WO2021070879A1 - Control device - Google Patents

Abstract

A control device (22) is applied to a vehicle provided with an image capturing device (11) for capturing an image around a vehicle, and a safety device (30) for avoiding a collision between the vehicle and an object or for reducing collision damage, and activates the safety device on the basis of detection information about a moving object around the vehicle based on an image captured by the image capturing device. The control device comprises: a moving object determination unit for determining whether a moving object is present around a vehicle on the basis of detection information about the moving object; a stationary object determination unit for determining whether a stationary object is present around the vehicle and whether the stationary object has a wall (KB) facing the vehicle; and a location determination unit which, when it is determined that a stationary object is present around the own vehicle and the stationary object has a wall, determines whether the location of the moving object determined by the moving object determination unit is on the back side of the wall when viewed from the vehicle. The control device restricts the activation of the safety device targeting the moving object when it is determined by the location determination unit that the location of the moving object is on the back side of the wall.

Description

Control device Cross-reference of related applications

This application is based on Japanese Application No. 2019-187638 filed on October 11, 2019, and the contents of the description are incorporated herein by reference.

This disclosure relates to a control device.

Conventionally, a device that detects an object around the own vehicle and predicts a collision between the detected object and the own vehicle is known (for example, Patent Document 1). This device detects objects around the own vehicle based on ultrasonic waves transmitted and received from a radar sensor attached to the front end of the own vehicle.

Japanese Unexamined Patent Publication No. 2004-230947

Instead of the radar sensor, it is also possible to detect objects around the own vehicle based on the image captured by the image pickup device mounted on the own vehicle. In this case, it is conceivable that the reflected image is erroneously determined as an object because the reflected image is reflected on a stationary object such as a parked vehicle existing around the own vehicle.

In particular, if the reflected image reflected on the wall of a stationary object is moving and the reflected image is erroneously determined as a moving object, there is a concern that the operation of safety devices such as a braking device may be adversely affected. That is, when a moving object is detected, a safety device is activated to avoid a collision of the moving object with the own vehicle, but if the reflected image is erroneously determined to be a moving object, the safety device becomes unnecessary. There is concern that it will be activated.

The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a control device capable of suppressing unnecessary operation of a safety device due to a reflected image reflected on a stationary object.

The means for solving the above problems is applied to a vehicle provided with an image pickup device that images the surroundings of the own vehicle and a safety device that avoids a collision between the own vehicle and an object or reduces collision damage, and the captured image of the image pickup device. It is a control device that operates the safety device based on the detection information of the moving object around the own vehicle, and determines that the moving object exists around the own vehicle based on the detection information of the moving object. A moving object determination unit for determining that a stationary object exists around the own vehicle and the stationary object has a wall portion facing the own vehicle, and a stationary object determining unit for determining that the stationary object has a wall portion facing the own vehicle, and a stationary object around the own vehicle. When an object exists and it is determined that the stationary object has the wall portion, the position of the moving object determined by the moving object determination unit is the back side of the wall portion as viewed from the own vehicle. When the position determination unit that determines that the position is determined by the position determination unit that the position of the moving object is on the inner side of the wall portion, the operation that limits the operation of the safety device that targets the moving object. It is provided with a limiting unit.

When a moving object around the own vehicle is detected based on the image captured by the image pickup device, the reflected image is regarded as a moving object due to the reflected image being projected on the wall of the stationary object existing around the own vehicle. It is possible that an erroneous judgment is made. If the reflected image is erroneously determined as a moving object, there is a concern that the operation of the safety device may be adversely affected. That is, when a moving object is detected, a safety device is activated to avoid a collision of the moving object with the own vehicle, but if the reflected image is erroneously determined to be a moving object, the safety device becomes unnecessary. It is possible that it will be activated.

In this respect, in the above configuration, when a stationary object exists around the own vehicle and the stationary object has a wall portion facing the own vehicle, the moving object is determined based on the detection information of the moving object. Is determined to be the back side of the wall when viewed from the own vehicle. Then, when it is determined that the position of the moving object is on the inner side of the wall portion, the operation of the safety device for the moving object is restricted. As a result, even if the reflected image captured in the image captured by the image pickup device is erroneously determined to be a moving object, the inconvenience that the safety device is unnecessarily operated due to the erroneous determination of the moving object can be suppressed. As a result, it is possible to properly determine the moving object and, by extension, correctly operate the safety device based on the determination result of the moving object.

The above objectives and other objectives, features and advantages of the present disclosure will be clarified by the following detailed description with reference to the accompanying drawings. The drawing is
FIG. 1 is an overall configuration diagram of the driving support device. FIG. 2 is a flowchart showing the procedure of the operation restriction process. FIG. 3 is a diagram showing a mask area when the own vehicle is traveling forward. FIG. 4 is a diagram showing a mask region when the own vehicle is traveling backward.

(Embodiment)
Hereinafter, an embodiment in which the control device according to the present disclosure is applied to the in-vehicle driving support device 100 will be described with reference to the drawings.

As shown in FIG. 1, the driving support device 100 according to the present embodiment includes a camera 11, a sonar device 12, an image processing ECU 21, a vehicle ECU 22, and a safety device 30.

The camera 11 is, for example, a monocular camera. The cameras 11 are attached to the front end, the rear end, and both side surfaces of the own vehicle, respectively, and take an image of the periphery of the own vehicle. The camera 11 transmits the image information of the captured image to the image processing ECU 21. In this embodiment, the camera 11 corresponds to the "imaging device".

The sonar device 12 is, for example, an ultrasonic sensor that uses ultrasonic waves as a transmission wave, or a radar device that uses a high-frequency signal in the millimeter wave band as a transmission wave. The sonar device 12 is mounted on the front end, the rear end, and both side surfaces of the own vehicle, and measures the distance to an object around the own vehicle. Specifically, the exploration wave is transmitted at a predetermined cycle, and the reflected wave is received by a plurality of antennas. A plurality of detection points on an object are detected based on the transmission time of the exploration wave and the reception time of the reflected wave, thereby measuring the distance to the object. In addition, the orientation of the object is calculated from the phase difference of the reflected waves received by the plurality of antennas. If the distance to the object and the direction of the object can be calculated, the relative position of the object with respect to the own vehicle can be specified.

Further, the sonar device 12 calculates the relative velocity of the object from the frequency changed by the Doppler effect of the reflected wave reflected by the object. As a result, it is detected that the object existing around the own vehicle is a stationary object. Specifically, when the sum of the relative speed of the object and the vehicle speed of the own vehicle becomes zero, the object is detected as a stationary object. The sonar device 12 transmits the detection information of a stationary object around the own vehicle to the vehicle ECU 22. The stationary object detection information includes information on the position of the stationary object relative to the own vehicle.

ECUs 21 and 22 are control devices equipped with a well-known microcomputer including a CPU, ROM, RAM, flash memory and the like. The ECUs 21 and 22 acquire various signals and perform various controls based on the acquired information.

Specifically, the image processing ECU 21 detects a moving object around the own vehicle based on the image captured by the camera 11. Specifically, the image processing ECU 21 calculates the moving speed for each object captured in the image captured by the camera 11. The image processing ECU 21 calculates the optical flow of the object based on the image information transmitted from the camera 11 at predetermined intervals, and calculates the moving speed of the object based on the calculated optical flow. Here, the optical flow is a method in which a plurality of boundary points as points for constructing a boundary line whose brightness has changed in an image are detected, and the plurality of detected boundary points are represented as motion vectors. As a result, moving objects existing around the own vehicle are detected. The image processing ECU 21 transmits the detection information of the moving object to the vehicle ECU 22. The detection information includes information on the relative position of the detected moving object with respect to the own vehicle.

The vehicle ECU 22 operates the safety device 30 based on the detection information of moving objects around the own vehicle transmitted from the image processing ECU 21. The safety device 30 is a device for avoiding a collision between the own vehicle and an object or reducing collision damage, and includes a brake device 31, a seatbelt device 32, and an alarm device 33. In this embodiment, the vehicle ECU 22 corresponds to the “control device”.

The brake device 31 decelerates the own vehicle based on the collision avoidance signal output from the vehicle ECU 22. The seatbelt device 32 winds up the seatbelt and tensions the seatbelt based on the collision avoidance signal output from the vehicle ECU 22. The alarm device 33 is a device that notifies the driver or the like of the possibility of collision based on the collision avoidance signal output from the vehicle ECU 22, and is, for example, aurally such as a speaker or a buzzer installed in the vehicle interior of the own vehicle. There are devices for notifying, displays, and other devices for visually notifying.

The yaw rate sensor 13, the steering angle sensor 14, and the vehicle speed sensor 15 are connected to the vehicle ECU 22. The yaw rate sensor 13 is provided, for example, at the center position of the own vehicle, and outputs a yaw rate signal according to the change speed of the steering amount of the own vehicle to the vehicle ECU 22. The steering angle sensor 14 is attached to, for example, the steering rod of the vehicle, and outputs a steering angle signal to the vehicle ECU 22 according to a change in the steering angle of the steering wheel due to the operation of the driver. The vehicle speed sensor 15 is attached to, for example, the wheel portion of the own vehicle, detects the rotation direction of the wheels, and outputs a vehicle speed signal according to the wheel speed to the vehicle ECU 22.

By the way, when a stationary object such as a parked vehicle exists around the own vehicle, the stationary object may become a wall portion KB on which a reflected image is projected. In this case, it is conceivable that the image pickup range of the camera 11 includes the wall portion KB, and the reflected image is erroneously determined as a moving body due to the reflected image being projected on the wall portion KB.

If the reflected image is erroneously determined as a moving object, there is a concern that the operation of the safety device 30 may be adversely affected. That is, when a moving object is detected, the safety device 30 is operated to avoid a collision of the moving object with the own vehicle, but if the reflected image is erroneously determined as a moving object, the safety device 30 is activated. There is a concern that it will be operated unnecessarily.

For example, when trying to park the own vehicle next to the parked vehicle in the parking lot, it is conceivable that another vehicle is reflected on the side surface (corresponding to the wall KB) of the parked vehicle. In this case, depending on the moving direction of the other vehicle reflected on the side surface of the parked vehicle, it is erroneously determined that the own vehicle during the parking operation collides with the other vehicle (the other vehicle as a reflection image), and the safety device 30 is accompanied by this. It is possible that it will be operated unnecessarily.

Therefore, in the present embodiment, when it is determined that a stationary object exists in the vicinity of the own vehicle and the stationary object has a wall portion KB facing the own vehicle, the moving object is determined. It is determined that the relative position of the moving object determined based on the detection information is the back side of the wall portion KB as viewed from the own vehicle. Then, when it is determined that the relative position of the moving object is the inner side of the wall portion KB, an operation limiting process for limiting the operation of the safety device 30 for the moving object is performed. As a result, even if the reflected image captured in the image captured by the camera 11 is erroneously determined to be a moving object, the inconvenience that the safety device 30 is unnecessarily operated due to the erroneous determination of the moving object can be suppressed. As a result, the moving object can be properly determined, and the safety device 30 can be correctly operated based on the moving object determination result.

FIG. 2 shows a flowchart of the operation restriction process of the present embodiment. The vehicle ECU 22 repeatedly executes the operation restriction process at predetermined intervals while the own vehicle is traveling.

When the operation restriction process is started, first, in step S10, based on the detection information of the stationary object transmitted from the sonar device 12, whether or not there is a stationary object on the side of the own vehicle in the vicinity of the own vehicle is determined. judge. If a negative determination is made in step S10, the operation restriction process ends.

If an affirmative determination is made in step S10, it is determined whether or not the stationary object located on the side of the own vehicle has a wall portion KB facing the own vehicle. The determination as to whether or not the vehicle has a wall portion KB is determined based on the length of the stationary object in the direction along the traveling direction of the own vehicle, and the case where the length has a wall surface having a predetermined length or more. In addition, it is determined that the stationary object detected in step S10 has a wall portion KB facing the own vehicle.

