JP2009023399A - Collision prevention device - Google Patents

Abstract

A collision preventing apparatus capable of appropriately determining the possibility of collision between a host vehicle and an oncoming vehicle.
When a host vehicle or an oncoming vehicle is overtaking, a collision time TTC and an overtaking completion time T0, T1 are calculated based on the running states of the host vehicle, the oncoming vehicle, and the overtaken vehicle being overtaken. (S22, S24, S34, S36), the possibility of collision between the host vehicle and the oncoming vehicle is determined (S26, S38), and when the collision possibility is greater than or equal to the set value, a collision prevention operation is performed (S50, S52, S54). By determining the possibility of collision between the own vehicle and the oncoming vehicle based on the traveling state of the own vehicle, the oncoming vehicle, and the overtaken vehicle, it is possible to appropriately determine the possibility of collision even in the situation of overtaking. .
[Selection] Figure 3

Description

  The present invention relates to a collision prevention device that prevents a collision with an oncoming vehicle.

Conventionally, as a device for preventing a collision with an oncoming vehicle, as described in Japanese Patent Application Laid-Open No. 11-31299, the collision time is calculated based on the traveling speed of the own vehicle and the relative speed of the oncoming vehicle. There is known a device that calculates a margin time for avoiding a vehicle oncoming with a margin and determines whether or not the vehicle has a margin for avoiding the oncoming vehicle based on the collision time and the margin time.
Japanese Patent Laid-Open No. 11-31299

  However, such a device has a problem that the possibility of collision between the host vehicle and the oncoming vehicle cannot be determined appropriately. For example, when the host vehicle or oncoming vehicle is overtaking, even if the time to collision can be accurately detected based on the relative speed and distance between the host vehicle and the oncoming vehicle, the running state of the overtaken vehicle changes. In such a case, an error may occur in the time until the overtaken vehicle is overtaken, and the overtaking time cannot be accurately detected. For this reason, the possibility of collision between the host vehicle and the oncoming vehicle may not be appropriately determined.

  Therefore, the present invention has been made to solve such problems, and an object thereof is to provide a collision prevention device that can appropriately determine the possibility of collision between the host vehicle and the oncoming vehicle. .

  That is, the collision prevention apparatus according to the present invention includes a host vehicle state acquisition unit that acquires a traveling state of the host vehicle, an oncoming vehicle state acquisition unit that acquires a traveling state of an oncoming vehicle of the host vehicle, and the host vehicle or the vehicle. An overtaking determination means for determining whether or not an oncoming vehicle is overtaking; and if the overtaking determination means determines that the overtaking vehicle is overtaking, the host vehicle, the oncoming vehicle, and the overtaken vehicle being overtaken A collision possibility determination unit that determines a collision possibility between the host vehicle and the oncoming vehicle based on a running state; and a collision prevention unit that performs a collision prevention operation when the collision possibility is equal to or greater than a set value. It is prepared for.

  According to this invention, when it is determined that the host vehicle or the oncoming vehicle is overtaking, the possibility of collision between the host vehicle and the oncoming vehicle is determined based on the traveling states of the host vehicle, the oncoming vehicle, and the overtaken vehicle. Thus, the possibility of collision can be appropriately determined even in the situation of overtaking. For this reason, appropriate vehicle collision prevention can be performed.

  In the collision prevention apparatus according to the present invention, when the collision possibility determination unit determines that the vehicle is overtaking by the overtaking determination unit, the host vehicle or the oncoming vehicle that overtakes the overtaking vehicle. Calculate the overtaking completion time based on the state, calculate the collision time based on the traveling state of the host vehicle and the oncoming vehicle, determine the possibility of collision using the overtaking completion time and the collision time, Preferably, the collision prevention means performs a collision prevention operation when the overtaking completion time is equal to or longer than the collision time, assuming that the collision possibility is equal to or higher than a set value.

  Further, in the collision preventing apparatus according to the present invention, even when the possibility of collision is greater than or equal to a set value, the oncoming vehicle can pass beside the host vehicle being overtaken or the oncoming vehicle being overtaken. In the case where the host vehicle can pass by the side of the vehicle, it is preferable to include operation suppressing means for suppressing the collision preventing operation.

