JP2007153198A - Obstacle detecting device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To normally carry out a test by preventing the operation of vehicular operation equipment, when a vehicle travels on a chassis roller at the time of a test such as an automobile inspection. <P>SOLUTION: A millimeter wave radar 3 (an obstacle detecting means) detecting an obstacle 50 in front of an own vehicle 1, and a controlling unit 10 (an operation controlling means) controlling the vehicular operation equipment according to a detection state of the obstacle 50 by the millimeter wave radar 3 are provided. The obstacle detecting device for the vehicle comprises an obstacle movement judging means 31 judging whether the obstacle 50 detected by the millimeter wave radar 3 relatively move to the own vehicle 1 or not, a timer means 33 counting predetermined time since the obstacle 50 relatively moving to the own vehicle 1 is no longer detected by the obstacle movement judging means 31, and a system stopping means 34 stopping a function of the whole of the obstacle detecting device 2 for the vehicle. When the timer means 33 counts predetermined time, the system means 34 stops the whole of a system. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle obstacle detection device that controls a vehicle operating device in accordance with a detection state by an obstacle detection means.

  2. Description of the Related Art Conventionally, an obstacle for a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Sensing devices are known.

For example, as in Patent Document 1, in a vehicle control device that detects an obstacle (preceding vehicle, road measurement object) in the course of the own vehicle by a millimeter wave radar and controls the operation of the vehicle according to the obstacle information, There is known one that changes an obstacle area to be subjected to operation control in accordance with a lane area in which the host vehicle travels. In this vehicle control device, it is possible to effectively prevent the erroneous detection of an obstacle outside the lane and effectively perform vehicle control on the obstacle.
JP 2004-136785 A

  By the way, during vehicle inspection, the vehicle is placed on the chassis roller and various tests such as a brake test and a speedometer test are performed. When the drive wheels are driven on the chassis roller for testing, even if the vehicle speed measured by the drive wheel speed sensor provided on the drive wheels is increased, the drive wheels are actually driven. The vehicle does not run. In such a case, even in the obstacle detection device for a vehicle as described in Patent Document 1, if the system of the entire device is activated, an obstacle (for example, an obstacle (for example, When it is detected that a test person other than the driver has entered the vehicle, the operation control means activates the vehicle operation equipment (alarm device, brake, seat belt pretensioner, etc.), and the test cannot be performed normally. is there.

  The present invention has been made in view of such points, and the object of the present invention is to prevent the operation device of the vehicle from operating when the vehicle is running on the chassis roller during a test such as a vehicle inspection. The goal is to ensure that the test is successful.

  In order to achieve the above object, according to the present invention, when the host vehicle is not actually traveling, such as traveling on a chassis roller, the entire system of the obstacle detection device for the vehicle is stopped. I did it.

Specifically, in the first invention, an obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operating device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Target vehicle obstacle detection device equipped with
Obstacle movement determination means for determining whether or not the obstacle detected by the obstacle detection means is moving relative to the host vehicle;
Timer means for counting a predetermined time after an obstacle moving relative to the host vehicle is no longer detected by the obstacle movement determining means;
System stop means for stopping the function of the entire obstacle detection device of the vehicle,
When the timer means counts for a predetermined time, the system is stopped by the system stop means.

  In other words, when the test is performed by driving the driving wheel on the chassis roller, if the entire apparatus is activated, it is determined that the vehicle is traveling, and the obstacle detection means causes a failure within a predetermined detection area. When it is detected that an object (for example, a test person other than the driver) has invaded, the operation device of the vehicle is operated by the operation control means. However, according to the above configuration, the obstacle movement determination means determines whether or not the obstacle detected by the obstacle detection means is moving relative to the own vehicle, and the timer means When a predetermined time is counted after obstacles that move relatively are no longer detected, it is determined that the vehicle is traveling on the chassis roller instead of the normal traveling case, and a command is sent to the system stop means to send the entire system Stop.

According to a second aspect of the invention, there is provided a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operating device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Target obstacle detection device
Obstacle approach determining means for determining whether or not the obstacle detected by the obstacle detecting means is relatively approaching the host vehicle;
Timer means for counting a predetermined time after an obstacle approaching the host vehicle is no longer detected by the obstacle approach determining means;
System stop means for stopping the function of the entire obstacle detection device of the vehicle,
When the timer means counts for a predetermined time, the system is stopped by the system stop means.

