JP2952803B2 - Vehicle collision judgment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle collision judging device.

[0002]

2. Description of the Related Art Conventionally, a vehicle collision judging device is already known, for example, from Japanese Patent Laid-Open No. Hei 5-181529.

[0003]

In the above-mentioned conventional collision judging device, the position of the own vehicle after a certain time and the position of the object after a certain time are respectively estimated, and a comparison result between the estimated positions is obtained. This is to determine whether or not a collision occurs.
For this reason, it is difficult to judge a collision with a control object that suddenly appears between the current position of the own vehicle and the position of the own vehicle after the predetermined time.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle collision judging device capable of surely judging a collision with all detected objects.

[0005]

In order to achieve the above object, an apparatus according to the first aspect of the present invention provides a vehicle having a movement trajectory up to a predetermined time and a self-moving trajectory corresponding to a lapse of time on the movement trajectory. Self-vehicle trajectory estimating means for estimating a vehicle position; and a trajectory estimating means for estimating a movement trajectory of a control object until a certain time has elapsed and a position of the control object according to a lapse of time on the movement trajectory; Determining means for comparing the estimation results of the means and determining that the vehicle and the control object collide when the vehicle is within a predetermined range at the same time.

According to a second aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the own vehicle trajectory estimating means calculates a moving trajectory of the own vehicle based on the detected yaw rate of the own vehicle. presume.

According to a third aspect of the present invention, in addition to the configuration of the first or second aspect of the present invention, the own vehicle trajectory estimating means includes a detected vehicle body speed and a longitudinal acceleration / deceleration. The position on the movement locus of the own vehicle is estimated based on.

According to the fourth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control object trajectory estimating means includes:
The movement locus of the contrast object is estimated based on the detected value change amount of the position of the contrast object with respect to the own vehicle from the previous time to the present time.

According to a fifth aspect of the present invention, in addition to the configuration of the first or fourth aspect of the present invention, the control object trajectory estimating means detects the detected value of the control object position with respect to the vehicle from the previous time to the current time. The position of the control object on the movement trajectory is estimated based on the change amount.

[0010]

An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1 to 6 show an embodiment of the present invention. FIG. 1 is a view showing a brake system of a vehicle, FIG. 2 is a longitudinal side view of an electric hydraulic output means, and FIG. FIG. 4 is a block diagram showing the configuration of the unit, FIG. 4 is a diagram for explaining the estimation of the trajectory of the vehicle, FIG. 5 is a diagram for explaining the estimation of the trajectory of the object, and FIG. 6 is a collision between the vehicle and the object. It is a figure for explaining judgment.

Referring first to FIG. 1, in a passenger vehicle, a left front wheel disc brake B _FL and a right front wheel disc brake B _FR are mounted on a left front wheel W _FL and a right front wheel W _FR connected to a steering device S, and a left rear wheel is provided. A left rear wheel disc brake B _RL and a right rear wheel disc brake B _RR are mounted on the W _RL and the right rear wheel W _RR .

In response to the depression operation of the brake pedal P,
Output port 1 of master cylinder M that outputs braking oil pressure
Oil passage 2 and each disc brake B_FL, B_FR, B
_RL, B_RROil passages 3 that are individually connected to_FL, 3_FR, 3_RL, 3_RRWhen
Between, electric hydraulic output means as an actuator
A is provided, and the electric hydraulic output means A is
2 and 3_FL, 3_FR, 3_RL, 3_RR
The brake hydraulic pressure from master cylinder M is
Disc brake B_FL, B_FR, B_RL, B_RRCan act on
State and the oil passages 2 and 3 during operation_FL, 3_FR, 3_RL,
3_RRAnd the electric hydraulic output means A outputs
Apply hydraulic pressure to each disc brake B_FL, B _FR, B_RL, B_RR
Can be switched to the state that acts on

