Vehicle driving assist control method and control device
A host vehicle has an automatic brake control that is executed for avoiding contact between the host vehicle and a pedestrian upon detecting a pedestrian is present in a forward position of the host vehicle using a front camera and a radar. In a driving assist control method, upon detecting an object in front of the host vehicle to be a pedestrian candidate based on an image signal from the front camera, execution of an automatic brake control is permitted with the detected pedestrian candidate as the control target. Thereafter, whether or not the pedestrian candidate detected by the front camera matches an object detected by the reflected waves from the millimeter wave radar is determined by comparison. Execution of the automatic brake control is continued or stopped based on the result of the comparison determination.
1. A vehicle driving assist control method, provided with external environment recognition sensors that obtain forward information of a host vehicle, for executing a driving assist control for avoiding contact between the host vehicle and a pedestrian, when a pedestrian is detected by the external environment recognition sensors, the vehicle driving assist control method comprising:
providing a camera and a radar as the external environment recognition sensors;
starting the vehicle driving assist control with a detected pedestrian candidate as a control target, upon detecting an object that is present in front of the host vehicle to be the pedestrian candidate based on an image signal from the camera; and
determining by comparison thereafter whether or not the pedestrian candidate detected by the camera matches an object detected by the reflected waves from the radar, and continuing the vehicle driving assist control if matching is established and canceling the vehicle driving assist control if matching is not established.
2. The vehicle driving assist control method according to claim 1 , wherein
in the determining by comparison step, setting an allowable error region with position information in accordance with direction or distance of the pedestrian candidate detected by the camera as a center point, and
when the position information in accordance with the direction or distance of an object that is closest to the pedestrian candidate from among a plurality of objects detected by the reflected waves from the radar matches within the allowable error region for a predetermined time, the pedestrian candidate detected by the camera is determined to be a pedestrian as the control target.
3. The vehicle driving assist control method according to claim 1 , wherein
the vehicle driving assist control executes an alarm and automatic brake control when execution of the vehicle driving assist control is permitted, and
starts an alarm that occurs in a first stage upon determining a possibility of contact with a pedestrian,
starts preliminary braking with slow braking in addition to the alarm that occurs in a second stage in which the possibility of contact with a pedestrian is determined to be greater than in the first stage, and
starts main braking with sudden braking in addition to the alarm that occurs in a third stage in which the possibility of contact with a pedestrian is determined to be greater than in the second stage.
4. The vehicle driving assist control method according to claim 3 , wherein
the alarm and automatic brake control is configured such that, when shifting from determination of the pedestrian candidate using the camera to determination of a pedestrian using a comparison determination that includes the radar, a permitted deceleration G of the alarm and automatic brake control is set to be greater than the permitted deceleration G while the pedestrian candidate is being detected.
5. A vehicle driving assist control device comprising:
external environment recognition sensors that acquire forward information of a host vehicle; and
a driving assist controller that executes a vehicle driving assist control for avoiding contact between the host vehicle and a pedestrian, when the pedestrian is determined by the external environment recognition sensors;
the external environment recognition sensors including a camera and a radar,
the driving assist controller being configured to permit execution of the vehicle driving assist control, with a determined pedestrian candidate as a control target, when an object that is present in front of the host vehicle is determined to be the pedestrian candidate based on an image signal from the camera, and
a control process being carried out thereafter to determine using comparison whether or not the pedestrian candidate detected by the camera matches an object detected by the reflected waves from the radar, and the driving assist control is continued if matching is established and the driving assist control is canceled if matching is not established.