• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A collision detection device (10) for a vehicle, comprising: a determination unit (12) which determines that an object has collided in the case in which the detection result of a second detection unit (24) exceeds a first threshold, among a first threshold for pedestrian detection and a second threshold below the first threshold, and which determines that an object has collided in the case in which a two-wheeled vehicle is detected as an object in front of the vehicle according to the detection result of a first detection unit (22) and if the detection result of the second detection unit (24) exceeds the second threshold.
    公开号:FR3026696A1
    申请号:FR1558985
    申请日:2015-09-24
    公开日:2016-04-08
    发明作者:Yusuke Mase；Yujiro Miyata；Fumiaki Nagase
    申请人:Toyota Motor Corp；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a collision detection device for a vehicle and to a collision detection method for a vehicle, which detects a collision between the vehicle and an object. There are known devices which, when there is a collision between a vehicle and an object, if the object is a pedestrian or a two-wheeled vehicle such as a bicycle or the like, protect the pedestrian or the driver of the vehicle two wheels. For example, a technique is known (see, for example, Japanese Patent Application (JP-A) No. 2011-065400) which detects an object in front of a vehicle from a form of reflection detection. a vehicle mounted radar, which recognizes whether the object is a vehicle, a pedestrian or a bicycle. In this technique, the vehicle-mounted radar scans ahead of the vehicle and measures reflected waves to obtain a form of detection, performs pattern recognition, classifies the shape into characteristic shapes of different types of objects, and recognizes whether the object is a vehicle, a pedestrian or a two-wheeled vehicle. When a two-wheeled vehicle is recognized, a form of detection in which a portion corresponding to pedals changes in time cycles is the characteristic form of a bicycle. Among the two-wheeled vehicles, this kind of object is recognized as a bicycle. An additional technique is known (see, for example, JP-A number 2011-218857 and 2003-226211) which detects an object in front of the vehicle and, if the object is a pedestrian or a two-wheeled vehicle as a bicycle or the like and if there is a collision between the vehicle and the pedestrian or the two-wheeled vehicle, protects the pedestrian or the driver of the two-wheeled vehicle. In this technique, the detection results at the front of the vehicle are obtained by forming the image of in front of the vehicle with a camera while scanning in front of the vehicle using an on-board radar, it is determined from the results detection whether or not the object is a pedestrian or a driver of a two-wheeled vehicle, and it is determined whether the vehicle and the moving object will collide or not. If it is determined that the vehicle and the object will collide, then if the object is a pedestrian or a driver of a two-wheeled vehicle the collision position of the pedestrian or driver of the two-wheeled vehicle is predicted. with the vehicle, on the basis of the vehicle speed, the direction of vehicle travel and the like, and a device which protects the pedestrian or driver of the two-wheeled vehicle at the position of predicted collision. [0005] As another example of a technique that detects a collision between a vehicle and an object, a technique is known (see, for example, JP-A number 2011-218857) in which a force sensor is disposed at of a vehicle and detects a collision between the vehicle and an object. In this technique, a force sensor that detects the magnitude of the force is disposed in a vehicle bumper. A collision of a pedestrian with the vehicle is detected from a detection value from the force sensor which is specified as being a collision with a pedestrian. However, if it is necessary to determine whether an object colliding with a vehicle is a pedestrian or a two-wheeled vehicle from the detection results from a detector such as an on-board radar, a camera or the like, a high precision detector or a processing device that performs a high accuracy determination processing from the detection results is required. In addition, if it is necessary to determine that a vehicle and an object are colliding from detection results from a detector such as an on-board radar, a camera or the like, a high accuracy detector or a processing device that performs a high precision determination processing from the detection results. As a result, there is room for improvement in object determination with simple structure and simple processing to protect pedestrians and two-wheeled vehicle drivers from collisions between vehicles. and objects. In addition, in a technique for detecting a collision between a vehicle and a pedestrian from detection values of a force sensor disposed at the level of the vehicle, there may be cases where a collision with a two-wheeled vehicle such as a bicycle or the like can not be detected. For example, in a collision with the driver of a two-wheeled vehicle, a mild collision that does not reach the force sensor detection value that is specified to detect a collision with a pedestrian is not detected. like a collision. To be more specific, if the wheel of a two-wheeled vehicle that is a small diameter wheel comes into contact with the lower part of a vehicle bumper, then if the force sensor is at a position that is distant from the contact location with the wheel (for example, at the top of the vehicle bumper), sufficient force may not be applied to the vehicle bumper force sensor and the contact may not be detected as a collision. The present invention has been made taking into account the situation described above, and it is an object of the present invention to provide a collision detection device for a vehicle and a collision detection method for a vehicle, which can improve collision detection performance with a simple structure and simple processing. In order to achieve the objective described above, a collision detection device for a vehicle according to a first aspect comprises: a first detection unit which detects an object without contact in front of the vehicle; a second detection unit which, when an object collides with a vehicle bumper, detects at least one of a deformation amount of the vehicle bumper or a physical quantity corresponding to the quantity deformation; and a determining unit which determines that an object has collided if the detection result of the second detection unit exceeds a first threshold, among a first threshold for pedestrian detection and a second threshold below the first threshold, and determines an object has collided if a two-wheeled vehicle is detected as an object in front of the vehicle by the detection result of the first detection unit and if the detection result of the second detection unit exceeds the second detection unit threshold. According to the first aspect, the first detection unit detects an object without contact in front of the vehicle, and the second detection unit detects a deformation amount of the vehicle bumper or a physical quantity corresponding to the amount of deformation when the object collides with the vehicle bumper. When there is a collision between the vehicle and an object and the object collides with the vehicle bumper, the amount of deformation of the vehicle bumper varies depending on the type of object . For example, the amount of deformation of the vehicle bumper when the vehicle collides with a two-wheeled vehicle is smaller than when the vehicle collides with a pedestrian. That is, the amount of deformation of the vehicle bumper is smaller in the case where there is a collision between the vehicle and a light two-wheeled vehicle such as a bicycle or the like or as in the case in which a pedestrian collides directly with the vehicle. As a