JP2012180055A - Vehicle control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control apparatus that can perform control assuming collision of an own vehicle with an object surrounding the own vehicle, when PCS control operates.SOLUTION: The vehicle control apparatus includes: an object detection means that detects an object surrounding the own vehicle: a right and left turn determination means that determines whether the own vehicle has made right turn or left turn; a collision determination means that determines the possibility of collision of the object detected by the object detection means with the own vehicle; a first control means performing a first control when the collision determination means determines that possibility of collision of the object and the own vehicle is high; and a second control means that performs a second control when the right and left turn determination means has determined that the own vehicle has made right turn or left turn and the collision determination means has determined that the possibility is high on collision of the own vehicle with the object that exists in the place to where the own vehicle has made right turn or left turn.

Description

  The present invention relates to a vehicle control device, and more particularly to a vehicle control device mounted on a vehicle.

  In recent years, an object (such as another vehicle) around the host vehicle is detected as a target, and it is determined whether there is a high possibility of a collision between the host vehicle and the object based on the detection result. Accordingly, a vehicle control device that controls the host vehicle according to the situation has been put into practical use.

  Note that to control a vehicle according to the above judgment result, specifically, a warning is given to the driver by an alarm or the like, or various devices provided in the own vehicle are controlled to operate a brake of the own vehicle. This is a so-called collision damage reduction control or collision avoidance control (hereinafter referred to as PCS (Pre-Clash Safety) control).

  For example, there is a technique disclosed in Patent Document 1 as an example of an apparatus that performs the above control.

JP 2005-138748 A

  The technique disclosed in Patent Document 1 suppresses (does not perform or does not perform) the control described above when an object is detected in front of the host vehicle when the host vehicle turns right and crosses the opposite lane. To make it harder). This prevents the vehicle from decelerating and stopping in the oncoming lane (for example, in an intersection) while the own vehicle is crossing the oncoming lane, so that the vehicle is properly braked when crossing the oncoming lane. It is intended.

  By the way, when it is assumed that the host vehicle turns to the right, the situation described below may occur. For example, suppose a case where a pedestrian is present ahead of the host vehicle across the opposite lane. In this case, it is assumed that the pedestrian is detected by a radar device or the like provided in the own vehicle. When the vehicle control device determines that the possibility of a collision between the pedestrian and the host vehicle is high (the possibility of contact is high), the brake of the host vehicle may be activated.

  This avoids contact with pedestrians, but on the other hand, because the brakes of the host vehicle were activated, it was assumed that the vehicle would follow the same path as the host vehicle (scheduled to turn right) The possibility of a collision with an oncoming vehicle increases.

  Since the technique disclosed in Patent Document 1 suppresses the control when the host vehicle turns right and crosses the opposite lane and detects another vehicle in front of the host vehicle, the above-described control is performed. Can't handle the situation. In other words, even if it is avoided to decelerate or stop in the opposite lane (for example, in an intersection) while the host vehicle is crossing the opposite lane, If it does, the vehicle will stop. That is, for example, when the host vehicle stops within an intersection, control that assumes a collision with a following vehicle or an oncoming vehicle is not performed.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to perform control assuming a collision between the host vehicle and an object around the host vehicle when PCS control is activated. A vehicle control device is provided.

In order to achieve the above object, the present invention employs the following configuration. That is, the first invention is a vehicle control device that is mounted on the host vehicle and performs control in preparation for a collision between the host vehicle and an object.
The vehicle control device includes an object detection unit that detects an object around the host vehicle, a right / left turn determination unit that determines whether the host vehicle has made a right turn or a left turn, an object detected by the object detection unit, and the host vehicle. A collision determination unit that determines the possibility of collision with the vehicle, a first control unit that performs a first control when the collision determination unit determines that there is a high possibility that the object and the host vehicle collide, If the determination means determines that the host vehicle has made a right or left turn, and the collision determination means determines that there is a high possibility that the host vehicle will collide with an object existing ahead of the right or left turn, the second control is performed. Second control means to perform.

