JP6123531B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method that support driving of a vehicle.

  2. Description of the Related Art Conventionally, a start support device described in, for example, Japanese Patent Application Laid-Open No. 2012-056428 is known as a device that supports driving operation of a vehicle, in particular, vehicle start. This start support device acquires a turning direction of a vehicle when starting backward, and generates a start path with a reduced calculation load by limiting an obstacle detection area. Accordingly, the route is generated based on the turning direction and the presence / absence of the obstacle in the limited detection region, thereby suppressing the obstacle present in the moving direction of the vehicle.

JP 2012-056428 A JP 2008-290669 A

  However, in the start assistance device described in Patent Document 1, it is not determined whether there is an obstacle in the vicinity of the host vehicle, particularly in a region where the side obstacle cannot be detected. And since this start assistance apparatus produces | generates a path | route based only on the turning direction and the positional information on the detected obstacle, there exists a possibility that an undetected area | region may be included in this path | route. Therefore, there is a problem that if there is an obstacle in the undetected area, the vehicle may collide with the obstacle.

  Therefore, an object of the present invention is to provide a travel support device and a travel support method that can generate a travel route that does not collide with an obstacle with high accuracy.

  The driving support device according to the present invention includes an object detection unit that detects an object around the host vehicle, and a first object in the vicinity of the host vehicle based on a detection result of the object detection unit. And a second area where no object is present, the first area and the second area are recorded over time according to the movement of the host vehicle, and are recorded by the recording section. A route generation unit that generates a travel route of the host vehicle based on the first region and the second region, and a control unit that controls the travel support of the host vehicle according to the travel route generated by the route generation unit. And comprising.

  As one aspect of the driving support device according to the present invention, the recording unit generates a vehicle surrounding situation map representing the first area and the second area recorded over time.

  As one aspect of the travel support device according to the present invention, the route generation unit generates a travel route through which the host vehicle passes only the second region.

  As one aspect of the driving support device according to the present invention, when the driving route includes a region where the object detecting unit does not detect the situation around the host vehicle, the control unit outputs a warning.

  As one aspect of the driving support apparatus according to the present invention, driving support is performed when the host vehicle starts from a parked or stopped state.

  The driving support method according to the present invention detects an object around the host vehicle, and the first region where the object exists around the host vehicle and the object exist around the host vehicle based on the detection result of the object. The second area that is not recorded is recorded over time according to the movement of the host vehicle, and the travel route of the host vehicle is generated based on the recorded first and second regions. Based on the driving assistance.

  According to the present invention, it is possible to provide a travel support device or a travel support method that generates a travel route that does not collide with an obstacle with high accuracy.

It is a block diagram of the driving assistance device concerning the embodiment of the present invention. It is explanatory drawing about the object detection of the driving assistance device which concerns on embodiment of this invention. It is a flowchart about the start assistance of the driving assistance device which concerns on embodiment of this invention. It is a figure explaining the position of the vehicle according to time, and the detection area of an object detection part. It is a figure explaining the vehicle periphery situation map which concerns on embodiment of this invention.

  Hereinafter, a driving support device and a driving support method according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are examples for explaining the present invention, and the present invention is not limited to the following contents. The accompanying drawings show an example of the embodiment, and the form is not construed as being limited thereto. The present invention can be implemented with appropriate modifications within the scope of the gist thereof. The dimensions and ratios of the drawings are not limited to those shown in the drawings.

  FIG. 1 is a block diagram showing a driving support apparatus according to an embodiment of the present invention. The travel support device shown in FIG. 1 includes an object detection unit 1, an ECU 11, a travel support execution unit 21, and a vehicle information detection unit 31. The object detection unit 1, the travel support execution unit 21, and the vehicle information detection unit 31 are each connected to the ECU 11. Note that the travel support device is not limited to the configuration illustrated in FIG. 1, and other configurations may be added, or some configurations may be deleted. In addition, each component is not used only for the driving support device, but may be used in combination with other purposes.

  The object detection unit 1 detects the presence or absence of an object around the vehicle, particularly an object that becomes an obstacle. In the present embodiment, the object detection unit 1 includes a front ultrasonic sensor 2, a rear ultrasonic sensor 3, a front clearance sonar 4 (hereinafter abbreviated as front clearance sonar), and a rear clearance sonar 5 (hereinafter abbreviated as rear clearance sonar). Have). The front ultrasonic sensor 2 and the rear ultrasonic sensor 3 are provided on the left and right sides of the vehicle. A plurality of front section sonars 4 and rear section sonars 5 may be provided. The sensor is not limited to the above, and a laser sensor, a millimeter wave radar, or the like may be used, for example.

  FIG. 2 is a diagram illustrating a detection range of the object detection unit 1. The front clearance zone 4 and the rear clearance zone 5 detect the presence or absence of an object with respect to the front and rear of the vehicle, and the detection range is indicated by 100. The front ultrasonic sensor 2 and the rear ultrasonic sensor 3 detect the presence or absence of an object on the side of the vehicle, and the detection range is indicated by 110. The front ultrasonic sensor 2 and the rear ultrasonic sensor 3 are arranged apart from each other in the front-rear direction, and an area outside the detection range (referred to as an undetected area) exists between the respective detection areas. Note that the detection range and resolution of the object detection unit 1 depend on the type and performance of each sensor.

  The ECU 11 includes, for example, a CPU, a ROM, a RAM, and the like, and includes an object presence detection recording unit 12 (hereinafter abbreviated as a recording unit), a path generation unit 13, a steering control unit 14, and a communication control unit 15.

  Based on the detection result of the object detection unit 1, the recording unit 12 has an area where an object is present around the host vehicle (referred to as a first area) and an area where no object exists (referred to as a second area). ) Is recorded over time as the vehicle moves. That is, the recording unit 12 records each section range set in advance around the vehicle as the first region or the second region based on the detection result of the object detection unit 1, and responds to the movement of the vehicle. Update the recording status. That is, after being recorded as the first area or the second area, the recording state of the section range outside the detection range is maintained. On the other hand, the section range newly set as the detection range is recorded as the first region or the second region based on the detection result of the object detection unit 1 at that time. The recording unit 12 records, as a first region, a section range that is determined to be an object based on the detection result of the object detection unit 1, and sets a section range that is determined to be no object based on the detection result of the object detection unit 1 Record. Further, the recording unit 12 records the first area and the second area in the vehicle surrounding situation map set around the vehicle. The vehicle surrounding situation map is a two-dimensional representation of a section range set in advance around the vehicle. Since the area of the obstacle is displayed by recording the first area and the second area recorded over time on the area, it is also called an obstacle map.

  The route generation unit 13 generates a travel route of the vehicle based on the first area and the second area recorded by the recording unit 12. The travel route is a route that passes when the vehicle is supported for travel, and is generated so that the vehicle avoids the first region. The route generation unit 13 can also generate a travel route based on the vehicle surrounding situation map output from the recording unit 12.

  The steering control unit 14 generates a signal that controls the vehicle to pass the travel route generated by the route generation unit 13. The communication processing unit 15 outputs the vehicle control signal output from the steering control unit 14. Further, the communication processing unit 15 receives information from a travel support execution unit 21 and a vehicle information detection unit 31 which will be described later. The steering control unit 14 and the communication processing unit 15 may be combined into a control unit. Also, the control unit is not composed of only these two, and may include other configurations.

  The driving support execution unit 21 executes driving support for the vehicle based on the vehicle control signal output from the ECU 11. As the driving support execution unit 21, for example, a display 22 or EPS 23 (electric power steering) is used. The display 22 and the EPS 23 each execute an instruction based on the output from the ECU 11. Examples of the instruction from the ECU 11 include outputting a control instruction for the steering control unit 14 to perform automatic steering to the EPS 23 and displaying the generated travel route on the display 22. The display 22 may be connected to a car navigation system or a rear view camera.

  The vehicle information detection unit 31 outputs information detected by the vehicle information detection unit 31 to the ECU 11. The ECU 11 receives these outputs and appropriately feeds back to the steering control unit 14 and the like. The vehicle information detection unit 31 of the present embodiment includes a winker detection unit 32, a shift detection unit 33, a wheel speed sensor 34, and a steering sensor 35. Although not shown, the recording unit 12 in the ECU 11 may be configured to record information output from the vehicle information detection unit 31.

  Next, the operation of the driving support apparatus according to this embodiment will be described. FIG. 3 is an example of a flowchart of start support that is performed when the driving support apparatus according to the present embodiment starts from a parked state or a stopped state.

  First, an obstacle around the host vehicle is detected (S1). Obstacles around the host vehicle are detected by the object detection unit 1 immediately after the engine is started. In the vicinity of the host vehicle, an area where an obstacle is present is detected as a first area, and an area where no obstacle is present is detected as a second area.

  Further, the current vehicle position is calculated almost simultaneously with the above-described S1 (S2). The current position of the host vehicle is obtained by the ECU 11 based on the information output from the vehicle information detection unit 31. For example, by calculating the movement amount and posture change amount of the host vehicle from the previous detection from the wheel pulse and the steering angle, and adding the change amount to the previous position and posture of the own vehicle, the current position of the host vehicle is calculated. Is required. The detection of the presence or absence of obstacles around the host vehicle and the calculation of the current position of the host vehicle may or may not be performed simultaneously.

  Each of the detection result of S1 and the calculation result of S2 is recorded by the recording unit 12. The recording unit 12 records not only the first area but also the second area, and records over time according to the movement of the vehicle. That is, based on the detection result of S1, the recording state is updated according to the movement of the vehicle while recording the first region or the second region. As shown in FIG. 2, the range in which the object detection unit 1 can detect obstacles around the vehicle is limited, and the detection range on the side is particularly narrow. However, by recording the first area and the second area detected according to the movement of the vehicle over time, the detection area becomes wider than the detection result of a certain point. That is, the undetected area is reduced. As a result, the possibility of contact with an obstacle present in the undetected region can be reduced.

  Next, a vehicle surrounding situation map is generated based on the first area and the second area recorded over time (S3). It is assumed that the vehicle surrounding situation map two-dimensionally represents the first area and the second area recorded in the recording unit 12 in a section range set around the vehicle. This is created using data stored and recorded in the recording unit 12. Although this vehicle surrounding situation map is updated over time, the detection result and the actual situation may differ as time passes. For this reason, an area where a certain time has elapsed since the last detection may be set as an unknown area (or an undetected area). The certain time may be, for example, several seconds or more and several minutes or less, and may be set as appropriate.

  Here, a method for generating a vehicle surrounding situation map in the present embodiment will be described. In the present embodiment, a method for generating a vehicle surrounding situation map in which the vehicle, the first region, and the second region are expressed by being coordinated will be described. Note that when expressing the coordinates, for example, the center of the vehicle when the engine is started is the origin, the width direction of the vehicle is the X axis, and the longitudinal direction of the vehicle is the Y axis.

  FIG. 4 shows an example of detection regions of sensors of the object detection unit provided on the right front side and the right half of the vehicle. Reference numeral 100 denotes a range where obstacles are detected by the front and rear crisisers, and 110 denotes a range where obstacles are detected by the front ultrasonic sensor and the rear ultrasonic sensor. Reference numeral 200 represents a vehicle, and 300 represents an obstacle. In addition, 1 square of FIG. 4 shows 1 division in the division range set around a vehicle. This one section is set in advance. Further, the one section may change according to the resolution of the sensor. The resolution of the sensor depends on the type and performance of the sensor. In FIG. 4 showing the present embodiment, one side of one square is 50 cm. However, the better the resolution, the higher the obstacle detection accuracy, so the actual resolution is preferably about several cm to 10 cm.

4A shows the position of the vehicle 200 and the sensor detection area at time T ₀ , FIG. 4B shows the position of the vehicle 200 and the sensor detection area at time T ₁ , and FIG. the position detection area of the sensor of the vehicle 200 at time T _3, and represents respectively. The vehicle 200 is moving with the passage of time T ₀ to T ₃ . As the vehicle 200 moves, it can be seen that the area detected by the sensor also changes.

The detection area of each sensor from time T ₀ to T ₃ is determined by the presence or absence of an obstacle up to the maximum detection distance of the sensor. Therefore, when an obstacle is detected at each time and no obstacle is detected in the detection area of the sensor, it is determined that there is no obstacle in the detection area. On the other hand, if an obstacle is detected, the area between the point where the obstacle 300 is detected and the vehicle 200 is determined as having no obstacle. Then, it is determined that there is an obstacle in the area including the position of the obstacle 300. The size of this area depends on the resolution of the sensor. Since the back side of the obstacle 300 cannot be sensed, the area on the back side of the obstacle 300 is determined as an undetected area. Further, the area outside the detection range of the sensor is also determined as an undetected area. As an internal expression of the computer at each time, an area with an obstacle: 2, an area without an obstacle: 1, an undetected area: 0.

FIG. 5 shows an example of generating a vehicle surrounding situation map based on the detection results shown in FIGS. 4 (a) to 4 (c). In FIG. 5, an area where the obstacle 300 is present is shown as a first area, and an area where the vehicle has passed and an area where no obstacle is detected by the sensor are shown as a second area. 5A shows the vehicle surrounding situation map generated at time T ₀ , FIG. 5B shows the vehicle surrounding situation map generated at time T ₁ , and FIG. 5C shows the vehicle surrounding situation map at time T ₃ . Each of the generated vehicle surrounding situation maps is shown.

The vehicle surrounding situation map is generated by superimposing the detection results recorded by the recording unit. For example, in FIG. 5C, a vehicle surrounding situation map is generated in which all of the first area and the second area detected by the sensor from time T ₀ to time T ₃ are represented. As described above, obstacles around the vehicle are detected immediately after the engine is started. Therefore, by performing the start support according to the present embodiment, it is possible to use a vehicle surrounding situation map generated by superimposing the detection results of the presence or absence of obstacles around the vehicle so far. Therefore, start support is performed under conditions where there are few undetected areas around the vehicle.

  Returning to FIG. 3, a travel route is generated based on the vehicle surrounding situation map generated as described above (S4). This travel route is a route that passes when the vehicle is supported for travel. As shown in FIG.5 (c), it produces | generates so that the own vehicle can perform start assistance, without passing a 1st area | region. At this time, it is preferable to generate the travel route so that the host vehicle passes only through the second region. This is because if the travel route that passes through the undetected area where the obstacle exists is generated, the host vehicle comes into contact with the obstacle. As a calculation method for generating the travel route, a known method may be used. For example, the calculation method may be obtained by a method described in JP-A-2005-14778.

  For example, as shown in FIG. 4A, the range detected by the sensor in this embodiment is about several meters in distance. Therefore, since it is possible to detect the presence or absence of an obstacle immediately before and after the host vehicle, it is not necessary to determine whether or not there is an obstacle on the entire travel route (for example, several meters until the completion of leaving the vehicle). When the host vehicle moves and an obstacle is detected, a travel route for starting support may be generated or the travel route may be switched. On the other hand, when the detection range of the sensors before and after the host vehicle is sufficiently long, the travel route for starting support may be calculated before the host vehicle moves.

  And start support is implemented using the produced | generated driving | running route (S5). As the start support, automatic start is performed and a start route is displayed. In the present embodiment, the steering control unit 14 outputs a control instruction for performing automatic start. In this case, a control instruction is output to the EPS 23 of the driving support execution unit 21 or the like via the communication processing unit 15. In addition, the generated travel route can be displayed on the display 22 without performing automatic start. By displaying the generated travel route on the display 22, it is possible to recognize the travel route that the driver should visually pass through, and thus the possibility of contact with an obstacle can be suppressed. The travel route can be displayed on the display 22 so as to be superimposed on an image or a moving image taken by an in-vehicle camera or the like. This makes it easier to understand the travel route to be passed. A plurality of these start-up supports may be performed simultaneously.

  After starting support is carried out, it is determined whether or not further starting support is required. On the other hand, if it is determined that the start support is still necessary, the start support is performed again.

  As described above, according to the driving support device according to the present embodiment, the travel route is generated based on the data recorded over time according to the movement of the host vehicle, regarding the presence or absence of obstacles around the host vehicle. Yes. That is, the undetected area is reduced by expanding the detected area over time according to the movement of the host vehicle. As a result, the possibility of generating a travel route that passes through the undetected area is reduced, and the possibility that the host vehicle comes into contact with an obstacle during start support can be suppressed. On the other hand, the conventional start support device generates a travel route based on the detection result of obstacles around the vehicle at the start support. In this case, since the detection range of the sensor is limited, an undetected region exists around the host vehicle. As shown in FIG. 2, the undetected area is particularly large on the side surface side of the host vehicle. Therefore, when there is an obstacle in the undetected area, there is a possibility that a travel route that contacts the obstacle is generated. Then, such a fear can be eliminated by applying the driving support device according to the present embodiment.

  In addition, according to the travel support device according to the present embodiment, not only the position information where an obstacle exists but also the position information where no obstacle exists is used when generating a travel route through which the host vehicle should pass. Then, these positional information is recorded over time, and a vehicle surrounding situation map is generated by superimposing them, and a travel route is generated based on the vehicle surrounding situation map. On the other hand, the conventional start support device only detects the obstacle around the vehicle and records the area thereof, and does not detect and record the area without the obstacle around the vehicle. Therefore, it is difficult for the driver to determine whether the area where no obstacle is detected is a detected area or an undetected area. The driving support device according to the present embodiment makes it easy for the driver to make such a determination. Furthermore, it is preferable to generate a travel route using only position information in which no obstacle exists in the vehicle surrounding situation map, so that travel support for suppressing contact with an object with higher accuracy can be performed.

  In addition, although preferred embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the present invention is not limited to start support but may be used for other travel support. For example, you may apply to parking assistance. Further, the driving support is not limited to the above-described start support example. For example, when an undetected area is included in the generated travel route, the control unit may output so as to warn the driver. There are various uses for the support by the warning, such as by voice, lighting of a lamp, and displaying an icon on a display. Thereby, when the driver is driving himself, the possibility of contact with an obstacle can be reduced. Note that the driving assistance device according to the present embodiment provides driving assistance according to a driving route that passes through the undetected area after warning the driver when the vehicle is not allowed to go straight or retreat before the undetected area around the vehicle disappears. May be.

  In the above embodiment, the internal representation of the computer at each time is as follows: Area with an obstacle (first area): 2, Area without an obstacle (second area): 1, Undetected area: Although expressed in three states of 0, the present invention is not limited to this. For example, the value of the internal representation of the first area may be a function of time, and the value may be reduced toward 0 as time passes after detection. Accordingly, a travel route that passes only through a region where the value of the internal expression is a certain value or less (for example, 1.2 or less) may be generated.

  DESCRIPTION OF SYMBOLS 1 ... Object detection part, 2 ... Front ultrasonic sensor, 3 ... Rear ultrasonic sensor, 4 ... Front clearance sonar, 5 ... Rear clearance sonar, 11 ... ECU, 12 ... Object presence detection recording part, 13 ... Path generation , 14 ... steering control unit, 15 ... communication processing unit, 21 ... running support execution unit, 22 ... display, 23 ... EPS, 31 ... vehicle information detection unit, 32 ... winker detection unit, 33 ... shift detection unit, 34 ... Wheel speed sensor, 35 ... steering sensor, 200 ... vehicle, 300 ... obstacle.

Claims (5)

An object detection unit for detecting objects around the host vehicle;
Based on the detection result of the object detection unit, a first area where the object exists and a second area where the object does not exist are recorded around the host vehicle. A recording unit for recording the first region and the second region over time according to the movement of the host vehicle;
A route generation unit that generates a travel route of the host vehicle based on the first region and the second region recorded by the recording unit;
A control unit for controlling driving support of the host vehicle according to the driving route generated by the route generating unit;
Equipped with a,
The said recording part is a driving assistance device which produces | generates the vehicle surrounding condition map showing the said 1st area | region and said 2nd area | region recorded with time . The travel support device according to claim 1, wherein the route generation unit generates a travel route through which the host vehicle passes only the second region. The travel support device according to claim 1 or 2 , wherein the control unit outputs a warning when the travel route includes a region where the object detection unit does not detect a situation around the host vehicle. . The said driving assistance is a driving assistance device as described in any one of Claims 1-3 performed when the said own vehicle starts from the parked or stopped state. Detect objects around your vehicle,
Based on the detection result of the object, the first area where the object exists and the second area where the object does not exist are determined according to the movement of the own vehicle. Record over time,
Based on the recorded first area and the second area, a vehicle surrounding situation map representing the first area and the second area recorded over time is generated,
Based on the vehicle surrounding situation map, generate a travel route of the host vehicle,
Provide driving support based on the driving route,
Driving support method.

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