JP3814050B2 - Emergency automatic brake device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a device for automatically operating a brake in an emergency such as when an inter-vehicle distance becomes a dangerous value or when an obstacle suddenly jumps out, and more particularly to an emergency automatic braking device for an automobile.
[0002]
[Prior art]
In automobiles, dangerous situations such as driving aside or snoozing are often caused by driver's carelessness.
Therefore, in order to avoid such a danger, there has been proposed a technique for automatically controlling a device for preventing collision and protecting an occupant when a vehicle enters a dangerous area where there is a high possibility of a collision. For example, in Japanese Patent Laid-Open No. 2-246838, a plurality of danger areas with high possibility of collision are set, and throttle control, brake control, seat belt control, etc. are automatically performed in stages according to the degree of danger. A safety control device is disclosed.
[0003]
[Problems to be solved by the invention]
In the above-described prior art, it cannot be said that consideration is given to the state of the occupant when the automatic brake is operated in an emergency, and there is a problem that the safety of the occupant is impaired by the operation of the brake.
That is, in the prior art, the brake starts automatically regardless of the operation of the occupant, so from the occupant's point of view, the brake is suddenly applied, and it is not possible to cope with unexpected deceleration, If the body moves due to the inertial force and hits the vehicle body, there is a risk of occurrence of such a situation that the safety is impaired.
[0004]
For example, in the prior art, when an obstacle enters a dangerous area, the brake is suddenly automatically applied in an emergency, and 0.1 to 0.2 seconds before the point of time when a collision is expected. Since the tension is automatically applied to the seat belt, there is a possibility that the seat belt may be lashed by an inertial force until the seat belt is strengthened, or in an extreme case, the limb may be damaged.
In addition, even if an accident occurs when the seat belt is not worn, if the operator knows the emergency automatic brake in advance and has time to prepare, the degree of danger may have been reduced. Then this expectation cannot be fulfilled.
[0005]
An object of the present invention is to provide an emergency automatic brake device that can sufficiently maintain safety during emergency automatic brake operation.
[0006]
[Means for Solving the Problems]
The object is to detect a vehicle state detecting means for detecting a state of the own vehicle including the traveling speed of the own vehicle, and a traveling environment detecting means for detecting a traveling environment of the own vehicle including a distance between the own vehicle and another vehicle and a relative speed. An emergency automatic brake control means for determining whether or not to activate an emergency automatic brake based on the vehicle state data from the vehicle state detection means and the travel environment data from the travel environment detection means, and the emergency automatic brake control means In an emergency automatic brake device provided with an emergency automatic brake actuating means for actuating a brake of a vehicle according to a determination result, an emergency automatic brake operation notification command is output according to a determination result of the emergency automatic brake control means, and the emergency automatic Notification / actuation timing system that sets the waiting time until the emergency automatic brake is activated after the brake operation notification command is output Means, notification means for notification by the notification instruction of the notification / operation timing control means, notification means for visual notification, and notification means for notification by at least one kind of notification means for bodily sensation, steering wheel pressure and accelerator for the driver Passenger state data representing the behavior of the occupant is detected from at least one type of information such as operation, brake pedal operation, footrest pressure, driving posture, whether the seat belt is being worn, and whether the vehicle is equipped with an airbag. An occupant state detection means, After the emergency automatic brake operation notification command output, This is achieved by changing the waiting time in accordance with occupant state data output from the occupant state detecting means, and operating the emergency automatic brake after the changed waiting time has elapsed since the start of notification by the notifying means.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an emergency automatic brake device according to the present invention will be described in detail with reference to illustrated embodiments.
FIG. 1 is a block diagram showing an embodiment of the present invention.
First, in the vehicle state detection means 1, the speed and acceleration of the own vehicle (the own vehicle), the depression amount of the accelerator pedal, the operation speed of the accelerator pedal, the depression amount of the brake pedal, the depression speed of the brake pedal, the engine speed, the drive shaft Vehicle state data such as torque, gear ratio, and steering angle are detected.
Next, in the travel environment detection means 2, the inter-vehicle distance and relative speed of the host vehicle and the preceding vehicle (the vehicle traveling immediately before the host vehicle), the presence or absence of obstacles, the curve curvature of the road, the gradient, and the friction coefficient of the road surface It detects travel environment data such as μ, visibility, traffic regulation information, traffic jam information, speed and acceleration of the preceding vehicle.
[0008]
The emergency automatic brake control means 3 determines whether or not to activate the emergency automatic brake based on the vehicle state data from the vehicle state detection means 1 and the travel environment data from the travel environment detection means 2.
When the emergency automatic brake control means 3 determines that the emergency automatic brake is to be operated, the notification / operation timing control means 4 outputs a command to notify that, and thereafter, a predetermined time is determined. A command to operate the emergency automatic brake is output at the elapsed timing.
Therefore, the emergency automatic brake actuating means 5 brakes the vehicle according to the emergency automatic brake actuating command given from the notification / actuation timing control means 4.
In addition, in the notification means 6, in response to a notification command from the notification / operation timing control means 4, a visual notification operation such as an alarm sound, sound, etc., a lighting / flashing of a display lamp (LED), a display device display, etc. In addition, a notification operation that appeals to the sensation and tactile sensation, such as an increase in seat belt tension, steering and seat vibration, is performed.
[0009]
Therefore, according to this embodiment, when an automatic brake is activated in an emergency, the vehicle is braked after this is first notified by the notification means 6. Crew members including the driver can know in advance that the emergency automatic brake will be applied, and as a result, they can respond to the strong inertial force caused by the emergency automatic brake, and be prepared in advance even in the event of a collision. Damage can be minimized.
[0010]
FIG. 2 shows an example of an automobile to which an embodiment of the present invention is applied. This figure is a side view of the front half of the car, where 300 is an emergency automatic brake control unit, A microcomputer is provided so that functions corresponding to the emergency automatic brake control means 3 and the notification / operation timing control means 4 shown in FIG.
100 is a vehicle speed sensor, 101 is an operation mode switch, and signals from these are input to the emergency automatic brake control unit 300 as vehicle state data.
[0011]
In this figure, for the sake of simplification, only the vehicle speed sensor 100 and the operation mode switch 101 are shown, but acceleration obtained from various sensors attached to the vehicle, accelerator pedal depression amount, accelerator pedal opening / closing speed, brake pedal depression The amount, the brake pedal depression speed, the engine speed, the drive shaft torque, the transmission gear ratio, the steering, and the like are also input to the emergency automatic brake control unit 300 as vehicle state data.
[0012]
Reference numeral 200 denotes a millimeter wave radar antenna, and 201 denotes a radar control unit. The radar control unit 201 analyzes a signal from the millimeter wave radar antenna 200 to obtain an inter-vehicle distance and a relative speed, and an emergency automatic brake control unit as travel environment data. Enter 300.
For simplification, this figure shows only the inter-vehicle distance and the relative speed from the radar control unit 201, but the obstacles obtained from the TV camera, navigation system, road-to-vehicle communication device, vehicle-to-vehicle communication device, etc. Object environment information, curve curvature information, gradient information, road surface friction coefficient information, visibility information, traffic regulation information, traffic jam information, and traveling environment data such as traveling speed and acceleration of the preceding vehicle are also input to the emergency automatic brake control unit 300.
[0013]
Therefore, the emergency automatic brake control unit 300 determines whether or not to operate the emergency automatic brake from these vehicle state data and traveling environment data, and if it is determined that the emergency automatic brake is to be operated, notifies that fact. The command is supplied to the notification means such as the speaker 600, the display 601, the seat belt tension actuator 602, and the auditory and visual notification and the sensory notification by increasing the tightening force of the seat belt are performed, and then at a predetermined timing. A command for operating the emergency automatic brake is output to the brake actuator 500.
[0014]
As the notification means at this time, a speaker 600, a display 601 and a seat belt tension actuator 602 are provided. However, in addition to this, a notification means by vibration of the steering handle or seat, electrical stimulation or the like may be provided. .