result, the determination unit changes the threshold for determining that there is a collision between the vehicle and an object of the first threshold for pedestrian detection at the second threshold, by setting the threshold which is intended to detection of a two-wheeled vehicle. To be more precise, when an object which is a two-wheeled vehicle is detected by the first detection unit, the determining unit changes, from the first threshold to the second threshold, the threshold for determining that there is a collision between the vehicle and an object. Thus, when the vehicle collides with a light two-wheeled vehicle such as a bicycle or the like, the collision with the two-wheeled vehicle is determined by a small amount of deformation of the vehicle bumper. As a result, a collision with a pedestrian can be detected and a collision with a two-wheeled vehicle riding a driver can be detected, and the collision detection performance can be improved. Thus, collision detection performance can be improved with simple structure and simple processing. According to a second aspect, the determining unit comprises: a main determination section which determines that an object has collided if the detection result of the second detection unit exceeds a threshold set among the first threshold for pedestrian detection and the second threshold below the first threshold; and a threshold setting section which thresholds the first threshold and, if the detection result of the first detection unit is a detection result with which a two-wheeled vehicle is detected as an object in front of the vehicle, changes the threshold from the first threshold to the second threshold. The main determining section of the determining unit determines that there is a collision between the vehicle and an object if the detection result of the second detection unit exceeds the set threshold. In the normal state, the threshold setting section takes the first threshold as the threshold. If it is detected by the first detection unit that an object is a two-wheeled vehicle, the threshold setting section changes the threshold from the first threshold to the second threshold. Thus, the collision determination is done by the main determination section and the threshold for collision determination is set by the threshold setting section. Therefore, the determination of a collision with an object can be realized with a simple structure and simple processing. According to a third aspect, the second detection unit can detect the pressure that is produced when an object collides with the vehicle bumper and detect the vehicle speed and, can detect, as a physical quantity corresponding to the amount of deformation of the vehicle bumper, an effective mass calculated from the pressure and the vehicle speed, detected. In addition, the second detection unit can detect the physical quantity corresponding to the amount of deformation of the vehicle bumper on the basis of the pressure that is produced when an object collides with the vehicle bumper. According to a fourth aspect, the determining unit stores a card in which respective detection results of the first detection unit and the second detection unit are associated and in which an overlapping region is specified at the same time. in which region of overlap a region containing detection results of the first detection unit which are detection results with which a two-wheeled vehicle is detected as an object in front of the vehicle overlaps with a region containing detection results of the second detection unit which are larger than the second threshold, the detection results of the second detection unit being deformation quantities of the vehicle bumper or physical quantities corresponding to the deformation quantities, and determines that an object that is a two-wheeled vehicle collided if the results The respective detection units of the first detection unit and the second detection unit are contained in the region of overlap of the card. The threshold for determining a collision with a two-wheeled vehicle depends on matches between detection results of the first detection unit and detection results of the second detection unit. Therefore, the region of overlap - in which the region containing detection results of the first detection unit from which the detection object is detected as a two-wheeled vehicle overlaps with the region containing results of detecting the second detection unit, such as deformation amounts of the vehicle bumper or the like, which are larger than the second threshold - corresponds to a region in which collisions with two-wheeled vehicles can be identified. This is stored as a map and used for object determination. That is, the determination unit can identify collisions with two-wheeled vehicles by determining whether or not detection results of the first detection unit and the second detection unit are contained in the region. overlap. A collision detection method for a vehicle according to a fifth aspect comprises contactless detection of an object in front of the vehicle; when an object collides with a vehicle bumper, detecting at least one of a deformation amount of the vehicle bumper or a physical quantity corresponding to the amount of deformation; and determining that an object has collided if the amount of deformation of the vehicle bumper or the physical magnitude corresponding to the amount of deformation exceeds a first threshold, among a first threshold for pedestrian detection and a second threshold that is smaller than the first threshold, and determining that an object has collided if a two-wheeled vehicle is detected as an object in front of the vehicle and whether the amount of deformation of the vehicle bumper or the magnitude corresponding to the amount of deformation exceeds the second threshold. The invention also relates to a computer system comprising means configured to implement the method according to a fifth aspect as defined above. The invention also relates to a computer program product 5 directly loadable into a memory of a computer system, comprising portions of software code for the execution of the method according to a fifth aspect as defined previously when said program is executed on said computer system. The invention further relates to a computer-readable medium having computer-executable instructions adapted to cause the computer system to execute the method according to a fifth aspect as defined above. According to the present invention as described above, an excellent effect is obtained in that the collision detection performance can be improved with a simple structure and simple processing. The invention will be well understood and its advantages will be better understood on reading the detailed description which follows. The description refers to the following drawings, which are given as examples, and in which: Fig. 1 is a block diagram showing an example of a general structure of a collision detection device for a vehicle according to a first exemplary embodiment; Figure 2 is an exploded perspective view showing the general structure around a vehicle bumper according to the first exemplary embodiment; Fig. 3 is an enlarged partial sectional view showing the general structure around the vehicle bumper according to the first exemplary embodiment; Fig. 4 is a graph showing an example of an effective mass characteristic of an object when a vehicle according to the first exemplary embodiment collides with a two-wheeled vehicle; Fig. 5 is a flowchart showing an example of a process flow that is performed by a control device of the collision detection device for a vehicle according to the first exemplary embodiment; FIG. 6 is a block diagram showing an example of a collision detection module which, using a suitable hardware or device such as a computer system, makes the collision detection with an object according to the first example embodiment; Fig. 7 is a block diagram showing an example