In FIG. 2, the electric hydraulic output means A is
A cylinder body 4 formed in a cylindrical shape with a bottom end having a closed end, a guide cylinder 5 coaxially connected to the rear end of the cylinder body 4, and a support cylinder 6 coaxially connected to the guide cylinder 5; A connecting tube 7 coaxially connected to the supporting tube 6, and an encoder 8
A motor 9 which is coaxially connected to the connecting cylinder 7 and has
A piston 11 slidably fitted into the cylinder body 4 by forming a pressure chamber 10 with the closed end of the cylinder body 4
And a cylindrical nut member 12 that is disposed in the guide cylinder 5 while being prevented from rotating around the axis and is coaxially connected to the rear end of the piston 11, and is coupled to the nut member 12 via a ball screw 13. And a rotating shaft 15 connected to an output shaft 9 a of the motor 9 via an Oldham joint 14.

A plurality of grooves 16 and 17 extending in the axial direction are provided on the inner surface of the guide cylinder 5 and the outer surface of the nut member 12 so as to correspond to each other.
The fitting of the balls 18 to the respective 7 prevents the nut member 12, that is, the piston 11 from rotating around the axis. The rotating shaft 15 is rotatably supported by the support cylinder 6 via a pair of ball bearings 19 and 20. The rotating shaft 15 projects radially outward and is provided on the rotating shaft 15; Are engaged with the axially outer ends of the inner rings of the ball bearings 19 and 20, respectively, thereby preventing the rotation shaft 15 from moving in the axial direction.

At the front end of the cylinder body 4, a valve hole 23 communicating with the oil passage 2 connected to the master cylinder M is provided, and a valve body 24 capable of closing the valve hole 23 is held by the piston 11. That is, the front end of the piston 11 is provided with a rod 2 that allows relative movement in the axial direction within a restricted range.
5 is held at the rear end, and the valve body 2 is attached to the front end of the rod 25.
4 is provided, and a spring 26 for urging the rod 25, that is, the valve body 24 toward the valve hole 23, is contracted between the rod 25 and the piston 11.

Further, the cylinder body 4 is provided with an output port 27 communicating with the pressure chamber 10, and the output port 27 is connected to each of the disc brakes _BFL , _BFR , _BRL , _BRL .
Each individually communicating _RR oil passage _{3 FL, 3 FR, 3 RL} , 3 RR
Is connected.

In such an electric hydraulic output means A, the piston 11 is reciprocated in the axial direction by the ball screw 13 in accordance with the forward / reverse rotation operation of the motor 9, and the piston 1
When the valve 1 moves forward, the valve hole 23 is closed by the valve element 24, and a hydraulic pressure corresponding to the amount of forward movement of the piston 11 is generated in the output chamber 10, and the hydraulic pressure is applied to each of the disc brakes B _FL , B _FR , B _RL and B _RR .

Referring again to FIG. 1, a transmitting / receiving unit 30 capable of transmitting a signal forward from the vehicle and receiving a reflected signal from a control object is provided at the front of the passenger vehicle.
And a calculating unit 31 for calculating the distance between the vehicle and the object based on the time from transmission to reception.
Can scan the transmission signal in the vehicle width direction of the vehicle and detect the distance of the control object from the own vehicle in a certain range in the vehicle width direction.

The brake pedal P has a pedaling force sensor 33.
, And wheel speed sensors 35 _FL , 35 _FR , 35 _RL , 35 _RR for individually detecting the wheel speeds are respectively attached to the wheels. Thus, those sensors 33, 35
The signals from _FL , 35 _FR , 35 _RL , 35 _RR and the distance measuring unit 32 are input to the electronic control unit C.
Further, a signal from a yaw rate sensor 36 that detects a yaw rate of the vehicle is also input to the electronic control unit C.

The electronic control unit C is a distance measuring unit.
32, wheel speed sensor 35_FL, 35 _FR, 35_RL, 35_RR
And electric power based on a signal from the yaw rate sensor 36.
The control of the operation of the hydraulic output means A and the alarm BZ
Controls the operation of.