  In a second aspect based on the first aspect, the second control performed by the second control means is to control at least one of lights and horns mounted on the host vehicle and It is characterized by urging the vehicle to call attention.

  In a third aspect based on the first aspect, the second control performed by the second control means is a collision damage reduction operation for protecting a passenger of the host vehicle by controlling the equipment of the host vehicle. In addition, the timing at which the second control unit performs the collision damage reduction operation is earlier than the collision damage reduction operation that is performed when the right / left turn determination unit does not determine that the host vehicle has made a right turn or a left turn.

  A fourth invention is characterized in that, in the above-mentioned third invention, the second control means controls the at least one of a seat belt, an airbag, and a seat of the host vehicle to perform a collision damage reducing operation. To do.

  In a fifth aspect based on the first aspect, information indicating the driving operation of the driver of the host vehicle is acquired, and it is determined whether or not the driver has performed a predetermined operation based on the information indicating the driving operation of the driver. When the driver determines that a predetermined operation has been performed, the driver further includes release means for releasing the first control and the second control.

  According to the first aspect of the present invention, if it is determined that the host vehicle has made a right turn or a left turn, and if it is determined that there is a high possibility that the host vehicle will collide with an object existing ahead of the right turn or left turn, Therefore, it is possible to perform control assuming a collision between the host vehicle and an object around the host vehicle. In other words, there are various risks when an object is detected after the host vehicle turns right and left, PCS control is activated, and the host vehicle stops. In such a case, the second control is performed. Can be prepared for collision.

  According to the second aspect, since the presence of the host vehicle can be notified in advance to other vehicles around the host vehicle, even if the host vehicle is stopped by the PCS control, the driver of each other vehicle It is possible to prompt the driver to make a quick brake operation, and to reduce secondary collisions.

  According to the third and fourth inventions described above, when the host vehicle is stopped by PCS control, a collision with an object ahead of the host vehicle is avoided, but a collision with another vehicle around the host vehicle is possible (two The next collision is high. In this case, even if a secondary collision occurs, the damage can be reduced.

  According to the fifth aspect, for example, when the possibility of a secondary collision disappears, the second control can be canceled by the driver's own operation.

The figure for explaining the accident assumed when the own vehicle mv turns right The block diagram which shows an example of a structure of the vehicle control apparatus which concerns on one Embodiment. The flowchart which shows an example of the flow of the process performed in control ECU1 of the vehicle control apparatus which concerns on one Embodiment.

  First, an outline of the vehicle control device according to the present invention will be briefly described. In the following description, it is assumed that the vehicle control device is mounted on a vehicle (hereinafter referred to as own vehicle mv). Furthermore, unless otherwise specified, vehicles other than the host vehicle mv are referred to as other vehicles.

  The vehicle control device detects an object (such as another vehicle) existing around the host vehicle mv using an object detection device (such as an in-vehicle radar device or an in-vehicle camera) mounted on the host vehicle mv. And the said vehicle control apparatus judges the possibility of the collision with the own vehicle mv and an object based on the said detection result, for example, and when it is judged that the possibility of a collision is high, the brake device of the own vehicle mv is set. Control to avoid collisions or reduce the damage caused by collisions by winding up seat belts. The above-described control performed by the vehicle control device is referred to as collision damage reduction control or collision avoidance control, and is referred to as PCS (Pre-Clash Safety) control in the following description.

  By the way, when considering an automobile accident from the behavioral type of the vehicle, the automobile accident often occurs when the vehicle is traveling straight, and then often turns right or left.

  Here, the accident assumed when the own vehicle mv turns right is demonstrated using FIG. FIG. 1 is a diagram for explaining an accident assumed when the host vehicle mv makes a right turn.

  As shown in FIG. 1, it is assumed that the host vehicle mv has advanced from the position A shown in FIG. 1 to the position B in order to turn right (arrow ar1). It is assumed that there is another vehicle ov1 that goes straight in the direction indicated by the arrow ar2 in the opposite lane of the host vehicle mv.

  Further, it is assumed that there is another vehicle ov2 as a subsequent vehicle behind the host vehicle mv, and the other vehicle ov2 takes the same course as the host vehicle mv (arrow ar3). That is, the other vehicle ov2 also turns right like the host vehicle mv.