of a general structure of a collision detection device for a vehicle according to a second exemplary embodiment; Fig. 8 is a diagram showing an example of a card according to the second exemplary embodiment; and Fig. 9 is a flowchart showing an example of a process flow that is executed by a control device of the collision detection device for a vehicle according to the second exemplary embodiment. With reference to the accompanying drawings, exemplary embodiments of the present invention will be described in detail below. - First exemplary embodiment - Figure 1 shows the general structure of a vehicle collision detection device 10, according to the first exemplary embodiment. The vehicle collision detection device 10 is equipped with a control device 12 which performs various kinds of control to detect a collision between the vehicle and an object. The control device 12 is a microprocessor including a CPU 14, a ROM 16, a RAM 18 and an input / output (I / O) 20. The CPU 14, the ROM 16, the RAM 18 and 11/0 are connected via a bus 21 so as to be respectively able to exchange instructions and data. The ROM 16 stores a program for detecting a collision between the vehicle and an object, thresholds for detecting a collision, and the like. The CPU 14 implements a command for detecting a collision between the vehicle and an object by executing the program stored in the ROM 16. The RAM 18 is used as an antemanager and the like when the program is running. An on-board camera 22, a contact sensor 24, a vehicle speed sensor 26 and an active device 28 are connected to 11/0 20. The on-board camera 22, the contact sensor 24 and the speed sensor of FIG. Vehicle 26 are detectors for detecting states of the vehicle. The onboard camera 22 is a non-contact detector which, by forming the image in front of the vehicle, acts as a prevention sensor for detecting objects in front of the vehicle and which have a possibility of collision with the vehicle. As a detector constituting a variant and which acts as a prevention sensor, there may be mentioned an onboard radar which sweeps in front of the vehicle. The contact sensor 24 is a detector (described in detail below) which detects a physical quantity relating to a pressure produced by a collision or equivalent with an object at a previously specified portion of the vehicle bumper. A pressure chamber, a pressure tube or the like is provided at the vehicle bumper. The contact sensor 24 detects the pressure in the pressure chamber or the pressure tube. The vehicle speed sensor 26 is a detector that detects vehicle speeds (vehicle speed). The active device 28 and a device for implementing a protection device. When there is a collision between the vehicle and an object, if the object is a pedestrian or the driver of a two-wheeled vehicle, the protection device serves to protect the pedestrian or the driver of the two-wheeled vehicle. The active device 28 which is used may, for example, be a gas generator which uses a gushing hood which raises a hood to absorb an impact with a pedestrian or the like, a device such as an inflator or the like which implements a shock cushion device which inflates on the hood or the like. The control device 12 detects a collision between the vehicle and an object based on the detection values of the on-board camera 22, the contact sensor 24 and the vehicle speed sensor 26, and the control device 12 performs a command so as to implement the active device 28 if the object is a pedestrian or the driver of a two-wheeled vehicle. In the present exemplary embodiment, the on-board camera 22 is an example of a first detection unit of the present invention, the contact sensor 24 is an example of a second detection unit of the present invention. and the vehicle speed sensor 26 is an example of a sensor of the present invention including a function for detecting the vehicle speed.
    [0002] The control device 12 is an example of a determination unit of the present invention. [0030] Figure 2 shows an exploded perspective view of the general structure around the vehicle bumper. In Figure 2, the UP arrow, the FRONT arrow, and the EXTERNAL arrow indicate, respectively, the upper side in the up-down vehicle direction, the front side in the vehicle front-rear direction, and the outer side ( the left side) in the direction of the vehicle width. A vehicle bumper 30 is disposed, for example, at the front of the vehicle, which is an automobile or the like.
    [0003] The vehicle bumper 30 is provided with a front bumper cover 32, a bumper reinforcement 34 and an absorber 38. The contact sensor 24 (described in detail below) is disposed at the rear side of the vehicle of the absorber 38. The contact sensor 24 includes a pressure tube 46 and a pressure sensor 48. [0032] The front bumper cover 32 covers the bumper reinforcement. shocks 34 from the front side of the vehicle. The front bumper trim 32 is mounted on the vehicle body which forms the bumper reinforcement 34 and the like. An opening portion 32A is formed in the lower portion of the front bumper cover 32. The opening portion 32A serves to guide the wind (the air flow) to a radiator 42 which is disposed of from the front bumper 32. rear side of the vehicle with respect to the bumper reinforcement 34. The bumper reinforcement 34 is shaped in a long narrow form in the direction of the vehicle width and is disposed in the vehicle. The absorber 38 is placed with the direction of its length in the direction of the vehicle width. The absorber 38 is located on the rear side of the vehicle with respect to the front bumper cover 32. The onboard camera 22 which acts as a prevention sensor is mounted above the vehicle bumper 30, for example, inside the vehicle at the position of a mirror support or the like. [0034] Figure 3 shows a partial enlarged view of the general structure around the vehicle bumper. The bumper reinforcement 34 is shaped into a substantially rectangular, hollow, prismatic shape which is made of a metallic material such as an aluminum-based material or the like. The bumper reinforcement 34 is disposed at the rear vehicle side with respect to the front bumper trim 32, the length direction of the bumper reinforcement 34 being in the direction of the vehicle width. . The absorber 38 is made of a resin foam material, i.e., a urethane foam or the like. The absorber 38 is disposed between the front bumper shell 32 and the bumper reinforcement 34, and is shaped as a long, narrow shape, the length direction of which is in the direction of the width of the bumper. vehicle. The absorber 38 is shaped in a substantially rectangular shape seen in section along its length. The absorber 38 is placed adjacent to the vehicle front side of a predetermined region (e.g., the upper portion) of the bumper reinforcement 34, and the absorber 38 is attached to the front face 34A of the bumper reinforcement. Shocks 34. A retaining groove portion 44 is formed in the rear face 38A of the absorber 38. The retaining groove portion 44 retains the pressure tube 46, which is described below. The retaining groove portion 44 is shaped in a substantially "C" shape which opens toward the rear side of the vehicle as seen in longitudinal section (to be more precise, a circular shape which is partially open towards its rear side of the vehicle ). The retaining groove portion 44 is dug into the absorber 38 in the direction of its length. The pressure tube 46 is connected to the pressure sensor 48, which is disposed at each of the two ends in the direction of the vehicle width of the pressure tube 46 (see Figure 2). The contact sensor 24 is constituted by the pressure tube 46 and the pressure sensors 48. That is to say that the contact sensor 24 includes the pressure tube 46 which is shaped in a long narrow form and each sensor The pressure tube 46 is constituted as a hollow structure with, in section, a substantially annular shape. The outer diameter of the pressure tube 46 is specified