresponds to the exploration wave w1 shown in FIG. 1, and the reception voltage B1 corresponds to the reflected wave w1. Further, the transmission voltage A2 corresponds to the exploration wave w2 shown in FIG. 1, the reception voltages B2 and B3 correspond to the reflected waves w2 and w3, and the reception voltage B4 corresponds to the reflected wave by the nearby approaching object V4. As shown in FIG. 4, the elapsed time from the output time point of the transmission voltages A1, A2 to the reception time point of the reception voltages B1, B2, B3, B4 is proportional to the distance from the own vehicle V1 to the detection target.

  And when not performing the mask process mentioned above, all the reception voltages after the output time of transmission voltage A2 are made into a detection target. Thereby, the approaching objects V2, V3, and V4 in the normal detection region indicated by the dotted line 12a in FIG. On the other hand, when the mask process is performed, the reception voltage after the predetermined time L2 has elapsed from the output time point of the transmission voltage A2 is set as a detection target. Thereby, the approaching object V3 in the detection area with a mask shown by the oblique line 12b in FIG. 1 becomes a detection target.

  That is, the reception voltage is processed so that an approaching object is not detected in a region within a predetermined distance (predetermined time L2) from the host vehicle in the detection region 12a by the oblique sensor 12. This is a mask process. The predetermined distance (predetermined time L2) is set to a distance longer than the distance L1 of the obstacle V2 detected by the side sensor 11.

  Returning to the description of FIG. 3, the mask process executed in step S <b> 13 is repeatedly executed at a predetermined cycle (for example, 10 milliseconds to 100 milliseconds). In other words, the detection by the oblique sensor 12 is executed by alternately switching between the normal detection area 12a and the detection area with mask 12b alternately.

  On the other hand, if it is determined in step S12 that there is an approaching object V4 in the vicinity (S12: YES), the next step S15 (masking) is performed except in the case of extremely low speed traveling where the traveling speed of the host vehicle V1 is less than a predetermined value. The mask processing is stopped by a processing stop means). If it is determined that the speed is extremely low (S14: YES), even if the approaching object V4 is detected in the vicinity, the execution of the mask process in step S13 is permitted.

  If it is determined in step S11 that the detection inhibition state is not established (S11: NO), it is assumed that the state of FIG. 1 has shifted to the state of FIG. 2, and the mask process is stopped in subsequent step S16. Then, in the subsequent step S17 (position calculation means), “triangulation” described below is executed.

  That is, as shown in FIG. 2, among the reflected waves w4 and w5 reflected by the approaching object V3 with respect to the exploration wave w4 from the oblique sensor 12, the signal of the reflected wave w4 detected by the oblique sensor 12 (that is, the oblique sensor 12). And the position of the approaching object V4 is calculated based on the signal of the reflected wave w5 detected by the side sensor 11 (that is, the detection result by the side sensor 11). Specifically, the distance between the approaching object V4 calculated from the elapsed time from the output of the exploration wave w4 to the reception of the reflected wave w4, and the difference between the reception timing of the reflected wave w4 and the reception timing of the reflected wave w5 Based on the amount, the position of the approaching object V4 is calculated.

  If it is determined in step S10 described above that the vehicle is not moving backward (S10: NO), mask processing and triangulation are stopped in step S18, and the reverse detection control is terminated.

  As described above, according to the present embodiment, the obstacle V2 exists on the side of the host vehicle V1 in step S11 of FIG. 3, and at least a part of the obstacle V2 is the detection region of the oblique sensors 12, 15. It is determined whether or not the “detection inhibition state” in 12a and 15a is present. And when it determines with a detection inhibition state, an approaching object (obstacle V2) is not detected about the area | region within the predetermined distance (predetermined time L2) from the own vehicle V1 among the detection areas 12a by the diagonal sensor 12. The mask process is executed. This masking process is a process in which a region within a predetermined distance from the host vehicle V1 in the detection region 12a by the oblique sensor 12 is excluded from detection.

  According to this, even in the detection inhibition state shown in FIG. 1, since the detection is performed in the detection area 12 b with the mask, the obstacle V <b> 2 (adjacent parked vehicle) located on the side is not detected. By detecting the adjacent parked vehicle, it is possible to solve the problem that the detection accuracy of the approaching object V3 is deteriorated or the approaching object V3 cannot be detected.

  Furthermore, according to this embodiment, the effects listed below are also exhibited.

<Operation effect 1>
In the detection inhibition state in which the obstacle determination means (S11) makes an affirmative determination (S11: YES) when an obstacle present on the side of the host vehicle is in the detection region, the mask process is executed and stopped. It repeats alternately with a predetermined period. According to this, it becomes possible to detect a neighboring region that cannot be detected in the detection region with mask 12b at a predetermined cycle. Therefore, it is possible to grasp the presence / absence of the approaching object V4 in the vicinity region while improving the detection accuracy in the detection region with mask 12b.

<Operation effect 2>
Here, when the oblique sensor 12 detects the approaching object V4 at a distance closer to the obstacle V2 detected by the side sensor 11, the detection update interval in the normal detection region 12a is shortened, and the approaching object V4 is detected. It is desirable to improve collision avoidance.

  In this embodiment in view of this point, when the distance detected by the oblique sensor 12 is shorter than the distance detected by the side sensor 11 (S12: YES), the failure determination means makes an affirmative determination (S11: YES). Even if it is a case, the mask process stop means (S15) which stops a mask process is provided.