  Here, as shown in FIG. 1, it is assumed that there is a pedestrian ob crossing the road ahead of the host vehicle mv turning right. And the said pedestrian ob is detected by the object detection apparatus with which the own vehicle mv was equipped, and the vehicle control apparatus judges that the possibility of the collision with the said pedestrian ob and the own vehicle mv is high (it is highly likely to contact). Suppose that you did. In this case, for example, the vehicle control device controls the brake device provided in the host vehicle mv to apply the brake, and the host vehicle mv stops at the position B shown in FIG.

  At this time, the driver of the other vehicle ov1 traveling straight may feel that the host vehicle mv has stopped suddenly, and the brake operation may be delayed. As a result, there is a possibility that the other vehicle ov1 and the host vehicle mv collide, and this can be said to be an example of an accident that occurs when the vehicle turns right and left (the same applies to the other vehicle ov2). Therefore, the vehicle control device according to the present invention provides support for a collision when the host vehicle mv turns right and left and the PCS control is activated.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the modes described in these embodiments merely show specific examples, and do not limit the technical scope of the present invention in any way. Therefore, any configuration can be adopted within a range where the effect of the present application is achieved.

  FIG. 2 is a block diagram illustrating an example of a configuration of the vehicle control device according to the embodiment of the present invention. In the following description, the vehicle control device will be described as being mounted on a vehicle (hereinafter referred to as own vehicle mv). In the following description, vehicles other than the host vehicle mv are referred to as other vehicles unless otherwise specified.

  In FIG. 2, the vehicle control device includes a control ECU (Electrical Control Unit) 1. Connected to the control ECU 1 are an object detection device 2, a vehicle information acquisition device 3, a brake ECU (Electrical Control Unit) 4, a display device 5, a sound output device 6, a vehicle interior device 7, and the like.

  The object detection device 2 is typically a radar device, and more specifically a millimeter wave radar device, a laser radar device, or the like. When the object detection device 2 is a radar device, the object detection device 2 is installed at the front part or the side part of the host vehicle mv, and emits electromagnetic waves toward the front outer side or the side outer side of the host vehicle mv. Irradiate and monitor the surroundings of the host vehicle mv.

  The object detection device 2 (radar device) may be installed at the rear part of the host vehicle mv, irradiate electromagnetic waves toward the rear outside of the host vehicle mv, and monitor the rear of the host vehicle mv.

  Specifically, for example, when the object detection device 2 is a radar device, an electromagnetic wave is emitted toward the outside of the host vehicle mv, and an object (specifically, another vehicle that exists within the detection range of the radar device). And pedestrians and motorcycles including bicycles). For example, the radar apparatus detects an object present around the host vehicle mv and outputs a signal indicating that the object has been detected to the control ECU 1.

  Note that the object detection device 2 may be a camera (whether monocular or stereo), and specifically includes a CCD camera, a CMOS camera, an infrared camera, and the like. In addition, when the object detection apparatus 2 is a camera, the object detection apparatus 2 is installed at the front part or the side part of the host vehicle mv, and for example, images the front or side of the host vehicle mv at predetermined time intervals. The captured image is output to the control ECU 1.

  Further, the object detection device 2 (camera) may be installed at the rear part of the host vehicle mv, for example, to capture the rear of the host vehicle mv at a predetermined time interval and output the captured image to the control ECU 1.

  The said vehicle information acquisition apparatus 3 acquires the information regarding driving | running | working of the own vehicle mv. As an example of the vehicle information acquisition device 3, for example, a vehicle speed detection device that detects a vehicle speed when the host vehicle mv is traveling, or a steering rod of the steering handle of the host vehicle mv is attached to the steering handle. Examples thereof include a steering torque detection device that detects the steering torque and a steering angle detection device that detects the steering angle.

  The vehicle information acquisition device 3 also acquires information indicating that the driver of the host vehicle mv has pressed the brake pedal, information indicating that the accelerator pedal has been pressed, and the like.