  In this case, even if the possibility of collision is equal to or greater than the set value, the oncoming vehicle can pass beside the overtaking vehicle or the own vehicle can pass beside the oncoming overtaking vehicle. In such a case, it is possible to suppress unnecessary collision prevention operations by suppressing the collision prevention operations such as warning and braking control. For this reason, it is possible to avoid a situation in which the device operates and the driver feels uncomfortable when there is room to avoid the overtaking vehicle.

  According to the present invention, it is possible to appropriately determine the collision possibility by determining the collision possibility between the own vehicle and the oncoming vehicle in consideration of the traveling state of the overtaken vehicle.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a schematic configuration diagram of a collision prevention apparatus according to the present embodiment, and FIG. 2 is an explanatory diagram of an overtaking time, an overtaking distance, etc. during overtaking operation.

  As shown in FIG. 1, a collision prevention apparatus 1 according to this embodiment is an apparatus that is installed in a vehicle and prevents a collision of the vehicle, and includes an ECU (Electronic Control Unit) 10, an oncoming vehicle detection unit 21, The vehicle includes a passing vehicle detection unit 22, a road shape detection unit 23, a host vehicle speed detection unit 24, a warning unit 31, a warning unit 32, and a braking unit 33.

  The ECU 10 controls the entire apparatus, and is configured mainly with a computer including a CPU, a ROM, and a RAM, for example. The oncoming vehicle detection unit 21 detects an oncoming vehicle of the host vehicle, and for example, a millimeter wave radar is used. The oncoming vehicle detection unit 21 may use a device other than the millimeter wave radar as long as it can detect the position (distance) and the vehicle speed of the oncoming vehicle existing within the set range. Oncoming vehicle information detected by the oncoming vehicle detection unit 21 is input to the ECU 10.

  The overtaken vehicle detection unit 22 detects a overtaken vehicle that is overtaken by the host vehicle or the oncoming vehicle. For example, a millimeter wave radar is used. This overtaken vehicle detection unit 22 uses a device other than the millimeter wave radar as long as it can detect the position (distance) and vehicle speed of the overtaken vehicle overtaken by the host vehicle or an oncoming vehicle within the set range. Also good.

  Detection of a vehicle to be overtaken by the host vehicle may be performed by detecting a moving body that travels in the same direction as the host vehicle on the left front or left side of the host vehicle and has a vehicle speed slower than that of the host vehicle. Further, detection of the overtaken vehicle that is overtaken by the oncoming vehicle may be performed by detecting a moving body that travels in the same direction as the oncoming vehicle on the right side of the oncoming vehicle and that has a slower vehicle speed than the oncoming vehicle. The overtaken vehicle information detected by the overtaken vehicle detection unit 22 is input to the ECU 10.

  The road shape detection unit 23 detects a road shape such as whether or not the road on which the host vehicle is traveling is an opposite two-lane road. For example, a navigation device or an imaging device that images the road is used. The road shape detection unit 23 may be a navigation device or an imaging device as long as it can detect the road shape of the road on which the host vehicle travels. The road shape information detected by the road shape detection unit 23 is input to the ECU 10.

  The own vehicle speed detecting unit 24 functions as a vehicle speed detecting means for detecting the traveling speed of the own vehicle, and for example, a wheel speed sensor is used. The own vehicle speed information detected by the own vehicle detection unit 24 is input to the ECU 10.

  The alarm unit 31 warns the danger of collision when the risk of collision is a predetermined value or more. For example, a warning is given through a buzzer, sound, lamp, monitor display, or the like. The alarm unit 31 is connected to the ECU 10 and operates in response to a signal output from the ECU 10.

  The warning unit 32 warns that the vehicle is overtaking when the overtaking operation is over a predetermined value during overtaking. For example, the warning unit 32 performs warning control by controlling lighting of the headlight. The warning unit 32 is connected to the ECU 10 and operates in response to a signal output from the ECU 10.

  The braking unit 33 is a braking unit that applies braking force to the host vehicle when the risk of collision during overtaking is equal to or greater than a predetermined value. For example, an ECU that performs braking control and a brake that can forcibly perform braking control A system is used. The braking unit 33 is connected to the ECU 10 and operates in response to a signal output from the ECU 10, and applies a braking force to the brake to decelerate the vehicle.

