JP3142639B2 - Vehicle safety equipment - Google Patents

Abstract

PURPOSE:To start the operation of a safety device at an optimum timing as much as possible according to various traveling condition in the safety device of a vehicle where an automatic braking device, an alarming device or the like are provided in order to stop the vehicle at the vehicle stopping position such as the once-stop line on the traveling road. CONSTITUTION:A safety device consists of a safety device body 2 consisiting of an automatic braking device 2a and an alarming device 2b, a vehicle stopping position detecting means 4 to detect the vehicle stopping position, a control means 8 to operate the safety device body 2 so as to stop the vehicle at the vehicle stopping position, and an operation starting condition changing means 10 to change the operation starting condition of the safety device body 2 in the control means 8 according to the acceleration/deceleration condition of the vehicle and the vehicle speed operating condition. The operation starting condition can greatly be changed according to the vehicle speed operating condition, and at the same time, can less be changed according to the acceleration/ deceleration condition of the vehicle for the respective vehicle speed operating conditions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a vehicle stop position on a traveling road, and automatically applies braking (brake) or driving at a predetermined timing to surely stop the vehicle at the vehicle stop position. The present invention relates to a vehicle safety device that issues an alarm to cause a driver to apply braking.

[0002]

2. Description of the Related Art Conventionally, a vehicle stop position on a traveling road is detected, and braking is automatically performed at a predetermined timing or a driver is braked so as to surely stop the vehicle at the vehicle stop position. Therefore, a vehicle safety device that issues an alarm or the like has been considered. For example, JP-A-60-18
No. 9100 discloses a vehicle safety system that detects a vehicle stop position on a traveling road, issues an alarm at a predetermined timing to surely stop the host vehicle at the vehicle stop position, and applies a brake to a driver. An apparatus is disclosed.

[0003]

By the way, in order to surely stop the own vehicle at the vehicle stop position which has been conventionally considered, the vehicle is automatically braked at a predetermined timing or the driver is braked. Therefore, in a vehicle safety device that issues an alarm, the condition for starting the operation of the safety device, that is, the condition for starting automatic braking and the condition for starting an alarm are usually fixed. It is merely considered that the operation start condition is changed in accordance with the vehicle speed or the friction coefficient of the traveling road surface.
More specifically, for example, a distance between the host vehicle and the vehicle stop position is generally used as the operation start condition of the safety device, and the distance is equal to or less than a predetermined threshold value. Is configured to activate the safety device,
In that case, the threshold value is merely considered to be fixed or changed at most according to the own vehicle speed or the friction coefficient of the running road surface.

[0004] However, in order to reliably stop the vehicle at the vehicle stop position, an operation start condition for determining at least a time at which the operation of the safety device must be started, for example, the vehicle and the vehicle stop position must be determined. When it is necessary to start the operation of the safety device when the distance between the vehicle and the vehicle decreases to at least a predetermined threshold value, the predetermined threshold value is not always uniform, but depends on the vehicle speed and the coefficient of friction of the running road surface. It changes according to not only the own vehicle speed and the friction coefficient of the running road surface but also various running states of the own vehicle.

[0005] Therefore, if the operation start condition of the safety device is fixed or changed at most according to the own vehicle speed or the friction coefficient of the running road surface as in the above-mentioned conventional safety device, it is always necessary to respond to various driving conditions. It is difficult to start the safety device at the optimal timing.In some cases, the safety device is activated too early and the driver tries to apply braking, but the safety device operates and the driver feels uncomfortable or uncomfortable. There are problems such as a feeling of pleasure or an operation that is too slow to reliably stop at the vehicle stop position.

In view of the above circumstances, an object of the present invention is to provide a vehicle safety device capable of starting operation of the safety device at an optimal timing as much as possible according to various driving conditions. .

[0007]

In order to achieve the above object, a vehicle safety device according to the present invention has a safety device main body for braking a host vehicle and a vehicle stop position for detecting a vehicle stop position. A vehicle safety device comprising: a detection unit; and a control unit that operates the safety device main body so that the vehicle can be stopped at the vehicle stop position based on the detection of the vehicle stop position by the vehicle stop position detection unit. The safety device main body is located at the vehicle stop position of the host vehicle.
Activated when the distance at has reached the first set distance
A second alarm device that is shorter than the first set distance.
An automatic braking device that can be activated when a fixed distance is reached
And the safety device in the control means.
The operation start conditions of the main body are
Changes and the acceleration / deceleration status of the host vehicle for each vehicle speed operation state.
Depending on the situation, it may be smaller than the change according to the vehicle speed operation state.
An operation start condition changing means for changing the operation start time;
Operating the condition changing means at the first and second set distances;
When the accelerator is operated by the driver, otherwise
Longer and the brake is operated
Change it to be shorter than you would otherwise
It is characterized by the following .

