JP2021064093A - Control unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device capable of suppressing unnecessary operation of a safety device due to an error in a moving course of a moving object. SOLUTION: The control device is applied to a vehicle provided with an image pickup device and a safety device, and operates the safety device based on detection information of a moving object around the own vehicle by an image captured by the image pickup device, and is a moving object. As the detection information of the The control unit includes a control unit, and when the moving course of a moving object intersects with the side surface portion of the own vehicle during traveling of the own vehicle, the intersection is the side portion of the own vehicle among the side portions of the own vehicle. If it is in the rear region that is the rear side in the traveling direction, the operation of the safety device is restricted more than when the intersection is in the front region on the front side in the traveling direction rather than the rear region in the side surface portion of the own vehicle. [Selection diagram] Fig. 2

Description

The present invention relates to a control device.

Conventionally, there is known a device that detects an object around the own vehicle and predicts a collision between the detected object and the own vehicle (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 an object around the own vehicle based on the image captured by the image pickup device mounted on the own vehicle. For example, when the object is a moving object, the position of the moving object. It is possible to calculate the movement course of a moving object from the coordinates. However, when acquiring the moving course of a moving object based on the image captured by the imaging device, an error may occur in the position coordinates of the moving object, and the error causes an error in the moving course of the moving object. It is possible that it will occur.

If there is an error in the movement course of a moving object, there is a concern that the operation of the safety device may be adversely affected. That is, when a moving object moves toward the side surface of the own vehicle while the own vehicle is traveling, the movement path of the moving object and the side surface of the own vehicle intersect with each other. A safety device is activated to avoid collision of moving objects with the side surfaces. However, if the movement course of the moving object is calculated incorrectly, there is a concern that the safety device may be operated unnecessarily.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control device capable of suppressing unnecessary operation of a safety device due to an error in the movement path of a moving 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 by the above, and as the detection information of the moving object, the moving course of the moving object calculated by the image captured by the imaging device is used. The acquisition path acquisition unit includes a control unit that operates the safety device when the movement path of the moving object intersects with the side surface portion of the own vehicle, and the control unit is provided when the own vehicle is traveling. When the moving course of the moving object intersects with the side surface portion of the own vehicle, if the intersection is in the rear region of the side surface portion of the own vehicle which is the rear side in the traveling direction of the own vehicle, the intersection point is. , The operation of the safety device is restricted as compared with the case where the side surface portion of the own vehicle is in the front side region on the front side in the traveling direction with respect to the rear side region.

When a moving object around the own vehicle is detected based on the image captured by the image pickup device, an error may occur in the position coordinates of the moving object, and the error causes an error in the moving course of the moving object. It is possible that it will occur. If there is an error in the movement course of a moving object, there is a concern that the operation of the safety device may be adversely affected. That is, when a moving object moves toward the side surface of the own vehicle while the own vehicle is traveling, the movement path of the moving object and the side surface of the own vehicle intersect with each other. A safety device is activated to avoid collision of moving objects with the side surfaces. However, if the movement course of the moving object is calculated incorrectly, it is conceivable that the safety device will be operated unnecessarily.

In this respect, in the above configuration, when the side surface portion of the own vehicle intersects with the moving course of the moving object when the own vehicle is traveling, the intersection is the rear side of the side surface portion of the own vehicle in the traveling direction of the own vehicle. If it is in the rear region, the operation of the safety device is restricted as compared with the case where the intersection is in the front region on the front side in the traveling direction of the side surface portion of the own vehicle. In this case, even if the moving object moves toward the rear end in the traveling direction of the own vehicle, the own vehicle may pass through without colliding with the moving object. Since the operation limiting area of the safety device is defined in the rear area on the rear side in the traveling direction on the side surface portion of the own vehicle, unnecessary operation of the safety device due to the coordinate error of the moving object can be suppressed. As a result, the driving support of the own vehicle can be properly provided.

Further, another means for solving the above-mentioned problems is applied to a vehicle provided with an imaging device for imaging the surroundings of the own vehicle and a safety device for avoiding a collision between the own vehicle and an object or reducing collision damage, and the imaging is performed. It is a control device that operates the safety device based on the detection information of the moving object around the own vehicle by the captured image of the device, and the moving object calculated from the captured image of the imaging device as the detection information of the moving object. A course acquisition unit for acquiring a moving course of the vehicle and a control unit for operating the safety device when the moving course of a moving object intersects with a side surface portion of the own vehicle, and the control unit includes the own vehicle. When traveling, the moving object is said to use only the front region of the front region on the side surface of the vehicle, which is the front side of the vehicle in the traveling direction, and the rear region on the rear side of the traveling direction of the front region. It is determined whether or not the movement path and the side surface portion of the own vehicle intersect, and when it is determined that they intersect, the operation of the safety device is permitted.

