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JP-2026074747-A - Controlled target setting device and controlled target setting program

JP2026074747AJP 2026074747 AJP2026074747 AJP 2026074747AJP-2026074747-A

Abstract

[Problem] To accurately set the target object that is the subject of the driver assistance control of the vehicle. [Solution] The control target setting device (4) is configured to set control target objects that are the subject of driver assistance control of the vehicle. This control target setting device includes a travel trajectory estimation unit (402) and a control target setting unit (405). The travel trajectory estimation unit estimates a straight-line travel trajectory, which is the planned travel trajectory when the vehicle travels in a straight line, and a turning travel trajectory, which is the planned travel trajectory when the vehicle travels in a turn. The control target setting unit sets control target objects based on the detection results of objects that exist in the direction of travel of the vehicle along the planned travel trajectory. Specifically, the control target setting unit is configured to set objects detected in the intermediate region (R3), which is the region between the straight-line travel trajectory and the turning travel trajectory, as control target objects. [Selection Diagram] Figure 2

Inventors

  • 横井 祐輔

Assignees

  • 株式会社デンソー
  • トヨタ自動車株式会社
  • 株式会社J-QuAD DYNAMICS

Dates

Publication Date
20260507
Application Date
20241021

Claims (10)

  1. A control target setting device (4) for setting a control target that is subject to the driver assistance control of the vehicle, A trajectory estimation unit (402) estimates the planned trajectory of the vehicle, A control target setting unit (405) sets the control target based on the detection results of targets located in the direction of travel of the vehicle along the planned travel trajectory, Equipped with, The aforementioned trajectory estimation unit estimates a straight-line trajectory (T1), which is the planned trajectory when the vehicle travels in a straight line, and a turning trajectory (T2), which is the planned trajectory when the vehicle travels in a turning direction. The control target setting unit is configured to set the target detected in the intermediate region (R3), which is the region between the straight-line travel trajectory and the turning travel trajectory, as the control target target. A device for setting target objects.
  2. The control target setting unit determines the priority order for setting the target detected in the straight-line region (R1) along the straight-line travel trajectory, the target detected in the turning region (R2) along the turning travel trajectory, and the target detected in the intermediate region as the target to be controlled. A device for setting a target object to be controlled, as described in claim 1.
  3. The aforementioned target of control is the preceding vehicle that is the subject of follow-up control. A device for setting a target object to be controlled, as described in claim 1.
  4. The control target setting unit changes the setting conditions for the control target according to the content of the driving assistance control. A device for setting a target object to be controlled, as described in claim 1.
  5. The control target setting unit changes the number of targets assigned between the control target target corresponding to the first type of driving assistance control and the control target target corresponding to the second type of driving assistance control, according to the driving conditions of the vehicle. A control target setting device according to any one of claims 1 to 4.
  6. A control target setting device (4) for setting a control target that is subject to the driver assistance control of the vehicle, A trajectory estimation unit (402) estimates the planned trajectory of the vehicle, A control target setting unit (405) sets the control target based on the detection results of targets located in the direction of travel of the vehicle along the planned travel trajectory, Equipped with, The control target setting unit changes the setting conditions for the control target according to the content of the driving assistance control. A device for setting target objects.
  7. A control target setting device (4) for setting a control target that is subject to the driver assistance control of the vehicle, A trajectory estimation unit (402) estimates the planned trajectory of the vehicle, A control target setting unit (405) sets the control target based on the detection results of targets located in the direction of travel of the vehicle along the planned travel trajectory, Equipped with, The control target setting unit changes the number of targets assigned between the control target target corresponding to the first type of driving assistance control and the control target target corresponding to the second type of driving assistance control, according to the driving conditions of the vehicle. A device for setting target objects.
  8. A control target setting program is executed by a control target target setting device (4) which sets control target targets that are the subject of driver assistance control of the vehicle, The process performed by the aforementioned controlled target setting device is: The process for estimating the planned trajectory of the vehicle, A process to set the target to be controlled based on the detection result of an object located in the direction of travel of the vehicle along the planned travel trajectory, Includes, In the process of estimating the planned travel trajectory, a straight-line travel trajectory (T1), which corresponds to the planned travel trajectory when the vehicle travels in a straight line, and a turning travel trajectory (T2), which corresponds to the planned travel trajectory when the vehicle travels in a turning direction, are estimated. In the process of setting the target object to be controlled, the object detected in the intermediate region (R3), which is the region between the straight-line travel trajectory and the turning travel trajectory, can be set as the target object to be controlled. A program for setting target objects to be controlled.
  9. A control target setting program is executed by a control target target setting device (4) which sets control target targets that are the subject of driver assistance control of the vehicle, The process performed by the aforementioned controlled target setting device is: The process for estimating the planned trajectory of the vehicle, A process to set the target to be controlled based on the detection result of an object located in the direction of travel of the vehicle along the planned travel trajectory, Includes, In the process of setting the target object to be controlled, the setting conditions for the target object to be controlled are changed according to the content of the driver assistance control. A program for setting target objects to be controlled.
  10. A control target setting program is executed by a control target target setting device (4) which sets control target targets that are the subject of driver assistance control of the vehicle, The process performed by the aforementioned controlled target setting device is: The process of estimating the planned trajectory of the vehicle, A process to set the target to be controlled based on the detection result of an object located in the direction of travel of the vehicle along the planned travel trajectory, Includes, In the process of setting the control target, the number of targets assigned between the control target corresponding to the first type of driving assistance control and the control target corresponding to the second type of driving assistance control is changed according to the driving conditions of the vehicle. A program for setting target objects to be controlled.

