JP3319859B2 - Vehicle collision judgment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes it possible to detect the forward and backward position and the lateral position of an obstacle with respect to the own vehicle by transmitting a signal toward the front of the vehicle and receiving a reflected signal from the obstacle in front of the vehicle. A detector, speed detecting means for detecting a relative speed between the collision target obstacle and the own vehicle or a running speed of the own vehicle, and a collision target based on the detected values of the speed detecting means and the detector. The present invention relates to a vehicle collision determination device including: a determination unit configured to determine a magnitude of a possibility of collision with an obstacle.

[0002]

2. Description of the Related Art Conventionally, such an apparatus is disclosed in, for example,
It is already known from -362451.

[0003]

Conventionally, in such a device, it is determined whether or not the vehicle collides with an obstacle detected by the detector after a certain reference time, and it is determined that there is a possibility of collision. Occasionally, an alarm is activated or a brake is automatically activated, but the reference range for collision determination is constant regardless of the distribution and width of obstacles in front of the vehicle, and steering operation Irrespective of the presence or absence of a space where collision can be avoided, the timing of collision avoidance processing with an obstacle is constant. However, changing the timing of the collision avoidance processing according to the presence or absence of a space capable of avoiding an obstacle will be more suitable for the sense of the vehicle driver.

The present invention has been made in view of such circumstances, and it is possible to change the timing of collision avoidance processing depending on whether or not there is an avoidance space ahead of the vehicle.
It is an object of the present invention to provide a vehicle collision judging device capable of making a collision judgment more suitable for the sense of a vehicle driver.

[0005]

In order to achieve the above object, the invention according to claim 1 transmits a signal toward the front of the vehicle and receives a reflected signal from an obstacle in front of the vehicle to control the own vehicle. A detector capable of detecting the position of the obstacle in the front-rear direction and the position in the lateral direction; speed detection means for detecting a relative speed between the collision target obstacle to be determined for collision and the own vehicle or a running speed of the own vehicle; in the collision determining apparatus for a vehicle and a determination means for determining the magnitude of possibility of collision between the based on the detection value of the detection means and the detector object struck an obstacle, the vehicle ahead by steering operation
Than avoidance space to be able to avoid the collision object obstacle vehicle
Also includes space presence / absence determination means for determining whether or not the vehicle is present on the front side in the traveling direction based on the detection value of the detector. A first setting unit that sets a first reference distance for determining the magnitude of the possibility; and a second setting unit that determines the magnitude of the possibility of collision when the space presence / absence determination unit determines that there is no avoidance space. The reference distance is the first reference
A second setting unit that sets the distance to be longer than the distance .

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the space presence / absence determining means determines the position of the obstacle detected by the detector and the collision target obstacle. The presence or absence of an avoidance space is determined based on the relative speed between the own vehicle and the other obstacles that are excluded.

[0007]

An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1 to 8 show an embodiment of the present invention. FIG. 1 is a diagram showing the overall structure, FIG. 2 is a longitudinal side view of an electric hydraulic output means, and FIG. FIG. 4 is a block diagram showing a configuration of a judgment processing unit. FIG. 5 is a flowchart showing a part of a judgment processing procedure in a space existence judgment unit. FIG. 6 is a judgment processing procedure in a space existence judgment unit. 7 is a flowchart showing the rest of the procedure of the determination process by the space presence / absence determining means, and FIG. 8 is a flowchart showing the processing procedure by the determining means.

[0009] First, in FIG. 1, the ride-on vehicle, the disc brake B _FL and the right front wheel disc brake B _FR for the left front wheel is mounted on the front left wheel W _FL and the front right wheel W _FR connected to the steering device S, the left rear wheel A left rear wheel disc brake B _RL and a right rear wheel disc brake B _RR are mounted on the W _RL and the right rear wheel W _RR .

An output port 1 of a master cylinder M for outputting a braking oil pressure according to a depression operation of a brake pedal P
And the disc brakes B _FL , B _FR , B
Electric hydraulic output means A is interposed between the oil passages 3 _FL , 3 _FR , 3 _RL , and 3 _RR individually connected to the _RL and B _RR. When not operating, the oil passage 2 and the oil passages 3 _FL , 3 _FR , 3 _RL , 3 _RR are communicated with each other to apply the braking oil pressure from the master cylinder M to the respective disc brakes B _FL , B
_FR , B _RL , B _RR can be acted on
And a state in which the oil passages 3 _FL , 3 _FR , 3 _RL , 3 _RR are cut off and the hydraulic pressure output by the electric hydraulic output means A acts on each of the disk brakes B _FL , B _FR , B _RL , B _RR. Can be switched.

In FIG. 2, the electric hydraulic output means A is
A cylinder body 4 formed in a cylindrical shape with a bottom end having a closed end, a guide cylinder 5 coaxially connected to the rear end of the cylinder body 4, and a support cylinder 6 coaxially connected to the guide cylinder 5; A connecting tube 7 coaxially connected to the supporting tube 6, and an encoder 8
A motor 9 which is coaxially connected to the connecting cylinder 7 and has
A piston 11 slidably fitted into the cylinder body 4 by forming a pressure chamber 10 with the closed end of the cylinder body 4
And a cylindrical nut member 12 that is disposed in the guide cylinder 5 while being prevented from rotating around the axis and is coaxially connected to the rear end of the piston 11, and is coupled to the nut member 12 via a ball screw 13. And a rotating shaft 15 connected to an output shaft 9 a of the motor 9 via an Oldham joint 14.

A plurality of grooves 16 and 17 extending in the axial direction are provided on the inner surface of the guide cylinder 5 and the outer surface of the nut member 12 so as to correspond to each other.
The fitting of the balls 18 to the respective 7 prevents the nut member 12, that is, the piston 11 from rotating around the axis. The rotating shaft 15 is rotatably supported by the support cylinder 6 via a pair of ball bearings 19 and 20. The rotating shaft 15 projects radially outward and is provided on the rotating shaft 15; Is engaged with the axially outer ends of the respective inner rings of the ball bearings 19 and 20, thereby preventing the rotation shaft 15 from moving in the axial direction.

At the front end of the cylinder body 4, a valve hole 23 communicating with the oil passage 2 connected to the master cylinder M is provided, and a valve body 24 capable of closing the valve hole 23 is held by the piston 11. That is, the front end of the piston 11 is provided with a rod 2 that allows relative movement in the axial direction within a restricted range.
5 is held at the rear end, and the valve body 2 is attached to the front end of the rod 25.
4 is provided, and a spring 26 for urging the rod 25, that is, the valve body 24 toward the valve hole 23, is contracted between the rod 25 and the piston 11.

Further, the cylinder body 4 is provided with an output port 27 communicating with the pressure chamber 10, and the output port 27 is connected to each of the disc brakes _BFL , _BFR , _BRL , _BRL .
Each individually communicating _RR oil passage _{3 FL, 3 FR, 3 RL} , 3 RR
Is connected.

In such an electric hydraulic output means A, the piston 11 is reciprocated in the axial direction by the ball screw 13 in accordance with the forward / reverse rotation operation of the motor 9, and the piston 1
When the valve 1 moves forward, the valve hole 23 is closed by the valve element 24, and a hydraulic pressure corresponding to the amount of forward movement of the piston 11 is generated in the output chamber 10, and the hydraulic pressure is applied to each of the disc brakes B _FL , B _FR , B _RL and B _RR .

Referring again to FIG. 1, at the front of the passenger vehicle, a detector 30 capable of detecting the position of the obstacle with respect to the vehicle in the front-rear direction and the lateral direction is mounted. The detector 3
0 is a transmission / reception unit 28 capable of transmitting a signal forward from the vehicle and receiving a reflected signal from an obstacle.
And an arithmetic unit 29 for calculating the position of the obstacle in the front-rear direction (Y-axis direction), the lateral direction (X-axis direction), and the width of each obstacle along the X-axis direction based on the time from transmission to reception. The calculation unit 29 performs coordinate development of each detected obstacle as shown in FIG. 3 and labels each obstacle. That is, when the coordinates of the own vehicle a are (0, 0), among the plurality of obstacles in front of the own vehicle a, the one having the smallest absolute value of the X coordinate is the target of collision determination. coordinates with defined as a judgment object _b (X b, Y b) is attached, X _b smaller than and coordinate with those having the closest X-coordinate in X _b is defined as an obstacle c (X _c, Y _c )
Coordinate with those having the closest X-coordinate in the larger and X _b than X _b is defined as an obstacle d (X _d, Y
_d ) is attached.

