JP3543114B2 - Right Turn Collision Prevention Support System Using Road Surface Information - Google Patents
Right Turn Collision Prevention Support System Using Road Surface Information Download PDFInfo
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- JP3543114B2 JP3543114B2 JP2001060796A JP2001060796A JP3543114B2 JP 3543114 B2 JP3543114 B2 JP 3543114B2 JP 2001060796 A JP2001060796 A JP 2001060796A JP 2001060796 A JP2001060796 A JP 2001060796A JP 3543114 B2 JP3543114 B2 JP 3543114B2
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Description
【０００１】
【発明の属する技術分野】
本発明は、右折衝突防止支援装置に関する。詳しくは、本発明は、路面状況センサ及び路車間通信装置を具備した道路を路車間通信の受信装置及びドライバへの情報提供装置を備えた車両が走行する際に、右折衝突を防止するための車両用の前方路面情報を用いた右折衝突防止支援装置に関する。
【０００２】
【従来の技術】
従来、右折衝突防止支援装置は、車両が右折時に対向する直進車両と衝突することが予想されるときに、ドライバへ情報提供を行うことにより、衝突を防止することを支援する装置であり、衝突を予測するために前方の路面状況を推定し、車両の制動距離を予測するものであった。しかし、従来の装置では道路が一定の路面状況ならば現在の路面状況から制動距離の予測も容易であったが、路面状況が制動途中で変化するような場合は制動距離の予測が困難であった。
【０００３】
【発明が解決しようとする課題】
本発明は、上記のような従来の問題点を解決し、路面状態が制動途中で変化するような場合を含め、車両の制動距離を予測し、右折衝突が予測されるときは、ドライバに情報提供を行う右折衝突防止支援装置を提供することを目的とする。
【０００４】
【課題を解決するための手段】
本発明は、車両が右折時に対向する直進車両と衝突することが予想されるときに、ドライバに情報提供を行う前方路面情報を用いた右折衝突防止支援装置であって、前方の路面状況と路面状況変化点を検出する路面状況センサを備えた路側処理装置と、路車間通信装置と、車側処理装置及び情報提供装置とを有し、路側処理装置は、路面状況センサより提供される前方の路面状況と路面状況変化点の情報を路車間通信装置を介して車側処理装置へ送り、車側処理装置は、前記前方の路面状況と路面状況変化点の情報を用いて情報提供が行われてから車両が停止するまでの制動距離である停止余裕距離を算出し、該停止余裕距離、右折地点の停止線位置及び自車両縦位置を用いて情報提供の余裕距離を次式で算出し、
（余裕距離）＝（停止線位置）−（自車両縦位置）−（停止余裕距離）
余裕距離が０になったときに情報提供装置を作動し、情報提供装置は、右折衝突を防止するためにドライバに情報提供を行うように構成されていることを特徴とする前方路面情報を用いた右折衝突防止支援装置である。
【０００５】
【発明の実施の形態】
本発明の実施の形態を図面を参照して説明する。図１は本発明の構成を示す図であり、前方の路面状況とその変化点の情報を路面状況センサを備えた路側処理装置が管理しており、路側通信装置を介して車側通信装置に道路路面情報が送られる。車側処理装置では車両センサより検出される車両速度と道路路面情報とから情報提供の余裕距離を算出し、これが０になったときに情報提供装置を作動させる。路側通信装置より車側通信装置に送られる道路路面情報は、図２に示すように路面状況検出時間、路面状況、路面状況変化点を含むものである。ここで、路面状況とは、道路表面が、例えば、乾燥状態、水膜状態等の状況であることをいうものである。
【０００６】
路側状況が変化しない場合、情報提供後の車両の減速挙動は図４のように仮定される。情報提供の停止余裕距離（情報提供後の制動距離）は下記の数１で算出する。
【数１】
空走中に路面状況が変化する場合、情報提供後の車両の減速挙動は図５のように仮定される。情報提供の停止余裕距離は下記の数２で算出する。
【数２】
制動立ち上り中に路面状況が変化する場合、情報提供後の車両の減速挙動は図６のように仮定される。乾燥から水膜への変化等の減速度が小さくなる変化の場合、情報提供の停止余裕距離は下記の数３で算出する。
【数３】
また、制動立ち上り中の路面状況の変化が水膜から乾燥へと減速度が大きくなる変化である場合、情報提供の停止余裕距離は下記の数４で算出する。
【数４】
さらに、一定減速中に路面状況が変化する場合、情報提供後の車両の減速挙動は図７のように仮定される。情報提供の停止余裕距離は下記の数５で算出する。
【数５】
なお、上記数１〜５における式で用いられる記号は、以下のことを意味する。
ＬA：車両の停止余裕距離（ｍ）
ＶA：車両の速度（ｍ／ｓ）
ｔ0：空走時間（ｓ）
ｔ1：制動立ち上り時間（ｓ）
ｔ2：システム余裕時間（ｓ）
α ：路面状況変化前の車両の減速度（ｍ／ｓ2）
α'：路面状況変化後の車両の減速度（ｍ／ｓ2）
ＬC：路面状況変化点−右折地点間距離（ｍ）
【００１２】
本発明においては、情報提供の停止余裕距離と自車両縦位置を使い、情報提供の余裕距離を次式で算出する。
（余裕距離）＝（停止線位置）−（自車両縦位置）−（停止余裕距離）
そして、余裕距離が０になったら情報提供装置はドライバへの情報提供を行うものである。
【００１３】
【発明の効果】
本発明によれば、車両と対向車との衝突予測の精度が高くなり、右折時に対向車への衝突防止の効果を向上できるという効果がある。
【図面の簡単な説明】
【図１】本発明の構成の説明図である。
【図２】本発明の路側より車側に送信する道路路面情報を示す図である。
【図３】本発明の情報提供の作動イメージ図である。
【図４】本発明における路面状況が変化しない場合の車両の減速挙動を示す図である。
【図５】本発明における空走中に路面状況が変化する場合の車両の減速挙動を示す図である。
【図６】本発明における制動立ち上り中に路面状況が変化する場合の車両の減速挙動を示す図である。
【図７】本発明における減速中に路面状況が変化する場合の車両の減速挙動を示す図である。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a right-turn collision prevention support device. More specifically, the present invention is to prevent a right turn collision when a vehicle equipped with a road-to-vehicle communication receiving device and an information providing device for a driver runs on a road having a road surface condition sensor and a road-to-vehicle communication device. The present invention relates to a right-turn collision prevention support device using forward road surface information for a vehicle.
[0002]
[Prior art]
Conventionally, a right-turn collision prevention support device is a device that assists in preventing a collision by providing information to a driver when a vehicle is expected to collide with an on-going straight vehicle at the time of a right turn. In order to predict the vehicle, the road surface condition in front is estimated, and the braking distance of the vehicle is predicted. However, with the conventional device, it is easy to predict the braking distance from the current road surface condition if the road is a constant road surface condition, but it is difficult to predict the braking distance if the road surface condition changes during braking. Was.
[0003]
[Problems to be solved by the invention]
The present invention solves the conventional problems described above, and predicts the braking distance of a vehicle, including the case where the road surface condition changes during braking, and informs the driver when a right-turn collision is predicted. It is an object of the present invention to provide a right-turn collision prevention support device.
[0004]
[Means for Solving the Problems]
The present invention relates to a right-turn collision prevention support device that uses forward road surface information to provide information to a driver when a vehicle is expected to collide with a straight ahead vehicle at the time of a right turn. a roadside apparatus provided with a road surface condition sensor for detecting the status change point, the road-vehicle communication apparatus, possess a vehicle-side apparatus and the information providing apparatus, the roadside apparatus is forward is provided by the road surface condition sensor The information on the road surface condition and the road surface change point is sent to the vehicle- side processing device via the road-to-vehicle communication device, and the vehicle- side processing device provides information using the information on the road surface condition in front and the road surface change point. Calculate the margin to stop, which is the braking distance from when the vehicle stops , and calculate the margin to provide information using the margin to stop, the stop line position of the right turn point, and the vertical position of the host vehicle using the following equation:
(Margin distance) = (Stop line position)-(Host vehicle vertical position)-(Margin stop distance)
The information providing device is operated when the margin distance becomes zero, and the information providing device is configured to provide information to a driver in order to prevent a right turn collision. It is a right turn collision prevention support device.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of the present invention, in which a roadside processing device equipped with a road surface condition sensor manages information on a road surface condition in front and a change point thereof, and transmits the information to a vehicle communication device via a roadside communication device. Road surface information is sent. The vehicle-side processing device calculates a margin for providing information from the vehicle speed detected by the vehicle sensor and the road surface information, and activates the information providing device when the distance becomes zero. The road surface information sent from the roadside communication device to the vehicle side communication device includes the road surface condition detection time, the road surface condition, and the road surface condition change point as shown in FIG. Here, the road surface condition means that the road surface is in a dry state, a water film state, or the like, for example.
[0006]
If the roadside situation does not change, the deceleration behavior of the vehicle after providing the information is assumed as shown in FIG. The information provision stop margin distance (braking distance after information provision) is calculated by the following equation (1).
(Equation 1)
When the road surface condition changes during idle running, the deceleration behavior of the vehicle after providing the information is assumed as shown in FIG. The information provision stop margin distance is calculated by the following equation (2).
(Equation 2)
When the road surface condition changes during the braking start, the deceleration behavior of the vehicle after providing the information is assumed as shown in FIG. In the case of a change in which the deceleration becomes small, such as a change from drying to a water film, the margin for stopping provision of information is calculated by the following equation (3).
[Equation 3]
When the change in the road surface condition during the braking start is a change in which the deceleration increases from the water film to the drying, the margin for stopping the information provision is calculated by the following Expression 4.
(Equation 4)
Further, when the road surface condition changes during the constant deceleration, the deceleration behavior of the vehicle after providing the information is assumed as shown in FIG. The information provision stop margin distance is calculated by the following equation (5).
(Equation 5)
The symbols used in the expressions in the
L A : Vehicle stop margin distance (m)
V A : speed of vehicle (m / s)
t 0 : idling time (s)
t 1 : braking rise time (s)
t 2 : System spare time (s)
α: deceleration of the vehicle before road surface condition change (m / s 2 )
α ': deceleration of the vehicle after a change in road surface conditions (m / s 2 )
L C : Distance between road surface change point and right turn point (m)
[0012]
In the present invention, the margin for providing information is calculated by the following equation using the margin for stopping to provide information and the vertical position of the vehicle.
(Margin distance) = (Stop line position)-(Host vehicle vertical position)-(Margin stop distance)
Then, when the margin distance becomes 0, the information providing device provides information to the driver.
[0013]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that the accuracy of the collision prediction of a vehicle and an oncoming vehicle increases, and the effect of preventing a collision with an oncoming vehicle at the time of a right turn can be improved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a configuration of the present invention.
FIG. 2 is a diagram showing road surface information transmitted from the road side to the vehicle side according to the present invention.
FIG. 3 is an operation image diagram of information provision of the present invention.
FIG. 4 is a diagram showing a deceleration behavior of the vehicle when a road surface condition does not change in the present invention.
FIG. 5 is a diagram showing a deceleration behavior of a vehicle when a road surface condition changes during idle running according to the present invention.
FIG. 6 is a diagram showing a deceleration behavior of the vehicle when a road surface condition changes during a braking rise in the present invention.
FIG. 7 is a diagram illustrating a deceleration behavior of a vehicle when a road surface condition changes during deceleration according to the present invention.
Claims (1)
前方の路面状況と路面状況変化点を検出する路面状況センサを備えた路側処理装置と、路車間通信装置と、車側処理装置及び情報提供装置とを有し、路側処理装置は、路面状況センサより提供される前方の路面状況と路面状況変化点の情報を路車間通信装置を介して車側処理装置へ送り、車側処理装置は、前記前方の路面状況と路面状況変化点の情報を用いて情報提供が行われてから車両が停止するまでの制動距離である停止余裕距離を算出し、該停止余裕距離、右折地点の停止線位置及び自車両縦位置を用いて情報提供の余裕距離を次式で算出し、
（余裕距離）＝（停止線位置）−（自車両縦位置）−（停止余裕距離）
余裕距離が０になったときに情報提供装置を作動し、情報提供装置は、右折衝突を防止するためにドライバに情報提供を行うように構成されていることを特徴とする前方路面情報を用いた右折衝突防止支援装置。 A right-turn collision prevention support device that uses forward road surface information to provide information to a driver when a vehicle is expected to collide with an on-going straight-ahead vehicle when making a right turn,
Possess a roadside apparatus provided with a road surface condition sensor for detecting a forward road conditions and road surface conditions change point, the road-vehicle communication device, and a vehicle-side apparatus and the information providing apparatus, the roadside apparatus is road surface conditions sensors The information of the front road surface condition and the road surface change point provided by the vehicle is sent to the vehicle- side processing device via the road-to-vehicle communication device, and the vehicle- side processing device uses the information of the front road surface condition and the road surface change point. A stop margin distance , which is a braking distance from when the information is provided to when the vehicle stops , is calculated , and a margin for the information provision is calculated using the stop margin distance, the stop line position of the right turn point, and the vertical position of the host vehicle. Calculated by the following formula,
(Margin distance) = (Stop line position)-(Host vehicle vertical position)-(Margin stop distance)
The information providing device is operated when the margin distance becomes zero, and the information providing device is configured to provide information to a driver in order to prevent a right turn collision. Right turn collision prevention support device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001060796A JP3543114B2 (en) | 2001-03-05 | 2001-03-05 | Right Turn Collision Prevention Support System Using Road Surface Information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001060796A JP3543114B2 (en) | 2001-03-05 | 2001-03-05 | Right Turn Collision Prevention Support System Using Road Surface Information |
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| Publication Number | Publication Date |
|---|---|
| JP2002260195A JP2002260195A (en) | 2002-09-13 |
| JP3543114B2 true JP3543114B2 (en) | 2004-07-14 |
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| JP2001060796A Expired - Lifetime JP3543114B2 (en) | 2001-03-05 | 2001-03-05 | Right Turn Collision Prevention Support System Using Road Surface Information |
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| JP5598526B2 (en) * | 2012-10-31 | 2014-10-01 | 三菱電機株式会社 | In-vehicle device |
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