JP3104463B2 - Rear-end collision prevention device for vehicles - Google Patents

Rear-end collision prevention device for vehicles

Info

Publication number
JP3104463B2
JP3104463B2 JP05081815A JP8181593A JP3104463B2 JP 3104463 B2 JP3104463 B2 JP 3104463B2 JP 05081815 A JP05081815 A JP 05081815A JP 8181593 A JP8181593 A JP 8181593A JP 3104463 B2 JP3104463 B2 JP 3104463B2
Authority
JP
Japan
Prior art keywords
vehicle
distance
inter
collision
brake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP05081815A
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Japanese (ja)
Other versions
JPH06298022A (en
Inventor
佳幸 橋本
Original Assignee
トヨタ自動車株式会社
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Filing date
Publication date
Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
Priority to JP05081815A priority Critical patent/JP3104463B2/en
Publication of JPH06298022A publication Critical patent/JPH06298022A/en
Application granted granted Critical
Publication of JP3104463B2 publication Critical patent/JP3104463B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02Active or adaptive cruise control system; Distance control
    • B60T2201/022Collision avoidance systems

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【産業上の利用分野】本発明は車両用追突防止装置、特
に先行車との車間距離が所定距離以下となった時にブレ
ーキを自動作動させる自動ブレーキを有する装置に関す
る。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear-end collision prevention device for a vehicle, and more particularly to a device having an automatic brake for automatically operating a brake when a distance between the vehicle and a preceding vehicle is less than a predetermined distance.

【0002】[0002]

【従来の技術】従来より、車両走行時の安全性向上を図
るべく種々の装置が開発、搭載されており、車両に搭載
したレーダ装置により先行車との車間距離を検出し、衝
突の可能性がある場合に警報を発し、あるいはブレーキ
を自動作動させる装置もその一つである。
2. Description of the Related Art Conventionally, various devices have been developed and mounted to improve the safety of a vehicle while traveling. A radar device mounted on the vehicle detects a distance between the vehicle and a preceding vehicle, and may cause a collision. A device that issues an alarm or automatically activates the brake when there is a problem is one of them.

【0003】例えば、特開昭60−91500号公報に
開示された車間距離警戒システムでは、先行車との車間
距離及び相対速度を検出するレーダ手段と、自車の走行
速度を検出する速度検出手段を設け、各検出信号に基づ
いて危険度指数を算出し、この危険度指数に従ってブレ
ーキの駆動制御を行う構成が提案されている。
For example, in an inter-vehicle distance warning system disclosed in Japanese Patent Application Laid-Open No. 60-91500, radar means for detecting the inter-vehicle distance and relative speed with a preceding vehicle, and speed detecting means for detecting the traveling speed of the own vehicle Has been proposed, a risk index is calculated based on each detection signal, and brake drive control is performed according to the risk index.

【0004】[0004]

【発明が解決しようとする課題】しかしながら、このよ
うに単に先行車との車間距離の危険評価を行い、その評
価に応じてブレーキを作動させる構成では、必ずしも実
際の運転フィーリングに合致せず、予期しないタイミン
グで自動的にブレーキが作動してしまう問題があった。
However, such a configuration in which the risk evaluation of the inter-vehicle distance with respect to the preceding vehicle is simply performed and the brake is actuated in accordance with the evaluation does not always match the actual driving feeling. There was a problem that the brake was automatically activated at unexpected timing.