  In other words, when the test is performed by driving the driving wheel on the chassis roller, if the entire apparatus is activated, it is determined that the vehicle is traveling, and the obstacle detection means causes a failure within a predetermined detection area. When it is detected that an object (for example, a test person other than the driver) has invaded, the operation device of the vehicle is operated by the operation control means. However, according to the above configuration, the obstacle approach determining means determines whether or not the obstacle detected by the obstacle detecting means is relatively close to the own vehicle, and the timer means is the own vehicle. When a predetermined time is counted after no obstacles approaching relatively are detected, it is determined that the vehicle is traveling on the chassis roller instead of the normal traveling case, and a command is sent to the system stop means to send the command to the system Stop the whole thing.

  In 3rd invention, it is comprised so that it may operate, when the vehicle speed measured by the drive wheel speed sensor provided in the drive wheel is more than predetermined vehicle speed.

  According to the above configuration, when the obstacle enters the predetermined detection area in a case where the host vehicle is not traveling, the operation control unit is prevented from operating the operation device.

  In 4th invention, the said action | operation apparatus is set as the alerting | reporting means which alert | reports a dangerous state to a passenger | crew.

  According to said structure, since the malfunctioning of the alerting | reporting means at the time of the test on a chassis roller where the own vehicle is not actually driving | running | working is prevented, unnecessary alerting | reporting is not performed.

  In the fifth invention, the operating device is a brake means for applying a braking force to the vehicle.

  According to the above configuration, the brake means is prevented from malfunctioning during a test on the chassis roller, where the host vehicle is not actually traveling, so unnecessary braking is not performed.

  In a sixth aspect, the operating device is a seat belt pretensioner that forcibly retracts the seat belt.

  According to the above configuration, the malfunction of the seat belt pretensioner during the test on the chassis roller, where the vehicle is not actually running, is prevented, so the seat driver is pulled in unnecessarily to restrain the test driver. There is nothing.

  As described above, according to the first invention, when the obstacle moving determining means does not detect an obstacle moving relative to the host vehicle for a predetermined time, the system stopping means stops the entire system. Like to do. For this reason, when the vehicle is running on the chassis roller during a test such as a vehicle inspection, it is possible to normally perform the test by preventing the operation device of the vehicle from operating.

  According to the second aspect of the invention, when the obstacle approaching determining means does not detect an obstacle approaching the host vehicle for a predetermined time, the system stopping means stops the entire system. For this reason, when the vehicle is running on the chassis roller during a test such as a vehicle inspection, it is possible to normally perform the test by preventing the operation device of the vehicle from operating.

  According to the third aspect of the invention, the vehicle obstacle detection device is configured to operate when the vehicle speed measured by the driving wheel speed sensor is equal to or higher than a predetermined vehicle speed. For this reason, it is possible to prevent malfunction of the operating device in a case where the host vehicle is not traveling.

  According to the fourth aspect of the present invention, the operating device is used as a notification means for notifying the occupant of the dangerous state, and malfunction of the notification means during the test on the chassis roller is prevented. For this reason, when the vehicle is running on the chassis roller during a test such as a vehicle inspection, it is possible to perform the test normally by preventing the notification means from operating.

  According to the fifth aspect of the invention, the operating device is the brake means for applying a braking force to the vehicle, and malfunction of the brake means during the test on the chassis roller is prevented. For this reason, when the vehicle is running on the chassis roller during a test such as a vehicle inspection, the test can be performed normally by preventing the brake means from operating and stopping the driving wheels.

  According to the sixth aspect of the invention, the operating device is a seat belt pretensioner that forcibly pulls the seat belt, and the malfunction of the seat belt pretensioner during the test on the chassis roller is prevented. For this reason, when the vehicle is running on the chassis roller during a test such as a vehicle inspection, the seat belt pretensioner can be prevented from operating and the test driver can be restrained unnecessarily, and the test can be performed normally.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a vehicle 1 including a vehicle obstacle detection device 2 according to an embodiment of the present invention. The obstacle detection device 2 includes a millimeter wave radar 3 as an obstacle detection means for detecting an obstacle 50 in front of the host vehicle 1. Millimeter waves have features such as having sharp directivity, ensuring a wide band for high-speed communication, and miniaturizing and micro-parts. The detection range of the millimeter wave radar 3 is such that the distance is within about 100 m and spreads radially. The obstacle detection means may be constituted by an infrared laser or the like.

  As shown in FIG. 2, the obstacle detection device 2 includes a control unit 10 as an operation control unit that controls an operation device of the vehicle 1 to be described later according to an obstacle detection state by the millimeter wave radar 3. . The control unit 10 has various functions such as the role of operating the operating device based on information from various sensors such as the millimeter wave radar 3, the collision sensor 11, and the driving wheel speed sensor 29 provided on the driving wheel 28. . The vehicle 1 includes notifying means for notifying an occupant of a dangerous state as an operating device. For example, the notification means includes an alarm device 13 such as a horn. Note that the notification means may be constituted by a warning lamp on the instrument panel, a warning display on the car navigation system, or the like. The alarm device 13 is activated by the control unit 10 when the millimeter wave radar 3 detects that the obstacle 50 has entered a predetermined detection area (for example, 2.0 seconds until the collision). Yes.

  The vehicle 1 is also provided with a seat belt pretensioner 15 that takes up slack in the brake means 14 and the seat belt 16 that apply braking force to the vehicle 1 as an operating device and increases the restraining force of the occupant.

  The brake means 14 is actuated by the control unit 10 when the millimeter wave radar 3 detects that the obstacle 50 has entered a predetermined detection area (for example, 1.0 second until the collision). .

  The seat belt pretensioner 15 includes a first seat belt pretensioner 15a and a second seat belt pretensioner 15b. The millimeter wave radar 3 causes the obstacle 50 to move a predetermined distance (for example, 0.4 seconds until a collision). ), The first seat belt pretensioner 15a pulls the seat belt 16 into the retractor (not shown) to restrain the occupant with a predetermined tension (which does not affect the collision avoidance operation). It has become. When the collision sensor 11 detects that the vehicle has collided, the second seat belt pretensioner 15b further retracts the seat belt 16 to restrain the occupant with a strong restraining force. The first seat belt pretensioner 15a is configured to retract the seat belt 16 by an electric motor (not shown). The second seat belt pretensioner 15b is configured to retract the seat belt 16 by an inflator (not shown) such as gunpowder.

  The vehicle obstacle detection device 2 includes obstacle movement determination means 31 that determines whether or not the obstacle 50 detected by the millimeter wave radar 3 is moving relative to the host vehicle 1. If the coordinates of the obstacle 50 detected by the millimeter wave radar 3 have changed, it is determined that the obstacle 50 is moving.

  Further, the vehicle obstacle detection device 2 includes obstacle approach determination means 32 for determining whether or not the obstacle 50 detected by the millimeter wave radar 3 is relatively approaching the host vehicle 1. I have. If the coordinates of the obstacle 50 detected by the millimeter wave radar 3 are gradually approaching the host vehicle 1, it is determined that the obstacle 50 is approaching.

  The functions of the obstacle movement determination unit 31 and the obstacle approach determination unit 32 may be provided in the control unit 10 or may be provided separately.

  The vehicle obstacle detection device 2 includes a timer unit 33 that counts a predetermined time after the obstacle movement determination unit 31 stops detecting the obstacle 50 that moves relative to the host vehicle 1. . Further, the timer means 33 is configured to count a predetermined time after the obstacle approach determining means 32 no longer detects the obstacle 50 that is relatively close to the host vehicle.

  The vehicle obstacle detection device 2 includes system stop means 34 that stops the function of the entire device. When the timer means 33 counts for a predetermined time, the system stop means 34 stops the entire system. Note that the system stop unit 34 may be configured to be manually operable, or may be configured not to be manually operated.

−Operation of vehicle obstacle detection device−
Next, the operation of the vehicle obstacle detection device 2 according to the present embodiment will be described with reference to FIGS. 3 and 4. In order to simplify the description, the operation of the seat belt pretensioner 15 as an operating device will be described.

  As shown in FIG. 3, in a normal use case of the vehicle 1 that is not a special traveling case such as an automobile inspection, when the vehicle 1 stops, three obstacles 50 in which the millimeter wave radar 3 is stopped are detected, and the information Is sent to the control unit 10. In this case, since the obstacle 50 is stopped, the control unit 10 determines that there is no danger of the obstacle 50 colliding and does not issue a command to the seat belt pretensioner 15.

  On the other hand, when the vehicle 1 is traveling forward, the millimeter wave radar 3 detects three obstacles 50 approaching the host vehicle 1 and sends the information to the control unit 10. When the obstacle 50 approaches a predetermined area, it is determined that there is a possibility of collision, and the first seat belt pretensioner 15a is operated. When a collision is detected by the collision sensor 11, the control unit 10 operates the second seat belt pretensioner 15b.

  On the other hand, during vehicle inspection, the vehicle 1 is placed on the chassis roller 27 and various tests such as a brake test and a speedometer test are performed. When the test is performed by driving the drive wheels 28 on the chassis roller 27, the host vehicle 1 does not travel even if the drive wheels 28 are driven. For example, even if the driving wheel speed sensor 29 measures a vehicle speed of 30 km / h, a situation that cannot occur during normal use of the vehicle 1 occurs in which surrounding objects remain stationary.

  The control for determining whether the case is the normal case or the case on the chassis roller 27 during a test such as a vehicle inspection will be described with reference to FIG.

  First, in step S1, it is determined whether the entire system is activated (ON). If it is ON, the process proceeds to step S2. In the case of OFF, since the system itself is stopped, the command from the control unit 10 is not issued, there is no problem of malfunction of the first seat belt pretensioner 15a, and Step S1 is repeated.

  In step S2, it is determined whether or not the vehicle speed detected from the drive wheel speed sensor 29 is equal to or higher than the set vehicle speed. When the vehicle speed is higher than the set vehicle speed, the process proceeds to step S3. When the vehicle speed is equal to or lower than the set vehicle speed, the vehicle 1 in a normal case is stopped or is in a traveling state at a very low speed, so step S2 is repeated.

  In step S3, it is determined by the obstacle movement determination means 31 whether or not the obstacle 50 detected by the millimeter wave radar 3 has been recognized as moving. In this case, the obstacle 50 only needs to move relative to the vehicle 1, and the possibility of collision with the host vehicle 1 is not determined. When the moving obstacle 50 is recognized, the process proceeds to step S4. If not recognized, the process proceeds to step S5.

  In step S <b> 4, the obstacle approach determination means 32 determines whether the obstacle 50 is approaching the host vehicle 1 following the path of the obstacle 50 detected by the millimeter wave radar 3. If it is approaching, it is determined as a normal traveling case and the process proceeds to step S6. If not, the process proceeds to step S7.

  In step S6, it is determined whether or not the obstacle 50 may collide with the host vehicle 1. Specifically, when the obstacle 50 enters the predetermined detection area, it is determined that there is a possibility of a collision, and the process proceeds to step S8. If there is no possibility of collision, step S6 is repeated.

  In step S8, the control unit 10 generates a signal to operate the first seat belt pretensioner 15a to restrain the occupant, and the process proceeds to step S9.

  In step S9, it is determined whether the host vehicle 1 has collided with the obstacle 50 or not. When it is determined by the signal from the collision sensor 11 that the control unit 10 has collided, the process proceeds to step S10, the second seat belt pretensioner 15b is activated, and the process ends. When it is determined that there is no collision, the process proceeds to step S11.

  In step S11, it is determined whether the collision is avoided. If there is no signal from the collision sensor 11 even after the predetermined time has elapsed, it is determined that the risk of collision has disappeared, the first seat belt pretensioner 15a is released, and the process returns to step S4.

  If the relative movement of the obstacle 50 with respect to the host vehicle 1 is not recognized in step S5, a command is sent to the timer means 33, and if the predetermined time has been counted, the process proceeds to step S13. If the movement of the obstacle 50 is recognized before the predetermined time elapses, the process returns to step S3.

  If it is determined in step S7 that the obstacle 50 is not approaching the host vehicle 1, a command is sent to the timer means 33, and if the predetermined time has been counted, the process proceeds to step S13. If it is determined that the obstacle 50 is approaching the host vehicle 1 before the predetermined time has elapsed, the process returns to step S4.

  In step S13, the control unit 10 is traveling on the chassis roller 27 and determines that there is no danger of the obstacle 50 colliding, and the system stopping means 34 stops the entire system of the obstacle detection device 2, finish.

  The case of the alarm device 13 and the brake means 14 will be described. In step S6 in FIG. 4, it is determined whether the obstacle 50 has entered the respective detection areas, and when it is determined that there is a risk of collision, step S8 is performed. , The alarm device 13 or the brake means 14 is activated.

-Effect of the embodiment-
Therefore, according to the obstacle detection device 2 of the vehicle according to the present embodiment, when the obstacle movement determination means 31 does not detect the obstacle 50 that moves relative to the host vehicle 1 for a predetermined time, the system stop means 34 stops the entire system. For this reason, when the vehicle 1 is running on the chassis roller 27 during a test such as a vehicle inspection, it is possible to perform the test normally by preventing the operating device of the vehicle 1 from operating.

  Further, when the obstacle approach determining means 32 does not detect an obstacle 50 that is relatively approaching the host vehicle 1 for a predetermined time, the system stopping means 34 stops the entire system. For this reason, when the vehicle 1 is running on the chassis roller 27 during a test such as a vehicle inspection, it is possible to perform the test normally by preventing the operating device of the vehicle 1 from operating.

  Further, the vehicle obstacle detection device 2 is configured to operate when the vehicle speed measured by the drive wheel speed sensor 29 is equal to or higher than a predetermined vehicle speed. For this reason, it is possible to prevent malfunction of the operating device in a case where the host vehicle is not traveling.

  Further, when the operating device is the alarm device 13 that notifies the occupant of the dangerous state, the malfunction of the alarm device 13 during the test on the chassis roller 27 is prevented. For this reason, when the vehicle 1 is running on the chassis roller 27 during a test such as a vehicle inspection, the alarm device 13 can be prevented from operating and the test can be performed normally.

  Further, when the operating device is a brake unit that applies a braking force to the vehicle 1, the malfunction of the brake unit during the test on the chassis roller 27 is prevented. Therefore, when the vehicle 1 is running on the chassis roller 27 during a test such as a vehicle inspection, the test can be performed normally by preventing the brake means from operating and stopping the driving wheels 28.

  Further, when the operating device is the seat belt pretensioner 15 that forcibly retracts the seat belt, the malfunction of the seat belt pretensioner 15 during the test on the chassis roller 27 is prevented. For this reason, when the vehicle 1 is running on the chassis roller 27 during a test such as a vehicle inspection, the test can be performed normally by preventing the seat belt pretensioner 15 from operating and unnecessarily restraining the test driver. it can.

  In addition, the above embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, or a use.

  As described above, the present invention is a vehicle including obstacle detection means such as a millimeter wave radar, and an operation control means for controlling the operation equipment of the vehicle in accordance with an obstacle detection state by the obstacle detection means. This is useful for the obstacle detection apparatus.

It is a key map of vehicles provided with the obstacle detection device of vehicles concerning the embodiment of the present invention. It is a block diagram which shows the obstruction detection apparatus of a vehicle. It is a conceptual diagram which shows the detection situation of the millimeter wave radar in the case on a normal case and a chassis roller. It is a flowchart which shows system stop control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Obstacle detection apparatus 3 Millimeter wave radar (obstacle detection means)
10 Control unit (operation control means)
13 Alarm device (operating device, notification means)
14 Brake means (actuating equipment)
15 Seat belt pretensioner (operating equipment)
28 Drive Wheel 29 Drive Wheel Speed Sensor 31 Obstacle Movement Determination Unit 32 Obstacle Approach Determination Unit 33 Timer Unit 34 System Stop Unit 50 Obstacle

Claims (6)

An obstacle detection device for a vehicle, comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. There,
Obstacle movement determination means for determining whether or not the obstacle detected by the obstacle detection means is moving relative to the host vehicle;
Timer means for counting a predetermined time after an obstacle moving relative to the host vehicle is no longer detected by the obstacle movement determining means;
System stop means for stopping the function of the entire obstacle detection device of the vehicle,
An obstacle detection device for a vehicle, characterized in that when the timer means counts a predetermined time, the system stopping means stops the entire system. An obstacle detection device for a vehicle, comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. There,
Obstacle approach determining means for determining whether or not the obstacle detected by the obstacle detecting means is relatively approaching the host vehicle;
Timer means for counting a predetermined time after an obstacle approaching the host vehicle is no longer detected by the obstacle approach determining means;
System stop means for stopping the function of the entire obstacle detection device of the vehicle,
An obstacle detection device for a vehicle, characterized in that when the timer means counts for a predetermined time, the system stopping means stops the entire system. In the obstacle detection device for a vehicle according to claim 1 or 2,
An obstacle detection device for a vehicle, which operates when a vehicle speed measured by a drive wheel speed sensor provided on a drive wheel is equal to or higher than a predetermined vehicle speed. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
The vehicle obstacle detection device, wherein the operating device is a notification means for notifying a passenger of a dangerous state. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
The obstacle detection device for a vehicle, wherein the operating device is a brake means for applying a braking force to the vehicle. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
An obstacle detection device for a vehicle, wherein the operating device is a seat belt pretensioner that forcibly retracts a seat belt.

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