JP3455777B2 - Inter-vehicle maintenance support device using forward road surface information - Google Patents
Inter-vehicle maintenance support device using forward road surface informationInfo
- Publication number
- JP3455777B2 JP3455777B2 JP2000356994A JP2000356994A JP3455777B2 JP 3455777 B2 JP3455777 B2 JP 3455777B2 JP 2000356994 A JP2000356994 A JP 2000356994A JP 2000356994 A JP2000356994 A JP 2000356994A JP 3455777 B2 JP3455777 B2 JP 3455777B2
- Authority
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- Prior art keywords
- vehicle
- distance
- inter
- road surface
- change point
- Prior art date
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Description
【発明の詳細な説明】
【０００１】
【発明の属する技術分野】この発明は、路側の路面状況
センサーと路車間通信装置を具備した道路に、路車間通
信の受信装置、前方車間距離計測装置、およびドライバ
への情報提供と車両の制御装置を備えた車両が走行する
際に、前方を走行している車両に対して安全な車間距離
になるようにする車の車間保持支援装置に関するもので
ある。
【０００２】
【従来の技術】前記のような車間保持支援装置は、車両
が前方を走行している車両に対して安全な車間距離が保
持できなくなることが予想されるときに、ドライバへ警
報や操作支援を行うことにより、前方を走行する車両に
対して安全な車間距離を保持できるようにするものであ
る。安全な車間距離かどうかを判断するためには、車両
の制動距離を予測しなければならない。路面状況が一定
ならば、現在の路面状況から制動距離の予測も容易であ
るが、路面状態が途中で変化する場合は、制動距離の予
測が困難になる。
【０００３】
【発明が解決しようとする課題】この発明は、上記の問
題点を解決するために提案されたものであり、その目的
とするところは、前方の路面状況の変化点の位置を用い
て車両の制動距離を予測し、適切なタイミングでドライ
バに警報や操作支援を行うことのできる車間保持支援装
置を提供することである。
【０００４】
【課題を解決するための手段】前記の目的を達成するた
め、この発明は、基点マーカを具備した道路を走行し、
前方の路面状況に関する情報を通信により入手可能な車
に備えられる車間保持支援装置おいて、自車の基点マー
カからの積算走行距離と速度、先行車との車間距離、お
よび路面状況とその変化点の位置を入力し、式（１）に
基づき先行車の速度を算出し、式（２）に基づき自車と
先行車との相対速度を算出し、路面状況変化点がない場
合および路面状況変化点を通過前は式（３）に基づいて
最小車間距離を算出し、路面状況変化点を通過後は式
（４）に基づいて最小車間距離を算出し、式（５）、
（６）に基づいて車間確保距離を算出し、路面変化点の
位置から自車の位置および車間確保距離を減じて車間確
保余裕距離を算出する制動距離予測装置と、車間確保余
裕距離が０以下となった場合に、ドライバに情報提供す
る情報提供装置とを有することを特徴とする。
ただし、ＶＢ：先行車の速度、Ｖ：自車の速度、ｌ1：
先行車との車間距離、ｌ2：ｓ秒後の先行車との車間距
離
ただし、Ｖ０：自車と先行車との相対速度、ｌ1：先行
車との車間距離、ｌ2：ｓ秒後の先行車との車間距離
ただし、Ｌ：路面状況変化点を通過前の最小車間距離、
Ｖ：自車の速度、t0:空走時間、t１：制動立ち上がり時
間、t２：システム余裕時間、α：路面状況変化点を通
過前の減速度、β：先行車の減速度（路面状況変化点を
通過前）、ＶＢ：先行車の速度
ただし、Ｌ′：路面状況変化点を通過後の最小車間距
離、Ｖ：自車の速度、t0:空走時間、t１：制動立ち上が
り時間、t２：システム余裕時間、α′：路面状況変化
点を通過後の減速度、β′：先行車の減速度（路面状況
変化点を通過後）、ＶＢ：先行車の速度
ただし、Ｌｃ：車間確保距離、Ｌ′：路面状況変化点を
通過後の最小車間距離、ＶＢ：先行車の速度、t0:空走
時間、t１：制動立ち上がり時間、t３：減速継続時間、
t４：制動立ち下がり時間、ｌ2：ｓ秒後の先行車との車
間距離
ただし、Ｌ′：路面状況変化点を通過後の最小車間距
離、Ｖ０：自車と先行車との相対速度、t0:空走時間、t
１：制動立ち上がり時間、t３：減速継続時間、t４：制
動立ち下がり時間、γ：車間調整時の減速度、ｌ2：ｓ
秒後の先行車との車間距離
【０００５】
【発明の実施の形態】この発明の一実施の形態を図面を
参照して説明する。図１は実施の形態の全体構成を示し
ている。図１において、Ａは制御手段であり、制動距離
予測装置１とドライバへの情報提供装置２からなってい
る。次に、制動距離予測装置１について詳細に説明す
る。制動距離予測に必要なデータのうち、路車間通信装
置３から得られるのは、路面状況、およびその変化点の
位置である。また、車載センサー４から得られるのは前
方車間距離である。制動距離予測装置１は、これらのデ
ータに加えて、自車の位置、速度を保持、管理する。車
両および路面状況変化点の位置は、基点マーカからの道
のりで表される。また、設定バラメータとして、空走時
間、制動立ち上がり時間、システム余裕時間、制動立ち
下がり時間、車間調整時の減速度を保持する。
【０００６】制動距離予測装置１の動作を図２のフロー
チャートに従って説明する。以下の説明では、
Ｌ ：路面状況変化点を通過前の最小車間距離
Ｌ′：路面状況変化点を通過後の最小車間距離
Ｖ ：車の速度
t0 ：空走時間
t1 ：制動立ち上がり時間
t2 ：システム余裕時間
t4 ：制動立ち下がり時間
α ：路面状況変化点を通過前の減速度
α′：路面状況変化点を通過後の減速度
β ：先行車の減速度（路面状況変化点を通過前）
β′：先行車の減速度（路面状況変化点を通過後）
γ ：車間調整時の減速度
とする。α、α′、β、β′、は路面状況に応じた値を
用いる。
【０００７】まず、先行車の速度および相対速度を推定
する。前方車両の速度ＶBは、次の式で与えられる。
【０００８】
【数１】ここで、ｌ1およびｌ2はそれぞれ前方車間距離および、
ｓ秒後の前方車間距離である。また、先行車との相対的
速度はＶ0は、次の式とする。
【０００９】
【数２】