[0008]

Operation and Effect of the Invention As described above, the operation start condition of the safety device main body for surely stopping the own vehicle at the vehicle stop position, for example, between the own vehicle to start the operation of the safety device main body and the vehicle stop position. The distance between them is not always uniform and varies according to the own vehicle speed and the coefficient of friction of the running road surface. In addition to the own vehicle speed, various driving states of the own vehicle, particularly, the acceleration / deceleration state of the own vehicle And also changes depending on the driver's vehicle speed operation state.

However, the vehicle safety device according to the present invention changes the operation start condition of the safety device body according to the acceleration / deceleration state of the own vehicle and the vehicle speed operation state of the driver as described above. Therefore, the operation of the safety device can always be started at an optimal timing in accordance with the condition, and the driver can be surely secured without causing the driver to feel uncomfortable or uncomfortable.

Further, when the operation start condition of the safety device body is changed depending on the acceleration / deceleration state of the own vehicle and the driver's vehicle speed operation state, the operation start condition is largely changed according to the driver's vehicle speed operation state. At the same time, the driver's recognition is prioritized by changing the vehicle speed operation state to a small value according to the acceleration / deceleration state of the own vehicle, that is, changing the acceleration / deceleration state of the own vehicle as the main operation state. As a result, the operation start conditions can be changed, and more secure vehicle safety can be ensured, and the driver's discomfort and discomfort regarding the operation of the safety device main body can be further reduced.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a first embodiment of a vehicle safety device according to the present invention.
FIG. 2 is a block diagram showing an embodiment, and FIG. 2 is a plan view showing a relationship between a vehicle stop position, a road marker, a host vehicle, and a preceding vehicle.

The embodiment shown in FIG. 1 includes a safety device main body 2 for braking the own vehicle, vehicle stop position detecting means 4 for detecting a vehicle stop position, and a vehicle and a vehicle located in front of the own vehicle. Vehicle interval detecting means 6 for detecting a distance to a preceding vehicle, and a vehicle stopping position based on the detection of the vehicle stopping position and the distance between the own vehicle and the preceding vehicle. Control means 8 for operating the safety device main body 2 so that the own vehicle can avoid contact with the front vehicle; and the safety device main body 2 in the control means 8
The operation start condition changing means 10 changes the operation start condition of the vehicle according to the acceleration / deceleration state of the own vehicle and the vehicle speed operation state of the driver.

The safety device main body 2 is for causing the own vehicle to be braked. In this embodiment, an automatic braking device 2a for automatically braking the own vehicle and a braking operation for the driver of the own vehicle are performed. And an alarm device 2b that issues an alarm to alert the user. The alarm device 2b is set to be activated before the automatic braking device 2a starts operating.

The vehicle stop position detecting means 4 detects a position where the vehicle should temporarily stop, for example, a position before the intersection where there is no vehicle stop line or a vehicle stop line at the intersection but there is no stop line. In the embodiment, the traveling road surface
Road marker reading means for reading from the road marker 32 distance information L's to the vehicle stop line 30 magnetically written on the road marker 32 provided a predetermined distance before the vehicle stop line 30 at the intersection 28 on the road 26 It is constituted by.

The vehicle interval detecting means 6 detects the distance Ll between the host vehicle 34 and the front vehicle 36 located in front of the host vehicle 34, and emits, for example, laser, radio waves, ultrasonic waves, or the like. Can be used to detect the inter-vehicle distance Ll from the preceding vehicle based on the time taken to receive and receive the reflection from the preceding vehicle.

The control means 8 can stop at the vehicle stop line 30 based on the detection of the distance L's to the vehicle stop line 30 and the detection of the distance Ll between the host vehicle 34 and the preceding vehicle 36. And the safety device main body 2 is operated so as to avoid contact with the front vehicle 36. Therefore, the self-vehicle speed detection means for detecting the own vehicle speed V0 together with the vehicle stop position detection means 4 and the vehicle interval detection means 6 12. The output from the road surface μ detecting means 14 for detecting the friction coefficient μ of the traveling road surface is input.

The control means 8 receives the input L's,
Based on L1, V0, and μ, the vehicle 34 moves to the vehicle stop line 30.
Police alerting the driver to brake to stop
Warning start distance L'2 to be notified(First set distance)
Automatically stops the vehicle 34 at the vehicle stop line 30.
Automatic braking start distance L'0 at which to start moving(Second set distance
Release)To avoid contact of the host vehicle 34 with the front vehicle 36
An alarm that should alert the driver to apply braking
Avoid the start distance L2 and the contact of the own vehicle 34 with the front vehicle 36.
Automatic braking start distance L0 to start automatic braking
And an alarm for avoiding contact of the own vehicle 34 with the front vehicle 36
And the release distance L3 at which the automatic braking should be released,
And the distance L'1 between the vehicle 34 and the vehicle stop line 30 is calculated.
You.

L'0 and L'2 are calculated by a predetermined arithmetic expression based on the input vehicle speed V0 and road friction coefficient μ, and an alarm is issued before automatic braking is applied. L'2>L'0. The above L0, L2
And L3 are calculated based on the input own vehicle speed V0, road surface friction coefficient μ, and relative speed V1 between the own vehicle and the preceding vehicle, and L3 is set so that an alarm is issued before automatic braking is applied.
2> L0 and L3> L0, L2. The relative speed V1 is calculated by differentiating L1 with time. L'1 is calculated by calculating the running distance l'1 from the road marker 32 by time integration of the own vehicle speed V0.
It is calculated by subtracting l'1 from L's.

When the L'1 is smaller than L'2 or L1 is smaller than L2, the control means 8 activates the alarm device 2b, and L'1 is smaller than L'0 or L1.
Is smaller than L0, the automatic braking device 2a is activated, and if L1 is larger than L3, the safety device main body 2 releases the alarm of the alarm device 2b and the automatic braking of the automatic braking device 2a.
Control.

The own vehicle speed detecting means 12 can use, for example, a speedometer provided in the own vehicle.
Further, the road surface μ detecting means 14, for example, emits light or the like toward the traveling road surface, receives regular reflection from the road surface, and detects the roughness of the traveling road surface, that is, the road surface μ based on the amount of the regular reflection. Can be used.

The operation start condition changing means 10 changes the operation start condition of the safety device main body 2. In this embodiment, only the alarm start distance L'2 for stopping the vehicle at the vehicle stop line 30 is changed. The change is largely changed according to the vehicle speed operation state of the driver, and is changed smaller according to the acceleration / deceleration state of the own vehicle for each vehicle speed operation state.

More specifically, the operation start condition changing means 10
Is provided in the control means 8, and outputs from an accelerator switch 16 for detecting depression of an accelerator pedal and a brake switch 18 for detecting depression of a brake pedal are input to the control means 8. State judgment means
20 and vehicle speed operation state determining means 22 are provided, and the acceleration / deceleration state determining means 20 determines the acceleration / deceleration by differentiating the vehicle speed V0 with respect to time, and determines whether the vehicle is in an acceleration state, a constant velocity state, or a deceleration state. An input to the operation start condition changing means 10 is made, and the vehicle speed operation state determining means 22 determines whether the accelerator pedal is depressed, the brake pedal is depressed or not (no pedal depressing) based on the outputs from the accelerator switch 16 and the brake switch 18. And
The result of the determination is input to the operation start condition changing means 10.

Then, the operation start condition changing means 10 selects the corresponding correction section I to IX from the correction section map shown in FIG. 6 based on the inputted acceleration / deceleration state and the vehicle speed operation state. Based on the correction sections I to IX, a correction amount L′ 2α corresponding to the correction section selected from the correction amount graph shown in FIG. 7 is obtained, and this correction amount L′ 2α is added to the above L′ 2, and the addition result is obtained. Replace with L'2, that is, change the alarm start distance L'2.

As is understood from FIGS. 6 and 7, the correction amount L'2α changes greatly depending on the vehicle speed operation state and changes small depending on the acceleration / deceleration state. The vehicle speed is changed to a large value according to the vehicle speed operation state, and is changed to a small value according to the acceleration / deceleration state. More specifically, the change of L'2 is such that, in the vehicle speed operation state, the brake is depressed, the brake is depressed, the accelerator is depressed in the order of L'2, that is, the alarm start timing is advanced. It is changed so that L'2 increases in the order of constant velocity and acceleration, that is, the alarm start timing is advanced.

Next, FIG. 3 is a flowchart showing a specific procedure of the operation of the apparatus shown in FIG.
This will be described with reference to FIGS.

First, at R1, the host vehicle 34 becomes a road surface marker.
It is determined whether or not 32 has been passed. If the vehicle has not passed, the program proceeds to R2 to execute basic control for avoiding contact with the preceding vehicle 36, where V0, .mu., And L1 are detected. Then, it is determined at R4 whether the relative speed V1 is positive or negative (the vehicle is approaching the preceding vehicle when it is positive, and it is distant when it is negative). If it is not small, proceed to the return. If it is small, an alarm is issued at R6. Then, it is determined at R7 whether L1 is smaller than L0. When it becomes small, apply automatic braking with R8. If the relative speed is smaller than 0 at R4, it is determined at R9 whether L1 is smaller than L3.
If L1 becomes more than L3, the alarm of R6 and R8 at R11
Release the automatic braking of.

Next, when the vehicle has passed the road marker 32 in the above R1, that is, the own vehicle is located on the road marker 32 as shown by a two-dot chain line in FIG. When it is determined that the vehicle has passed the road marker 32 by reading the road marker 32, the process proceeds to R12, where the road marker 32 is also written by reading the road marker 32 from the road marker 32 to the vehicle stop line 30. Is detected. Subsequently, V0, μ, and L1 are detected in R13, and L14 is detected in R14 by the above-described method.
0, L2, L'0, L'1, L'2 are calculated, the acceleration / deceleration state and the vehicle speed operation state are detected at R15, and based on the acceleration / deceleration state and the vehicle speed operation state at R16. The correction amount L'2α is calculated in accordance with the correction division map and the correction amount graph shown in FIGS. 2 and 7 described above, L'2 is changed by adding the correction amount L'2α at R17, and automatically changed at R18. Then, the brake pedal is turned on to notify the vehicle behind that the vehicle is about to stop.

Subsequently, it is determined at R19 whether or not the vehicle speed V0 is greater than 0. If the vehicle speed V0 is greater than 0, that is, if the vehicle has not stopped yet, L1-L2 is compared with L'1-L'2 at R20. Then, it is determined whether the degree of danger to the preceding vehicle or the level of the stop line is greater for the warning. If the degree of danger to the stop line is higher, that is, if L'1 -L'2 is smaller, For example, L'1 and L'2 are compared at R21. If the degree of danger to the preceding vehicle is large, that is, if L1-L2 is smaller, L1 and L2 are compared at R22. L '
If 1 and L1 are smaller than the alarm start distances L'2 and L2, respectively, an alarm is issued at R23, and if not, the process returns to R13.

After the alarm is issued, L1-L0 is output at R24.
Is compared with L'1 -L'0 to determine which danger is greater for the automatic braking. If the danger for the stop line is greater, L'1 and L'0 are determined at R25. If the degree of danger to the preceding vehicle is large, L1 and L0 are compared at R26. In each case, L'1 and L1 are smaller than the automatic braking start distances L'0 and L0, respectively. Automatic braking is applied at R27, and if not, the process returns to R13.

If V0 is not greater than 0 at R19, that is, if the vehicle has stopped, the process proceeds to R28, and it is determined whether an alarm or automatic braking is activated. If not, the brake lamp is turned off at R30. The process returns to the return, if it is activated, the operation is released at R29, the brake lamp is turned off at R30, and the process returns to the return.

FIG. 8 is a block diagram showing another embodiment of the vehicle safety device according to the present invention. This embodiment has the same configuration as that of the embodiment shown in FIG. 1 described above, and further includes a front vehicle position determining means 24 for determining whether or not a front vehicle exists between the host vehicle and the vehicle stop position. When there is a preceding vehicle, the operating start condition changing means 10 is used to set the operating start condition for stopping the own vehicle at the vehicle stop position to zero and only the operating start condition for avoiding contact with the preceding vehicle. The operation start condition of the safety device main body 2 is changed by the above operation.

