JP2014076719A - Vehicular risk avoidance support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular risk avoidance support device enabling avoidance of an accident at an emergency that is likely to occur when a vehicle itself passes near a side of a parked or stopped vehicle and is normally unavoidable, by means of simple control of the vehicle itself using a brake support device incorporated in the vehicle.SOLUTION: A vehicular risk avoidance support device provides a vehicle A incorporating brake support devices 10 and 20 thereon with: monitor units 2 and 4 for monitoring a given zone in front of a vehicle itself to detect the presence or absence of another vehicle B on a lane adjacent to a travel lane of the vehicle itself; a parked-stopped vehicle determination unit 15 for determining whether or not another vehicle detected by the monitor units is a parked or stopped vehicle; and standby setup units 10a and 20a for setting the brake support device of the vehicle itself in a standby state enabling the device immediately operable. This configuration causes the brake support device of the vehicle itself to be ready for an immediate operation at a situation of the vehicle itself in travel approaching another vehicle, when the vehicle itself passes near a side of another vehicle, and therefore it is possible to respond immediately even in an emergency situation such as opening of a door of another vehicle.

Description

  The present invention relates to a vehicle danger avoidance support apparatus that avoids an accident between a traveling vehicle and a parked vehicle.

When a car travels, for example, a situation where the host vehicle travels on the right lane of a two-lane road on one side and passes by the side of another vehicle parked on the left lane is frequently seen.
However, in other vehicles parked and stopped, there is a dangerous act of opening the right side door (the lane side door where the traveling vehicle exists) without noticing the vehicle approaching from the rear of the right side lane. .

If the door opening operation of the parked vehicle is performed in such a situation, the approaching vehicle may collide with the opened door of the parked vehicle.
Therefore, in a car, as a brake support device that supports a driver's foot brake operation, a brake assist function (a function that generates a larger braking force than usual when the foot brake operation is an emergency operation) or a brake prefill function (predetermined) Under such circumstances, it has been promoted to avoid an accident by using a brake device incorporating a function of narrowing the gap between the brake disc and the brake pad of the brake device than usual. In particular, the brake assist function has recently been incorporated as a standard equipment in automobile brake devices.

  However, even if the brake assist function and the brake prefill function are equipped, the door of the other vehicle parked / stopped may be affected by the situation in which the traveling vehicle is close to the other parked vehicle. In the case of an emergency to be released, the brake assist function and the brake prefill function equipped on the host vehicle are the first to generate a large braking force after the same situation is detected, and the gap between the brake disc and the brake pad is narrowed. Since the operation is started, there is a possibility that such an emergency situation cannot be dealt with, that is, not in time.

  Therefore, as a technique for avoiding a collision between the traveling own vehicle and another vehicle parked and stopped, as disclosed in Patent Document 1, the predicted arrival point of the own vehicle or the other vehicle after a predetermined time or Find the expected circle centered on the expected arrival point, calculate the collision rate from the degree of overlap between the predicted circle of the own vehicle and the expected circle of the other vehicle, and inform the driver of the own vehicle and other vehicles about the collision rate A system using vehicle-to-vehicle communication that promotes risk avoidance behavior has been proposed.

JP 2004-145479 A

  However, the technology that communicates information on the collision rate to the driver using inter-vehicle communication requires communication equipment between the own vehicle and other vehicles to exchange information. Cost burden is imposed. In addition, even when the driver of the host vehicle grasps the movement of the other vehicle, information is frequently provided to the driver of the host vehicle, which makes it difficult for the driver to provide the information.

  Therefore, an object of the present invention is to easily generate when the own vehicle passes by the side of the parked / stopped vehicle only by simple control of the own vehicle by utilizing a brake support device mounted on the own vehicle. It is an object of the present invention to provide a vehicle danger avoidance support device that can avoid an emergency accident that is not in time.

