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WO2005020183A1 - Dispositif et procede de selection du vehicule qui roule devant - Google Patents

Dispositif et procede de selection du vehicule qui roule devant Download PDF

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Publication number
WO2005020183A1
WO2005020183A1 PCT/JP2004/012037 JP2004012037W WO2005020183A1 WO 2005020183 A1 WO2005020183 A1 WO 2005020183A1 JP 2004012037 W JP2004012037 W JP 2004012037W WO 2005020183 A1 WO2005020183 A1 WO 2005020183A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
preceding vehicle
function
distance
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2004/012037
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English (en)
Japanese (ja)
Inventor
Tokuji Yoshikawa
Hiroshi Kuroda
Masatoshi Hoshino
Satoru Kuragaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP2005513320A priority Critical patent/JP4120678B2/ja
Publication of WO2005020183A1 publication Critical patent/WO2005020183A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a device and a method for detecting a preceding vehicle with respect to a host vehicle, and more particularly, to a method and a device for selecting a detected preceding vehicle as a preceding vehicle.
  • Japanese Patent Application Laid-Open Publication No. 2001-319929 discloses a technology relating to a preceding vehicle selection in which the curvature of a road is estimated and a preceding vehicle on the own lane is selected from the detected vehicles.
  • This technique calculates the curvature of a curved road ahead of the host vehicle when the host vehicle is traveling straight and the front of the host vehicle is a curved road.
  • the preceding vehicle is selected based on the calculated curvature of the curved road.
  • the rate of change of the lateral position of the object is calculated from the history of the lateral position of the object over time.
  • the curvature of the road ahead of the own vehicle is calculated based on the change rate.
  • the probability that the object is in the same lane as the own vehicle is determined, and the preceding vehicle is selected.
  • the road curvature is calculated based on the magnitude relationship between those road curvatures and the road curvature obtained based on the moving object. Then, the possibility that the moving object is in the same lane as the own vehicle is determined, and the preceding vehicle is selected.
  • the conventional technology does not consider the change in the direction of the host vehicle, it calculates the curvature of the curve from the change in the relative position between the host vehicle and the target.
  • the curvature of a curved road cannot be calculated correctly.
  • the road curvature is calculated as constant from the position of the vehicle to the position of the vehicle ahead, so the calculated road curvature differs from the actual road curvature, and the selection of the preceding vehicle is correct. In some cases, you cannot.
  • the present invention estimates the course of the own vehicle and the course of the preceding vehicle, and determines that the difference between the estimated own vehicle position and the preceding vehicle position is equal to or less than a predetermined value.
  • One of them is to select it as a leading vehicle.
  • it is intended to use it for running control of the own vehicle based on the selected result.
  • FIG. 1 is a configuration diagram of a first embodiment of a preceding vehicle selection function.
  • Fig. 2 is an explanatory diagram of the own vehicle route estimation function.
  • FIG. 3 is a configuration diagram of a first embodiment of a preceding vehicle determination function.
  • FIG. 4 is an explanatory diagram of a first embodiment of a vehicle lane inside / outside determination function.
  • Fig. 5 is a flowchart of the preceding vehicle identification function.
  • FIG. 6 is a configuration diagram of a second embodiment of a preceding vehicle determination function.
  • FIG. 7 is a state transition diagram of the first embodiment of the judgment method switching function.
  • FIG. 8 is a configuration diagram of a second embodiment of the preceding vehicle selection function.
  • FIG. 9 is an explanatory diagram of a forward vehicle route estimating function.
  • FIG. 10 is a configuration diagram of a third embodiment of a preceding vehicle determination function.
  • FIG. 11 is an explanatory view of a second embodiment of the own lane inside / outside determination function.
  • FIG. 12 is a state transition diagram of a second embodiment of the judgment method switching function.
  • FIG. 13 is a configuration diagram of a fourth embodiment of the preceding vehicle determination function.
  • FIG. 14 is a state transition diagram of the third embodiment of the judgment method switching function.
  • FIG. 15 is a configuration diagram of a fifth embodiment of the preceding vehicle determination function.
  • FIG. 16 is a state transition diagram of a fourth embodiment of the judgment method switching function.
  • FIG. 17 is a diagram showing an embodiment of the processing content of the preceding vehicle determination function.
  • FIG. 18 is a diagram showing an embodiment of the processing content of the preceding vehicle determination function.
  • Fig. 19 is a block diagram of the vehicle.
  • FIG. 20 is a configuration diagram of a vehicle.
  • FIG. 21 is a diagram showing an embodiment of a forward vehicle position measuring device. BEST MODE FOR CARRYING OUT THE INVENTION
  • the feature of the present invention is a self-vehicle behavior measurement function for measuring the behavior of the own vehicle, a self-vehicle course estimation function for estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function, A vehicle position measurement function for measuring the position of at least one vehicle ahead, estimating the vehicle position after a predetermined time, and when the estimated distance between the vehicle position and the vehicle ahead is less than or equal to a predetermined value, The preceding vehicle is selected as the preceding vehicle. When a certain preceding vehicle is selected as the preceding vehicle, the predetermined value of the distance is to be increased as compared with when the preceding vehicle is not selected.
  • Another feature of the present invention is a self-vehicle behavior measurement function for measuring the behavior of the self-vehicle, and estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function.
  • Vehicle position estimation function that measures the position of at least one vehicle in front of the vehicle, and estimates the position of the vehicle after a predetermined period of time. When the distance of the vehicle is less than or equal to a predetermined value, the preceding vehicle is selected as the preceding vehicle. Once the vehicle is selected as the preceding vehicle, the preceding vehicle is continuously selected as the preceding vehicle.