The preceding vehicle position determining means 24 determines the own vehicle speed V0.
The distance l'1 from the road marker 32 is determined by the time integration of the vehicle, and the distance L'1 from the host vehicle to the stop line is calculated by subtracting l'1 from L's. Is compared with the distance L1 from the vehicle to the preceding vehicle. If L1>L'1, there is no preceding vehicle between the host vehicle and the vehicle stop position, and L1>
If it is not L'1, it is determined that the preceding vehicle exists. Also,
The operation start condition changing means 10 changes the operation start condition of the safety device main body 2 relating to the stop to the vehicle stop position based on the acceleration / deceleration state and the vehicle speed operation state as in the embodiment shown in FIG. As described above, the operation start condition of the safety device main body 2 relating to the stop to the vehicle stop position is changed to zero depending on whether or not the preceding vehicle exists between the vehicle stop position.

The components other than the front vehicle position judging means 24 and the operation start condition changing means 10 are basically the same as those shown in FIG. 1 and have the same functions, so that the description will be omitted.

Next, a specific operation procedure of the apparatus of the second embodiment shown in FIG. 8 will be described with reference to flowcharts shown in FIGS.

First, as in the case of the embodiment shown in FIG.
In S1, it is determined whether or not the vehicle has passed the road marker, and if not, the basic control for avoiding contact with the preceding vehicle shown in S2 to S11 (S10 is not performed) is performed. This basic control is the same as the control shown in the above-mentioned R2 to R11 (R10 is not provided), and thus the description is omitted.

If the vehicle has passed the road marker, S12
To detect L's, S13 to detect V0, .mu., And L1.
At step 14, L0, L2, L'0, L'1, L'2 are calculated, and S
The acceleration / deceleration state and the vehicle speed operation state are detected in 15 and L'2 in S16.
is calculated, and in S17, L'2 = L'2 + L'2α, and S1
Turn on the brake lamp at 8. These S12 to S18
Are the same as R12 to R18 described above, and a detailed description thereof will be omitted.

Subsequently, in S19, L1 and L'1 are compared.
If L1 is greater than L'1, there is no preceding vehicle between the host vehicle and the vehicle stop line. In this case, the operation start condition of the safety device main body 2 is set to an operation for stopping at the vehicle stop line. The operation control of the safety device main body 2 is performed only for the start condition, that is, only for stopping to the vehicle stop line.

That is, when L1 is greater than L'1, S20
To determine whether V0 is greater than 0. If V0 is greater than 0, determine in S21 whether L'1 is less than L'2. If not, return to S13. At S22, an alarm is issued. Then, at S23, it is determined whether L'1 is smaller than L'0. If L'1 is not smaller, the process returns to S13. If smaller, automatic braking is activated at S24 and the process returns to S13. When it is determined in S20 that V0 is not greater than 0, that is, when the vehicle is stopped, it is determined in S25 whether the alarm and the automatic braking are operating. If not, the brake lamp is turned off in S27. If they are operating, they are released in S26, the brake lamps are turned off in S27, and the flow proceeds to return.

If L1 is equal to or less than L'1 in S19, a front vehicle exists between the host vehicle and the vehicle stop line. In this case, the operation start condition of the safety device main body 2 is set to avoid contact with the front vehicle. The operation control of the safety device main body 2 is performed only for the operation start condition for the target vehicle, that is, only for the avoidance of contact with the front vehicle.

That is, when L1 is equal to or less than L'1, it is determined in S28 whether V0 is larger than 0, and if V0 is larger than 0, S2 is determined.
In step 29, it is determined whether or not L1 is smaller than L2. If not, the process returns to step S13. If it is smaller, an alarm is issued in step S30.
To determine whether L1 is smaller than L0. If not, S
Returning to S13, if it is small, the automatic braking is activated in S32 and S13
Return to When it is determined in S28 that V0 is not greater than 0, that is, when the vehicle is stopped, it is determined in S25 whether the alarm and the automatic braking are operating. If not, the brake lamp is turned off in S27. If they are operating, they are released in S26, the brake lamps are turned off in S27, and the flow proceeds to return.

In the first and second embodiments, it is not always necessary to change the operation start condition of the safety device main body 2 based on both the acceleration / deceleration state and the vehicle speed operation state. It may be changed on the basis of the vehicle speed operation state. Further, in any case, the change may be made in consideration of other vehicle running conditions and the like. Further, as the vehicle speed operation state, not only whether the accelerator pedal or the brake pedal is depressed, but also, for example, the operation state of the transmission can be adopted.

In the first and second embodiments, the safety device main body 2 does not necessarily include the automatic braking device 2a and the alarm device 2b.
It is not necessary to constitute the automatic braking device 2a or the alarm device 2b alone, or may be another device for stopping the vehicle at the vehicle stop position. May be used.

In the first and second embodiments, the change of the operation start condition of the safety device main body 2 is performed by the automatic braking device 2a.
May be changed, or the operation start conditions of both the automatic braking device 2a and the alarm device 2b may be changed. In short, it is only necessary to change the operation start conditions for all or any part of the components of the safety device main body 2.

In the first and second embodiments, the detection of the vehicle stop position does not necessarily require the detection of the distance to the vehicle stop position. For example, it is only required that the vehicle stop position is located at a predetermined position ahead of the vehicle. What is detected may be used. In this case, for example, the presence of the vehicle stop position at a predetermined position ahead is detected by a road marker or the like, and the safety device main body 2 is activated at a time when a predetermined time has elapsed from the detection time or when the vehicle has traveled a predetermined distance. Configured to
In this case, the operation start condition, that is, the predetermined time or the predetermined distance traveling (these may be determined based on the own vehicle speed or the road surface μ) may be changed based on the acceleration / deceleration state or the vehicle speed operation state.

In the first and second embodiments, the vehicle stop position detecting means 4 is not limited to the above-mentioned road marker reading means, but may be various other means such as a predetermined vehicle stop position on a running road surface. It can be constituted by receiving means for receiving radio waves having information indicating that the vehicle stop position transmitted from the transmitting means provided in front of the distance is at a predetermined position in front and information on the distance to the vehicle stop position. .

Further, in the second embodiment, the operation start condition is changed when the preceding vehicle is present at least between the host vehicle and the vehicle stop position so that the host vehicle stops at the vehicle stop position. It is sufficient to change the operation start condition based on only the operation start condition for setting the operation start condition to zero and avoiding contact of the own vehicle with the front vehicle, and changing the operation start condition based on the acceleration / deceleration state and the vehicle speed operation state. It can be done arbitrarily.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of a vehicle safety device according to the present invention.

FIG. 2 is a plan view showing a positional relationship between a vehicle stop position, a road marker, a host vehicle, and a preceding vehicle.

FIG. 3 is a flowchart showing an operation procedure of the embodiment shown in FIG. 1;

FIG. 4 is a flowchart showing an operation procedure of the embodiment shown in FIG. 1;

FIG. 5 is a flowchart showing an operation procedure of the embodiment shown in FIG. 1;

FIG. 6 is a diagram showing a correction division map used when changing an operation start condition.

FIG. 7 is a diagram showing a correction amount graph used when changing an operation start condition.

FIG. 8 is a block diagram showing a second embodiment of the vehicle safety device according to the present invention.

FIG. 9 is a flowchart showing an operation procedure of the embodiment shown in FIG. 8;

FIG. 10 is a flowchart showing an operation procedure of the embodiment shown in FIG. 8;

FIG. 11 is a flowchart showing an operation procedure of the embodiment shown in FIG. 8;

[Explanation of symbols]

 2 Safety device body 2a Automatic braking device 2b Alarm device 4 Vehicle stop position detecting means 6 Vehicle interval detecting means 8 Control means 10 Operation start condition changing means 30 Vehicle stopping position 32 Road marker 34 Own vehicle 36 Previous vehicle

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomohiko Adachi 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (56) References JP-A-3-271999 (JP, A) JP-A-63 -127400 (JP, A) Japanese Utility Model Showa 64-50157 (JP, U) Japanese Patent Publication No. 46-41769 (JP, B1) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60T 7/12 G08G 1/09

Claims (1)

(57) [Claims] 1. A safety device body for braking a vehicle, a vehicle stop position detecting means for detecting a vehicle stop position, and a vehicle stop position detection means for detecting the vehicle stop position. Control means for operating the safety device main body so that the host vehicle can be stopped at a stop position.
Activated when distance reaches first set distance
An alarm device, and a second set distance shorter than the first set distance.
With an automatic braking device that can be activated when released.
And, the safety device operation start condition of the body in said control means, along with changes to in accordance with the vehicle speed operation condition of the driver, depending on the acceleration or deceleration state of the vehicle for each vehicle operating conditions, of the
Comprising an actuation start condition changing means for changing smaller than changes according to the vehicle speed operation state, the operation start condition changing means, the first and second set of
The distance is set when the driver operates the accelerator.
And make sure that the brakes are
Make it shorter when it's done than when it's not
A vehicle safety device characterized in that the safety device is changed to: