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WO2018168457A1 - Dispositif de commande embarqué - Google Patents

Dispositif de commande embarqué Download PDF

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Publication number
WO2018168457A1
WO2018168457A1 PCT/JP2018/007431 JP2018007431W WO2018168457A1 WO 2018168457 A1 WO2018168457 A1 WO 2018168457A1 JP 2018007431 W JP2018007431 W JP 2018007431W WO 2018168457 A1 WO2018168457 A1 WO 2018168457A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection
vehicle
detection unit
brake
information
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/JP2018/007431
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English (en)
Japanese (ja)
Inventor
健志 瀬田
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 Astemo Ltd
Original Assignee
Hitachi Automotive Systems 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 Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Priority to JP2019505854A priority Critical patent/JP6779363B2/ja
Publication of WO2018168457A1 publication Critical patent/WO2018168457A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • This invention relates to a vehicle-mounted control device.
  • Patent Document 1 JP 2014-104772
  • BRK_ECU 11 detects a brake operation target based on an image photographed by the in-vehicle camera 12 and operates a target brake preload operation based on the relative speed between the brake operation target and the host vehicle 1.
  • the brake clearance S of the disc brake 2 is made very small with respect to the brake drive unit 17.
  • a drive signal for generating the brake preload Ppr is output.
  • a single sensor can be used to cope with the jumping out conditions of people, cars, bicycles, etc., or to recognize the environment around the vehicle necessary to realize automatic driving. In some cases, a detection range that is insufficient is detected using another sensor. Thus, by mounting a plurality of sensors on a vehicle, the monitoring area around the vehicle may be expanded.
  • an object of the present invention is to control the preload of the brake according to the relationship between the detection object and the detection unit.
  • the vehicle-mounted control device of the present invention detects a first detection unit that detects in a first detection range, and a second detection range that is different from the first detection range. And a drive signal output unit that generates and outputs a brake preload drive signal based on detection results of the first detection unit and the second detection unit, and the drive signal When the object is not detected by the first detection unit and the object is detected by the second detection unit, the output unit generates and outputs a brake preload drive signal.
  • the present embodiment relates to a driving support system or an automatic driving system.
  • a plurality of in-vehicle sensors such as an image sensor and a millimeter wave radar sensor are mounted on a vehicle, and a part of driving operation of the vehicle is performed using an output result of the sensor.
  • it relates to an in-vehicle control device that automatically performs all of the above.
  • the in-vehicle control device of the present embodiment includes the following configuration.
  • An external sensor 10 that senses the front and surroundings of a vehicle mounted on the vehicle 100.
  • a vehicle sensor that outputs vehicle movement data such as the vehicle speed, steering angle, and yaw rate.
  • a fusion control unit 20 that integrates information on detection objects from output results of an external sensor and a vehicle sensor, and generates a brake preload signal as necessary.
  • An electronically controlled brake system 30 that controls vehicle braking by a brake preload signal.
  • FIG. 2 shows a configuration diagram of the fusion control unit.
  • Fusion control unit 20 includes the following configuration.
  • a CAN / Ether receiving unit 201 that receives information from an external sensor and a vehicle sensor that are notified using CAN (Controller Area Network) or Ethernet.
  • a Fusion / LDM processing unit 202 that determines where in the vehicle the latest detection target exists based on the received external sensor information and past position information of the same detection target. The vehicle's relative position and the vehicle's relative speed of the integrated detection target are held together with time information of the past few seconds, and the latest movement information of the own vehicle and the own vehicle movement information of the past few seconds are stored together with the time information.
  • a position information database 203 to be held.
  • a collision time calculation unit 204 that predicts and calculates the time until the host vehicle collides with the detection target based on the position information database.
  • a brake control determination processing unit (drive signal output unit) 205 that compares the calculated collision prediction time with a preset brake preload start time and generates and outputs a brake preload drive signal to the electronically controlled brake system.
  • FIG. 3 shows an example of a processing flow for updating the position information DB based on the external sensor information, among the operations in the fusion control unit of the present embodiment.
  • the CAN / Ethernet receiving unit 201 waits for reception of external sensing information notified from the external sensor 10 using CAN or Ethernet (S300).
  • the received information is information to be imported into the fusion control unit. If the received information is information that is not required to be incorporated into the fusion control unit, the received information is discarded and reception of the next external sensing information is awaited (S301). .
  • the information to be imported into the fusion control unit in S300 is held in the internal buffer so that it is not overwritten by traffic (S302).
  • the Fusion / LDM processing unit 202 operates with a time period or an update trigger (S304).
  • the update notification separates the marching of the external sensor information and the update of the motion information of the own vehicle (S307).
  • the update notification is an update of the movement information of the own vehicle
  • the own vehicle information is updated in the position information DB (S308).
  • the update notification is an update of external sensor information
  • radar detection may become unstable depending on the reflection intensity and distance depending on the size and material of the detection target, so the logic to search for the target has a function to trace the unstable target, and instantaneous detection is also possible. Has a function not to be traced.
  • the target when the target can be separated with high accuracy like an image sensor, it may be identified as a new target using the output information of the sensor.