In the above configuration, when the own vehicle is traveling, whether or not the movement path of the moving object intersects with the side surface portion of the own vehicle by using only the front side region of the front side region and the rear side region on the side surface portion of the own vehicle. It is judged whether or not, and the operation of the safety device is permitted. In the side surface of the own vehicle, a non-judgment area that does not judge the operation of the safety device is defined in the rear area on the rear side in the traveling direction, so that unnecessary operation of the safety device due to the coordinate error of the moving object is suppressed. can do. As a result, the driving support of the own vehicle can be properly provided.

Overall configuration diagram of the driving support device. A flowchart showing the procedure of operation restriction processing. The figure which shows the front side area and the rear side area when the own vehicle is traveling forward. The figure which shows the front side area and the rear side area when the own vehicle is traveling backward. A graph showing the relationship between the distance from the own vehicle to a moving object and the area length of the rear area. A graph showing the relationship between the relative velocity of a moving object and the region length of the rear region.

(Embodiment)
Hereinafter, an embodiment in which the control device according to the present invention 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, a radar device that uses a high-frequency signal (ultrasonic wave) 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.

The ECUs 21 and 22 are control devices including 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 relative position of each object captured in the captured image of the camera 11 with respect to the own vehicle. Further, the image processing ECU 21 calculates the moving speed of each object based on this relative position. 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.

Then, the image processing ECU 21 calculates the movement course of the moving object based on the relative position and the relative speed. That is, the image processing ECU 21 calculates the movement course of the moving object based on the image captured by the camera 11. 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, relative speed, and movement course 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.

A yaw rate sensor 13, a steering angle sensor 14, and a 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 estimating the moving course of a moving object based on the image captured by the camera 11, an error may occur in the relative position of the moving object, and the error may cause an error in the moving course of the moving object. Can be considered. In particular, when the camera 11 is a monocular camera, the calculation accuracy of the relative position in the depth direction of the captured image is lower than the relative position of the captured image in the in-screen direction, and it is considered that an error occurs in the relative position of the moving object. Be done.

If there is an error in the movement course of the moving object, there is a concern that the operation of the safety device 30 may be adversely affected. That is, when a moving object moves toward the side surface MS of the own vehicle while the own vehicle is traveling, the movement path of the moving object and the side surface MS of the own vehicle intersect with each other. The safety device 30 is operated to avoid a collision of a moving object with the side MS of the vehicle. However, if the movement course of the moving object is calculated incorrectly, there is a concern that the safety device 30 may be operated unnecessarily.

Therefore, in the present embodiment, the operation restriction process is performed when the own vehicle is traveling. In the operation restriction process, when the side MS of the own vehicle and the moving course of the moving object intersect, if the intersection is in the front region MSF of the side MS of the own vehicle, which is the front side in the traveling direction of the own vehicle. , Allow the operation of the safety device 30. Further, if the intersection is in the rear region MSR on the rear side of the front region MSF of the side surface MS of the own vehicle, the operation of the safety device 30 is not permitted.

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, it is determined whether or not there is a moving object around 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 S10, the operation restriction process ends.

If an affirmative determination is made in step S10, the moving course of the moving object is acquired as the detection information of the moving object in step S12. For example, since the moving object moves backward in the traveling direction of the own vehicle as the own vehicle travels, it is preferable to acquire the moving course of the moving object moving backward in the traveling direction of the own vehicle in step S10. In this embodiment, the process of step S12 corresponds to the "course acquisition unit".

In the following step S14, 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 S14 corresponds to the "travel determination unit".

When the own vehicle is traveling forward, an affirmative determination is made in step S14, and in step S16, the front region MSF is set from the front end of the own vehicle CS. Here, the front side region MSF means a region of the side surface portion MS of the own vehicle that is on the front side in the traveling direction of the own vehicle. The side surface portion MS of the own vehicle is divided into a front side region MSF and a rear side region MSR on the rear side in the traveling direction with respect to the front side region MSF, and in step S16, both the front side region MSF and the rear side region MSR are set. .. The same applies to step S18.