  According to the first aspect of the present invention, a vehicle having a brake assisting device for assisting a brake operation is monitored by monitoring a predetermined area ahead of the traveling vehicle and adjacent to the traveling lane in which the traveling vehicle is traveling. A monitoring unit that detects the presence or absence of another vehicle in the vehicle, a parked vehicle determination unit that determines whether the other vehicle in the adjacent lane detected by the monitoring unit is a parked vehicle, and a parked vehicle in the parked vehicle determination unit A standby setting unit is provided for setting the brake assist device of the host vehicle to a standby state in which it can be immediately operated when the determined other vehicle and the host vehicle approach a predetermined distance.

  With this configuration, when the traveling vehicle passes the side of another vehicle parked in the adjacent lane, the brake support device mounted on the own vehicle is immediately Enter into an operable standby state (immediately, preparation for activating brake support). As a result, an emergency situation such as opening the door of the other vehicle (the door facing the own vehicle) without noticing the approach of the own vehicle when passing by the side of the other vehicle where the own vehicle is parked or stopped. In addition, the brake support function of the host vehicle responds immediately, and the host vehicle is quickly braked to respond to an emergency situation.

In the invention according to claim 2, the standby setting unit can park and stop the vehicle until the braking distance at which the traveling vehicle stops by the operation of the brake assisting device so that the traveling state of the own vehicle can be handled. The brake support device is set to a standby state when approaching another vehicle determined to be.
According to the third aspect of the present invention, the side of the other vehicle in which the vehicle is further determined to be a parked vehicle is further released so that the standby state of the brake support device is released and returns to the original state when there are no more parked vehicles. There is a passage detection unit that detects passing the vehicle, the standby setting unit detects that the own vehicle has passed the side of the other vehicle by the passage detection unit, and is further parked and stopped in the adjacent lane by the monitoring unit The standby state is canceled when it is detected that no vehicle is present.

The invention according to claim 4 has a brake assist function for generating a larger deceleration than normal when the driver's foot brake operation is an emergency operation so that the existing brake support device can be used. This is because the brake device is used.
The invention according to claim 5 uses a brake device having a brake prefill function for narrowing a gap between a brake disc and a brake pad in a predetermined situation of the vehicle as compared with a normal time. It is in.

  According to the first aspect of the present invention, when the traveling vehicle passes the side of the other vehicle parked in the adjacent lane, the braking assistance device mounted on the own vehicle starts from approaching the other vehicle. Because the vehicle enters a standby state where it can immediately operate, the door of the other vehicle parked or stopped (the door facing the host vehicle) can be opened without noticing the approach of the host vehicle. Immediately, the brake support function of the host vehicle responds, and the host vehicle is quickly braked to respond to an emergency situation.

  Therefore, it is possible to avoid emergency accidents that are likely to occur when the own vehicle passes by the side of the parked vehicle, which is usually not in time. In addition, the brake support device installed in the host vehicle is simply set to the standby state when the host vehicle approaches the parked / stopped vehicle. Tesumu. In addition, it does not give the driver any unnecessary inconvenience.

According to invention of Claim 2, it can respond to the traveling state of any own vehicle.
According to the invention of claim 3, when the parked vehicle stops, the standby state of the brake support device is released and the brake support device returns to the original state, so that it is not necessary to set an unnecessary standby state.
According to the inventions of claims 4 and 5, the existing brake support device can be used.

1 is a block diagram showing a danger avoidance assistance device for a vehicle according to a first embodiment of the present invention. The flowchart which shows the control performed when the own vehicle passes the side of the other vehicle parked and stopped. The top view of the road explaining the situation when the own vehicle passes the side of the other vehicle parked and stopped. The block diagram which shows the principal part of the 2nd Embodiment of this invention.

The present invention will be described below based on the first embodiment shown in FIGS.
FIG. 1 is a block diagram of a vehicle danger avoidance support apparatus to which the present invention is applied.
As shown in FIG. 3, this danger avoidance support apparatus is configured such that, for example, a host vehicle A traveling on the right traveling lane a of a one-sided two-lane road parks and stops in the left traveling lane b (adjacent lane). In order to avoid accidents when passing through another vehicle B, the vehicle A is equipped with the equipment equipped on the vehicle A, here the brake support function already installed on the vehicle A When passing the side of the vehicle B, when the host vehicle A and the other vehicle B approach each other, the brake support function of the host vehicle A is put into a standby state in which the driver can immediately operate, and the driver's foot brake operation ( The emergency situation such that the response to the brake operation of the present application is improved, and the door B1 (the door on the own vehicle A side) of the other vehicle B is opened without noticing the approach of the own vehicle A. There is a feature in preparing for.

  This risk avoidance apparatus will be described. As shown in FIG. 1, the host vehicle A has a handle 1 (which steers the vehicle left and right), for example, inter-vehicle distance control (control for maintaining the inter-vehicle distance from the preceding vehicle) as standard equipment. ), A camera device 4 for photographing the front of the own vehicle A, various detection sensors 6 for detecting the behavior of the own vehicle A such as a vehicle speed sensor for detecting the speed of the own vehicle A, a brake pedal 8 (thing which a driver operates a foot brake), for example, a hydraulic disc brake device 10 is attached as a brake device for applying a braking force to the front and rear wheels 9a, 9b. The hydraulic disc brake device 10 uses, for example, a hydraulic disc brake device 10 having a brake assist function as a brake support function for assisting a driver to perform a foot brake operation. Incidentally, the host vehicle A is also provided with a pedal speed sensor 11 that detects the speed at which the brake pedal 8 is depressed, a pedal depression sensor 12 that detects the force to depress the brake pedal 8, and the like.

As the hydraulic disc brake device 10, a device having an operation threshold setting unit 10a (corresponding to the standby setting unit of the present application) for changing the operation threshold value of the hydraulic disc brake device 10 is used. When the operation threshold set in the portion 10a is changed, a braking force (deceleration) larger than that in the normal state is generated.
In addition, the host vehicle A is equipped with a control unit 15 that performs various controls. Various sensors 6, the radar device 2, the camera device 4, the operation threshold value setting unit 10 a, the pedal speed sensor 11, the pedal depression force sensor 12, and the like are connected to the control unit 15. The control unit 15 includes a pedal speed sensor 11, a function for determining sudden braking from the depression speed and force of the brake pedal 8 detected from the brake pedal 8, and an operation threshold setting unit when determining sudden braking. A brake assist function for changing the operation threshold value of 10a to generate a braking force larger than normal is set, and the structure is configured to support the foot brake operation (brake operation) by the driver.

  The control unit 15 also includes a forward monitoring function for monitoring a predetermined area in front of the host vehicle A based on output information from the radar device 2 and the camera device 4 while the host vehicle A is traveling, and the radar device 2 and the camera device 4. A vehicle that detects whether or not another vehicle B exists in a travel lane b adjacent to the travel lane a in which the host vehicle A is traveling, in front of the host vehicle A, from information on a predetermined area obtained by A detection function is set, and a monitoring unit that detects the presence of the other vehicle B is configured. Further, from the relative distance between the own vehicle A and the other vehicle B obtained by the radar device 2 and the own vehicle speed detected from the vehicle speed sensor, it is determined whether or not the other vehicle B on the traveling lane b is a parked vehicle. A parking / departure determination function (corresponding to a parking / departure determination unit) and an identification function for identifying what type of vehicle (passenger car, truck, etc.) the other vehicle B is set from the captured image of the camera device 4 are also set.

  Further, the control unit 15 changes the operation threshold value of the hydraulic disc brake device 10 of the own vehicle A when the traveling own vehicle A and the other vehicle B determined to be parked and stopped approach a predetermined distance. Here, a function for lowering the operating threshold is set. With this setting, when the host vehicle A approaches the other vehicle B determined to be a parked vehicle, the brake assist function (brake support function) of the host vehicle A is set to an immediately operable system, that is, a standby state. I have to.

Specifically, the control unit 15 has, for example, a time for setting the brake assist function in a standby state.
TTS (Time To Stand-by) [sec] = (Y [m] -L [m]) / V [m / s]
However, Y: Relative distance between the own vehicle A and a parked vehicle (other vehicle B), L: Braking distance until the running own vehicle A stops due to operation of the brake assist function, and V: Own vehicle speed.
When the own vehicle A approaches the parking / stopped vehicle (other vehicle B) to the point of the braking distance L (braking distance at which the own vehicle A stops by the brake assist function) at the time of the brake assist function. TTS = 0), the standby state (brake assist function) is set.
That is, the brake assist function of the host vehicle A (which generates a braking force greater than normal) assumes that the door may be opened in the parked vehicle in front of the host vehicle A, and parks and parks the host vehicle A. When the relative distance from the other vehicle B is shortened to a preset distance, the system can be immediately activated (executed). Of course, although not given in the given formula, it goes without saying that the time until the standby state of the brake assist function is completed is also taken into consideration.