  • Another feature of the present invention is a self-vehicle behavior measurement function for measuring the behavior of the self-vehicle, and a self-vehicle course estimation for estimating the course of the self-vehicle based on the self-vehicle behavior measured by the self-vehicle behavior measurement function.
  • the preceding vehicle is selected as the preceding vehicle, and the course of the own vehicle and the preceding vehicle is the same or However, even if the condition that the course of both the own vehicle and the preceding vehicle does not change is not satisfied, the preceding vehicle is to be selected as the preceding vehicle.
  • FIG. 1 shows a configuration diagram of the first embodiment of the preceding vehicle selection function 103.
  • the preceding vehicle selecting function 103 includes a host vehicle route estimating function 104 and a preceding vehicle determining function 105.
  • the own vehicle route estimation function 104 estimates the own vehicle route based on the own vehicle behavior measured by the own vehicle behavior measurement function 101.
  • the vehicle behavior measured by the vehicle behavior measurement function 101 is the vehicle speed V, the vehicle angular velocity ⁇ , or the vehicle steering angle H.
  • the vehicle speed V can be calculated by measuring the ground speed of the vehicle based on the radio waves or light transmitted from the vehicle reflected from the road surface and returning, or based on the rotation speed of the wheels or the propeller shaft. measure.
  • the number of rotations of the wheels or the propeller shaft may be measured by the own vehicle behavior measurement function 101, and the number of rotations of the wheels or the propeller shaft may be input to the preceding vehicle selection function 103.
  • the preceding vehicle determination function 105 is based on the relative position between the own vehicle and the preceding vehicle measured by the own vehicle route estimation function 104 and the own vehicle's course and the preceding vehicle position measurement function 102.
  • Forward vehicle position measurement function Outputs information on the preceding vehicle from among multiple forward vehicles measured by 102. In other words, the vehicle existing in the own lane is estimated from a plurality of measured preceding vehicles and the preceding vehicle is determined.
  • the own vehicle route estimation function 104 will be described with reference to FIG.
  • the own-vehicle-path estimation function 104 uses the own-vehicle position when the preceding-vehicle selection function 103 is activated as the origin ⁇ , and changes the moving direction of the own vehicle based on Calculate the vehicle position ⁇ ⁇ from the moving distance of the vehicle calculated from V.
  • the past two points P (t-1) and P (t-2) of the own vehicle position are set based on the time before the predetermined time or the traveling distance of the own vehicle.
  • the own vehicle curve radius R may be calculated by the equation (1) based on the own vehicle angular velocity ⁇ and the own vehicle speed V.
  • R V / ⁇ ⁇ (1)
  • the calculation may be performed by equation (2) based on the own vehicle steering angle ⁇ , the own vehicle speed V, the stability factor A, the wheelbase L, and the steering gear ratio N. .
  • the preceding vehicle determination function 105 includes a vehicle lane inside / outside determination function 201 and a preceding vehicle identification function 206.
  • the vehicle lane inside / outside determination function 201 sets the vehicle lane area based on the vehicle lane estimated by the vehicle lane estimation function 104, and the front vehicle position measured by the vehicle forward position measurement function 102 is used. It is determined whether the vehicle is within the set lane area.
  • the preceding vehicle is determined to be the preceding vehicle, and if not, the preceding vehicle is determined not to be the preceding vehicle.
  • the preceding vehicle identification function 206 is used when multiple vehicles ahead are traveling in the own lane. Since the plurality of preceding vehicles are determined to be preceding vehicles by the own lane inside / outside determination function 201, one preceding vehicle closest to the own vehicle is identified from the plurality of determined preceding vehicles.
  • a first embodiment of the own lane inside / outside determination function 201 will be described with reference to FIG.
  • the front vehicle position Q measured by the front vehicle position measurement function 102 is the position of the host vehicle in the traveling direction yd, and the position in the direction perpendicular to the host vehicle traveling direction. Is at the position of X q.
  • the distance between the estimated vehicle position and the preceding vehicle position Q when the own vehicle continues to travel with the own vehicle curve radius R calculated by the own vehicle path estimation function 104 is defined as the forward vehicle traveling position Rdiff. If the car curve radius R ⁇ 0, calculate using equation (3). If the car curve radius R ⁇ 0, calculate using equation (4).
  • Rdiff R- ⁇ ((R-x q) ⁇ 2 + y q "2)... (3)
  • Rdiff R + ⁇ ((R-x q) ⁇ 2 + y q "2)-(4)
  • the preceding vehicle traveling position Rdiff is smaller than half of the own lane width W1
  • the lane width W1 is made wider when the preceding vehicle, which is not the preceding vehicle, becomes the preceding vehicle last time than when it is not the preceding vehicle.
  • the preceding vehicle changes lanes while the own vehicle and the preceding vehicle are traveling on a straight road or a power road, it is determined that the lane change has been completed because the preceding vehicle has left the own lane area. it can. As a result, the influence of the position change of the preceding vehicle due to the lane change can be suppressed, and the lane change of the preceding vehicle can be determined more accurately.
  • a low-pass filter is applied to the own vehicle curve radius R calculated by the own vehicle route estimation function 104 and the front vehicle position Q measured by the front vehicle position measurement function 102.
  • the front vehicle traveling position R diff may be calculated by the equation (3) or (4) using the radius of the own vehicle and the front vehicle position after the mouth-pass filter.
  • the preceding vehicle changes lanes while the vehicle and the preceding vehicle are traveling on a straight road or a curved road, it can be determined that the lane change has been completed because the preceding vehicle has left the own lane area.