When the own vehicle is traveling backward, a negative determination is made in step S14, and in step S18, the front region MSF is set from the rear end of the own vehicle CS. The front region MSF and the rear region MSR to be set will be described later with reference to FIGS. 3 and 4. In the present embodiment, the processes of steps S16 and S18 correspond to the "setting unit".

In the following step S20, it is determined whether or not there is an intersection between the moving course of the moving object acquired in step S12 and the front region MSF set in steps S16 and S18. The vehicle ECU 22 has acquired the relative position of the front region MSF with respect to the position of the camera 11 in advance, and determines whether or not an intersection exists based on the relative position of the front region MSF and the movement path of the moving object. .. If a plurality of moving objects are detected in step S10, a determination is performed for each moving object.

If an affirmative determination is made in step S20, the moving object is set as the operation target of the safety device 30 in step S22, and the operation restriction process ends. That is, in the process of step S22, when the moving course of the moving object and the side surface portion MS of the own vehicle intersect during the traveling of the own vehicle, the intersection is the progress of the own vehicle among the side portion MS of the own vehicle. If it is in the front area MSF on the front side in the direction, the operation of the safety device 30 is permitted. 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. That is, the safety device 30 is activated when the moving course of the moving object and the side surface portion MS of the own vehicle intersect.

If a negative determination is made in step S20, is the distance L between the own vehicle and the moving object calculated based on the relative position of the moving object included in the moving object detection information larger than the predetermined value Lth in step S24? Judge whether or not. If a negative determination is made in step S24, the process proceeds to step S22.

If an affirmative determination is made in step S24, it is determined in step S26 whether or not the relative velocity V of the moving object included in the detection information of the moving object is larger than the predetermined value Vth. If a negative determination is made in step S26, the process proceeds to step S22.

If an affirmative determination is made in step S26, the moving object is set outside the operation target of the safety device 30 in step S28, and the operation restriction process is terminated. When affirmative determination is made in step S26, the intersection is when the moving course of the moving object and the side surface MS of the own vehicle do not intersect, and when the moving course of the moving object and the side surface MS of the own vehicle intersect. Is included in the rear region MSR of the side surface MS of the own vehicle, which is on the rear side in the traveling direction of the own vehicle. Therefore, in the process of step S28, when the moving course of the moving object and the side surface portion MS of the own vehicle intersect during the traveling of the own vehicle, the intersection is the progress of the own vehicle among the side surface portion MS of the own vehicle. If it is in the rear region MSR on the rear side in the direction, it can be said that the operation of the safety device 30 is not permitted.

In the process of step S28, when it is determined in step S22 that the distance L is larger than the predetermined value Lth, and in step S24, it is determined that the relative velocity V of the moving object is larger than the predetermined value Vth. Will be implemented. Therefore, in the process of step S28, on the condition that the distance L is larger than the predetermined value Lth and the relative speed V of the moving object is larger than the predetermined value Vth, the moving course of the moving object and the side surface portion of the own vehicle It can be said that the operation of the safety device 30 is not permitted when the intersection with the MS is in the rear region MSR. In this embodiment, the processes of steps S20 to S28 correspond to the "control unit".

Subsequently, the operation limiting process will be described more specifically with reference to FIGS. 3 and 4. FIG. 3 shows a front region MSF and a rear region MSR that are set when the own vehicle CS is traveling forward. In this case, the moving object DS around the own vehicle CS moves to the rear (rear of the own vehicle) in the traveling direction of the own vehicle CS as the own vehicle CS moves forward.

FIG. 3 shows the movement paths W1 and W2 of the moving object DS. Further, these moving paths W1 and W2 include an error caused by a detection error of the moving object DS, and the error is shown as ΔW. Of the side surface MSs of the own vehicle CS, the region of a predetermined length from the rear end PR of the own vehicle CS, which is the rear end of the own vehicle CS in the traveling direction, is the rear region MSR, which is from the rear region MSR. The region on the front side in the traveling direction is the front side region MSF.

When the moving object DS moves along the moving course W1, the moving course W1 intersects the own vehicle CS in the front region MSF. In this case, the operation of the safety device 30 is permitted. That is, when the moving path W1 of the moving object DS intersects the front region MSF of the own vehicle CS, there is a high possibility that the moving object DS collides with the own vehicle CS regardless of the presence or absence of the error ΔW in the moving path W1. it is conceivable that. Therefore, the operation of the safety device 30 is permitted based on the movement path W1 of the moving object DS intersecting the front region MSF of the own vehicle CS.

