Patent Application
20200282983
The present disclosure relates to a brake assistance apparatus, a control apparatus, and a brake assistance method for a vehicle.
A technology for avoiding collision with an obstacle that is present in the periphery of a vehicle based on detection results from a camera and a radar is known. In this technology, for example, when there is a likelihood of an own vehicle colliding with an obstacle ahead, the own vehicle is controlled to be braked.
An aspect of the present disclosure provides a brake assistance apparatus for a vehicle. The brake assistance apparatus includes: a detecting unit that detects an object in a periphery of an own vehicle; a brake assisting unit that assists in braking of the own vehicle; and a control unit that controls the brake assisting unit. When determined that there is a likelihood of the own vehicle colliding with a first object that is present in a travelling direction of the own vehicle based on detection results from the detecting unit, the control unit determines an avoidance area, that is an area in which there is no second object in the periphery of the first object that is present in the travelling direction of the own vehicle, is available for avoiding the collision by steering of the own vehicle. When no avoidance area is present, the control unit increases a brake assistance level of the own vehicle using the brake assisting unit to be higher than when the avoidance area is present, and causes the brake assisting unit to perform brake assistance. Increasing the brake assistance level includes at least one of: advancing a timing for starting brake assistance of the own vehicle; and increasing the strength of brake assistance of the own vehicle.
In the accompanying drawings:
A technology for avoiding collision with an obstacle that is present in the periphery of a vehicle based on detection results from a camera and a radar is known. JP-A-2017-56795 describes that, in a case in which there is a likelihood of an own vehicle colliding with an obstacle ahead, control to brake the own vehicle is performed when an overlap ratio between the own vehicle and the obstacle ahead is equal to or greater than a predetermined value that is based on a vehicle speed of the own vehicle, and control to brake the own vehicle is not performed when the overlap ratio is less than the predetermined value that is based on the vehicle speed of the own vehicle.
In the technology described in JP-A-2017-56795, whether the vehicle is braked is determined based on the overlap ratio. Therefore, for example, in a state in which another obstacle, such as a guardrail, is present in the periphery of the obstacle ahead and avoidance through steering avoidance is difficult, control to brake the own vehicle may not be performed when the overlap ratio is low.
An exemplary embodiment of the present disclosure provides a brake assistance apparatus for a vehicle. The brake assistance apparatus includes: a detecting unit that detects an object in a periphery of an own vehicle; a brake assisting unit that assists in braking of the own vehicle; a control unit that controls the brake assisting unit. In response to determining that there is a likelihood of the own vehicle colliding with a first object that is present in a travelling direction of the own vehicle based on detection results from the detecting unit, the control unit determines there is an avoidance area, that is an area in which there is no second object in the periphery of the first object that is present in the travelling direction of the own vehicle, is available for avoiding the collision by steering of the own vehicle. When no avoidance area is present, the control unit increases a brake assistance level of the own vehicle using the brake assisting unit to be higher than when the avoidance area is present, and causes the brake assisting unit to perform brake assistance. Increasing the brake assistance level includes at least one of: advancing a timing for starting brake assistance of the own vehicle; and increasing the strength of brake assistance of the own vehicle.
According to this exemplary embodiment, when the likelihood of a collision between the own vehicle and the first object that is present in the travelling direction of the own vehicle is present and the avoidance area is not present in the periphery of the first object, at least one of: brake assistance being started earlier and the strength of brake assistance being increased compared to that when the avoidance area is present is performed. Therefore, the likelihood of a collision between the own vehicle and the first object that is present in the travelling direction of the own vehicle can be reduced. In addition, the likelihood of a collision with the second object in the periphery of the first object can be reduced.
As shown in
As a detecting unit that detects an object in the periphery of an own vehicle, the vehicle 500 may be provided with at least the millimeter-wave radar 21. The vehicle 500 may be provided with at least one of the monocular camera 22 and a laser radar (LIDAR), together with the millimeter-wave radar 21. Alternatively, a stereo camera may be provided instead of the millimeter-wave radar 21. The stereo camera may be provided together with the millimeter-wave radar 21. According to the present embodiment, the millimeter-wave radar 21 and the monocular camera 22 are provided as the detecting unit.