  The control unit 15 is also set with a function for releasing the standby state of the brake assist function. This function includes a passage detection function (corresponding to the passage detection unit of the present application) for detecting that the own vehicle A passes the side of the other vehicle B determined to be a parked and stopped vehicle, and an own vehicle that has passed the other vehicle B. A non-existence detection function (non-existence detection unit) that detects that there is no parked / stopped vehicle in front of the vehicle A, and if there is no parked / stopped vehicle, the operation threshold set by the operation threshold setting unit 10a is returned. It is configured in combination with the return function.

The passage detection function is, for example, configured by setting an arithmetic expression for obtaining a time (sec) required for the host vehicle A to pass through another vehicle B determined to be a stopped vehicle. In particular,
TTP (Time To Pass) [sec] = (Y [m] + δ [sec]) / V [m / s]
However, Y: Relative distance between own vehicle A and a parked vehicle (other vehicle B), V: own vehicle speed, δ: correction coefficient.
Is used. The correction coefficient δ is a coefficient used to secure the full length of the other vehicle B (vehicle longitudinal length X in FIG. 3). For example, the vehicle type is assigned to the passenger car, truck, etc. from the image of the other vehicle B taken by the camera device 4. This is performed by identifying and selecting a preset passing time value of the entire vehicle length for each vehicle type in accordance with the identification result.
According to the calculation formula, when the own vehicle A advances until it passes by the side of the other vehicle B (parking and stopping vehicle), TTP = 0. That is, it is determined from the result that TTP = 0 that the own vehicle A has passed the side of the other vehicle B.

When the own vehicle A detects that the vehicle A has passed the side of the other vehicle B, the other vehicle (parked and stopped vehicle) exists in front of the traveling lane b (adjacent lane) using the monitoring unit. This is a function for detecting whether or not to do.
When the non-existence detection function detects that there is no other parked vehicle in front of the driving lane b (adjacent lane), the return function returns to the initial value to cancel the standby state of the brake assist function. This function is to return the operating threshold (return to the original state).

By controlling the brake assist function, the standby state of the brake assist function is set and the standby state is canceled each time the host vehicle A is traveling (traveling lane a) and there is a parked vehicle in the adjacent lane (traveling lane b). It is supposed to be.
FIG. 2 shows a flowchart of control performed by the danger avoidance support apparatus configured as described above. This control will be described together with the situation when the own vehicle A shown in FIG. 3 passes by the side of the parked vehicle.

  Now, as shown in FIG. 3, it is assumed that the host vehicle A is traveling on a traveling lane a on the right side of a two-lane road. The traveling own vehicle A monitors whether or not a vehicle exists in the traveling lane b (the lane adjacent to the traveling lane a) in front of the own vehicle A by the in-vehicle radar device 2 and the camera device 4. (Step S2). S shows the monitoring area | region formed in the area | region of the predetermined distance ahead of the own vehicle A. FIG.

Here, it is assumed that the other vehicle B is parked and stopped on the traveling lane b in front of the host vehicle A as shown in FIG.
At this time, when the own vehicle A approaches the other vehicle B until entering the monitoring area S, the control unit 15 receives information from the radar device 2 and the camera device 4 and the control unit 15 determines the travel lane b (adjacent to the front of the own vehicle A). The presence of the other vehicle B on the lane) is detected. At the same time, the type of the vehicle B is identified from the photographed image of the camera device 4 (passenger car, truck, etc.). Here, identified as a passenger car.

  Thereafter, whether the other vehicle B is a parked vehicle is determined from the relative distance Y between the own vehicle A and the other vehicle B detected by the radar device 2 and the own vehicle speed detected by the own vehicle speed sensor (step S4). . When it is determined that the other vehicle B is a parked vehicle, the control unit 15 uses the relative distance Y, the host vehicle speed, the correction coefficient δ, and the braking distance L when the brake assist function is activated, based on the given formula. TTP and TTS are calculated sequentially (step S6).