  Further, when the host vehicle mv has a switch for performing the PCS control, the vehicle information acquisition device 3 acquires information indicating that the switch is pressed (information indicating ON / OFF). May be.

  The brake ECU 4 controls the hydraulic pressure, air pressure, and the like in the master cylinder and the disc brake of the host vehicle mv, and activates the brake according to an instruction from the control ECU 1, for example, without a driver's brake operation.

  The display device 5 includes a liquid crystal display, a light emitting diode (LED), an organic EL display, and the like provided at a position (such as an instrument panel in front of the driver's seat) that is visible to the driver seated in the driver's seat of the host vehicle mv. It is a display medium. The display device 5 is provided with a half mirror (reflection glass) on a part of the windshield in front of the driver's seat, and a head-up display that displays a virtual image of information or the like on the half mirror. Other display devices may be used. Accordingly, the driver of the host vehicle mv can check the information displayed on the display device 5 while sitting in the driver's seat and facing the front (traveling direction).

  In addition, the display device 5 in the vehicle control device according to the present embodiment is not only a device that can display to the driver in accordance with an instruction from the control ECU 1, for example, the vehicle mv of another vehicle. It also includes a device that can announce its existence.

  Here, as a device that can notify the other vehicle of the existence of the host vehicle mv, for example, a red light marker lamp (so-called tail lamp) mounted on the rear part of the host vehicle mv, or a blinking display of a change in traveling direction In order to do this, there can be mentioned signal lights (so-called blinkers), headlights and the like mounted on the front and rear of the host vehicle mv.

  The device that can notify the other vehicle of the presence of the host vehicle mv is not limited to the device described above. That is, the display device is not particularly limited to the tail lamp or the winker as long as it is a display device for indicating the existence of the host vehicle mv to another vehicle.

  The voice output device 6 provides various information to the driver of the host vehicle mv by voice. Specifically, the audio output device 6 notifies the driver of warnings and information corresponding to instructions from the control ECU 1. The audio output device 6 is specifically a speaker or the like provided in the host vehicle mv.

  In addition, the audio output device 6 in the vehicle control device according to the present embodiment is not only a device that notifies the driver of a warning according to an instruction from the control ECU 1, but also notifies an alarm or the like to the outside, for example, the vehicle mv Including horn (so-called horn, horn).

  Specifically, the vehicle interior device 7 includes a device for driving a seat belt of the host vehicle mv, a device for driving a seat (driver seat, front passenger seat, rear seat, etc.), air bag (front , Knees, curtain shields, etc.). And according to the instructions of the control ECU 1, these devices increase the restraint of the occupant of the host vehicle mv by driving the seat or winding up the seat belt, or canceling the safing of the airbag, Reduce collision damage. In addition, it is an example of these apparatuses, Comprising: If it is an apparatus which reduces the damage of the passenger | crew of the own vehicle mv when it collides, it will not be restricted to this.

  Next, an example of the flow of processing performed in the control ECU 1 of the vehicle control device according to the embodiment of the present invention will be described with reference to FIG.

  FIG. 3 is a flowchart illustrating an example of a flow of processing performed in the control ECU 1 of the vehicle control device according to the embodiment of the present invention.

  The flowchart shown in FIG. 3 is performed, for example, when the control ECU 1 executes a predetermined program stored in a storage unit (not shown) provided in the control ECU 1. 3 is started when the power source of the control ECU 1 is turned on (for example, the start / stop switch of the host vehicle mv is turned on).

  First, in step S11 of FIG. 3, the control ECU 1 determines whether or not the switch (SW) is ON. If it is determined that the SW is ON (YES), the process proceeds to the next step S12. On the other hand, when the control ECU 1 determines that the SW is not ON, that is, the SW is OFF (NO), the control ECU 1 ends the processing in the flowchart.

  In step S <b> 12, the control ECU 1 acquires vehicle information of the host vehicle mv from the vehicle information acquisition device 3. Note that the vehicle information acquired by the control ECU 1 from the vehicle information acquisition device 3 in step S12 is, for example, information indicating whether or not a switch for performing the PCS control is pressed by the driver. . And control ECU1 advances a process to the following step S13.

