JP3411343B2 - Car safety equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a vehicle which issues a warning to a driver when driving, and more particularly to a safety device which learns and corrects a timing for determining a warning start time.

[0002]

2. Description of the Related Art For example, safety devices for automobiles are as follows.
As in JP-A-3-176800, a safe inter-vehicle distance is set according to the vehicle speed, and an alarm is issued when the inter-vehicle distance is approached. Also, JP-A-47-4463
No. 1 and Japanese Unexamined Patent Publication No. 56-157649, when a left turn or right turn operation is performed or a brake operation is performed, an alarm is stopped to reduce the troublesomeness of the driver.

[0003]

The safety device is designed to prompt the driver in the safe direction by issuing an alarm. However, the degree of recognition of the danger until the user feels the danger before starting the safe operation is usually different depending on the driver or the skill level of driving.

Therefore, in Japanese Patent Laid-Open No. 3-176799,
The frequency of braking is learned, and if the frequency of sudden braking is high, the warning inter-vehicle distance is changed significantly. As a result, an alarm is provided according to the individual characteristics of each driver. However, the degree of risk should actually be determined by the relative relationship with an obstacle such as a vehicle in front, and the frequency of sudden braking described above reflects the relative relationship with the obstacle. Not what you are doing. That is,
This is because the frequency of sudden braking reflects the state on the vehicle side, but does not necessarily define the relationship with the front obstacle. Also, even if it is said to match the driver's individuality, it should be "matched" in the relative relationship with the obstacle. Therefore, the above-mentioned Japanese Patent Laid-Open No. 3-176
The learning result of No. 799 tailored to the driver's individuality cannot always be said to be appropriate in relation to the front obstacle.

[0005]

The present invention has been proposed in order to solve the above-mentioned drawbacks of the prior art, and its purpose is to:
By changing the degree of issuing a warning according to the relative relationship with the surrounding environment of the vehicle, it is possible to issue a warning in consideration of the balance between the driver's individuality and risk. It proposes a safety device.

The object of the present invention is to provide an alarm based on a detection means for detecting a measured quantity representing the relative relationship with the surrounding environment of the vehicle and a comparison of the measured quantity with a predetermined alarm activation condition. Alarm means to be issued and an alarm by the alarm means
A measurement that represents the time of departure and the relative relationship at that time
Quantity data and warning by driver after issuing the above warning
When and when the driving operation is performed in the direction to avoid
Collecting means for collecting the data of the driving operation at the point, the
Of the data collected by the collecting means,
The time when the alarm was issued and the driver after issuing the alarm
When a driving operation is performed in the direction to avoid the warning by
Characterized by comprising a changing means for changing an alarm activation condition of said alarm means by using a time difference between the.

When the alarm is issued by the alarm means,
Driving in the direction of avoiding the driver's warning after being issued
The time difference from the time when the work was done and the time when the alarm was issued
Generates a measured quantity and an alarm that indicate the relative relationship with the surrounding environment of the vehicle.
And then drive to avoid the driver's alarm
The driving operation at the time when is performed should be an amount that reflects the balance between the driver's individuality and risk. By changing the alarm activation condition of the alarm means using such data, it is possible to generate an alarm in consideration of the balance between the driver's individuality and the degree of danger.

[0008]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram of a safety device according to an embodiment of the present invention. The safety device includes a collecting device 100 for collecting traveling condition data such as an inter-vehicle distance, a driving operation condition collecting device 300 for collecting operation information such as a throttle opening and a steering angle, a collecting device 100,
A main controller 200 for inputting data from 300 to perform data processing and the like;
The information providing device 400 provides a driver with a predetermined warning and warning based on the result of the process. The "cancel switch" 320 connected to the main controller 200 is prohibited from issuing an alarm or warning when the switch is turned on.