In FIG. 3, the electronic control unit C
Wheel speed sensor 35_FL, 35_FR, 35_RL, 35_RRDetection
Vehicle speed V based on the value_RSpeed calculation means 42 for calculating
And the vehicle speed V obtained by the vehicle speed calculating means 42_RIs differentiated
Acceleration / deceleration calculating means 43 for obtaining the vehicle acceleration / deceleration α by
Yaw rate Y and Y detected by the yaw rate sensor 36
The vehicle speed V obtained by the vehicle speed calculating means 42_ROn the basis of
Own vehicle speed vector calculating means 4 for obtaining own vehicle speed vector
4 and the vehicle speed V obtained by the vehicle speed calculating means 42 _R,
If the vehicle acceleration / deceleration α obtained by the deceleration calculating means 43,
And the yaw rate Y detected by the yaw rate sensor 36
Based on the trajectory of the vehicle until a certain time
Self-estimating the position of the own vehicle according to the passage of time on the trajectory
To the signal from the vehicle trajectory estimating means 45 and the distance measuring unit 32
Coordinates for expanding the position of the contrast object on the X and Y coordinates
Expansion means 46, prediction calculation means 47, prediction calculation means 4
7 and the data predicted at the previous time and
By comparing the opened data this time,
Same as the comparison operation means 48 for extracting the data to be cut off
The relative velocity vector of the control object based on the data
Relative speed vector calculating means 49 for calculating the torque,
Own vehicle speed vector obtained by the speed vector calculation means 44
And the relative speed vector obtained by the relative speed vector calculating means 49.
The absolute speed vector is calculated based on the speed vector.
Speed vector calculation means 50 and absolute speed vector calculation
Constant time based on the absolute velocity vector obtained by the means 50
The movement path of the object and the movement path
Trajectory estimation for estimating the position of the control object according to the passage of time
Determining means 51, own vehicle trajectory estimating means 45, and control object trajectory
When a collision is determined based on a signal from the estimating means 51,
The electric hydraulic output means A and
Determination means 5 for outputting a signal for controlling the operation of alarm BZ
2 is provided.

The own vehicle trajectory estimating means 45 basically calculates the moving trajectory and the moving trajectory of the own vehicle until the first set time T ₁ (for example, 2 seconds) elapses while keeping the acceleration / deceleration α of the own vehicle constant. the vehicle position above, and estimates the first set time T ₁ for each equally subdivided time. Thus, the first set time T
Until a second set time T ₂ (for example, 1.5 seconds) set to be smaller than ₁ elapses, the traveling angle θ of the own vehicle and the vehicle speed V after an elapsed time ΔT that increases in increments of 0.1 seconds, for example. _R 'is θ = Y × ΔT V _R' are respectively calculated in accordance = V _R + α × ΔT becomes expression. Further to the first set time T ₁ is passed to the second set time T ₂ after the
The traveling trajectory is estimated with the traveling angle θ at the time when the second set time T ₂ elapses constant, and the vehicle position on the traveling trajectory every 0.1 second elapses by keeping the acceleration / deceleration α constant. Presumed. Here, the traveling angle θ determines the direction of the trajectory, and the trajectory is estimated based on the detected yaw rate Y. The vehicle speed V _R ′ is determined according to the elapsed time on the trajectory. The vehicle position on the movement trajectory is estimated based on the detected vehicle speed V _R and acceleration / deceleration α. Moreover in the second set time T ₂ after a lapse of a time when the possibility of a yaw rate is changing from moment increases by the vehicle defines the movement locus on the assumption that the linear motion, the vehicle track estimating means 45 Can increase the calculation processing speed.

According to the vehicle trajectory estimating means 45, as shown in FIG. 4, when the actual trajectory L _OA of the vehicle V _O is represented by a thick solid line, the estimated trajectory L represented by a thin solid line is obtained.
_OS1 , _LOS2 , _LOS3 , _LOS4 ... _Are obtained at each collision determination timing.