  In step S13, the control ECU 1 determines whether or not to enter the PCS control mode. If the determination in step S13 is affirmative (YES), the control ECU 1 proceeds to the next step S14. If the determination is negative (NO), the control ECU 1 returns the process to step S12. That is, when the control ECU 1 affirms the determination in step S13, the PCS control is started.

  The start of PCS control here refers to the case where another vehicle or pedestrian in front of the host vehicle mv is detected and the host vehicle mv is likely to collide with the other vehicle or the like. This means that the PCS control can be performed.

  Proceeding to the process of step S14, the control ECU 1 determines whether or not an object has been detected in the right / left turn direction of the host vehicle mv.

  First, as “condition 1”, the control ECU 1 determines whether or not the host vehicle mv turns right or left. For example, the control ECU 1 is based on information from the vehicle information acquisition device 3, that is, information indicating the steering angle of the host vehicle mv detected by the steering angle detection device and output from the steering angle detection device. mv determines whether or not a right or left turn is made. For example, the control ECU 1 may determine whether or not the time during which the steering angle of the host vehicle mv exceeds a predetermined value continues for a predetermined time.

  Further, when a car navigation system (a so-called car navigation system) is mounted on the host vehicle mv, it may be determined whether the host vehicle mv has made a right or left turn based on information from the car navigation system.

  Next, as “condition 2”, the control ECU 1 determines whether an object has been detected. For example, when the object detection device 2 mounted on the host vehicle mv is a radar device, the control ECU 1 acquires a signal output from the radar device. If the radar apparatus does not detect an object in front of the host vehicle mv, the radar apparatus outputs a signal indicating that the target is 0 (no target) to the control ECU 1. In other words, when the control ECU 1 acquires information indicating that an object has been detected from the radar apparatus, the control ECU 1 determines that the object has been detected.

  Note that although the case where the object detection device 2 mounted on the host vehicle mv is a radar device has been described as an example of the determination of the “condition 2”, the object detection device 2 may be a camera. For example, when the object detection device 2 mounted on the host vehicle mv is a camera, the control ECU 1 may determine whether an object is detected based on an image obtained from the camera. Hereinafter, a case where the control ECU 1 detects an object from an image ahead of the host vehicle mv obtained from the camera 2 will be described.

  As an example, the control ECU 1 performs a Sobel filter process in a predetermined direction of an image obtained from a camera, and performs a process of extracting an edge point from the Sobel image using a luminance difference in the Sobel image after the process. Do. Then, the control ECU 1 uses the edge point extracted from the Sobel image and uses the difference in luminance in the Sobel image to emphasize an edge image (monochrome white with each point in the image as a luminance value). Edge image). Thereafter, the control ECU 1 performs pattern matching processing on the image from which the edge line is extracted using template images of image patterns of various objects stored in a storage unit (not shown), and whether or not the object exists. That is, it is determined whether or not an object has been detected.

  At this time, the control ECU 1 detects the object by performing pattern matching processing on the image from which the edge line is extracted, using template images of image patterns of various objects stored in a storage unit (not shown). The type of the detected object (other vehicle, pedestrian, bicycle, motorcycle, etc.) may be specified.

  When the above-described “condition 1” and “condition 2” are satisfied, that is, when the control ECU 1 determines that the vehicle mv turns right and left and detects an object in the right and left turn, the determination in step S14 is It is affirmed (YES).

  In the scene shown in FIG. 1, the host vehicle mv advances from the position A shown in FIG. 1 to the position B in order to make a right turn, and an object (in the example of FIG. Who ob) exists. Therefore, in the scene shown in FIG. 1, the determination in step S14 is affirmed (YES).

  On the other hand, if the control ECU 1 determines in step S14 that the “condition 1” and “condition 2” described above are not satisfied, the determination in step S14 is negative (NO).

  Proceeding to step S15, the control ECU 1 determines whether or not there is a possibility of a collision. For example, in the scene shown in FIG. 1, the control ECU 1 determines whether or not the host vehicle mv and the pedestrian ob are likely to contact each other.