  • FIG. 5 shows a flowchart of the preceding vehicle specifying function 206.
  • n-th front vehicle is smaller than the front vehicle number m out of the front vehicle number m measured by the front vehicle position measuring device 102.
  • the number of vehicles ahead is m If it is smaller, the process proceeds to S103. If it is not smaller, this routine ends. This is because the routine is terminated when it is determined that all of the m preceding vehicles being measured are the preceding vehicles.
  • the process proceeds to S105, and if it is not 0, the process proceeds to S104.
  • S104 it is determined whether or not the inter-vehicle distance of the nth preceding vehicle is smaller than the set inter-vehicle distance of the preceding vehicle. If the inter-vehicle distance of the nth preceding vehicle is smaller than the set inter-vehicle distance of the preceding vehicle, the flow proceeds to S105, and if not, to S106.
  • S105 the n-th preceding vehicle is set as the closest preceding vehicle, and the inter-vehicle distance to the n-th preceding vehicle is set as the preceding inter-vehicle distance.
  • S106 n is incremented. The distance between the m preceding vehicles detected in this way is compared, and the closest preceding vehicle is specified.
  • a second embodiment of the preceding vehicle determination function 105 will be described with reference to FIG.
  • the preceding vehicle judgment function 105 is the inside / outside judgment function of the own lane 201, the judgment result holding function 202, the front vehicle traveling position change calculation function 203, the judgment method switcher 0
  • the own lane inside / outside determination function 201 performs the same processing (similar to FIG. 4) as the own lane inside / outside determination function 201 of the first embodiment of the preceding vehicle determination function 105, but the own lane width W 1 may be fixed and processing may be performed without passing the front car position through the mouth-to-pass pass.
  • the judgment result holding function 202 holds the previous judgment result.
  • the front vehicle traveling position change calculation function 203 calculates the change in the traveling position R diff of the front vehicle calculated by the own lane inside / outside determination function 201.
  • the judgment method switching function 203 is based on the judgment result of the own lane inside / outside judgment function 201, the calculation result of the front vehicle traveling position change calculation function 203, and the holding time measured by the holding time measurement function 205. Select the output of either the own lane inside / outside judgment function 201 or the judgment result holding function 202.
  • the holding time measurement function 205 measures the elapsed time from the selection of the judgment result holding function 202 in the judgment method switching function 204.
  • the preceding vehicle specifying function 206 performs the same processing as the preceding vehicle specifying function 206 (FIG. 5) of the first embodiment of the preceding vehicle determining function 105.
  • a first embodiment of the judgment method switching function 204 will be described with reference to the state transition diagram of FIG.
  • the processing transits to the judgment result holding function 202. That is, the previous determination result held in the determination result holding function 202 is output to the preceding vehicle specifying function 206.
  • the preceding vehicle traveling position R If diff becomes larger than the predetermined value Wa, or if the change in the front vehicle traveling position calculated by the front vehicle traveling position change calculation function 203 becomes smaller than the predetermined value ⁇ a, the own lane inside / outside judgment function 2 0 Changes to 1. That is, the determination result by the own lane inside / outside determination function 201 is input to the preceding vehicle specifying function 206 instead of the held previous determination result.
  • the reason for this is that when the vehicle is held for a long period of time, the vehicle is released from the vehicle, the vehicle ahead is clearly out of the lane, the change in the lateral position of the vehicle ahead is small, and the vehicle ahead is on a straight road.
  • the output of the held previous determination result is stopped, and the determination result by the own lane inside / outside determination function 201 is input to the preceding vehicle identification function 206.
  • the selection result of the preceding vehicle can be switched after the lane change.
  • FIG. 8 shows a second embodiment of the preceding vehicle selection function 103.
  • the preceding vehicle selection function 103 includes a host vehicle route estimation function 104, a forward vehicle route estimation function 106, and a preceding vehicle determination function 105.
  • This embodiment has a forward vehicle route estimation function 106 in addition to the configuration shown in FIG. 1, and is based on the output of the own vehicle route estimation function 104 and the output of the forward vehicle route estimation function 106. The difference is that the preceding vehicle determination function 105 determines the preceding vehicle.
  • the own vehicle route estimating function 104 performs the same processing (FIG. 2) as the processing described in the first embodiment of the preceding vehicle selecting function 103.
  • the forward vehicle path estimation function 106 uses the own vehicle behavior measurement function 101 to determine the path of the forward vehicle based on the behavior of the own vehicle and the position of the forward vehicle measured by the forward vehicle position measurement function 102. presume.
  • the preceding vehicle determination function 105 is a forward vehicle position measurement function based on the own vehicle path estimated by the own vehicle path estimation function 104 and the forward vehicle path estimation function 106 estimated by the front vehicle path estimation function 106. Outputs the information of the preceding vehicle from among the preceding vehicles measured in.
  • the forward vehicle route estimating function 106 will be described with reference to FIG.
  • the forward vehicle route estimating function 106 uses the own vehicle position when the preceding vehicle selecting function 103 is activated as the origin O, and the own vehicle position calculated based on the own vehicle angular velocity ⁇ and the own vehicle speed V ⁇ Then, the front vehicle position Q is calculated based on the relative position between the own vehicle and the front vehicle measured by the front vehicle position measurement function 102.
  • the preceding vehicle judgment function 105 is the own lane inside / outside judgment function 201, the judgment result holding function 202, the front vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment method switching function It consists of 204 and the preceding vehicle identification function 206.
  • a forward vehicle curve radius is input from the forward vehicle route estimation function 106, and the forward vehicle power radius and the own vehicle curve radius are used.