to be slightly smaller than the inside diameter of the retention groove portion 44 of the absorber 38, and the length in the length direction of the pressure tube 46 is specified to be longer than the length in the length direction of the absorber 38. The pressure tube 46 is arranged in the length direction of the absorber 38 by being assembled (mounted) in the retention groove portion 44 In the state in which the pressure tube 46 has been assembled in the retaining groove portion 44 of the absorber 38, seen in section in the direction of the length of the absorber 38, the peripheral face outer of the pressure tube 46 is in contact with the rear face 38A of the absorber 38 or is placed slightly spaced from the rear face 38A to form a space. Thus, the pressure tube 46 is placed adjacent to the front face 34A. When a force directed towards the rear side of the vehicle acts on the absorber 38 and the absorber 38 pushes the pressure tube 46, a reaction force is applied to the pressure tube 46 by the bumper reinforcement 34. The pressure sensor 48 which is placed at both ends in the direction of the vehicle width of the pressure tube 46 is connected electronically to the control device 12. When the pressure tube 46 deforms, signals corresponding to the Pressure changes in the pressure tube 46 exit from the pressure sensor 48 to the controller 12. [0038] Although Fig. 2 shows an example in which the pressure sensor 48 is placed at both ends of the pressure tube 46 , the fact of providing the pressure sensor 48 at both ends of the pressure tube 46 is not limiting. For example, the pressure sensor 48 may be disposed at a single end portion of the pressure tube 46, the pressure sensor 48 may be disposed at an intermediate portion of the pressure tube 46, or three sensors of pressure 48 or more may be arranged at a combination of end portions and intermediate portions. In addition, the contact sensor 24 constituted by the pressure tube 46 and the pressure sensor 48 may be provided in several copies in the up-down direction of the vehicle bumper 30. Thresholds will now be described. for the detection of a collision with an object. When there is a collision between the vehicle and an object and the object collides with the vehicle bumper 30, the amount of deformation of the vehicle bumper 30 varies depending on the type of vehicle. 'object. For example, if a pedestrian collides with the vehicle bumper, the pedestrian collides directly with the vehicle bumper 30. As a result, a relatively large deformation of the vehicle bumper 30 occurs. Accordingly, effective masses calculated from the strain quantities are found in advance in cases where a pedestrian collides with the vehicle bumper 30 and a first threshold th1 is specified to be a threshold. intended to detect a collision between the vehicle and an object. Therefore, if the effective mass calculated from the amount of deformation of the vehicle bumper 30 is greater than or equal to the first threshold th1, it can be detected that there has been a collision with an object that is a pedestrian. Alternatively, if there is a collision between, for example, the vehicle and the rear of a two-wheeled vehicle such as a bicycle or the like, a wheel of the two-wheeled vehicle first collides with the vehicle bumper 30, and the amount of deformation (and the effective mass) may be smaller than the amount of deformation (and the effective mass calculated from the amount of deformation) in the case of the incoming vehicle in collision with a pedestrian. [0042] Figure 4 shows a characteristic curve 50 which is an example of a characteristic of the effective masses of the object when the vehicle collides with the rear of a two-wheeled vehicle riding a driver or the like. When the vehicle and the two-wheeled vehicle collide, the characteristic of the amount of deformation of the vehicle bumper 30 includes respective characteristics of a contact stage and an impact stage. That is, the characteristic curve 50 comprises a first characteristic 52 which is the contact stage and a second characteristic 54 which is the impact stage, with a time difference with respect to the contact stage. The first characteristic 52 is a characteristic of the effective masses corresponding to deformation quantities when there is a collision with the wheel of a two-wheeled vehicle. The second characteristic 54 is a characteristic of the effective masses corresponding to deformation quantities when a driver of the two-wheeled vehicle collides with the vehicle bumper 30.
    [0004] However, these effective masses do not reach the first threshold th1 specified for pedestrian detection in either of the first characteristic and the second characteristic. Accordingly, in the present exemplary embodiment, the effective masses are found in advance in cases in which two-wheeled vehicles that ride conductors collide with the vehicle bumper 30 and a second threshold th2 is specified to be a threshold for detecting a collision between the vehicle and an object. So if an effective mass is greater than or equal to the second threshold th2 can be detected that there was a collision with the driver of a two-wheeled vehicle. However, if the second threshold th2 was still set as the threshold for detecting a collision, a collision would be detected even when there was a collision with an object other than a two-wheeled vehicle mounted by a driver. Therefore, in the present exemplary embodiment, objects are detected in front of the vehicle whose image is formed by the onboard camera 22. That is, the objects in front of the vehicle which have the possibility of colliding with the vehicle are detected by the on-board camera 22 which detects the objects by non-contact operation as a prevention sensor. If it is determined from an image acquired by the on-board camera 22 that an object in front of the vehicle with a possibility of colliding with the vehicle is a two-wheeled vehicle such as a bicycle or the like, the threshold for determining a collision between the vehicle and an object of the first threshold th1 for pedestrian detection at the second threshold th2 for detecting a two-wheeled vehicle. Here, if the control device 12 determines that an object in front of the vehicle with a possibility of colliding with the vehicle is a two-wheeled vehicle such as a bicycle or the like, the control device 12 maintains the a state in which the object which is a two-wheeled vehicle (the bicycle) is detected for a predetermined time Ti (t0 to t1), which is specified in advance. During the predetermined time Ti the control device 12 changes the threshold for determining a collision of an object with the vehicle of the first threshold th1 for pedestrian detection at the second threshold th2 for detection of two-wheeled vehicle. The change of the threshold is limited to the predetermined duration in order to eliminate unnecessary collision detections after identification of a two-wheeled vehicle. That is, if the second threshold th2 was continuously maintained after an object was identified as a two-wheeled vehicle, there would be the possibility of detecting a collision of an object other than a vehicle with two wheels, with an effective mass calculated from a deformation of the vehicle bumper 30 which does not correspond to a collision with the vehicle bumper 30. As a result, it is possible to eliminate the unnecessary detection of collisions in limiting the change of the threshold to the period of the predetermined duration T1 which is specified in advance. An example of a process that is executed by the control device 12 of the vehicle collision detection device 10 according to the present exemplary embodiment will now be described. Fig. 5 shows an example of the processing flow performed by the control device 12 of the collision detection device 10 according to the present exemplary embodiment. In the present exemplary embodiment, a program representing the example of