  As the traveling of the own vehicle A progresses, the relative distance Y between the own vehicle A and the other vehicle B becomes shorter, the own vehicle A approaches the other vehicle B considerably, and the relative distance Y is a predetermined distance, here TTS = It is assumed that the point becomes 0 (step S8). Receiving this, the control part 15 sets the brake assist function of the own vehicle A to a standby state (step S10). Here, a change is made to lower the operating threshold value of the operating threshold value setting unit 10a. As a result, the hydraulic disc brake device 10 (brake assist device) is ready for a foot brake that exerts a braking force (deceleration) greater than normal. That is, preparations that enable the brake assist function to be immediately performed at the time of an emergency foot brake operation are completed.

At this time, it is assumed that an occupant of another vehicle B (parking and stopping vehicle) opens the door B1 on the own vehicle A side without noticing the approaching own vehicle A as indicated by a broken line in FIG.
Then, in order to avoid contact with the door B1, the driver of the host vehicle A depresses the foot brake operation from an emergency situation approaching the other vehicle B and suddenly brakes.
Here, the hydraulic disc brake device 7 of the host vehicle A is already in a state (standby state) where a braking force (deceleration) larger than usual can be generated.

  In other words, even if a sudden braking operation is performed from a state of close proximity, the responsiveness of the brake assist function (brake support function) has already been improved, so in response to a sudden foot brake operation, The brake assist function of the host vehicle A operates, and the host vehicle A is quickly braked with a large braking force. Thereby, it is possible to cope with an emergency situation that is not in time normally, and contact between the host vehicle A and the door B1 of the other vehicle B parked is avoided. Also, even if contact is made in time, there is little damage.

  By the way, if the own vehicle A passes by the side of the other vehicle B until TTP = 0 without any problem, the control unit 15 is parked and stopped as shown by the two-dot chain line in FIG. It determines with the own vehicle A having passed the vehicle B (step S12). Subsequently, when there is no other vehicle B parked or stopped in the travel lane b (adjacent lane), the standby state of the assist brake function is canceled (the operation threshold value of the operation threshold value setting unit 10a is set to the initial value). (Step S16).

  Therefore, it is easy to occur when the own vehicle A passes the side of the other vehicle B (parking / stopping vehicle) only by simple control utilizing the brake assist function (brake assist device) of the own vehicle A, which is usually not in time. Emergency accidents can be avoided. In addition, since the brake assist function (brake support device) installed in the host vehicle A is only set to the standby state when the host vehicle A approaches the parking / stopped vehicle B, the control in the host vehicle A is simple. The cost burden is small. In addition, unnecessary troublesomeness is not given to the driver of the host vehicle A.

  In addition, since the setting of the brake assist function is performed when the host vehicle A approaches the other vehicle B (parked and stopped vehicle) up to the braking distance L that is stopped by the operation of the brake assist function, what kind of traveling state of the host vehicle A Can also be supported. In addition, the standby state of the brake assist function is released when there is no parked vehicle on the travel lane b (adjacent lane) after passing through the other vehicle B. No need to do it.

In particular, avoidance of danger when the other vehicle B passes can be achieved by using a brake assist (brake assisting device) provided as a standard in the host vehicle A, and the cost burden can be reduced.
FIG. 4 shows a second embodiment of the present invention.
In this embodiment, a hydraulic disc brake device 20 with a brake prefill function is used as a brake support device that supports a foot brake operation by a driver.

  The brake prefill function is a function of narrowing the gap between the brake disc and the brake pad (both not shown) in the hydraulic disc brake device 20, here, a gap setting unit 20a for changing to increase the operating pressure (standby of the present application) (Equivalent to the setting unit), and under certain conditions, the gap between the brake disc and the brake pad (both not shown) is made narrower than usual, and when the driver operates the foot brake (brake operation), braking ( (Deceleration) is started.