【0005】すなわち、実際の運転操作において、先行
車との車間距離が短くなり、運転者が先行車との追突の
危険を感じる場合、ブレーキを作動させて減速すること
により追突を防止するか、あるいはステアリングを操作
して車線変更することにより追突を防止するかを瞬時に
判断し、いずれかの操作を行うことになる。車両が低速
走行時においては、ブレーキ操作による追突防止が有効
であるが、高速走行時においては停止距離が増大するた
め、ブレーキ操作よりもむしろステアリング操作による
車線変更が追突防止に有効となる。従って、車両高速走
行時においては、運転者はステアリング操作により先行
車との追突を防止しようとするが、従来構成のように単
に先行車との車間距離に応じて一律にブレーキを作動さ
せる構成では、ステアリング操作により追突防止を行お
うとしているにも拘らず予期しないタイミングでブレー
キが作動し、運転フィーリングが悪化してしまう。
That is, in an actual driving operation, when the distance between the vehicle and the preceding vehicle is short and the driver feels a danger of a collision with the preceding vehicle, the driver may operate the brake to decelerate to prevent the collision. Alternatively, it is determined instantly whether the rear-end collision is prevented by operating the steering and changing lanes, and either operation is performed. When the vehicle is traveling at low speed, it is effective to prevent rear-end collision by brake operation. However, when traveling at high speed, the stopping distance increases, so that lane change by steering operation rather than brake operation is effective for preventing rear-end collision. Therefore, when the vehicle is traveling at high speed, the driver tries to prevent a collision with the preceding vehicle by steering operation, but in a configuration in which the brake is operated uniformly according to the inter-vehicle distance with the preceding vehicle as in the conventional configuration. In spite of an attempt to prevent rear-end collision by steering operation, the brake is activated at an unexpected timing, and the driving feeling deteriorates.

【0006】[0006]

【0007】本発明は上記従来技術の有する課題に鑑み
なされたものであり、その目的は運転フィーリングを悪
化させず、かつ先行車との追突を有効に防止しうる車両
用追突防止装置を提供することにある。
[0007] The present invention has been made in view of the problems of the prior art, and an object without deteriorating the operation feeling, and effectively preventing may collision for a vehicle preventing device additionally collision with the preceding vehicle To provide.

【0008】[0008]

【課題を解決するための手段】上記目的を達成するため
に、本発明の車両用追突防止装置は、自車速検出手段
と、先行車との車間距離を検出する車間距離検出手段
と、先行車との相対速度を検出する相対速度検出手段
と、自車速、車間距離及び相対速度に基づきブレーキに
より先行車への追突を防止できる第1車間距離及びステ
アリング操作により先行車への追突を防止できる第2車
間距離を算出する演算手段と、検出された車間距離が前
記第1車間距離及び第2車間距離以下となった時にブレ
ーキを自動作動させる制御手段と、を有することを特徴
とする。
In order to achieve the above object, a vehicle rear-end collision prevention apparatus according to the present invention comprises: a vehicle speed detecting means; an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle; A relative speed detecting means for detecting a relative speed with respect to the vehicle, a first inter-vehicle distance capable of preventing a collision with a preceding vehicle by a brake based on the own vehicle speed, an inter-vehicle distance and a relative speed, and a second inter-vehicle distance capable of preventing a collision with a preceding vehicle by a steering operation. It has a calculating means for calculating a distance between two vehicles, and a control means for automatically operating a brake when the detected distance between the vehicles becomes equal to or less than the first distance between vehicles and the second distance between vehicles.

【0009】[0009]

【作用】このように、本発明の車両用追突防止装置は、
ブレーキ操作により追突防止可能な第1車間距離とステ
アリング操作により追突防止可能な第2車間距離を算出
し、検出された車間距離が第1及び第2車間距離以下と
なった時にのみブレーキを自動作動させるものである。
As described above, the rear-end collision prevention device for a vehicle according to the present invention includes:
Calculate the first inter-vehicle distance that can prevent rear-end collision by brake operation and the second inter-vehicle distance that can prevent rear-end collision by steering operation, and automatically activate the brake only when the detected inter-vehicle distance becomes less than the first and second inter-vehicle distance. It is to let.

【0010】自車高速走行時においては、一般に第1車
間距離よりも第2車間距離の方が短くなり、先行車との
車間距離が短くなってもステアリング操作により追突防
止を図ることが可能となる。従って、このような状況下
では車両運転者はブレーキ操作よりもステアリング操作
により追突防止を図ろうとする。本発明による車両用追
突防止装置によれば、検出された車間距離が第1車間距
離以下となっても第2車間距離以上の場合にはブレーキ
作動させず第1及び第2車間距離以下となった場合に初
めてブレーキ作動させるので、運転者が予期しないタイ
ミングでブレーキが自動作動するのを防ぎ、運転者の意
図通りの追突防止を図ることができる
[0010] When the vehicle is traveling at high speed, the second inter-vehicle distance is generally shorter than the first inter-vehicle distance, and even if the inter-vehicle distance to the preceding vehicle is short, it is possible to prevent rear-end collision by steering operation. Become. Therefore, in such a situation, the vehicle driver tries to prevent rear-end collision by steering operation rather than brake operation. According to the rear-end collision prevention device for a vehicle according to the present invention, even if the detected inter-vehicle distance is equal to or less than the first inter-vehicle distance, if the detected inter-vehicle distance is equal to or more than the second inter-vehicle distance, the brake is not actuated and the first and second inter-vehicle distances are reduced. In this case, the brake is actuated for the first time, so that it is possible to prevent the brake from being automatically actuated at a timing unexpected by the driver, and to prevent rear-end collision as intended by the driver .

【0011】[0011]

【実施例】以下、図面を用いながら本発明に係る車両用
追突防止装置の好適な実施例を説明する。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a vehicle rear-end collision prevention apparatus according to the present invention will be described below with reference to the drawings.

【0012】図1には本実施例の構成ブロック図が示さ
れている。車速センサ10、加速度センサ12、測距セ
ンサ14及びドプラセンサ16がそれぞれ車両の所定位
置に設けられ、自車速、自車の加速度、先行車との車間
距離及び先行車との相対速度を検出する。各センサから
の検出信号は電子制御装置ECU18に供給される。な
お、測距センサ14としてはレーザレーダ装置等を用い
ることができ、加速度センサの代わりに車速センサ10
にて検出された自車速を時間微分して加速度を検出して
も良く、またドプラセンサ16の代わり測距センサ14
にて検出された先行車との車間距離を時間微分して先行
車との相対速度を検出することもできる。
FIG. 1 is a block diagram showing the configuration of this embodiment. A vehicle speed sensor 10, an acceleration sensor 12, a distance measuring sensor 14, and a Doppler sensor 16 are provided at predetermined positions of the vehicle, respectively, and detect the own vehicle speed, the acceleration of the own vehicle, the inter-vehicle distance to the preceding vehicle, and the relative speed with the preceding vehicle. The detection signal from each sensor is supplied to the electronic control unit ECU18. Note that a laser radar device or the like can be used as the distance measuring sensor 14, and the vehicle speed sensor 10 is used instead of the acceleration sensor.
The acceleration may be detected by time-differentiating the own-vehicle speed detected by the control unit.
It is also possible to detect the relative speed with respect to the preceding vehicle by time-differentiating the inter-vehicle distance with respect to the preceding vehicle detected by.

【0013】ECU18は各センサからの検出信号を入
力するI/Oポートと演算プログラムが格納されたRO
M、このプログラムに従い後述する演算処理を行うCP
U、演算結果を記憶するRAM等を内蔵しており、検出
された自車速や相対速度及び車間距離に基づきブレーキ
により先行車との追突防止可能な第1車間距離xB 及び
ステアリング操作により先行車との追突防止可能な第2
車間距離xS を算出する。そして、測距センサ14にて
検出された車間距離とこれら第1、第2車間距離xB
S との大小比較を行い、比較結果に応じて警報装置2
0を作動させ、あるいは自動ブレーキ装置22を作動さ
せて追突防止を図る構成である。なお、ECU18には
アクセルSW24及びブレーキSW26からの検出信号
も供給され、車両運転者がアクセルを操作した場合に自
動ブレーキ装置22の作動を解除するとともに、車両運
転者がブレーキを自発的に操作した場合に自動ブレーキ
装置22を作動させ減速する。
The ECU 18 has an I / O port for inputting a detection signal from each sensor and an RO for storing an arithmetic program.
M, a CP that performs arithmetic processing described below according to this program
U, the operation result has a built-in RAM for storing the detected vehicle speed and the relative speed and the preceding vehicle by a rear-end collision preventing possible first inter-vehicle distance x B and the steering operation to the preceding vehicle by the brake on the basis of the following distance The second that can prevent rear-end collision with
To calculate a vehicle-to-vehicle distance x S. Then, the inter-vehicle distance detected by the distance measurement sensor 14 and the first and second inter-vehicle distances x B ,
performs comparison between x S, alarm device according to the comparison result 2
0 or the automatic brake device 22 is operated to prevent rear-end collision. Note that detection signals from the accelerator SW 24 and the brake SW 26 are also supplied to the ECU 18, and when the vehicle driver operates the accelerator, the operation of the automatic brake device 22 is released, and the vehicle driver voluntarily operates the brake. In this case, the automatic brake device 22 is operated to decelerate.

【0014】以下、図2のフローチャートを用いてこの
ECU18の動作をより詳細に説明する。なお、説明の
便宜上、各変数は以下のように定義される。
Hereinafter, the operation of the ECU 18 will be described in more detail with reference to the flowchart of FIG. For convenience of explanation, each variable is defined as follows.

【0015】a0 :自車の加速度 τ :遅れ時間 b0 :横加速度 a1 :先行車の加速度 v0 :自車速 Δv:相対速度 Δx:先行車との車間距離 まず、a0 、τ、b0 を初期化する(S101)。そし
て、各センサ10〜16からの検出信号を入力する。す
なわち、車速センサ10からv0 、加速度センサ12か
らa0 、測距センサ14からΔx、ドプラセンサ16か
らΔvを入力する(S102)。なお、先行車の加速度
1 は自車の加速度a0 と相対速度Δvからa1 =a0
−d(Δv)/dtにより算出される。
A 0 : acceleration of own vehicle τ: delay time b 0 : lateral acceleration a 1 : acceleration of preceding vehicle v 0 : own vehicle speed Δv: relative speed Δx: inter-vehicle distance with preceding vehicle First, a 0 , τ, the b 0 is initialized (S101). Then, detection signals from the sensors 10 to 16 are input. That is, v 0 from the vehicle speed sensor 10, a 0 from the acceleration sensor 12, Δx from the distance measurement sensor 14, and Δv from the Doppler sensor 16 are input (S102). Note that the acceleration a 1 of the preceding vehicle is calculated as a 1 = a 0 from the acceleration a 0 of the own vehicle and the relative speed Δv.
It is calculated by −d (Δv) / dt.

【0016】そして、ECU18はこれら各検出信号に
基づきブレーキにより追突防止可能な第1車間距離xB
及びステアリング操作により追突防止可能な第2車間距
離xS を算出する(S103、S104)。
The ECU 18 determines a first inter-vehicle distance x B capable of preventing a rear-end collision by a brake based on these detection signals.
And calculating the second headway distance x S possible rear-end collision prevention by the steering operation (S103, S104).

【0017】第1車間距離xB は先行車が停止後に追突
する可能性及び先行車が減速中に追突する可能性を考慮
し、以下のように算出される。
[0017] The first inter-vehicle distance x B considers the possibility that potential and the preceding vehicle preceding vehicle rear-end after stopping to collision during deceleration is calculated as follows.

【0018】[0018]

【数1】 (Equation 1)

【数2】 ただし、t0 =(Δv+a0 τ)/(a0 −a1 )であ
る。
(Equation 2) Here, t 0 = (Δv + a 0 τ) / (a 0 −a 1 ).

【0019】一方、ステアリング操作により追突防止可
能な第2車間距離xS は、停止している先行車に自車が
速度v0 で接近し、ある地点から時刻τ後に横加速度b
0 で回避する場合を想定し、このステアリング操作によ
り先行車に追突しないためにステアリング操作開始すべ
き最小車間距離として算出される。図3には先行車20
0及び自車100の位置関係が示され、また時間τ、実
際にステアリング操作が開始される距離R1 及び求める
第2車間距離xS の関係が示されている。なお、車幅及
び道幅はlに設定されている。ステアリング操作を行っ
た時の自車の軌跡を図4に示されるように半径rの円周
で近似した場合、幾何学的関係より
On the other hand, the second inter-vehicle distance x S at which the rear-end collision can be prevented by the steering operation is equal to the lateral acceleration b at a time τ after the vehicle approaches the stopped preceding vehicle at a speed v 0.
Assuming a case of avoiding at 0 , this is calculated as the minimum inter-vehicle distance at which the steering operation should be started so as not to collide with the preceding vehicle by this steering operation. FIG.
0 and the positional relationship between the host vehicle 100 and the relationship between the time τ, the distance R 1 at which the steering operation is actually started, and the second inter-vehicle distance x S to be obtained are shown. Note that the vehicle width and the road width are set to l. When the trajectory of the own vehicle when the steering operation is performed is approximated by the circumference of the radius r as shown in FIG.

【数3】 となる。従って、図3より、求める第2車間距離x
S は、
(Equation 3) Becomes Therefore, from FIG. 3, the second inter-vehicle distance x to be obtained is obtained.
S is

【数4】 となる。(Equation 4) Becomes

【0020】図5にはa0 =1.0G、τ=0、a1
0.5G、b0 =0.8Gとした場合のxB とxS が示
されている。図5において横軸はv0 (自車速)であ
り、縦軸は距離である。またパラメータにはΔv、すな
わち相対速度が用いられている。相対速度が50km/
h及び60km/hの時には、自車速が高速の領域にお
いてxB とxS とが逆転していることがわかる。従っ
て、従来のように単に車間距離が危険距離となった場合
にブレーキを作動させる構成では、高速域においてブレ
ーキ作動させなくてもステアリング操作のみで追突防止
できる距離であるにもかかわらず、ブレーキ作動してし
まうことになる。そこで、本実施例においては、第1車
間距離xB とxS の小さい方と検出された車間距離Δx
とを比較している(S105)。そして、xB とxS
小さいほうよりも車間距離Δxが大きい場合には自動ブ
レーキ装置22を作動させない(S106)。ただし、
B 、xS のいずれか大きいほうよりも車間距離Δxが
小さくなった場合には、運転者に注意を与えるべく警報
装置20を作動させて警報を与える。一方、車間距離Δ
xがxB 、xS の小さい方より小さくなった場合には、
初めて自動ブレーキ装置22を作動させて追突防止を図
る(S107)。
FIG. 5 shows that a 0 = 1.0 G, τ = 0, a 1 =
0.5G, b 0 = 0.8G and x B and x S in the case of is shown. In FIG. 5, the horizontal axis is v 0 (own vehicle speed), and the vertical axis is distance. Further, Δv, that is, the relative speed is used as the parameter. The relative speed is 50km /
When the h and 60 km / h it is understood that the vehicle speed is reversed and the x B and x S in a high-speed region. Therefore, in the conventional configuration in which the brake is actuated only when the inter-vehicle distance becomes a dangerous distance, the brake operation is performed in the high-speed range even if the rear-end collision can be prevented only by the steering operation without the brake actuation. Will be done. Accordingly, in this embodiment, the first inter-vehicle distance x B and x S the smaller the detected inter-vehicle distance Δx
(S105). Then, not activate the automatic brake device 22 when the inter-vehicle distance Δx is greater than the smaller of x B and x S (S106). However,
x B, when the inter-vehicle distance Δx than whichever larger x S becomes small, gives a warning to operate the warning device 20 to give attention to the driver. On the other hand, the inter-vehicle distance Δ
when x is smaller than the smaller of x B, x S is
The automatic brake device 22 is actuated for the first time to prevent rear-end collision (S107).

【0021】なお、低速においてはxBがxSよりも小
さいので、車間距離ΔxがxB以下となった場合に自動
ブレーキ装置22が作動することになる。
[0021] Incidentally, since the x B at the time of low speed smaller than x S, so that the automatic brake device 22 is actuated when the inter-vehicle distance Δx is equal to or less than x B.

【0022】このように、本実施例においてはステアリ
ング操作により追突防止可能な場合には自動ブレーキを
作動させずステアリング操作により追突防止を図るの
で、運転者が予期しないタイミングで自動ブレーキが作
動することを防いで運転フィーリングの悪化を防止す
とができる。
As described above, in the present embodiment, when the rear-end collision can be prevented by the steering operation, the rear-end collision is prevented by the steering operation without operating the automatic brake, so that the automatic brake is operated at a timing unexpected by the driver. that to prevent the deterioration of the operation feeling to prevent
Can and child.

【0023】[0023]

【発明の効果】以上説明したように、本発明の車両用追
突防止装置によれば、運転フィーリングを悪化させるこ
となく、かつ先行車及び後続車との追突防止を図ること
ができ、車両走行の安全性を一層向上させることができ
る。
As described above, according to the vehicle rear-end collision prevention apparatus of the present invention, it is possible to prevent rear-end collision with the preceding vehicle and the following vehicle without deteriorating the driving feeling, Can be further improved.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の一実施例の構成ブロック図である。FIG. 1 is a configuration block diagram of an embodiment of the present invention.

【図2】同実施例におけるECUの処理フローチャート
である。
FIG. 2 is a processing flowchart of an ECU in the embodiment.

【図3】同実施例における第2車間距離の算出説明図で
ある。
FIG. 3 is an explanatory diagram of calculating a second inter-vehicle distance in the embodiment.

【図4】同実施例における第2車間距離の算出説明図で
ある。
FIG. 4 is an explanatory diagram of calculating a second inter-vehicle distance in the embodiment.

【図5】同実施例における第1車間距離と第2車間距離
との関係を示すグラフ図である。
FIG. 5 is a graph showing a relationship between a first inter-vehicle distance and a second inter-vehicle distance in the embodiment.

【符号の説明】[Explanation of symbols]

10 車速センサ 12 加速度センサ 14 測距センサ 16 ドプラセンサ 18 ECU 20 警報装置 22 自動ブレーキ装置 24 アクセルSW 26 ブレーキSW Reference Signs List 10 vehicle speed sensor 12 acceleration sensor 14 distance measuring sensor 16 Doppler sensor 18 ECU 20 alarm device 22 automatic brake device 24 accelerator switch 26 brake switch

───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7,DB名) B60R 21/00 627 B60R 21/00 624 B60R 21/00 626 B60T 7/12 G08G 1/16 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. 7 , DB name) B60R 21/00 627 B60R 21/00 624 B60R 21/00 626 B60T 7/12 G08G 1/16

Claims (1)

    (57)【特許請求の範囲】(57) [Claims]
  1. 【請求項1】 自車速検出手段と、 先行車との車間距離を検出する車間距離検出手段と、 先行車との相対速度を検出する相対速度検出手段と、 自車速、車間距離及び相対速度に基づきブレーキにより
    先行車への追突を防止できる第1車間距離及びステアリ
    ング操作により先行車への追突を防止できる第2車間距
    離を算出する演算手段と、 検出された車間距離が前記第1車間距離及び第2車間距
    離以下となった時にブレーキを自動作動させる制御手段
    と、 を有することを特徴とする車両用追突防止装置。
    1. a vehicle speed detecting means, a vehicle distance detecting means for detecting a vehicle distance with a preceding vehicle, a relative speed detecting means for detecting a relative speed with a preceding vehicle, and a vehicle speed, a vehicle distance and a relative speed. Calculating means for calculating a first inter-vehicle distance that can prevent a rear-end collision with a preceding vehicle by a brake and a second inter-vehicle distance that can prevent a rear-end collision with a preceding vehicle by a steering operation, based on the first inter-vehicle distance and the detected inter-vehicle distance; A control means for automatically operating a brake when the distance becomes equal to or less than a second inter-vehicle distance.
JP05081815A 1993-04-08 1993-04-08 Rear-end collision prevention device for vehicles Expired - Lifetime JP3104463B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP05081815A JP3104463B2 (en) 1993-04-08 1993-04-08 Rear-end collision prevention device for vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP05081815A JP3104463B2 (en) 1993-04-08 1993-04-08 Rear-end collision prevention device for vehicles

Publications (2)

Publication Number Publication Date
JPH06298022A JPH06298022A (en) 1994-10-25
JP3104463B2 true JP3104463B2 (en) 2000-10-30

Family

ID=13757000

Family Applications (1)

Application Number Title Priority Date Filing Date
JP05081815A Expired - Lifetime JP3104463B2 (en) 1993-04-08 1993-04-08 Rear-end collision prevention device for vehicles

Country Status (1)

Country Link
JP (1) JP3104463B2 (en)

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