Brake assist device and brake assist control method in vehicle
阅读说明:本技术 车辆中的制动辅助装置以及制动辅助控制方法 (Brake assist device and brake assist control method in vehicle ) 是由 神谷庆 伊东洋介 小栗崇治 马场崇弘 高木亮 于 2018-06-18 设计创作,主要内容包括:本发明提供了车辆中的制动辅助装置10。制动辅助装置10具备:用于检测本车辆的周围的状态的检测部21、21s、22;以及根据检测到的状态在第一制动定时执行制动辅助来制动本车辆的制动辅助控制部100。制动辅助控制部100在使用状态判定为本车辆在交叉路口行进的情况下,在比第一制动定时晚的第二制动定时执行制动辅助。(The invention provides a brake assist device 10 in a vehicle. The brake assist device 10 includes: detection units 21, 21s, 22 for detecting the state of the surroundings of the vehicle; and a brake assist control unit (100) that performs brake assist at a first brake timing according to the detected state to brake the host vehicle. When the in-use state determines that the host vehicle is traveling at the intersection, the brake assist control unit 100 performs brake assist at a second brake timing that is later than the first brake timing.)
1. A brake assist device (10) for a vehicle (500) is provided with:
detection units (21, 21s, 22) for detecting the state of the surroundings of the vehicle (M0); and
and a brake assist control unit (101, P1) that performs brake assist at a first brake timing based on the detected state to brake the host vehicle, wherein when it is determined using the state that the host vehicle is traveling at an intersection, the brake assist control unit performs the brake assist at a second brake timing that is later than the first brake timing.
2. The brake assist apparatus of a vehicle according to claim 1,
when the opposing vehicle (M1, M2) detected by the detection unit is a straight-ahead vehicle (M2), the brake assist control unit performs the brake assist or does not perform the brake assist at the second brake timing.
3. The brake assist apparatus of a vehicle according to claim 1 or 2,
when the detected opposing vehicle is a turning vehicle (M1) that travels crosswise with respect to the own lane, the brake assist control unit executes the brake assist at a third brake timing that is later than the second brake timing.
4. The brake assist apparatus of a vehicle according to claim 3,
when the detected opposing vehicle may be stopped, the brake assist control unit may execute the brake assist or may not execute the brake assist at a fourth brake timing later than the third brake timing.
5. The brake assist apparatus of a vehicle according to claim 1,
the brake assist control unit may execute the brake assist at the second brake timing or a third brake timing later than the second brake timing when the opposed vehicle detected by the detection unit is not likely to stop.
6. The brake assist apparatus of a vehicle according to claim 1 or 5,
the brake assist control unit may execute the brake assist or not execute the brake assist at a fourth brake timing later than the second brake timing when the opposing vehicle detected by the detection unit may be stopped.
7. A brake assist control method of a vehicle, comprising:
detecting a state of the surroundings of the own vehicle; and
when braking assistance is performed at a first braking timing based on the detected state, if it is determined that the host vehicle is traveling at an intersection using the state, the braking assistance is performed at a second braking timing that is later than the first braking timing.
Technical Field
The present invention relates to a brake assist device and a brake assist control method in a vehicle.
Background
A contact avoidance technique for avoiding contact with or collision with an object such as another vehicle or an obstacle present in front of the own vehicle using a detection result from an object detector such as a camera or a radar has been put to practical use. The contact avoidance technique includes a brake assist technique for assisting braking of the vehicle using a detection result, and for example, there are proposed a brake assist technique for stopping the vehicle by recognizing a color of a traffic light or a stop line, and a brake assist technique for stopping the vehicle in order to avoid or reduce contact with or collision with another vehicle opposing the vehicle at an intersection or a right-turn lane of a left-hand traffic country (for example, japanese patent laid-open No. 2009-166764 and japanese patent laid-open No. 2010-280271).
However, the intersection has a higher probability of encountering another vehicle which travels across the lane of travel of the vehicle running straight, i.e., turns, than a road other than the intersection, and the situation is increased in which it is necessary to avoid contact or collision between the vehicle and another vehicle which travels around a turn, or to reduce the influence of the contact or collision. On the other hand, if the frequency of the brake assist increases in consideration of increased contact or collision with another vehicle, the chance of deceleration or stop of the host vehicle accompanying the brake assist increases, and the occupant of the host vehicle feels uncomfortable and the smooth travel of the vehicle at the intersection is hindered.
Therefore, it is desired to improve the accuracy of contact between the host vehicle traveling straight at the intersection and another vehicle and the avoidance of a collision, and to reduce the accuracy of the influence associated with the collision and the contact.
Disclosure of Invention
The present invention can be realized as follows.
A first aspect provides a brake assist apparatus for a vehicle. A vehicle brake assist device according to a first aspect includes: a detection unit configured to detect a state around the host vehicle; and a brake assist control unit that performs brake assist at a first brake timing to brake the host vehicle based on the detected state, wherein when it is determined that the host vehicle is traveling at the intersection using the state, the brake assist control unit performs the brake assist at a second brake timing that is later than the first brake timing.
According to the vehicle braking assistance device of the first aspect, the state around the host vehicle is detected, and when the braking assistance is performed at the first braking timing based on the detected state, and when it is determined that the host vehicle is traveling at the intersection using the state, the braking assistance is performed at the second braking timing that is later than the first braking timing, so that the accuracy of contact between the host vehicle and another vehicle traveling straight at the intersection and the avoidance of a collision can be improved, and the accuracy of reducing the influence associated with the collision and the contact can be reduced.
The second mode provides a brake assist control method in a vehicle. A brake assist control method in a vehicle according to a second aspect includes: detecting a state of the surroundings of the own vehicle; and executing the brake assist at a second brake timing later than the first brake timing when it is determined that the host vehicle is traveling at the intersection using the detected state when the brake assist is executed at the first brake timing based on the detected state.
According to the brake assist control method in a vehicle of the second aspect, the state around the host vehicle is detected, and when brake assist is performed at the first brake timing based on the detected state, when it is determined that the host vehicle is traveling at the intersection in the use state, the brake assist is performed at the second brake timing that is later than the first brake timing, so that the accuracy of avoiding a contact or collision between the host vehicle and another vehicle traveling straight at the intersection can be improved, and the accuracy of reducing the influence associated with the collision or contact can be reduced. The present invention can also be realized as a brake assist control program for a vehicle or a computer-readable recording medium on which the program is recorded.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description with reference to the accompanying drawings.
Fig. 1 is an explanatory diagram showing a vehicle mounted with a brake assist device according to a first embodiment.
Fig. 2 is a block diagram showing a functional configuration of a control device provided in the brake assist device according to the first embodiment.
Fig. 3 is a flowchart showing a process flow of the brake assist control executed by the brake assist device of the first embodiment.
Fig. 4 is an explanatory diagram for explaining a work target area used in the first embodiment.
Fig. 5 is an explanatory view schematically showing a positional relationship between the host vehicle and the opposing vehicle in the intersection in the first embodiment.
Fig. 6 is a flowchart showing a process flow of brake assist control executed by the brake assist device of the second embodiment.
Detailed Description
Hereinafter, a brake assist device in a vehicle and a brake assist control method in a vehicle according to the present invention will be described based on several embodiments.
The first embodiment:
as shown in fig. 1, the
In the
As shown in fig. 2, the
The input/
The
The
The
The
The
The brake assist
The brake assist process executed by the brake assist
The CPU101 acquires the attribute of the object using the detection result input from the detection unit such as the
When the CPU101 determines that the object is not the opposing vehicle (no in step 102), it ends the present processing routine and starts the present processing routine at the next execution timing. The object that is not the opposing vehicle is, for example, a fixed object on a road or on a roadside such as a center separation belt, a guardrail, or a curb. These objects can be determined as not being opposing vehicles based on the relative speed, shape, or size, for example, so as to be easily understood by those skilled in the art.
When the CPU101 determines that the object is an opposing vehicle (yes in step S102), it determines whether or not the opposing vehicles M1 and M2 are present in the operation target area FA in order to perform the brake assist (step S104). As shown in fig. 4, the work target area FA is an area extending in the traveling direction of the host vehicle M0 and in the width direction orthogonal to the traveling direction, and means an area where there is a possibility of an object colliding with or coming into contact with the host vehicle M0. For example, when the traveling direction of the host vehicle M0 is defined as the Y axis and the width direction of the host vehicle M0, that is, the lateral direction is defined as the X axis, the distance in the Y axis direction of the work target area FA is defined by the TTC before the collision with the opposing vehicle, and the distance in the X axis direction of the work target area FA is defined to extend in the lateral direction as the distance from the host vehicle M0, for example. TTC(s) is calculated by TTC being DL/v using the travel distance DL (km) and the own vehicle speed v (km/h), and the distance in the Y-axis direction of the work target area FA is a distance that is variable according to the speed v of the own vehicle M0 by specifying TTC. On the other hand, since it is difficult to predict the movement of the opposing vehicle with high accuracy as the distance in the X-axis direction of the operation target region FA becomes farther from the host vehicle M0, the effectiveness of collision avoidance or contact avoidance is improved by setting the opposing vehicle as the monitoring target or the avoidance target with a margin in the lateral direction as the distance becomes farther from the host vehicle M0. Further, the distance in the lateral direction is balanced between the suppression of the increase of the opposing vehicle to be monitored and the effectiveness of collision avoidance, and the distance in the Y-axis direction from the host vehicle M0 may be a constant distance if it exceeds a predetermined distance. In the example of fig. 4, the opposing vehicle M1 is present in the work area FA, and the opposing vehicle M2 is not present in the work area FA.