Description

This invention relates to a control target setting device and a control target setting program for setting control target objects that are the subject of driver assistance control of the vehicle. In recent years, the introduction of advanced safety technologies into vehicles has been progressing. These advanced safety technologies are installed in vehicles as automated driving systems. Automated driving refers to the continuous execution of at least one of the following subtasks of dynamic driving: longitudinal vehicle motion control (i.e., starting, acceleration/deceleration, and stopping) and lateral vehicle motion control (i.e., steering). Driving automation includes driver assistance and automated driving as defined in Levels 1 to 5 of the SAE J3016 standard published by SAE International. SAE stands for Society of Automotive Engineers. Specifically, driving automation functions include, for example, adaptive cruise control (a type of vehicle following control) and collision mitigation braking. Adaptive cruise control will be abbreviated as "ACC" below. Collision mitigation braking will be abbreviated as "AEB" below. AEB stands for Autonomous Emergency Braking. For example, the driver assistance device described in Patent Document 1 includes a vehicle distance detection unit, a relative speed detection unit, and an ACC control unit. The vehicle distance detection unit detects the distance to the preceding vehicle. The relative speed detection unit detects the relative speed to the preceding vehicle. The ACC control unit controls the acceleration and deceleration of the vehicle so that the distance to the preceding vehicle becomes a predetermined distance. Japanese Patent Publication No. 2022-149191 This is a block diagram showing a schematic configuration of an in-vehicle system including a control target setting device according to one embodiment of the present invention.This block diagram shows the schematic functional configuration of the target determination device shown in Figure 1.Figure 2 is a conceptual diagram illustrating an example of one operation of the target detection device shown.Figure 2 is a conceptual diagram illustrating an example of one operation of the target detection device shown.Figure 2 is a conceptual diagram illustrating an example of one operation of the target detection device shown.Figure 2 is a flowchart illustrating an example of one operation of the target detection device.Figure 2 is a table illustrating an overview of one example of operation of the target detection device. (Embodiment) Hereinafter, exemplary embodiments or specific examples of the present invention will be described with reference to the drawings as appropriate. It should be noted that the following embodiments, their modifications, and the corresponding drawings are schematic or simplified for the purpose of concisely explaining the content of the present invention, and do not in any way limit the content of the present invention. Therefore, it goes without saying that the descriptions in the drawings do not necessarily correspond to the specific device configurations actually manufactured and sold. In other words, unless explicitly limited by the applicant in the application history, the present invention should not be interpreted restrictively by the descriptions in the drawings and the corresponding descriptions of the device configurations, functions, or operations described below. (In-vehicle system configuration) Referring to Figure 1, the in-vehicle system 1 is installed in the vehicle, which is a car traveling on a road. The in-vehicle system 1 is an advanced safety driving system installed in the vehicle, and has the configuration of a driving automation system that takes over at least a part of the driver's driving operations, namely at least one of steering, acceleration/deceleration, starting, and stopping. Specifically, the in-vehicle system 1 includes a vehicle state sensor 2, a target detection sensor 3, a target determination device 4, and a driving support ECU 5. These are connected to each other via an in-vehicle network line 6 so that they can communicate with each other. The vehicle state sensor 2 is designed to detect and output state variables corresponding to the vehicle's driving state or behavior. Specifically, the vehicle is equipped with at least the following as the vehicle state sensor 2: a vehicle speed sensor 21, an acceleration sensor 22, a yaw rate sensor 23, a steering angle sensor 24, and a GNSS sensor 25. The vehicle speed sensor 21 is provided to detect the vehicle's speed. The acceleration sensor 22 is provided to detect the acceleration acting on the vehicle. The yaw rate sensor 23 is provided to detect the vehicle's yaw rate. The steering angle sensor 24 is provided to detect the vehicle's steering angle. The GNSS sensor 25 is provided to detect the vehicle's current position. Since the configuration and function of these sensors are well-known technology at