The length of the stationary object in the direction along the traveling direction of the own vehicle is determined by using a plurality of detection points on the stationary object detected in step S10. Specifically, in step S12, it is determined whether or not the length between adjacent detection points in the traveling direction of the own vehicle is equal to or longer than a certain length. If an affirmative determination is made in step S12, it is determined in step S14 whether or not a plurality of detection points are aligned on a straight line. If an affirmative determination is made in step S14, it is determined in step S16 whether or not at least one detection point on the stationary object has been detected for a certain period of time or longer.

When the length of a stationary object in the direction along the traveling direction of the own vehicle is equal to or longer than a predetermined length, a plurality of detection points on the stationary object are lined up at intervals of a certain length or more in the traveling direction of the own vehicle. In addition, at least one detection point on a stationary object is detected for a certain period of time or longer. Therefore, an affirmative judgment is made in step S16. In this case, the process proceeds to step S18. On the other hand, when the length of the stationary object in the direction along the traveling direction of the own vehicle is less than a predetermined length, a negative determination is made in any of steps S12, S14, and S16. In this case, the operation restriction process is terminated. In this embodiment, the processes of steps S12, S14, and S16 correspond to the "resting object determination unit".

According to steps S10 to S16, the parked vehicle parked on the side of the own vehicle, the guardrail, the outer wall of the building, etc. are recognized as stationary objects.

In step S18, it is determined whether or not the own vehicle is traveling forward. The determination as to whether or not the vehicle is traveling forward is determined based on the rotation direction of the wheels detected by the vehicle speed sensor 15 and the shift position information of the transmission. In this embodiment, the process of step S18 corresponds to the "travel determination unit".

When the own vehicle is traveling forward, a positive judgment is made in step S18, and in step S20, the mask area RM is set based on the front end position of the wall portion KB. Here, the front end position of the wall portion KB is a position that becomes the front end of the wall portion KB in the front-rear direction of the own vehicle, and means the end position of the end portion in front of the traveling direction of the own vehicle.

When the own vehicle is traveling backward, a negative determination is made in step S18, and in step S22, the mask area RM is set based on the rear end position of the wall portion KB. Here, the rear end position of the wall portion KB is a position that becomes the rear end of the wall portion KB in the front-rear direction of the own vehicle, and means the end position of the end portion in front of the traveling direction of the own vehicle.

In steps S20 and S22, the mask area RM is set based on the end position of the wall portion KB in front of the traveling direction of the own vehicle regardless of whether the own vehicle is traveling forward or backward. The mask area RM to be set will be described later with reference to FIGS. 3 and 4. In the present embodiment, the processes of steps S20 and S22 correspond to the "setting unit".

In the following step S24, it is determined whether or not there is a moving object in the vicinity of the own vehicle based on the detection information of the moving object transmitted from the image processing ECU 21. If a negative determination is made in step S24, the operation restriction process ends. In this embodiment, the process of step S24 corresponds to the "moving object determination unit".

If an affirmative determination is made in step S24, it is determined in step S26 whether or not the relative position of the moving object detected in step S24 is on the back side of the wall portion KB as viewed from the own vehicle. Specifically, it is determined whether or not the relative position of the moving object detected in step S24 exists in the mask area RM set in steps S20 and S22, and based on the fact that it is in the mask area RM. , It is determined that the relative position of the moving object is the back side of the wall portion KB.

The determination as to whether or not the vehicle exists in the mask area RM is determined based on the information on the relative position of the moving object with respect to the own vehicle included in the detection information of the moving object. Further, when a plurality of moving objects are detected in step S24, a determination is performed for each moving object. In this embodiment, the process of step S24 corresponds to the "position determination unit".

When the moving object does not exist in the mask area RM, the relative position of the moving object is not the back side of the wall portion KB when viewed from the own vehicle, so a negative determination is made in step S26. In this case, since the moving object is likely to be a real image rather than a reflected image, the moving object is set as an operation target of the safety device 30 in step S28. That is, the operation restriction process is terminated without restricting the operation of the safety device 30 for the moving object. Therefore, when the distance between the moving object and the own vehicle becomes smaller than the threshold value, a collision avoidance signal is output to the safety device 30 and the safety device 30 operates.

On the other hand, when the moving object exists in the mask area RM, the relative position of the moving object is the back side of the wall portion KB as viewed from the own vehicle, so a positive determination is made in step S26. In this case, since the moving object is likely to be a reflected image reflected on the wall portion KB, the moving object is set to be excluded from the operation target of the safety device 30 in step S28. That is, the operation of the safety device 30 for the moving object is restricted, and the operation restriction process is terminated. In this embodiment, the process of step S30 corresponds to the "operation limiting unit".

Subsequently, FIGS. 3 and 4 show an example of the mask area RM. FIG. 3 shows a mask area RM set in a situation where the own vehicle CA is traveling forward and is moving to the side of the parked vehicle (other vehicle) CB. This situation is realized, for example, when the own vehicle travels forward and parks in the parking space PA adjacent to the other vehicle CB.

In this case, when the front end of the own vehicle CA is positioned ahead of the rear end of the other vehicle CB in the traveling direction due to the forward traveling of the own vehicle CA, the side surface of the other vehicle CB on the own vehicle CA side. The area between the front end of the own vehicle CA and the rear end of the other vehicle CB is the wall portion KB facing the own vehicle.

In this way, when another vehicle CB, which is a stationary object, exists on the side of the own vehicle CA, a moving object such as another vehicle or a pedestrian different from the other vehicle CB is reflected on the wall portion KB of the other vehicle CB. Sometimes. In this case, depending on the moving direction of the moving object, it is considered that the moving object appears to move closer to the own vehicle CA, and the safety device 30 is operated unnecessarily. Therefore, the mask area RM is set. In this case, the mask area RM is set based on the front end position LA of the wall portion KB.

The mask area RM is set on the back side of the wall portion KB when viewed from the own vehicle CA. Specifically, the end position of the mask region RM behind the own vehicle in the front-rear direction of the own vehicle is set to the rear end position LB of the wall portion KB. The end position of the mask area RM in front of the own vehicle is set to a position having a predetermined length XA in front of the own vehicle (front in the traveling direction of the own vehicle) from the front end position LA of the wall portion KB. That is, the mask area RM is set in a range of a predetermined length XA in front of the own vehicle from the front end position LA of the wall portion KB.

Further, the mask area RM is set in an area YA away from the wall portion KB on the back side of the wall portion KB. Specifically, the end position on the own vehicle side in the vehicle width direction orthogonal to the traveling direction of the own vehicle in the mask area RM is set at a position YA away from the wall portion KB on the inner side of the wall portion KB. Orthogonal. As a result, the safety device 30 is activated for the pedestrian HM that moves the mask region RM located farther than the other vehicle CB with respect to the own vehicle CA in the direction orthogonal to the front in the traveling direction of the own vehicle. Can be done.

If the predetermined distance YA is zero, that is, the end position on the own vehicle side in the vehicle width direction of the mask area RM is set to the surface position of the wall portion KB, the pedestrian HM will move to the wall in the vehicle width direction. The safety device 30 does not operate until it moves to the own vehicle side from the surface position of the portion KB. In order to prevent the pedestrian HM moving at a position adjacent to the other vehicle CB from colliding with the own vehicle CA and the pedestrian HM as much as possible, it is desirable that the predetermined distance YA is a value larger than zero.

In the present embodiment, the end position of the mask area RM on the own vehicle side in the vehicle width direction of the own vehicle is set to a position YA away from the wall portion KB on the inner side of the wall portion KB. Therefore, the pedestrian HM can operate the safety device 30 before moving to the own vehicle side from the surface position of the wall portion KB in the vehicle width direction, and avoids a collision between the own vehicle CA and the pedestrian HM. be able to.

If the detection accuracy is improved and the pedestrian HM can be detected immediately when the pedestrian HM jumps out and the safety device 30 can be operated, the predetermined distance YA may be zero.

Further, when the wall portion KB is not detected for a while after the front end position LA of the wall portion KB is detected, that is, when the range of a stationary object having the wall portion KB (that is, another vehicle CB) is detected. , The mask area RM is deleted. As a result, it is possible to prevent the mask area RM from being set more than necessary.

FIG. 4 shows a mask area RM set in a situation where the own vehicle CA is traveling backward and moving to the side of another parked vehicle CB. This situation is realized, for example, when the own vehicle travels backward and parks in the parking space PA adjacent to the other vehicle CB.

In this case, when the rear end of the own vehicle CA is located ahead of the front end of the other vehicle CB in the traveling direction due to the backward traveling of the own vehicle CA, the side surface of the other vehicle CB on the own vehicle CA side. The area between the rear end of the own vehicle CA and the front end of the other vehicle CB is the wall portion KB facing the own vehicle. In this case, the mask area RM is set based on the rear end position LB of the wall portion KB.

Specifically, the end position of the mask area RM in front of the own vehicle in the front-rear direction of the own vehicle is set to the front end position LA of the wall portion KB. The end position of the mask area RM behind the own vehicle is set to a position having a predetermined length XB behind the own vehicle (front in the traveling direction of the own vehicle) from the rear end position LB of the wall portion KB. That is, the mask area RM is set in a range of a predetermined length XB behind the own vehicle from the rear end position LB of the wall portion KB.

Further, the mask area RM is set in a region on the back side of the wall portion KB and separated from the wall portion KB by a predetermined distance YB. Specifically, the end position of the mask area RM on the own vehicle side in the vehicle width direction orthogonal to the front of the own vehicle in the traveling direction is set at a position on the back side of the wall portion KB and a predetermined distance YB away from the wall portion KB. Will be done.

Since the vehicle speed of the reverse traveling is smaller than that of the forward traveling, the predetermined length XB when the own vehicle CA is traveling backward is smaller than the predetermined length XA when the own vehicle CA is traveling forward. Similarly, the predetermined distance YB when the own vehicle CA is traveling backward is smaller than the predetermined distance YA when the own vehicle CA is traveling forward.

According to the present embodiment described in detail above, the following effects can be obtained.

-When a moving object around the own vehicle is detected based on the image captured by the camera 11, the reflected image is moved because the reflected image is projected on the wall KB of the stationary object existing around the own vehicle. It is conceivable that it is erroneously judged as a thing. If the reflected image is erroneously determined as a moving object, there is a concern that the operation of the safety device 30 may be adversely affected. That is, when a moving object is detected, the safety device 30 is operated to avoid a collision of the moving object with the own vehicle, but if the reflected image is erroneously determined as a moving object, the safety device 30 is activated. It is possible that it will be operated unnecessarily.

In this regard, in the present embodiment, when a stationary object having a wall portion KB facing the own vehicle exists around the own vehicle, the relative position of the moving object determined based on the detection information of the moving object is determined. It is determined that it is on the back side of the wall portion KB when viewed from the own vehicle. Then, when it is determined that the relative position of the moving object is the back side of the wall portion KB, the operation of the safety device 30 for the moving object is restricted. As a result, even if the reflected image captured in the image captured by the camera 11 is erroneously determined to be a moving object, the inconvenience that the safety device 30 is unnecessarily operated due to the erroneous determination of the moving object can be suppressed. As a result, the moving object can be properly determined, and the safety device 30 can be correctly operated based on the moving object determination result.

In particular, when a moving object is reflected on the wall KB of a stationary object existing on the side of the own vehicle, the moving object may move to the side approaching the own vehicle depending on the moving direction of the moving object. It is conceivable that the safety device 30 is operated unnecessarily.