The traveling status collection device 100 includes various sensors such as a laser radar, a vehicle speed sensor, and a CCD camera, and a communication device (in addition to G
It has a PS (global positioning system), an image processing device which processes image data obtained by a CCD camera or the like and recognizes a road shoulder or a center line, a memory and the like. FIG. 2 shows a data map stored in the internal memory of the control unit of the main controller 200. This memory includes "running status data", "information provision reference data", "driving operation status data", "avoidance behavior determination reference data", "running status history file", "driving operation history file", and the like. The "running status data" includes various data as shown in FIG. Here, the inter-vehicle distance L is relative distance data to the front obstacle when this data is collected. Further, the relative vehicle speed Vr is a relative speed (difference) with respect to the front obstacle (or the front vehicle).
Va is the speed of the host vehicle, direction D is the direction from the host vehicle to the obstacle (front vehicle), and traveling lane S is that the host vehicle and the obstacle (front vehicle) are traveling in the same lane. Yes (= 0)
Or driving on a different lane (= 1).
The "running status data" of FIG. 3 is stored in the "running status history file" in chronological order.

FIG. 4 shows the format of the "information provision standard data". Here, the "information" means an alarm such as "the distance between the vehicles ahead is short". In FIG. 4, “information provision reference data” includes θ ₁ , θ ₂ , reference distance L _p , reference speed difference V _{p, and the} like. "Provision of information" means that θ ₁ ≤ direction D <θ ₂ and V ₁
≦ Vehicle speed V _a <V ₂ and inter-vehicle distance L <reference distance L _p and relative vehicle speed V _r > reference value V _p (1)

FIG. 5 shows the structure of "driving operation status data". This data is based on whether the throttle opening TVO, the steering angle β, the brake pedal force F, the accelerator opening α, and the turn signal switch are turned on or off, or the inter-vehicle distance L _s at this time.
Including etc. The “driving operation history file” stores the data of FIG. 5 in order of time. FIG. 6 is a flowchart showing a control procedure executed by the control unit of the safety device according to the embodiment. In step S2, the traveling situation is detected and stored as shown in FIG. In step S4, the traveling condition data is compared with the information provision standard according to the above-mentioned equation (1) to check whether or not information (warning, etc.) should be given. If the condition (1) is satisfied, a warning / warning message is generated in step S8, and it is displayed or played in step S10. Satisfying the condition means, for example, when the direction D is about 5 degrees and the vehicle speed is 100 km / h, the inter-vehicle distance L is 80 m (reference L _p =
100 m), the vehicle speed difference V _r is 30 km / h (V _p = 20 km / h)
This is the case. In step S12, the data collected in step S2 is added to the "driving status history file". That is, in steps S6 to S12, only the traveling situation data that gives an alarm is written in the "traveling situation history file". The "running status data" written in the "running status history file" in chronological order is used for later learning of "information provision criterion data".

In step S14, the driving operation situation is detected. This data is used for the throttle opening T as described above.
It includes VO, steering angle β, brake pedal force F, accelerator opening α, and whether the turn signal switch is turned on / off. These data provide the basis for determining whether the driver has taken action to avoid danger. In this embodiment, in order to determine whether or not the avoidance action is taken,
In step S16, the throttle opening TVO, the steering angle β, the brake pedal force F, the accelerator opening α, the operating state of the blinker switch (whether it is turned on / off, etc. are included).
Mu. ) Is calculated. If the throttle opening TVO, the steering angle β, the brake pedal force F, the accelerator opening α, or the like has changed by a predetermined value or more, or if the winker is operated, it is determined in step S18 that the driver takes an avoidance action. to decide.

If it is determined that the avoidance action is taken, the operation data at that time is stored in the "driving operation history" as other data in step S20. In this way, the "running situation data" when a dangerous state occurs and the "driving operation history data" when the avoidance action for the situation is taken are stored as a file.

In step S22, it is determined whether or not the host vehicle is stopped based on whether the vehicle speed is 0 and the side brake is on. This determination is because the “information provision determination criteria” in step S24 is reviewed based on the approval of the driver, so it is necessary to confirm the stop. FIG. 7 shows details of the review routine of step S24.

In step S30, the time T required from when the warning is issued to when the avoidance operation is performed is calculated. "Driving situation data" and "driving operation history data" exist as a pair for a dangerous situation requiring a warning or an alarm.
The time when the dangerous situation occurs and the time when the avoidance operation is performed are written in these data. The time T is obtained by calculating the difference between these times. The calculation in step S30 has been performed n times in the past (for example, 100 times).
Times) recorded data. In step S32,
The number of cases p in which the time T required to take the avoidance action is larger than the set value τ ₀ is calculated. That is, in the “review” of FIG. 7, the time T required to take the avoidance action is the set value τ.
It carried out based only on the larger case than _0. In step S34, the value of p / n is calculated, and it is determined whether the value is larger than the set value ε ₀ .

If p / n ≦ ε _0, it is not necessary to review such data, so no review is performed.
If p / n> ε ₀ , the average risk degree of p times is calculated in step S36. W = (1 / p) · Σω _m (2) Equation (2) is calculated in the range of m = 1 to p. Where ω _m
Is a risk level, and is a table composed of RAM. The address of this RAM is input to the above-mentioned inter-vehicle distance L,
Data such as the relative vehicle speed V _r , the own vehicle speed V _a , the direction D, and the traveling lane S are input. That is, W is an inter-vehicle distance L and a relative vehicle speed V
_r, represents the p times an average degree of risk depending on the host vehicle speed V _a, direction D, lane S, and the like.

In step S38, it is checked whether the average risk W thus calculated exceeds the set value γ ₀ . Driving that exceeds the set value γ ₀ is dangerous, so
"Review" based on "data" representing such driving
Since the warning should not be given and a warning should be issued on the contrary, a caution is notified to the driver in step S42. If W <γ _0, at step S40, calculates a correction value L _'p headway distance reference value L _p.

L ′ _p = L _p − (L _p −L _s ) · k · (1 / W) · (p / n) (3) where k is a positive constant less than 1, and L _s is the inter-vehicle distance when the avoidance operation is performed (see FIG. 5). Therefore, (L _p −L _s ) is the difference between the inter-vehicle distance L _p when the alarm is issued and the inter-vehicle distance L _s when the avoidance operation is performed,
That is, it means the “fall” between the current safe inter-vehicle distance (warning start distance) L _p and the safe inter-vehicle distance L _s that the driver subjectively recognizes. Therefore, the correction value L ′ _p is calculated by multiplying this “fall” by a constant k less than 1. However, the larger the warning occurrence frequency p / n is, the faster the correction amount is set.
In the equation (3), the term of p / n is provided. However,
When the average danger level W is high, setting a large correction value promotes danger, so the term of 1 / W is provided in the equation (3).

The modified value L' _p was thus calculated. In step S44, the corrected value L' _p is calculated from the inter-vehicle distance δ (V _a ) which is statistically safe (for example, the distance of 100 m at 100 km / h, which is _a function of V _a ). If it also becomes smaller (YES in step S44), it may be dangerous. Therefore, in step S46, L ′ _{p is set} to δ (V
Set to _a ).

[0020] In step S48, 'in order to have to check whether _p is one which satisfies the driver in the driver, and the set value L _p corrected values L' such correction values L and _p At the same time, while presenting it to the driver, a message indicating that the driver will make a correction is displayed and the driver waits for confirmation. If the driver agrees to the change, the set value L _p is changed to the corrected value L ′ _{p in} step S52.
In step S54, the driver is notified of the setting change and the precautions, and in step S58, the traveling condition history data and the driving operation history data are reset. If the driver does not agree with the change, the driver is informed of the caution in step S56, and the process proceeds to step S58. That is, the meaning of step S50 is that the system detects that the driver's driving is relatively safe, and therefore the safe inter-vehicle distance L
_It asks if it is okay to set _p shorter.

Although an example of the safety device in the relative relationship with the former has been shown in the above embodiment, "when the present invention is applied to a" safety device when entering a curve ", the" previous vehicle "described above is used. Is set as the "curve entry point" and the former speed is set to "0", the above-mentioned control is performed to provide a "curve entry" safety device.

[0022]

The safety device of the present invention described above is based on the detection means for detecting the measurement amount indicating the relative relationship with the surrounding environment of the vehicle and the comparison of the measurement amount with the predetermined alarm activation condition. Alarm means for issuing an alarm by
Represents the time when the report was issued and the relative relationship at that time
Measured data and by the driver after issuing the alarm
When and when the driving operation in the direction to avoid the alarm is performed
Collecting means for collecting driving operation data at the time of ,
Of the data collected by the collecting means , the alarm hand
The time when the alarm was issued by the dan and the operation after the alarm was issued.
A driving operation was performed in the direction to avoid the alarm caused by a handshake.
Using the time difference between the time, characterized by comprising changing means for changing an alarm activation condition of said alarm means.

When the alarm is issued by the alarm means and the alarm
Driving in the direction of avoiding the driver's warning after being issued
The time difference from the time when the work was done and the time when the alarm was issued
Generates a measured quantity and an alarm that indicate the relative relationship with the surrounding environment of the vehicle.
And then drive to avoid the driver's alarm
The driving operation at the time when is performed should be an amount that reflects the balance between the driver's individuality and risk. By changing the alarm activation condition of the alarm means using such data, it is possible to generate an alarm in consideration of the balance between the driver's individuality and the degree of danger. Further, it is possible to set the starting condition in an excessively safe direction in advance and then modify the starting condition suitable for the driver.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a safety device according to an embodiment.

FIG. 2 is a map diagram showing a configuration of various data stored in a control unit of the embodiment.

FIG. 3 is a diagram showing a structure of traveling condition data.

FIG. 4 is a diagram showing a structure of information provision determination reference data.

FIG. 5 is a diagram showing a structure of driving operation status data.

FIG. 6 is a flowchart illustrating a control procedure of the embodiment.

FIG. 7 is a flowchart illustrating a control procedure of the embodiment.

Front page continuation (72) Inventor Hiroshi Tagawa 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Corporation (56) Reference JP-A-3-260900 (JP, A) JP-A-59-105587 ( JP, A) JP 5-210799 (JP, A) JP 5-172946 (JP, A) JP 4-245600 (JP, A) JP 5-225498 (JP, A) JP Flat 6-242234 (JP, A) Actual flat 2-43746 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S ^7/ 00-7/42 G01S 13/00-13 / 95 B60R 21/00 G08B 7/06

Claims (7)

(57) [Claims] 1. A detection means for detecting a measurement amount representing a relative relationship with the surrounding environment of the vehicle, an alarm means for issuing an alarm based on a comparison between the measurement amount and a predetermined alarm activation condition, and the alarm. At the time when the alarm was issued by the means and at that time
The measured amount data that represents the relative relationship and the alarm is issued.
And then drive to avoid the driver's alarm
Of the data collected by the collecting means for collecting the data of the driving operation at that time and the driving operation at that time, and the alarm hand among the data collected by the collecting means.
The time when the alarm was issued by the dan and the operation after the alarm was issued.
A driving operation was performed in the direction to avoid the alarm caused by a handshake.
Motor vehicle safety, characterized by comprising changing means for changing an alarm activation condition of said alarm means by using a time difference between the time points. 2. The vehicle safety device according to claim 1, wherein the surrounding environment of the own vehicle is an obstacle close to the own vehicle. 3. The vehicle safety device according to claim 1, wherein the surrounding environment of the vehicle is a curve in the traveling direction. 4. The time when the alarm is issued by the alarm means and
And the data of the measured quantity showing the relative relationship at that time
And avoid the driver's warning after issuing the warning.
When the driving operation in the direction is performed and driving at that time
The vehicle safety device according to any one of claims 1 to 3, further comprising a storage unit that stores operation data . 5. The vehicle safety device according to claim 2 , wherein the data of the measured amount is an inter-vehicle distance to a front obstacle, and the alarm activation condition is an inter-vehicle distance at which an alarm should be issued. . 6. The time point when the alarm is issued by the alarm means and
And data of the measured quantity that represents the relative relationship at that time
And avoid the driver's warning after issuing the warning.
When the driving operation in the direction is performed and driving at that time
Store operation data and past travel history data
The memory means, the time when the alarm is issued by the alarm means, and the alarm issued
After that, the driving operation in the direction to avoid the driver's warning
Calculate the past risk using the time difference from the time when it was done
The change means may be configured to activate the alarm as the degree of danger increases.
Claim 1 乃, characterized in that to reduce the amount of change in conditions
The vehicle safety device according to any one of items 1 to 3 . The method according to claim 7, wherein said alarm activation condition, the occurrence easily condition alarm, previously, the safety device of the vehicle according to claim 1, further comprising a means for enabling setting.