the processing flow shown in FIG. 5 is stored in advance in the ROM 16 and executed by the control device 12. The processing of Figure 5 starts when the ignition is switched on. First, when the ignition is switched on, the control device 12 goes to step 100 and takes the first threshold th1 for pedestrian detection as the threshold TH of the effective mass M to determine that there is has a collision with an object. That is, the first threshold th1 is read in the ROM 16 and taken as threshold TH to determine whether or not there is a collision with an object from effective masses calculated from strain quantities of the bumper vehicle 30. [0047] Then, in step 102, an object is identified from the output values of the onboard camera 22. That is to say, the control device 12 identifies an object in front of the vehicle from acquired images formed by the on-board camera 22. In step 104, an effective mass M of the object is detected, and the processing goes to step 106. The effective mass M of the object is detected based on detection results from the contact sensor 24 and detection results from the vehicle speed sensor 26. More specifically, the control device 12 detects a deformation amount of the sensor. vehicle shocks 30 by reading an output value of the catch ur of contact 24, by detecting a pressure on the vehicle bumper 30. Then, the control device 12 integrates over time the pressures detected by the contact sensor 24 to calculate a pulse, divide the calculated pulse (N / s) by the vehicle speed detected by the vehicle speed sensor 26 (km / h) and multiplies the result by a value for unit conversion (e.g., 3.6). Thus, the control device 12 detects the effective mass M. In step 106, the control device 12 determines whether or not a pedestrian has collided with the vehicle by determining whether the effective mass M exceeds or not. the threshold TH, that is to say if the effective mass M of the object exceeds the first threshold th1 for pedestrian detection. If the result of the determination in step 106 is affirmative (M> TH (= th1)), then in step 122 an implementation instruction is given for the active device 28. That is, that the control device 12 outputs implementation signals representing an instruction for the implementation of the active device 28. As a result, the active device 28 operates to protect the pedestrian. After the output of the processing signals indicated in step 122, the processing goes to step 124. In step 124, the control device 12 determines whether the present processing has ended, by determining whether the contact has been cut. If the result of this determination is affirmative, the present processing routine terminates, and if the result of the determination is negative, the process returns to step 102. [0050] If the result of the determination of step 106 is negative (M TH (= th1)), the process goes to step 108. In step 108, the control device 12 determines whether or not an object in front of the vehicle has been identified as a two-way vehicle. wheels (a bicycle) by images captured by the onboard camera 22. If the control device 12 determines that an object in front of the vehicle is a two-wheeled vehicle such as a bicycle or the like, the control device 12 maintains the state wherein the object is detected as a two-wheeled vehicle (a bicycle) during the period of the predetermined time T1.
    [0005] Thus, in step 108, it is possible to determine whether or not an object has been identified as a two-wheeled vehicle (a bicycle) by determining whether or not the control device 12 is in the state in which the two-wheeled vehicle wheels has been detected. If the result of the determination of step 108 is negative (an object other than the two-wheeled vehicle), the processing goes to step 124. [0051] On the other hand, if the result of the determination of the step 108 is affirmative (a two-wheeled vehicle), the process goes to step 110. In step 110, the effective mass threshold M to identify a collision with an object is set to the second threshold th2 for detection. two-wheeled vehicle. That is, the second threshold th2 is read in the ROM 16 and is taken as TH threshold to determine whether or not there is a collision with an object. Thus, the threshold TH to determine that there is a collision with an object changes from the first threshold th1 to the second threshold th2. Then, in step 112, an effective mass M of the object is detected. That is, the controller 12 detects the effective mass from detection values from the contact sensor 24 and a detection result from the vehicle speed sensor 26 in a manner similar to the processing of step 104. In step 114, the control device 12 determines whether or not there is a collision between the vehicle and the driver of the two-wheeled vehicle by determining whether the effective mass M of the object exceeds the threshold TH, that is to say if the effective mass M exceeds or not the second threshold th2 for detection of two-wheeled vehicle. If the result of the determination of step 114 is negative (M5_TH (= th2)), the processing goes to step 118. If the result of the determination of step 114 is affirmative (M> TH (= th2)), then in step 116 the implementation instruction for the active device 28 is given in the same way as in step 122 and the processing goes to step 118. [0053] In step 118, the control device 12 determines whether or not the detection of the object in front of the vehicle as a two-wheeled vehicle (a bicycle) has ended by determining whether the state in which the two-wheeled vehicle wheels is detected has ended. If the result of the determination of step 118 is negative, the threshold TH is maintained at the second threshold th2 and the process returns to step 112. [0054] If the result of the determination of step 118 is affirmative, the processing goes to step 120. In step 120, the threshold TH for determining that there is a collision with an object is reduced from the second threshold th2 for two-wheeled vehicle detection to the first threshold th1 for detection of pedestrian, and the processing goes to step 124. If the continuation of the execution of the present processing routine is not necessary after an output of the implementation signals of the active device 28, the present Processing routine terminates after the processing of one of step 116 and step 122 or both. In the present exemplary embodiment, the processing has been described as being implemented by the execution of a program representing the processing flow shown in FIG. 5. However, the processing of the program can be carried out using a suitable hardware or device such as a computer system. FIG. 6 shows an example of a collision detection module 13 which is a device that detects a collision between the vehicle and an object. Signals representing the state in which a two-wheeled vehicle has been detected (bicycle recognition signals), output signals from the contact sensor 24 (pressure input signals) and sensor output signals vehicle speed 26 (vehicle speed input signals) enter the collision detection module 13. The collision detection module 13 outputs processing signals to the active device 28. The collision detection module 13 is equipped with an effective mass determination section (LO) 60 which serves as a first determination section. an effective mass determining section 62 which serves as a second determining section, a speed range determining section 64 which serves as a third determining section, an OR gate 66 and an AND gate 68 In order to eliminate unnecessary collision detections, the speed range determination section 64 is provided with velocity ranges of the vehicle speed. For example, a speed range to prohibit the implementation of the active device 28 when the vehicle is traveling at low speed or is stopped and a speed range to allow the implementation of the active device 28 are specified in advance in the section 64 speed range determination. The speed range determination section 64 compares the speed ranges specified in advance with the vehicle speeds detected by the vehicle speed sensor 26, and outputs a high level signal when a detected vehicle speed is reached. within the speed range to enable the active device 28 to be operated. [0059] The effective mass determination section 62 performs effective mass determinations based on the output signals of the contact sensor 24 and the outputs. Vehicle velocity sensor output signals 26. The effective mass determination section 62 includes a signal input portion which inputs a signal corresponding to the first th1 threshold for pedestrian detection, and includes a calculation portion which calculates a effective mass M from the output signals of the contact sensor 24 and an output signal of the vehicle speed sensor 26. The section 62 of the mass determination eff. ective outputs a high level signal if the calculated effective mass M exceeds the first threshold th1. The effective mass determining section (LO) 60 performs effective mass determinations (LO) on the basis of signals representing the state in which a two-wheeled vehicle has been detected, output signals from the sensor of contact 24 and the output signals of the vehicle speed sensor 26. The effective mass determination section (LO) 60 includes a signal input portion which inputs a signal corresponding to the second threshold th2 for two-wheeled vehicle detection. , and includes a calculating portion which calculates an effective mass M from the output signals of the contact sensor 24 and an output signal of the vehicle speed sensor 26. The effective mass determination section (LO) 60 outputs a high level signal if the calculated effective mass M exceeds the second threshold th2 in the state in which a two-wheeled vehicle has been detected. The OR gate 66 outputs the logical sum (OR) of the output of the effective mass determination section (LO) 60 and the output of the effective mass determination section 62. The AND gate 68 outputs the logical product (AND) from the output of the OR gate 66 and the output of the speed range determination section 64. Thus, the collision detection module 13 can detect a collision between the vehicle and an object and, if a collision is detected, perform a command so as to implement the active device 28. As described herein above, in the present exemplary embodiment, object detection results are used in front of the vehicle (a two-wheeled vehicle) according to an on-board camera and a threshold for detecting a collision between the vehicle and an object is changed from the threshold for pedestrian detection to the threshold for two-wheeled vehicle detection. Thus, it is possible to determine a collision between the vehicle and an object even for an object with a small effective mass M such as a two-wheeled vehicle. In addition, the on-board camera is used as a prevention sensor and can perform detection in a primary determination stage of determining whether an object is a two-wheeled vehicle, while actual contact can be detected in a secondary stage. by a contact sensor. Therefore, a prevention sensor such as the onboard camera or the like does not need to determine exactly whether an object is a two-wheeled vehicle. In the present exemplary embodiment, the threshold TH of the first threshold to the second threshold is changed during the period of a predetermined duration which is specified for a state in which a two-wheeled vehicle has been detected. Thus, a collision between the vehicle and a pedestrian can be detected, a collision with a two-wheeled vehicle can be detected, and the collision detection performance can be improved. In addition, a collision with a pedestrian and a collision with a two-wheeled vehicle can be determined with a simple structure and simple processing in which a threshold is simply changed for a predetermined duration to determine that there is a collision with a vehicle. object. As the threshold TH is reduced from the second threshold th2 to the first threshold th1 after the predetermined duration has elapsed, it is possible to prevent unnecessary operation of the active device 28. In the present exemplary embodiment, it is possible to detect a collision with the driver of a two-wheeled vehicle by a threshold function of an effective mass M which is fixed for pedestrians by changing it to a lower threshold. Thus a pedestrian collision detection device can also be used as a device that detects collisions with drivers of two-wheeled vehicles. In the present exemplary embodiment, after an object has been determined to be a two-wheeled vehicle by the on-board camera 22, the threshold is changed for identifying a collision of the object with the vehicle. the first threshold th1 for pedestrian detection at the second threshold th2 for detecting a two-wheeled vehicle for the period of the predetermined duration that is specified for the detection state of the two-wheeled vehicle. A collision is detected based on the changed second threshold. However, the present invention is not limited to this. For example, after an object has been determined to be a two-wheeled vehicle such as a bicycle or the like, an initial collision of an effective mass exceeding the second threshold th2 is treated as a contact stage and a subsequent collision. an effective mass M which exceeds the second threshold th2 is treated as an impact stage. Determining a driver of a two-wheeled vehicle such as a bicycle or the like can be done if the impact stage appears. That is, after the contact stage in which the two-wheeled vehicle comes into contact with the vehicle bumper 30, it is possible to use reaching the impact stage in which the driver the two-wheeled vehicle collides with the vehicle bumper 30 with a time difference from the contact stage to detect a collision with the object. To be more precise, the stage of contact with the object is detected and the stage of impact at which there is a secondary collision, corresponding to the detected contact stage, of the driver of the two-wheeled vehicle with the bumper is detected. vehicle shock 30. That is, an initial collision with an effective mass exceeding the second threshold th2 is treated as the contact stage, and the impact stage is detected within the period of a certain duration after the contact stage. The certain duration is found in advance by experimentation. As a result, even a collision with a two-wheeled vehicle which has an effective mass M which does not reach the first threshold th1 specified for pedestrian detection can be more accurately detected. [0067] Second Example Embodiment A second exemplary embodiment will now be described. The second exemplary embodiment has a structure similar to the first exemplary embodiment. Therefore, the structures that are the same are assigned the same reference numbers and are not described here. In the first exemplary embodiment, if detection results of an object in front of the vehicle according to a prevention sensor (an on-board camera or the like) are that the object is a two-wheeled vehicle. the threshold for detecting a collision with the vehicle of the threshold for pedestrian detection at the threshold for detection of two-wheeled vehicles is changed, and the active device 28 can be implemented. In the second exemplary embodiment, relationships between detection results for objects in front of the vehicle and effective masses M are stored in advance in the form of a map, and the active device 28 can be set up. according to this map. Fig. 7 shows the general structure of a vehicle collision detection device according to the second exemplary embodiment. A card 17 is stored in the ROM 16 of the control device 12 of the collision detection device 10 for a vehicle. The card 17 is not limited to being stored in the ROM 16; a card memory unit 25 may be connected to 11/0 and the card memory unit may be accessed, or the card 17 may be acquired from the outside of the control device 12 by 11/20. 20 and loaded into the RAM 18. In the present exemplary embodiment, the card 17 which is stored in the ROM 16 corresponds to a card of the present invention. FIG. 8 shows an example of the card 17 according to the second exemplary embodiment. The vertical axis of the map 17 corresponds to the effective masses M which are calculated from detection values from the contact sensor 24 and the vehicle speed sensor 26, and the horizontal axis corresponds to the sensor outputs which are results of determination of objects recognized from images taken by the on-board camera 22. For example, in the case in which sensor outputs which are results of determination of objects recognized from images taken by the onboard camera 22 represent object sizes, disturbances during traffic, from bad roads, noise or the like, cause the object size to extend over a wide range from a small size to a large size. Object sizes of obstacles on the road, small animals and the like are relatively small, and pedestrian object sizes are relatively small. Object sizes of two-wheeled vehicles such as bicycles and the like are relatively large. On the contrary, disturbances during traffic, from bad roads, noise and the like, in the effective masses M calculated from detection values from the contact sensor 24 and the vehicle speed sensor 26 are relatively small. The effective mass M of an obstacle on the road or a small animal is on a medium scale. The effective mass M of a pedestrian is large, and the effective mass M of a two-wheeled vehicle such as a bicycle or the like is an effective mass at medium or large scale. Accordingly, in the present exemplary embodiment, it is used to detect at least collisions with two-wheeled vehicles such as bicycles and the like that the correspondences between the effective masses M of objects calculated from detection values from the contact sensor 24 and the vehicle speed sensor 26 and the sensor outputs which are object recognition results recognized from images taken by the on-board camera 22 are contained therein different regions depending on the type of objects. That is to say that the correspondences between the effective masses M of objects calculated from detection values from the contact sensor 24 and the vehicle speed sensor 26 and the sensor outputs which are sensors. results of determining objects recognized from images taken by the onboard camera 22 are stored in advance in the form of the map 17, and collisions with two-wheeled vehicles are detected. To be more precise, as shown in FIG. 8, the card 17 is memorized in advance with effective masses calculated from detection values from the contact sensor 24 and the vehicle speed sensor 26 represented by FIG. vertical axis and sensor outputs which are results of determining objects recognized from images taken by the onboard camera 22 represented by the horizontal axis. On the map 17 a region which contains both a region 74 corresponding to objects which are pedestrians and a region 76 corresponding to two-wheeled vehicles is used as an implementation region 72 in which the device is implemented. Thus, if an effective mass M and the sensor output that goes with it are contained in the implementation region 72 shown in FIG. 8, the object can be a pedestrian or a two-wheeled vehicle. detect a collision of the pedestrian or two-wheeled vehicle with the vehicle, and the pedestrian or the driver of the two-wheeled vehicle can be protected. On the map 17 shown in Figure 8, the regions can be determined according to the thresholds described in the first exemplary embodiment. That is, a threshold covering at least the effective masses M corresponding to pedestrians is the first threshold th1, and a threshold covering at least the effective masses M corresponding to two-wheeled vehicles is the second threshold th2 . The results which represent pedestrians among the sensor outputs which are results of determination of objects recognized from images taken by the on-board camera 22 are associated with the first threshold th1, and the results which represent two-wheeled vehicles. are associated with the second threshold th2. Thus, the region of implementation 72 can be defined. [0077] That is, on the map 17 shown in FIG. 8, an overlapping region - in which the region of the effective masses M exceeding the second threshold th2 for detecting two-wheeled vehicle overlaps with a region S of detection results in which an object recognized in front of the vehicle is a two-wheeled vehicle - is defined as implementation region 72A for detection of two-wheeled vehicle . An example of a process that is executed by the control device 12 of the collision detection device 10 for a vehicle according to the present exemplary embodiment will now be described. Fig. 9 shows an example of the processing flow performed by the control device 12 of the collision detection device 10 for a vehicle according to the present exemplary embodiment. First, when the ignition is switched on, the control device 12 goes to step 130 and reads, in the ROM 16, the card 17 intended to determine whether there are collisions with objects. . Then, in step 102, an object is identified from output values of the onboard camera 22. This identification of an object can be determined from at least the size of the object. In step 104, an effective mass M of the object is detected and the processing advances to step 132. [0080] In step 132, the control device 12 determines whether to output signals of implemented to implement the active device 28 by determining whether the detection results are contained in the implementation region 72 shown on the map 17. That is, if the object is a pedestrian ( or a small object), the control device 12 determines whether the effective mass M exceeds the first threshold th1, and if the object is a two-wheeled vehicle (or a large object), the control device 12 determines whether the effective mass M exceeds the second threshold th2. If the result of the determination of step 132 is negative, the processing simply goes to step 124, but if the result of the determination is affirmative, an implementation instruction for the active device 28 is given to the step 134 in the same manner as in step 116 and step 122 shown in Figure 5. As a result, the active device 28 is implemented to protect a pedestrian or the driver of a vehicle to two wheels. After the output of the processing signals shown in step 134, processing proceeds to step 124. As described above, in the present exemplary embodiment, it is used to identify collisions with of the drivers of two-wheeled vehicles the fact that the correspondences between the effective masses M of objects according to the contact sensor 24 and the vehicle speed sensor 26 and the object determination results from the on-board camera 22 are in different regions depending on the types of objects. That is, a correspondence between the effective mass M of an object according to the contact sensor 24 and the vehicle speed sensor 26 and a determination result are determined from the map 17. According to the on-board camera 22. Thus, pedestrian collisions and the like can be exactly determined and collisions with two-wheeled vehicles by drivers. In the above examples of embodiments, there have been described cases in which a pressure sensor is provided at the level of the vehicle bumper 30 and in which effective masses calculated from quantities of vehicle are detected. However, for example, a pressure chamber could be provided at the vehicle bumper 30 and the pressures thereof could be detected as amounts of deformation of the vehicle bumper. In the above examples of embodiments, there have been described cases that include two-wheeled vehicles, but the objects are not limited to two-wheeled vehicles. The present invention is also applicable to single-wheeled vehicles and three-wheeled vehicles, and to non-motorized vehicles equipped with even more wheels.
    [0006] In addition, a bicycle was mentioned as an example of a two-wheeled vehicle, but two-wheeled vehicles are not limited to bicycles. The present invention is also applicable to light vehicles such as motorcycles and the like. In the above examples of embodiments, there have been described cases in which a pressure sensor is provided at the level of the vehicle bumper 30 and in which deformation amounts of the bumper of the vehicle are detected. However, for example, an acceleration sensor could be used to detect amounts of deformation of the vehicle bumper 30. In addition, a touch sensor could be provided as a sensor for detecting the contact stage 302 66 96 27 and could detect it. For example, a touch sensor could be added to the contact sensor 24 to detect the contact stage. In addition, they could be combined to detect deformation amounts of the vehicle bumper 30. [0085] In the exemplary embodiments described above, the front side of a vehicle was exemplified and described. . However, the present invention is also applicable to the rear side of the vehicle. The program executed by the control device 12 in the exemplary embodiments described above may be distributed as a program, or the program may be stored and distributed on a recording medium or the like as a CD-ROM, a DVD or the like. This program could, for example, be copied to ROM 16 or RAM 18 and executed by CPU 14.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A collision detection device (10) for a vehicle, characterized in that it comprises: a first detection unit (22) which detects an object without contact in front of the vehicle; a second detection unit (24) which, in the case where an object collides with a vehicle bumper (30), detects at least one of a deformation amount of the vehicle bumper ( 30) or a physical quantity corresponding to the amount of deformation; and a determining unit (12) which determines that an object has collided in the case where the detection result of the second detection unit exceeds a first threshold (th1), among a first threshold (th1) for detection pedestrian and a second threshold (th2) less than the first threshold (th1), and determines that an object has collided in the case in which a two-wheeled vehicle is detected as an object in front of the vehicle according to the detection result of the first detection unit (22) and if the detection result of the second detection unit (24) exceeds the second threshold (th2).
    [0002]
    Device (10) according to claim 1 for collision detection for a vehicle, characterized in that the determining unit comprises: a main determination section which determines that an object has collided in the case in which the detection result of the second detection unit (24) exceeds a value which is set as the threshold (TH) among the first threshold (th1) for pedestrian detection and the second threshold (th2) which is smaller than the first threshold ( th1); and a threshold setting section which takes as threshold (TH) the first threshold (th1) and, in the case where the detection result of the first detection unit (22) is a detection result with which a vehicle with two wheels is detected as an object in front of the vehicle, changes the threshold (TH) of the first threshold (th1) and takes as threshold (TH) the second threshold (th2).
    [0003]
    Device (10) according to claim 1 or 2 for collision detection for a vehicle, characterized in that the second detection unit (24) detects the pressure that is produced in the case in which an object collides with the vehicle bumper (30) and detects the vehicle speed, and detects, as a physical quantity corresponding to the amount of deformation of the vehicle bumper (30), an effective mass (M) calculated from the pressure and vehicle speed, detected.
    [0004]
    4. Device (10) according to any one of claims 1 to 3 for collision detection for a vehicle, characterized in that the determination unit (12) stores a card (17) in which respective detection results of the first detection unit (22) and the second detection unit (24) are associated and in which an overlap region is specified in advance, in which region of overlap a region containing detection results of the first unit detecting means (22) which are detection results with which a two-wheeled vehicle is detected as an object in front of the vehicle overlaps with a region containing detection results of the second detection unit (24) which are larger than the second threshold (th2), the detection results of the second detection unit (24) being deformation quantities of the vehicle bumper (30) or physical quantities ues corresponding to the deformation quantities, and determines that an object which is a two-wheeled vehicle collided in the case in which the respective detection results of the first detection unit (22) and the second detection unit (24) are contained in the overlapping region of the card (17).
    [0005]
    5. Device (10) according to any one of claims 1 to 4 for collision detection for a vehicle, characterized in that, in the case in which the determination unit (12) determines that an object is colliding , a protection device (28) is implemented to protect the object.
    [0006]
    6. A collision detection method for a vehicle characterized in that it comprises: the non-contact detection of an object in front of the vehicle; in the case where an object collides with a vehicle bumper (30), detecting at least one of a deformation amount of the vehicle bumper (30) or a magnitude physical corresponding to the amount of deformation; and determining that an object has collided in the case where the amount of deformation of the vehicle bumper (30) or the physical magnitude corresponding to the amount of deformation exceeds a first threshold (th1), from a first threshold (th1) for pedestrian detection and a second threshold (th2) which is smaller than the first threshold (th1), and the determination that an object has collided in the case in which a two-wheeled vehicle is detected as an object in front of the vehicle and in which the amount of deformation of the vehicle bumper (30) or the physical quantity corresponding to the amount of deformation exceeds the second threshold (th2).
    [0007]
    A collision detection method for a vehicle, comprising: contactless detection of an object in front of the vehicle; in the case where an object collides with a vehicle bumper (30), detecting at least one of a deformation amount of the vehicle bumper (30) or a magnitude physical corresponding to the amount of deformation; and determining that an object has collided in the case where the amount of deformation of the vehicle bumper (30) or the physical magnitude corresponding to the amount of deformation exceeds a first threshold (th1), from a first threshold (th1) for pedestrian detection and a second threshold (th2) which is smaller than the first threshold (th1), and the determination that an object has collided in the case in which a two-wheeled vehicle is detected as an object in front of the vehicle and in which the amount of deformation of the vehicle bumper (30) or the physical quantity corresponding to the amount of deformation exceeds the second threshold (th2).
    [0008]
    8. Computer system comprising means configured to implement the method according to claim 7.
    [0009]
    A computer program product loadable directly into a memory of a computer system, comprising portions of software code for executing the method of claim 7 when said program is executed on said computer system.
    [0010]
    10. A computer readable medium having computer executable instructions adapted to cause the computer system to execute the method of claim 7.
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    同族专利:
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    JP2016068902A|2016-05-09|
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    优先权:
    申请号 | 申请日 | 专利标题
    JP2014203264A|JP6131925B2|2014-10-01|2014-10-01|Vehicle collision detection device and vehicle collision detection method|
    JP2014203264|2014-10-01|
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