  In the determination in step S15, for example, when the object detection device 2 mounted on the host vehicle mv is a radar device, a pedestrian with respect to the host vehicle mv is obtained using a signal acquired from the radar device. Information on the relative distance and relative speed of ob is calculated. Specifically, the control ECU 1 uses the sum and difference between the electromagnetic wave irradiated by the radar device and the received reflected wave, transmission / reception timing, and the like to obtain information on the relative distance and relative speed of the pedestrian ob with respect to the host vehicle mv. calculate.

  In the determination in step S15, for example, when the object detection device 2 mounted on the host vehicle mv is a camera, the front image of the host vehicle mv captured by the camera is used for the host vehicle mv. Information such as the relative distance and relative speed of the pedestrian ob may be calculated. Specifically, in the scene shown in FIG. 1, a pedestrian ob is detected from an image in front of the host vehicle mv captured by the camera, the front of the host vehicle mv is captured at predetermined time intervals, and the plurality of captured images are captured. Information such as the relative distance and relative speed of the pedestrian ob with respect to the host vehicle mv may be calculated from the image and the traveling speed of the host vehicle mv.

  The control ECU 1 determines whether there is a possibility that the host vehicle mv and the pedestrian ob are in contact with each other based on information such as the relative distance and the relative speed calculated by the method described above.

  In determining whether or not there is a possibility that the host vehicle mv and the pedestrian ob are in contact, the control ECU 1 determines from the trajectory of the host vehicle mv estimated from the speed and the steering angle of the host vehicle mv. It may be determined whether or not the host vehicle mv and the pedestrian ob are likely to contact each other.

  Further, in the determination of step S15, the control ECU 1 determines, based on information output from the object detection device 2, other vehicles around the host vehicle mv (the other vehicle ov1 in the example of FIG. 1). Alternatively, the relative distance and relative speed information of the other vehicle ov2) may be calculated.

  Further, as an example of the object detection device 2, the radar device and the camera have been described as examples. However, in the above-described processing of Step S <b> 14 and Step S <b> 15, the processing may be performed using the radar device or the camera. Processing may be performed in combination with a camera.

  In step S15, when the control ECU 1 determines that there is a possibility that the host vehicle mv and the pedestrian ob are in contact (YES), the process proceeds to the next step S16. On the other hand, if the control ECU 1 determines that there is no possibility of contact between the host vehicle mv and the pedestrian ob (NO), the process returns to step S12.

  In step S16, the control ECU 1 starts PCS control. Hereinafter, PCS control performed by the vehicle control device according to the embodiment of the present invention will be described.

  As described above, the process proceeds to step S16 because, in step S15, the control ECU 1 determines that the host vehicle mv and the pedestrian ob may collide (possibly contact). Is the case.

  Here, referring to FIG. 1 again, it is assumed that the host vehicle mv travels from the position A shown in FIG. 1 to the position B in order to turn right (arrow ar1). And it is a case where it is judged by control ECU1 that the own vehicle mv and the pedestrian ob may contact. In other words, the driver of the host vehicle mv is supposed to make a right turn after confirming the presence of a pedestrian or the like that has made a right turn. The case where it did not exist etc. can be considered.

  In this case, for example, the control ECU 1 instructs the brake ECU 4 to control the brake device to stop the host vehicle mv or to control the audio output device 6 (specifically, a speaker provided in the host vehicle mv). Inform the driver of the vehicle mv of the danger. In this description, such PCS control is referred to as general PCS control for convenience.

  In step S14, if the detected object type (other vehicle, pedestrian, bicycle, motorcycle, etc.) is specified, the control ECU 1 determines what type of object when notifying the driver of the danger. Information indicating whether there is a risk of collision with the object may be displayed or voiced or information may be reported to the driver by controlling the display device 5 or the voice output device 6.

  And about the PCS control which the vehicle control apparatus which concerns on one Embodiment of this invention performs, in addition to the said general PCS control, the following control is further performed.