Therefore, according to this embodiment, when it becomes necessary to operate the emergency automatic brake, first, the speaker 600, the display 601, and the seat belt tension actuator 602 are notified in advance, and then the emergency automatic brake. As a result, passengers including the driver can predict the operation of the emergency automatic brake, and as a result, they can respond to the strong inertia force of the emergency automatic brake without being overwhelmed, and will receive even if a collision occurs. The extent of damage that would be possible can be minimized.
[0015]
FIG. 3 is a flowchart showing a risk determination routine for determining whether or not to apply emergency automatic braking by the microcomputer in the emergency automatic brake control unit 300. This routine is executed every predetermined time.
When this routine is started, first, the inter-vehicle distance D is calculated in step 3001, and the relative speed Vr is calculated in step 3002.
[0016]
The relative speed Vr defined here is considered based on the own vehicle. That is, if the speed of the host vehicle is V and the speed of the preceding vehicle is Vf, the relative speed Vr = Vf−V.
[0017]
Accordingly, when the speed Vf of the preceding vehicle is larger than the speed V of the own vehicle, that is, when the inter-vehicle distance is widened, the relative speed Vr is a positive value, and conversely, the speed V of the own vehicle is the speed of the preceding vehicle. When it is larger than Vf, that is, when the inter-vehicle distance is reduced, this relative speed Vr becomes a negative value.
[0018]
Subsequently, in Step 3003, it is compared whether or not the relative speed Vr is 0 m / s or more. If the result is Y (Yes), the process goes to Step 3004 to turn off the brake command flag.
[0019]
If the result is N (negative), that is, if the relative speed Vr is less than 0 “m / s”, the process proceeds to step 3005 to calculate the vehicle speed V, and then in step 3006, an emergency automatic brake is commanded. As shown in the figure, the dangerous inter-vehicle distance Dd, which is a threshold for determining whether or not to perform, is set to 1.5 [s] for the idle time of the own vehicle and 4.0 [m / s for the deceleration of the own vehicle. ² However, it may be calculated as a variable value according to the driving environment such as the friction coefficient μ of the road surface.
In step 3007, the inter-vehicle distance D is compared with the dangerous inter-vehicle distance Dd. If the inter-vehicle distance D is greater than or equal to the dangerous inter-vehicle distance Dd, the brake command flag is turned off in step 3004, but the inter-vehicle distance D is less than the dangerous inter-vehicle distance Dd. In step 3008, the brake command flag is turned ON.
[0020]
Next, FIG. 4 is a flowchart showing a timing control routine for determining the operation timing of the emergency automatic brake. This routine is also executed every predetermined time. First, in step 4001, it is determined whether or not the brake command flag is ON. If it is not ON, the notification and emergency automatic braking by the speaker and the display are canceled in step 4002.
On the other hand, when it is ON, first, in step 4003, an emergency automatic brake is reached, and the speaker or display informs that the brake will be applied.
In step 4004, the process waits for a predetermined waiting time T to elapse after the notification is started, and then proceeds to step 4005 to activate the emergency automatic brake.
[0021]
This waiting time T is set in advance as an initial value, and since the human response is about 200 [ms], the waiting time T may be set to a value around 200 [ms] in consideration of this. However, since the delay time in the mechanical system such as the operation delay of the brake actuator is considered at this time, it is necessary to subtract the delay time in the mechanical system from the above-described human reaction time as the time T. is there.
For example, if the delay time in the mechanical system is 50 [ms], the initial value of the waiting time T may be set to T = 200−50 = 150 [ms]. The time from when the brakes are actually activated to the time when the brakes are actually operated should be made substantially equal to the human reaction time.
[0022]
Next, FIG. 5 shows a second embodiment of the present invention in which an occupant state detection means 7 is added to the embodiment of FIG.
This occupant state detection means 7 detects steering grip pressure, accelerator operation, brake pedal operation, footrest pressure, driving posture, information on whether the seat belt is being worn, information on whether the vehicle is equipped with an airbag, It functions to output occupant status data, that is, occupant status data, and supply it to the notification / operation timing control means 4.
[0023]
Then, the notification / operation timing control means 4 uses this occupant state data to determine whether or not the driver can cope with the emergency automatic brake, and according to this result, determines the operation timing of the emergency automatic brake, When it is determined that the occupant is ready after changing the timing after the predetermined time T has elapsed, it is not necessary to wait for the elapse of the waiting time T set as the initial value. 1 is generated, and other configurations are the same as those in the embodiment of FIG.
[0024]
Therefore, even in this embodiment, when the emergency automatic brake operation becomes necessary, the brake is actually operated after the fact is notified beforehand. The operation can be predicted, and as a result, it is possible to cope with the strong inertia force by the emergency automatic brake, and to minimize the degree of damage that will be received even if a collision occurs. When the occupant is sufficiently ready, the emergency automatic brake can be actuated early, so that the vehicle can be safely stopped leaving a sufficient distance from the preceding vehicle.
[0025]
FIG. 6 is a hardware configuration diagram of the second embodiment. In the embodiment of FIG. 2, a steering grip pressure sensor 700, an accelerator pedal sensor 701, a brake pedal sensor 702, a footrest pressure sensor 703, and a seat belt wearing switch 704 are shown. In addition, an in-car television camera 705 is added thereto, and the detection results obtained by these are input to the emergency automatic brake control unit 300 as occupant state data.
[0026]
First, the steering grip pressure sensor 700 detects a change in the steering pressure of the driver and the position of the hand, and then the accelerator pedal sensor 701 detects the accelerator operation and outputs it as occupant state data.
Next, the brake pedal sensor 702 detects the operation of the brake pedal, and the footrest pressure sensor 703 detects the position of the foot and the tension force, and outputs each as occupant state data.
Further, the seat belt wearing switch 704 detects whether or not the seat belt is worn and outputs this as occupant state data.
On the other hand, the in-car TV camera 705 images the driver, analyzes the image data, detects whether the driver's posture is normal, further detects whether there is a doze from the posture and line-of-sight direction, etc. Output as data.
[0027]
Therefore, the emergency automatic brake control unit 300 takes in these occupant state data, determines whether the driver can cope with emergency emergency brakes or is ready, and changes the timing for operating the emergency automatic brakes based on this result. A command to operate the automatic brake is output.
Although omitted for the sake of simplification, other data relating to the passenger's condition such as the driver's voice and whether the vehicle is equipped with an airbag are also input to the emergency automatic brake control unit 300. This is the same as the operation of the embodiment of FIG.
[0028]
FIG. 7 is a flowchart showing a first example of a timing control routine by the emergency automatic brake control unit 300 in the embodiment of FIG. 6, and this routine is also executed at predetermined time intervals.
The routine of FIG. 7 is based on the timing control routine of FIG. 4, and the processing of steps 4001 to 4005 remains the same, and steps 4006 to 4010 are added after step 4004. Even when the result in step 4004 is negative (N), the waiting time T elapses after the notification when the determination result in any one of steps 4006 to 4010 is positive (Y). Even before, at this time, the process immediately proceeds to step 4005 so that the emergency automatic brake is activated.
[0029]
Accordingly, it is first determined in step 4006 whether or not the steering grip pressure has increased, and if it has increased, it is assumed that the driver has responded to the notification, and the process proceeds to step 4005. If yes, go to Step 4007.
Next, in step 4007, it is determined whether or not there is a change in the accelerator operation. If there is a change, it is assumed that the driver has responded to the notification, and the process proceeds to step 4005. Proceed to
[0030]
In step 4008, it is determined whether or not there is a change in the brake operation. If there is a change, it is assumed that a reaction has occurred, and the process proceeds to step 4005. If there is no change, the process proceeds to step 4009 as no response.
Further, in step 4009, it is determined whether or not the footrest pressure has increased. If it has increased, the process proceeds to step 4005 as a response, and if it has not increased, the process proceeds to step 4010 as no reaction.
In step 4010, it is determined whether or not the driving posture is normal. If it is normal, the driver does not fall asleep. Of course, the process proceeds to step 4005 because it should have responded to the notification. The process proceeds to step 4004 as there is, and the other processes are the same as those in the embodiment of FIG.
[0031]
Therefore, according to this embodiment, the emergency automatic brake is applied after the emergency automatic brake is informed to the occupant, and as a result, the occupant is subjected to a strong inertial force by the emergency automatic brake. Even if a crash occurs, the damage can be kept to a minimum, and when the emergency automatic brake is applied, the driver's limb movement, Check whether the driver is ready in preparation for emergency automatic braking from the posture, etc., and if it is determined that the driver is fully prepared, the emergency automatic brake can be applied early without waiting for the predetermined waiting time to elapse. As a result, the vehicle can be stopped with a sufficient distance from the preceding vehicle.
[0032]
Next, FIG. 8 is a flowchart showing a second example of the timing control routine, which is also executed at predetermined time intervals.
The routine of FIG. 8 adds each process of Step 4011 to Step 4016 after the process of Step 4003 in the routine of FIG. 7, so that the driver is wearing the seat belt and the airbag is installed in the own vehicle. The waiting time T is changed according to the state, and the others are the same as the routine of FIG.
[0033]
First, in Step 4011, it is determined whether or not the driver is wearing a seat belt. If so, the process proceeds to Step 4012, and a waiting time T from the start of notification until the emergency automatic brake is applied is set to N [ms]. In step 4013, the time T is changed to M [ms].
Here, N <T <M.
Next, in step 4014, it is determined whether or not the vehicle is equipped with an airbag. If the vehicle is equipped, the time T is changed to L [ms] in step 4015, and if not equipped, the time T is set in step 4016. Change to K [ms].
Here, L <T <K.
[0034]
If the driver is wearing a seat belt or the vehicle is equipped with an airbag, the passenger can be fully protected, so even if the time T from the start of notification to the emergency automatic braking is short, On the other hand, if not, longer is better.
[0035]
Therefore, according to this embodiment, the time T from the start of notification until the emergency automatic braking is applied is changed depending on the presence or absence of a protective device, and when there is a protective device, the waiting time T is shorter than the initial value N. Therefore, the emergency emergency automatic brake can be operated more quickly on the assumption that the protection of the driver can be secured.
[0036]
FIG. 9 is a flowchart showing a third example of the timing control routine, which is also executed at predetermined time intervals.
9 is provided with step 4017 in place of the process of step 4003 in the routine of FIG. 8, step 4018 after the process of step 4012, and the process of step 4019 after the process of step 4002. Other processes are the same as those in the routine of FIG.
[0037]
In step 4017, the advance notice of the emergency automatic brake operation is notified by the speaker 600, the display 601, etc., and the operation of the slow automatic brake is started so that the brake starts to work gently.
Here, the slow automatic brake is a process of automatically operating the brake with a weaker braking force than the emergency automatic brake, and the operation of the slow automatic brake is continued until the emergency automatic brake is operated thereafter. Will continue.
By giving the gentle deceleration state by the slow automatic brake first, the driver can be more easily prepared, and subsequently the impact received by the emergency automatic brake is softened.
[0038]
Thereafter, if it is determined in step 4011 that the seat belt is attached, a process of increasing the tension of the seat belt is executed in step 4018.
By doing so, effective notification can be performed even when driving aside or snoozing, and the driver's safety can be ensured.
Accordingly, after the emergency automatic brake is released, a process for releasing the tension of the seat belt is executed in step 4019.
Thereby, there is no possibility that the comfort is impaired.
[0039]
Next, an embodiment of operation mode selection processing by the operation mode switch 101 will be described with reference to FIG.
FIG. 10 is a flowchart of an operation mode determination routine. This routine is executed every predetermined time.
First, in step 3010, it is determined whether the switch 101 for determining whether or not the emergency automatic brake is to be operated is turned ON / OFF. If it is ON, it is determined in the next step 3011 whether or not the seat belt is worn, and if it is worn, the danger judgment routine explained in FIG. In step 3013, the timing control routine described in FIGS. 4, 7, 8, and 9 is executed.
[0040]
On the other hand, if the seat belt is not attached, the process proceeds to step 3014 to execute processing for notifying that the transition to the emergency automatic brake operation mode is prohibited, and then in step 3015, whether or not to activate the emergency automatic brake. The switch 101 for determining the mode is turned off.
Therefore, according to this embodiment, since the mode for operating the emergency automatic brake is not entered unless the seat belt is attached, it is possible to prompt the user to attach the seat belt, and when the emergency automatic brake is activated, the seat must be operated. Since the belt is attached, higher safety can be obtained.
[0041]
【The invention's effect】
According to the present invention, when the emergency automatic brake is activated, this is notified in advance, so that the occupant including the driver can be aware of the operation of the emergency automatic brake and prepare in advance for it.
As a result, it is possible to cope with a strong inertia force by the emergency automatic brake without hurting, and even if a collision occurs, damage can be minimized.
[0042]
Further, according to the present invention, it is possible to prevent the emergency automatic brake from entering the mode unless the seat belt is attached. In this case, when the emergency automatic brake is activated, the seat belt is always used. Therefore, higher safety can be easily maintained.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a first embodiment of an emergency automatic brake device according to the present invention.
FIG. 2 is a hardware configuration diagram showing an example of an automobile to which the first embodiment of the present invention is applied.
FIG. 3 is a flowchart showing an example of a danger determination routine in the embodiment of the present invention.
FIG. 4 is a flowchart showing a first example of a timing control routine in the embodiment of the present invention.
FIG. 5 is a block configuration diagram showing a second embodiment of the present invention.
FIG. 6 is a hardware configuration diagram showing an example of an automobile to which the second embodiment of the present invention is applied.
FIG. 7 is a flowchart showing a second example of a timing control routine in the embodiment of the present invention.
FIG. 8 is a flowchart showing a third example of a timing control routine in the embodiment of the present invention.
FIG. 9 is a flowchart showing a fourth example of a timing control routine in the embodiment of the present invention.
FIG. 10 is a flowchart showing an example of an operation mode determination routine in the embodiment of the present invention.
[Explanation of symbols]
1 Vehicle state detection means
2 Driving environment detection means
3 Emergency automatic brake control means
4 Notification / operation timing means
5 Emergency automatic brake operation means
6 Notification means
100 vehicle speed sensor
101 Operation mode switch
200 mm-wave radar antenna
201 Radar control unit
300 Emergency automatic brake control unit
500 Brake actuator
600 speakers
601 display
602 Seat belt tension actuator

Claims (4)

Vehicle state detecting means for detecting the state of the own vehicle including the traveling speed of the own vehicle, traveling environment detecting means for detecting the traveling environment of the own vehicle including the inter-vehicle distance and relative speed between the own vehicle and another vehicle, and these vehicles Depending on the vehicle state data from the state detection means and the travel environment data from the travel environment detection means, an emergency automatic brake control means for determining whether or not to operate the emergency automatic brake, and a determination result of the emergency automatic brake control means In an emergency automatic brake device provided with an emergency automatic brake actuating means for actuating a vehicle brake,
Notification / operation timing control that outputs an emergency automatic brake operation notification command according to the determination result of the emergency automatic brake control means, and sets a waiting time until the emergency automatic brake is operated after the emergency automatic brake operation notification command is output. Means,
Notification means for performing notification by at least one kind of notification means of auditory notification and visual notification, and sensory notification by a notification command of the notification / operation timing control means;
Driver's steering grip pressure and accelerator operation, brake pedal operation, footrest pressure, driving posture, information on whether or not the seat belt is being worn, information on whether or not the vehicle is equipped with an airbag, and at least one type of information on passenger behavior Occupant state detection means for detecting occupant state data representing
After the emergency automatic braking operation notification command output, the said waiting time varied according to the occupant state data output from the occupant state detection unit, after the modified wait time has elapsed from the notification start of the notification unit, Automatic emergency An emergency automatic brake device characterized by being configured to operate a brake. In the invention of claim 1,
The emergency automatic brake device, wherein the notification operation by the notification means includes at least an operation of increasing the tension of the seat belt. In the invention of claim 1 or claim 2,
An emergency automatic brake device configured to determine a seat belt wearing state and not to shift to a mode in which an emergency automatic brake is operated when the seat belt is not worn but to notify the fact by the notifying means. . In any one of the inventions of claims 1 to 3,
Between the start of the notification operation by the notification means and the time when the emergency automatic brake is activated, the configuration is such that a gradual automatic brake with a brake force weaker than the brake force by the emergency automatic brake is activated. Features emergency automatic braking device.

Images