JP2516086Y2 - Vehicle movement detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a vehicle movement detection device, and more particularly to a device that detects a start of a vehicle ahead and issues an alarm.

[Conventional technology]

Even if the vehicle immediately preceding the own vehicle (hereinafter referred to as the front vehicle) starts due to the termination of the signal or the progress of the traffic congestion during the temporary stop due to the signal waiting or the temporary stop due to the traffic jam, etc. Drivers often overlook this. This is often seen especially when the driver is very tired, during a conversation in a car, operating a radio / audio, or performing business such as form work in a car for business use in the car.

In such a case, when the driver notices this due to a warning sound from the following vehicle, the distance between the vehicle ahead and the vehicle ahead is wide, and thus sudden start / acceleration is required. As a result, the safety confirmation at the time of starting is neglected, the driver of the following vehicle is annoyed, and the synergistic action of these causes a great loss of safety, fuel economy is deteriorated, and traffic flow is disturbed.

From such a point of view, a device for issuing an alarm when a vehicle ahead has started has already been proposed as shown below.

Japanese Utility Model Laid-Open No. 61-195487: Doppler type ultrasonic detector is attached to the front part of the vehicle body, and it is determined from the output of this detector that the preceding vehicle has moved in the separating direction and a start reminder is issued. Front departure vehicle detection device.

Japanese Utility Model Laid-Open No. 63-89200: Distance between the front vehicle and the front vehicle is detected by measuring the distance between the front vehicle and the front vehicle when the vehicle speed is zero and the vehicle is stopped. Inter-vehicle distance detection device that triggers an alarm.

Japanese Utility Model Laid-Open No. 63-97200: The distance between the own vehicle and another vehicle or an obstacle is measured using an ultrasonic transmission / reception element, and the previous distance data and the current distance data are compared, and there is a difference between the two data. A vehicle speed movement detecting device which issues an alarm when the vehicle speed of the host vehicle is zero.

Japanese Utility Model Laid-Open No. 63-187083: Using an ultrasonic transmitter / receiver, the inter-vehicle distance proportional to the time between ultrasonic transmission and reception was measured, and it was detected that there was a difference compared with the stored inter-vehicle distance. At that time
An inter-vehicle distance change detection device that issues an alarm if the vehicle is in a stopped state (vehicle speed: zero, transmission: neutral, parking brake: activated) as if the vehicle is approaching or moving away from the vehicle in front.

[Problems to be solved by the device]

However, in any of the above-mentioned conventional techniques, when the inter-vehicle distance changes, an alarm sounds immediately under a certain condition, so regardless of whether the preceding vehicle starts slowly or suddenly starts. Since the warning is frequently issued, it is very annoying to the driver and bothersome, and there is a problem that the warning corresponding to the situation of the front vehicle and the rear vehicle cannot be sounded.

Therefore, it is an object of the present invention to realize a vehicle movement detection device capable of issuing an appropriate alarm according to the conditions of a front vehicle and a rear vehicle.

[Means for Solving the Problems] In order to solve the above problems, the vehicle movement detection device according to the present invention includes an ultrasonic transceiver attached to the front of the vehicle, a means for detecting the stopped state of the own vehicle, and When the vehicle stop state is detected, the inter-vehicle distance between the front vehicle and the host vehicle is measured and calculated from the input / output of the transceiver, and the front vehicle is present within the predetermined value only when the inter-vehicle distance is within the predetermined value. After that, when the vehicle-to-vehicle distance with the preceding vehicle is less than or equal to the predetermined value within a predetermined time, if the vehicle is in the stopped state, the backward acceleration of the front vehicle within the predetermined time is changed to the change in the inter-vehicle distance. And a control means for activating the alarm output device so as to shorten the sounding period of the alarm output device in proportion to the backward acceleration.

Further, in the present invention, when the control means determines that the front vehicle is present within the predetermined value and then determines that the inter-vehicle distance to the front vehicle is within the predetermined value or less within the predetermined time, the vehicle is stopped. If not, the forward acceleration of the host vehicle within the predetermined time is calculated from the change in the inter-vehicle distance, and the alarm output device is energized so as to shorten the sounding period of the alarm output device in proportion to the forward acceleration. The above problem can also be solved by doing so.

Further, in the present invention, another ultrasonic wave transceiver is attached to the rear part of the vehicle, and after the control means determines the presence of the preceding vehicle within the predetermined value, the distance between the preceding vehicle and the preceding vehicle is determined as follows. If the vehicle is in a non-stop state when it exceeds a predetermined value, when the distance between the rear vehicle and the rear vehicle measured and calculated by the other transceiver falls below another predetermined value within a predetermined time, It is also possible to solve the above problems by calculating the backward acceleration of the vehicle from the change in the rear inter-vehicle distance and activating the warning output device so as to shorten the sounding cycle of the warning output device in proportion to the backward acceleration. it can.

Further, in order to solve the above-mentioned problems, in the present invention, first and second ultrasonic transmitter-receivers attached to the front part and the rear part of the vehicle, means for detecting the inclination angle of the traveling path on which the vehicle travels, and A means for detecting a stopped state of the vehicle, and when the stopped state is detected, the inter-vehicle distance between the preceding vehicle and the own vehicle is measured and calculated from the input / output of the transceiver, and the inter-vehicle distance corresponds to the inclination angle. It is determined that the preceding vehicle exists within the predetermined value only when the vehicle is within the predetermined value that has been increased and corrected, and thereafter, the forward vehicle distance to the preceding vehicle exceeds another predetermined value larger than the predetermined value and the vehicle ahead When it is determined that the vehicle has started, the alarm output device is activated corresponding to the distance between the rear vehicle and the rear vehicle measured and calculated by the second transceiver, and an alarm for notifying the start of the front vehicle is issued. Control means for urging the alarm output device to be emitted, It can be solved to be provided.

Further, the present invention further comprises a starting operation detecting means, the control means, after determining the presence of the preceding vehicle within the predetermined value,
If the start operation is detected when it is determined that the front vehicle has started when the distance between the front vehicle and the front vehicle exceeds another predetermined value that is larger than the predetermined value, the rear measured and calculated by the second transceiver. The alarm output device may be activated according to the distance between the vehicle and the rear vehicle.

In the above state, the control means may determine that the same state continues for a predetermined time when determining the presence of the preceding vehicle.

[Operation] In the present invention, the control means, when the stopped state of the vehicle is detected, is input from the control means to the ultrasonic transmitter / receiver attached to the front part of the vehicle and is transmitted / received by reflection of the ultrasonic pulse. The inter-vehicle distance between the preceding vehicle and the host vehicle is measured and calculated by the output from the device to the control means.

Then, only when the calculated inter-vehicle distance is within a predetermined value, it is determined that the preceding vehicle exists immediately before the host vehicle.

After that, it is again determined whether or not the inter-vehicle distance between the front vehicle and the host vehicle, which is obtained by measurement / calculation, has reached another predetermined value which is equal to or less than the above predetermined value in the stopped state. It is determined that the vehicle is moving backward on a road or the like due to a slip or sudden backward movement, and the backward acceleration during that time is calculated from the change in the inter-vehicle distance.

Then, the vehicle in front is moving backward by shortening the sounding period of the warning output device so that the output of the warning output device prompts the driver's attention quickly in accordance with the backward acceleration. It is possible to warn the driver of the own vehicle whether or not the vehicle is moving backward.

Further, in the control means of the present invention, when it is determined that the inter-vehicle distance to the preceding vehicle is equal to or less than the other predetermined value, it is determined that the own vehicle has moved forward instead of the preceding vehicle unless the own vehicle is in the stopped state. However, in this case, the forward acceleration of the host vehicle can be calculated from the change in the inter-vehicle distance and an alarm corresponding to the calculated acceleration can be issued. The start can be notified.

Further, according to the present invention, another ultrasonic transceiver is provided at the rear of the vehicle, and when the presence of the front vehicle is determined, the distance between the front vehicle and the front vehicle exceeds the above-mentioned predetermined value, and the front vehicle is separated from the front vehicle. If it is found that the own vehicle is in the non-stop state by the vehicle stop detection means, the inter-vehicle distance to the rear vehicle is measured and calculated by the input / output signal of the other transceiver.

Then, when the inter-vehicle distance to the rear vehicle becomes equal to or less than another predetermined value within a predetermined time, it is determined that the host vehicle is moving backward, and the acceleration during that time is calculated, and the acceleration corresponding to the rearward moving speed of the host vehicle is determined. The alarm output device is activated so that the alarm in the form described above is generated.

As a result, when the host vehicle unexpectedly retreats on an uphill road or the like, an alarm can be issued according to the retreat rate.

Further, in the present invention, when two transceivers are provided as described above, a means for detecting the inclination angle of the traveling path is further provided, and the inter-vehicle distance to the preceding vehicle is detected by the transceiver provided at the front of the vehicle. Increase the amount of correction according to the tilt angle. This is because it is usually considered that the inter-vehicle distance tends to increase on an uphill road.

Then, when it is determined that the preceding vehicle is present within the corrected predetermined value and then it is determined that the vehicle exceeds another predetermined value larger than the predetermined value, it is determined that the forward vehicle has started on the uphill road.

Then, at this time, an alarm corresponding to the inter-vehicle distance to the rear vehicle obtained by the transceiver provided at the rear of the vehicle is issued,
After that, the warning about the start of the vehicle ahead determined as described above is generated.

In this way, the inter-vehicle distance warning with respect to the rear vehicle on the uphill road and the start warning of the front vehicle can be sequentially issued, and the danger due to slipping off at the start can be notified according to the rear inter-vehicle distance.

Further, in the present invention, a start operation detecting means is additionally provided, and after the presence of the front vehicle on the uphill road is determined as described above, the start operation is detected in the same manner as the start of the front vehicle on the uphill road is detected. If it is done, an alarm corresponding to the distance to the vehicle behind is sounded.

As a result, it becomes possible to issue an inter-vehicle distance warning to the rear vehicle in response to the start of the own vehicle with respect to the front vehicle, and the driver can appropriately adjust the accelerator adjustment of the own vehicle.

In the above state, when the control means determines that the preceding vehicle is present, the same state is maintained for a predetermined period of time. It is possible to give an alarm in response to only a reliable start without eliminating malfunctions without issuing a single alarm for start / stop.

In this way, various troublesome and unnecessary alarms that may occur are not sounded.

〔Example〕

FIG. 1 is a diagram showing a system configuration of a vehicle movement detection device according to the present invention. In FIG. 1, a 40 KHz ultrasonic pulse inaudible to the human ear is emitted to emit a pulse from an object. It is intended to detect the movement of a vehicle ahead by measuring and calculating the reflection reception time and converting it into a distance.

First, in FIG. 1 (A), 1a and 1b are vehicles as a target object, and 10 and 20 are ultrasonic type devices each having a transmission unit 2, an ultrasonic transmission / reception element 3, an ultrasonic reception element 4 and a reception unit 5. A transceiver, 6 is a control unit, 7 is an alarm output device including a display 70, 11 is a vehicle speed sensor, 12 is a parking brake switch, 13 is an accelerator pedal switch, 14 is a gear position sensor, 15 is a brake pedal switch, and ,
Reference numeral 21 is an inclination angle sensor that detects an inclination angle of a slope or the like.
The switches 12, 13, 15 and the sensor 14 are shown by dotted lines to indicate that they are not essential as will be described later, and the vehicle speed sensor 11 is also replaced with the parking brake switch 12 as described later. be able to. Also, an example using two transceivers is shown, but one may be used as described later, or three or more may be used.

Further, the transceivers 10 and 20 can be attached to the front portion and the rear portion of the vehicle, respectively, as described later.

Next, the operation will be described. First, an oscillation pulse control signal (see FIG. 1B) is sent from the control unit 6 to the transmitter 2 of the transceiver 10 via the signal line a. In response to this, the transmitter 2 receives 40
A pulse of KHz is generated, and the pulse is amplified to a level required to drive the transmitting element 3 and the optimum waveform shaping for driving the pulse is performed to drive the transmitting element 3 and emit an ultrasonic pulse.

The ultrasonic wave receiving element 4 receives the ultrasonic wave reflected by the object 1a and inputs it to the receiving unit 5, where it amplifies the received wave to an optimum level and smoothes it with a filter or the like. And digitized and returned to the control unit 6 via the signal line b as a received signal.

As shown in FIG. 1 (B), the control unit 6 measures the reflection time t (sec) from the output of the oscillation pulse control signal to the input of the received signal to measure the sound velocity (340 m / s20
The distance l to the object is calculated as l = 340 × t / 2 (m).

As will be described later, if no reception signal is detected within a certain time T, it is assumed that an object does not exist within a certain distance (340 × T / 2) from the corresponding sensor.

The control unit 6 receives the output signal from the transceiver 10 to calculate the distance, and then sends the oscillation pulse control signal to the transmitter 2 of the transceiver 20 in the same manner. Then, the distance 1 to the object 1b is similarly measured.

Measurement of this transceiver 10 → transceiver 20 → transceiver 10 ...
By repeating the output, it is possible to stably obtain the distance l between each transmitter and the receiver, and the mutual interference is prevented by alternately oscillating and receiving ultrasonic waves between the transmitters and receivers.

Therefore, here, two ultrasonic transceivers are connected to one control unit, but when there is one transceiver, only the input / output of that transceiver is used, and two or more ultrasonic transceivers are used. In this case, the control unit 6 may use only the output of the transmitter / receiver that shows a close distance.

Further, the ultrasonic transmitter / receiver has been described by taking a transmitter and a receiver only, but a transmitter / receiver integrated type is also possible. Also, various ultrasonic frequencies can be used.

Then, in the control unit 6, the transceivers 10, 20
The alarm output device 7 is energized to generate an alarm by using the distance data from the sensor and the output signals from the sensors or switches 11 to 15 and 21 alone or in combination.

FIG. 2 is a schematic view of a mounting example and a detection range when the ultrasonic transmitter-receiver described in FIG. 1 is mounted on a vehicle.

That is, FIG. 3A shows an example of attachment to the front part of the vehicle. Vehicle width, depending on the mounting position
Since the detection range is limited by the distance from the road surface, angle adjustment / correction is performed as appropriate up / down / right / left.

FIG. 2B schematically shows the horizontal plane detection range, and the detection range x (m) corresponds to the vehicle type,
The detection range can be set by the user. still,
FIG. 3C shows a side view.

In FIG. 2 as well, two examples of mounting the ultrasonic transmitter / receiver are shown, but the number and mounting positions of the transmitter / receivers can be arbitrarily set according to the vehicle type and are not limited.

FIGS. 3 (A) to 3 (C) show a case where, for example, the transceiver 20 of the transceivers 10 and 20 shown in FIG. 1 (A) is attached to the rear part of the vehicle, and FIG. ) As shown in 1st
Warning area A and second warning area B.

FIG. 4 schematically shows the control conditions for the control unit 6 to activate the alarm output device 7 to generate an alarm according to the present invention. The system ON condition S1, the system setting condition S2 and the alarm are shown. Output condition S3 and alarm generation step S4
The alarm generation is reset when these conditions are not satisfied.

Incidentally, among these conditions, the system ON condition S1 does not necessarily have to pass through, and is shown by a dotted line.

The control conceptual diagram of FIG. 4 described above is specifically shown as a program flow chart of the control unit 6 and is shown in FIG. 5 to FIG. 10. Hereinafter, the embodiment of the present invention will be described with reference to this flow chart.

Forward Vehicle Backward Acceleration Warning (Embodiment of FIG. 5) First, when this program is started, under system ON condition S1, an alarm is issued until one or more running states are detected after the engine is started (step S11). Is unnecessary and is stopped (steps S11, 12). The traveling state in this case is detected by the vehicle speed sensor 11.

As for the system ON condition S1, when a predetermined start switch (not shown) is set, the control of the system ON condition can be omitted by activating this switch.

Next, in the system setting condition S2, first set the timer to x
It is set to seconds (step S21), and it is determined whether or not the alarm requirement is satisfied (step S22).

The alarm requirement in this case is that the vehicle is stopped at a vehicle speed of 0 km / h, for example. Incidentally, various necessary conditions for this alarm can be considered depending on the setting (design) of the system as shown in FIG. 11, which will be described later.

When an alarm is required, for example, when the vehicle speed is 0, the control unit 6 energizes the transceivers 10 and 20 to emit an ultrasonic pulse forward to detect the vehicle ahead (step S2).
3).

In this case, a fixed reference forward distance from the host vehicle is set, and the actual reflection time is the same as or shorter than the reflection time t (see FIG. 1B) of the ultrasonic pulse corresponding to this distance. The presence of a vehicle in front can be detected depending on whether the vehicle is ahead (step S24).

When it is detected that there is a forward vehicle, it is determined whether or not the timer flag set as described above has reached x seconds (step S25), and the forward vehicle is present before reaching x seconds. When it disappears, when the alarm requirement S22 is not satisfied (when the host vehicle starts, etc.), the system setting condition S2 is reset and returns to the beginning, but when the presence of a vehicle ahead is continuously detected for x seconds. The determination of the system setting condition S is completed and the process proceeds to the alarm output condition S3.

It should be noted that the use of the timer in the above system setting condition S2 is the result of the start / stop of the preceding vehicle repeated during that period,
The distance from the vehicle ahead may be shorter or longer than the reference distance, or the host vehicle may start, so it is unnecessary and troublesome to sound the alarm each time, and even if it changes, This is because it is necessary to immediately confirm that the vehicle ahead has started without outputting an alarm. Further, it is possible to eliminate an unnecessary alarm even when a person, a bicycle, or the like crosses the front of the own vehicle.

Therefore, each timer operation described later is also provided for the same reason.

In this way, after confirming the presence of the front vehicle under the system setting conditions, first, in the alarm output condition S3, the inter-vehicle distance between the front vehicle and the own vehicle corresponding to the reflection time t of the ultrasonic pulse is calculated to be D1, and Either D1−α, which is obtained by subtracting α (the value for detecting that the preceding vehicle has moved backward by a predetermined value (α)), or D3 (the distance between the preceding vehicle and the own vehicle's closest approaching vehicle), whichever is greater. The other value is set to D2 (step S31). Incidentally, D
There is a relation of 1> D3, D1> D2, and D1-α or D3 is the reference distance from the own vehicle for detecting the backward movement of the vehicle ahead.

Then, in step S32, the same front vehicle detection as in step S23 is performed.
A comparison is made between 1 and the current inter-vehicle distance (step S33).

Then, when the vehicle ahead is the distance D1 or more, step SS
Repeats 32 and 33, and when it falls below D1, measurement timer T
Is started (step S34). The timer T is incremented by the clock of the control unit 6 separately from this program.

Further, in step S35, the same front vehicle detection as in steps S23 and S32 is performed, but in this step S35, it is determined whether or not a front vehicle is present within this distance with the above-mentioned inter-vehicle distance D2 as a reference distance. S36).

When the vehicle ahead is over the distance D2, step
Similar to step S22, it is determined in step S37 whether or not the alarm requirement is satisfied. If the condition is not satisfied, for example, when the host vehicle starts moving, the process returns to step S21, but if satisfied, the timer time T is a predetermined time. It is determined whether or not (step S38).

As a result, if the predetermined time is not reached, step
S35 ~ S38 is repeated, but when the predetermined time is reached, that is,
For example, if the preceding vehicle stops after approaching the distance D2 after having fallen below the distance D1, the process returns to the first step S31 of the alarm output condition S3.

In this way, when the preceding vehicle falls below the inter-vehicle distance D2 within the above-mentioned predetermined time (this is due to the forward vehicle sliding down on the uphill road or sudden backward movement), this inter-vehicle distance D1 → Acceleration G when the vehicle in front of D2 moves backward
(G = (D1-D2) T 2) the elapsed time determined in accordance with the timer time T (step S39).

Then, it is again determined whether or not the alarm necessary condition is satisfied (step S40). When the alarm is not satisfied, the reset state is established and the process returns to step S21. When the condition is satisfied, the alarm output device 7 is activated ( Step S4).

Here, the alarm output device 7 can issue an alarm in a form corresponding to the acceleration G calculated in step S39. For example, if the backward acceleration of the vehicle ahead is large, the digital value of the acceleration is received from the control unit 6. Converted to an analog value, this analog voltage shortens the alarm sounding cycle and prompts the driver's attention.

Approach acceleration warning of own vehicle (embodiment of FIG. 6) FIG. 6 shows a modification of the embodiment of FIG. 5, and the difference from FIG. 5 is step S35 and subsequent steps as shown in the figure. .

That is, after the backward acceleration G of the front vehicle is obtained in step S39, the control unit 6 determines whether or not the parking brake switch 12 (see FIG. 1A) is on (step S401). As a result, when it is off, the parking brake is not applied and there is no intention to stop, and the process returns to step S21.When it is on, it is considered that there is a intention to stop, and then the vehicle speed is 0 km / h. That is, it is determined whether or not the vehicle is in a stopped state (step S402).

As a result, when the vehicle is stopped at the vehicle speed of 0 km / h, the forward vehicle is in reverse as in the case of FIG. 5, so the alarm output device 7 is activated according to the reverse acceleration G (step S4).
When 2) is a non-stop condition when the vehicle is not 0km / h, the vehicle in front is not moving backward, but the vehicle is moving forward due to slipping or creeping on the downhill road. Considering that the alarm output device 7 corresponds to the forward acceleration G in this case.
Is activated (step S41).

In this way, in the embodiment shown in FIG. 5, the driver is warned of the backward acceleration of the forward vehicle, and in the embodiment shown in FIG. 6, the driver is warned of the forward acceleration of the host vehicle.

Backward acceleration warning of own vehicle (Example of FIG. 7) The example of FIG. 7 is for warning the driver of the backward loss of the own vehicle due to slipping on an uphill road or erroneous operation until step S25. Is similar to the embodiment of FIG. 5 (and FIG. 6).

Thereafter, in step S301, the inter-vehicle distance to the preceding vehicle at the present time is obtained as described above and stored as D1.

Then, the front vehicle detection similar to the above (step S302)
After carrying out, it is judged whether or not the inter-vehicle distance to the vehicle ahead exceeds the above D1 (step S303), and steps S302 and 303 are repeated until it exceeds.

When the inter-vehicle distance> D1, it is checked whether or not the vehicle speed is 0 km / h to determine whether or not the own vehicle is in a stopped state (step S304). If the vehicle speed is 0 km / h, in this embodiment, Since the vehicle is not backing up, step S2
Return to 1, but if not, this time determine the distance to the vehicle behind.

That is, in order to measure the inter-vehicle distance to the rear vehicle, in the case where the transmitter / receiver 20 shown in FIG. 1 (A) is attached to the rear portion of the vehicle as shown in FIG. In the same manner as above, an ultrasonic pulse is emitted from the own vehicle toward the rear vehicle, and the rear vehicle is detected by the reflection time of the reflection pulse (step S305).

Then, the inter-vehicle distance corresponding to the reflection time at this time is D1.
It is stored as 0, and D10 as in step S31 of FIG.
The larger value of −β or D12 is stored as D11 (step S306). However, there is a relationship of D10> D11, D10> D12.

Then, at this point, the measurement timer time T is started (step S307), and the rear vehicle is detected again (step S3).
08), it is determined whether the inter-vehicle distance is D11 or less (step S309).

Then, when the rear vehicle is less than the inter-vehicle distance D11, it is determined whether or not the parking brake is operated, and when it is not operated (switch 12: OFF), it is determined that there is no intention to stop, and the process returns to step S21. , When it is in operation (switch 12: ON), there is a will to stop, so this time it is judged whether or not the timer T has passed a predetermined time,
When it has elapsed, the process returns to the switch S301, and when it has not elapsed, steps S308 to S311 are repeated.

After that, when the inter-vehicle distance is closer than D11, the approach acceleration G is calculated (step S312), and when the parking brake is further activated, the alarm output device 7 is activated (step S4). The operation state of the parking brake is checked because the parking brake may not be applied even if the parking brake is applied, and the vehicle may be allowed to move backward depending on the slope of the uphill road.

The alarm in this case will be issued corresponding to the acceleration of the backward movement of the host vehicle.

Rear vehicle distance warning + front vehicle start warning (Example of FIG. 8) First, after the same system ON condition S1 as described above is passed, the system setting condition S2 initializes a tilt angle increase correction value L, which will be described later, to "0". Every time (step S201), the timer is set to x seconds (step S202).

Then, it is determined whether the tilt angle obtained from the output of the tilt angle sensor 21 exceeds a predetermined value (step S20
3). The predetermined value in this case is a reference value for determining whether or not the current traveling road is a flat road, and when it is less than this, it is determined to be a flat road.

As a result, when it is determined that the slope angle is equal to or larger than the predetermined value and the road is an uphill road, the increase correction value L corresponding to the slope angle θ is obtained.

FIG. 9 is a memory map for obtaining the increase correction value L, in which the increase correction amount L increases in proportion to the inclination angle θ, and the reference value D on the flat road increases as the slope of the uphill increases. Will be corrected.

Next, it is determined whether the above-mentioned alarm requirement is satisfied (step S205). If the inclination angle is less than or equal to the predetermined value, it is assumed that the vehicle is traveling on a flat road, and this step S2
Go to 05.

When the alarm is required, for example, when the vehicle speed is 0 km / h, the control unit 6 energizes the transceivers 10 and 20 to emit an ultrasonic pulse forward to detect the vehicle ahead (step S206).

In this case, the actual reflection time is the same as or shorter than the reflection time t (see FIG. 1B) of the ultrasonic pulse corresponding to the reference inter-vehicle distance D + L obtained by adding the increase correction amount L from the own vehicle. The presence of a vehicle ahead can be detected based on whether the vehicle is ahead (step S207).

When the presence of a vehicle ahead is detected, that is, D +
If it is shorter than L, it is determined whether or not the timer flag set as described above has reached x seconds (step S20).
8) When the alarm requirement S205 is not satisfied before reaching x seconds (when the own vehicle starts, etc.), this system setting condition S2 is reset and returns to the beginning, but the presence of a vehicle ahead in x seconds When the detection is continued, the determination of the system setting condition S2 is ended and the process proceeds to the alarm output condition S3.

In the alarm output condition S3, first, the inclination angle is again compared with a predetermined value to determine whether or not the vehicle is traveling on a flat road (step S32
1) If it is a flat road, set the flag to "1" and set the increase correction amount Δy (second) of the timer time to 0, then proceed to step S324, and if it is determined that the road is an uphill road, The flag to be used is reset to "0" (step S322).

After that, the time increase correction amount Δy (second) is calculated from the map of FIG. 9 in order to increase the correction of the timer time for determination corresponding to the inclination angle (step S323).

Then, after setting the determination timer to y seconds (may be the same as x seconds) + Δy seconds (step S324), this time the rear vehicle is detected by the transceiver 20 shown in FIG. 3 (step S325). The detected time is converted into a distance and the inter-vehicle distance to the vehicle behind is displayed on the display device 70 provided in the alarm output device 7 (step S326).

Further, the vehicle ahead is detected (step S327), but in this step, the distance D + in the above system setting condition S2 is detected.
It is determined whether or not a vehicle ahead is present with D + L + α obtained by adding the distance α for the determination margin to L as a reference distance (step S328), and step S324 until the reference distance is exceeded.
~ Repeat S328.

When D + L + α is exceeded, it is determined whether the above flag is "0" (step S329). This is because the flag = "0" only at the beginning when it is determined that the road is an uphill road.
In step S330, the rear vehicle is detected here in the same manner as above.

As a result, depending on whether the rear vehicle is in the first alarm area A or the second alarm area B shown in FIG. 3 (B), an alarm corresponding to each is output (steps S331 to S33).
Four). If it does not exist in any of the areas A and B, the process proceeds to step S335, the alarm is not sounded, and the flag is set to "1". Note that the flag is also set to "1" in steps S332 and 334, and once a warning is issued to the rear vehicle, these steps S331 to 335 are not passed and no rear vehicle warning is issued.

After this, it is again determined whether or not the alarm requirement is satisfied (step S336). If not satisfied, the process returns to step S201, but if so, the timer flag set in step S324 is determined (step S337). ), And when y + Δy seconds are reached, the alarm output device 7 is energized so as to sound an alarm indicating that the preceding vehicle has started this uphill road (step S
Four).

Therefore, the alarm in step S4 and the alarms in steps S332, 334 are set with different volume, tone color, period, etc. so that the driver can distinguish them.

When the timer flag has not reached y + Δy seconds in step S337, the process returns to step S325 to perform the rear inter-vehicle distance display and the inter-vehicle distance determination of the front vehicle. Then, the flag is set to "1" this time, so the steps S330 to 335 are performed. Since the process skips to step S336, no warning is given to the rear vehicle, and only the start warning of the front vehicle is given when y + Δy seconds are reached.

Therefore, when the front vehicle starts, the driver can be urged to perform the hill start operation with the inter-vehicle distance from the rear vehicle in mind.

In addition, by omitting the above steps S322 to 324, S329, S336, S337, S4, as soon as the start of the front vehicle is detected, an alarm corresponding to the following distance between the rear vehicle and the front vehicle is also issued. It can be confirmed, and the alarm corresponding to the start of the vehicle ahead can be omitted.

Forward vehicle start determination + rear vehicle distance warning at the time of starting operation (example in FIG. 10) In this example, it is detected that the forward vehicle has started on the uphill road (step S328) and the alarm necessary condition is satisfied. If the timer flag has passed y + Δy seconds at the time (step S340) (step S341), the alarm output device 7 is activated (step S342).

Then, while the alarm requirement is satisfied, the vehicle does not proceed further (step S343), and when the driver starts the own vehicle by the alarm in step S342 and the alarm requirement is not satisfied, FIG. Similar to the embodiment described above, an alarm is issued according to the inter-vehicle distance to the rear vehicle.

When the start operation is detected in step S340 before the warning in step S342 is issued, the start warning of the front vehicle is not issued and only the inter-vehicle distance warning of the rear vehicle is issued.

In this way, if the driver performs a start operation when the vehicle ahead on the uphill starts, the distance between the vehicle and the vehicle behind is warned.

FIG. 11 shows a modified example of the steps for judging the alarm requirement shown in FIGS. 5, 7, 8, and 10, which will be described below.

FIG. 11A shows a vehicle speed sensor as a vehicle stop state detecting means.
The condition is satisfied because it is necessary to issue an alarm because the vehicle is stopped when the vehicle speed is 0 km / h.

In the same figure (B), the judgment is made by the output of the parking brake switch 12 as the vehicle stop state detecting means instead of the vehicle speed sensor 11. When the switch 12 is on, the own vehicle is in the vehicle stop state, so the alarm necessary condition is satisfied. To do.

In the figure (C), in addition to the vehicle speed sensor 11, the accelerator pedal switch 13 as the starting operation detecting means is also used, so that even if the vehicle speed is 0 (step S221), the driver does not have to press the accelerator pedal. Since it is usual to look ahead, when the accelerator pedal switch 13 is on, the alarm requirement is not satisfied. Incidentally, the step
As shown in S222 ′, instead of using the accelerator pedal, the vehicle speed =
Even if it is 0, when the clutch pedal is stepped on (clutch pedal switch: ON), the alarm necessary condition may not be established because it is linked to the starting operation.

The figure (D) shows that the output of the gear position sensor 14 as the starting operation detecting means is further added to the figure (C) to make a determination (step S223). For example, when the vehicle speed = 0, the accelerator pedal is depressed. However, if the gear position is from the neutral N to the parking P, it means that the driver has not started to look ahead because the starting operation is not performed, so that it is assumed that the alarm necessary condition is satisfied.

(E) of the figure is for judging the alarm necessary condition by each output of the vehicle speed sensor 11, the parking brake switch 12, and the brake pedal switch 15, even if the parking brake is not applied at the vehicle speed = 0 (step S224: OF
F) Immediately, the state of the foot brake pedal is judged not to be the start operation state (step S225), and if this is on, it is determined that an alarm should be issued, and it is not. Occasionally, it is determined that the vehicle is in the starting operation state and the alarm necessary condition is not satisfied.

In the same figure (F), the gear position is determined instead of the brake switch in step S225 of the same figure (E) (step S223).
However, if the gear position is in the state of neutral N or parking P, it is not in the starting operation state and it is necessary to issue an alarm.

FIG. 7G is obtained by adding a brake switch determination step S225 and a parking brake switch determination step S226 to step S223 of FIG. 7D, in which the accelerator pedal is depressed and the gear position is set to the traveling gear. In position,
If the parking brake is applied even if the brake pedal is not depressed, the vehicle is not in the start operation state and the alarm requirements are satisfied.

It should be noted that the determination may be made based on the output of the clutch pedal switch instead of the gear position in the above embodiment.

[Advantages of the Invention] As described above, in the present invention, it is determined that the front vehicle is retreating after the presence of the front vehicle is determined and the forward acceleration is determined according to the backward acceleration in the state where the own vehicle is stopped. Since it is configured to issue a warning, it is possible to inform the driver of the own vehicle of the danger situation of the vehicle in front of the vehicle slipping or sudden retreat.

Further, according to the present invention, it is possible to calculate the acceleration of the own vehicle approaching the preceding vehicle and issue an alarm corresponding to the acceleration, and the vehicle suddenly starts unintentionally such as slipping down a downhill or creeping. Can inform you.

Further, according to the present invention, when the presence of a front vehicle is judged and the separation from the front vehicle is detected thereafter, if the own vehicle is in a non-stop state, another ultrasonic transmitter / receiver provided at the rear of the vehicle is used for rearward movement. The distance between the vehicle and the vehicle can be measured and calculated, and when the vehicle is moving backward, an alarm can be generated that corresponds to the backward acceleration during that time. It is possible to give an alarm according to the retreat rate.

Further, in the present invention, by using the inclination angle detecting means of the traveling road as well, the presence determination distance of the front vehicle is increased and corrected corresponding to the inclination angle, and when the start of the front vehicle is detected, it corresponds to the inter-vehicle distance to the rear vehicle. After that, the warning about the start of the forward vehicle determined as described above is generated, so it is dangerous when the own vehicle slips down on the slope start, so it warns the inter-vehicle distance with the rear vehicle. It is possible to promote safe accelerator operation.

Further, in the present invention, a start operation detecting means is additionally provided, and after the presence of the front vehicle on the uphill road is determined as described above, the start operation is detected in the same manner as the start of the front vehicle on the uphill road is detected. If this is done, an inter-vehicle distance warning can be given to the rear vehicle when the vehicle starts on a slope by sounding an alarm corresponding to the inter-vehicle distance to the rear vehicle.

Furthermore, when determining the presence of a vehicle ahead, it is necessary to maintain the same state for a predetermined period of time, so that
It is possible to prevent annoying unnecessary false alarms from being sounded except for a front vehicle state in which the stop is uncertain.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of a vehicle movement detection device according to the present invention, FIG. 2 is a diagram for explaining a mounting state of the vehicle movement detection device according to the present invention on a vehicle front part, and FIG. FIG. 4 is a diagram for explaining a mounting state of a vehicle movement detection device according to the present invention on a rear portion of a vehicle, FIG. 4 is a diagram schematically showing control conditions of the present invention, and FIGS. FIG. 9 is a flow chart of a control program executed by various embodiments of the present invention, FIG. 9 is a memory map diagram of the tilt angle and distance (and time) increase correction value used in the present invention, and FIG. FIG. 11 is a flow chart diagram of a control program executed by still another embodiment of the present invention, and FIG. 11 is a flow chart diagram showing various embodiments of alarm requirements used in the flow chart of the embodiment of the present invention. In the figure, 1a, 1b ... Target object, 10, 20 ... Ultrasonic transmitter / receiver attached to front or rear of vehicle, 6 ... Control unit, 7 ... Alarm output device, 11 ... Vehicle speed sensor, 12
… Parking brake switch, 13… Accelerator pedal switch, 14… Gear position sensor, 15… Brake pedal switch, 21… Tilt angle sensor. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (6)

(57) [Scope of utility model registration request] 1. An ultrasonic transmitter-receiver attached to a front portion of a vehicle,
A means for detecting the stopped state of the own vehicle, and when the stopped state is detected, the inter-vehicle distance between the preceding vehicle and the own vehicle is measured and calculated from the input / output of the transceiver, and the inter-vehicle distance is within a predetermined value. It is determined that the preceding vehicle is within the predetermined value only, and thereafter, if the vehicle distance is less than or equal to the predetermined value within the predetermined time within the predetermined time, if the vehicle is in the stopped state, the vehicle is within the predetermined time. Control means for calculating the backward acceleration of the preceding vehicle from the change in the inter-vehicle distance and activating the warning output device so as to shorten the sounding cycle of the warning output device in proportion to the backward acceleration. A characteristic vehicle movement detection device. 2. The stop means when the control means determines that the preceding vehicle is present within the predetermined value and then determines that the distance between the preceding vehicle and the preceding vehicle is less than or equal to the predetermined value within a predetermined time. If not, the forward acceleration of the host vehicle within the predetermined time is calculated from the change in the inter-vehicle distance, and the alarm output device is energized so as to shorten the sounding period of the alarm output device in proportion to the forward acceleration. The vehicle movement detection device according to claim 1, wherein: 3. A further ultrasonic transmitter / receiver is attached to a rear portion of the vehicle, and after the control means determines the presence of the preceding vehicle within the predetermined value, the distance between the preceding vehicle and the preceding vehicle is determined as follows. If the vehicle is in a non-stop state when it exceeds a predetermined value, when the distance between the rear vehicle and the rear vehicle measured and calculated by the other transceiver falls below another predetermined value within a predetermined time, The alarm output device is calculated so as to calculate the backward acceleration of the vehicle from the change in the rear inter-vehicle distance, and the alarm output device is energized so as to shorten the sounding period of the alarm output device in proportion to the backward acceleration. The vehicle movement detection device described. 4. A first vehicle mounted on each of a front portion and a rear portion of a vehicle.
And a second ultrasonic transmitter / receiver, a means for detecting an inclination angle of a traveling path on which the host vehicle travels, a means for detecting a stopped state of the host vehicle, and a transmitter / receiver for the transmitter / receiver when the stopped state is detected. The front vehicle is present within the predetermined value only when the inter-vehicle distance between the front vehicle and the host vehicle is measured and calculated from the input and output and the inter-vehicle distance is within a predetermined value which is increased and corrected corresponding to the inclination angle. After that, when the distance between the front vehicle and the front vehicle exceeds the predetermined value and then the front vehicle starts, the rear vehicle measured and calculated by the second transceiver is determined. A control means for activating the alarm output device in accordance with the rear inter-vehicle distance, and further activating the alarm output device so as to issue an alarm for notifying the start of the front vehicle. Vehicle movement detection device. 5. The vehicle further comprises a starting operation detecting means, wherein after the control means determines that the front vehicle is present within the predetermined value, another predetermined distance between the front vehicle and the front vehicle is larger than the predetermined value. When it is determined that the preceding vehicle has started with exceeding the value, if the starting operation is detected, the alarm output device is activated according to the distance between the rear vehicle and the rear vehicle measured and calculated by the second transceiver. The vehicle movement detection device according to claim 4, characterized in that. 6. The vehicle according to claim 1, wherein the control means determines that the presence of the preceding vehicle is maintained in the same state for a predetermined time. Movement detection device.