Further, when the moving object DS moves along the moving course W2, the moving course W2 intersects the own vehicle CS in the rear region MSR. In this case, the operation of the safety device 30 is not permitted. That is, when the moving path W2 of the moving object DS intersects the rear region MSR of the own vehicle CS, if the moving path W2 contains an error ΔW, the moving object DS approaches toward the own vehicle CS. However, there is a possibility that the own vehicle CS can pass through without colliding with the moving object DS. Even though the own vehicle CS can pass through without colliding with the moving object DS, when the safety device 30 is activated, it becomes unnecessary. Therefore, when the moving course W2 of the moving object DS intersects the moving course W2 of the own vehicle CS, the operation of the safety device 30 is not permitted.

FIG. 4 shows the front region MSF and the rear region MSR that are set when the own vehicle CS is traveling backward. In this case, the moving object DS around the own vehicle CS moves to the rear (in front of the own vehicle) in the traveling direction of the own vehicle CS as the own vehicle CS travels backward.

FIG. 4 shows the moving paths W11 and W12 of the moving object DS and the error ΔW included in the moving paths W11 and W12. Of the side surface MSs of the own vehicle CS, the region of a predetermined length from the front end PF of the own vehicle CS, which is the rear end of the own vehicle CS in the traveling direction, is the rear region MSR, which is larger than the rear region MSR. The region on the front side in the traveling direction is the front side region MSF.

Since it is conceivable that the vehicle speed of the reverse travel is smaller than that of the forward travel and the relative speed VA of the moving object DS is smaller, the length of the rear region MSR when the own vehicle CS is traveling backward is determined. It is preferable that the length is smaller than the length of the rear region MSR when traveling forward.

When the moving object DS moves along the moving course W11, the moving course W11 intersects the own vehicle CS in the front region MSF. In this case, regardless of the presence or absence of the error ΔW in the moving path W11, there is a high possibility that the moving object DS collides with the own vehicle CS, so that the safety device 30 is permitted to operate.

Further, when the moving object DS moves along the moving course W12, the moving course W12 intersects the own vehicle CS in the rear region MSR. In this case, if the movement path W12 includes an error ΔW, even if the moving object DS approaches the own vehicle CS, the own vehicle CS may pass through without colliding with the moving object DS. , In order to suppress unnecessary operation, the operation of the safety device 30 is not permitted.

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

-In the present embodiment, when the side MS of the own vehicle and the moving course of the moving object intersect with each other when the own vehicle is traveling, the intersection is the front side of the side MS of the own vehicle in the traveling direction of the own vehicle. If it is in the front region MSF, the operation of the safety device 30 is permitted. Further, if the intersection is in the rear region MSR on the rear side in the traveling direction of the side surface portion of the own vehicle in the front region MSF, the operation of the safety device 30 is not permitted. In this case, even if the moving object moves toward the rear end in the traveling direction of the own vehicle, the own vehicle may pass through without colliding with the moving object. In the side MS of the own vehicle, since the operation prohibition area (operation restriction area) of the safety device 30 is defined in the rear area MSR on the rear side in the traveling direction, the safety caused by the error of the relative position of the moving object. Unnecessary operation of the device 30 can be suppressed. As a result, the driving support of the own vehicle can be properly provided.

-In particular, when a moving object moving to the rear side in the traveling direction of the own vehicle moves toward the side MS of the own vehicle as the own vehicle travels, the moving course of the moving object is erroneously calculated. Depending on the situation, it is calculated that the moving object passing through the rear side in the traveling direction of the own vehicle intersects the vicinity of the end portion on the rear side in the traveling direction of the own vehicle. As a result, it is conceivable that the safety device 30 is operated unnecessarily.

In this regard, in the present embodiment, for a moving object that moves to the rear side in the traveling direction of the own vehicle, when the intersection of the moving course of the moving object and the side surface portion MS of the own vehicle is in the rear side region MSR, the safety device Do not allow the operation of 30. As a result, the safety device 30 can be correctly operated for a moving object that moves to the rear side in the traveling direction of the own vehicle as the own vehicle travels.

-In the present embodiment, in the side surface MS of the own vehicle, a region for a predetermined length from the end is defined as the rear region MSR with reference to the rear end in the traveling direction of the own vehicle. In this case, the total length of the vehicle differs depending on the vehicle type and the like, but since the rear region MSR is determined based on the rear end in the traveling direction of the own vehicle, the safety device 30 operates regardless of the difference in the total length of the vehicle. The disallowed area can be set properly.

-Specifically, it is determined whether the own vehicle is traveling forward or backward, and if it is determined that the own vehicle is traveling forward, the side portion MS of the own vehicle of the own vehicle The region for a predetermined length from the rear end PR is referred to as the rear region MSR. Further, when the own vehicle is traveling backward, the region of the side surface portion MS of the own vehicle for a predetermined length from the front end PF of the own vehicle is defined as the rear side region MSR. Therefore, the rear region MSR can be appropriately set in any of the cases while taking into consideration whether the own vehicle is traveling forward or backward.

-In the present embodiment, on the condition that the distance L from the own vehicle to the moving object is larger than the predetermined value Lth and the moving speed of the moving object is larger than the predetermined value Vth, the moving course of the moving object and the self When the intersection with the side surface portion MS of the vehicle is in the rear side region MSR, the operation of the safety device 30 is not permitted. Therefore, the relative position calculated based on the image captured by the camera 11 is the safety device 30 while taking into consideration that the degree of error changes according to the distance L from the own vehicle to the moving object and the moving speed of the moving object. It can be operated properly.

-In the present embodiment, when the own vehicle is traveling, only the front region MSF of the front region MSF and the rear region MSR in the side portion MS of the own vehicle is used, and the movement path of the moving object and the side portion of the own vehicle are used. It is determined whether or not the MS intersects, and the operation of the safety device 30 is permitted. In the side surface MS of the own vehicle, a non-judgment area for not determining the operation of the safety device 30 is defined in the rear area MSR on the rear side in the traveling direction, so that the safety device 30 is caused by the coordinate error of the moving object. Unnecessary operation can be suppressed. As a result, the driving support of the own vehicle can be properly provided.

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

-The front region MSF and the rear region MSR may be set according to the magnitude of the error ΔW of the movement path W. Here, the error ΔW of the moving course W becomes larger as the distance LA from the own vehicle CS to the moving object DS becomes longer, and becomes larger as the relative speed VA of the moving object DS becomes larger. Therefore, each region MSF and MSR are set based on the distance LA from the own vehicle CS to the moving object DS and the relative velocity VA of the moving object DS.

Specifically, in steps S16 and S18 of FIG. 2, the region length of the rear region MSR is set using the relationship of FIG. According to the relationship of FIG. 5, if the distance L from the own vehicle CS is shorter than LA, the area length is set to X1, and if the distance L is longer than LA, the area length is set to X2, which is longer than X1. To. That is, if L <LA, the rear region MSR is set as a narrow region, and if L> LA, the rear region MSR is set as a wide region.

Alternatively, in steps S16 and S18 of FIG. 2, the region length of the rear region MSR is set using the relationship of FIG. According to the relationship of FIG. 6, if the relative velocity V is smaller than VA, X1 is set as the region length, and if the relative velocity V is larger than VA, X2 is set as the region length longer than X1. That is, if V <VA, the rear region MSR is set as a narrow region, and if V> VA, the rear region MSR is set as a wide region.

Both the process of setting the rear region MSR based on the distance L from the own vehicle CS and the process of setting the rear region MSR based on the relative speed V may be performed, or one of them. Only may be carried out.

According to this configuration, when calculating the relative position of a moving object based on the image captured by the camera 11, the degree of error in the relative position is the distance L from the own vehicle to the moving object or the moving speed of the moving object. The rear region MSR can be appropriately set in the side surface MS of the own vehicle while taking into consideration that the change depends on the above.

-The camera 11 is not limited to a monocular camera, and may be, for example, a stereo camera. When the camera 11 is a stereo camera, not only the relative position of the captured image in the in-screen direction but also the calculation accuracy of the relative position in the depth direction of the captured image is good, so that it is considered that an error does not occur in the relative position of the moving object. ..

However, an increase in the temperature outside the vehicle may cause distortion in the frame to which the stereo camera is attached, and in this case, an error occurs in the relative position of the moving object. In the present embodiment, even if the frame to which the stereo camera is attached is distorted, unnecessary operation of the safety device 30 can be suppressed.

-In the above embodiment, on the condition that the distance L from the own vehicle to the moving object is larger than the predetermined value Lth and the relative velocity V of the moving object is larger than the predetermined value Vth, the moving course of the moving object is used. An example is shown in which the operation of the safety device 30 is not permitted when the intersection with the side surface portion MS of the own vehicle is in the rear side region MSR, but this may be changed. For example, on the condition that the distance L from the own vehicle to the moving object is larger than the predetermined value Lth and the relative velocity V of the moving object is larger than the predetermined value Vth, the moving course of the moving object is used. When the intersection with the side surface portion MS of the own vehicle is in the rear side region MSR, the operation of the safety device 30 may not be permitted.

