CN114368367A - Collision avoidance device for automobile - Google Patents
Collision avoidance device for automobile Download PDFInfo
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- CN114368367A CN114368367A CN202110521264.1A CN202110521264A CN114368367A CN 114368367 A CN114368367 A CN 114368367A CN 202110521264 A CN202110521264 A CN 202110521264A CN 114368367 A CN114368367 A CN 114368367A
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- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 36
- 238000012806 monitoring device Methods 0.000 claims abstract description 26
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- 230000004044 response Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 8
- 238000013473 artificial intelligence Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 13
- 238000001514 detection method Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Gear Transmission (AREA)
- Transmission Devices (AREA)
- Traffic Control Systems (AREA)
- Braking Elements And Transmission Devices (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The collision avoidance device of the automobile brakes the vehicle by directly mechanically driving the conventional brake pedal through an actuator. The collision avoidance apparatus for a vehicle includes: a conventional brake mechanism equipped on a vehicle; an actuator for operating the brake mechanism; an environment monitoring device equipped with a millimeter wave radar and a monocular camera that are mounted on a vehicle and monitor an object in front, or equipped with at least a monocular camera; and a control device (3) that determines information from the environment monitoring device and controls the operation of the actuator. The actuator directly drives the brake pedal mechanically through a speed reducer.
Description
Technical Field
The present invention relates to a collision avoidance apparatus for an automobile, and for example, the collision avoidance apparatus includes a brake mechanism that directly drives a conventional brake pedal by an actuator that operates in response to information from a front environment monitoring device mounted on the automobile.
Background
Conventionally, there have been increasing automobile accidents caused by the driver such as the elderly who mistakenly steps on the accelerator pedal and the brake pedal, because the driver has delayed the recognition or confirmation of the front of the automobile, that is, the vehicle. In recent years, therefore, a collision avoidance apparatus for a vehicle has been mounted on an automobile.
Conventionally, as a collision avoidance device for a vehicle, a device capable of detecting a risk of collision between the vehicle and an obstacle at an early stage and preventing an erroneous operation when the vehicle changes direction is known. The vehicle collision avoiding device includes: a distance sensor for measuring a distance to an obstacle in a non-contact manner; an angular acceleration sensor for detecting rotation of the vehicle; and a reference signal for determining a collision risk distance according to a speed of the vehicle. The vehicle collision avoiding apparatus detects whether or not the current position of the vehicle is at a position at which there is a risk of collision with an obstacle by comparing a distance sensor with a reference signal, and controls the amount of air and fuel drawn in and a brake based on a signal from an angular acceleration sensor, thereby preventing an erroneous operation when the vehicle changes direction (see, for example, japanese patent laid-open No. 8-72639).
In addition, as an object recognition device, a device is known that appropriately recognizes an object that may pass around another vehicle. The object recognition apparatus includes: a vehicle recognition unit that recognizes, based on detection point information of a laser radar mounted on a host vehicle, another vehicle traveling around the host vehicle and also recognizes the size of the other vehicle; a vehicle tracking unit configured to track another vehicle based on detection point information of the laser radar; an enlargement determination unit that determines whether or not the size of another vehicle being tracked is enlarged; a loss determination unit that determines whether or not a nearby object near the other vehicle is lost (lost) based on detection point information of the laser radar when it is determined that the size of the other vehicle is enlarged; and a passable object identifying section that identifies, when the loss determining section does not determine that the nearby object is lost in a case where the size of the other vehicle is determined to have been enlarged by the enlargement determining section, a detection point located in the periphery of the other vehicle before enlargement, among the detection points detected by the laser radar, as a passable object (for example, refer to japanese patent laid-open No. 2018 and 115990).