The steering device S has a steering angle sensor 3
2 and each wheel is individually checked for their wheel speed.
Outgoing wheel speed sensor 33_FL, 33_FR, 33_RL, 33_RR
Are respectively attached. Thus, those sensors 32, 3
3_FL, 33_FR, 33_RL, 33 _RRAnd the detector 30
From the computer is a decision processing unit consisting of a computer
C, respectively, and the judgment processing unit C comprises a detector
30, steering angle sensor 32 and wheel speed sensor 33_FL, 3
3_FR, 33_RL, 33_RRElectric hydraulics based on signals from
Controls the operation of the output means A and operates the alarm BZ
Control.

[0018] In FIG. 4, the determination processing unit C includes a first relative speed calculating means 35 as a speed detecting means for calculating a relative speed [Delta] V _b for the vehicle a obstacle b on the basis of the detected value of the detector 30 Second relative speed calculating means 36 for calculating the relative speeds ΔV _c and ΔV _d of the obstacles c and d other than the obstacle b based on the detection value of the detector 30 with respect to the own vehicle a.
When the detector 30 each obstacle obtained in b, c, the distance between the Y coordinate i.e. Y _b to select a collision object obstacle b and the subject vehicle a collision object obstacle b of the coordinates of d L _b (= Y _b)
, A detector 30, a steering angle sensor 32, and a second relative speed calculator for determining whether or not an avoidance space that can avoid the collision target obstacle b by steering operation exists in the traveling direction of the vehicle a. 36, a first relative speed calculator 35, a selector 37, and a space determiner 38.
And a determination unit 39 for determining the magnitude of the possibility of collision with the collision target obstacle b based on the output of.

In the first relative speed calculating means 35, the detector 3
The amount of change in Y coordinate Y _b of the resulting object struck obstacle b 0 relative speed [Delta] V _b for the vehicle a collision object obstacle b by dividing the sampling time is obtained, the second relative velocity calculating means At 36, the obstacles c and d obtained by the detector 30
The relative speed ΔV of the obstacles c and d with respect to the own vehicle a by dividing the change amount of the Y coordinates Y _c and Y _d of
_c and ΔV _d are obtained.

In the space presence / absence determining means 38, the detector 3
Based on the data of the obstacles a, b, c obtained at 0, the relative speeds ΔV _c , ΔV _d obtained at the second relative speed calculating means 36 and the steering angle θ obtained at the steering angle sensor 32, According to the procedure shown in FIGS. 5 to 7, it is determined whether or not there is an avoidance space for avoiding the collision target obstacle b in the traveling direction of the vehicle a.

[0021] First, in FIG. 5, in the first step S1, whether or not the set maximum angle theta _MAX below the steering angle theta is preset (θ ≦ θ _MAX) is determined, was theta> theta _MAX In some cases, the process proceeds to the second step S2, and the flag F _S is set to a state (F _S = 1) indicating that there is an avoidance space without determining whether there is an avoidance space.
If θ ≦ θ _MAX , the process proceeds to the third step S3.

In the third step S3, it is determined whether there is an obstacle in three lanes ahead of the vehicle a. That is, B _b , B _c , B _d are the widths of the obstacles b, c, d, B _R
Is set to the width of one lane, it is determined whether any of the following three inequalities holds.

[0023] _{| X b | <1.5B R +} 0.5B b | X c | <1.5B R + 0.5B c | any <1.5B _R + 0.5B _d Thus to each inequality | X _d Does not hold,
That is, when it is determined that there are no obstacles in the three lanes ahead of the own vehicle a, F _S = 1 is set as having an avoidance space in the second step S2, and when at least one of the above inequalities is satisfied, The process proceeds from the third step S3 to the fourth step S4.

In the fourth step S4, it is determined whether any of the following three inequalities hold.

[0025] _{| X b | <1.5B R +} 0.5B b | X c | ≧ 1.5B R + 0.5B c | X d | ≧ 1.5B R + 0.5B d Namely, the collision target obstacle b only It is determined in a fourth step S4 whether or not the vehicle is ahead of the own vehicle a. If it is determined that only the collision target obstacle b is ahead, the process proceeds to a fifth step S5. The process proceeds to the ninth step S9 of No. 6.

In the fifth step S5, X _g = X _b and B _g = B _b are set when the X coordinate of the object to be space-determined is X _g and its width is B _g . That is, the collision target obstacle b is set as a target of the space determination.

[0027] In the next sixth step S6, by B _g> B _R to determine whether to establish whether obstacles were subject to space determination is larger than the width B _R of one lane is determined is, when was B _g ≦ B _R are the left,
Proceeds to the second step S2 assuming that avoid space vacant right one lane is present, is set to F _S = 1.

In the sixth step S6, when it is determined that B _g > B _R is satisfied, that is, when it is determined that the obstacle for which the space is to be determined is larger than the width B _{R of} one lane, In step S7, it is determined whether or not the inequality | X _g | <0.5 (B _g −B _R ) holds. This inequality is expressed by the X coordinate X of the obstacle for which the space is determined.
_g is intended to determine whether the middle (X = 0) near the center of the lane, when the inequality is satisfied, the process proceeds to the eighth step S8, the flag F _S is as avoidance space is no F _S = 0 is set. Also in the seventh step S7, when the inequality is found not established, it is set F _S = 1 and proceed to the second step S2.

In the fourth step S4, when it is determined that only the collision target obstacle b is not in front of the own vehicle a, that is, when both the obstacles b and c are present,
When the obstacles b and d are both present, or when the obstacles b, c and d are both present, it is determined in the ninth step S9 in FIG. 6 whether or not all the following inequalities hold. You.

[0030] _{| X b | <1.5B R +} 0.5B b | X c | <1.5B R + 0.5B c | X d | <1.5B R + 0.5B d These inequalities are obstacles b , C, and d are for determining whether or not all of the obstacles are present in the front three lanes, that is, when it is determined that all of the obstacles are not present in the front three lanes. If c is present or obstacles b and d are present, the ninth step S9 is followed by the first
In step S10, it is determined whether at least one of the following two inequalities is satisfied. ΔV _C ≧ ΔV ΔV _d ≧ ΔV When at least one of these inequalities is satisfied,
It is determined that at least one of the obstacles c and d is traveling at a relative speed of ΔV or more while increasing the interval between itself and the vehicle a, and the process returns to the fifth step S5 in FIG. If not, the process proceeds to the sixteenth step S16 in FIG.

In the ninth step S9, obstacles b, c, d
When it is determined that all the vehicles are within the front three lanes, the process proceeds from the ninth step S9 to the eleventh step S11. In the eleventh step S11, as in the tenth step S10, ΔV _C ≧ ΔV and ΔV _d. It is determined whether or not at least one of ≧ ΔV is satisfied, and when it is determined that none of those inequalities is satisfied, that is, when the relative speeds ΔV _c and ΔV _d of the obstacles _c and _d are both ΔV If it is determined that the difference is less than the twelfth step S12
Proceed to.

In a twelfth step S12, it is determined whether at least one of the following two inequalities holds.

[0033] _{| (X b -X c) |} -0.5 (B b + B c) <B R | (X b -X d) | -0.5 (B b + B d) <B R These inequalities Is the obstacle b and the obstacles c and d on both sides
To determine whether there is a space equal to or greater than the width B _{R of} one lane between them. Neither of the above two inequalities holds, and the width B of the one lane on both sides of the obstacle b.
If it is determined that there is a space equal to or larger than _R , the process proceeds to the second step S2 in FIG. 5 to set F _S = 1, and the distance between the obstacle b and the obstacles c and d on both sides thereof when at least one of which is determined to be less than the width B _R of one lane of the proceeds to the thirteenth step S13.

In the thirteenth step S13, assuming that the obstacles b, c, and d are one obstacle, the following two arithmetic expressions are executed, and then X _g = 0.5 ｛(X _d +0) .5B _d) + (X _c -0.5
_{B c)} B g = (} X d + 0.5B d) - Next (in step S6 of X _c -0.5B _c) Figure 5.

In the eleventh step S11, obstacles c and d
When it is determined that at least one of the relative speeds ΔV _c and ΔV _d is equal to or higher than ΔV, the process proceeds from the eleventh step S11 to the fourteenth step S14. This 14th step S
In 14, it is determined whether both ΔV _C ≧ ΔV and ΔV _d ≧ ΔV are satisfied. If it is determined that both inequalities are satisfied, only the collision target obstacle b is spaced in a fifteenth step S 15. After setting X _g = X _b and B _g = B _b considering the determination targets, the process proceeds to the sixth step S6 in FIG. When it is determined that one of the two inequalities does not hold, that is, when it is determined that the relative speed ΔVc of the obstacle _c or the relative speed ΔVd of the obstacle _d is smaller than ΔV, the fourteenth step S14 to FIG. The process proceeds to the eighteenth step S18.

In FIG. 7, when obstacles b, c, and d are present in three lanes ahead of own vehicle a, any one of relative velocity ΔV _c of obstacle _c and relative velocity ΔV _d of obstacle _d is shown. If only one of them is greater than or equal to ΔV, it is determined in step S16 whether or not ΔV _c ≧ ΔV is satisfied, thereby determining which of the relative speeds ΔV _c and ΔV _d is greater than or equal to ΔV. Is done. That is, ΔV _c ≧ Δ
When V, the relative speed ΔV _c of the obstacle _c is determined to be equal to or higher than ΔV, and the process proceeds from the 16th step S16 to the seventeenth step S17. When ΔV _C <ΔV, the relative speed ΔVd of the obstacle _d is equal to or higher than ΔV. From the 16th step S16 to the 19th step S19.

[0037] a variable that contains the 17 step S17 the value of X-coordinate temporarily and X _e, a variable for temporarily storing the width of the obstacle and B _e, the state variable when is f,
Assuming that _Xe = _Xd , _Be = _Bd , and f = 1, X of the obstacle d
Coordinates and width are stored. Also, a nineteenth step S19
_{In, X e = X c, B} e = B c, as f = 0, X coordinate and the width of the obstacle c are stored.

Also, obstacles b, 3
In the state where c or b or d exists, the relative speed ΔV _{c of the} obstacle _c or the relative speed ΔV _d of the obstacle _d becomes ΔV
If the difference is less than or equal to, in the eighteenth step S18, it is determined whether or not the inequality | X _c | <1.5B _R + 0.5B _c is satisfied, that is, the obstacle c in addition to the collision target obstacle b in the three front lanes. It is determined whether or not exists. When it is determined that there is an obstacle c in addition to the collision target obstacle b in the three forward lanes, the process proceeds from the eighteenth step S18 to the nineteenth step S19, and when the above inequality expression does not hold, ie, in the three forward lanes. When it is determined that there is an obstacle d other than the collision target obstacle b, the process proceeds from the eighteenth step S18 to the seventeenth step S17.

After the processing of the seventeenth step S17 and the nineteenth step S19 is completed, the twentieth step S2
0, to determine whether there is a space for one lane between the collision target obstacle b and the obstacle c or d, | (X _b −X _e ) | −0.5 (B _b + B _e) ≦ B whether _R becomes inequality is satisfied. This inequality is for determining whether or not there is a space larger than the width B _{R of} one lane between the collision obstacle B and the other obstacle c or d. If the larger space than the width B _R of one lane is determined to be in between the collision object obstacle b and the obstacle c or d without the flag F _S proceeds to the second step S in FIG. 5 = 1
And the above inequality holds and the distance between the collision target obstacle b and the obstacle c or d is the width B _{R of} one lane.
If it is determined to be less than or equal to the following, the twenty-first step S2
Proceed to 1.

In the twenty-first step S21, it is determined whether or not the state variable f is 0, and if f = 0, the second
2 Step S22, and if f = 1, the 23rd
The process proceeds to step S23.

[0041] In a 22 step _{S22, X g = 0.5 {(} X b + 0.5B e) + (X e -0.5
_{B e)} B g = (} X b + 0.5B d) - (X e -0.5B e) becomes operational expression is executed, one object struck obstacle was considered as an obstacle b and obstacle c After the X coordinate X _g and the width B _g are determined, the process proceeds to the sixth step S6 in FIG.

[0042] Further, in the 23 step _{S23, X g = 0.5 {(} X e + 0.5B e) + (X b -0.5
_{B b)} B g = (} X e + 0.5B e) - (X b -0.5B b) becomes operational expression is executed, one object struck obstacle was considered as an obstacle b and obstacles d After the X coordinate X _g and the width B _g are determined, the process proceeds to the sixth step S6 in FIG.

As described above, the space presence / absence determining means 3
In step S8, it is determined whether or not an avoidance space that can avoid the collision target obstacle b by the steering operation exists in the traveling direction of the vehicle a. When the flag F _S = 1, it is determined that the avoidance space exists. A high-level signal is output from the presence / absence determining means 38, and when the flag F _S = 0, it is determined that there is no avoidance space, and a low-level signal is output from the space presence / absence determining means 38.

Referring again to FIG. 4, the determining means 39 determines whether the first
First setting unit 4 that determines first reference distances L _A1 and L _B1 based on relative speed ΔV _b obtained by relative speed calculation means 35.
0 _1, 41 ₁ and the first and reference distance L _A1, the second reference distance longer than L _B1 L _A2, the second setting portion 40 defining a L _{B2 2,} 41 ₂ on the basis of the relative velocity [Delta] V _b, space The first and second setting units 40 ₁ ,
A switch circuit 42 for selecting the 40 _second output, a switch circuit 43 for selecting the first and second setting unit 41 _1, 41 ₂ of the output according to the output of the space existence determining means 38,
Distance L _b and the switch circuit 4 obtained by the selection means 37
A determination processing section 44 whether allowed to operate the electric oil-pressure output device A based on the second output, the alarm BZ on the basis of the output of the distance L _b and the switch circuit 43 obtained by the selection means 37 A judgment processing unit 45 for judging whether or not to operate.

The first and second setting sections 40 ₁ and 40 ₂
Is for determining a reference value to generate a brake operated by an electric hydraulic output unit A, the first setting portion 40 _1, a first distance relative speed [Delta] V _b obtained by multiplying the predetermined time t ₁ L _A1 There is set, in the second setting unit 40 _2, the time t time obtained by adding a predetermined time Δt to ₁ (t ₁ + delta
A second distance L _A2 obtained by multiplying the relative speed ΔV _b by t) is set. Thus, the time t ₁ is set as a time shorter than a time during which a collision with the collision target obstacle b can be avoided by the steering operation of the vehicle driver.

The first and second setting sections 41 ₁ and 41 ₂
Is for determining a reference value for activating the alarm BZ. The first setting unit 41 ₁ sets a first distance L _B1 obtained by multiplying the relative speed ΔV _b by a certain time t ₂ , in the second setting unit 41 _2, the time t ₂ time obtained by adding a predetermined time Delta] t to (t ₂ + Delta] t) of the relative speed ΔV second distance obtained by multiplying the _b L _B2 is set. It said time t ₂ and Thus is intended to be set as the time for issuing an alarm prior to the braking operation with the the possibility of a collision exists, a t ₁ <t _2.

The switching circuit 42 includes a state in which the output of the space existence determining means 38 is output from the second setting portion 40 ₂ in a state a low level, ie avoid space is no second reference distance L _A2, the space existence determining means 38 When the output is at a high level, that is, when there is an avoidance space, the first setting unit 40
From ₁ and state for outputting the first reference distance L _A1 can be switched. The switching circuit 43 includes a state in which the output of the space existence determining means 38 to the second setting portion 41 ₂ in a state a low level, ie avoid space is not outputting a second reference distance L _B2, the output of the space existence determining means 38 In the state where there is a high level, that is, an avoidance space, the first setting unit 41
_The state in which the first reference distance _LB1 is output from 1 can be switched.

In both determination processing sections 44 and 45, the electric hydraulic output means A and the alarm BZ are operated in accordance with the procedure shown in FIG.
It is determined whether or not to operate the two, and both determination processing units 44,
The electric hydraulic output means A and the alarm BZ operate according to the determination result of the step 45.

In FIG. 8, in a first step M1, it is determined whether or not the flag F _S = 1, that is, whether or not the space presence / absence determining means 38 determines that there is an avoidance space. Thus, when F _S = 1 (there is an avoidance space), the distance L _b between the collision target obstacle b and the first reference distance L set by the first setting unit 41 ₁ in the second step M2. It is determined whether it is _B1 or less, and L _b
If ≦ L _B1 , the alarm BZ is activated in a third step M3 to notify the vehicle driver in advance that there is a possibility of collision. And whether the distance L _b between the object struck obstacle b in the fourth step M4 is equal to or less than the first reference distance L _A1 set in the first setting unit 40 ₁ is determined, in L _b ≦ L _A1 If there is, the electric hydraulic output means A is operated in the fifth step M5, whereby the brake is applied and the collision speed with the collision target obstacle b is reduced.

In a sixth step M6, the possibility of a collision is determined based on the first reference distances L _B1 and L _A1 , and the alarm BZ and the electric hydraulic output means A are operated in accordance with the result of the determination. The flag F _C shown is F _C
= 1 is set.

When F _S = 0 is determined in the first step M 1, that is, when the space presence / absence determining means 38 determines that there is no avoidance space, the seventh step M 7
The distance Lb between the obstacle b and the collision target _b is set in the second setting unit 4.
Whether set in 1 ₂ is second reference distance L _B2 below is determined, when was L _b> L _B2 is set as F _C = 0 in the eighth step M8. That is, the first reference distance L
Alarm B according to the result of the collision judgment based on _B1 and L _A1
By Z and electric hydraulic output means A has been actuated, the flag F _C when the distance L _b between the object struck obstacle b becomes a value exceeding the second reference distance L _B2 is "1"
From “0” to “0”.

When it is determined in the seventh step M7 that L _b ≤L _B2 , it is determined whether or not F _C = 0 in a ninth step M9, and when F _C = 1, the second step M2 Proceed to. That be varied from the state of avoidance space "present" to the state of the avoiding space "no", so long as the distance L _b between the object struck obstacle b does not become a value that exceeds the second reference distance L _B2, second Step M2 to sixth step M
Step 6 is repeated.

When it is determined in the ninth step M9 that F _C = 0, an alarm BZ is activated in a tenth step M10 in order to notify the vehicle driver in advance that there is a possibility of a collision, distance L _b is the second setting portion between the collision object obstacle b in the next eleventh step M11 40 ₂
When it is determined that the distance is equal to or less than the first reference distance L _A2 set in the step (b), the electric hydraulic output means A
Is activated, whereby the brake is applied and the collision speed with the collision target obstacle b is reduced. Thirteenth
In step M13, F _C = 0 is set.

Next, the operation of this embodiment will be described. The detector 30 and the second relative speed calculating means determine whether or not there is an avoidance space which can avoid the collision target obstacle b by the steering operation in the own vehicle traveling direction. The space presence / absence determining means 38 makes a determination based on the output of the steering angle sensor 32 and the output of the steering angle sensor 32. On the other hand, in the determining means 39, when the space presence / absence determining means 38 determines that there is an avoidance space, the first setting section 40 ₁ determines whether or not there is a possibility of collision to such an extent that the electric hydraulic output means A applies the brake. together is determined in the comparison of the first reference distance L _A1 and the distance L _b which is set, whether the possibility of a collision to the extent that allowed to operate the alarm BZ there is set by the first setting unit 41 ₁ It is determined by comparing the first reference distance L _B1 and the distance L _b.
Also when the avoidance space is not is judged in space existence determining means 38, the determination unit 39, an electric hydraulic output means A by whether the second setting portion 40 ₂ the possibility of a collision to the extent that braking there Second set
Reference distance L _A2 and the distance L _b between with is determined by comparing the second reference distance is set whether the possibility of a collision to the extent that allowed to operate the alarm BZ is at a second setting unit 41 ₂ L _B2 It is determined by comparing the distance L _b. Moreover, the second reference distances L _A2 and L _B2 are set to be larger than the first reference distances L _A1 and L _B1 . Therefore, when the collision can be avoided by the driver's steering operation with the avoidance space, the operation frequency of the alarm BZ and the electric hydraulic output means A is reduced to improve the driving feeling, and the avoidance space is improved. When there is no warning, the alarm BZ and the electric hydraulic output means A can be activated earlier than in the case where the warning is present, so that the alarm BZ and the electric hydraulic output means A can be adapted to the sense of the vehicle driver.

Further, in the determination by the space presence / absence determining means 38, in addition to the position of each obstacle b, c, d, the relative speed between the own vehicle a and the obstacles c, d other than the collision object obstacle b By considering ΔV _C and ΔV _d , it is possible to more accurately determine whether there is an avoidance space.

Although the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

For example, in the determination means 39, the detector 3
The reference range may be determined based on the detected value of 0 and the speed of the vehicle a.

[0058]

Apparatus according the first aspect of the present invention as described above, according to the present invention is, whether avoidance space can be avoided ahead of the vehicle collision target obstacle by the steering operation is present in the traveling direction of the front side than the vehicle A space presence / absence determining means for determining whether or not there is an avoidance space when the space presence / absence determining means determines that there is an avoidance space. A first setting unit for setting one reference distance, and a second reference distance for determining the possibility of collision when the space presence / absence determining means determines that there is no avoidance space as the first reference. length than the distance
Because and a second setting unit that sets Ku to, times capable of avoiding the vehicle ahead of the collision object obstacle by the steering operation
Does the evacuation space exist ahead of the vehicle in the traveling direction?
By whether, collision of the vehicle and its front collision target obstacle
Change the reference distance for judging the degree of collision possibility ,
As a result, when there is an avoidance space , the frequency of processing for collision avoidance is reduced to improve the driving feeling. Thus, it is possible to make a collision judgment more suitable.

According to the second aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the space presence / absence determining means determines the position of the obstacle detected by the detector and the collision target obstacle. Since the presence or absence of the avoidance space is determined based on the relative speed between the other obstacles and the own vehicle, the determination of the avoidance space can be performed more precisely.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration.

FIG. 2 is a vertical side view of the electric hydraulic output means.

FIG. 3 is a diagram illustrating a coordinate system of a detected obstacle.

FIG. 4 is a block diagram illustrating a configuration of a determination processing unit.

FIG. 5 is a flowchart illustrating a part of a determination processing procedure in a space presence / absence determination unit.

FIG. 6 is a flowchart showing a part of a determination processing procedure in a space presence / absence determination unit.

FIG. 7 is a flowchart showing the remaining part of the procedure of the determination process by the space presence / absence determination means.

FIG. 8 is a flowchart illustrating a processing procedure in a determination unit.

[Explanation of symbols]

Reference Signs List 30 detector 35 speed detecting means 38 space existence judging means 39 judging means 40 ₁ , 41 ₁ first setting section 40 ₂ , 41 ₂ second setting section a own vehicle b collision target obstacle c, d obstacle

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI B60T 7/12 B60T 7/12 C G08G 1/16 G08G 1/16 C (56) References JP-A-7-160994 (JP, A) JP-A-4-221245 (JP, A) JP-A-4-245600 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60R 21/00 B60T 7/12 G08G 1 / 16

Claims (2)

(57) [Claims] An obstacle (b, c, d) with respect to a vehicle (a) is transmitted by transmitting a signal toward the front of the vehicle and receiving a reflected signal from the obstacle (b, c, d) ahead of the vehicle. A detector (3) that can detect the front-rear position and the lateral position
0), a speed detecting means (35) for detecting a relative speed between the collision target obstacle (b) and the own vehicle (a) or a running speed of the own vehicle (a) which is a target of the collision determination; A vehicle collision judging device comprising: means (35) and judging means (39) for judging the possibility of collision with the collision target obstacle (b) based on the detection value of the detector (30). The avoidance space for avoiding the collision obstacle (b ) ahead of the vehicle (a) by the steering operation is smaller than that of the vehicle (a).
A space presence / absence determining means (3) for determining whether or not the space exists on the front side in the traveling direction based on the detection value of the detector (30).
The determination means (39) includes a first reference distance (L _A1 , L A ) for determining the possibility of collision when the space presence / absence determination means (38) determines that there is an avoidance space. first setting unit for setting a _B1) and (40 _1, 41 _1), second criterion for determining the magnitude of the possibility of a collision when it is judged by the avoidance space is no space existence determining means (38) distance
(L _A2, L _B2) in length than the first reference distance (L _A1, L _B1)
Ku and second setting unit to set (40 _2, 41 ₂₎ and the collision determining apparatus for a vehicle, characterized in that it comprises a. 2. A space presence / absence determining means (38) detects a position of an obstacle (b, c, d) detected by a detector (30);
And other obstacles (c,
The vehicle collision judging device according to claim 1, wherein the presence or absence of an avoidance space is judged based on d) and the relative speed between the own vehicle (a).