The brake apparatus 502 is provided in each wheel 501. Each brake apparatus 502 actualizes braking of the wheel 501 by brake fluid pressure that is supplied through the brake line 503 based on a brake pedal operation by a driver. The brake line 503 includes a brake piston that generate the brake fluid pressure based on the brake pedal operation and a brake fluid line. According to the present embodiment, the brake assistance actuator 30 is provided in the brake line 503. Fluid pressure control can be performed independent of the brake pedal operation, and brake assistance is thereby actualized. Here, a configuration in which, instead of the brake fluid line, a control signal line is used as the brake line 503 and an electric actuator that is provided in each brake apparatus 502 is operated may be used. The brake assistance actuator 30 and the brake apparatus 502 are also collectively referred to as a “brake assisting unit”.
The steering wheel 504 is connected to the wheels 501 on a front side by a steering rod and a steering mechanism.
As shown in
The CPU 110 functions as an attribute information acquiring unit 111, a collision determining unit 112, an avoidance area determining unit 113, and an assistance level determining unit 114 and performs brake assistance by expanding and running a program that is stored in the memory 120. Details of processes by the attribute information acquiring unit 111, the collision determining unit 112, the avoidance area determining unit 113, and the assistance level determining unit 114 will be described hereafter. Of the control unit 100, an apparatus that provides the functions of the avoidance area determining unit 113 and the assistance level determining unit 114 is also simply referred to as a “control apparatus”.
The millimeter-wave radar 21 is a sensor that emits millimeter waves and receives reflected waves that are reflected by an object, thereby detecting a position and a distance of the object. The millimeter-wave radar 21 includes a transmitter and a receiver. According to the present embodiment, the millimeter-wave radar 21 is arranged in a center of the front bumper 502. However, a plurality of millimeter-wave radars 21 may be provided on an overall surface of the front bumper 520. Alternatively, the millimeter-wave radars 21 may be arranged on both side surfaces of the front bumper 520. For example, detection signals outputted from the millimeter-wave radar 21 may be signals that are composed of a series of points that indicate representative positions of an object, obtained by reception waves being processed in a processing circuit provided in the millimeter-wave radars 21. Alternatively, the detection signals may be signals that indicate unprocessed reception waves. When the unprocessed reception waves are used as the detection signals, the CPU 110 performs signal processing to identify the position and distance of the object. Here, a LIDAR may be used instead of the millimeter-wave radar.
The monocular camera 22 is an imaging apparatus that includes a single image sensor, such as a charge coupled device (CCD). The monocular camera 22 is a sensor that outputs, as image data that is a detection result, outer appearance information on an object by receiving visible light. The image data outputted from the monocular camera 22 is configured by a plurality of frame images that are continuous in time series. Each frame image is expressed by pixel data. According to the present embodiment, the monocular camera 22 is arranged in an upper center portion of the front windshield 510. The pixel data outputted from the monocular camera 22 is monochromic pixel data or color pixel data.
The wheel speed sensor 24 is a sensor that detects a rotational speed of the wheel 501. The wheel speed sensor 24 is provided in each wheel 501. A detection signal outputted from the wheel speed sensor 24 is a voltage value that is proportional to a wheel speed or a pulse wave that indicates an interval based on the wheel speed. Information such as vehicle speed and traveling distance of the vehicle can be acquired based on the detection signal from the wheel speed sensor 24.
The yaw rate sensor 23 is a sensor that detects a rotation angle speed of the vehicle 500. For example, the yaw rate sensor 23 is arranged in a center portion of the vehicle 500. A detection signal outputted from the yaw rate sensor 23 is a voltage value that is proportional to a rotation direction and an angular speed.
The brake assistance actuator 30 is an actuator for performing braking by the brake apparatus 502 regardless of the brake pedal operation by the driver. According to the present embodiment, the brake assistance actuator 30 is provided on the brake line 503. The brake assistance actuator 30 increases and decreases the brake fluid pressure on the brake line 503 based on a control signal from the control apparatus 100. For example, the brake assistance actuator 30 is composed of a module that includes an electric motor and a brake hydraulic piston that is driven by the electric motor. Alternatively, a brake control actuator that is already provided as an anti-skidding apparatus or an anti-lock brake system may be used.
A brake assistance process that is performed by the brake assistance apparatus 10 according to the first embodiment will be described with reference to
The attribute information acquiring unit 111 acquires attributes of an object in the periphery of an own vehicle B0 (
Here, the degree of overlap is the degree of overlap of the object in the vehicle width direction of the own vehicle. Here, the degree of overlap is the degree of overlap of the object in a vehicle width direction of the own vehicle B0. According to the present embodiment, the degree of overlap is an overlap ratio OL of the own vehicle B0 and the object. The degree of overlap may be an amount of overlap with the object in the vehicle width direction of the own vehicle B0. The collision margin time TTC is an amount of time until the own vehicle B0 and the object collide under an assumption that the relative speed between the own vehicle B0 and the object is fixed. The attribute information acquiring unit 111 performs the above-described acquisition of the attributes at all times while the present routine is being performed.
