JP2011060113A - Collision avoidance support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid, in a collision avoidance support device for vehicle, collision of a highest part of a vehicle with variable maximum height to an obstacle, or to reduce the collision speed of the vehicle. <P>SOLUTION: The collision avoidance support device which is mounted on the vehicle with variable maximum height to avoid a collision to an obstacle O located in front of the vehicle includes: a maximum height detection means 11 which detects a maximum height H of the vehicle 3; an obstacle detection means 12 which detects the obstacle O located at the same height of the maximum height H in front of the vehicle; and an alarm means 13 which gives an alarm for the presence of the obstacle O at the maximum height or less to the driver of the vehicle 3. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a collision avoidance assisting device for a vehicle, and more particularly to a collision avoidance assisting device for avoiding a load loaded on a loading platform of a vehicle colliding with a viaduct or the like above a traveling road surface or reducing a collision speed. .

When other vehicles or obstacles in front of the host vehicle are detected by radar, etc., and there is a risk of collision between the host vehicle and the vehicle, the driver is warned, and the vehicle is still approaching and it is determined that a collision cannot be avoided. Has been put into practical use a forward obstacle collision damage reduction device that automatically activates the brake. The forward obstacle collision damage reducing device is disclosed in, for example, Patent Document 1.
In Patent Document 2, a sensor is fixed to a front header portion between a roof panel and a front window glass, and an obstacle (a guard or a parking tower) whose front end is lower than the highest part of the vehicle body in front of the host vehicle. A technology for adjusting the vehicle height so that the vehicle height is automatically lowered when the above-mentioned sensor is detected by the above sensor.

JP 2009-157472 A JP-A-4-365611

By the way, as an accident peculiar to a freight vehicle such as a truck, there is a case where an upper part of the load (the highest part of the vehicle) and a viaduct or an electric wire or the like above the traveling road surface come into contact. Such a contact is difficult to avoid automatically by the technique described in Patent Document 1 that does not pay attention to the height of the vehicle.
Moreover, since the technique of patent document 2 detects an obstacle with the sensor by which the position was fixed, and makes a vehicle height low in order to prevent a contact with an obstacle, by load like a truck etc. When the height is different (the maximum height of the vehicle changes), it is not possible to cope with it, and there is a limit to the adjustment stroke of the vehicle height, and it is often impossible to cope with it.

  The present invention has been devised in view of such problems, and avoids collision of a vehicle in which the highest part of the vehicle whose maximum height changes can be prevented from colliding with an obstacle or the collision speed can be reduced. An object is to provide a support device.

  To achieve the above object, a collision avoidance assistance device for a vehicle according to the present invention is a collision avoidance assistance device for avoiding a collision with an obstacle located in front of the vehicle, which is installed in a vehicle whose maximum height changes. A maximum height detecting means for detecting the maximum height of the vehicle; an obstacle detecting means for detecting an obstacle located at the same height as the maximum height in front of the vehicle; and the maximum height or less. And alarm means for warning the driver of the vehicle that there is an obstacle.

At this time, for example, it is determined whether there is an obstacle below the maximum height based on information detected by the maximum height detection means and the obstacle detection means, and the obstacle is below the maximum height. Control means for operating the alarm means when it is determined that there is an object is provided.
In addition, the maximum height detection means and the obstacle detection means are attached, and includes a lifting means for moving the maximum height detection means and the obstacle detection means in the vehicle height direction, the control means, It is preferable that the elevating means is driven to move the maximum height detecting means and the obstacle detecting means in the vehicle height direction.

  Preferably, the vehicle further comprises automatic braking means for automatically braking the vehicle, and the control means gives a braking instruction to the automatic braking means when it is determined that there is an obstacle below the maximum height. The control means may issue a braking instruction to the automatic braking means to brake the vehicle when the driver's braking operation is not performed for a predetermined time or more after the warning of the warning means. preferable.

