JP2014051196A - Brake control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a brake control device capable of avoiding collision between an own vehicle and a vehicle behind when a brake is controlled.SOLUTION: When collision is detected by a front face collision detection sensor 1 or a side face collision detection sensor 2, control of an air bag controller 3 makes an air bag 22 in motion and protects an occupant, and braking alleviates impact to be applied on the occupant. Additionally, when there is a vehicle behind and braking of the own vehicle makes the distance to the vehicle behind short, deceleration when the own vehicle is braked is suppressed, thereby collision or a near-miss between the own vehicle and the vehicle behind can be prevented.

Description

  The present invention relates to a brake control device that controls a brake to alleviate an impact during an emergency stop when the possibility of the host vehicle colliding with an obstacle increases.

  When a collision with an obstacle is detected or predicted while the host vehicle is running, a technology has been proposed to mitigate the impact caused by the collision by operating an occupant protection device such as an air bag and braking the brake. (For example, refer to Patent Document 1).

JP-A-6-286559

  However, if a collision between the host vehicle and an obstacle is detected or predicted and the brake is braked in order to reduce the impact applied to the host vehicle, There is a risk that the inter-vehicle distance between the vehicle and the following vehicle traveling on the vehicle will rapidly decrease, and the subsequent vehicle may abnormally approach the host vehicle.

  The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a brake control device capable of avoiding contact between the host vehicle and the following vehicle during brake control. It is to provide.

  In order to achieve the above object, according to the present invention, when the occupant protection device is operated, the protection device control device measures the relative speed between the brake control device that operates the brake of the host vehicle and the host vehicle and the following vehicle. Relative speed measuring means and inter-vehicle distance measuring means for measuring the inter-vehicle distance between the host vehicle and the following vehicle are provided. And the brake control means is a relative speed at which the succeeding vehicle exceeds a predetermined threshold speed based on the relative speed of the succeeding vehicle measured by the relative speed measuring means and the inter-vehicle distance measured by the inter-vehicle distance measuring means. The braking force of the brake is controlled so as not to approach the host vehicle.

  In the brake control device according to the present invention, when a collision between the host vehicle and an obstacle is detected or predicted and brake braking is performed, if the succeeding vehicle approaches the host vehicle, Since brake braking is performed at a deceleration that does not contact the host vehicle, it is possible to prevent the following vehicle from contacting the host vehicle during brake braking.

1 is a layout diagram in a vehicle of a brake control device according to an embodiment of the present invention. It is a system block diagram which shows the structure of the brake control apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process sequence of the brake control apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the process sequence of the brake control apparatus which concerns on 2nd Embodiment of this invention.

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

[Description of First Embodiment]
FIG. 1 is a vehicle layout diagram of a brake control device according to a first embodiment of the present invention, and FIG. 2 is a system block diagram.

  As shown in FIG. 1, in a vehicle to which the brake control device according to the present embodiment is applied, a front collision detection sensor 1 provided in front of the vehicle, and a side collision detection sensor 2 provided on the floor side of the B pillar, , An air bag controller (protection device control means) 3 for controlling the operation of an air bag (occupant protection device) provided for occupant protection, and an inter-vehicle distance between the host vehicle and the following vehicle provided at the rear of the vehicle A succeeding vehicle detection device 4, a vehicle speed sensor 5 provided on a wheel of the host vehicle for detecting the vehicle speed of the host vehicle, and a vehicle controller (brake control means) 6 for controlling the entire behavior of the host vehicle are provided.

  The front collision detection sensor (collision recognition means) 1 and the side collision sensor (collision recognition means) 2 detect this when the front and side surfaces of the host vehicle come into contact with an obstacle. In this embodiment, an example in which a collision detection sensor is used as an example of a collision recognition unit will be described. However, for example, a sensor that predicts the occurrence of a collision in advance, such as an acceleration sensor, may be used.

  Further, in the present embodiment, an airbag will be described as an example of an occupant protection device. It is also possible to use it.

  As shown in FIG. 2, the brake control device 100 according to the present embodiment includes the airbag controller 3, the vehicle controller 6, and the following vehicle detection device 4 shown in FIG. It has. The measuring device 21 is acquired from the inter-vehicle distance measuring unit (inter-vehicle distance measuring means) 8 for obtaining the inter-vehicle distance from the succeeding vehicle based on the detection signal measured by the following vehicle detection device 4 and the vehicle speed sensor 5. A relative speed measuring unit (relative speed measuring means) 9 for obtaining a relative speed with respect to the following vehicle based on the own vehicle speed is provided.

  As a specific example, the trailing vehicle detection device 4 can use a millimeter wave radar, a laser radar, an ultrasonic sensor, or a stereo camera.

  The airbag controller 3 performs control to activate the airbag 22 (front or side airbag) when a collision is detected or predicted by the front collision detection sensor 1 or the side collision detection sensor 2.

  The vehicle controller 6 is based on the airbag operation signal output from the airbag controller 3, the inter-vehicle distance measured by the inter-vehicle distance measuring unit 8, and the relative speed measured by the relative speed measuring unit 9. Control the brakes. Specifically, when airbag deployment control is performed by the airbag controller 3, the brake of the host vehicle is braked to prevent an abnormal approach to an obstacle and further approaching the host vehicle. When there is a succeeding vehicle, braking of the brake is controlled so that the succeeding vehicle does not contact or abnormally approach the host vehicle.

  The vehicle controller 6 can be configured as an integrated computer including a central processing unit (CPU), storage means such as a RAM, a ROM, and a hard disk.

  Next, the operation of the brake control device 100 according to the present embodiment configured as described above will be described with reference to the flowchart shown in FIG.

  First, when a collision between the host vehicle and an obstacle is detected or predicted by the front collision detection sensor 1 or the side collision detection sensor 2 in step S10, the inter-vehicle distance measurement unit 8 determines that the following vehicle is a succeeding vehicle in step S11. If there is a following vehicle, the inter-vehicle distance D between the following vehicle is detected. Further, the relative speed measuring unit 9 obtains the relative speed VAB between the own vehicle and the following vehicle, and further obtains the vehicle speed and acceleration of the own vehicle.

  In step S <b> 12, the airbag controller 3 determines whether or not to operate the airbag 22 based on the magnitude of acceleration detected by each of the collision detection sensors 1 and 2. If it is determined that the airbag 22 is to be deployed (YES in step S12), the process proceeds to step S13. If it is determined that the airbag is not to be deployed (NO in step S12), this process is terminated.

  In step S13, the vehicle controller 6 determines the relative speed at the time when the inter-vehicle distance D becomes D = 0, based on the inter-vehicle distance D obtained by the inter-vehicle distance measurement unit 8 and the relative speed obtained by the relative speed measurement unit 9. Predict VAB.

  In step S14, the vehicle controller 6 determines whether or not the relative speed VAB at the time when the inter-vehicle distance D becomes D = 0 is greater than a preset threshold speed Vs. That is, it is determined whether VAB> Vs.

  If it is determined that VAB> Vs is not satisfied (NO in step S14), the vehicle controller 6 applies the brake so that the maximum deceleration Amax is obtained in step S17 within a range in which the behavior of the vehicle does not become abnormal. Operate. As a result, when a possibility that the host vehicle collides with an obstacle occurs, the brake is operated to the maximum to reduce the impact applied to the driver. At this time, the succeeding vehicle can maintain an inter-vehicle distance from the own vehicle by a brake operation of the succeeding vehicle, so that the following vehicle can be prevented from coming into contact with the own vehicle or abnormally approaching.

  On the other hand, if it is determined that VAB> (YES in step S14), the vehicle controller 6 determines that the relative speed VAB is greater than the threshold speed Vs at the time when the inter-vehicle distance D becomes D = 0 in step S15. The deceleration As that becomes smaller is calculated.

  In step S16, the vehicle controller 6 controls the operation of the brake so that the deceleration As obtained in the process of step S15 is obtained. That is, when the host vehicle decelerates at the maximum deceleration Amax described above (that is, when sudden braking is applied), the subsequent vehicle may come into contact with or abnormally approach the host vehicle, and thus the deceleration is limited. As a result, it is possible to avoid the problem that the following vehicle comes into contact with the host vehicle or abnormally approaches when braking is performed when the host vehicle may collide with an obstacle.

  In this way, in the brake control device according to the first embodiment, the inter-vehicle distance with the following vehicle traveling behind the host vehicle and the relative speed with the following vehicle are obtained, and based on these information The deceleration when controlling the brake of the own vehicle is determined. Therefore, when brake braking is performed in conjunction with the operation of the airbag 22, the problem of the subsequent vehicle coming into contact with or abnormally approaching the own vehicle can be avoided by rapidly decelerating the own vehicle.

  Moreover, since an airbag, a pretensioner seat belt, or a transmission device that issues an emergency signal after the occurrence of a collision is used as the occupant protection means, the operation of the occupant protection device and the control of the brake can be coordinated.

  Furthermore, since the millimeter wave radar, laser radar, ultrasonic sensor, and stereo camera are used as the following vehicle detection device 4, the following vehicle can be detected with high accuracy, and the distance to the following vehicle, It is possible to improve the accuracy of detecting the relative speed, and thus improve the accuracy of the brake control.

[Description of Second Embodiment]
Next, a second embodiment of the present invention will be described. The arrangement configuration in the vehicle and the device configuration are the same as those in FIGS. 1 and 2 described above, and only the operation is different. Hereinafter, the operation of the brake control device according to the second embodiment will be described with reference to the flowchart shown in FIG.

  First, when a collision between the host vehicle and the obstacle is detected or predicted by the front collision detection sensor 1 or the side collision detection sensor 2 in step S30, the inter-vehicle distance measurement unit 8 determines that the following vehicle is a succeeding vehicle in step S31. Further, the relative speed measuring unit 9 obtains a relative speed VAB between the host vehicle and the following vehicle. Further, the vehicle speed and acceleration of the host vehicle are obtained.

  In step S <b> 32, the airbag controller 3 determines whether or not to operate the airbag 22 based on the magnitude of acceleration detected by each of the collision detection sensors 1 and 2. If it is determined that the airbag 22 is to be deployed (YES in step S32), the process proceeds to step S33. If it is determined that the airbag is not to be deployed (NO in step S32), this process is terminated.

  In step S33, the vehicle controller 6 determines the relative speed at the time when the inter-vehicle distance D becomes D = 0, based on the inter-vehicle distance D obtained by the inter-vehicle distance measurement unit 8 and the relative speed obtained by the relative speed measurement unit 9. Predict VAB.

  In step S34, the vehicle controller 6 determines whether or not the relative speed VAB at the time when the inter-vehicle distance D becomes D = 0 is greater than a preset threshold speed Vs. That is, it is determined whether VAB> Vs.

  If it is determined that VAB> Vs is not satisfied (NO in step S34), the vehicle controller 6 applies the brake in step S37 so that the maximum deceleration Amax is obtained in a range in which the behavior of the vehicle does not become abnormal. Operate. As a result, when a possibility that the host vehicle collides with an obstacle occurs, the brake is operated to the maximum to reduce the impact applied to the driver. Thereafter, the process proceeds to step S38.

  On the other hand, if it is determined that VAB> (YES in step S34), the vehicle controller 6 determines that the relative speed VAB is greater than the threshold speed Vs at the time when the inter-vehicle distance D becomes D = 0 in step S35. The deceleration As that becomes smaller is calculated.

  In step S36, the vehicle controller 6 controls the operation of the brake so that the deceleration As obtained in the process of step S35 is obtained. Therefore, the deceleration of the host vehicle can be limited when performing brake braking when there is a risk of collision of the host vehicle with an obstacle.

  In step S38, the vehicle controller 6 determines whether or not the vehicle speed V of the host vehicle has become V = 0 (whether or not the host vehicle has stopped). If V = 0 is not satisfied (NO in step S38), the process returns to step S33. If V = 0 is satisfied (YES in step S38), the process is terminated.

  In this way, in the brake control device according to the second embodiment, the inter-vehicle distance with the following vehicle that travels behind the host vehicle and the relative speed with the following vehicle are obtained, and based on these information The deceleration when controlling the brake of the own vehicle is determined. Therefore, when brake braking is performed in conjunction with the operation of the airbag 22, the problem of the subsequent vehicle coming into contact with or abnormally approaching the own vehicle can be avoided by rapidly decelerating the own vehicle.

  Further, since braking control is performed until the host vehicle stops (until V = 0), an approaching situation of the inter-vehicle distance between the host vehicle speed and the following vehicle (specifically, the following vehicle More appropriate brake control according to the brake operation situation) becomes possible.

  As mentioned above, although the brake control apparatus of this invention was demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is replaced with the thing of the arbitrary structures which have the same function. Can do.

  The present invention can be used to appropriately execute brake control when operating an airbag.

DESCRIPTION OF SYMBOLS 1 Front collision detection sensor 2 Side collision detection sensor 3 Airbag controller 4 Subsequent vehicle detection apparatus 5 Vehicle speed sensor 6 Vehicle controller 8 Inter-vehicle distance measurement part 9 Relative speed measurement part 21 Measuring instrument 22 Airbag 100 Brake control apparatus

Claims (3)

Protection device control means for operating an occupant protection device that reduces impact caused by a collision when a collision between the host vehicle and an obstacle is detected or predicted by the collision recognition means;
When the occupant protection device is operated by the protection device control unit, a brake control unit that operates a brake of the host vehicle;
A relative speed measuring means for measuring the relative speed between the host vehicle and the following vehicle;
An inter-vehicle distance measuring means for measuring an inter-vehicle distance between the host vehicle and the succeeding vehicle;
With
The brake control means has a relative speed at which the succeeding vehicle exceeds a predetermined threshold speed based on a relative speed of the succeeding vehicle measured by the relative speed measuring means and an inter-vehicle distance measured by the inter-vehicle distance measuring means. A brake control device for controlling the braking force of the brake so as not to approach the host vehicle.   The brake control device according to claim 1, wherein the occupant protection device is at least one of an airbag and a pretensioner seat belt.   3. The brake control device according to claim 1, wherein the inter-vehicle distance measuring means is at least one of a millimeter wave radar, a laser radar, an ultrasonic sensor, and a stereo camera.

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