Next, the collision determining unit 112 determines whether the object is present in a travelling direction of the own vehicle B0 using the attributes acquired by the attribute information acquiring unit 111 (step S20 in
When determined that the object is present in the travelling direction of the own vehicle B0 (YES at step S20 in
At step S30, when the overlap ratio OL is greater than 0 and the collision margin time TTC is equal to or less than a first threshold that is based on the relative speed stored in the memory 120, the collision determining unit 112 determines that the likelihood of a collision between the own vehicle B0 and an object B1 (corresponding to a first object) is present (YES at step S30 in
The vehicle 500 includes a warning apparatus that gives notification of the likelihood of a collision through sound, light, or vibrations. For example, before step S30, the CPU 110 may output a signal through the input/output interface 140 at a timing at which the collision margin time TTC reaches a second threshold that is longer than the above-described first threshold, and perform notification by the notification apparatus. Here, in an example shown in
When the collision determining unit 112 determines that the likelihood of a collision is present, the avoidance area determining unit 113 determines there is an avoidance area in the periphery of the object B1 (step S40 in
According to the present embodiment, for example, the avoidance area determining unit 113 calculates a lateral movement amount of the own vehicle B0 that is required to avoid a collision between the own vehicle B0 and the object B1 by multiplying the vehicle width of the own vehicle B0 by the overlap ratio OL. The avoidance area determining unit 113 then estimates a traveling trajectory area that is an area through which the own vehicle B0 travels under an assumption that the own vehicle B0 is traveling at a current vehicle speed and steering based on the lateral movement amount is performed in the own vehicle B0.
The avoidance area determining unit 113 determines whether there is a pixel area that indicates the other object is present in the estimated traveling trajectory area, using the detection results from the millimeter-wave radar 21 and the monocular camera 22. The avoidance area determining unit 113 determines that no avoidance area is present when there is no pixel area indicating the other object in the estimated traveling trajectory area, and determines that the avoidance area is present when there is a pixel area indicating the other object in the estimated traveling trajectory area.
An area S1 on a left side of the object B1 in
After determination of the avoidance area, the assistance level determining unit 114 determines the brake assistance level of the own vehicle B0 by the brake assistance unit based on the presence/absence of the avoidance area (step S50 in
According to the present embodiment, the memory 120 stores therein a map MP1 and a map MP2, shown in
In the map MP1, the overlap ratio OL and the timing for starting brake assistance are set such that, when the overlap ratio OL is less than a predetermined value (hereafter, threshold OLth), the timing for starting brake assistance is later compared to that when the overlap ratio OL is equal to or greater than the threshold OLth, or brake assistance is not performed. Specifically, in the map MP1 for when the avoidance area is present, the relationship between the overlap ratio OL and the timing for starting brake assistance is set such that brake assistance is started at a timing at which the collision margin time reaches TTC1 when the overlap ratio OL is equal to or greater than the threshold OLth. The timing for starting brake assistance becomes later as the overlap ratio OL becomes less than the threshold OLth. Brake assistance is not performed when the overlap ratio OL is equal to or less than a value OL1 that is less than the threshold OLth. For example, the threshold OLth is 40%. For example, the timing TTC1 for brake assistance start at the threshold OLth is a timing at which the collision margin time TTC is 1.4 seconds. For example, the value OL1 is 30% or 25%.
Here, the relationship between the overlap ratio OL and the timing for starting brake assistance is set as described above because, when the overlap ratio OL is small, collision avoidance through operation of the steering wheel 504 is easier compared to that in the case of a full lap, for example. In addition, for example, when the own vehicle B0 is attempting to avoid and overtake the object B1, the own vehicle B0 may intentionally approach the object B1. When brake assistance is actively performed in such cases, the brake apparatus 502 of the own vehicle B0 may operate regardless of the intentions of the driver when the own vehicle B0 is attempting to overtake the object B1. As a result, a likelihood of overtaking not being achieved and a likelihood of the driver of the own vehicle B0 experiencing discomfort are present. The foregoing is to reduce such likelihoods.