In this respect, in the present embodiment, it is determined that the stationary object located on the side of the own vehicle has a wall portion KB facing the own vehicle. As a result, even when a moving object is reflected on the wall portion KB of a stationary object existing on the side of the own vehicle, the safety device 30 can be operated correctly.

-In the present embodiment, when the length of a stationary object existing around the own vehicle in the direction along the traveling direction of the own vehicle is equal to or longer than a predetermined value, it is determined that the stationary object has a wall portion KB. Therefore, in order to project a reflected image that is erroneously determined to be a moving body, it is necessary that the length of the stationary object in the traveling direction of the own vehicle is longer than a predetermined length, and that the stationary object has a wall portion KB. It can be judged properly.

-It is conceivable that the relative position of the reflected image reflected on the wall portion KB is located in front of the traveling direction of the own vehicle rather than the end position of the wall portion KB in front of the traveling direction of the own vehicle. In the present embodiment, the mask area RM is set in a range of predetermined lengths XA and XB from the end position of the wall portion KB in front of the traveling direction of the own vehicle to the front in the traveling direction of the own vehicle. Therefore, the mask region RM can be appropriately set while taking into consideration the relative position of the reflected image reflected on the wall portion KB.

Specifically, it is determined whether the own vehicle is traveling forward or backward, and when it is determined that the own vehicle is traveling forward, the front end position LA of the wall portion KB is used to determine the front of the own vehicle. The mask area RM is set in the range of the predetermined length XA. When it is determined that the own vehicle is traveling backward, the mask area RM is set within a range of a predetermined length XB in the direction of the own vehicle from the rear end position LB of the wall portion KB. Therefore, the mask region RM can be appropriately set in any of the cases while taking into consideration whether the own vehicle is traveling forward or backward.

-On the other hand, when the mask area RM is set farther than the end position of the wall portion KB in front of the traveling direction of the own vehicle, there is a pedestrian HM moving in the mask area RM farther than the wall portion KB. In some cases, it is conceivable that the safety device 30 for the pedestrian HM becomes inoperable.

In this respect, in the present embodiment, a region on the back side of the wall portion KB that is separated from the wall portion KB by a predetermined distance YA, YB or more is set as the mask region RM. That is, an area that does not restrict the operation of the safety device 30 is set between the wall portion KB and the mask area RM on the back side of the wall portion KB. As a result, even if the pedestrian HM moving in the mask area RM farther than the wall portion KB moves to the own vehicle CA side than the wall portion KB even if the pedestrian HM goes beyond the mask area RM and approaches the own vehicle CA side. A predetermined period is required, and the safety device 30 can be operated during this predetermined period. As a result, the safety device 30 can be operated correctly.

(Other embodiments)
Each of the above embodiments may be modified as follows.

-The camera 11 is not limited to a monocular camera, and may be, for example, a stereo camera.

-In the above embodiment, when a stationary object exists on the side of the own vehicle, the stationary object is based on the fact that the length of the stationary object in the direction along the traveling direction of the own vehicle is equal to or longer than a predetermined value. Although it is determined that the vehicle has a wall portion KB facing the own vehicle, this may be changed. For example, when a stationary object exists on the side of the own vehicle, the wall where the stationary object faces the own vehicle based on the fact that the stationary object is a parked vehicle in a parallel direction of the own vehicle. It may be determined that the vehicle has a portion KB.

-In addition to the condition that the bidirectional length of the stationary object in the traveling direction of the own vehicle is at least a predetermined value, the condition that the height of the stationary object is at least a predetermined value (for example, 50 cm) is satisfied. You may add it. For example, when the height of the wall portion KB is low, the reflected image may not be reflected on the wall portion KB. In such a case, it is possible to suppress the setting of the mask region RM.

-Furthermore, if the material of a stationary object can be detected, the mask area RM may be set only for the material in which the reflected image is reflected on the wall portion KB.

・ The above operation restriction process may be performed on condition that the own vehicle is parked in the parking lot. In this case, the vehicle ECU 22 that performs the operation restriction process functions as a parking support device.

-In the above embodiment, in the operation restriction process, an example of determining whether or not a stationary object exists on the side of the own vehicle in the vicinity of the own vehicle is shown, but in the entire area around the own vehicle, that is, It may be determined whether or not there is a stationary object in front of or behind the own vehicle.

-In the above embodiment, other vehicles and pedestrians different from the other vehicle CB are exemplified as moving objects reflected on the wall portion KB, but for example, the image of the head ride and tail lamp of the vehicle and the shadow generated by these lamps. May be good.

-In the above embodiment, an example is shown in which the predetermined length XB when the own vehicle CA is traveling backward is smaller than the predetermined length XA when the own vehicle CA is traveling forward, but these predetermined lengths XA, XB may be set to the same. Similarly, an example is shown in which the predetermined distance YB when the own vehicle CA is traveling backward is smaller than the predetermined distance YA when the own vehicle CA is traveling forward, but these predetermined distances YA and YB are set to be the same. You may be.

-In the above embodiment, the vehicle ECU 22 corresponds to the control device, but the present invention is not limited to this, and a combination of the image processing ECU 21 and the vehicle ECU 22 may correspond to the control device. That is, the control device may generate detection information of a moving object around the own vehicle based on the image captured by the image pickup device.

Although this disclosure has been described in accordance with the examples, it is understood that the disclosure is not limited to the examples and structures. The present disclosure also includes various modifications and modifications within an equal range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are also within the scope of the present disclosure.

Claims (6)

It is applied to a vehicle equipped with an image pickup device (11) that images the surroundings of the own vehicle and a safety device (30) that avoids a collision between the own vehicle and an object or reduces collision damage. A control device (22) that operates the safety device based on detection information of a moving object around the vehicle.
Based on the moving object detection information, a moving object determination unit that determines that a moving object exists around the own vehicle, and a moving object determination unit.
A stationary object determination unit that determines that a stationary object exists in the vicinity of the own vehicle and that the stationary object has a wall portion (KB) facing the own vehicle.
When a stationary object exists around the own vehicle and it is determined that the stationary object has the wall portion, the position of the moving object determined by the moving object determination unit is the wall portion as viewed from the own vehicle. The position determination unit that determines that it is on the back side of
When the position determination unit determines that the position of the moving object is on the inner side of the wall portion, the operation limiting unit that restricts the operation of the safety device that targets the moving object, and the operation limiting unit.
A control device comprising. When the stationary object determination unit recognizes that the stationary object existing around the own vehicle has a wall surface having a predetermined length or more in the direction along the traveling direction of the own vehicle, the stationary object is the wall surface. The control device according to claim 1, wherein it is determined to have a unit. The position determination unit
When a stationary object exists around the own vehicle and it is determined that the stationary object has the wall portion, the wall portion on the back side of the wall portion as viewed from the own vehicle and in front of the traveling direction of the own vehicle. A setting unit for setting a mask area (RM) within a predetermined length from the end position of the vehicle to the front in the traveling direction of the own vehicle is provided.
The first or second claim, wherein the position of the moving object determined by the moving object determining unit is within the mask region, and the position of the moving object is determined to be the inner side of the wall portion. Control device. Equipped with a running judgment unit that determines whether the own vehicle is traveling forward or backward.
The setting unit
When it is determined that the own vehicle is traveling forward, the predetermined value is set in front of the own vehicle from the end position (LA) of the wall portion in front of the own vehicle on the back side of the wall portion as viewed from the own vehicle. Set the mask area within the range of length,
When it is determined that the own vehicle is traveling backward, the predetermined position is located behind the wall portion from the rear side of the own vehicle from the end position (LB) of the wall portion behind the own vehicle when viewed from the own vehicle. The control device according to claim 3, wherein the mask area is set within a range of length. The control device according to claim 3 or 4, wherein the setting unit sets a region on the back side of the wall portion, which is separated from the wall portion by a predetermined distance or more, as the mask region. According to any one of claims 1 to 5, the stationary object determination unit determines that the stationary object located on the side of the own vehicle has a wall portion facing the own vehicle. The control device described.

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