-In the above embodiment, when the moving path of the moving body and the side surface MS of the own vehicle intersect, if the intersection is in the front region MSF, the differential of the safety device 30 is permitted, and the intersection is on the rear side. An example is shown in which the operation of the safety device 30 is not permitted if it is in the region MSR, but the present invention is not limited to this. If the intersection of the moving course of the moving body and the side MS of the own vehicle is in the rear region MSR, the operation of the safety device 30 is restricted more than when the intersection is in the front region MSF. It doesn't matter.

For example, if the intersection of the moving course of the moving body and the side surface portion MS of the own vehicle is in the rear region MSR, the safety device 30 may be more difficult to operate than when the intersection is in the front region MSF. As an example of making the safety device 30 difficult to operate, for example, if the intersection of the moving course of the moving body and the side MS of the own vehicle is in the rear region MSR, it is safer than when the intersection is in the front region MSF. The conditions for operating the device 30 may be strict.

As an example of the condition for operating the safety device 30, for example, when determining whether or not a collision occurs by comparing the collision time (TTC) with the threshold value, this threshold value corresponds to the above condition. If the intersection of the moving path of the moving body and the side surface MS of the own vehicle is in the rear region MSR, the threshold value is made smaller than when the intersection is in the front region MSF, and the vehicle collides until the collision time is reached. By not making a judgment, the conditions for operating the safety device 30 are made strict.

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.

11 ... Camera, 22 ... Vehicle ECU, 30 ... Safety device, MS ... Side part, MSF ... Front side area, MSR ... Rear side area.

Claims (7)

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.
As the detection information of the moving object, a course acquisition unit that acquires the moving course of the moving object calculated from the image captured by the imaging device, and
A control unit that activates the safety device when the moving course of a moving object intersects with a side surface portion (MS) of the own vehicle.
With
When the moving course of a moving object intersects with the side surface portion of the own vehicle during traveling of the own vehicle, the intersection of the intersection is with the rear side of the side surface portion of the own vehicle in the traveling direction of the own vehicle. If the intersection is in the rear region (MSR), the operation of the safety device is restricted as compared with the case where the intersection is in the front region (MSF) on the front side in the traveling direction of the side surface portion of the own vehicle. Control device. The control device according to claim 1, wherein the control unit has a region of a side surface portion of the own vehicle, which is a predetermined length from the end portion on the rear side in the traveling direction of the own vehicle, as the rear side region. A setting unit for setting the region length from the rear end in the traveling direction of the own vehicle in the rear region is provided based on at least one of the distance from the own vehicle to the moving object and the moving speed of the moving object. The control device according to claim 2. The control unit sets the moving course of the moving object and itself on the condition that the distance from the own vehicle to the moving object is larger than the predetermined value and the moving speed of the moving object is larger than the predetermined value. The control device according to claim 1 or 2, wherein the operation of the safety device is restricted when the intersection with the side surface portion of the vehicle is in the rear side region. Equipped with a running judgment unit that determines whether the own vehicle is traveling forward or backward.
When the own vehicle is traveling forward, the control unit sets a region of the side surface portion of the own vehicle for a predetermined length from the rear end (PR) of the own vehicle as the rear region, and the own vehicle travels backward. The control device according to any one of claims 1 to 4, wherein a region of a side surface portion of the own vehicle for a predetermined length from the front end (PF) of the own vehicle is the rear side region. .. The control unit limits the operation of the safety device for a moving object moving to the rear side in the traveling direction of the own vehicle when the intersection of the moving course of the moving object and the side surface portion of the own vehicle is in the rear side region. The control device according to any one of claims 1 to 5. 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.
As the detection information of the moving object, a course acquisition unit that acquires the moving course of the moving object calculated from the image captured by the imaging device, and
A control unit that activates the safety device when the moving course of a moving object intersects with a side surface portion (MS) of the own vehicle.
With
When the own vehicle is traveling, the control unit includes a front region (MSF) on the side surface of the own vehicle, which is the front side in the traveling direction of the own vehicle, and a rear region (MSR) on the rear side in the traveling direction of the front region. A control device that uses only the front region to determine whether or not the moving course of a moving object intersects with a side surface portion of the own vehicle, and if it is determined that the moving path intersects, the safety device is allowed to operate.

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