  The warning unit 31, the warning unit 32, and the braking unit 33 function as a collision prevention unit that performs a collision prevention operation when the possibility of a vehicle collision during a passing operation is equal to or higher than a set value. In the present embodiment, the case where the warning unit 31, the warning unit 32, and the braking unit 33 are provided is described. However, a device that partially includes these components may be provided, and a collision prevention operation may be performed in addition to these devices. It may be provided with what performs.

  The ECU 10 functions as an overtaking determination unit that detects the overtaken vehicle and determines whether the host vehicle or the oncoming vehicle is overtaking based on the presence or absence of the overtaken vehicle. When the ECU 10 determines that the vehicle is overtaking, the possibility of collision between the vehicle and the oncoming vehicle is determined based on the traveling state of the own vehicle, the oncoming vehicle, and the own vehicle or the overtaken vehicle being overtaken by the oncoming vehicle. It functions as a collision possibility determination means for determining the In the present embodiment, the case where the collision possibility is determined by comparing the collision time between the host vehicle and the oncoming vehicle and the overtaking completion time will be described, but the collision possibility is determined by other processes and methods. May be.

  As shown in FIG. 2, there is a range in which the own vehicle B must run parallel to the overtaken vehicle A when overtaking the overtaken vehicle A that precedes it. For example, when overtaking the overtaken vehicle A preceded by the host vehicle B on the opposite two-lane road, first the lane is changed to the opposite lane (B1 in FIG. 2), and the overtaken vehicle A is overtaken (B2 in FIG. 2). It is necessary to return to the original lane (B3, B4 in FIG. 2).

  In this case, the section of the own vehicles B1 to B2 is a lane change-impossible section that is running in parallel with the overtaken vehicle A and cannot change lanes. Further, the section of the host vehicles B1 to B3 is a collision unavoidable section where the oncoming vehicle C cannot be sufficiently avoided. Further, the section of the host vehicle B1 to B4 is an overtaking section from the lane change to the opposite lane to the return to the lane of the host vehicle.

  In such a situation, for example, the vehicle speed of the overtaken vehicle A is 50 km / h, the total length of the overtaken vehicle A is 4.5 m, the travel lane return time (lane change time) is 3 seconds, and the own vehicle B ( When the vehicle speed of B1 to B4) is 70 km / h, the total length of the host vehicle B is 4.5 m, and the speed of the oncoming vehicle C is 50 km / h, the time required for the host vehicle B to travel in the overtaking section is The time required for the host vehicle B to travel in the collision inevitable section is 4.6 seconds, and the time required for the host vehicle B to travel in the lane unchangeable section is 1.6 seconds. Seconds.

  The distance traveled by the own vehicle B as the overtaking section is 90 m, and the distance traveled by the oncoming vehicle C is 64 m, so that the own vehicle B passes the overtaken vehicle A without colliding with the oncoming vehicle C. Is required to be at least 154 m away from the oncoming vehicle C. At this time, in the section 2/3 from the start of overtaking of the own vehicle B, it is impossible to change the course even if a danger of collision with the oncoming vehicle is felt. For this reason, the collision prevention apparatus according to the present embodiment supports driving judgment during overtaking traveling with a high degree of danger, and executes alarm processing, deceleration control, and the like when the degree of danger is a predetermined value or more.

  Next, the operation of the collision preventing apparatus according to this embodiment will be described.

  FIG. 3 is a flowchart showing the operation of the collision preventing apparatus according to the present embodiment. The control process of FIG. 3 is repeatedly executed by the ECU 10 at a predetermined cycle, for example.

  First, as shown in S10 of FIG. 3, it is determined whether or not the road on which the host vehicle is traveling is an opposite two-lane road. This determination is made based on the detection signal or search information of the road shape detection unit 23. If it is determined in S10 that the road on which the host vehicle is traveling is not an opposite two-lane road, the control process is terminated. On the other hand, if it is determined in S10 that the road on which the host vehicle is traveling is an opposite two-lane road, host vehicle speed detection processing is performed (S12).

  The own vehicle speed detection process is a process of detecting the vehicle speed of the own vehicle, and the vehicle speed value of the own vehicle is read based on a signal detected by the own vehicle speed detection unit 24. Then, the process proceeds to S14, where it is determined whether or not the own vehicle is overtaking another vehicle. This determination is made based on the detection signal from the overtaking vehicle detection unit 22.