【００１０】次に、最小車間距離を算出する。路面状況
変化点が無い場合、あるいは路面状況変化点を通過前の
最小車間距離Ｌは、次の式で算出する。
【００１１】
【数３】
また、路面状況変化点を通過後の最小車間距離はＬ′
は、次の式で算出する。
【００１２】
【数４】
その後、車間確保距離の算出を行う。車間確保距離ＬC
は、次の式で与えられる。
【００１３】
【数５】
ここで、減速継続時間t3は、次の式の通りである。
【００１４】
【数６】
車間確保余裕距離は、
（車間確保余裕距離）＝（路面変化点の位置）−（自車
両位置）−Ｌｃ
で計算する。車間確保余裕距離が０以下の場合、ドライ
バへの情報提供装置２がドライバに警報を出力する。車
間確保余裕距離が０より大きくなったら、警報出力を中
止する。操作支援を行う場合の判断も警報の場合と同様
に行う。操作支援の場合、空走時間、制動立ち上がり時
間、制動立ち下がり時間、および減速度の値は、警報の
場合とは別の値を用いる。操作支援の車間確保余裕距離
が０以下になったら、警報を中止し操作支援を行う。
【００１５】
【発明の効果】この発明は、前記のような構成からなる
ので、前方の路面状況が変化している場合にも適切なタ
イミングでドライバに警報や操作支援を行うことができ
る。したがって、安全な車間距離を保持することがで
き、前方車両に対する追突事故を低減できるという優れ
た効果がある。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road-to-vehicle communication receiving apparatus, a front-to-vehicle distance measuring apparatus, The present invention relates to an inter-vehicle distance assisting device that provides a safe inter-vehicle distance to a vehicle traveling ahead when a vehicle provided with information to a driver and a vehicle control device travels. . 2. Description of the Related Art An inter-vehicle distance assisting device as described above alerts a driver when it is expected that a safe inter-vehicle distance cannot be maintained for a vehicle traveling ahead. By providing operation support, a safe inter-vehicle distance can be maintained for a vehicle traveling ahead. In order to determine whether the distance is safe, the braking distance of the vehicle must be predicted. If the road surface condition is constant, it is easy to predict the braking distance from the current road surface condition. However, if the road surface condition changes on the way, it becomes difficult to predict the braking distance. [0003] The present invention has been proposed to solve the above-mentioned problems, and an object of the present invention is to use a position of a change point of a road surface condition ahead. It is an object of the present invention to provide an inter-vehicle distance maintenance support device that can predict a braking distance of a vehicle by using the method, and can give a warning and an operation support to a driver at an appropriate timing. [0004] In order to achieve the above object, the present invention is to drive on a road provided with a base point marker,
An inter-vehicle distance assist device provided in a vehicle that can obtain information on a road surface condition in front of the vehicle by communication. The distance and speed of the vehicle from the base marker of the own vehicle, the distance between the vehicle and the preceding vehicle, and the road surface condition and its changing points Is calculated, the speed of the preceding vehicle is calculated based on equation (1), and the relative speed between the own vehicle and the preceding vehicle is calculated based on equation (2). Before passing the point, the minimum inter-vehicle distance is calculated based on equation (3), and after passing the road surface change point, the minimum inter-vehicle distance is calculated based on equation (4).