  In the present embodiment, by using this brake prefill function, the vehicle A and the other vehicle B determined to be a parked and stopped vehicle are brought into a standby state in which they can immediately operate after approaching a predetermined distance. Specifically, the vehicle A and the other vehicle B (parked and stopped vehicle) approach a predetermined distance by utilizing the gap setting unit 20a used to narrow the gap between the brake disc and the brake pad of the hydraulic disc brake device 20. Since then, the gap value of the gap setting portion 20a is changed so that the gap between the brake disc and the brake pad is narrower than usual.

In this way, the control unit 15 sets the clearance as the host vehicle A traveling in the traveling lane a approaches the predetermined distance to the other vehicle B parked on the traveling lane a (adjacent lane). The gap value of the portion 20a is changed to a predetermined small gap value, and immediately a standby state in which the brake prefill function can be activated is set.
Therefore, even in this way, as in the first embodiment, when the own vehicle A passes by the side of the other vehicle B parked, the door B1 of the other vehicle B is opened and the sudden braking operation is performed. Since the response of the brake prefill function has already been improved even when the vehicle is forced to be forced, the host vehicle A can be quickly braked with a large braking force, and an emergency situation can occur as in the first embodiment. And the contact between the host vehicle A and the door B1 of the other vehicle B can be avoided.

The control flowchart using the brake prefill function is the same as that when the brake assist function of the first embodiment is used, and is omitted. Incidentally, the control flowchart using the brake prefill function only replaces “brake assist” described in steps S10 and S16 in the control flowchart of FIG. 2 with “brake prefill”.
Of course, both brake assist and brake prefill may be used.

However, in FIG. 4, the same parts as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.
Note that the present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the spirit of the present invention. For example, in the embodiment described above, an example in which a radar device or a camera device is used has been described. However, the present invention is not limited thereto, and parking / stopped vehicles may be determined using other devices. In the above-described embodiment, the hydraulic disc brake device is used. However, the present invention is not limited to this, and other brake devices such as an electric brake device may be used.

2,4 Radar device, camera device (monitoring part)
8 Brake pedal 10, 20 Hydraulic disc brake device (brake support device) with brake support function
10a, 20a Operation threshold setting part, gap setting part (standby setting part)
15 Control unit (parked vehicle determination unit, passage detection unit)
A Own vehicle B Other vehicles parked

Claims (5)

In a vehicle having a brake support device that supports a brake operation by a driver,
A monitoring unit that monitors a predetermined area ahead of the traveling vehicle and detects the presence of other vehicles in the lane adjacent to the traveling lane in which the traveling vehicle is traveling;
A parked vehicle determination unit that determines whether another vehicle in the adjacent lane detected by the monitoring unit is a parked vehicle; and
A standby setting unit that sets the brake assist device of the host vehicle to a standby state in which the brake support device of the host vehicle can be immediately operated after the other vehicle determined to be a parked vehicle by the parked vehicle determination unit and the host vehicle approach a predetermined distance. A danger avoidance assistance device for a vehicle, characterized by comprising:   The standby setting unit waits for the brake support device from the time when the traveling vehicle approaches the other vehicle determined to be the parked vehicle until the braking distance at which the vehicle is stopped by the operation of the brake support device. The danger avoidance assistance device for a vehicle according to claim 1, wherein Furthermore, it has a passage detection unit that detects that the host vehicle passes a side of another vehicle determined to be the parked vehicle.
The standby setting unit detects that the own vehicle has passed the side of the other vehicle, and further detects that there is no other vehicle parked in the adjacent lane by the monitoring unit. The risk avoidance assistance device for a vehicle according to claim 1 or 2, wherein the standby state is canceled.   The brake assisting device according to any one of claims 1 to 3, wherein the brake assisting device is a braking device having a brake assist function for generating a deceleration larger than a normal time when the driver's braking operation is an emergency operation. The danger avoidance support device for a vehicle according to any one of the above.   2. The brake support device according to claim 1, wherein the brake support device is a brake device having a brake prefill function for narrowing a gap between a brake disk and a brake pad than in a normal state under a predetermined condition of the vehicle. Item 4. The vehicle's danger avoidance assistance device according to any one of Items 3 to 4.

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