JP5493992B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that prevents erroneous start of a vehicle.

  Conventionally, various driving assistance devices for preventing a collision with an obstacle due to an erroneous start of a vehicle have been proposed, and for example, disclosed in Patent Document 1. Such a driving assistance device detects the traveling direction of the vehicle from the gear switching position, and prohibits rapid movement of the vehicle when the distance to the obstacle in the traveling direction is short, thereby avoiding a collision with the obstacle.

Japanese Patent Laid-Open No. 5-124453

In consideration of driving support for driving beginners, elderly people, and the like who have low driving skills, it is desired to provide a driving support function that further improves safety, not just driving support when starting the vehicle. However, when a plurality of driving support functions are provided, the cost increases, and there is a possibility that the driving support device cannot be provided at a low cost.
The present invention provides a driving support device that can contribute to safe driving in many scenes that are likely to fall into people who are inexpensive and have low driving skills.

The present invention includes a measuring means 2 attached to the front and rear of the vehicle for measuring the distance from the vehicle to the obstacle to obtain distance information, estimating the traveling direction based on the distance information, and including the traveling direction and gear position information. There is an erroneous start determination means for determining an erroneous start of the vehicle by comparing with the vehicle information, and a rear collision estimation means for estimating the possibility of a rear collision with the obstacle based on the distance information and the vehicle information. The control unit 3 includes a control unit 3 that determines an erroneous start of the vehicle based on the vehicle information and the distance information, and an alarm unit 4 that issues a warning based on the determination result of the control unit 3. When the gear position does not change even after a predetermined time has elapsed from the alarm, a vehicle stop request is issued to a stop device that takes a stop measure for the vehicle.

  The present invention also includes vehicle information collecting means 5 for acquiring at least speed information and gear position information.

  By using the distance information and the vehicle information, not only the erroneous start of the vehicle but also the rear-end collision with the following vehicle can be prevented.

1 is an overview diagram showing an embodiment of the present invention. The block diagram which shows embodiment same as the above. The flowchart which shows embodiment same as the above. The flowchart which shows embodiment same as the above.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. The driving support apparatus 1 includes a measuring unit 2, a control unit (erroneous start determination unit, rear-end collision estimation unit) 3, a warning unit (alarm unit) 4, and a vehicle information collection unit (vehicle information collection unit) 5.

  The measuring means 2 has measuring units 2a, 2b, 2c, 2d, 2e, 2f made of a laser sensor. The measuring units 2a, 2b, and 2c are arranged in the front part of the vehicle and measure the front distances D1, D2, and D3, respectively. Measurement units 2d, 2e, and 2f are arranged at the rear of the vehicle and measure rear distances D4, D5, and D6. The measuring units 2a, 2b, 2c, 2d, 2e, and 2f measure the distance to the obstacle in three directions of 0 °, 45 °, and 90 °. The control unit 3 is composed of a microcontroller. The warning unit 4 is composed of a speaker mounted on the vehicle. The vehicle information collection unit 5 acquires vehicle information from an in-vehicle network such as CAN.

  FIG. 3 is a flowchart of the erroneous start prevention function by the driving support device 1. The erroneous start prevention function is triggered by the shift of the vehicle gear position from parking (hereinafter referred to as “P”) to drive (hereinafter referred to as “D”) or reverse (hereinafter referred to as “R”). Operate.

  The control unit 3 estimates the traveling direction of the vehicle based on the distance information from the measurement units 2a, 2b, 2c, 2d, 2e, 2f (step S1). Specifically, nine (3) of the forward distances measured from 18 (6 × 3) data obtained from the measuring units 2a, 2b, 2c, 2d, 2e, and 2f in order to estimate the traveling direction. X3) is the sum of the distance data is Df, the sum of the distance data of 9 (3x3) distance data is Db, Df-Db is calculated, and the result is D. When the result D is 0 or more, the forward direction is estimated. When the result D is less than 0, the backward direction and the traveling direction are estimated. However, when there is a relationship of the error stipulated distance E and 0 ≦ | D | ≦ E, it is estimated that there is no danger to travel in either direction, and the traveling direction is not determined. When D> E, the forward direction is estimated as the traveling direction. When D <−E, the rear direction is estimated as the traveling direction.

  Moreover, the control part 3 estimates the advancing direction from gear position information (step S2). That is, when the gear position is “R”, the traveling direction is backward, when the gear position is “P”, the traveling direction is not determined, and when the gear position is other than “P” and “R”, the traveling direction is forward. presume.

  The control unit 3 compares the two types of estimation results and determines whether there is an obstacle in the traveling direction of the vehicle (step S3). If the result of comparing the two types of estimation results is the same, or if at least one of the traveling directions is not fixed, nothing is done because a normal start is possible because there is no obstacle in the traveling direction of the vehicle. (Step S4).

  If the result is reversed, there is an obstacle in the traveling direction of the vehicle and it is dangerous, so an erroneous start warning request is sent to the warning unit 4, and the warning unit 4 sends a warning sound M1 to the driver. Sound (step S5). The control unit 3 issues a vehicle stop request to the stop device 6 when the gear position does not change even after the time T1 has elapsed since the warning request is issued (steps S6 and S7). The stop device 6 takes a stop measure for the vehicle when a vehicle stop request is received from the control unit 3 (step S8).

  FIG. 4 is a flowchart of the rear-end collision prevention function performed by the driving support device 1. The control unit 3 starts the rear-end collision estimation process when the vehicle speed obtained from the vehicle information collection unit 5 exceeds the traveling determination speed S. While this process is being executed, the distance measurement by the measuring units 2a, 2b, 2c, 2d, 2e, 2f is fixed in the 0 ° direction (step S11).

  The control unit 3 performs the rear-end collision estimation based on the front distance and the rear distance obtained from the measurement units 2a, 2b, 2c, 2d, 2e, and 2f, the speed information obtained from the vehicle information collection unit 5, and the gear position information. That is, when the forward distance sum Df is in the relationship of the forward vehicle distance constant F and Df> F, and the backward distance sum Db and the rear-end collision danger distance constant B are in the relationship of Db <B, the distance to the succeeding vehicle is reduced. Therefore, the warning unit 4 issues a rear-end collision warning request to the warning unit 4, and the warning unit 4 sounds a warning sound M2 to the driver (steps S12, S13, S14).

  When the acceleration calculated from the speed information from the vehicle information collection unit 5 exceeds a predetermined value G, the driver is determined to have an intention to accelerate, and the process returns to step S12. In a situation where no increase in acceleration is recognized, if the rear-end collision warning request generation condition is satisfied even after a predetermined time T2 has elapsed, the control unit 3 issues a re-warning request to the warning unit 4, and the warning unit 4 The alarm sound M3 is sounded until Db> B (steps S16, S17, S18, S19). When the vehicle speed falls below the running determination speed S, the processing is stopped.

  The present embodiment is accurate and versatile in the accidental start prevention function by eliminating personality and making a determination based on the environment around the vehicle. Further, by attaching and comparing the measuring units 2a, 2b, 2c, 2d, 2e, and 2f before and after the vehicle, it is possible to deal with more situations in terms of preventing erroneous start. In addition, with the rear-end collision prevention function, it is possible for beginners of driving who tend to focus on the front while driving to know the relationship with the following vehicle, and by installing this driving support device, attention to vehicle surrounding information It is expected to improve driving skills including not only crisis avoidance but also broadening the field of view. In addition, it is possible to use a plurality of situation determinations with a simple configuration. In the present embodiment, an unnecessary load is not imposed on the driver by suppressing warnings in unnecessary situations.

  The present invention is not limited to this embodiment, and various modifications are possible. For example, the measurement unit 2 is a laser sensor, but other distance measurement devices such as an ultrasonic sensor may be used. Moreover, although the warning part 4 of this embodiment issued the warning sound and alerted the driver, a light emitting device or the like may be used. In this embodiment, the type of warning request is distinguished by changing the warning sound. However, the type of warning request may be changed by changing the warning method. In the present embodiment, the acceleration is calculated from the vehicle speed, but may be measured using an acceleration sensor. Further, in this embodiment, the driver's intention to accelerate is determined by acceleration, but may be determined from, for example, the accelerator opening.

  In the present embodiment, the traveling direction of the vehicle is estimated from the gear position as a comparison with the estimation result from the measurement unit. However, the traveling direction may be estimated from other vehicle information. Further, the measuring means 2 of the present embodiment is composed of a total of six measuring parts 2a, 2b, 2c, 2d, 2e, 2f, three in front and rear, but the number of measuring parts and the mounting positions are as follows. Not limited to, for example, a configuration in which measuring devices attached one by one at the front and back operate three-dimensionally to measure the distance at many measuring points, or the measuring device slides sideways to measure But it ’s okay. Moreover, in this embodiment, although the measurement means 2 is measuring at three angles, a measurement angle and a number are not this limitation.

2 Measuring means 3 Control unit (false start judging means, rear-end collision estimating means)
4 Warning section (alarm means)
5 Vehicle information collection unit (vehicle information collection means)
6 Stop device

Claims (2)

Measuring means attached to the front and rear of the vehicle to measure distance from the vehicle to the obstacle and obtain distance information;
An erroneous start determination means for estimating an erroneous start of the vehicle by estimating a traveling direction based on the distance information and comparing the traveling direction with the vehicle information including gear position information, the distance information, and the vehicle information And a control unit that estimates the possibility of a rear-end collision with the obstacle, and a controller that determines erroneous start of the vehicle based on the vehicle information and the distance information;
Alarm means for performing an alarm based on the determination result of the control unit,
The control unit issues a vehicle stop request to a stop device that takes a stop measure for a vehicle when a gear position does not change even after a predetermined time has elapsed from the alarm. The driving support device according to claim 1, further comprising vehicle information collecting means for acquiring at least speed information and the gear position information.

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