A braking distance predicting device that calculates the inter-vehicle securing distance based on (6), and subtracts the position of the host vehicle and the inter-vehicle securing distance from the position of the road surface change point to calculate the inter-vehicle securing margin distance; And an information providing device for providing information to the driver when Here, V B : speed of the preceding vehicle, V: speed of the own vehicle, l 1 :
Inter-vehicle distance with preceding vehicle, l 2 : Inter-vehicle distance with preceding vehicle after s seconds Here, V 0 : relative speed between own vehicle and preceding vehicle, l 1 : inter-vehicle distance with preceding vehicle, l 2 : inter-vehicle distance with preceding vehicle after s seconds. Where L is the minimum inter-vehicle distance before passing the road surface change point,
V: speed of own vehicle, t 0 : idle running time, t 1 : braking rise time, t 2 : system allowance time, α: deceleration before passing the road surface change point, β: deceleration of preceding vehicle (road surface) before passing the status change point), V B: speed of the preceding vehicle Here, L ': minimum inter-vehicle distance after passing the road surface change point, V: speed of own vehicle, t 0 : idle running time, t 1 : braking rise time, t 2 : system spare time, α': road surface condition Deceleration after passing the change point, β ': deceleration of the preceding vehicle (after passing the road surface change point), V B : speed of the preceding vehicle However, L c: vehicle secure distance, L ': the minimum inter-vehicle distance after passing the road conditions change point, V B: a preceding vehicle speed, t 0: empty run time, t 1: braking rise time, t 3: reduction Duration,
t 4 : Falling time of braking, l 2 : Distance between the preceding vehicle and s seconds Here, L ': minimum inter-vehicle distance after passing the road surface change point, V 0 : relative speed between the own vehicle and the preceding vehicle, t 0 : idle running time, t
1: braking the rise time, t 3: deceleration duration, t 4: braking fall time, γ: the deceleration at the time of vehicle-to-vehicle adjustment, l 2: s
DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of the embodiment. In FIG. 1, reference numeral A denotes control means, which comprises a braking distance prediction device 1 and an information providing device 2 for a driver. Next, the braking distance prediction device 1 will be described in detail. Among the data necessary for the braking distance prediction, those obtained from the road-vehicle communication device 3 are the road surface conditions and the positions of the changing points. What is obtained from the in-vehicle sensor 4 is the distance between the front vehicles. The braking distance prediction device 1 holds and manages the position and speed of the own vehicle in addition to these data. The positions of the vehicle and the road surface condition change point are represented by the distance from the base marker. Further, as the set parameters, the idle running time, the braking rise time, the system allowance time, the braking fall time, and the deceleration at the time of inter-vehicle adjustment are held. The operation of the braking distance prediction device 1 will be described with reference to the flowchart of FIG. In the following description, L: minimum inter-vehicle distance before passing a road surface change point L ': minimum inter-vehicle distance after passing a road surface change point V: car speed t 0 : idle running time t 1 : braking rise time t 2: system margin time t 4: braking fall time α: deceleration before passing through the road surface conditions change point α ': deceleration after passing through the road surface conditions change point β: the preceding vehicle deceleration of the (road conditions change point Before passing) β ': Deceleration of the preceding vehicle (after passing the road surface change point) γ: Deceleration at the time of inter-vehicle adjustment. α, α ′, β, β ′ use values corresponding to the road surface conditions. First, the speed and relative speed of the preceding vehicle are estimated. The speed V B of the vehicle ahead is given by the following equation. [0008] Here, l 1 and l 2 are the distance between the front vehicles and
This is the distance between the front vehicles after s seconds. Further, the relative speed V 0 with respect to the preceding vehicle is represented by the following equation. [0009] Next, the minimum inter-vehicle distance is calculated. When there is no road surface condition change point, or the minimum inter-vehicle distance L before passing the road surface condition change point is calculated by the following formula. [0011] The minimum inter-vehicle distance after passing the road surface change point is L '.
Is calculated by the following equation. ## EQU4 ## After that, the inter-vehicle securing distance is calculated. Inter-vehicle securing distance L C
Is given by the following equation: [0013] Here, deceleration duration t 3 is as the following equation. [0014] The vehicle-to-vehicle allowance distance is calculated by: (vehicle-to-vehicle allowance distance) = (position of road surface change point) − (own vehicle position) −Lc. When the inter-vehicle securing allowance distance is equal to or less than 0, the information providing device 2 for the driver outputs an alarm to the driver. If the inter-vehicle safety margin distance becomes larger than 0, the alarm output is stopped. The determination when performing operation support is performed in the same manner as in the case of alarm. In the case of the operation support, the idling time, the braking rise time, the braking fall time, and the value of the deceleration use different values from those for the alarm. When the inter-vehicle securing margin distance of the operation support becomes 0 or less, the alarm is stopped and the operation support is performed. Since the present invention has the above-described configuration, the driver can be alerted or provided with operation assistance at an appropriate timing even when the road surface condition in front is changing. Therefore, there is an excellent effect that a safe inter-vehicle distance can be maintained and a rear-end collision with a vehicle ahead can be reduced.
【図面の簡単な説明】
【図１】この発明の一実施の形態を示す全体構成図であ
る。
【図２】制動距離予測装置の処理の流れを示すフローチ
ャートである。
【符号の説明】
Ａ 制御手段
１ 制動距離予測装置
２ ドライバへの情報提供装置
３ 路車間通信装置
４ 車載センサーBRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. FIG. 2 is a flowchart showing a processing flow of a braking distance prediction device. [Description of Signs] A Control means 1 Braking distance prediction device 2 Information providing device for driver 3 Road-to-vehicle communication device 4 In-vehicle sensor
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) G08G 1/00 - 1/16 B60R 21/00 624 B60R 21/00 626 B60R 21/00 628 B60K 31/00 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. 7 , DB name) G08G 1/00-1/16 B60R 21/00 624 B60R 21/00 626 B60R 21/00 628 B60K 31/00
Claims (1)
方の路面状況に関する情報を通信により入手可能な車に
備えられる車間保持支援装置おいて、 自車の基点マーカからの積算走行距離と速度、先行車と
の車間距離、および路面状況とその変化点の位置を入力
し、 式（１）に基づき先行車の速度を算出し、式（２）に基
づき自車と先行車との相対速度を算出し、 路面状況変化点がない場合および路面状況変化点を通過
前は式（３）に基づいて最小車間距離を算出し、 路面状況変化点を通過後は式（４）に基づいて最小車間
距離を算出し、 式（５）、（６）に基づいて車間確保距離を算出し、 路面変化点の位置から自車の位置および車間確保距離を
減じて車間確保余裕距離を算出する制動距離予測装置
と、 車間確保余裕距離が０以下となった場合に、ドライバに
情報提供する情報提供装置とを有することを特徴とする
車間保持支援装置。 ただし、ＶＢ：先行車の速度、Ｖ：自車の速度、ｌ1：
先行車との車間距離、ｌ2：ｓ秒後の先行車との車間距
離 ただし、Ｖ０：自車と先行車との相対速度、ｌ1：先行
車との車間距離、ｌ2：ｓ秒後の先行車との車間距離 ただし、Ｌ：路面状況変化点を通過前の最小車間距離、
Ｖ：自車の速度、t0:空走時間、t１：制動立ち上がり時
間、t２：システム余裕時間、α：路面状況変化点を通
過前の減速度、β：先行車の減速度（路面状況変化点を
通過前）、ＶＢ：先行車の速度 ただし、Ｌ′：路面状況変化点を通過後の最小車間距
離、Ｖ：自車の速度、t0:空走時間、t１：制動立ち上が
り時間、t２：システム余裕時間、α′：路面状況変化
点を通過後の減速度、β′：先行車の減速度（路面状況
変化点を通過後）、ＶＢ：先行車の速度 ただし、Ｌｃ：車間確保距離、Ｌ′：路面状況変化点を
通過後の最小車間距離、ＶＢ：先行車の速度、t0:空走
時間、t１：制動立ち上がり時間、t３：減速継続時間、
t４：制動立ち下がり時間、ｌ2：ｓ秒後の先行車との車
間距離 ただし、Ｌ′：路面状況変化点を通過後の最小車間距
離、Ｖ０：自車と先行車との相対速度、t0:空走時間、t
１：制動立ち上がり時間、t３：減速継続時間、t４：制
動立ち下がり時間、γ：車間調整時の減速度、ｌ2：ｓ
秒後の先行車との車間距離(57) [Claims 1] An inter-vehicle holding assist device provided on a vehicle that travels on a road provided with a base point marker and is capable of obtaining information on a road surface condition ahead of the vehicle by communication. The integrated traveling distance and speed from the base point marker, the inter-vehicle distance to the preceding vehicle, the road surface condition and the position of its changing point are input, and the speed of the preceding vehicle is calculated based on equation (1), and based on equation (2). Calculate the relative speed between the own vehicle and the preceding vehicle, calculate the minimum inter-vehicle distance based on Equation (3) when there is no road surface change point and before passing the road surface change point, and after passing the road surface change point Calculates the minimum inter-vehicle distance based on equation (4), calculates the inter-vehicle securing distance based on equations (5) and (6), and subtracts the position of the own vehicle and the inter-vehicle securing distance from the position of the road surface change point. Braking distance prediction device that calculates the distance between vehicles An inter-vehicle holding assistance device, comprising: an information providing device that provides information to a driver when the margin distance becomes 0 or less. Here, V B : speed of the preceding vehicle, V: speed of the own vehicle, l 1 :
Inter-vehicle distance with preceding vehicle, l 2 : Inter-vehicle distance with preceding vehicle after s seconds Here, V 0 : relative speed between own vehicle and preceding vehicle, l 1 : inter-vehicle distance with preceding vehicle, l 2 : inter-vehicle distance with preceding vehicle after s seconds. Where L is the minimum inter-vehicle distance before passing the road surface change point,
V: speed of own vehicle, t 0 : idle running time, t 1 : braking rise time, t 2 : system allowance time, α: deceleration before passing the road surface change point, β: deceleration of preceding vehicle (road surface) before passing the status change point), V B: speed of the preceding vehicle Here, L ': minimum inter-vehicle distance after passing the road surface change point, V: speed of own vehicle, t 0 : idle running time, t 1 : braking rise time, t 2 : system spare time, α': road surface condition Deceleration after passing the change point, β ': deceleration of the preceding vehicle (after passing the road surface change point), V B : speed of the preceding vehicle However, L c: vehicle secure distance, L ': the minimum inter-vehicle distance after passing the road conditions change point, V B: a preceding vehicle speed, t 0: empty run time, t 1: braking rise time, t 3: reduction Duration,
t 4 : Falling time of braking, l 2 : Distance between the preceding vehicle and s seconds Here, L ': minimum inter-vehicle distance after passing the road surface change point, V 0 : relative speed between the own vehicle and the preceding vehicle, t 0 : idle running time, t
1: braking the rise time, t 3: deceleration duration, t 4: braking fall time, γ: the deceleration at the time of vehicle-to-vehicle adjustment, l 2: s
The distance to the preceding car after seconds
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000356994A JP3455777B2 (en) | 2000-11-24 | 2000-11-24 | Inter-vehicle maintenance support device using forward road surface information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000356994A JP3455777B2 (en) | 2000-11-24 | 2000-11-24 | Inter-vehicle maintenance support device using forward road surface information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002163793A JP2002163793A (en) | 2002-06-07 |
| JP3455777B2 true JP3455777B2 (en) | 2003-10-14 |
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| JP2000356994A Expired - Lifetime JP3455777B2 (en) | 2000-11-24 | 2000-11-24 | Inter-vehicle maintenance support device using forward road surface information |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4030572B2 (en) * | 2006-01-24 | 2008-01-09 | 横浜ゴム株式会社 | Vehicle braking distance prediction device and vehicle braking distance prediction method |
| US7487044B2 (en) | 2006-01-24 | 2009-02-03 | The Yokohama Rubber Co., Ltd. | Apparatus and method for predicting a breaking distance of a vehicle |
| CN102897155B (en) * | 2012-09-27 | 2014-01-08 | 安科智慧城市技术（中国）有限公司 | Collision avoidance system and automatic braking method of electric automobile |
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