JP4590257B2 - Vehicle contact detection device, control method, control program, and recording medium - Google Patents

Description

The present invention is a vehicle-contact sensor, a control method of that, a control program and a recording medium.

A driver of a vehicle such as an automobile operates the vehicle in a low-speed driving state mainly in a parking lot or the like, and operates the vehicle in the opposite direction to the intended direction by operating the wrong accelerator and brake or shifting operation. In some cases, various measures have been considered in recent years, such as warning of operation mistakes with a buzzer (see, for example, Patent Document 1). ).
JP-A-5-65035

  However, with the conventional technology, even if the driver is likely to contact the surrounding obstacles due to an operation error, even if the operation error is warned by a buzzer, this warning is taken to avoid contact. There is a problem that when the vehicle is operated, there is not enough time for the vehicle to come into contact with the vehicle, and it is not enough to avoid the contact.

  Therefore, there is a need to minimize damage when the vehicle contacts an obstacle, and a method of incorporating a pressure sensitive element in the bumper of the vehicle and operating the brake device when contact is detected can be considered, Since a vehicle, particularly a vehicle during traveling, receives an external wind pressure, when the pressure sensing element detects this wind pressure, there is a risk of erroneously determining that the vehicle has touched an obstacle.

  The present invention has been made in view of the above-described circumstances, and is a vehicle contact that does not make an erroneous determination with respect to a detection result detected by a pressure-sensitive element in a low-speed traveling state of a vehicle mainly in a parking lot or the like. An object is to provide a detection device.

The present invention is provided in substantially the entire width direction of these bumpers along the front bumper and rear bumper of the vehicle, detects the magnitude of external pressure on the vehicle, and follows a predetermined direction in each of these bumpers . Based on the pressure detection means for detecting the pressure distribution, the traveling direction determination means for detecting the traveling direction of the vehicle, the vehicle speed detecting means for detecting the vehicle speed of the vehicle, and the two bumpers based on the traveling direction of the vehicle Select the pressure detection means provided in any bumper to detect the pressure and pressure distribution from the outside to the vehicle, the strong impact threshold for detecting a strong impact, and weaker than this strong impact The weak impact threshold value for detecting the weak impact that is an impact is set so that the threshold value increases as the vehicle speed increases, and the vehicle speed of the vehicle It is determined whether or not the vehicle speed is below a certain value, and if the vehicle speed is below the certain value, it is determined that contact has occurred when pressure exceeding the strong impact threshold is detected by the pressure detecting means provided in the selected bumper. On the other hand, when a pressure that is below the strong impact threshold and exceeds the weak impact threshold is detected by the pressure detecting means, the pressure distribution detected by the pressure detecting means locally exceeds the weak impact threshold. And determining means for determining that a contact has occurred when the distribution exceeds the above distribution .

In this case, when it is determined that the contact touch occurs may comprise control means for actuating the brake device disposed in the vehicle.

  Further, the pressure detecting means may detect the pressure using a pressure sensitive conductive rubber. The pressure detection means may detect pressure using a capacitive pressure sensitive element. The pressure detection means may detect pressure using a piezo element.

In addition, the present invention is provided along the front bumper and the rear bumper of the vehicle in substantially the entire region in the width direction of the bumper, detects the magnitude of the external pressure on the vehicle, and in a predetermined direction in each of the bumpers. Control method for controlling a vehicle contact detection device comprising pressure detection means for detecting a pressure distribution along the vehicle, travel direction determination means for detecting the travel direction of the vehicle, and vehicle speed detection means for detecting the vehicle speed of the vehicle In accordance with the traveling direction of the vehicle, a strong impact threshold for detecting a strong impact by selecting whether the pressure distribution is detected by the pressure detection means provided in any of the two bumpers, and If the weak impact threshold for detecting a weak impact that is weaker than this strong impact is set so that the threshold increases as the vehicle speed increases. In addition, it is determined whether or not the vehicle speed of the vehicle falls below a certain value, and when the vehicle speed falls below a certain value, a pressure exceeding the strong impact threshold is detected by the pressure detection means provided in the selected bumper. When the pressure is detected by the pressure detection means while the pressure is lower than the strong impact threshold and higher than the weak impact threshold, the pressure distribution detected by the pressure detection means is locally In particular, it is determined that contact has occurred when the distribution exceeds the weak impact threshold .

In addition, the present invention is provided along the front bumper and the rear bumper of the vehicle in substantially the entire region in the width direction of the bumper, detects the magnitude of the external pressure on the vehicle, and in a predetermined direction in each of the bumpers. Executed by a computer that controls a vehicle contact detection device that includes a pressure detection unit that detects a pressure distribution along the vehicle, a traveling direction determination unit that detects a traveling direction of the vehicle, and a vehicle speed detection unit that detects a vehicle speed of the vehicle. In a possible control program, the computer selects, based on the traveling direction of the vehicle, pressure detection means provided in any of the two bumpers to detect the pressure distribution, and detects a strong impact And a weak impact threshold for detecting a weak impact that is weaker than the strong impact. The threshold value is set so as to increase as the vehicle speed increases, and it is determined whether the vehicle speed of the vehicle falls below a certain value. If the vehicle speed falls below a certain value, the pressure detection means provided in the selected bumper When a pressure exceeding the strong impact threshold is detected by the above, it is determined that contact has occurred, while when the pressure detection means detects a pressure that is below the strong impact threshold and exceeds the weak impact threshold, When the pressure distribution detected by the pressure detecting means is a distribution that locally exceeds the weak impact threshold value, the pressure detecting means functions as a determining means that determines that contact has occurred .
The present invention is also characterized in that the control program is recorded on a computer-readable recording medium.

  ADVANTAGE OF THE INVENTION According to this invention, when performing a contact detection, it can determine more reliably whether the vehicle contacted the obstruction.

Embodiments of the present invention will be described below with reference to the drawings.
The vehicle contact detection device 100 is illustrated. FIG. 1 is a block diagram illustrating a functional configuration of the vehicle contact detection device 100.

The vehicle contact detection device 100 is an automobile used as a device for detecting that the vehicle 200 is in contact with an obstacle or the like in a low-speed traveling state of the vehicle 200 mainly in a parking lot or the like and giving a sudden braking command to the vehicle braking computer. It is mounted on various vehicles 200 such as.
The vehicle contact detection device 100 in the present embodiment is mainly configured by a pressure sensitive panel 1f (1r), a microcomputer 2, a brake system 3, a vehicle speed sensor 4, a shift sensor 5, a shut-off device 6, and a release switch 7.

  The pressure-sensitive panel 1f (1r) has a plurality of pressure-sensitive elements 10-1 to 10-21 using a pressure-sensitive conductive rubber whose electric resistance value changes according to pressure. The pressure sensitive panel 1f (1r) is formed by arranging pressure sensitive elements 10-1 to 10-21 in a one-dimensional manner as shown in FIG. 2, and each pressure sensitive element 10-1 to 10-21 is independent. Outputs the pressure detection result. In addition, the vehicle contact detection device 100 detects a front-side contact and a rear-side contact of the vehicle, the pressure-sensitive panel 1f for the front-side contact detection of the vehicle 200, and the pressure-sensitive panel for the rear-side contact detection of the vehicle 200. 1r is used respectively.

The microcomputer 2 includes a main CPU (not shown) that controls the entire vehicle contact detection device 100 according to a control program, and a storage unit (not shown).
The storage unit includes a ROM (Read Only Memory), a DRAM (Dynamic Random Access Memory), and an SRAM (Static Random Access Memory) (not shown).

  The ROM stores a control program and various data in advance, and is accessed by the main CPU of the microcomputer 2 at the time of startup or the like, and the control program is read out.

  In the DRAM, a control program read from the ROM by the main CPU is temporarily stored.

  Various data are stored in the SRAM in advance. And even if the main power supply of the vehicle contact detection apparatus 100 main body is turned off, the SRAM is powered by a battery (not shown), and the data stored in the SRAM is held.

The brake system 3 is a vehicle braking computer and controls a brake device of the vehicle 200.
The vehicle speed sensor 4 detects a vehicle speed pulse and detects the vehicle speed of the vehicle 200.

The shift sensor 5 is a detection unit that detects the shift position of the vehicle 200, and determines the traveling direction of the vehicle 200 from the detected shift position.
The shut-off device 6 is arranged between the microcomputer 2 and the brake system 3 and forcibly shuts off the control from the microcomputer 2 for the brake system 3.