An example of a method of determining whether the opposing vehicles M1, M2 are present in the work target area FA will be described. The CPU101 determines whether or not the opposing vehicles M1, M2 are present within the range in the X-axis direction of the work target area FA, using the X-coordinate corresponding to the coordinate of the detection point TP at the center in the width direction of the vehicle front of the opposing vehicles M1, M2 input from the
When the CPU101 determines that the opposing vehicles M1, M2 are not present in the work target area FA (no in step S104), it ends the present processing routine and starts the present processing routine at the next execution timing. When the CPU101 determines that the opposing vehicles M1, M2 are present in the work target area FA (yes in step S104), it acquires the own vehicle position (step S106), and determines whether the own vehicle M0 is present in the intersection (step S108). Specifically, the CPU101 determines whether or not the position of the own vehicle M0 IS within the intersection IS, as shown in fig. 5, using the detection results from the
When determining that the vehicle M0 IS not present at the intersection IS (no in step S108), the CPU101 sets a first threshold T1(S) indicating a first braking timing as the determination threshold Tb of the predicted time to collision TTC (step S110), and proceeds to step S122. The braking timing is a timing at which the braking assistance is started, and the first threshold T1 defines a timing at which the braking assistance is started to reduce damage caused by collision avoidance or contact with an object while the host vehicle M0 is traveling on a road other than an intersection. In the present embodiment, the braking assistance includes a case where the speed of the vehicle M0 is decelerated in addition to a case where the vehicle M0 is completely stopped (speed per hour 0 km/h).
When determining that the host vehicle M0 IS present at the intersection IS (yes in step S108), the CPU101 determines whether the opposing vehicles M1, M2 are straight vehicles (step S112). In the example of fig. 5, the opposing vehicle M1 corresponds to a turning vehicle, and the opposing vehicle M2 corresponds to a straight vehicle. Whether the opposing vehicles M1, M2 are straight-ahead vehicles can be determined by detecting the orientations of the opposing vehicles M1, M2, for example. Specifically, the CPU101 determines the coordinate value of the vehicle front corresponding to the opposing vehicle using the detection point input from the
When the CPU101 determines that the opponent vehicle M2 is the straight-ahead vehicle (yes in step S112), it sets a second threshold T2(S) indicating a second braking timing as the determination threshold Tb (step S114), and proceeds to step S122. The second brake timing is a brake timing later than the first brake timing, that is, the brake start period is a brake timing later in time than the first brake timing. When the vehicle M0 travels within the intersection IS, there IS a possibility that the vehicle approaches the opposing vehicles M1 and M2 as compared with a case of traveling on a road other than the intersection, and since the vehicle speeds of the opposing vehicles M1 and M2 approaching the vehicle M0 tend to be low, the start timing of the braking assistance IS delayed to suppress the execution of the braking assistance, and the uncomfortable feeling given to the occupants can be reduced. The second threshold T2 corresponding to the second brake timing has a relationship of T2 < T1 with respect to the first threshold T1. Instead of setting the second threshold value T2, the brake assist itself may be set not to be executed.
When the CPU101 determines that the opposing vehicle M1 is not the straight-ahead vehicle (no in step S112), it determines that the opposing vehicle M1 is the turning vehicle, and further determines whether or not the opposing vehicle M1 is likely to stop (step S116). If it is determined that the opposing vehicle M1 is not a straight-ahead vehicle, it is determined that the opposing vehicle M1 is a turning vehicle. Further, whether the opposing vehicle is a straight-ahead vehicle or a turning vehicle may be determined using the lateral position of the opposing vehicles M1, M2 with respect to the host vehicle M0. That is, when the lateral distance between the host vehicle M0 and the opposing vehicles M1 and M2 becomes shorter with the elapse of time, it can be determined that the opposing vehicles M1 and M2 are turning vehicles. The term "turning vehicle" means a right-turning vehicle in the case of a left-hand traffic traveling across the forward road of the host vehicle M0, and a left-turning vehicle in the case of a right-hand traffic.