  • the position information for target movement prediction may cause the detected position accuracy to be low depending on the detected sensor and separate the target as an object at another position. Therefore, when another sensor detects the target within the detection angle of the sensor with high detection position accuracy, position correction and target combination are performed based on the output result of the sensor with high detection accuracy. Even if it is within the detection angle of a sensor with high detection accuracy, the sensor information with high detection accuracy is not detected, and even when the sensor with low detection accuracy detects it, the target information is detected using the detection information of the sensor with low detection accuracy. Update.
  • the targets are integrated and updated as the latest location information DB entry (S311). If the logic of S309 determines that the target is a new target, a position information DB entry is created as a new target (S312).
  • FIG. 4 shows an example of a processing flow for performing the brake control determination process from the collision time calculation based on the position information DB after the movement information DB is updated, among the operations in the fusion control unit of the present embodiment.
  • the collision time calculation unit 204 operates periodically instead of an event trigger (S401). This is because it is better to reduce the dependency between logics and to make loose coupling by being independent from the position information DB creation logic.
  • target information being traced is acquired from the position information DB (S402).
  • the movement distance is calculated from the past position information and the latest position information acquired from the position information DB, and the relative speed is calculated from the elapsed time (S403).
  • the movement amount of the target may be larger than the actual movement amount when multiple sensors with different accuracy are detected, the movement amount when the detection sensor information in the target information is switched uses the past history. It is better to use the average value.
  • the movement information of the host vehicle is acquired from the position information DB, and the movement information of the host vehicle such as the host vehicle speed, the steering angle, and the yaw rate is acquired (S404).
  • the movement vector of the detection target centered on the own vehicle is generated from the movement information of the own vehicle acquired in S404, and the predicted time from the relative speed and the detected sensor mounting position to the collision is calculated (S405).
  • the movement vector may be different because it indicates a past position different from the actual position. Therefore, it is better to treat the movement vector at the time of switching of the detection sensor in the target information as information with low accuracy, and use the position information of the target information having the same detection sensor information.
  • the brake control determination processing unit compares the predicted collision time for starting the brake preload set based on the relative speed in advance for each attachment position of the detection sensor from the predicted collision time generated in S405, and determines the necessity of brake preload control. Perform (S406).
  • the collision prediction time set in advance when it is known that the position accuracy is low by the sensor detecting the target, the range of the collision prediction time for starting the preload signal of the brake may be broader.
  • a brake preload control instruction value for starting the brake preload is generated ( S407).
  • the collision prediction time calculated in S405 is compared with the collision prediction time for releasing the preload brake set based on the relative speed in advance for each attachment position of the detection sensor, and is within the range of the brake preload control release, and the brake preload.
  • a brake preload control release instruction value for releasing the brake preload is generated (S408).
  • the instruction value generated in S407 or S408 is output as a signal to the electronic brake control system (S409).
  • FIG. 5 shows a brake preload start area when a detection object is detected by the left sensor (second detection unit) 10b without being detected by the front sensor (first detection unit) 10a while the vehicle is turning left.
  • a range of the predicted collision time is provided in the direction of predicted traveling of the vehicle from the mounting position of the sensor and the relative speed, and this range is indicated as a brake preload start area.
  • SYMBOLS 10 External sensor, 10a ... Front sensor (1st detection part), 10b ... Left sensor (2nd detection part), 20 ... Fusion control unit, 30 ... Electronically controlled brake system, 100 ... Vehicle (own vehicle) , 201... CAN / Ether receiver, 202... Fusion / LDM processor, 203... Position information DB, 204. Collision time calculator, 205.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention se rapporte à une commande de précompression de frein qui est effectuée à titre préparatoire pour des cas dans lesquels un sujet de détection n'est pas capturé par une certaine unité de détection et un sujet de détection est détecté par une autre unité de détection. L'invention concerne un dispositif de commande embarqué comprenant une première unité de détection (10a) qui détecte dans une première plage de détection, une deuxième unité de détection (10b) qui détecte dans une deuxième plage de détection différente de la première plage de détection, et une unité de sortie de signal d'excitation (205) qui génère et délivre en sortie un signal d'excitation pour une précompression de frein sur la base des résultats de détection de la première unité de détection (10a) et de la deuxième unité de détection (10b). L'unité de sortie de signal d'excitation (205) génère et délivre en sortie un signal d'excitation pour la précompression de frein lorsqu'un objet n'est pas détecté par la première unité de détection (10a) et un objet est détecté par la deuxième unité de détection (10b).
PCT/JP2018/007431 2017-03-15 2018-02-28 Dispositif de commande embarqué Ceased WO2018168457A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019505854A JP6779363B2 (ja) 2017-03-15 2018-02-28 車載制御装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017049344 2017-03-15
JP2017-049344 2017-03-15

Publications (1)

Publication Number Publication Date
WO2018168457A1 true WO2018168457A1 (fr) 2018-09-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/007431 Ceased WO2018168457A1 (fr) 2017-03-15 2018-02-28 Dispositif de commande embarqué

Country Status (2)

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JP (1) JP6779363B2 (fr)
WO (1) WO2018168457A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008143429A (ja) * 2006-12-12 2008-06-26 Toyota Motor Corp 衝突予測装置
WO2016038773A1 (fr) * 2014-09-12 2016-03-17 パナソニックＩｐマネジメント株式会社 Dispositif de prévention de collision

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008143429A (ja) * 2006-12-12 2008-06-26 Toyota Motor Corp 衝突予測装置
WO2016038773A1 (fr) * 2014-09-12 2016-03-17 パナソニックＩｐマネジメント株式会社 Dispositif de prévention de collision

Also Published As

Publication number Publication date
JP6779363B2 (ja) 2020-11-04
JPWO2018168457A1 (ja) 2019-11-07

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