  The release switch 7 is an operation unit for releasing the control of the brake system 3 by the microcomputer 2, and is electrically connected to the microcomputer 2 and the cutoff device 6, and is released from the release switch 7 to the microcomputer 2 and the cutoff device 6. The control of the brake system 3 is released by sending a signal.

  Furthermore, in order to prepare for an unexpected situation, not only an electrical connection but also a mechanical connection is made to the breaking device 6, and by operating the release switch 7, the breaking device 6 and the brake system 3 are connected. The wiring itself is mechanically cut. Thus, in an emergency, when the driver operates the release switch 7, the microcomputer 2 stops the control of the brake system 3, and the shut-off device 6 almost certainly cuts off the connection between the microcomputer 2 and the brake system 3. Can do.

  The microcomputer 2 uses the signals output from the front pressure panel 1f, the rear pressure panel 1r, the vehicle speed sensor 4, the shift sensor 5 and the release switch 7 as input signals.

  As shown in FIG. 3, since the vehicle 200 has a characteristic of mainly moving in the front-rear direction, it is necessary to detect contact when the vehicle 200 moves forward and backward. Therefore, the pressure-sensitive panel 1f is assembled on the surface or inside of the front bumper 20f and the rear bumper 20r of the vehicle 200 in the full width direction.

  4 to 6 show pressure detection examples when the front pressure-sensitive panel 1f is attached to the front bumper 20f of the automobile. In each graph shown in FIGS. 4 to 6, the X-axis is the number of each pressure-sensitive element 10-1 to 10-21 arranged in the pressure-sensitive panel, and corresponds to the pressure-sensitive panel 1f (1r) in FIG. Corresponding to the pressure sensitive elements 10-1 to 10-21 from the left side. Further, the Y axis is a pressure sensitive value detected by the pressure sensitive elements 10-1 to 10-21, and two threshold values are described. The two threshold values indicated on the Y-axis are the pressure sensitive elements 10-1 to 10-21 when the impact is assumed to be particularly large when the tip portion of the bumper 20 comes into contact with the wall or the utility pole from the front. The strong impact threshold value THs, which is a pressure-sensitive value detected by, and the weak impact threshold value THw, in which the impact is relatively smaller than in the case of a strong impact, such as when a relatively light obstacle such as a pedestrian is touched. The pressure-sensitive values are divided into three regions based on these two threshold values, and these two threshold values are set to vary according to the vehicle speed of the vehicle 200, and the threshold value increases as the vehicle speed increases.

FIG. 4 is a graph showing a case where the vehicle 200 is in contact with an obstacle such as a fixed body such as a wall or a power pole, or a heavy weight body.
The tenth, eleventh, twelfth and thirteenth from the left of the pressure sensitive elements 10-1 to 10-21 arranged on the front pressure sensitive panel 1f exceed the strong impact threshold THs, and the other pressure sensitive elements 10-1 to 10-10. -21 does not exceed the weak impact threshold THw. As a result, the positions of the front bumpers 20f corresponding to the tenth, eleventh, twelfth and thirteenth positions from the left of the pressure sensitive elements 10-1 to 10-21 arranged on the front pressure sensitive panel 1f, that is, the vicinity of the center of the front bumper 20f are fixed. It can be read that a strong impact was applied to the body or weight.

FIG. 5 is a graph showing a case where the vehicle 200 contacts a relatively light obstacle such as a pedestrian.
Although the pressure-sensitive values detected by the pressure-sensitive elements 10-1 to 10-21 arranged on the front pressure-sensitive panel 1f do not generally exceed the weak impact threshold THw, the pressure-sensitive elements 10-1 to 10- It can be seen that the 16th, 17th, and 18th positions from the left of 21 locally exceed the weak impact threshold THw. Accordingly, the positions of the front bumper 20f corresponding to the 16th, 17th and 18th positions from the left of the pressure sensitive elements 10-1 to 10-21 arranged on the front pressure sensitive panel 1f, that is, the right side toward the front bumper 20f is relatively It can be seen that a light obstacle was touched and an impact larger than the weak impact threshold value THw but less than the strong impact threshold value THs was applied.

FIG. 6 is a graph showing a case where the vehicle 200 is not in contact with any of the obstacles described above and the front pressure-sensitive panel 1f detects a pressure exceeding the weak impact threshold THw due to strong wind, air resistance, or the like. It is.
The pressure sensitive elements 10-1 to 10-21 arranged on the front pressure sensitive panel 1f are distributed not to be localized but to exceed the weak impact threshold THw over the entire range. The vehicle contact detection device 100 detects the front pressure-sensitive panel 1f when the pressure-sensitive value detected by the front pressure-sensitive panel 1f is a magnitude between the weak shock threshold THw and the strong shock threshold THs as described above. Whether or not the vehicle 200 is in contact with a relatively light obstacle can be determined in the same manner as in FIG. 5 depending on whether or not the distribution state of the pressure-sensitive value is local. In the case of FIG. 6, unlike the case of FIG. 5, the distribution state of the pressure sensitive value detected by the front pressure sensitive panel 1 f is not local, so it is determined that the vehicle 200 is not in contact.

FIG. 7 is a flowchart showing an overall flow of the operation of the vehicle contact detection device 100.
First, based on the detection result of the shift sensor 5, the microcomputer 2 detects whether the vehicle 200 is detected by the front pressure-sensitive panel 1f assembled to the front bumper 20f depending on whether the traveling direction of the vehicle 200 is forward or reverse. It is selected whether to detect with the rear pressure-sensitive panel 1f assembled to 20r (step S1).

  When the pressure sensitive panel 1f (1r) to be detected is selected, the microcomputer 2 next detects the vehicle speed of the vehicle 200 based on the vehicle speed pulse detected by the vehicle speed sensor 4. Then, it is determined whether or not the vehicle 200 is traveling at a low speed (for example, 30 km / h or less) (step S2).

  At this time, if the microcomputer 2 determines that the vehicle 200 is not traveling at a low speed (step S2: NO), the microcomputer 2 returns to the selection process (step S1) of the pressure sensitive panel 1f (1r). If it is determined that the vehicle 200 is running at a low speed, the microcomputer 2 next determines the pressure-sensitive value detected by the pressure-sensitive elements 10-1 to 10-21 constituting the pressure-sensitive panel 1f (1r). It is determined whether or not the vehicle 200 has come into contact (step S3).

  However, if the microcomputer 2 determines in step S3 that the vehicle 200 is not in contact (step S3: NO), the microcomputer 2 returns to the speed determination process (step S2), but the microcomputer 2 is in contact with the vehicle 200 (step S3). If it determines with (S3: YES), a sudden stop command will be performed to the brake system 3 (step S4).

In FIG. 8, the flowchart of the specific operation | movement (step S2-3 of FIG. 7) of the vehicle contact detection apparatus 100 is shown.
First, the microcomputer 2 detects the vehicle speed of the vehicle 200 from the vehicle speed pulse detected by the vehicle speed sensor 4 while the vehicle 200 is traveling at a low speed, and calculates a strong impact determination threshold value and a weak impact determination threshold value based on the detected result. Set (step S11).

  When the strong impact determination threshold and the weak impact determination threshold are set (step S11), the microcomputer 2 determines whether or not the pressure sensitive panel 1f (1r) has detected a pressure sensitive value exceeding the strong impact threshold THs (step S12). .

  At this time, if the microcomputer 2 determines that the pressure sensitive panel 1f (1r) has detected a pressure sensitive value exceeding the strong impact threshold THs (step S12: YES), the microcomputer 2 determines that the vehicle 200 has exceeded the strong impact threshold THs. Is output to the brake system 3 (step S15), and the brake system 3 operates the brake device to cause the vehicle 200 to be braked suddenly.

  However, if the microcomputer 2 determines in step S12 that the pressure sensitive panel 1f (1r) has not detected a pressure sensitive value exceeding the strong impact threshold THs (step S12: NO), then the microcomputer 2 It is determined whether or not a pressure sensitive value where 1f (1r) exceeds the weak impact threshold THw is detected (step S13).

  At this time, if the microcomputer 2 determines that the pressure sensitive panel 1f (1r) does not detect a pressure sensitive value exceeding the weak impact threshold THw (step S13: NO), the microcomputer 2 determines that the vehicle 200 is not in contact. The result is output to the brake system 3 (step S16). Here, since the vehicle 200 is not in contact, the brake system 3 does not operate the brake device.

  However, if the microcomputer 2 determines in step S13 that the pressure sensitive panel 1f (1r) has detected a pressure sensitive value exceeding the weak impact threshold value THw (step S13: YES), then the microcomputer 2 detects the pressure sensitive panel 1f (1r). It is determined whether or not the distribution of the detected pressure in the arrangement direction of the pressure sensitive elements 10-1 to 10-21 detected by (2) varies (step S14). Here, variation in pressure distribution means that the same pressure is detected in most of the pressure-sensitive elements 10-1 to 10-21. In consideration of detection error of -1 to 10-21, the pressure sensitive value detected by 18 of 21 pressure sensitive elements 10-1 to 10-21 is within ± 50% of the weak impact threshold THw This is performed by determining whether or not the value falls within (strong impact threshold).

  At this time, if the microcomputer 2 determines that the pressure distribution detected by the pressure-sensitive panel 1f (1r) varies (step S14: YES), the microcomputer 2 detects that the pressure-sensitive panel 1f (1r) is weakly impacted in step S13. The determination result that the vehicle 200 is not in contact is output to the brake system 3 in the same manner as when it is determined that a pressure sensitive value exceeding the threshold value THw is not detected (step S16).

  However, if it is determined in step S14 that the pressure distribution detected by the pressure-sensitive panel 1f (1r) does not vary (local) (step S14: NO), the microcomputer 2 causes the vehicle 200 to exceed the weak impact threshold THw. A command when the pressure sensitive value is detected is output to the brake system 3 (step S17), and the brake system 3 activates the brake device to brake the vehicle 200 rapidly.

  As mentioned above, although this invention was demonstrated based on one Embodiment, this invention is not limited to this. For example, in the present embodiment, when the microcomputer 2 determines that the vehicle 200 has detected a pressure sensitive value that is equal to or greater than a predetermined impact threshold, the brake system 3 activates the brake and performs the sudden braking of the vehicle 200. However, it is not limited to such direct control, but indirect control such as assisting brake operation, mitigation of erroneous accelerator operation, forced neutral control of shift, etc., or a series of data when the vehicle touches the drive recorder Etc. may be recorded.

  In this embodiment, the pressure sensitive conductive rubber whose electric resistance value changes according to the pressure is used as the pressure sensitive elements 10-1 to 10-21, but the thin diaphragm (diaphragm) is deformed by the gas pressure, Other types of pressure-sensitive elements, such as a capacitive pressure-sensitive element that detects pressure by detecting the amount of deformation as a change in capacitance, and a piezoelectric element that detects pressure by attaching electrodes on both sides of a piezoelectric material It may be 10-1 to 10-21.

  In the present embodiment, the microcomputer 2 detects the vehicle speed of the vehicle 200 from the vehicle speed pulse detected by the vehicle speed sensor 4 while the vehicle 200 is traveling at low speed, and based on the detection result, the strong impact determination threshold value and the weak impact determination threshold value are detected. However, a strong impact judgment threshold and a weak impact judgment threshold corresponding to the vehicle speed are set for each vehicle speed range in advance, and a strong impact judgment threshold and a weak impact judgment threshold are set according to the detected vehicle speed. You may judge.

It is a block diagram which shows the functional structure of the vehicle contact detection apparatus which concerns on embodiment of this invention. It is a front view of a pressure sensitive panel. It is a figure which shows a mode that the pressure sensitive panel was assembled | attached to the vehicle. It is a graph which shows the case where it contacts obstacles, such as a fixed body or a weight body. It is a graph which shows the case where a relatively light obstacle is contacted. It is a graph which shows the case where the pressure by a strong wind, air resistance, etc. is detected. It is a flowchart which shows the whole flow of operation | movement of a vehicle contact detection apparatus. It is a flowchart which shows the specific operation | movement of a vehicle contact detection apparatus.

Explanation of symbols

1f Front pressure sensitive panel (pressure detection means)
1r Rear pressure sensitive panel (pressure detection means)
3 Brake system (brake device)
100 vehicle contact detection device 200 vehicle

Claims (8)

Along the front bumper and rear bumper of the vehicle , these bumpers are installed in almost the entire width direction of the bumper to detect the magnitude of external pressure on the vehicle and to detect the pressure distribution along the specified direction in each of these bumpers. Pressure detecting means for
Traveling direction determination means for detecting the traveling direction of the vehicle;
Vehicle speed detection means for detecting the vehicle speed of the vehicle;
Based on the traveling direction of the vehicle, the pressure detection means provided in any one of the two bumpers is used to select whether to detect the external pressure and the pressure distribution on the vehicle, and detect a strong impact. And a weak impact threshold for detecting a weak impact that is weaker than the strong impact, such that the threshold increases as the vehicle speed increases, and the vehicle speed of the vehicle is constant. Determine whether it is below the value,
If the vehicle speed is below a certain value,
When a pressure exceeding the strong impact threshold is detected by the pressure detection means provided in the selected bumper, it is determined that contact has occurred,
When a pressure that is below the strong impact threshold and exceeds the weak impact threshold is detected by the pressure detecting means, the pressure distribution detected by the pressure detecting means locally exceeds the weak impact threshold. A vehicle contact detection device comprising: a determination unit that determines that contact has occurred when the contact is made . If it is determined that the contact touch has occurred, the vehicle contact sensing device of claim 1, further comprising a control means for actuating the brake device disposed in the vehicle. It said pressure sensing means, the vehicle contact sensing device of claim 1 or 2, characterized in that detecting the pressure using the pressure-sensitive conductive rubber. It said pressure sensing means, the vehicle contact sensing device of claim 1, wherein detecting a pressure using a capacitive pressure sensing element. It said pressure sensing means, the vehicle contact sensing device of claim 1, wherein detecting a pressure using a piezoelectric element. Along the front bumper and rear bumper of the vehicle , these bumpers are installed in almost the entire width direction of the bumper to detect the magnitude of external pressure on the vehicle and to detect the pressure distribution along the specified direction in each of these bumpers. Pressure detecting means for
Traveling direction determination means for detecting the traveling direction of the vehicle;
In a control method for controlling a vehicle contact detection device comprising vehicle speed detection means for detecting the vehicle speed of the vehicle ,
Based on the traveling direction of the vehicle, it is selected whether the pressure distribution is detected by the pressure detection means provided in any of the two bumpers, the strong impact threshold for detecting the strong impact, and the strong impact threshold. A weak impact threshold for detecting a weak impact, which is an impact weaker than the impact, is set so that the threshold increases as the vehicle speed increases, and it is determined whether the vehicle speed of the vehicle falls below a certain value,
If the vehicle speed is below a certain value,
When a pressure exceeding the strong impact threshold is detected by the pressure detection means provided in the selected bumper, it is determined that contact has occurred,
When the pressure detection means detects a pressure that is below the strong impact threshold and exceeds the weak impact threshold, the pressure distribution detected by the pressure detection means locally exceeds the weak impact threshold. A control method for a vehicle contact detection device, characterized in that it is determined that a contact has occurred if Along the front bumper and rear bumper of the vehicle , these bumpers are installed in almost the entire width direction of the bumper to detect the magnitude of external pressure on the vehicle and to detect the pressure distribution along the specified direction in each of these bumpers. In a control program that can be executed by a computer that controls a vehicle contact detection device that includes a pressure detection unit that performs, a traveling direction determination unit that detects a traveling direction of the vehicle, and a vehicle speed detection unit that detects a vehicle speed of the vehicle ,
The computer,
Based on the traveling direction of the vehicle, it is selected whether the pressure distribution is detected by the pressure detection means provided in any of the two bumpers, the strong impact threshold for detecting the strong impact, and the strong impact threshold. A weak impact threshold for detecting a weak impact, which is an impact weaker than the impact, is set so that the threshold increases as the vehicle speed increases, and it is determined whether the vehicle speed of the vehicle falls below a certain value,
If the vehicle speed is below a certain value,
When a pressure exceeding the strong impact threshold is detected by the pressure detection means provided in the selected bumper, it is determined that contact has occurred,
When the pressure detection means detects a pressure that is below the strong impact threshold and exceeds the weak impact threshold, the pressure distribution detected by the pressure detection means locally exceeds the weak impact threshold. A control program that functions as a determination unit that determines that contact has occurred in the event that a contact is made . A computer-readable recording medium having the control program according to claim 7 recorded thereon.

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