In the map M2 for when the avoidance area is not present, the relationship between the overlap ratio OL and the timing for starting brake assistance is set such that brake assistance is started at the timing at which the collision margin time becomes TTC1 when the overlap ratio OL is equal to or greater than a value OL2. The timing for starting brake assistance becomes later as the overlap ratio OL becomes less than the value OL2. Brake assistance is not performed when the overlap ratio OL reaches 0. The value OL2 at which the timing for starting brake assistance starts to become later in the map MP2 is less than the value OLth at which the timing for starting brake assistance starts to become later in the map MP1. For example, the value OL2 is a value such as 5%, 10%, or 15%.
Next, the assistance level determining unit 114 outputs a signal to the brake assistance actuator 30 such that brake assistance is performed at the determined timing for starting brake assistance, and causes the brake apparatus 502 to perform brake assistance (step S60 in
According to the first embodiment, the timing at which brake assistance is started when the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 is present, the avoidance area is not present in the periphery of the object B1, and the degree of overlap OL is less than the predetermined value OLth becomes earlier compared to the timing at which brake assistance is started when the avoidance area is present. Therefore, the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 can be reduced. In addition, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
Furthermore, according to the first embodiment, even when the overlap ratio OL is relatively small, brake assistance is performed when the avoidance area is not present. Therefore, the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 can be reduced. Moreover, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
The brake assistance apparatus 10 according to a second embodiment will be described with reference to
According to the present embodiment, the memory 120 stores therein a map MP3 and a map MP4, shown in
As shown in
For example, the magnitude of braking force F1 when the overlap ratio OL is equal to or greater than the threshold OLth is 3G. Here, 1G is acceleration that is of a same magnitude as gravitational acceleration. The relationship between the overlap ratio OL and the magnitude of the braking force is set as described above so that, in a manner similar to the timing for starting brake assistance being set based on the overlap ratio OL according to the first embodiment, a likelihood of overtaking not being achieved and a likelihood of the driver of the own vehicle B0 experiencing discomfort as a result of the brake apparatus 502 of the own vehicle B0 operating regardless of the intentions of the driver are reduced.
In the map MP4 for when the avoidance area is not present, the relationship between the overlap ratio OL and the braking force is set such that brake assistance is performed at the magnitude of braking force F1 when the overlap ratio OL is equal to or greater than the value OL2. The braking force decreases as the overlap ratio OL becomes less than the value OL2. Brake assistance is not performed when the overlap ratio OL reaches 0. The value OL2 at which the braking force starts to decrease in the map MP4 is less than the threshold OLth at which the braking force starts to decrease in the map MP3.
According to the second embodiment, the braking force when the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 is present, the avoidance area is not present in the periphery of the object B1, and the degree of overlap OL is less than the predetermined threshold OLth is greater than the braking force when the avoidance area is present. Therefore, the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 can be reduced. In addition, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
Furthermore, in a manner similar to that according to the first embodiment, even when the overlap ratio OL is relatively small, brake assistance is performed when the avoidance area is not present. Therefore, the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 can be reduced. Moreover, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
The brake assistance apparatus 10 according to a third embodiment will be described with reference to
According to the present embodiment, the memory 120 stores therein a map MP5 and a map MP6, shown in
In the map MP5 for when the avoidance area is present, the relationship between the overlap ratio OL and the timing for starting brake assistance is set such that, when the overlap ratio OL is less than the threshold OLth, the timing for starting brake assistance is later compared to that when the overlap ratio OL is equal to or greater than the threshold OLth. For example, the first braking force F1 at the timing TTC1 for brake assistance start is 3 G.
In the map MP6 for when the avoidance area is not present, the relationship between the timing at which brake assistance is started at the first braking force F1 and the overlap ratio OL is similar to the relationship described using the map MP2 described according to the first embodiment. According to the present embodiment, when the avoidance area is not present, brake assistance is further performed at the second braking force F2 that is less than the first braking force F2 at a timing that is earlier than the timing at which brake assistance is started at the first braking force F1.
