JP-7857202-B2 - Vehicle control system

JP7857202B2JP 7857202 B2JP7857202 B2JP 7857202B2JP-7857202-B2

Inventors

竹内宏次
徳田将則
征矢竜一
ラウナンダナスジーンドラモラカルムル

Assignees

トヨタ自動車株式会社
コンチネンタルオートノモスモビリティジャーマニーゲゼルシャフトミットベシュレンクテルハフツング

Dates

Publication Date: 20260512
Application Date: 20220927

Claims (3)

A surrounding sensor that detects targets present around the vehicle, When the surrounding sensors detect an approaching target that is approaching the vehicle, the control unit is capable of performing vehicle control including at least one of the following: disembarkation support control to assist in the safe disembarkation of occupants of the vehicle while it is stopped, and collision avoidance support control to assist in avoiding a collision with the approaching target while the vehicle is stopped or in motion. In a vehicle control device equipped with, The control unit is If a predetermined partial wave condition is met for the approaching target, which is a partial wave that constitutes a part of the surface waves of the sea, then even if the execution condition for the vehicle control is met for that approaching target, the vehicle control corresponding to the execution condition will not be executed or will be suppressed. A vehicle control device configured in such a way.
In the vehicle control device according to claim 1, The detection area of the aforementioned ambient sensor has multiple sets of areas, each including a roughly rectangular first area, a roughly rectangular second area, and a roughly rectangular third area. In any pair, the second long side of the second region is longer than the first long side of the first region, and the second region is positioned further away from the vehicle than the first region, such that the entire first long side of the pair of first long sides of the first region that is further away from the vehicle contacts the second long side of the pair of second long sides of the second region that is closer to the vehicle; the third long side of the third region is longer than the second long side, and the third region is positioned further away from the vehicle than the second region, such that the entire second long side of the pair of second long sides of the second region that is further away contacts the third long side of the pair of third long sides of the third region that is closer to the vehicle; The control unit is In any pair, In the first case, where a predetermined surface wave condition is met at present when surface waves are present in at least one of the first, second, or third regions, and a specific target that satisfies a predetermined specific condition that is met when the target may be a partial wave is present in the first region, it is determined that the partial wave condition is met for that specific target in the first region. In the second case, where the water surface wave condition is met at any point in the past within a predetermined past period from a past point in time to the present, and the specific target is located in the second or third region at that point in time, and the specific target that was located in the second or third region at that point in time is now located in the first region, it is determined that the partial wave condition is met for the specific target located in the first region. The water surface wave condition is determined to be met in any of the following cases, namely, when a predetermined first number or more of the specified targets exist in the first region; when a predetermined second number or more of the specified targets exist in the second region and the adjacent distance (distance to an adjacent specified target) is less than or equal to a predetermined second region distance threshold, or when a predetermined fourth number or more of the specified targets exist in the third region and the adjacent distance (distance to an adjacent specified target) is less than or equal to a predetermined third region distance threshold, and a predetermined fifth number or more of the specified targets exist consecutively. A vehicle control device configured in such a way.
In the vehicle control device according to claim 2, The aforementioned ambient sensor is a radar sensor. The control unit is If the relative speed of the target with respect to the vehicle is below a predetermined speed threshold, the radar cross-sectional area of the target is below a predetermined cross-sectional area threshold, and the detection time, which is the time during which the same target is continuously detected by the surrounding sensor, is above a predetermined time threshold, then it is determined that the specific conditions are met for the target. A vehicle control device configured in such a way.

Description

This invention relates to a vehicle control device capable of performing vehicle control including at least one of disembarking assistance control and collision avoidance assistance control. Conventionally, vehicle control devices are known that can perform vehicle control, including disembarkation assistance control and/or collision avoidance assistance control, when an approaching object (an object approaching the vehicle) is detected by surrounding sensors. For example, Patent Document 1 describes a rear pre-collision safety system that can perform control to warn the driver when an approaching object approaching the vehicle from the rear is detected. Patent No. 6941190 Incidentally, at the shoreline (typically a sandy beach), seawater waves intermittently crash against the shore. Therefore, when a vehicle is stopped or moving at the shoreline, the vehicle control system may mistakenly identify some of the incoming waves as approaching targets (i.e., targets for vehicle control), potentially leading to unnecessary vehicle control actions. This invention was made to address the problems described above. Specifically, one of the objectives of this invention is to provide a vehicle control device capable of suppressing unnecessary operation of the vehicle control system when the vehicle is stopped or moving along the shoreline. The vehicle control device according to the present invention (hereinafter referred to as "the present invention device") is A surrounding sensor that detects targets present around the vehicle, When the surrounding sensors detect an approaching target that is approaching the vehicle, the control unit is capable of performing vehicle control including at least one of the following: disembarkation support control to assist in the safe disembarkation of occupants of the vehicle while it is stopped, and collision avoidance support control to assist in avoiding a collision with the approaching target while the vehicle is stopped or in motion. It is equipped with. The control unit is If a predetermined partial wave condition is met for an approaching target, which is a partial wave that constitutes a part of the surface waves of seawater, the vehicle control execution condition corresponding to that execution condition is not executed or is suppressed, even if the execution condition for the vehicle control is met for that approaching target. The control unit of the present invention is configured to not execute or suppress vehicle control (i.e., vehicle control corresponding to the execution condition) for an approaching target detected by the surrounding sensor if the partial wave condition is met, even if the execution condition for vehicle control is met for that approaching target. Here, the partial wave condition is a condition that is met when the target is a partial wave (a wave that constitutes part of the surface wave of seawater). This configuration makes it possible to suppress unnecessary operation of vehicle control when the vehicle is stopped or moving at the waterline. Note that if the vehicle control is disembarking assistance control, "execution condition" means the execution condition for disembarking assistance control, and "vehicle control corresponding to the execution condition" means disembarking assistance control. On the other hand, if the vehicle control is collision avoidance assistance control, "execution condition" means the execution condition for collision avoidance assistance control, and "vehicle control corresponding to the execution condition" means collision avoidance assistance control. In one aspect of the present invention, The detection area of the aforementioned ambient sensor has multiple sets of areas, each including a roughly rectangular first area, a roughly rectangular second area, and a roughly rectangular third area. In any pair, the second long side of the second region is longer than the first long side of the first region, and the second region is positioned further away from the vehicle than the first region, such that the entire first long side of the pair of first long sides of the first region that is further away from the vehicle contacts the second long side of the pair of second long sides of the second region that is closer to the vehicle; the third long side of the third region is longer than the second long side, and the third region is positioned further away from the vehicle than the second region, such that the entire second long side of the pair of second long sides of the second region that is further away contacts the third long side of the pair of third long sides of the third region that is closer to the vehicle; The control unit is In any pair, In the first case, where a predetermined surface wave condition is met at present when surface waves are present in at least one of the first, second, or third regions, and a specific target that satisfies a predetermined specific condition that is met when the target may be a p