When the CPU101 determines that the opposing vehicle M1 is not likely to stop, that is, the opposing vehicle M1 is simply turning the vehicle (no in step S116), the CPU sets a third threshold T3(S) indicating a third braking timing as the determination threshold Tb (step S118), and proceeds to step S122. Whether or not the opposing vehicle M1 is likely to stop is determined based on, for example, whether or not the relative speed of the opposing vehicle M1 with respect to the host vehicle M0 decreases with the passage of time, that is, whether or not the opposing vehicle M1 decelerates, or whether or not the vehicle speed of the opposing vehicle M1 is 0 km/h. The CPU101 determines that there is a possibility of the opposing vehicle M1 stopping when the relative speed of the opposing vehicle M1 with respect to the host vehicle M0 decreases with the passage of time, and determines that there is a possibility of the opposing vehicle M1 stopping when the vehicle speed of the opposing vehicle M1 is already 0 km/h. The third brake timing is a brake timing later than the second brake timing, that is, the brake start period is a brake timing later in time than the second brake timing. When the host vehicle M0 travels at the intersection IS and the oncoming vehicle M1 IS a turning vehicle, the host vehicle M0 and the oncoming vehicle M1 approach each other with the passage of time, and the vehicle speed of the turning vehicle tends to decrease. The third threshold T3 corresponding to the third brake timing has a relationship of T3 < T2 with the second threshold T2.
When the CPU101 determines that the opposing vehicle M1 is likely to stop, that is, the opposing vehicle M1 is a turning vehicle that has stopped in the intersection for the right turn (yes in step S116), it sets a fourth threshold T4(S) indicating a fourth braking timing as the determination threshold Tb (step S120), and proceeds to step S122. The fourth brake timing is a brake timing later than the third brake timing, that is, the brake start period is a brake timing later in time than the third brake timing. When the opposing vehicle M1 is a turning vehicle that temporarily stops in the intersection, the host vehicle M0 is closest to the opposing vehicle M1, and the turning vehicle stops, so the start timing of the braking assistance is further delayed to suppress the execution of the braking assistance, and the discomfort given to the occupant can be reduced. Between the fourth threshold value T4 corresponding to the fourth brake timing and the third threshold value T3, there is a relationship of T4 < T3. Instead of setting the fourth threshold T4, the brake assist itself may be set not to be executed.
The CPU101 obtains the predicted time to collision TTC of the host vehicle M0 with respect to the opposing vehicles M1, M2, and determines whether the relationship of TTC ≦ Tb holds, that is, whether braking of the host vehicle M0 should be started to avoid contact with or collision with the opposing vehicles M1, M2 (step S122). If the CPU101 determines that the relation TTC ≦ Tb is not satisfied (no in step S122), it ends the present processing routine and starts the present processing routine at the next execution timing.
When the CPU101 determines that the relation of TTC ≦ Tb holds (YES in step S122), it executes the brake assist (step S124) and ends the present processing routine. Specifically, the CPU101 transmits a control signal instructing an increase in the brake fluid pressure to the brake assist
According to the brake assist
Second embodiment:
a brake assist device according to a second embodiment will be described with reference to fig. 6. The brake assist device of the second embodiment has the same configuration and processing as those of the brake assist
The processing routine shown in fig. 6 is executed by the CPU101 to execute the brake assist control program P1, and is repeatedly executed at predetermined time intervals, for example, from the time of starting to the time of stopping the control system of the vehicle or from the time of turning on the start switch to the time of turning off the start switch. The brake assist control routine P1 includes steps S121a to S121c as processing steps instead of steps S112 to S120 in the first embodiment.
The CPU101 executes steps S100 to S108, and if it IS determined in step S108 that the host vehicle M0 IS present at the intersection IS (yes in step S108), determines whether or not the opponent vehicle IS likely to stop (step S121 a). The method of determining whether or not the opponent vehicle is likely to stop is as described in the first embodiment. When the CPU101 determines that there is no possibility of the opposing vehicle stopping (no in step S121a), it sets a second threshold T2(S) indicating a second braking timing as the determination threshold Tb (step S121b), and proceeds to step S122. As already stated, the second threshold T2 has a relationship T2 < T1 with respect to the first threshold T1. By delaying the start timing of the brake assist to suppress the execution of the brake assist, it is possible to reduce the uncomfortable feeling given to the occupant. In addition, instead of the second threshold T2(s), a third threshold T3(s) smaller than the second threshold T2 may be used. When the subject vehicle M0 IS traveling at the intersection IS, the possibility of collision or contact IS low when the opposing vehicle IS a straight-ahead vehicle (M2), and the vehicle speed of the turning vehicle tends to decrease when the opposing vehicle IS a turning vehicle (M1), so by using a threshold value suitable for the turning vehicle, the start timing of the braking assistance can be further delayed, the execution of the braking assistance can be suppressed, and the discomfort given to the occupant can be further reduced.