(I) Notification to other surrounding vehicles The control ECU 1 notifies the surrounding other vehicles together with the general PCS control. Specifically, the control ECU 1 controls the display device 5 to blink and turn on the winker, tail lamp, headlight, and the like of the host vehicle mv, and controls the audio output device 6 to sound a horn. That is, when the scene shown in FIG. 1 is described as an example, the presence of the host vehicle mv is notified in advance to the other vehicle ov1 and the other vehicle ov2, so that the driver of each other vehicle is directed to the host vehicle mv. . As a result, even if the host vehicle mv is stopped by the PCS control, the driver of each other vehicle can prompt the driver to make a quick brake operation while paying attention to the host vehicle mv.

  In addition, although illustration in the block diagram of FIG. 2 is omitted, when a device capable of performing so-called inter-vehicle communication is mounted on the own vehicle mv, the other vehicle ov1, and the other vehicle ov2, respectively, The host vehicle mv may notify the vehicle ov1 and the other vehicle ov2 of information that the host vehicle mv may contact the pedestrian ob ahead and may stop.

(II) Change of various operation thresholds Control ECU1 changes the operation threshold value of the vehicle interior apparatus 7 specifically with the said general PCS control. Specifically, the control ECU 1 changes the operation threshold value of the airbag to an operation threshold value that is easier to operate. For example, the place where the airbag is activated when the acceleration detected by the sensor is 50 m / ss or more is changed to 30 m / ss as an example.

  Further, when the airbag activation threshold is set based on the deformation amount of the host vehicle mv and the pressure (for example, measurement by a strain gauge) to the host vehicle mv, the value is changed to a value that makes the airbag easier to operate. Further, when the airbag activation threshold is set based on TTC (Time To Collision), for example, when the TTC falls below 0.2 sec, the location where the airbag operates is changed to 0.5 sec.

  Note that the TTC is, for example, a collision prediction time between the host vehicle mv and the other vehicle ov2 as described in the example of FIG. Further, in the calculation of the TTC, when the relative speed and the relative distance are calculated in step S15, the TTC can be calculated from the relative speed and the relative distance.

  In addition, the operating threshold for reducing collision damage is set based on TTC (Time To Collision) by increasing the restraint of the occupant of the host vehicle mv by driving the seat or winding the seat belt. If so, the control ECU 1 changes these operation threshold values to larger values. That is, for example, when the operation threshold is set to perform the operation to reduce the damage of the collision when the TTC is less than 2 sec, the operation threshold is set to 3 sec.

  That is, the operating threshold value of the device that reduces the damage to the occupant of the host vehicle mv in the event of a collision is changed to a threshold value that is easier to operate.

  That is, even if the host vehicle mv is stopped by the PCS control, the driver of each other vehicle can urge the driver to pay attention early to the host vehicle mv according to (I). In other words, in the example of FIG. 1, even if the host vehicle mv is stopped by the PCS control and contact with the pedestrian ob can be avoided, the driver of the other vehicle ov1 or the other vehicle ov2 There is a possibility that the other vehicle ov1 or the other vehicle ov2 and the host vehicle mv may collide with each other, after feeling that the vehicle has just stopped suddenly. Therefore, by notifying each other vehicle according to the above (I), it is possible to prompt the driver of each other vehicle to pay attention to the own vehicle mv and to make an early brake operation.

  In the example of FIG. 1, after the host vehicle mv is stopped by the PCS control and contact with the pedestrian ob is avoided, the driver of the host vehicle mv can change the distance from the pedestrian ob, for example, by his / her driving operation. It is desirable to pass the intersection safely by placing However, there may be a case where it is difficult to safely pass through the intersection with a distance from the pedestrian ob, such as a narrow road ahead of the right turn.

  In other words, for example, when the host vehicle mv is stopped by the PCS control at the intersection as shown in FIG. 1, contact with the pedestrian ob is avoided, but the other vehicle ov1 or the other vehicle ov2 and the host vehicle mv The chance of a collision is high.

  In other words, in preparation for a secondary collision (a collision between the vehicle ov1 or another vehicle ov2 and the host vehicle mv), even if a secondary collision occurs by changing the operating threshold as described in (II) above, Damage can be reduced.

  Returning to the description of the flowchart of FIG. 2, in step S <b> 17, the control ECU 1 determines whether or not to cancel the PCS control executed in step S <b> 16. Specifically, in step S <b> 17, the control ECU 1, for example, information indicating that the driver of the host vehicle mv has depressed the brake pedal or information indicating that the accelerator pedal has been depressed from the vehicle information acquisition device 3. When the brake pedal or accelerator pedal is depressed, PCS control is released.

  That is, for example, when the driver steps on the accelerator pedal, in the example of FIG. 1, it is expected that the driver has safely passed the intersection at a distance from the pedestrian ob. Then, it is determined that the possibility of the secondary collision described above is low, and the control ECU 1 affirms the determination in step S17 (YES), and cancels the PCS control in step S19.

  On the other hand, even when the determination in step S17 is negative (NO), the control ECU 1 determines whether or not a predetermined time has elapsed since the execution of the PCS control. Then, when a predetermined time (for example, 5 seconds) has elapsed since the execution of the PCS control, the control ECU 1 determines that the possibility of the secondary collision described above has decreased, and affirms the determination in step S18 (YES) In step S19, the PCS control is canceled.

  In step S19, the control ECU 1 cancels the PCS control and returns the operation threshold value changed in (II) to the original value.

  In step S110, the control ECU 1 determines whether the SW of the host vehicle is turned off. If the control ECU 1 determines that the SW is OFF (YES), the process in the flowchart ends. On the other hand, if the control ECU 1 determines that the SW of the host vehicle is not turned off (NO), the process returns to step S12.

  In the above description, the accident assumed when the host vehicle mv makes a right turn has been described (see FIG. 1). However, it can be applied to an accident assumed when the host vehicle mv makes a left turn with the same concept. is there. Furthermore, in FIG. 1, the driving road surface of the country where the vehicle is on the left side (for example, within Japan) is shown. Needless to say, it can also be applied on the road surface.

  INDUSTRIAL APPLICABILITY The vehicle control device according to the present invention is useful as a vehicle control device mounted on a vehicle that can perform control assuming a collision between the host vehicle and a vehicle around the host vehicle when PCS control is activated. It is.

1 ... Control ECU
2 ... Object detection device 3 ... Vehicle information acquisition device 4 ... Brake ECU
5 ... Display device 6 ... Audio output device 7 ... Vehicle interior device

Claims (5)

A vehicle control device that is mounted on the host vehicle and performs control in preparation for a collision between the host vehicle and an object,
Object detection means for detecting objects around the vehicle;
A right / left turn determination means for determining whether the vehicle has made a right turn or a left turn;
Collision determination means for determining the possibility of collision between the object detected by the object detection means and the host vehicle;
First control means for performing first control when the collision determination means determines that the object and the host vehicle are highly likely to collide,
When it is determined by the right / left turn determination means that the host vehicle has made a right turn or left turn, and when the collision determination means has determined that there is a high possibility that the host vehicle will collide with an object existing ahead of the right turn or left turn. Is a vehicle control device comprising second control means for performing second control.   The second control performed by the second control means controls at least one of lights and horns mounted on the host vehicle to urge other vehicles around the host vehicle to call attention. The vehicle control device according to claim 1. The second control performed by the second control means is a collision damage reduction operation for protecting passengers of the host vehicle performed by controlling equipment of the host vehicle,
The timing at which the second control means performs the collision damage reduction operation is earlier than the collision damage reduction operation that is performed when the host vehicle does not determine that the host vehicle has made a right turn or a left turn. The vehicle control device according to claim 1.   4. The vehicle control according to claim 3, wherein the second control unit performs the collision damage reduction operation by controlling at least one of a seat belt, an airbag, and a seat of the host vehicle. 5. apparatus.   Information indicating the driving operation of the driver of the host vehicle is acquired, and based on the information indicating the driving operation of the driver, the driver determines whether or not a predetermined operation has been performed, and the driver performs the predetermined operation. The vehicle control device according to claim 1, further comprising release means for canceling the first control and the second control when it is determined that the first control and the second control are canceled.

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