PROBLEM TO BE SOLVED: To provide a collision determination device and a collision determination method that are able to set a filter characteristic appropriately.SOLUTION: A driving assistance ECU 20 comprises: an acquiring section 21 that acquires radar detection information from a radar sensor 31; a filter processing section 22; and a target route estimating section 24 that estimates a route of a target on the basis of radar detection information subjected to filter processing. The drive assistance ECU 20 comprises: a collision determining section 26 that performs a determination for a collision between the own vehicle and the target on the basis of the route of the target and the route of the own vehicle; and a vehicle control section 27 that exerts vehicle control on the basis of the route of the target and the route of the own vehicle. The route of the target, used in the collision determination, is estimated on the basis of radar detection information filter-processed by a collision determination filter. Meanwhile, the route of the target, used in the vehicle control, is estimated on the basis of radar detection information filter-processed by a vehicle control filter.SELECTED DRAWING: Figure 1
【課題】フィルタ特性を適切に設定することができる衝突判定装置及び衝突判定方法を提供すること。【解決手段】運転支援ECU20は、レーダセンサ31からレーダ検知情報を取得する取得部21と、フィルタ処理部22と、フィルタ処理されたレーダ検知情報に基づき、物標の進路を推定する物標進路推定部24とを備える。また、運転支援ECU20は、物標の進路と自車両の進路に基づき、自車両と前記物標との衝突判定を実行する衝突判定部26と、物標の進路と自車両の進路に基づき、車両制御を実行する車両制御部27と、を備える。衝突判定にて用いられる物標の進路は、衝突判定用フィルタによりフィルタ処理されたレーダ検知情報に基づき推定される。その一方、車両制御にて用いられる物標の進路は、車両制御用フィルタによりフィルタ処理されたレーダ検知情報に基づき推定される。【選択図】 図1
COLLISION DETERMINATION DEVICE AND COLLISION DETERMINATION METHOD
衝突判定装置、及び衝突判定方法
2018-05-24
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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