The coordinate developing means 46 measures the distance on the X, Y coordinates with the vehicle position as the origin (X = 0, Y = 0), the vehicle width direction as the X axis, and the vehicle traveling direction as the Y axis. The data from the unit 32 is expanded and, for example, a maximum of 8
Temporary label, NO. 1, 2, 3,... 8 are sequentially assigned.

The prediction calculating means 47 calculates a predicted position for each formal label based on the data formally labeled by the comparison calculating means 48 and the relative speed vector obtained by the relative speed vector calculating means 49. It is.

In the comparison operation means 48, the coordinate development means 46
Is compared with the prediction data obtained by the prediction calculation means 47, and only the current data having a position substantially corresponding to the position of the prediction data is provided with a formal label and the comparison calculation means 48 Is output.

The relative speed vector calculating means 49 calculates a relative speed vector for each formal label based on the present data output from the comparing calculating means 48 and the previous data previously output from the comparing calculating means 48. Is calculated.
That is, the relative speed and the relative moving direction of the control object for each label can be obtained based on the detected value change amount of the position of the control object with respect to the vehicle from the previous time to the present time.

The absolute speed vector calculating means 50 adds the own vehicle vector obtained by the own vehicle speed vector calculating means 44 to the relative speed vector obtained by the relative speed vector calculating means 49 to obtain the absolute speed vector of the control object. Is obtained.

The control object trajectory estimating means 51 assumes that the control object moves at a constant speed with its yaw rate set to "0", and determines the relative moving direction obtained by the relative speed vector calculating means 49 and the own vehicle speed vector calculating means. the movement locus of control object based on the absolute direction of movement of the counterpart V _C obtained in the absolute velocity vector calculation unit 50 on the basis of the vehicle moving direction from the 44 are determined until T ₁ is passed first set time On the basis of the absolute speed of the control object V _C obtained based on the relative speed from the relative speed vector calculation means 49 and the vehicle speed V _R from the own vehicle speed vector calculation means 44, the position of the control object on the trajectory becomes the first position. is estimated for each set time T ₁ equally subdivided time (e.g., 0.1 seconds). Thereby, as shown in FIG. 5, when the actual trajectory L _CA of the control object V _C is indicated by a thick solid line, the estimated trajectories L _CS1 , L _CS2 , L _CS3 , L _CS4 , L _CS indicated by a thin solid line are used. _CS5 ... _Are obtained at each collision determination timing.

In the judgment means 52, the own vehicle trajectory estimation means 45
Own vehicle V obtained by_OMovement trajectory and on the movement trajectory
Own vehicle position according to the passage of time and the contrast object trajectory estimating means 51
NO. Up to 1,2,3 ... 8 control V_CTransfer
A moving trajectory and a control object according to the passage of time on the moving trajectory
The position is the first set time T₁Segmentation until the passage of
Are compared at each time. Here, own vehicle V_OFirst setting
Time T₁The movement trajectory to the passage and a certain label
Control V_CFirst set time T₁The trajectory to elapse and
Is as shown in FIG. 6, and at a certain time
Own vehicle V_OPosition P _OAnd the control object V at the same time_CPosition of
P_CIs within the predetermined range indicated by diagonal lines.
The step 52 determines that a collision occurs. Thus,
The predetermined range is the vehicle V_OX coordinate of_O, Y coordinate is Y_OWhen
And control V_CX coordinate of_C, Y coordinate is Y_CAnd
Kiny (X_C-X_O)^Two+ (Y_C-Y_O)^Two｝^1/2Get in
Own car V_OAnd control V_CIf the distance L between
For example, it is set as a range that is 1.4 m or less.
You.