According to the third embodiment, when the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 is present and the avoidance area is not present in the periphery of the object B1, first, brake assistance is performed at the relatively small second braking force F2 and then brake assistance is subsequently performed at the first braking force F1 that is greater than the second braking force F2. As a result, brake assistance can be performed in multiple stages. The likelihood of a collision between the own vehicle B0 and the object B1 can be further reduced. In addition, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
Furthermore, according to the third embodiment, even when the overlap ratio OL is relatively small, brake assistance is performed when the avoidance area is not present. Therefore, in a manner similar to that according to the first embodiment and the second embodiment, the likelihood of a collision between the own vehicle B0 and the object B1 that is present in the travelling direction of the own vehicle B0 can be reduced. Moreover, when the other object B2 is present in the periphery of the object B1, the likelihood of a collision between the own vehicle B0 and the other object B2 can be reduced.
According to the various embodiments described above, the avoidance area determining unit 113 may determine that the avoidance area is not present when, in a case in which the above-described other object is a moving body and the vehicle 500 moves, by steering, to an area in the periphery of the object B1 that is present in the travelling direction of the vehicle 500, the other object is predicted to be positioned in the area to which the vehicle 500 moves.
In an example shown in
The avoidance area determining unit 113 determines whether the oncoming vehicle B3 is present in the traveling trajectory area by the collision margin time TTC of collision with the object B1. In the example shown in
According to the fourth embodiment, the avoidance area is determined to not be present when the other object is predicted to move to the area to which the own vehicle B0 is moved. The brake assistance level is determined to be a higher brake assistance level than that when the avoidance area is present. Therefore, the likelihood of collisions between the own vehicle B0 and the object B1, and between the own vehicle B0 and the other object can be reduced. In addition, the likelihood of collisions between the own vehicle B0 and the object B1, and between the own vehicle B0 and the oncoming vehicle B3 that is the other object can be reduced.
According to the above-described embodiments, the detecting unit is the millimeter-wave radar 21 and the monocular camera 22 that are provided in the front of the vehicle 500. However, the vehicle 500 may further include a millimeter-wave radar and a monocular camera in the rear of the vehicle 500 as the detecting unit. The CPU 110 may detect a vehicle that approaches the own vehicle B0 from behind and to the side of the own vehicle B0, based on detection results from the rear millimeter-wave radar and monocular camera.
As shown in
The attribute information acquiring unit 111 calculates and acquires a distance to the vehicle B4, a relative speed of the vehicle B4 relative to the own vehicle B0, an orientation of the vehicle B4, and the overlap ratio OL of the own vehicle B0 and the vehicle B4, using the image data from the millimeter-wave radar and the monocular camera provided in the rear of the vehicle 500. In an example in
According to the fifth embodiment, the likelihood of a collision between the own vehicle B0 and the vehicle B4 that is approaching the own vehicle B0 from behind and to the side can be reduced.
In a vehicle 500a that includes a brake assistance apparatus 10a according to a sixth embodiment shown in
According to the above-described embodiments, the assistance level determining unit 114 determines the timing for starting brake assistance or the magnitude of the braking force by referencing the maps that are stored in the memory. However, instead of the foregoing, an expression that expresses the relationship between the timing for starting brake assistance or the magnitude of the braking force, and the overlap ratio OL may be stored in the memory. The assistance level determining unit 114 may determine the timing for starting brake assistance or the magnitude of the braking force based on the overlap ratio OL.
The present disclosure can also be actualized according to various embodiments other than the brake assistance apparatus. For example, the present disclosure can be actualized according to embodiments such as a brake assistance method, a computer program for actualizing the method, a storage medium that stores therein the computer program, or a vehicle in which a collision estimation apparatus is mounted. In addition, according to the above-described embodiments, some or all of the functions and processes actualized by software may be actualized by hardware. Furthermore, some or all of the functions and processes actualized by hardware may be actualized by software. For example, as hardware, various circuits, such as integrated circuits, discrete circuits, and circuit modules combining integrated circuits and discrete circuits, may be used.
The present disclosure is not limited to the above-described embodiments. The present disclosure can be actualized through various configurations without departing from the spirit of the disclosure. For example, technical features according to the embodiments that correspond to technical features according to aspects described in the summary of the invention can be replaced and combined as appropriate to solve some or all of the above-described issued or to achieve some or all of the above-described effects. Furthermore, the technical features may be omitted as appropriate unless described as a requisite in the present specification.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-225511 | Nov 2017 | JP | national |
The present application is a continuation application of International Application No. PCT/JP2018/039481, filed Oct. 24, 2018, which claims priority to Japanese Patent Application No. 2017-225511, filed Nov. 24, 2017. The contents of these applications are incorporated herein by reference in their entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2018/039481 | Oct 2018 | US |
| Child | 16882138 | US |