In addition, there is known a collision avoidance apparatus for a vehicle that performs collision avoidance to avoid a collision with an opposing vehicle when there is a high possibility of the vehicle colliding with the opposing vehicle. The collision avoidance device includes: an object detection unit for detecting an object; an attribute acquisition unit that acquires an attribute of the oncoming vehicle using the detection result detected by the object detection unit; a collision avoidance execution unit that executes at least either one of the notification of the possibility of collision and the collision avoidance operation when it is determined that the oncoming vehicle crosses the center line using the attribute acquired by the attribute acquisition unit (see, for example, Japanese patent application laid-open No. 2018-97648)
In addition, most of the conventional collision avoidance apparatuses for automobiles only issue a warning or an alarm. Accordingly, the present applicant has developed and patented a collision avoidance apparatus for an automobile that decelerates and forcibly stops a vehicle using an actuator attached to a brake pedal of the automobile so that the automobile cannot move forward (see japanese patent laid-open No. 2020-5930). In order to cause an actuator mounted on a vehicle to exert a braking force, a method of attaching a booster to a hydraulic circuit of a brake may be considered, but the method is not preferable because a problem such as oil leakage occurs due to a large difference in work in the process of attaching the booster to the vehicle. In addition, it is easy to add a booster to the hydraulic circuit of the brake of the vehicle, and it is also possible to easily modify each vehicle, but when the brake circuit is modified, if a phenomenon such as oil leakage occurs by chance, there is a risk that the normal brake fails. Therefore, as a collision avoidance device for an automobile, it is desirable to operate a brake based on a determination of a control device in response to information from an environment monitoring device without modifying a brake system of a vehicle in use at all.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a collision avoidance apparatus for an automobile, which can be additionally mounted to an existing automobile, i.e., a vehicle at low cost, without purchasing a new automobile equipped with the collision avoidance apparatus. The collision avoidance apparatus focuses on the point that even if an accelerator pedal is erroneously depressed, when the brake pedal is depressed, the brake operation is prioritized over the accelerator, the control device receives information from an environment monitoring device mounted in front of the vehicle, detects the information based on the result of Artificial Intelligence (AI) learning, and when it is determined that the risk level, which is a dangerous state, exceeds a critical value of the risk level, mechanically directly drives the brake pedal by driving the actuator to perform braking, and drives the actuator to operate the brake based on the determination of the control device in response to the information from the environment monitoring device, without completely modifying a brake system equipped in the vehicle, as the environment monitoring device, based on information from a monocular camera for identifying the type of an object, which is an obstacle, and a millimeter wave radar for detecting the spatial position and distance to the object, the AI technique determines the degree of risk of the environment such as an obstacle in front of the vehicle, and controls the strength of the braking force, thereby enabling emergency stop as needed.
The collision avoidance apparatus for an automobile according to the present invention includes: a brake mechanism provided on a vehicle of the in-use vehicle; an actuator for operating the brake mechanism; an environment monitoring device mounted on the vehicle and configured to detect an object in front of the vehicle; and a control device that controls driving of the actuator by determining information from the environment monitoring device, the actuator mechanically directly driving a brake pedal of the brake mechanism in response to a command from the control device,
the collision avoidance device for an automobile is characterized by comprising: the environment monitoring apparatus is constituted by a component in which a millimeter wave radar for measuring a spatial position and a distance between the vehicle and the object and a monocular camera for identifying a type of the object are integrated, the component being provided at a predetermined prescribed position in the vehicle, and the environment monitoring apparatus includes a display device that represents an operating condition of the vehicle by switching ON (ON) and OFF (OFF) of the brake mechanism, the control device judging a final degree of risk from information of both the degree of risk judged by the millimeter wave radar and the degree of risk judged by the monocular camera, and generating a speed or an operating force of the vehicle determined in advance in accordance with a degree of risk of collision between the vehicle and the object and transmitting to the brake mechanism, and by directly driving the brake pedal mechanically, to control the travel of the vehicle.
The actuator is mounted to the vehicle through a bracket so as to directly drive the brake pedal, and is provided at a position where the actuator does not interfere with a braking region of the brake pedal. In addition, the actuator includes: a motor; a speed reducer for reducing a rotational speed of an output shaft of the motor; a cam mechanism connected to an output shaft of the reduction gear, and including a cam that directly abuts against the brake pedal and is provided on a cam shaft for driving the brake pedal in a brake application direction; and a potentiometer for converting displacement of the cam into a voltage. The actuator mechanically directly drives the cam in a braking direction of the brake pedal by controlling a driving voltage or a driving current of the motor according to the risk level transmitted from the control device, and decreases the driving voltage or the driving current of the motor or reversely rotates the motor as the risk level decreases.
In the collision avoidance apparatus for an automobile, the cam mechanism may be constituted by the cam provided on the camshaft, or the cam may be constituted by a crank provided on the camshaft and a bearing provided on an operating shaft at a distal end of the crank. The reduction gear of the actuator is a spur gear or a helical gear having three or more reduction gears, or a single worm gear, and the reduction gear ratio of the reduction gear is 70 to 150.
In addition, a stereo camera or a laser radar is provided as the environment monitoring device. In addition, the millimeter wave radar is arranged outside the vehicle, and the monocular camera is arranged inside the vehicle.
Further, the control device acquires engine start information, speed information, brake pedal information, handbrake information, and backup light information that the vehicle possesses, starts the system in accordance with the travel of the vehicle, causes the AI of the control device to calculate the risk of collision in response to the information from the monocular camera and the millimeter wave radar, and causes the control device to stop the vehicle by driving the actuator to directly drive the brake pedal in response to the risk exceeding a predetermined threshold value.
The collision avoidance apparatus for an automobile according to the present invention includes: a brake mechanism provided on a vehicle of the in-use vehicle; an actuator for operating the brake mechanism; an environment monitoring device mounted on the vehicle and configured to detect an object in front of the vehicle; and a control device that controls driving of the actuator by determining information from the environment monitoring apparatus, the actuator mechanically directly driving a brake pedal provided in the brake mechanism in response to a command from the control device,
the collision avoidance device for an automobile is characterized by comprising: the environment monitoring apparatus is constituted by at least a monocular camera for recognizing a type of the object, the monocular camera being provided at a predetermined prescribed position in the vehicle, and the environment monitoring apparatus includes a display device that represents an operating condition of the vehicle by switching ON (ON) and OFF (OFF) of the brake mechanism, a speed reducer of the actuator is constituted by a spur gear or a helical gear having a reduction gear of three or more stages, or by a single-stage worm gear, a reduction ratio of the speed reducer is constituted to be 70 to 150, the control device judges a degree of danger based ON information of the monocular camera, and generates a speed or an operating force of the vehicle predetermined according to a collision risk degree between the vehicle and the object, transmits to the brake mechanism, and directly drives the brake pedal mechanically, to control the travel of the vehicle.
The actuator is operated by hydraulic pressure or pneumatic pressure, and the travel of the vehicle is controlled by mechanically directly driving the brake pedal by being depressed in accordance with an instruction from the control device.
As described above, in the collision avoiding device for an automobile according to the present invention, the actuator that directly drives the brake pedal independently of the existing brake is provided in the vicinity of the brake pedal, and the actuator is operated and the brake pedal is operated according to the determination of the control device in response to the information from the environment monitoring device mounted on the vehicle, whereby the vehicle can be braked without any modification of the brake system of the vehicle in use, so that it is possible to avoid a delay in recognition of the front of the vehicle by an elderly person or the like, or a collision of the vehicle with an object in front caused by stepping on the accelerator pedal and the brake pedal, particularly a vehicle collision causing a personal accident. The actuator can increase the torque for the rotation of the motor by the speed reducer, whereby the cam of the cam mechanism can be driven reliably and quickly, and braking can be performed immediately by the cam driving of the actuator, so that a collision between the vehicle and the object can be avoided. The environment monitoring apparatus can be easily mounted on a vehicle in use by accommodating the millimeter wave radar and the monocular camera in one housing and disposing these on the vehicle. In addition, the millimeter wave radar can emit an electric wave and correctly measure the spatial position and distance of an obstacle from the electric wave bounced back by the object, i.e., the obstacle, but cannot recognize whether the obstacle is a vehicle or a person. Accordingly, the monocular camera recognizes an obstacle such as a vehicle, a person, a bicycle, a bus, a special vehicle, etc. through deep learning, and secures information for determining a distance and a direction to the obstacle. The control device operates the brake pedal by driving the actuator in response to information of the millimeter wave radar and the monocular camera of the environment monitoring device, thereby braking the vehicle and stopping the vehicle.
Drawings
Fig. 1 is a schematic explanatory view showing an example of an automobile equipped with a collision avoidance device of the present invention.
Fig. 2 is an explanatory diagram showing a brake mechanism mounted on the automobile of fig. 1, in which an actuator is attached to a brake pedal and the actuator is in a non-driven state.
Fig. 3 is an explanatory diagram showing a brake mechanism mounted on the automobile of fig. 1, in which an actuator is attached to a brake pedal and the actuator is in a state in which the brake pedal is driven.
Fig. 4 is a schematic side view showing a speed reducer in the actuator.
Fig. 5 is a schematic cross-sectional view showing a reduction gear in the actuator.
Fig. 6 shows a first example in which the speed reducer in the actuator is configured by two-stage speed reduction, fig. 6 (a) is a schematic diagram showing the speed reducer configured by a two-stage spur gear, and fig. 6 (B) is a schematic diagram showing a side surface of the gear of fig. 6 (a).
Fig. 7 shows a second example in which the speed reducer is constituted by three-stage speed reduction, fig. 7 (a) is a schematic view showing the speed reducer constituted by three-stage spur gears, and fig. 7 (B) is a schematic view showing a side surface of the gear of fig. 7 (a).
Fig. 8 shows a third example in which the speed reducer is constituted by four stages of speed reduction, fig. 8 (a) is a schematic view showing the speed reducer constituted by four stages of spur gears, and fig. 8 (B) is a schematic view showing a side surface of the gear of fig. 8 (a).
Fig. 9 shows a fourth example in which the speed reducer is constituted by a worm gear, and fig. 9 (a) is a schematic view showing the speed reducer constituted by the worm gear, and fig. 9 (B) is a schematic view showing the side surfaces of the worm and the worm gear of fig. 9 (a).
Fig. 10 is a schematic process flow diagram showing a process flow for operating the collision avoidance apparatus of the automobile.
Detailed Description
The collision avoidance apparatus for an automobile according to the present invention is a system in which an actuator that operates independently of a conventional brake mechanism is mounted in the vicinity of a brake pedal of a vehicle in use, and is preferably applied to a brake system of a vehicle in use, for example.
Hereinafter, an embodiment of a collision avoidance device for an automobile according to the present invention will be described with reference to the drawings. The collision avoidance apparatus for an automobile according to the present invention is characterized in that, in particular, an actuator 2 that directly drives a brake pedal 9 mechanically independently of an existing brake 10 is provided in the vicinity of the brake pedal 9 of the vehicle without modifying the brake system of the vehicle in use at all. The actuator 2 is a device for directly mechanically driving an existing brake mechanism 22 that is provided in a vehicle (automobile) 1 of a vehicle in use and constitutes a brake system. The vehicle 1 is equipped with environment monitoring equipment 35 such as a millimeter wave radar 6 for detecting an obstacle or an object such as a person in front of the vehicle, a monocular camera 7, a vehicle speed sensor 8, a laser radar (lidar) (not shown), and a stereo camera (not shown). In the collision avoidance apparatus for an automobile, the actuator 2 directly drives the brake pedal 9 mechanically in response to a determination by the control apparatus 3 having an AI (artificial intelligence) 4. The AI4 receives information from the environment monitoring apparatus 35 as signals, logically infers and learns the signals, then generates inference rules from the learning results, that is, generates maps from various learning results, and based on the maps, the control device 3 issues a drive instruction to the actuator 2. Specifically, the actuator 2 directly drives the brake pedal 9 provided in the brake mechanism 22 mechanically in accordance with a command from the control device 3, and in some cases, directly drives the brake pedal mechanically by hydraulic pressure or pneumatic pressure.
In this collision avoidance device for an automobile, the actuator 2 is provided at a position where it does not interfere with a region where a person steps on the brake pedal 9, and for example, as shown in the drawing, a gap 19 is provided above the brake pedal 9. The actuator 2 generally comprises: a motor 11; a speed reducer 12 for reducing the rotation speed of an output shaft 37 of the motor 11; a cam mechanism 5 including a cam 13 connected to an output shaft 28 of the speed reducer 12, the cam 13 being directly in contact with the brake pedal 9 and constituting an operating shaft 21 for driving the brake pedal 9 in a brake application direction; and a potentiometer for converting the displacement of the cam 13 into a voltage. The potentiometer reads a resistance change between one end of the resistor and the brush by, for example, attaching the brush synchronized with the rotation of the cam 13 to the resistor and applying a predetermined voltage to both ends of the resistor, and detects the position of the cam 13, for example, the rotation angle or the movement amount of the cam 13, by converting the resistance change into a voltage. In response to a command from the control device 3, the actuator 2 drives the motor 11 to mechanically directly drive the cam 13 in a direction of stepping on the brake pedal 9. Therefore, the control device 3 is a device that controls the operating state of the actuator 2 by detecting the condition in front of the vehicle 1 using the environment monitoring apparatus 35 and receiving the measurement result of the potentiometer.
As shown in fig. 1, in the collision avoidance apparatus for an automobile, the environment monitoring device 35 mounted on the vehicle 1 includes: a monocular camera 7 for confirming an environment in front; a vehicle speed sensor 8 for detecting the speed of the vehicle 1; a millimeter wave radar 6 for emitting an electric wave and accurately measuring a spatial position and a distance of an obstacle based on the electric wave bounced back by the object such as the obstacle; a monitor 23 as a display device for displaying ON (ON) when the function of the present device is activated and OFF (OFF) when the function is not activated; and, in some cases, a laser radar that detects an object ahead using light and measures the distance to the object. This collision avoidance apparatus for an automobile performs double monitoring of the front of the vehicle 1 using at least the millimeter wave radar 6 and the monocular camera 7 as the environment monitoring device 35. When a laser radar (not shown) is incorporated as the environment monitoring device 35 in a module (kit), the shape of the object can be known by irradiating the laser radar with a light pulse and sensing the reflection of the light pulse, but it is impossible to determine what the object is. Since the laser radar that can be installed in the same place as the millimeter wave radar 6 is effective even at night, it is preferable to provide the laser radar as the environment monitoring device 35. On the other hand, since the monocular camera 7 can see the object like human eyes, it can be easily determined what the object is, but the sensitivity is lowered at night. In the case where a laser radar is provided, the collision avoidance apparatus for an automobile is preferable because the control device 3 can acquire information of the monocular camera 7 and information of the laser radar and can perform accurate information processing. Alternatively, in the collision avoidance apparatus for an automobile, the environment monitoring device 35 may be constituted by only the monocular camera 7, and the apparatus itself may be constituted at a low cost, although the accuracy of information is inferior compared to the case where the monocular camera 7 and the millimeter wave radar 6 are integrally constituted.
Further, the control device 3 receives detection signals of various information from the monocular camera 7, the vehicle speed sensor 8, the millimeter wave radar 6, and the laser radar, and drives the brake pedal 9 by driving the actuator 2. In the collision avoidance apparatus for an automobile, detection signals from the millimeter wave radar 6 and the monocular camera 7 are transmitted to the AI4 through the connection line 20, and subjected to determination processing. The detection signal from the vehicle speed sensor 8 is sent to the control device 3 through a connection line 20. The control device 3 drives and controls the actuator 2 via the connection line 20. The controller 3 is configured to determine the final risk degree based on information of both the risk degree determined by the millimeter wave radar 6 and the risk degree determined by the monocular camera 7. In this collision avoidance apparatus for an automobile, the vehicle speed sensor 8 is attached to a wheel 29 of the vehicle 1, and the brake disk 17 and the brake 10 are provided on the wheel 29. The monitor 23 is mounted ON the vehicle 1, and may indicate ON with a green light and 0FF with a red light, for example.
Fig. 2 and 3 show a brake mechanism of a brake system provided in the vehicle 1. The brake pedal 9 is attached to a vacuum booster (master back)18 pivotally connected to a fulcrum shaft 30, and the vacuum booster 18 multiplies the braking force of the brake pedal 9 by the intake negative pressure of the engine. Fig. 2 shows the brake pedal 9 when the brake 10 is not braking in the collision avoidance device of the automobile, fig. 3 shows the brake pedal 9 when the brake 10 is braking in the collision avoidance device of the automobile, and fig. 3 shows a state when the brake pedal 9 is moved to the full stroke position 15 by the actuator 2. In particular, the collision avoidance device reliably and appropriately presses the brake pedal 9 by the actuator 2, and the actuator 2 is composed of a small motor 11 and a reduction gear 12 as a reduction gear. Preferably, the reduction ratio of the speed reducer 12 is in the range of 80 to 150. In order to make the actuator 2 compact, the speed reducer 12 is preferably configured by, for example, a spur gear 32 having three or more stages, a helical gear (not shown) having three or more stages, or a worm gear 33 having a single stage. The gear ratio of the reduction gear 12 has an important relationship with the pressing force and speed of the brake pedal 9, and if the reduction ratio is large, the speed becomes slow, and the brake 10 cannot brake in time, and if the reduction ratio is small, a large-torque motor is required, and the motor becomes large in size, and cannot be mounted near the foot. If the gear ratio of the speed reducer 12 is three or less, the reduction ratio of the gear ratio at each stage becomes large, and the reduction in size becomes impossible.
Next, various examples of the speed reducer 12 in the actuator 2 will be described with reference to fig. 6 to 9.
Fig. 6 shows a first example in which the speed reducer 12A is configured by two-stage speed reduction. Fig. 6 (a) is a schematic diagram in which the spur gear 32 is configured in two stages, and fig. 6 (B) is a schematic diagram showing a side surface of fig. 6 (a). The driving force of the motor 11 is transmitted to the cam 13 as the operating shaft 21 through the spur gear 32 of the second stage.
Fig. 7 shows a second example in which the speed reducer 12B is configured by three-stage speed reduction. Fig. 7 (a) is a schematic diagram in which the spur gear 32 is configured in three stages, and fig. 7 (B) is a schematic diagram showing a side surface of fig. 7 (a). The driving force of the motor 11 is transmitted to the cam 13 as the working shaft 21 through the spur gear 32 of three stages.
Fig. 8 (a) and 8 (B) show a third example in which the speed reducer 12C is configured by four-stage speed reduction. Fig. 8 (a) is a schematic diagram of a spur gear configuration having four stages, and fig. 8 (B) is a schematic diagram showing a side surface of fig. 8 (a). The driving force of the motor 11 is transmitted to the cam 13 as the operating shaft 21 through the four-stage spur gear 32. The speed reducer 12C can be appropriately mounted on all existing vehicle types, and is a preferred type.
Fig. 9 shows a fourth example in which the speed reducer 12D is configured by reducing the speed of the worm gear 33 accommodated in the housing 39. Fig. 9 (a) is a schematic diagram of the worm gear 33 composed of a worm 34 (helical gear) and a worm wheel 36 (helical gear), and fig. 9 (B) is a schematic diagram showing a side surface of fig. 9 (a). The driving force of the motor 11 is input to a worm 34 of the worm gear 33, and the rotation of the worm 34 is transmitted to a cam 13 as the working shaft 21 through a worm gear 36. The speed reducer 12D can be appropriately mounted on an existing vehicle type, and is a preferred type.
As shown in fig. 4 and 5, the speed reducer 12 provided in the collision avoidance device of the automobile is configured as a three-stage reduction gear mechanism, for example, but may be configured as five stages by further increasing the number of acceleration/deceleration stages. In fig. 5, the motor 11 and the speed reducer 12 are housed inside the casing 24. In the speed reducer 12, the gear train 25 of the first stage of the speed reducer 12 is connected to the working shaft 21 of the motor 11 so that the rotation of the motor 11 is reduced, then, the gear train 25 of the spur gear 32 is connected to the gear train 26 of the second stage so that the rotation of the output side of the gear train 25 is further reduced, and the gear train 26 of the spur gear 32 is connected to the gear train 27 of the third stage so that the rotation of the output side of the gear train 26 is further reduced. Next, the output shaft 28 of the spur gear 32 on the output side of the gear train 27 constitutes the camshaft 14 of the cam mechanism 5. As shown in fig. 4 and 5, the cam mechanism 5 is constituted by a cam 13, the cam 13 is constituted by a crank 31 provided on the camshaft 14 and a bearing 16 provided on an operating shaft 21 provided at the tip of the crank 31, or the cam mechanism 5 is constituted by a cam (not shown) provided on the camshaft 14 and eccentric in a generally oval shape. The cam 13 constituting the cam mechanism 5 is shown as a crank 31 extending from the camshaft 14, and a bearing 16 is attached to the front end of the crank 31. In the cam mechanism 5, the bearing 16 functioning as the cam 13 is provided, so that the cam 13 can easily contact the brake pedal 9, and the brake pedal 9 can be immediately pressed in response to the driving of the actuator 2, thereby braking the brake 10.
In this collision avoidance device for an automobile, the actuator 2 reduces the rotation speed of the motor 11 by about 70 to 150 times through the speed reducer 12 and transmits the reduced rotation speed to the camshaft 14, and the rotation torque of the camshaft 14 can be increased. In this collision avoidance apparatus for an automobile, the control device 3 makes a determination based on the learning result of the AI4, and the control device 3 gives a command to the motor 11 of the actuator 2 to rotate the motor 11 in a short time, thereby driving the cam 13 of the cam mechanism 5 to a predetermined rotation angle. In this collision avoidance device for an automobile, the actuator 2 is provided close to the vacuum booster shaft, and the operating distance of the actuator 2, that is, the displacement amount, is set to be small. The braking force of the conventional vehicle is 0 at the position of the brake pedal 9 in fig. 2, but the braking force is about 200N at the maximum depression of the brake pedal 9 in fig. 3, that is, at the full-stroke braking position 15, as an example, although the braking force varies depending on the vehicle type. In addition, the maximum braking stroke of the brake pedal 9 at the position where the person brakes is about 50 mm. Since the lever ratio of the brake pedal 9 (the ratio of the amount of depression of the brake pedal position to the amount of movement of the vacuum booster 18) is about 2.6, the pressing load on the shaft portion of the vacuum booster 18 is 520N, and the maximum displacement is about 19 mm. Since the actuator 2 of the collision avoidance device of the automobile presses the vicinity of the shaft portion of the vacuum booster 18, the maximum pressing load of the actuator 2 is 520N, and the operating distance of the eccentric cam 13 is about 19 mm. In the collision avoidance apparatus for an automobile, when the cam mechanism 5 is used for driving, the initial load is almost 0, and the driving torque can be made small because the eccentric amount is small in the torque when the brake pedal is pressed to the maximum, that is, when the displacement amount is 19 mm.
The collision avoidance apparatus for an automobile is set to determine the rotation speed and rotation angle of the camshaft 14, i.e., the crankshaft, of the cam mechanism 5 and drive the same based on the driving risk determined by AI 4. With regard to the determination of the AI4, when there is a danger in the traveling of the vehicle 1, if it is determined that the vehicle 1 can avoid the danger by decelerating, the rotation speed of the camshaft 14 and the rotation angle of the cam 13 are set accordingly. It is set to adjust the braking strength according to the degree of risk even when a person suddenly jumps out of the front of the vehicle 1. When a person jumps out extremely dangerously, the brake pedal 9 is driven at maximum speed to the full brake travel position 15 by a detection signal from the potentiometer of the actuator 2 without interruption. The control device 3 is programmed not to perform excessive braking as long as the driving safety of the vehicle 1 can be ensured. The reason for this is to take care of the safety of the passengers in the vehicle 1 and to avoid that the driver, i.e., the driver hits the steering wheel or the passenger in the front passenger seat hits the windshield during the emergency braking of the vehicle 1. However, if it is determined that the vehicle exterior person is likely to be damaged, the actuator 2 performs emergency braking at the maximum speed without any problem and is driven to the full-stroke braking position 15. This is because the priority of the life of the person outside the vehicle is overwhelmingly higher than the impact received by the person inside the vehicle.
In the collision avoidance apparatus for an automobile, when the vehicle 1 is shifted erroneously or when the driver steps on the accelerator pedal to move the vehicle 1 forward and enters the convenience store when the vehicle 1 is parked in the convenience store and intends to reverse, the environment monitoring device such as the laser radar and the monocular camera 7 provided in the present invention monitors the front side of the vehicle 1, and therefore, the collision avoidance apparatus can operate to bring the vehicle 1 to an emergency stop. Even when the driver steps on the accelerator pedal by mistake the accelerator pedal and the brake pedal 9 when intending to stop the vehicle, the collision avoidance device is operated to avoid the collision of the vehicle 1 with an obstacle by monitoring the front side of the vehicle 1 and if it is determined that there is a risk of collision of the vehicle 1 with an object. The conventional collision avoidance device is configured such that when the brake pedal 9 is stepped on, the operation of the brake 10 is given priority over the accelerator pedal regardless of the stepping on of the accelerator pedal. The above setting is established because the accelerator pedal does not directly control the engine, but the engine is controlled by converting the number of times the accelerator is depressed into a signal. That is, the brake signal for depressing the brake pedal 9 is given priority over the accelerator signal.
The operation of the collision avoidance apparatus for an automobile according to the present invention will be described with reference to the processing flowchart of fig. 10.
In the system of the collision avoidance device, the actuator 2 includes: a motor 11; a speed reducer 12 for reducing the rotation speed of an output shaft 37 of the motor 11; a cam mechanism 5 including a cam 13 provided on the camshaft 14, the cam 13 being connected to an output shaft 28 of the reduction gear 12, directly contacting the brake pedal 9, and driving the brake pedal 9 in a brake application direction; and a potentiometer (not shown) for converting the displacement of the cam 13 into a voltage. The actuator 2 controls the driving voltage or the driving current of the motor 11 in accordance with the degree of risk transmitted from the control device 3, thereby mechanically directly driving the cam 13 in the braking direction of the brake pedal 9, and as the degree of risk decreases, the driving voltage or the driving current of the motor 11 decreases or the motor rotates in the reverse direction. Further, the control device 3 acquires engine start information, speed information, brake pedal information, handbrake information, and backup light information included in the vehicle 1. The control device 3 starts the present system in accordance with the travel of the vehicle 1, and in response to information from the monocular camera 7 and the millimeter wave radar 6, causes the AI4 of the control device 3 to calculate a collision risk degree, and in response to the situation where the risk degree exceeds a predetermined threshold value, the control device 3 stops the vehicle 1 by driving the actuator 2 to directly drive the brake pedal 9.
The collision avoidance device is operated (started) by starting the engine of the vehicle on which the collision avoidance device is mounted. The AI4 of the control device 3 of the system of collision avoidance devices acquires engine start information, speed information from the speed sensor 8, information of the brake pedal 9 of the brake mechanism 22, information of the handbrake, information of the backup light, and the like (step S1). Simultaneously with the engine start, the switch of the monocular camera 7 and the switch of the millimeter wave radar 6 constituting the environment monitoring device 35 are turned on, and the front of the vehicle 1 is monitored, respectively (step S1). While the millimeter wave radar 6 detects the object, the monocular camera 7 performs recognition determination of the type of the detected object by means of depth learning (step S2). The information from the environment monitoring device 35 is analyzed by the AI4 built in the control apparatus 3, and it is determined at what level the risk of collision between the automobile and the object is (step S3). When the AI of the control device 3 determines that there is NO collision risk (NO) between the automobile, i.e., the vehicle 1, and the object (step S3), the processing continues with monitoring and collecting information for the environment monitoring devices 35 such as the monocular camera 7 and the millimeter wave radar 6. When it is determined that the collision risk between the vehicle 1 and the object is high, that is, exceeds the threshold value (YES), the control device 3 issues a command to operate the actuator 2, thereby driving the actuator 2 (step S4). The control device 3 issues a command to actuate the brake mechanism 22, thereby directly driving the brake pedal 9 (step S5), braking the vehicle 1, and stopping the vehicle 1 to avoid a collision between the vehicle 1 and an object (step S6).
Claims (11)
1. A collision avoidance apparatus for a vehicle, wherein,
the method comprises the following steps: a brake mechanism provided in a vehicle as a vehicle in use; an actuator for operating the brake mechanism; an environment monitoring device mounted on the vehicle and configured to detect an object in front of the vehicle; and a control device that controls driving of the actuator by determining information from the environment monitoring device, the actuator mechanically directly driving a brake pedal of the brake mechanism in response to a command from the control device,
the collision avoidance apparatus for an automobile includes:
the environment monitoring apparatus is constituted by a component in which a millimeter wave radar for measuring a spatial position and a distance between the vehicle and the object and a monocular camera for identifying a type of the object are integrated, the component is provided at a predetermined prescribed position in the vehicle, and the environment monitoring apparatus includes a display device that represents an operating condition of the vehicle by switching on and off of the brake mechanism, the control device determines a final risk degree based on information of both a risk degree determined by the millimeter wave radar and a risk degree determined by the monocular camera, and generates a speed or an operation force of the vehicle determined in advance based on a collision risk degree between the vehicle and the object and transmits the speed or the operation force to the brake mechanism by directly driving the brake pedal mechanically, to control the travel of the vehicle.
2. The collision avoidance apparatus of an automobile according to claim 1,
the actuator is mounted to the vehicle through a bracket so as to directly drive the brake pedal, and is provided at a position where the actuator does not interfere with a braking region of the brake pedal.
3. The collision avoidance apparatus of an automobile according to claim 1,
the actuator includes: a motor; a speed reducer for reducing a rotational speed of an output shaft of the motor; a cam mechanism including a cam provided on a cam shaft, the cam being connected to an output shaft of the speed reducer and directly abutting against the brake pedal, the cam being configured to drive the brake pedal in a braking direction; and a potentiometer for converting displacement of the cam into a voltage,
the actuator mechanically directly drives the cam in a braking direction of the brake pedal by controlling a driving voltage or a driving current of the motor according to the risk level transmitted from the control device, and decreases the driving voltage or the driving current of the motor or reversely rotates the motor as the risk level decreases.
4. The collision avoidance apparatus of an automobile according to claim 3,
the cam mechanism is constituted by the cam provided to the camshaft, or the cam formed by a crank provided to the camshaft and a bearing provided to an operating shaft at a tip of the crank.
5. The collision avoidance apparatus of an automobile according to claim 3,
the reduction gear of the actuator is composed of a spur gear or a helical gear having a reduction gear with three or more stages, or is composed of a single-stage worm gear, and the reduction ratio of the reduction gear is 70 to 150.
6. The collision avoidance apparatus of an automobile according to claim 1,
a stereo camera or a laser radar is arranged as the environment monitoring equipment.
7. The collision avoidance apparatus of an automobile according to claim 1,
the millimeter wave radar is arranged outside the vehicle, and the monocular camera is arranged inside the vehicle.
8. The collision avoidance apparatus of an automobile according to claim 1,
the control device acquires engine start information, speed information, brake pedal information, handbrake information, and backup light information possessed by the vehicle, starts the system in accordance with the travel of the vehicle, causes artificial intelligence of the control device to calculate the degree of risk of collision in response to the information from the monocular camera and the millimeter wave radar, and causes the vehicle to stop by driving the actuator to directly drive the brake pedal in response to a case where the degree of risk exceeds a predetermined threshold value.
9. The collision avoidance apparatus of an automobile according to claim 1,
the actuator is operated by hydraulic pressure or pneumatic pressure, and controls the running of the vehicle by mechanically directly driving the brake pedal by being depressed in accordance with an instruction from the control device.
10. A collision avoidance apparatus for a vehicle, wherein,
the method comprises the following steps: a brake mechanism provided in a vehicle as a vehicle in use; an actuator for operating the brake mechanism; an environment monitoring device mounted on the vehicle and configured to detect an object in front of the vehicle; and a control device that controls driving of the actuator by determining information from the environment monitoring apparatus, the actuator mechanically directly driving a brake pedal provided in the brake mechanism in response to a command from the control device,
the collision avoidance apparatus for an automobile includes:
the environment monitoring device is constituted by at least a monocular camera for identifying the type of the object, the monocular camera being provided at a predetermined prescribed position in the vehicle, and the environment monitoring apparatus includes a display device that indicates an operating condition of the vehicle by switching the brake mechanism on and off, the speed reducer of the actuator is composed of a spur gear or a helical gear with a reduction gear having more than three stages or a single-stage turbine worm, the reduction ratio of the speed reducer is 70 to 150, the control device judges the danger degree according to the information of the monocular camera, and generates a speed or an action force of the vehicle determined in advance according to a collision risk degree between the vehicle and the object and transmits the speed or the action force to the brake mechanism, and controls traveling of the vehicle by directly driving the brake pedal mechanically.
11. The collision avoidance apparatus of an automobile according to claim 10,
the actuator is operated by hydraulic pressure or pneumatic pressure, and controls the running of the vehicle by mechanically directly driving the brake pedal by being depressed in accordance with an instruction from the control device.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2020174184A JP2022065543A (en) | 2020-10-15 | 2020-10-15 | Collision avoidance device for automobile |
| JP2020-174184 | 2020-10-15 |
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| CN114368367A true CN114368367A (en) | 2022-04-19 |
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| JPS61188259A (en) * | 1985-02-16 | 1986-08-21 | Mazda Motor Corp | Brake device for car |
| JP3171996B2 (en) * | 1993-05-10 | 2001-06-04 | マツダ株式会社 | Automotive brake device |
| JP2002120636A (en) * | 2000-10-13 | 2002-04-23 | Honda Motor Co Ltd | Vehicle for physically handicapped person |
| JP2006329078A (en) * | 2005-05-26 | 2006-12-07 | Fujitsu Ten Ltd | Safety control device and method of drive assisting device |
| JP2018024289A (en) * | 2016-08-08 | 2018-02-15 | トヨタ自動車株式会社 | Vehicle travel control apparatus |
| JP6938903B2 (en) * | 2016-12-14 | 2021-09-22 | 株式会社デンソー | Collision avoidance device and collision avoidance method in vehicle |
| JP7047793B2 (en) * | 2019-02-07 | 2022-04-05 | 株式会社豊田自動織機 | Brake system for industrial vehicles |
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| JP2004106701A (en) * | 2002-09-18 | 2004-04-08 | Toyota Motor Corp | Hazardous obstacle determining device |
| JP2014078056A (en) * | 2012-10-09 | 2014-05-01 | Honda Elesys Co Ltd | Area identification device for vehicle, program thereof and method thereof |
| CN108162857A (en) * | 2018-02-26 | 2018-06-15 | 湖南文理学院 | A kind of automobile active safety guard method and device |
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