  According to this, since the mask process is stopped when the oblique sensor 12 detects the approaching object V4 at a short distance, the detection update interval in the normal detection region 12a can be shortened, and the change in the distance to the approaching object V4 The detection response delay for can be shortened. Therefore, the collision avoidance with respect to the approaching object V4 at a short distance can be improved.

<Operation effect 3>
Here, even when there is an approaching object V4 at a short distance, when the host vehicle V1 is traveling at an extremely low speed, the necessity of shortening the detection response delay described above is reduced. If the mask processing is stopped to shorten the detection response delay, the detection accuracy in the detection area with mask 12b is reduced by stopping the mask processing.

  In the present embodiment in view of this point, the mask process stop by the mask process stop unit is permitted on condition that the traveling speed of the host vehicle V1 is equal to or higher than a predetermined value (S14: NO). According to this, since the mask process is continued without stopping when traveling at an extremely low speed, it is possible to avoid lowering the detection accuracy in the detection region with mask 12b more frequently than necessary, and to improve the detection accuracy. A balance with shortening of the detection response delay can be suitably achieved.

<Operation effect 4>
The side sensor 11 and the oblique sensor 12 are sonars that detect the reflected sound wave with respect to the oscillating sound wave, and approach based on the detection result of the side sensor 11 and the detection result of the oblique sensor 12 with respect to the oscillating sound wave from the oblique sensor 12. Position calculation means S17 for calculating the position of the object V3 is provided. According to this, it becomes possible by triangulation to detect the position of the approaching object V3 with high accuracy.

<Operation effect 5>
Here, in the detection inhibition state, the accuracy of position calculation by triangulation is remarkably reduced. In this embodiment in view of this point, the execution of the position calculation process by the position calculation unit S17 is permitted on condition that the failure determination unit S11 makes a negative determination (S11: NO). That is, the execution of the triangulation is permitted on the condition that it is not in the detection inhibition state. Therefore, it is possible to avoid performing position calculation with extremely low accuracy.

(Other embodiments)
The present invention is not limited to the description of the above embodiment, and may be modified as follows. Moreover, you may make it combine the characteristic structure of each embodiment arbitrarily, respectively.

  In the above embodiment, the mask process (S13) and the triangulation (S17) are executed at the time of reversing on the assumption that the vehicle V1 parked forward is moved backward from the parking position. In this case, “front in the traveling direction” is the rear of the vehicle. On the other hand, the mask process (S13) and the triangulation (S17) may be executed at the time of forward, assuming that the vehicle starts moving forward from the parking position. In this case, “front in the traveling direction” is the front of the vehicle.

  In the above embodiment, the sonar is applied to the sensors 11 to 16, but a sensor using electromagnetic waves or light waves may be applied. However, the electromagnetic wave and light wave sensors cannot perform the above-described triangulation, and it is desirable to apply sonar in this respect.

  In the above embodiment, the execution of the mask process (S13) is permitted on the condition that there is no approaching object V4 in the vicinity (S12: NO), but the condition may be abolished.

  In the above embodiment, even if there is an approaching object V4 in the vicinity (S12: YES), the mask processing is permitted if it is extremely low speed (S14: YES). Regardless of this, when there is an approaching object V4 in the vicinity (S12: YES), the mask process may be stopped.

  DESCRIPTION OF SYMBOLS 11, 16 ... Side sensor, 12, 15 ... Oblique sensor, 12a, 15a ... Detection area of oblique sensor, 20 ... ECU (failure judging means), S11 ... Obstacle judging means, V1 ... Own vehicle, V2 ... Obstacle, V3 ... Approaching object.

Claims (7)

An oblique sensor (12, 15) attached to the own vehicle so as to detect an approaching object (V3, V4) located between the front and side in the traveling direction of the own vehicle (V1);
Side sensors (11, 16) attached to the host vehicle so as to detect an obstacle (V2) located on the side of the host vehicle;
Based on the detection result of the side sensor, whether there is an obstacle on the side of the host vehicle and at least a part of the obstacle is in the detection area (12a, 15a) of the oblique sensor. A failure determination means (S11) for determining;
When the obstacle determination means makes an affirmative determination that the vehicle is in the detection area, a mask process in which an approaching object (V4) is not detected by the oblique sensor for an area within a predetermined distance from the host vehicle in the detection area. Mask processing means (S13) for executing
Equipped with a,
The approaching object detection device , wherein the predetermined distance is set to a distance longer than a distance of an obstacle detected by the side sensor . Wherein when said to have entered a detection area fault determination means is affirmative determination is approaching object detection according to claim 1, wherein the repeating the execution and stop execution of the masking process alternately at a predetermined cycle apparatus. When the distance detected by the oblique sensor is shorter than the distance detected by the side sensor, even if the failure determination means makes an affirmative determination, mask processing stop means for stopping the mask processing (S15) approaching object detection device according to claim 1 or 2, characterized in that it comprises a. 4. The approaching object detection device according to claim 3 , wherein the mask processing stop by the mask processing stop means is permitted on condition that the traveling speed of the host vehicle is equal to or higher than a predetermined value. The oblique sensor, approaching object detection device according to any one of claims 1-4, characterized in that the sonar to detect a reflected sound wave for oscillation wave. The side sensor is a sonar that detects a reflected sound wave with respect to an oscillating sound wave,
The position calculating means (S17) for calculating the position of the approaching object based on a detection result of the side sensor and a detection result of the oblique sensor with respect to the oscillating sound wave from the oblique sensor. 5. An approaching object detection device according to 5. The approaching object detection device according to claim 6 , wherein execution of a position calculation process by the position calculation unit is permitted on condition that the failure determination unit makes a negative determination that the object is not in the detection area.

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