When it is determined that the opponent vehicle is likely to stop (yes in step S121a), the CPU101 sets a fourth threshold T4(S) indicating a fourth braking timing as the determination threshold Tb (step S121c), and proceeds to step S122. The fourth brake timing is a brake timing later than the second brake timing, and the fourth threshold T4 and the second threshold T2 corresponding to the fourth brake timing have a relationship of T4 < T2. When the opponent vehicle has a possibility of temporarily stopping in the intersection, the opponent vehicle is likely to be the turning vehicle (M1) and is closest to the host vehicle M0, and on the other hand, since the opponent vehicle stops, execution of the braking assistance is suppressed by further delaying the start timing of the braking assistance, and the discomfort given to the occupant can be reduced. Instead of setting the fourth threshold T4, the brake assist itself may be set not to be executed.
According to the brake assist
Modification example:
(1) in the first and second embodiments, the attribute of the object is determined using detection signals or image data from the
(2) In the first and second embodiments, only the braking of the own vehicle M0 via the
(3) In the second embodiment, although it is not determined whether the opposing vehicle is a straight-ahead vehicle or a turning vehicle, it may be determined whether the opposing vehicle is a straight-ahead vehicle or a turning vehicle after it is determined that there is no possibility of the opposing vehicle stopping, and the second threshold T2 may be used when it is determined that the opposing vehicle is a straight-ahead vehicle, and the third threshold T3 may be used when it is determined that the opposing vehicle is a turning vehicle.
(4) In the first and second embodiments, the execution start timing of the brake assist is changed according to the state of the surroundings of the host vehicle, that is, the road environment in which the host vehicle exists and the attribute of the opposing vehicle, but the level of the brake assist, for example, the braking force may be changed. As an example of the change of the braking force, the braking level may be set to be increased as the threshold Tx becomes a small value, and the collision or contact with the opposing vehicle may be sufficiently avoided during the execution of the braking assistance.
(5) In the first and second embodiments, the brake assist control unit is realized by software by the CPU101 executing the brake assist control program P1, but may be realized by hardware by a pre-programmed integrated circuit or a discrete circuit.
The present invention has been described above based on the embodiments and the modified examples, but the above embodiments are for easy understanding of the present invention and do not limit the present invention. The present invention may be modified and improved without departing from the spirit and scope thereof, and the invention includes equivalents thereof. For example, the technical features of the embodiments and the modifications corresponding to the technical features of the respective embodiments described in the section of the summary of the invention may be appropriately replaced or combined in order to solve a part or all of the above-described problems or to achieve a part or all of the above-described effects. Note that, if this technical feature is not described as an essential structure in the present specification, it can be appropriately deleted. For example, taking the brake assist device in the vehicle according to the first aspect as application example 1,
application example 2: the brake assist device for a vehicle according to application example 1, wherein,
the brake assist control unit performs the brake assist or does not perform the brake assist at the second brake timing when the opposing vehicle detected by the detection unit is a straight-ahead vehicle.
Application example 3: the brake assist device for a vehicle according to application example 1 or 2, wherein,
when the detected opposing vehicle is a turning vehicle that travels crosswise to the own lane, the brake assist control unit performs brake assist at a third brake timing that is later than the second brake timing.
Application example 4: the brake assist device for a vehicle according to application example 3, wherein,
when the detected opposing vehicle may be stopped, the brake assist control unit performs the brake assist at a fourth brake timing later than the third brake timing, or does not perform the brake assist.
Application example 5: the brake assist device for a vehicle according to application example 1, wherein,
the brake assist control unit may execute the brake assist at the second brake timing or a third brake timing later than the second brake timing when the opposed vehicle detected by the detection unit is not likely to stop.
Application example 6: the brake assist device for a vehicle according to application example 1 or 5, wherein,
when the opposing vehicle detected by the detection unit may be stopped, the brake assist control unit may execute the brake assist or not execute the brake assist at a fourth brake timing later than the second brake timing.
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