The determination means 52 determines whether the vehicle V _O and the control object V
_{When C} is determined that collision is electric hydraulic output means A and alarm device B according to the elapsed time until the collision time
Activate Z. When the absolute speed of the control object V _C is, for example, 40 km / h or more, the electric hydraulic output means A is activated when the elapsed time until the collision is less than the second set time T ₂ (1.5 seconds). signal, also the first set time the elapsed time exceeds the T ₂ second set time T
When the time is up to ₁ (2 seconds), a signal for activating the alarm BZ is output from the determination means 52.
Further, when the absolute speed of the control object V _C is less than 40 km / h, the minimum value is set to, for example, 1.2 seconds, and the electric motor is operated according to the reference time continuously decreasing from 1.5 seconds as the absolute speed decreases. The determination means 52 determines whether to activate the hydraulic pressure output means A. As described above, when the absolute speed of the control object V _C is a low speed of less than 40 km / h, the reference time for determining whether or not to apply the automatic brake by the operation of the electric hydraulic output means A is shortened, so that the vehicle operation is performed. It is possible to avoid causing the vehicle driver to feel uncomfortable that the operation of the automatic brake is faster than the avoidance operation from the control object.

Next, the operation of this embodiment will be described. In determining the collision between the vehicle V _O and the control object V _C , the trajectory and the movement of the vehicle V _O until the first set time T ₁ elapses. vehicle position corresponding to the time course of the trajectory is estimated by the vehicle track estimating means 45, also the time course of the movement trajectory and the movement locus of the counterpart V _C until the first set time T ₁ is passed The corresponding object position is estimated by the object trajectory estimating means 51, and the judging means 52 compares the estimation results of the two estimating means 45 and 51 to determine whether the own vehicle V _O and the object V _C are at the same time. When it is within the range, it is determined to collide. Therefore, the current vehicle V
_O and the vehicle V _O after the first set time T ₁ has elapsed.
Even counterpart V _C is suddenly appears between the position of, it is possible to reliably perform the collision decision with a counterpart V _C since a determination of the movement locus between.

In the vehicle locus estimating means 45, the detected
Own car V_OIs estimated based on the yaw rate Y of
The detected vehicle V_OBody speed V_RAnd before and after
Based on the direction acceleration / deceleration α, the position of the vehicle on the
The vehicle V _ODepending on the running condition of
Obtaining accurate trajectory and position on trajectory
It becomes possible.

[0035] In further relative velocity vector calculation unit 49, and the current data of the control object position relative to the vehicle V _O, based on the previous data, the relative speed and direction of movement of the counterpart V _C of the formal each label obtained In the object trajectory estimating means 51, the relative moving direction obtained by the relative speed vector calculating means 49 and the own vehicle speed vector calculating means 44 are used.
Movement locus counterparts V _C based on the absolute direction of movement of the counterpart V _C obtained in the absolute velocity vector calculation unit 50 on the basis of the vehicle moving direction is defined from, also from the relative velocity vector calculation unit 49 relative velocity and position of the counterpart V _C on the moving path by the absolute speed obtained by the absolute velocity vector calculating means 50 based on the vehicle speed V _R from the vehicle velocity vector calculating means 44 is determined. Accordingly, a more accurate movement trajectory and a position on the movement trajectory can be obtained in accordance with the moving state of the contrast object V _C with respect to the own vehicle, and more accurate estimation by the own vehicle trajectory estimating means 45 can be obtained. Accurate collision judgment can be made.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various design changes can be made without departing from the present invention described in the appended claims. It is possible to do.

[0037]

As described above, the device according to the first aspect of the present invention estimates the movement trajectory of the own vehicle and the position of the own vehicle according to the lapse of time on the movement trajectory until a certain time has elapsed. A comparison is made between the trajectory estimating means, the trajectory estimating means for estimating the movement trajectory of the control object after a certain time has elapsed and the position of the control object according to the lapse of time on the movement trajectory, and the estimation results of the two estimation means. Means for determining that the vehicle and the control object collide when the vehicle and the object are within a predetermined range at the same time, so that the current vehicle position and the vehicle position after a certain period of time have elapsed. Even if the control object suddenly appears, the determination of the movement trajectories is performed, so that the collision with the control object can be reliably determined.