  • the judgment method switching function 204 inputs the output of the own lane inside / outside judgment function 201 into the preceding vehicle identification function 206 or inputs the previous judgment result held by the judgment result holding function 202 Is different.
  • the vehicle lane inside / outside determination function 201 sets the vehicle lane area based on the vehicle lane estimated by the vehicle lane estimation function 104, and calculates the forward vehicle position calculated by the vehicle lane estimation function 106 ahead. It is determined whether the vehicle is within the set lane area.
  • the preceding vehicle is determined to be the preceding vehicle, and if not, the preceding vehicle is determined not to be the preceding vehicle.
  • the forward vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment result holding function 202, and the preceding vehicle identification function 206 are the same processing as in the second embodiment (Fig. 6). I do
  • a second embodiment of the own lane inside / outside determination function 201 will be described with reference to FIG. Although the way of obtaining the coordinates is different from that of the first embodiment shown in FIG. 4, it is possible to use such a coordinate system by obtaining the position of the front vehicle by the front vehicle route estimation function 106. Obviously, it is possible to use such a coordinate system by obtaining the position of the front vehicle by the front vehicle route estimation function 106. Obviously, it is possible to use such a coordinate system by obtaining the position of the front vehicle by the front vehicle route estimation function 106. Become.
  • the own vehicle is at the own vehicle position P calculated by the own vehicle route estimation function 104. Also, the preceding vehicle is at the preceding vehicle position Q calculated by the forward vehicle route estimation function 106.
  • the distance between the estimated vehicle position and the preceding vehicle position Q when the own vehicle continues traveling on the own vehicle curve radius R calculated by the own vehicle route estimation function 104 and the center C is calculated by the following formula.
  • the vehicle traveling position Rdiff is the radius of the own vehicle curve R ⁇ 0, it is calculated using equation (5), and when the radius of the own vehicle curve is R ⁇ 0, it is calculated using the equation (6).
  • the preceding vehicle traveling position Rdiff is smaller than half of the own lane width W1
  • a second embodiment of the judgment method switching function 204 will be described with reference to the state transition diagram of FIG. This is an embodiment of the judgment method switching function 204 in the configuration of FIG.
  • the flow transits to the judgment result holding function 202. That is, the previous determination result held in the determination result holding function 202 is output to the preceding vehicle specifying function 206.
  • the own vehicle is used.
  • Transit to line inside / outside judgment function 201 That is, the output of the own lane inside / outside determination function 201 is output to the preceding vehicle specifying function 206.
  • the preceding vehicle By switching to the judgment result holding function 202, if the preceding vehicle enters the curved road from the straight road while the own vehicle is traveling on a straight road, the preceding vehicle moves from the curved road while the own vehicle is traveling on the curved road. Even if you enter a straight road, you can select it as the preceding vehicle.
  • the selection result of the preceding vehicle can be switched after the lane change.
  • the present embodiment it is determined whether or not to hold the vehicle by comparing the estimated course (curve shape) of the own vehicle and the preceding vehicle. Therefore, compared to the embodiment shown in FIG. It is possible to accurately determine whether or not the vehicle is a preceding vehicle even in situations where the vehicle speed changes or when the preceding vehicle is traveling on the right or left end of the lane.
  • the preceding vehicle determination function 105 includes the own lane inside / outside determination function 201, the determination result holding function 202, the preceding vehicle traveling position change calculation function 203, the holding time measurement function 205, the determination method switching function. It consists of 204, preceding vehicle identification function 206, own vehicle course change measurement function 206, and forward car course change measurement function 208.
  • the own vehicle course change measurement function 207 calculates the rate of change of the own vehicle curve radius R while the own vehicle travels a predetermined distance.
  • the forward vehicle course change measurement function 208 calculates the rate of change of the forward vehicle curve radius Rq while the forward vehicle travels a predetermined distance.
  • the own-vehicle-path-change measuring function 2 07 and the forward-vehicle-path-change measuring function 2 08 may calculate the rate of change of the curve radius at a predetermined time.
  • a third embodiment of the judgment method switching function 204 will be described with reference to the state transition diagram of FIG. This embodiment is an embodiment of the judgment method switching function 204 in the configuration of FIG.
  • the judgment result holding function 2 0 Transitions to 2. That is, the previous determination result held in the determination result holding function 202 is output to the preceding vehicle specifying function 206.
  • the rate of change of the own vehicle curve radius is equal to or less than the predetermined value ⁇ and the rate of change of the forward vehicle curve radius is equal to or less than the predetermined value ⁇ q.
  • transition to own lane inside / outside judgment function 201 is performed.
  • the output of the own lane inside / outside determination function 201 is output to the preceding vehicle specifying function 206.
  • the determination result by the own lane inside / outside determination function 201 can be used.
  • the preceding vehicle By switching to the judgment result holding function 202, if the preceding vehicle enters the curved road from the straight road while the own vehicle is traveling on a straight road, the preceding vehicle moves from the curved road while the own vehicle is traveling on the curved road. Even if you enter a straight road, you can select it as the preceding vehicle.
  • the selection result of the preceding vehicle can be switched after the lane change.
  • whether or not to hold the vehicle is determined according to the magnitude of the curve radius change rate caused by the own vehicle or the preceding vehicle entering the curve, and so on.
  • the vehicle is the preceding vehicle even in a situation where the road width changes while traveling, or in a situation where the preceding vehicle is traveling on the right or left end of the lane.
  • a fifth embodiment of the preceding vehicle determination function 105 will be described with reference to FIG. This embodiment differs from the third embodiment shown in FIG. 10 in that a curve radius difference calculation function 207 is added.
  • the preceding vehicle judgment function 105 is the inside / outside of the own lane judgment function 201, the judgment result holding function 202, the preceding vehicle traveling position change calculation function 203, the holding time measurement function 205, the judgment method switching function 2 0 8, preceding car identification function 206, and curve radius difference calculation function 207 are provided.
  • the vehicle lane inside / outside determination function 201 sets the vehicle lane area based on the vehicle lane estimated by the vehicle lane estimation function 104, and the vehicle position measurement function 102 It is determined whether or not the measured front vehicle position is within the set lane area. If the preceding vehicle position is within the own lane area, the preceding vehicle is determined to be the preceding vehicle. If not, the preceding vehicle is determined not to be the preceding vehicle.
  • the curve radius difference calculation function 207 calculates a difference between the own vehicle curve radius and the front vehicle curve radius, and smoothes the calculated curve radius difference with a low-pass filter.
  • the curve radius changes slowly, and the absolute value of the difference in the curve radius after passing through the low-pass filter increases.
  • the absolute value of the difference in the radius of the curve after the low-pass filter is small because the radius of the curve changes rapidly.
  • the difference between the curve radii may be the difference between the 1 / own vehicle curve radius and the 1 / forward vehicle curve radius.
  • the front vehicle traveling position change calculation function 203, the holding time measurement function 205, the determination result holding function 202, and the preceding vehicle identification function 206 are the same processing as in the second embodiment (FIG. 6). I do
  • FIG. 17 shows a processing example according to the present embodiment when the own vehicle and the preceding vehicle travel from the entrance to the exit of the curve.
  • Fig. 18 shows an example of processing when the vehicle changes lanes. In this case, the difference between (1 / car vehicle radius) and (1Z vehicle curve radius) is used.
  • Fig. 17 (a) when the host vehicle and the preceding vehicle continue to pass through a curve, they will pass through a similar curve radius with a certain time difference. Then, by taking the difference between (1 / car curve radius) and (1 / car curve radius), the waveform shown in Fig. 17 (b) is obtained.
  • the low-pass filter is set to pass a waveform having a period longer than the time required to pass an average curve. Therefore, the waveform shown in Fig. 17 (c) is obtained.
  • a waveform appears only at the curve radius of the vehicle, as shown in Fig. 18 (a). Does not appear in the radius. Therefore, taking the difference between (1 own vehicle curve radius) and (1Z front vehicle curve radius), the waveform shown in Fig. 18 (b) is obtained.
  • this waveform is passed through a mouth-pass filter, the time required to change lanes is usually smaller than when passing through a curve, and the frequency of the difference waveform is sufficiently higher than when passing through force. Therefore, the waveform shown in FIG. 18 (b) is cut by the low-pass filter, and the waveform shown in FIG. 18 (c) is output.
  • a fourth embodiment of the judgment method switching function 204 will be described with reference to the state transition diagram of FIG. This embodiment is an embodiment of the judgment method switching function 204 in the configuration of FIG.
  • the processing transits to the determination result holding function 202. That is, the previous determination result held in the determination result holding function 202 is output to the preceding vehicle specifying function 206.
  • the inside / outside of the own lane is determined. Transition to function 201. That is, the output of the own lane inside / outside determination function 201 is output to the preceding vehicle specifying function 206.
  • the holding time measured by the holding time measurement function 205 becomes larger than the predetermined value T
  • the preceding vehicle traveling position R diff becomes larger than the predetermined value Wa
  • the preceding vehicle traveling position changes.
  • the transition to the own lane inside / outside determination function 201 is the same as in the embodiment shown in FIG. .
  • the own vehicle is running on the curved road. Even if a preceding vehicle enters a straight road from a curved road, it can be selected as a preceding vehicle. Also, if the own vehicle or the preceding vehicle changes lanes while the own vehicle and the preceding vehicle are traveling on a straight road or a power road, the calculation result of the curve radius difference calculation function 207 does not change significantly. After the start of the lane change, the selection result of the preceding vehicle can be switched.
  • FIG. 19 and FIG. 20 show the configuration of a vehicle to which the present invention is applied.
  • Front vehicle position measuring device 401 own vehicle angular velocity measuring device 402, own vehicle steering angle measuring device 400, ground speed measuring device 400, preceding vehicle selecting device 400, inter-vehicle distance control device 406, transmission 407, throttle 408, brake 409, engine 411, approach warning device 411, preceding vehicle display device 412, wheel speed measurement device 413,
  • the propeller shaft speed measuring device 414 is connected to the in-vehicle LAN 415.
  • the front vehicle position measurement device 401 has a front vehicle position measurement function 102 using a millimeter wave radar or a laser radar described later. Millimeter-wave radar or laser radar can measure the relative position and relative speed with the vehicle ahead.
  • the host vehicle angular velocity measuring device 402 has a function of the host vehicle behavior measurement function 101, and measures the host vehicle angle ⁇ using a vehicle angle sensor.
  • the own vehicle steering angle measuring device 4003 has a function of own vehicle behavior measurement 101, The vehicle's own steering angle H is measured using the sensor.
  • the ground speed measuring device 410 has the function of measuring the behavior of the vehicle 101, and measures the vehicle speed V based on the received wave that returns from the road surface when radio waves or light transmitted from the vehicle is reflected from the road surface. measure.
  • the wheel rotation speed measuring device 4 1 3 (4 13 a, 4 13 b) has the function of own vehicle behavior measurement 101, and the vehicle speed V based on the wheel rotation speed of the driven wheel or the front and rear wheels. Is measured. In addition, the vehicle's angle ⁇ is measured from the difference in the rotational speeds of the left and right wheels.
  • the propeller shaft rotation speed measuring device 4 14 has the function of a vehicle behavior measurement function 101 and measures the vehicle speed V based on the rotation speed of the propeller shaft.
  • the preceding vehicle selecting device 405 has the function of any one of the preceding vehicle selecting functions 103 described above, and includes the position of the preceding vehicle measured by the preceding vehicle position measuring device 401 and the position of the own vehicle.
  • One angular velocity ⁇ measured by the angular velocity measuring device 402, or one angular velocity ⁇ measured by the wheel rotation speed measuring device 4 13 The steering angle measured by the own vehicle steering angle measuring device 43 Vehicle speed V measured by angle and ground speed measuring device 404, vehicle speed V measured by wheel rotation speed measuring device 413, vehicle speed measured by propeller shaft speed measuring device 414
  • the preceding vehicle is selected from the preceding vehicles measured by the preceding vehicle position measuring device 401 based on all or a part of V or the like.
  • the inter-vehicle distance control device 406 sends commands to the transmission 407, throttle 408, brake 409, and engine 410, and selects the preceding vehicle with the preceding vehicle selection device 405. If so, the vehicle is accelerated or decelerated so that the distance between the vehicle and the preceding vehicle is appropriate.
  • the brake 409 is equipped with a brake control device 1804 and brake devices 1806a and 1806b. In response to a command from the distance control device 406, the brake control device 1804 controls the brake devices 186a and 186b to decelerate the vehicle.
  • the detection accuracy of the preceding vehicle is improved, so that the accuracy of the inter-vehicle distance control is improved, and rapid acceleration and deceleration based on false detection of the preceding vehicle when changing curves or lanes can be performed. Reduced.
  • the driver runs at a preset speed on a straight road, and runs at a preset speed on a curved road or at the speed at which the driver enters a forced road. Drive while decelerating based on the radius of the curve.
  • the preceding vehicle can be recognized even when the preceding vehicle passes through the entrance of the curve, when the own vehicle controls the following distance based on the preceding vehicle, the preceding vehicle moves on a straight road at a constant speed or accelerates. Even if the vehicle decelerates after traveling and entering a curved road, the vehicle decelerates on a straight road.
  • the preceding vehicle even if the preceding vehicle travels at a constant speed or deceleration on a straight path and then accelerates after entering a strong road, it must recognize the acceleration of the preceding vehicle and accelerate its own vehicle on the straight path. Becomes possible.
  • the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, and the preceding vehicle travels at a constant speed or acceleration on the power road and enters the straight path, and then decelerates, Recognizing the deceleration of the vehicle, the vehicle can decelerate on a curved road.
  • the preceding vehicle recognition of the present invention even when the own vehicle or the preceding vehicle changes lanes, it is possible to detect the preceding vehicle with higher accuracy than in the conventional technology. It becomes possible.
  • the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, the preceding vehicle travels on the straight track at a constant speed or deceleration, and if the own vehicle or the preceding vehicle changes lanes, the The car accelerates at the specified acceleration until the driver reaches the speed set in advance.
  • the inter-vehicle distance control device 406 mistakes that the preceding vehicle has disappeared and accelerates the vehicle. Can be prevented.
  • the preceding vehicle changes lanes when the preceding vehicle has not completely moved to the next lane, the own vehicle can be accelerated to prevent the vehicle from approaching the preceding vehicle.
  • the own vehicle when the own vehicle is performing inter-vehicle distance control based on the preceding vehicle, when the preceding vehicle travels on a curved road at a constant speed, and when the own vehicle or the preceding vehicle changes lanes, the The vehicle accelerates at a predetermined acceleration to the speed set by the driver or decelerates based on the radius of the curve. Accordingly, in addition to the above, when the preceding vehicle has not completely moved to the next lane, the own vehicle can be decelerated more than necessary and the driver can be less likely to feel sluggish.
  • the vehicle is driven at a constant speed at the current speed after the lane change is completed.
  • the driver accelerates at a predetermined acceleration to a speed set in advance by the driver, or decelerates at a deceleration smaller than the deceleration of the own vehicle during lane change and determined based on the radius of the force.
  • the inter-vehicle distance control device 406 mistakes that the preceding vehicle has disappeared. Can be prevented from accelerating.
  • the approach warning device 411 provides an alarm when the driver needs to decelerate based on the relative position, relative speed, and own vehicle speed between the preceding vehicle and the own vehicle selected by the preceding vehicle selection device 4 05. Emit.
  • an approach warning is issued. Gives an alarm.
  • the vehicle or the preceding vehicle changes lanes while the approach warning is not issued while the vehicle and the preceding vehicle are traveling on a straight road or a curved road, the lane change of the own vehicle or the preceding vehicle If the own vehicle approaches the preceding vehicle during that time, an approach warning will be issued.
  • the preceding vehicle display device 4 12 displays the presence / absence and position information of the preceding vehicle selected by the preceding vehicle selecting device 4 05 on the LED or the liquid crystal display to inform the driver of the selection state of the preceding vehicle.
  • the preceding vehicle display device 4 1 2 indicates that the own vehicle and the preceding vehicle are selecting the preceding vehicle while traveling on the straight path, the preceding vehicle is strong when the own vehicle is traveling on the straight path. When entering the road, it indicates that the preceding vehicle is selected.
  • the host vehicle and the preceding vehicle are selecting the preceding vehicle while traveling on a curved road
  • the preceding vehicle enters a straight road while the own vehicle is traveling on a curved road
  • the preceding vehicle is selected while the own vehicle and the preceding vehicle are traveling on a straight road or a curved road
  • the own vehicle or the preceding vehicle changes lanes, the own vehicle or the preceding vehicle After completing the lane change, change the display of the preceding vehicle to the selected state.
  • the preceding vehicle selection device 405 may have a configuration in which a yaw angular velocity sensor is mounted in the preceding vehicle selection device 405, so that the device can be made smaller, lighter, and more easily mounted on the vehicle. It becomes easy.
  • the preceding vehicle position measuring device 401 has at least one of the following functions: the preceding vehicle selection function, own vehicle angular velocity measurement function, own vehicle speed measurement function, inter-vehicle distance control function, and approach warning function. It may be housed in a single housing, which makes it possible to reduce the size and weight of the device and to make it easier to mount it on a vehicle.
  • the inter-vehicle distance control device 406 may include at least one of a preceding vehicle selection function, a vehicle angular velocity measurement function, a preceding vehicle position measurement function, a preceding vehicle display function, and an approach warning function. It may be housed in a single housing, which makes it possible to reduce the size and weight of the device and to make it easier to mount it on a vehicle.
  • the approach warning device has at least one of the preceding vehicle selection function or own vehicle angle measurement function, front vehicle position measurement function, inter-vehicle distance control function, and preceding vehicle display function in one housing. This allows the equipment to be smaller, lighter, and easier to mount on vehicles.
  • one or more of the preceding vehicle display function, the preceding vehicle selection function, the vehicle's angular velocity measurement function, the approach warning function, and the inter-vehicle distance control function may be housed in a single housing. By doing so, it is possible to make the equipment smaller, lighter, and easier to mount on vehicles.
  • the preceding vehicle is lost when entering a curved road and when exiting from a forcible road, and is prevented from accelerating and approaching the preceding vehicle. Can be.
  • the driver's own vehicle starts accelerating when the lane change is completed, making it easier to predict the operation of the driver's own vehicle.
  • An approach warning can be issued even when entering or exiting a curved road.
  • by displaying the preceding vehicle using the preceding vehicle selection function of the present invention it is possible to display that there is no preceding vehicle when there is a preceding vehicle when entering or exiting a curved road. prevent.
  • FIG. 4 As an example of the front vehicle position measuring device 401 of the present embodiment, a configuration example of a millimeter wave radar is shown in FIG.
  • the millimeter-wave radar 1901 outputs a modulation signal in response to a switching instruction from the signal processing unit 1910, and the transmission frequency according to the modulation signal from the modulator 1902.
  • Transmitter 1930 which outputs the high-frequency signal of the transmitter, amplifier 1904 that amplifies the output of the transmitter 1903, and transmission antenna 1905 that transmits the output of the amplifier 1904 as radio waves. Therefore, a high-frequency signal in the millimeter wave band (30 GHz to 300 GHz) is radiated from the transmitting antenna 1905.
  • the radio signal reflected back from a reflector such as a vehicle ahead is received by the receiving antenna 1906 and frequency-converted by the mixer circuit 1907.
  • a signal from an oscillator 1903 is also supplied to the mixer circuit 1907, and a low-frequency signal generated by mixing the two signals is output to an analog circuit 1908.
  • the signal amplified and output by the analog circuit 1908 is converted into a digital signal by the AZD 1909 and supplied to the signal processing section 1910.
  • the forward vehicle position measurement processing section 1911 converts the digital signal from the AZD 1909 to the frequency spectrum of the signal by fast Fourier transform (Fast Fourier Transform). It measures as information and calculates the distance, relative speed, and direction to the vehicle ahead.
  • Fast Fourier transform Fast Fourier transform
  • the preceding vehicle selection processing unit 1912 in the signal processing unit 1910 has the function of selecting the preceding vehicle of the present invention, and the front vehicle position measurement processing unit 1911 The distance to the vehicle, the relative speed, and the direction, and the one-shot angular velocity and millimeter-wave radar of the vehicle measured at the jar in the millimeter-wave radar 1901, which are input via the communication processing unit 1914 1Select the preceding vehicle based on the wheel speed measured by the external wheel speed sensor 1915. Then, the distance, relative speed, and direction to the preceding vehicle selected as the preceding vehicle are output to the outside of the millimeter-wave radar 1901, via the communication processing unit. Industrial applicability
  • the preceding vehicle selecting device and the control device using the same according to the present invention are useful as a device and a method for controlling the traveling of the own vehicle while estimating the relationship with other vehicles by means of transportation such as an automobile. It is.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

Un véhicule qui roule devant est sélectionné avec précision au moyen de l'estimation des itinéraires du véhicule personnel de l'utilisateur et d'un véhicule avant, la sélection étant effectuée de manière précise même lorsque le véhicule qui roule devant entre dans une courbe, quitte une courbe ou change de file. Pour cela, un dispositif de sélection du véhicule qui roule devant comprend une fonction de mesure du comportement du véhicule personnel qui mesure le comportement d'un véhicule personnel de l'utilisateur, une fonction d'estimation de l'itinéraire du véhicule personnel qui estime l'itinéraire du véhicule personnel de l'utilisateur sur la base du comportement du véhicule personnel mesuré par la fonction de mesure du comportement du véhicule personnel, et une fonction de mesure de la position du véhicule avant qui mesure la position d'au moins un véhicule avant. La position du véhicule personnel de l'utilisateur est estimée après un temps prédéterminé et lorsque la distance entre la position estimée du véhicule personnel de l'utilisateur et un véhicule avant est inférieure à une valeur prédéterminée, le véhicule avant est sélectionné comme étant le véhicule qui roule devant. Lorsqu'un véhicule avant est sélectionné comme étant le véhicule qui roule devant, la valeur de distance prédéterminée est définie comme supérieure aux valeurs définies lorsqu'un véhicule qui roule devant n'est pas sélectionné.
PCT/JP2004/012037 2003-08-20 2004-08-16 Dispositif et procede de selection du vehicule qui roule devant Ceased WO2005020183A1 (fr)

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PCT/JP2003/010514 WO2005020182A1 (fr) 2003-08-20 2003-08-20 Dispositif et procede de selection de vehicule precedant
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JP2007200074A (ja) * 2006-01-27 2007-08-09 Alpine Electronics Inc 周辺物体追尾装置及び周辺物体位置予測方法
WO2010143291A1 (fr) * 2009-06-11 2010-12-16 トヨタ自動車株式会社 Procédé et dispositif de détermination de position de déplacement de véhicule
WO2011145581A1 (fr) * 2010-05-17 2011-11-24 いすゞ自動車株式会社 Dispositif de détection de véhicule contrôlé
WO2012128232A1 (fr) * 2011-03-23 2012-09-27 トヨタ自動車株式会社 Dispositif de traitement des informations d'un véhicule
JP2016103221A (ja) * 2014-11-28 2016-06-02 株式会社デンソー 予測進路推定装置
JP2016132414A (ja) * 2015-01-21 2016-07-25 株式会社デンソー 車両制御装置
JP2017047800A (ja) * 2015-09-02 2017-03-09 富士重工業株式会社 車両の運転支援装置
WO2018173479A1 (fr) * 2017-03-23 2018-09-27 日野自動車株式会社 Appareil de détermination de véhicule précédent et système de commande de véhicule
CN110239535A (zh) * 2019-07-03 2019-09-17 国唐汽车有限公司 一种基于多传感器融合的弯道主动避撞控制方法

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DE102008042518A1 (de) * 2008-10-01 2010-04-08 Robert Bosch Gmbh Verfahren zur Auswahl von zu ergreifenden Sicherheitsmaßnahmen zur Erhöhung einer Sicherheit von Fahrzeuginsassen
CN109693669B (zh) * 2018-12-29 2021-02-19 北京经纬恒润科技股份有限公司 一种确定最近在径前车的方法及系统
CN110834626B (zh) * 2019-08-09 2021-03-12 中国第一汽车股份有限公司 行车障碍预警方法、装置、车辆和存储介质

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JPH0991598A (ja) * 1995-09-25 1997-04-04 Mazda Motor Corp 車両の障害物検知装置
JP2002211270A (ja) * 2000-11-16 2002-07-31 Honda Motor Co Ltd オートクルーズ装置
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JP2007200074A (ja) * 2006-01-27 2007-08-09 Alpine Electronics Inc 周辺物体追尾装置及び周辺物体位置予測方法
WO2010143291A1 (fr) * 2009-06-11 2010-12-16 トヨタ自動車株式会社 Procédé et dispositif de détermination de position de déplacement de véhicule
JP5218656B2 (ja) * 2009-06-11 2013-06-26 トヨタ自動車株式会社 車両走行位置判定方法及び車両走行位置判定装置
US8510027B2 (en) 2009-06-11 2013-08-13 Toyota Jidosha Kabushiki Kaisha Method for judging vehicle traveling position and vehicle traveling position judgment device
CN102460535B (zh) * 2009-06-11 2014-09-03 丰田自动车株式会社 车辆行驶位置判定方法及车辆行驶位置判定装置
WO2011145581A1 (fr) * 2010-05-17 2011-11-24 いすゞ自動車株式会社 Dispositif de détection de véhicule contrôlé
JP2011240790A (ja) * 2010-05-17 2011-12-01 Isuzu Motors Ltd 先行車検知装置
WO2012128232A1 (fr) * 2011-03-23 2012-09-27 トヨタ自動車株式会社 Dispositif de traitement des informations d'un véhicule
JP2016103221A (ja) * 2014-11-28 2016-06-02 株式会社デンソー 予測進路推定装置
JP2016132414A (ja) * 2015-01-21 2016-07-25 株式会社デンソー 車両制御装置
WO2016117602A1 (fr) * 2015-01-21 2016-07-28 株式会社デンソー Dispositif et procédé de commande de véhicule
JP2017047800A (ja) * 2015-09-02 2017-03-09 富士重工業株式会社 車両の運転支援装置
WO2018173479A1 (fr) * 2017-03-23 2018-09-27 日野自動車株式会社 Appareil de détermination de véhicule précédent et système de commande de véhicule
JP2018158689A (ja) * 2017-03-23 2018-10-11 日野自動車株式会社 先行車判定装置及び車両制御システム
CN110121451A (zh) * 2017-03-23 2019-08-13 日野自动车株式会社 先行车辆判定装置和车辆控制系统
EP3604067A4 (fr) * 2017-03-23 2021-01-06 Hino Motors, Ltd. Appareil de détermination de véhicule précédent et système de commande de véhicule
CN110239535A (zh) * 2019-07-03 2019-09-17 国唐汽车有限公司 一种基于多传感器融合的弯道主动避撞控制方法
CN110239535B (zh) * 2019-07-03 2020-12-04 国唐汽车有限公司 一种基于多传感器融合的弯道主动避撞控制方法

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JPWO2005020183A1 (ja) 2006-10-19
JP4120678B2 (ja) 2008-07-16
AU2003262253A1 (en) 2005-03-10

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