  For example, based on the detection signal of the overtaken vehicle detection unit 22, it is determined whether or not there is a moving body that travels in the same direction as the host vehicle on the left front or left side of the host vehicle and has a vehicle speed slower than the host vehicle. When there is a moving body with a slow vehicle speed, it is determined that the host vehicle is overtaking another vehicle. When there is no moving body with a slow vehicle speed, it is determined that the host vehicle is not overtaking another vehicle. The In this overtaking determination, whether or not the vehicle being overtaken includes not only the vehicle being overtaken but also the vehicle being overtaken (such as parked). It may be judged.

  If it is determined in S14 that the host vehicle is overtaking another vehicle, it is determined whether there is an oncoming vehicle (S16). This determination is made based on the detection signal of the oncoming vehicle detection unit 21. If it is determined in S16 that there is no oncoming vehicle, the control process is terminated assuming that there is no risk of collision with the oncoming vehicle.

  On the other hand, if it is determined in S16 that there is an oncoming vehicle, an acquisition process of the speed of the oncoming vehicle and the distance to the oncoming vehicle is performed (S18). This acquisition process is performed by calculating the distance to the oncoming vehicle and the relative speed of the oncoming vehicle based on the detection signal of the oncoming vehicle detection unit 21.

  And it transfers to S20 and the acquisition process of the distance to the vehicle speed of an overtaking vehicle and an oncoming vehicle is performed. This acquisition process is performed by calculating the distance to the overtaken vehicle and the relative speed of the overtaken vehicle based on the detection signal of the overtaken vehicle detection unit 22.

  And it transfers to S22 and a collision time calculation process is performed. This calculation process is a process of calculating a collision time TTC until the own vehicle collides with the oncoming vehicle based on the traveling state of the own vehicle and the oncoming vehicle. For example, as shown in FIG. 4, when the relative distance between the host vehicle B (B1 to B4) and the oncoming vehicle C is Lbc, the vehicle speed of the host vehicle B is Vb, and the vehicle speed of the oncoming vehicle C is Vc, the collision time TTC is It is represented by the following formula (1). In FIG. 4, the own vehicles B1 to B4 show a process of passing the overtaken vehicle A from the position B1 and changing the lane to the position B4.

  TTC = Lbc / (Vc + Vb) (1)

  Then, the process proceeds to S24, and an overtaking completion time calculation process is performed. This calculation process is a process for calculating time T0 until the own vehicle B completes overtaking of the overtaken vehicle A, and calculates the overtake completion time T0 in consideration of the traveling state of the overtaken vehicle. Yes.

  For example, as shown in FIG. 4, the relative distance between the own vehicle B (including B1 to B4) and the overtaken vehicle A is Lab, the vehicle speed of the own vehicle B is Vb, the vehicle speed of the overtaken vehicle A is Va, If the lane return time after overtaking is Tlc, the overtaking completion time T0 is expressed by the following equation (2).

  T0 = (Lab / (Vb−Va)) + Tlc (2)

  The lane return time Tlc is set by selecting a time of 2 to 4 seconds, preferably about 3 seconds.

  Then, as shown in S26 of FIG. 3, it is determined whether or not the collision time TTC is equal to or shorter than the overtaking completion time T0. If it is determined in S26 that the collision time TTC is not less than or equal to the overtaking completion time T0, the overtaking is completed before the vehicle collides, so that the control process is terminated assuming that the collision risk is not greater than or equal to the predetermined value. On the other hand, when it is determined in S26 that the collision time TTC is equal to or shorter than the overtaking completion time T0, the process proceeds to S52.

  When it is determined in S14 that the host vehicle is not overtaking another vehicle, it is determined whether or not the oncoming vehicle is overtaking driving (S28). This determination is made based on the detection signal from the overtaking vehicle detection unit 22.

  For example, based on the detection signal of the overtaken vehicle detection unit 22, it is determined whether or not there is a moving body that travels in the same direction as the oncoming vehicle and has a slower vehicle speed than the oncoming vehicle on the right side of the oncoming vehicle. When there is a slow moving body, it is determined that the oncoming vehicle is overtaking, and when there is no moving body with a slow vehicle speed, it is determined that the oncoming vehicle is not overtaking. In this overtaking driving determination, not only when the overtaken vehicle is traveling, but also when the overtaken vehicle is stopped (when parked, etc.) It may be determined whether or not. If it is determined in S28 that the oncoming vehicle is not overtaking, the control process is terminated assuming that there is no risk of collision with the oncoming vehicle.

  On the other hand, if it is determined in S28 that the oncoming vehicle is overtaking, the process of acquiring the speed of the oncoming vehicle and the distance to the oncoming vehicle is performed (S30). This acquisition process is performed by calculating the distance to the oncoming vehicle and the relative speed of the oncoming vehicle based on the detection signal of the oncoming vehicle detection unit 21.

  And it transfers to S32 and the acquisition process of the distance to the vehicle speed of an overtaking vehicle and an oncoming vehicle is performed. This acquisition process is performed by calculating the distance to the overtaken vehicle and the relative speed of the overtaken vehicle based on the detection signal of the overtaken vehicle detection unit 22.

  And it transfers to S34 and a collision time calculation process is performed. This calculation process is a process of calculating a collision time TTC until the own vehicle collides with the oncoming vehicle based on the traveling state of the own vehicle and the oncoming vehicle. For example, as shown in FIG. 5, when the relative distance between the host vehicle B and the oncoming vehicle C is Lbc, the vehicle speed of the host vehicle B is Vb, and the vehicle speed of the oncoming vehicle C is Vc, the collision time TTC is expressed by the above formula (1 ).

  Then, the process proceeds to S36, and an overtaking completion time calculation process is performed. This calculation process is a process for calculating the time T1 until the oncoming vehicle C completes overtaking of the overtaken vehicle A. The overtaking completion time T1 is calculated in consideration of the traveling state of the overtaken vehicle. Yes.

  For example, as shown in FIG. 5, the relative distance between the own vehicle B and the oncoming vehicle C is Lbc, the relative distance between the own vehicle B and the overtaken vehicle A is Lab, the vehicle speed of the overtaken vehicle A is Va, and the opposite If the vehicle speed of the vehicle C is Vc and the lane return time after overtaking in the oncoming vehicle C is Tlc, the overtaking completion time T1 is expressed by the following equation (3).

  T1 = ((Lbc−Lac) / (Vc−Va)) + Tlc (3)

  The lane return time Tlc is set by selecting a time of 2 to 4 seconds, preferably about 3 seconds.

  Then, as shown in S38 of FIG. 3, it is determined whether or not the collision time TTC is equal to or shorter than the overtaking completion time T1. If it is determined in S38 that the collision time TTC is not less than or equal to the overtaking completion time T1, overtaking is completed before the vehicle collides, and therefore the control process is terminated assuming that the collision risk is not equal to or greater than a predetermined value. On the other hand, if it is determined in S38 that the collision time TTC is equal to or shorter than the overtaking completion time T1, warning processing is performed (S50).

  The warning process is a process that warns that there is a collision risk for an oncoming vehicle that is overtaking. This warning process is executed by the warning unit 32, and warns the oncoming vehicle of the danger of driving, for example, by flashing the headlight to the oncoming vehicle and passing. In addition, when communication can be performed with an oncoming vehicle through inter-vehicle communication or road-to-vehicle communication, a warning may be given to the oncoming vehicle using the communication.

  And it transfers to S52 and an alarm process is performed. The warning process is a process for giving a warning to the driver of the host vehicle that there is a risk of collision due to overtaking. This alarm processing is executed by the alarm unit 31, for example, for the driver through hearing such as voice, buzzer, chime, through lighting or blinking of a lamp or LED, through visual display such as monitor display, or through tactile sense such as vibration. Warning that there is a risk of collision.

  And it transfers to S54 and a braking process is performed. The braking process is a process for forcibly executing braking control on the host vehicle and decelerating in a situation where forced braking must be performed for the overtaking operation. For example, a braking control signal is output from the ECU 10 to the braking unit 33, vehicle braking is performed by the braking unit 33, and vehicle collision is avoided by deceleration of the vehicle. When the braking process of S54 is finished, a series of control processes are finished.

As described above, according to the collision prevention apparatus according to the present embodiment, when it is determined that the host vehicle or the oncoming vehicle is overtaking, The possibility of collision between the vehicle and the oncoming vehicle is determined. For this reason, even in the situation of overtaking, it is possible to appropriately determine the possibility of collision. For this reason, appropriate vehicle collision prevention can be performed. For example, in order to determine the possibility of a collision between the host vehicle and the oncoming vehicle, taking into account the traveling state of the overtaken vehicle even when the overtaken vehicle accelerates or decelerates and the traveling state changes. The possibility of collision due to overtaking can be accurately determined, and appropriate collision prevention can be performed.
(Second embodiment)

  Next, a collision preventing apparatus according to the second embodiment of the present invention will be described.

  The collision prevention apparatus according to the present embodiment has substantially the same hardware configuration as the collision prevention apparatus according to the first embodiment described above, and can be configured by the one shown in FIG. At that time, an imaging device is used as the road shape detection unit 23, and an ECU 10 that can perform white line recognition processing and lane width detection processing of the road is used.

  In addition, the collision prevention apparatus according to the present embodiment performs almost the same control processing as the collision prevention apparatus according to the first embodiment shown in FIG. 3, but the own vehicle or the oncoming vehicle is in overtaking operation. Even when the possibility of collision is equal to or higher than a predetermined value, the collision prevention operation is suppressed when the oncoming vehicle or the host vehicle can pass the side of the overtaking vehicle.

  FIG. 6 is a flowchart showing the operation of the collision preventing apparatus according to this embodiment. The control process of FIG. 6 is obtained by adding a process of determining whether or not the vehicle can pass due to the passing of the oncoming vehicle at the time of overtaking with respect to the control process of FIG. S42). For this reason, in this embodiment, processing different from the first embodiment will be described.

  In FIG. 6, when it is determined in S26 that the collision time TTC is equal to or less than the overtaking completion time T0, the process proceeds to S40, and the own vehicle that is passing is passed without colliding with the oncoming vehicle. It is determined whether it is possible.

  For example, as shown in FIG. 7, when the own vehicle B passes the overtaken vehicle A, whether or not there is a road width on which the oncoming vehicle C can pass in the road area on the right side of the own vehicle B when the own vehicle B passes. Based on the above, it is determined whether or not the host vehicle can pass without colliding when passing the oncoming vehicle.

  In this case, the distance D1 from the left end portion of the road to the right end portion of the own vehicle B is detected based on the position information of the own vehicle B, and is used as the road width D2, the lateral width W of the oncoming vehicle C, and the margin width Y. It may be determined whether or not the host vehicle B can pass depending on whether or not the following equation (4) is satisfied.

  D2-D1 <W + Y (4)

  When this equation (4) is satisfied, the own vehicle B can pass without colliding, and when the equation (4) is not satisfied, the own vehicle B cannot pass.

  If it is determined in S40 of FIG. 6 that the host vehicle in overtaking operation can pass without colliding with the oncoming vehicle, the warning process of S52 and the braking control process of S54 are performed. A series of control processing ends.

  On the other hand, if it is determined in S40 that the own vehicle that is overtaking is not allowed to pass without colliding with the oncoming vehicle, the process proceeds to an alarm process in S52 and a brake control process in S54.

  By the way, in FIG. 6, when it is determined in S38 that the collision time TTC is equal to or less than the overtaking completion time T1, the process proceeds to S42, and the oncoming vehicle that is passing the vehicle collides with the own vehicle when passing. It is determined whether or not it is possible to pass.

  For example, as shown in FIG. 8, when the oncoming vehicle C overtakes the overtaken vehicle A, whether or not there is a road width through which the own vehicle B can pass in the road area on the right side of the oncoming vehicle C when the own vehicle B passes. Based on the above, it is determined whether or not the host vehicle can pass without colliding when passing the oncoming vehicle.

  In this case, the distance D1 from the right end portion of the road to the right end portion of the oncoming vehicle C is detected based on the position information of the oncoming vehicle C, and is used as the road width D2, the lateral width W of the host vehicle B, and the margin width Y. It may be determined whether or not the host vehicle B can pass depending on whether or not the expression (4) is satisfied. When this equation (4) is satisfied, the own vehicle B can pass without colliding, and when the equation (4) is not satisfied, the own vehicle B cannot pass.

  If it is determined in S42 in FIG. 6 that the oncoming vehicle and the host vehicle that are passing the vehicle can pass without colliding when passing each other, the warning processing in S50, the warning processing in S52, and the braking control processing in S54 A series of control processing is terminated without performing the above.

  On the other hand, when it is determined in S42 that the host vehicle and the oncoming vehicle that are overtaking are not allowed to pass without colliding when passing each other, the process proceeds to a warning process in S50.

  As described above, according to the collision prevention device according to the present embodiment, in addition to the operational effects of the collision prevention device according to the first embodiment, even if the collision possibility is greater than or equal to the set value, When an oncoming vehicle can pass beside the host vehicle or when the own vehicle can pass beside an oncoming vehicle that is being overtaken, collision prevention operations such as warning and braking control can be suppressed. For this reason, it can suppress that unnecessary collision prevention operation is performed. Therefore, it is possible to avoid a situation in which the device operates and the driver feels uncomfortable when there is room to avoid the overtaking vehicle.

  The above-described embodiment describes the best embodiment of the collision preventing apparatus according to the present invention, and the collision preventing apparatus according to the present invention is not limited to the one described in the present embodiment. The collision prevention apparatus according to the present invention may be a modification of the vehicle control apparatus according to the embodiment or application to other things without changing the gist described in each claim.

1 is a schematic configuration diagram of a collision prevention apparatus according to a first embodiment of the present invention. It is explanatory drawing of the vehicle driving | running | working at the time of overtaking on the road of an opposing 2 lane. It is a flowchart about operation | movement of the collision prevention apparatus of FIG. It is explanatory drawing of the vehicle driving | running | working at the time of the overtaking driving | running | working of the own vehicle on the opposite 2 lane road. It is explanatory drawing of the vehicle driving | running | working at the time of the overtaking driving | running | working of an oncoming vehicle on the road of an opposite 2 lane. It is a flowchart about operation | movement of the collision prevention apparatus which concerns on 2nd embodiment of this invention. It is explanatory drawing of the vehicle driving | running | working at the time of the overtaking driving | running | working of the own vehicle on the opposite 2 lane road. It is explanatory drawing of the vehicle driving | running | working at the time of the overtaking driving | running | working of an oncoming vehicle on the road of an opposite 2 lane.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... ECU, 21 ... Oncoming vehicle detection part, 22 ... Passed vehicle detection part, 23 ... Road shape detection part, 24 ... Own-vehicle speed detection part, 31 ... Warning part, 32 ... Warning part, 33 ... Braking part

Claims (3)

Own vehicle state acquisition means for acquiring the traveling state of the own vehicle;
Oncoming vehicle state acquisition means for acquiring the traveling state of the oncoming vehicle of the host vehicle;
Overtaking determination means for determining whether the host vehicle or the oncoming vehicle is overtaking;
If it is determined by the overtaking determination means that the vehicle is overtaking, the possibility of collision between the own vehicle and the oncoming vehicle is determined based on the traveling state of the own vehicle, the oncoming vehicle, and the overtaken vehicle being overtaken. A collision possibility determination means for determining;
Anti-collision means for performing anti-collision operation when the collision possibility is greater than or equal to a set value;
Anti-collision device with The collision possibility determining means, when the overtaking determining means determines that the vehicle is overtaking, calculates the overtaking completion time based on the traveling state of the host vehicle or the oncoming vehicle overtaking the overtaken vehicle. And calculating the collision time based on the traveling state of the host vehicle and the oncoming vehicle, determining the possibility of collision using the overtaking completion time and the collision time,
The collision preventing means, when the overtaking completion time is equal to or longer than the collision time, performing a collision preventing operation on the assumption that the collision possibility is equal to or greater than a set value;
The collision preventing apparatus according to claim 1. Even if the possibility of collision is greater than or equal to a set value, if the oncoming vehicle can pass beside the overtaking vehicle or the own vehicle can pass beside the oncoming vehicle overtaking If it is, provided with operation suppression means to suppress the collision prevention operation,
The collision preventing device according to claim 1 or 2.

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