The maximum height detection means is preferably an ultrasonic detection means for transmitting an ultrasonic wave and detecting the maximum height by the reflected wave.
The obstacle detection means is preferably laser-type detection means that irradiates a laser in front of the vehicle and parallel to the road surface, and detects the obstacle by the reflected wave.
In addition, a detection condition for detecting an obstacle by the obstacle detection unit is set in advance, and when the detection condition is not satisfied, a prohibition unit for prohibiting the obstacle detection by the obstacle detection unit is further provided. preferable. For example, detection conditions include (1) no rain / snowfall / no fog, (2) a small vehicle pitch, (3) no running road surface gradient, and the like.

Therefore, it further comprises pitch angle detecting means for detecting the pitch angle of the vehicle, and when the pitch angle detected by the pitch angle detecting means exceeds a preset allowable value, the obstacle means causes the obstacle. It is preferable to prohibit the detection of obstacles by the detection means.
In addition, the vehicle further includes a gradient detection unit that detects a gradient of the road surface on which the vehicle travels, and when the road gradient detected by the gradient detection unit exceeds a preset allowable value, the prohibition unit It is preferable to prohibit the detection of obstacles by the obstacle detection means.

  Further, it is preferable to further comprise rain detection means for detecting rain or snow, and when rain or snow is detected by the rain detection means, it is preferable that the prohibition means prohibits the obstacle detection by the obstacle detection means. .

  According to the vehicle collision avoidance assistance device of the present invention, the maximum height detection means detects the maximum height of the host vehicle, the obstacle detection means detects an obstacle located at the same height as the maximum height, Since the alarm means alerts the driver of the presence of the obstacle, the driver can automatically recognize the danger that the highest part of the vehicle will collide with the obstacle. The driver can actively perform a braking operation, or can be provided with an automatic braking means to apply an automatic brake, thereby avoiding a collision with an obstacle or reducing a collision speed.

It is a mimetic diagram showing the whole picture of the collision avoidance assistance device of vehicles concerning one embodiment of the present invention. It is a mimetic diagram showing the detection range of the ultrasonic sonar and laser sensor of the collision avoidance assistance device for vehicles concerning one embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram which shows the raising / lowering apparatus and swing apparatus of the collision avoidance assistance apparatus of the vehicle which concern on one Embodiment of this invention, (a) is the top view, (b) is the side view. Both (a) and (b) explain that a truck equipped with a vehicle collision avoidance assistance device according to an embodiment of the present invention detects an object that does not cause a collision as an obstacle when traveling on a gradient road. It is a schematic diagram for doing. 1 is a block diagram of a collision avoidance assistance device for a vehicle according to an embodiment of the present invention. It is a flowchart which shows the control order which main ECU of the collision avoidance assistance apparatus of the vehicle which concerns on one Embodiment of this invention performs. It is a typical side view which shows the modification of the raising / lowering apparatus of the collision avoidance assistance apparatus of the vehicle of one Embodiment of this invention.

Embodiments of a collision avoidance assistance device for a vehicle according to the present invention will be described below with reference to the drawings.
<Configuration>
As shown in FIG. 1, the collision avoidance assistance device 1 according to the present embodiment has a truck (vehicle) in which the maximum height H of the load 2 (maximum height of the vehicle) H varies (changes) depending on the loading state of the load 2 and the like 3) to prevent the load 2 loaded on the loading platform 4 from colliding with the obstacle O in front of the vehicle and above the traveling road surface, or reduce the collision speed. As the obstacle O, for example, an object such as a viaduct girder, an electric wire, a gate bar, or the like that extends with a certain length in the vehicle width direction in front of the vehicle is assumed.

  The collision avoidance support device 1 includes an ultrasonic sonar (maximum height detection means) 11, a laser sensor (obstacle detection means) 12, an alarm buzzer (alarm means) 13, an elevating device (elevating means) 20, and a vibration. A moving device (swinging means) 30, a brake ECU (automatic braking means) 14, a gradient sensor (gradient detection means) 41, a pitch angle sensor (pitch angle detection means) 42, and a rain sensor (rainy weather detection means) 43 And a main ECU (control means / inhibiting means) 15.

  The ultrasonic sonar 11 is an ultrasonic detection means that emits ultrasonic waves in a direction orthogonal to the height direction of the host vehicle 3 and detects the maximum height of the load 2 of the host vehicle 3 by the reflected wave. . The ultrasonic sonar 11 is configured in the same manner as the well-known back sonar and corner sonar, and can detect an object about several meters ahead. Since the detection distance of the ultrasonic sonar 11 is about several meters away, only the load 2 of the host vehicle 3 can be grasped well.

  Further, as shown in FIG. 3, a swing device 30 which will be described in detail later is provided for the ultrasonic sonar 11. As shown schematically in FIG. 2, the ultrasonic sonar 11 oscillates in an ultrasonic transmission direction in the vehicle width direction by the oscillating device 30, and the detection width L in one direction ultrasonic transmission is narrow. A substantially entire area of the load 2 of the host vehicle 3 can be set as a detectable range. The reason why the detection width L is set to be narrow is to avoid detecting anything other than the load 2 of the host vehicle 3 due to the excessive detection width L. Since the detection width L is narrow, only the luggage of the host vehicle 3 can be grasped. At this time, since the ultrasonic sonar 11 can measure the distance to the target object, up to how many meters the target object is loaded in the vehicle 3 when the ultrasonic directivity angle is in advance with respect to the longitudinal direction of the vehicle body. If it is set to 2, it can be determined whether the detected object is inside or outside the loading platform 4 of the host vehicle 3.

  The laser sensor 12 irradiates a laser in a direction in front of the vehicle and perpendicular to the vehicle height direction (in other words, parallel to the road surface in the vehicle traveling direction), and detects the obstacle O in front of the vehicle by the reflected wave. It is an expression detection means. It is preferable to use a laser sensor 12 that has high directivity and can detect an object that is several tens to 100 meters away, and can detect an elongated object such as an electric wire.

The alarm buzzer 13 is provided in the cabin 5 and emits an alarm to the driver of the host vehicle 3 by sounding a buzzer sound to prompt a brake operation.
The elevating device 20 is a device that moves the ultrasonic sonar 11 and the laser sensor 12 in the vehicle height direction. As shown in FIGS. 3A and 3B, the stay 21, the stick 22, and the bracket 23. And an elevating actuator 24 (see FIG. 5). The vehicle height direction may coincide with the height direction (vertical direction) with respect to the road surface depending on the inclination of the vehicle 3, or may be slightly different.

  The stay 21 is a columnar member extending in the vehicle height direction, and is installed in the center of the back plate 5a of the cabin 5 in the vehicle width direction. A rail groove 21a extending in the vehicle height direction is formed facing the rear of the vehicle. The length of the stay 21 is set to a length that does not exceed the height of the cabin 5 in the installed state, and can sufficiently secure the length of the rail groove 21a. Here, the upper end of the stay 21 extends to the same level as the upper end of the cabin 5. The sufficient length of the rail groove 21a means that when the stick 22 slides to the highest vertex of the rail groove 21a, the upper end of the stick 22 reaches a preset height (for example, a legal vehicle height limit height). It is a length that can be reached with a margin.

  The stick 22 is a rod-like member extending in the vehicle height direction, is formed in a cross-sectional shape that fits into the rail groove 21a, and moves in the vehicle height direction as guided by the rail groove 21a. Yes. An ultrasonic sonar 11 is attached to a bracket 23 provided at the upper end of the stick 22 on the vehicle rear side via a swing device 30 described later, and a laser sensor 12 is attached to the vehicle front side. ing.

The lifting / lowering actuator 24 is a driving means for moving the ultrasonic sonar 11 and the laser sensor 12 simultaneously in the vehicle height direction by moving the stick 22 along the rail groove 21a, and is constituted by an electric motor. It is preferable.
The swing device 30 is a device that swings the ultrasonic sonar 11 in the vehicle width direction, and includes a shaft body 31 extending in the vehicle height direction, an arm 32 swinging around the axis of the shaft body 31, and And an oscillating actuator 33 (see FIG. 5). The swinging actuator 33 is preferably composed of an electric motor.

The brake ECU 14 is an electronic control unit (electric control unit) that controls a brake device (not shown). The brake ECU 14 receives a control signal from the main ECU 15 described later and operates the brake device even if the driver does not depress the brake pedal. The vehicle 3 is automatically braked.
The gradient sensor 41 is means for detecting the gradient of the road surface on which the host vehicle 3 travels. Specifically, for example, a known load sensor may be used, or a configuration using a car navigation system (GPS) may be used. When using a car navigation system, it is recognized whether or not the host vehicle 3 is traveling on a gradient road based on latitude / longitude information.

  When the detected gradient exceeds a preset allowable value, the gradient sensor 41 transmits a signal (gradient detection signal) to the main ECU 15. When the main ECU 15 receives this gradient detection signal, the main ECU 15 prohibits the laser sensor 12 from detecting an obstacle and leaves the possibility of collision between the host vehicle 3 and the obstacle to the driver's judgment. This is to avoid erroneous detection of an obstacle by the laser sensor 12 when the vehicle 3 travels on a slope.

  For example, when climbing up, the vehicle 3 may be affected by the load fluctuation of the load 2 and the vehicle longitudinal axis (front-rear axis) may be in a front-up state with respect to the road surface. In this case, as shown in FIG. 4A, the irradiation direction of the laser sensor 12 is also slightly raised forward with respect to the road surface, and the object O ′ located at the height h (>> H) in front of the vehicle. May actually be detected as an obstacle even if the object O ′ is not collided with the object O ′. Further, for example, even when the vehicle 3 is not affected by the load fluctuation of the load 2, as shown in FIG. 4B, the object at the height h (>> H) of the top of the hill O 'may be detected as an obstacle. However, by providing the gradient sensor 41 and ascertaining whether or not the host vehicle 3 is traveling on a gradient road exceeding the allowable inclination angle, the operation of the laser sensor 12 is prohibited, and an error of the obstacle caused by the laser sensor 12 is prevented. Detection can be avoided.

  The pitch angle sensor 42 is means for detecting the pitch angle of the vehicle 3. The laser sensor 12 is also affected by the pitch movement of the vehicle 3 and the irradiation direction is pitch-moved, and there is a possibility that an object that does not cause a collision is detected as an obstacle. Therefore, when the detected pitch angle exceeds a preset allowable value, the pitch angle sensor 42 transmits a signal (pitch signal) to the main ECU 15. The main ECU 15 receives this pitch signal, prohibits the laser sensor 12 from detecting an obstacle, and leaves the possibility of collision between the host vehicle 3 and the obstacle to the judgment of the driver.

  The rain sensor 43 is means for detecting rain (including snow). Specifically, for example, the rain sensor 43 may be configured to receive an operation signal of a wiper, or may be configured by a well-known rain sensor that detects water droplets. May be. During raining or snowing, it is conceivable that the laser emitted from the laser sensor 12 is irregularly reflected by water droplets or the like and the obstacle cannot be detected well. Therefore, when the rain sensor 43 detects rain or snow, it sends a signal (rain signal) to the main ECU 15. When the main ECU 15 receives the rain signal, the main ECU 15 prohibits the laser sensor 12 from detecting an obstacle and leaves the possibility of a collision between the host vehicle 3 and the obstacle to the judgment of the driver.

  The main ECU 15 is an electronic control unit that controls the entire apparatus 1, and mainly whether there is an obstacle below the maximum height H of the load 2 based on information detected by the ultrasonic sonar 11 and the laser sensor 12. When the obstacle is present, the brake ECU 14 is instructed to operate the brake, and the operation of the laser sensor 12 is prohibited based on information detected by the gradient sensor 41, the pitch angle sensor 42, and the rain sensor 43. It is.

  As shown in FIG. 5, the main ECU 15 includes an ultrasonic sonar 11, a laser sensor 12, an alarm buzzer 13, a brake ECU 14, an elevator actuator 24, a swing actuator 33, a gradient sensor 41, a pitch angle sensor 42, and a rain sensor 43. Are electrically connected. Then, the main ECU 15 operates or prohibits the operations of the units 11 to 14, 24, 33, and 41 to 43 according to the flowchart shown in FIG.

First, in step S10, the raising / lowering actuator 24 and the swinging actuator 33 are driven to move the ultrasonic sonar 11 up and down and swing, and the ultrasonic sonar 11 detects the maximum height H of the load 2 to detect the laser sensor 12. Is made equal to the maximum height H of the load 2. Then, the process proceeds to step S20.
In step S20, the rain sensor 43 is activated, and it is detected by the rain sensor 43 whether it is raining or not. If rain is not detected, the process proceeds to step S30, and if rain is detected, the process returns to the original.

In step S30, the gradient sensor 41 is activated, and the gradient sensor 41 detects the gradient of the road surface. If the road surface gradient is within the allowable value, the process proceeds to step S40. If the road surface exceeds the allowable value, the process returns to the original value.
In step S40, the pitch angle sensor 42 is operated, and the pitch angle is detected by the pitch angle sensor 42. If the pitch angle is within the allowable value, the process proceeds to step S50. If the pitch angle exceeds the allowable value, the process returns to the original value.

  Steps S20 to S40 include (1) no rain or snow as detection conditions for the laser sensor 12 set in advance, (2) a small vehicle pitch, and (3) a gradient on the road surface. In the case where the absence is not established, the laser sensor 12 functions to prohibit the detection of an obstacle. Moreover, you may replace suitably the order of step S20-S40 between these.

  In step S50, the laser sensor 12 is activated, and the laser sensor 12 starts detecting an obstacle at an altitude equal to or lower than the maximum height H of the load 2. At this time, in consideration of the irradiation error (± α) of the laser sensor 12, if the distance between the maximum height H of the load 2 and the lower end of the obstacle O is within a predetermined value (α), the maximum height of the load 2 It is preferable to determine that there is an obstacle at an altitude of H or less. Then, the process proceeds to step S60.

In step S60, it is determined whether or not there is an obstacle at a maximum height H or less of the load 2 for a predetermined time or more. If an obstacle is detected continuously for a certain time or longer, the process proceeds to step S70, and otherwise returns to the original. Note that the setting of the fixed time here is for detecting the presence of a fixed object so as not to malfunction due to a movable object such as a crow.
In step S <b> 70, the alarm buzzer 13 is activated to issue an alarm to the driver of the host vehicle 3 to urge the stop of the host vehicle 3. Then, the process proceeds to step S80.

In step S80, it is determined whether or not there is a driver's brake pedal depression operation, that is, whether or not there is a driver's brake operation for stopping the host vehicle 3 to avoid a collision. If there is a brake operation by the driver, the process proceeds to step S90, and if not, the process returns.
In step S90, a brake signal is transmitted to the brake ECU 14, and automatic braking is applied. This avoids a collision or reduces the collision speed. At this time, it is preferable to set a stage in the operation of the brake device by the brake ECU 14. That is, the braking strength is set according to the distance to the obstacle and the traveling speed. If the vehicle is far from the obstacle or if the traveling speed is slow and collision with the obstacle can be avoided, light braking is set, while the vehicle is approaching the obstacle or the traveling speed is fast and When it is difficult to avoid a collision, it is preferable to set strong braking. Further, it is preferable to notify the operation of the automatic brake by an appropriate notification means (for example, “BRAKE” may be displayed on the instrument panel). Furthermore, it is preferable to provide an automatic seat belt retracting means that automatically retracts the seat belt in conjunction with the automatic brake to restrain the driver's body.

<Action and effect>
Since the collision avoidance assistance device for a vehicle according to an embodiment of the present invention is configured as described above, the following operations and effects are achieved.
The ultrasonic sonar 11 detects the height H of the load 2 of the own vehicle 3, the laser sensor 12 detects the obstacle O existing at the same height as the height H of the load 2, and the alarm buzzer 13 Since the driver is warned of the presence of O, the driver can automatically recognize the risk of collision between the load 2 of the host vehicle 3 and the obstacle O. Then, the driver can actively perform a brake operation upon receiving an alarm from the alarm buzzer 13 to avoid collision with the obstacle O or reduce the collision speed. In addition, when the driver does not perform the brake operation, the automatic brake is operated, so that the collision with the obstacle O can be reliably avoided or the collision speed can be reduced.

In addition, since the gradient sensor 41, the pitch angle sensor 42, and the rain sensor 43 are provided to determine whether the detection condition of the laser sensor 12 is satisfied, the laser sensor 12 is activated when traveling on a gradient road, during pitch movement, or in rainy weather. The operation can be prohibited and false detection of obstacles can be avoided.
Further, since the ultrasonic sonar 11 and the laser sensor 12 are relatively inexpensive detection means, the cost can be suppressed, and as a result, there is an advantage that the spread of the apparatus 1 is promoted due to the cost reduction.
[Others]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of this invention.

For example, in the above embodiment, the alarm buzzer 13 is provided as a warning means for warning the driver of the presence of the obstacle O. However, the warning buzzer 13 outputs a warning sound other than the buzzer sound or blinks. In this case, an alarm means such as an emergency lamp for alarming the driver or an alarm means for alarming the driver by vibrating the steering wheel or the seat may be used.
In the above embodiment, one laser sensor 12 is attached at the center in the vehicle width direction, but a plurality of laser sensors 12 may be attached. For example, two laser sensors 12 are attached, one at each end in the vehicle width direction. May be.

  The configuration of the lifting device 20 is not limited to the configuration described above, and may be configured to include a cylinder type actuator such as an air cylinder or a hydraulic cylinder. As shown in FIG. 7, when the cylinder type actuator 50 is provided, the ultrasonic sonar 11 and the laser sensor 12 are attached to a bracket 52 provided at the upper end of the rod 51 of the cylinder 50, and the main ECU 15 extends and contracts the rod 51. By doing so, the ultrasonic sonar 11 and the laser sensor 12 can be moved in the vehicle height direction.

Moreover, in the structure of the raising / lowering apparatus 20 of the said embodiment, although the ultrasonic sonar 11 and the laser sensor 12 are moving to the vehicle height direction simultaneously, you may make it the structure which moves to a vehicle height direction separately. However, it is preferable to move the vehicle in the vehicle height direction simultaneously by one actuator because the configuration is simple.
Further, in the above embodiment, the operation of the laser sensor 12 is activated when the slope sensor 41 or the pitch angle sensor 42 detects a road surface slope or pitch angle exceeding an allowable value or when the rain sensor 43 detects rain. Although prohibited, at this time, it is preferable to notify that the operation of the laser sensor 12 is prohibited by appropriate notification means (for example, “LASER NOT WORK” may be displayed on the instrument panel). Further, when a slope or pitch angle of the road surface exceeding the allowable value is detected by the slope sensor 41 or the pitch angle sensor 42, the road slope detected by the slope sensor 41 or the pitch angle sensor 42 is not prohibited. Depending on the pitch angle, the laser irradiation direction of the laser sensor 12 may be adjusted to be parallel to the road surface. At this time, the data obtained by the gradient sensor 41 and the pitch angle sensor 42 is preferably subjected to appropriate data processing in order to remove instantaneous abnormal values. For example, data processing by a moving average method or low-pass filter is performed. It is good to apply.

Further, a level device may be provided instead of the pitch angle sensor 42. In this case, if the leveler detects that the inclination of the longitudinal axis of the vehicle body exceeds the allowable value, the operation of the laser sensor 12 is prohibited, and it is left to the driver's judgment of the possibility of collision between the own vehicle 3 and the obstacle. To. However, the pitch angle sensor 42 is preferable because it can cope with a gradient road well.
In the above embodiment, the operation of the laser sensor 12 is prohibited when rain or snow is detected by the rain sensor 43, but the operation of the laser sensor 12 is also prohibited when fog is detected in addition to rain or snow. This is preferable. At this time, the rain sensor 43 may be replaced with a sensor (weather detection means) capable of detecting rain, snow, or fog, or provided with an operation means such as an operation switch that is determined and operated by the driver. A sensor for detecting the operation state of the operation means may be used in place of the rain sensor 43.

  Further, the ultrasonic sonar 11 and the laser sensor 12 may be replaced with, for example, a stereo camera, a millimeter wave radar, an infrared radar, or the like. That is, the maximum height detecting means capable of detecting the maximum height H of the load 2 of the own vehicle 3 and the obstacle detecting means capable of detecting an obstacle located at the same height as the maximum height H of the load 2 are provided. It only has to be provided. When the obstacle detection means is replaced with a camera, the laser irradiation direction is not shifted and the obstacle is not erroneously detected unlike the laser sensor 12, so that the gradient sensor 41 and the pitch angle sensor 42 become unnecessary.

  In the above embodiment, the truck 3 in which the height H of the load 2 changes has been described as an example. However, the present apparatus 1 can be applied to all vehicles in which the maximum height changes. That is, the present invention can be applied to a camper that can change the vehicle height of the roof portion, a crane vehicle, and the like. In addition, if the apparatus 1 includes at least a maximum height detection unit, an obstacle detection unit, and an alarm unit, it is possible to avoid the collision of the highest part of the vehicle whose maximum height changes with the obstacle or the collision speed. Can be reduced. Although it is preferable that the main ECU 15 is provided as in the above-described embodiment and the main ECU 15 automatically activates or prohibits each part based on information obtained from each part, for example, the maximum height detecting means is the maximum of the vehicle. When the height is detected, the driver manually moves the obstacle detection means and sets the height. The obstacle detection means is electrically connected directly to the alarm means, and when the obstacle is detected, a signal is sent to the alarm means. And the alarm means may warn the driver of the presence of an obstacle.

1 Collision Avoidance Support Device 2 Cargo 3 Truck (Vehicle)
4 Loading platform 5 Cabin 11 Ultrasonic sonar (maximum height detection means)
12 Laser sensor (obstacle detection means)
13 Alarm buzzer (alarm means)
14 Brake ECU (automatic braking means)
15 Main ECU (control means / prohibition means)
20 Lifting device (lifting means)
21 Stay 22 Stick 23 Bracket 24 Elevating Actuator 30 Oscillator (Oscillator)
31 Shaft body 32 Arm 33 Oscillating actuator 41 Gradient sensor (gradient detection means)
42 Pitch angle sensor (pitch angle detection means)
43 Rain sensor (rainy weather detection means)
50 Cylinder actuator 51 Rod 52 Bracket

Claims (8)

A collision avoidance assisting device for avoiding a collision with an obstacle located in front of the vehicle, which is mounted on a vehicle whose maximum height changes,
Maximum height detecting means for detecting the maximum height of the vehicle;
Obstacle detection means for detecting an obstacle located at the same height as the maximum height in front of the vehicle;
A collision avoidance assisting device for a vehicle, comprising alarm means for alerting a driver of the vehicle that there is an obstacle below the maximum height. Based on information detected by the maximum height detection means and the obstacle detection means, it is determined whether there is an obstacle below the maximum height, and it is determined that there is an obstacle below the maximum height. 2. The collision avoidance assistance device for a vehicle according to claim 1, further comprising a control means for operating the warning means in case. The maximum height detection means and the obstacle detection means are attached, and includes an elevating means for moving the maximum height detection means and the obstacle detection means in the vehicle height direction,
3. The collision avoidance assistance device for a vehicle according to claim 2, wherein the control means drives the elevating means to move the maximum height detecting means and the obstacle detecting means in the vehicle height direction. . Automatic braking means for automatically braking the vehicle,
4. The collision avoidance assistance device for a vehicle according to claim 2, wherein the control means gives a braking instruction to the automatic braking means when it is determined that there is an obstacle below the maximum height. The control means gives a braking instruction to the automatic braking means to brake the vehicle when a brake operation of the driver is not performed for a predetermined time or more after the warning of the warning means. The collision avoidance assistance device for a vehicle according to claim 4. The said maximum height detection means is an ultrasonic detection means which transmits an ultrasonic wave and detects the said maximum height with the reflected wave, The any one of Claims 1-5 characterized by the above-mentioned. Vehicle collision avoidance support device. 7. The obstacle detection unit according to claim 1, wherein the obstacle detection unit is a laser type detection unit that irradiates a laser in front of the vehicle and parallel to a road surface, and detects an obstacle by a reflected wave thereof. The vehicle collision avoidance assistance device according to item. Detection conditions for detecting obstacles by the obstacle detection means are set in advance, and when the detection conditions are not satisfied, there are provided prohibiting means for prohibiting the obstacle detection by the obstacle detection means. The collision avoidance assistance device for a vehicle according to any one of claims 1 to 7.

Images