According to the second aspect of the present invention, in addition to the configuration of the first aspect, the own vehicle trajectory estimating means calculates the moving trajectory of the own vehicle based on the detected yaw rate of the own vehicle. Since the estimation is performed, the movement trajectory of the own vehicle can be more accurately estimated.

According to the third aspect of the present invention, in addition to the configuration of the first or second aspect of the present invention, the own vehicle trajectory estimating means includes a detected vehicle body speed and a longitudinal acceleration / deceleration. , The position of the own vehicle on the trajectory can be estimated, so that the position of the own vehicle on the trajectory can be more accurately estimated.

According to a fourth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, the control object trajectory estimating means includes:
Since the movement locus of the contrast object is estimated based on the detected value change amount of the position of the contrast object with respect to the vehicle from the previous time to the present time, the movement locus of the contrast object can be more accurately estimated.

According to a fifth aspect of the present invention, in addition to the configuration of the first or fourth aspect of the present invention, the control object trajectory estimating means detects the detected value of the control object position with respect to the own vehicle from the previous time to the current time. Since the position of the contrast object on the movement trajectory is estimated based on the change amount, the position of the contrast object on the movement trajectory can be more accurately estimated.

[Brief description of the drawings]

FIG. 1 is a diagram showing a brake system of a vehicle.

FIG. 2 is a vertical side view of the electric hydraulic output means.

FIG. 3 is a block diagram illustrating a configuration of an electronic control unit.

FIG. 4 is a diagram for explaining estimation of a movement trajectory of the own vehicle.

FIG. 5 is a diagram for explaining estimation of a movement trajectory of a control object.

FIG. 6 is a diagram for explaining collision determination between a host vehicle and a control object.

[Explanation of symbols]

45 vehicle track estimating means 51 counterparts locus estimator 52 determining means V _C counterparts V _O vehicle

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-5-181529 (JP, A) JP-A-5-240952 (JP, A) JP-A-6-138941 (JP, A) JP-A-7- 104062 (JP, A) JP-A-63-93100 (JP, A) JP-A-63-69000 (JP, A) JP-A-54-155793 (JP, A) (58) Fields investigated (Int. ^6, DB name) G08G 1/16 G05D 1/02 G01S 7/00 - 7/42 G01S 13/00 - 17/88 B60R 21/00 G08G 3/00

Claims (5)

(57) [Claims] 1. A vehicle trajectory estimating means (45) for estimating a movement trajectory of the vehicle (V _O ) and a position of the vehicle according to a lapse of time on the movement trajectory until after a lapse of a predetermined time; A control object trajectory estimating means (51) for estimating a movement locus of the control object (V _C ) and a position of the control object in accordance with a lapse of time on the movement locus;
Determining means (52) for comparing the estimation results of the above with each other to determine that the vehicle (V _O ) and the reference object (V _C ) collide when they are within a predetermined range at the same time. Vehicle collision determination device. 2. A vehicle track estimating means (45), according to claim 1, wherein estimating the movement locus of the vehicle based on the yaw rate of the detected vehicle (V _O) (V _O) Vehicle collision determination device. 3. A vehicle track estimating means (45), the position on the moving locus of the vehicle speed and the vehicle based on the longitudinal acceleration or deceleration of the vehicle is detected (V _O) (V _O) The vehicle collision judging device according to claim 1 or 2, wherein the estimation is performed. 4. The object trajectory estimating means (51) estimates the movement trajectory of the object (V _C ) based on the detected value change amount of the object relative to the vehicle (V _O ) from the previous time to the current time. The vehicle collision judging device according to claim 1, wherein: 5. A control object trajectory estimating means (51) based on a position on a movement trajectory of the control object (V _C ) based on a detected value change amount of the control object position with respect to the vehicle (V _O ) from the previous time to the present time. The vehicle collision judging device according to claim 1 or 4, wherein: