JP5786480B2 - Safety index calculation method, safety index calculation device, and safety index calculation program - Google Patents

Description

  The present invention relates to a safety index calculation method and the like.

  In a vehicle society where users use vehicles on a daily basis, it is important to promote safety and reduce traffic accidents. For this reason, there are various techniques for preventing traffic accidents.

  For example, there is a conventional technique for calculating a safety index where a host vehicle and another vehicle collide and performing traveling control of the host vehicle based on the calculated safety index. This safety index corresponds to the distance between the position where the host vehicle is decelerated and stopped and the position where the other vehicle is decelerated and stopped. In the following description, the distance between the position where the host vehicle is decelerated and stopped and the position where the other vehicle is decelerated and stopped is referred to as a collision margin distance.

  Further, in the above prior art, when there are other vehicles in front and rear of the host vehicle, the set of the host vehicle and the other vehicle in front and the set of the host vehicle and the other vehicle in the rear are collided respectively. The margin distance is calculated. In the conventional technology, the smaller collision margin distance among the calculated collision margin distances is used as a safety index.

JP 2009-262629 A JP 2008-290600 A Japanese Patent Laid-Open No. 2001-122094 JP 2004-259151 A

  However, the above-described conventional technique has a problem that the safety index cannot be calculated accurately.

  The reason why the prior art cannot accurately calculate the safety index will be described. In the prior art, the collision margin distance is calculated for each of a set of a front vehicle and the own vehicle and a set of a rear vehicle and the own vehicle. Here, if the inter-vehicle distance between the front vehicle and the host vehicle is open to some extent, even if the rear vehicle is packed, the host vehicle gradually decelerates to avoid a collision. Not dangerous.

  However, in the prior art, the safety index is obtained based on the collision margin distance obtained from each group. For this reason, in the prior art, even if there is a margin between the front vehicle and the host vehicle, if the rear vehicle is packed, the risk level is determined from the relationship between the host vehicle and the rear vehicle. Is judged to be high.

  The disclosed technology has been made in view of the above, and an object thereof is to provide a safety index calculation method, a safety index calculation device, and a safety index calculation program capable of accurately calculating a safety index.

  According to the disclosed safety index calculation method, the computer includes a traveling state of the first vehicle, a traveling state of the second vehicle traveling in front of the first vehicle, and a traveling state of the third vehicle traveling behind the first vehicle. Is detected. In the disclosed safety index calculation method, the computer may be configured such that the first vehicle and the second vehicle or the second vehicle or the second vehicle based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle. A safety index indicating an index of ease of collision with the third vehicle is calculated.

  According to the safety index calculation method disclosed in the present application, there is an effect that the safety index can be accurately calculated.

FIG. 1 is a functional block diagram illustrating the configuration of the safety index calculation device according to the present embodiment. FIG. 2 is a flowchart showing a processing procedure of the safety index calculation device. FIG. 3 is a diagram illustrating an example of a computer that executes a safety index calculation program.

  Hereinafter, embodiments of a safety index calculation method, a safety index calculation device, and a safety index calculation program disclosed in the present application will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  A configuration of the safety index calculation apparatus according to the present embodiment will be described. FIG. 1 is a functional block diagram showing the configuration of the safety index calculation device. As illustrated in FIG. 1, the safety index calculation device 100 includes a detection unit 110, a safety index calculation unit 120, a warning unit 130, and a storage unit 140.

  In this embodiment, as an example, it is assumed that the safety index calculation unit device 100 is mounted on a vehicle. A vehicle equipped with the safety index calculation device 100 is referred to as a host vehicle. Further, it is assumed that another vehicle is traveling before and after the traveling vehicle. A vehicle traveling in front of the host vehicle is referred to as a forward vehicle. A vehicle traveling behind the host vehicle is referred to as a rear vehicle.

  The detection unit 110 is a processing unit that detects the traveling state of the host vehicle, the front vehicle, and the rear vehicle. The detection unit 110 outputs the detected traveling state information to the safety index calculation unit 120. For example, the travel state information includes the speed Vf of the front vehicle, the speed V of the host vehicle, the speed Vb of the rear vehicle, the inter-vehicle distance Df between the host vehicle and the front vehicle, and the inter-vehicle distance Db between the host vehicle and the rear vehicle. It is.

  The detection unit 110 includes a distance measurement unit 111, a host vehicle speed measurement unit 112, and a speed calculation unit 113.

  The distance measurement unit 111 is a processing unit that measures a distance Df between the host vehicle and the preceding vehicle and a distance Db between the host vehicle and the rear vehicle. The distance measurement unit 111 outputs the measurement result to the speed calculation unit 113.

  An example of processing in which the distance measurement unit 111 measures distance will be described. For example, the distance measuring unit 111 radiates electromagnetic waves to the vehicle using a radar, receives electromagnetic waves that are reflected back, and measures the distance using a time difference from radiation to reception. The distance measuring unit 111 may measure the distance between the other vehicle and the host vehicle by acquiring a video of the vehicle and performing image processing.

  The own vehicle speed measuring unit 112 is a processing unit that measures the speed of the own vehicle. The own vehicle speed measurement unit 112 outputs the measurement result to the speed calculation unit 113. For example, the host vehicle speed measuring unit 112 is connected to the engine control unit of the host vehicle, and measures the speed of the host vehicle based on the engine speed and the like.

  The speed calculation unit 113 is a processing unit that calculates the speed Vf of the front vehicle and the speed Vb of the rear vehicle based on the measurement results of the distance measurement unit 111 and the host vehicle speed measurement unit 112.

  First, an example of processing in which the speed calculation unit 113 calculates the speed Vf of the preceding vehicle will be described. The speed calculation unit 113 sequentially acquires the distance Df from the distance measurement unit 111, and calculates the relative speed between the preceding vehicle and the host vehicle based on Expression (1). The speed calculation unit 113 calculates the speed Vf of the preceding vehicle by adding the speed V of the host vehicle to the relative speed obtained by Expression (1). In Expression (1), x1 corresponds to the distance Df measured t seconds before the reference time, and x0 corresponds to the distance Df measured at the reference time.

  Relative speed =-(x1-x0) / t (1)

  Next, an example of processing in which the speed calculation unit 113 calculates the speed Vb of the rear vehicle will be described. The speed calculation unit 113 sequentially acquires the distance Db from the distance measurement unit 111, and calculates the relative speed between the rear vehicle and the host vehicle based on Expression (2). The speed calculation unit 113 calculates the speed Vb of the rear vehicle by adding the speed V of the host vehicle to the relative speed obtained by Expression (2). In Expression (2), y1 corresponds to the distance Db measured t seconds before the reference time, and y0 corresponds to the distance Db measured at the reference time.

  Relative speed = (y1-y0) / t (2)

  The speed calculation unit 113 calculates the safety index of the speed Vf of the preceding vehicle, the speed V of the host vehicle, the speed Vb of the rear vehicle, the inter-vehicle distance Df between the host vehicle and the front vehicle, and the inter-vehicle distance Db between the host vehicle and the rear vehicle. To the unit 120. Note that the speed calculation unit 113 obtains information on the speed Vf of the front vehicle, the speed V of the host vehicle, the speed Vb of the rear vehicle, the inter-vehicle distance Df between the host vehicle and the front vehicle, and the inter-vehicle distance Db between the host vehicle and the rear vehicle. , It may be temporarily stored in a storage device.

  The safety index calculation unit 120 is a processing unit that calculates a safety index that is an index of the likelihood of a collision between the host vehicle and the front vehicle or the rear vehicle based on the traveling state of the host vehicle, the front vehicle, and the rear vehicle. is there. The safety index calculation unit 120 includes a midpoint position calculation unit 121, a deceleration acceleration calculation unit 122, and a collision margin distance calculation unit 123.

  The midpoint position calculation unit 121 is a processing unit that calculates the midpoint position. This midpoint position indicates the midpoint position of the line segment connecting the position where the front vehicle stops and the position where the rear vehicle stops when the front vehicle and the rear vehicle stop at the maximum deceleration acceleration α. . It is assumed that the maximum deceleration acceleration α is set in advance. The midpoint position calculation unit 121 outputs information on the midpoint position to the deceleration acceleration calculation unit 122.

  An example of processing in which the midpoint position calculation unit 121 calculates the midpoint position will be described. The stop position Pf of the front vehicle is obtained by Expression (3), and the stop position Pb of the rear vehicle is obtained by Expression (4). For this reason, the midpoint position calculation unit 121 calculates the midpoint position Pm using the equation (5). T0 in the equation (4) corresponds to the reaction time of the driver and is set in advance.

  The deceleration acceleration calculation unit 122 is a processing unit that calculates deceleration acceleration for the host vehicle to stop at the midpoint position. Moreover, the deceleration acceleration calculation part 122 calculates the acceleration for the own vehicle not colliding with a front vehicle or a back vehicle.

  First, an example of processing in which the deceleration acceleration calculation unit 122 calculates deceleration acceleration will be described. When the deceleration acceleration for stopping the host vehicle at the midpoint position Pm is αx, the relationship between the midpoint position Pm and the deceleration acceleration αx can be expressed by Expression (6). Therefore, the deceleration acceleration calculation unit 122 calculates the deceleration acceleration αx based on the equation (7).

  Here, when the value of the deceleration acceleration αx is larger than the value of the maximum deceleration acceleration α, the deceleration acceleration calculation unit 122 determines that the host vehicle cannot stop at the midpoint position. Thus, when the host vehicle cannot stop at the midpoint position, the deceleration acceleration calculation unit 122 sets the value of the deceleration acceleration αx to the value of α.

  On the other hand, when the value of the deceleration acceleration αx is equal to or less than the value of the maximum deceleration acceleration α, the deceleration acceleration calculation unit 122 determines that the host vehicle can stop at the midpoint position. Thus, when the own vehicle can stop at the midpoint position, the deceleration acceleration calculation unit 122 sets the value of the deceleration acceleration αx as it is.

  The deceleration acceleration calculation unit 122 outputs information about whether or not the host vehicle can stop at the midpoint position, deceleration acceleration αx, and midpoint position information to the collision margin distance calculation unit 123. As will be described later, when the host vehicle collides with a preceding vehicle or a rear vehicle, the value of the deceleration acceleration αx is corrected.

  Next, an example of a process for calculating an acceleration for preventing the deceleration acceleration calculation unit 122 from colliding with a preceding vehicle or a rear vehicle will be described. When the deceleration acceleration αx is obtained, the trajectory x of the preceding vehicle is expressed by Expression (8) or Expression (9). The trajectory x of the host vehicle is expressed by Expression (10) or Expression (11). The trajectory x of the rear vehicle is expressed by Expression (12) or Expression (13). It is assumed that the time when the preceding vehicle starts to decelerate at the maximum deceleration acceleration α is t = 0. Further, the position where the preceding vehicle starts decelerating at the maximum deceleration acceleration α is set to x = 0.

  When the condition of “t ≦ Vf / α” is satisfied for the preceding vehicle, the trajectory x of the preceding vehicle is expressed by Expression (8). Further, when the condition of “Vf / α ≦ t” is satisfied, the trajectory x of the preceding vehicle is expressed by Expression (9). When the condition of “Vf / α ≦ t” is satisfied, the preceding vehicle is stopped.

  When the condition “t ≦ t0” is satisfied for the host vehicle, the trajectory x of the host vehicle is expressed by Expression (10). When the condition of “t ≦ t0” is satisfied, the host vehicle is not decelerated. Further, when the condition of “t0 ≦ t <V / αx + t0” is satisfied, the trajectory x of the host vehicle is expressed by Expression (11). Further, when the condition “V / αx + t0 ≦ t” is satisfied, the trajectory x of the host vehicle is expressed by Expression (12). When the condition of “V / αx + t0 ≦ t” is satisfied, the host vehicle is stopped.

  When the condition of “t ≦ 2t0” is satisfied for the rear vehicle, the trajectory x of the rear vehicle is expressed by Expression (13). When the condition of “t ≦ 2t0” is satisfied, the rear vehicle is before deceleration. Further, when the condition of “2t0 ≦ t <V / α + 2t0” is satisfied, the trajectory x of the rear vehicle is expressed by Expression (14). Further, when the condition “V / α + 2t0 ≦ t” is satisfied, the trajectory x of the rear vehicle is expressed by Expression (15). When the condition of “V / α + 2t0 ≦ t” is satisfied, the rear vehicle is stopped.

  The deceleration acceleration calculation unit 122 selects Expression (8) to Expression (15) according to the condition of t. Then, the deceleration acceleration calculation unit 122 substitutes the accelerations α and αx to obtain the trajectory x of the front vehicle, the trajectory x of the own vehicle, and the trajectory x of the rear vehicle, so that the own vehicle is the front vehicle or the rear vehicle. Determine if there is a collision. The deceleration acceleration calculation unit 122 determines that a collision occurs when the trajectory x of the host vehicle intersects the trajectory x of the preceding vehicle or the rear vehicle.

  The deceleration acceleration calculation unit 122 calculates a deceleration acceleration αx that does not cause a collision when it is determined that a collision occurs. For example, by preparing a plurality of deceleration accelerations included in the range from 0 to the maximum deceleration acceleration α and sequentially substituting each deceleration acceleration into the equations (8) to (15), the value of the deceleration acceleration αx that does not collide is obtained. calculate. The deceleration acceleration calculation unit 122 outputs the calculated deceleration acceleration αx to the collision margin distance calculation unit 123.

  The collision margin distance calculation unit 123 is a processing unit that calculates the collision margin distance. The collision margin distance calculation unit 123 outputs information on the collision margin distance to the warning unit 130. The collision margin distance calculation unit 123 acquires the calculation result from the deceleration acceleration calculation unit 122 and determines whether or not the host vehicle can stop at the midpoint position.

  A case where the host vehicle can stop at the midpoint position will be described. In this case, the collision margin distance calculation unit 123 calculates the distance from the stop position of the preceding vehicle that stops at the maximum deceleration acceleration α to the midpoint position as the collision margin distance. The collision margin distance calculation unit 123 may calculate the distance from the stop position of the rear vehicle that stops at the maximum deceleration acceleration α to the midpoint position as the collision margin distance.

  A case where the host vehicle cannot stop at the midpoint position will be described. In this case, the collision margin distance calculation unit 123 calculates the distance between the stop position of the preceding vehicle that stops at the maximum deceleration acceleration α and the stop position of the host vehicle that stops at the deceleration acceleration αx as the collision margin distance.

  This is because the collision margin distance calculation unit 123 uses the shorter distance among the distance between the stop position of the front vehicle and the stop position of the host vehicle and the distance between the stop position of the host vehicle and the stop position of the rear vehicle as a safety indicator. It is equivalent to calculating as

  By the way, the safety index calculation unit 120 associates and stores the trajectory and speed of the host vehicle, the preceding vehicle, and the rear vehicle, the deceleration acceleration αx, the inter-vehicle distance, and the collision margin distance in the storage unit 140.

  The warning unit 130 is a processing unit that acquires information on the collision margin distance and outputs a warning to the driver when the value of the collision margin distance becomes negative. For example, the warning unit 130 may display a warning on a car navigation screen included in the host vehicle, or may output a warning sound from a speaker.

  The memory | storage part 140 is a memory | storage device which matches and memorize | stores the locus | trajectory and speed of the own vehicle, a front vehicle, and a back vehicle, deceleration acceleration (alpha) x, the distance between vehicles, and a collision margin distance. The storage unit 140 corresponds to, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), or a flash memory, or a storage device such as a hard disk or an optical disk.

  The information stored in the storage unit 140 is used for safe driving diagnosis and safe driving guidance for the driver of the host vehicle.

  Incidentally, the processing units 110 to 130 shown in FIG. 1 correspond to integrated devices such as an ASIC (Application Specific Integrated Circuit) and an FPGA (Field Programmable Gate Array). The processing units 110 to 130 correspond to electronic circuits such as a CPU and an MPU (Micro Processing Unit), for example.

  Next, a processing procedure of the safety index calculation device 100 according to the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure of the safety index calculation device. For example, the process illustrated in FIG. 2 is executed when the safety index calculation device 100 is activated and the distance measurement unit 111 and the host vehicle speed measurement unit 112 start measurement.

  As shown in FIG. 2, the safety index calculation device 100 measures the distance between the front vehicle and the host vehicle and the distance between the rear vehicle and the host vehicle (step S101). The speed is calculated (step S102).

  The safety index calculation device 100 calculates the midpoint position when the front vehicle and the rear vehicle stop at the maximum deceleration acceleration α (step S103), and calculates the deceleration acceleration αx for stopping the host vehicle at the midpoint position. (Step S104).

  When the condition of “αx ≦ α” is not satisfied (No at Step S105), the safety index calculating apparatus 100 substitutes the value of the maximum deceleration acceleration α for the deceleration acceleration αx (Step S106), and proceeds to Step S107. .

  On the other hand, when the condition of “αx ≦ α” is satisfied (step S105, Yes), the safety index calculation device 100 determines whether or not the vehicle collides when the host vehicle decelerates by αx (step S107). When the host vehicle collides when the host vehicle decelerates by αx (step S107, Yes), the safety index calculation device 100 corrects the deceleration acceleration αx (step S108), and proceeds to step S109.

  On the other hand, when the host vehicle does not collide even if the host vehicle decelerates by αx (step S107, No), the safety index calculation device 100 specifies the deceleration acceleration αx (step S109). The safety index calculation device 100 calculates the stop position of the host vehicle (step S110), and calculates the collision margin distance (step S111).

  Next, effects of the safety index calculation device 100 according to the present embodiment will be described. Since the safety index calculation unit 100 calculates the safety index based on the traveling states of the front vehicle, the rear vehicle, and the host vehicle, the safety index can be accurately calculated.

  Further, the safety index calculation device 100 calculates the midpoint position between the stop position of the preceding vehicle and the stop position of the rear vehicle, and when the host vehicle can stop at the midpoint position, The distance from the point position is calculated as a safety index. For this reason, even if the rear vehicle is packed in the host vehicle, it is possible to calculate an accurate safety index including not only the pair of the rear vehicle and the host vehicle but also the front vehicle.

  In addition, the safety index calculation device 100 calculates the midpoint position between the stop position of the preceding vehicle and the stop position of the rear vehicle. If the own vehicle cannot stop at the midpoint position, the stop position of the preceding vehicle and the own vehicle are calculated. The distance from the stop position is calculated as a safety index. For this reason, even when the host vehicle cannot stop at the midpoint position, the safety index can be accurately calculated.

  Further, the safety index calculation device 100 calculates, as a safety index, the shorter distance between the distance between the stop position of the front vehicle and the stop position of the host vehicle and the distance between the stop position of the host vehicle and the stop position of the rear vehicle. To do. For this reason, the safety index can be calculated more accurately.

  Next, an example of a computer that executes a safety index calculation program that realizes the same function as the safety index calculation apparatus 100 illustrated in FIG. 1 will be described. FIG. 3 is a diagram illustrating an example of a computer that executes a safety index calculation program.

  As illustrated in FIG. 3, the computer 200 includes a CPU 201 that executes various arithmetic processes, an input device 202 that receives input of data from a user, and a display 203. The computer 200 includes a reading device 204 that reads a program and the like from a storage medium, and an interface device 205 that exchanges data with other computers via a network. The computer 200 also includes a radar 206 and a rotation speed measurement device 207 that measures the engine rotation speed. The computer 200 also includes a RAM 208 that temporarily stores various information and a hard disk device 209. The devices 201 to 209 are connected to the bus 210.

  The hard disk device 209 stores a detection program 209a and a safety index calculation program 209b. The CPU 201 reads out the detection program 209 a and the safety index calculation program 209 b and expands them in the RAM 208. The detection program 209a functions as a detection process 208a. The safety index calculation program 209b functions as a safety index calculation process 208b.

  For example, the detection process 208a corresponds to the detection unit 110 in FIG. The safety index calculation process 208b corresponds to the safety index calculation unit 120 in FIG.

  Note that the programs 209a and 209b are not necessarily stored in the hard disk device 209 from the beginning. For example, each program is stored in a “portable physical medium” such as a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk, and an IC card inserted into the computer 200. Then, the computer 200 may read and execute the programs 209a and 209b from these.

  The following supplementary notes are further disclosed with respect to the embodiments including the above examples.

(Supplementary note 1) A safety index calculation method executed by a computer,
The storage state is detected by detecting the traveling state of the first vehicle, the traveling state of the second vehicle traveling in front of the first vehicle, and the traveling state of the third vehicle traveling behind the first vehicle. ,
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle in the storage device, the first vehicle and the second vehicle or the third vehicle; A safety index calculation method comprising: performing a process for calculating a safety index indicating an index of the likelihood of collision.

(Supplementary note 2) The process of calculating the safety index is performed when the first vehicle can stop at a midpoint position between the stop position of the second vehicle and the stop position of the third vehicle. The safety index calculation method according to appendix 1, wherein a distance between a stop position and the midpoint position is calculated as the safety index.

(Additional remark 3) The process which calculates the said safety parameter | index WHEREIN: When the said 1st vehicle stops exceeding the said midpoint position, the distance of the stop position of the said 1st vehicle and the stop position of the said 2nd vehicle is said The safety index calculation method according to appendix 1 or 2, wherein the safety index is calculated as a safety index.

(Additional remark 4) The process which calculates the said safety parameter | index includes the distance of said 1st vehicle and said 2nd vehicle at the time of said 1st vehicle, said 2nd vehicle, and said 3rd vehicle each stopping, said 1st The safety index calculation method according to appendix 1, wherein a shorter distance of the distance between the vehicle and the third vehicle is calculated as the safety index.

(Additional remark 5) The detection part which detects the driving state of the 1st vehicle, the driving state of the 2nd vehicle which drive | works the front of the said 1st vehicle, and the driving | running state of the 3rd vehicle which drive | workes behind the said 1st vehicle. When,
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle detected by the detection unit, a collision between the first vehicle and the second vehicle is detected. A safety index calculation device, comprising: a safety index calculation unit that calculates an index of ease of use or a safety index indicating an index of ease of collision between the first vehicle and the third vehicle.

(Additional remark 6) The said safety parameter | index calculation part is a stop position of the said 2nd vehicle, when the said 1st vehicle can stop at the midpoint position of the stop position of the said 2nd vehicle, and the stop position of the said 3rd vehicle. The safety index calculation apparatus according to appendix 5, wherein a distance between the center point position and the midpoint position is calculated as the safety index.

(Supplementary note 7) When the first vehicle stops beyond the midpoint position, the safety index calculation unit calculates a distance between the stop position of the first vehicle and the stop position of the second vehicle. The safety index calculation device according to appendix 5 or 6, wherein the safety index calculation device is calculated as follows.

(Additional remark 8) The said safety parameter | index calculation part is the time of the said 1st vehicle, the said 2nd vehicle, the said 1st vehicle, and the said 1st vehicle, when the said 2nd vehicle, the said 3rd vehicle each stop The safety index calculation apparatus according to appendix 5, wherein a shorter distance of the distances of the third vehicle is calculated as the safety index.

(Appendix 9)
The storage state is detected by detecting the traveling state of the first vehicle, the traveling state of the second vehicle traveling in front of the first vehicle, and the traveling state of the third vehicle traveling behind the first vehicle. ,
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle in the storage device, the first vehicle and the second vehicle or the third vehicle; A safety index calculation program for executing a process for calculating a safety index indicating an index of the likelihood of collision.

(Supplementary Note 10) The process of calculating the safety index is performed when the first vehicle can stop at a midpoint position between the stop position of the second vehicle and the stop position of the third vehicle. The safety index calculation program according to appendix 9, wherein a distance between a stop position and the midpoint position is calculated as the safety index.

(Additional remark 11) The process which calculates the said safety parameter | index WHEREIN: When the said 1st vehicle stops exceeding the said midpoint position, the distance of the stop position of the said 1st vehicle and the stop position of the said 2nd vehicle is said The safety index calculation program according to appendix 9 or 10, wherein the safety index calculation program is calculated as a safety index.

(Additional remark 12) The process which calculates the said safety parameter | index WHEREIN: When the said 1st vehicle, the said 2nd vehicle, and the said 3rd vehicle each stop, the distance of the said 1st vehicle and the said 2nd vehicle, and the said 1st The safety index calculation program according to appendix 9, wherein a shorter distance of the distance between the vehicle and the third vehicle is calculated as the safety index.

DESCRIPTION OF SYMBOLS 100 Safety index calculation apparatus 110 Detection part 120 Safety index calculation part 130 Warning part 140 Storage part

Claims (8)

A safety index calculation method executed by a computer,
The storage state is detected by detecting the traveling state of the first vehicle, the traveling state of the second vehicle traveling in front of the first vehicle, and the traveling state of the third vehicle traveling behind the first vehicle. ,
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle in the storage device, a preset maximum deceleration acceleration of the second vehicle, Based on the relative speed of the second vehicle, the stop position of the second vehicle is calculated,
The preset maximum deceleration acceleration of the third vehicle, the relative speed of the third vehicle, the inter-vehicle distance between the first vehicle and the second vehicle, and the inter-vehicle distance between the first vehicle and the third vehicle. Based on the above, the stop position of the third vehicle is calculated,
Calculating deceleration acceleration at which the first vehicle can stop at a midpoint position between the stop position of the second vehicle and the stop position of the third vehicle;
After correcting the deceleration acceleration so that the first vehicle does not collide with the second vehicle and the third vehicle, the distance between the stop position of the first vehicle and the stop position of the second vehicle, and the first A safety index calculation method comprising: executing each process of outputting a shorter distance as a safety index out of a stop position of a vehicle and a distance between the stop position of the third vehicle . The process of calculating the deceleration acceleration includes a maximum deceleration acceleration when the first vehicle collides with the second vehicle or the third vehicle when the first vehicle stops at the midpoint position at a deceleration that can be stopped. The maximum deceleration image speed of the first vehicle is changed from 0 to a predetermined deceleration acceleration so that the trajectory of the second vehicle or the third vehicle decelerating with the trajectory of the first vehicle does not intersect. The safety index calculation method according to claim 1, wherein a deceleration acceleration of the first vehicle is adjusted.   The process of calculating the safety index calculates a distance between the stop position of the first vehicle and the stop position of the second vehicle as the safety index when the first vehicle stops beyond the midpoint position. The safety index calculation method according to claim 1, wherein: A detection unit for detecting a traveling state of the first vehicle, a traveling state of the second vehicle traveling in front of the first vehicle, and a traveling state of the third vehicle traveling behind the first vehicle;
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle detected by the detection unit, a preset maximum deceleration acceleration of the second vehicle, and The stop position of the second vehicle is calculated based on the relative speed of the second vehicle, and the preset maximum deceleration acceleration of the third vehicle, the relative speed of the third vehicle, Based on the inter-vehicle distance between one vehicle and the second vehicle and the inter-vehicle distance between the first vehicle and the third vehicle, a stop position of the third vehicle is calculated, and the stop position of the second vehicle and the The deceleration acceleration at which the first vehicle can stop is calculated at a midpoint position with respect to the stop position of the third vehicle, and the deceleration acceleration is corrected so that the first vehicle does not collide with the second vehicle and the third vehicle. A distance between the stop position of the first vehicle and the stop position of the second vehicle. When the first vehicle stop position and the third of the distance stop position of the vehicle, the safety index calculation apparatus characterized by having a shorter distance, the safety index calculation unit for outputting as a safety indicator . On the computer,
The storage state is detected by detecting the traveling state of the first vehicle, the traveling state of the second vehicle traveling in front of the first vehicle, and the traveling state of the third vehicle traveling behind the first vehicle. ,
Based on the traveling state of the first vehicle, the traveling state of the second vehicle, and the traveling state of the third vehicle in the storage device, a preset maximum deceleration acceleration of the second vehicle, Based on the relative speed of the second vehicle, the stop position of the second vehicle is calculated,
The preset maximum deceleration acceleration of the third vehicle, the relative speed of the third vehicle, the inter-vehicle distance between the first vehicle and the second vehicle, and the inter-vehicle distance between the first vehicle and the third vehicle. Based on the above, the stop position of the third vehicle is calculated,
Calculating deceleration acceleration at which the first vehicle can stop at a midpoint position between the stop position of the second vehicle and the stop position of the third vehicle;
After correcting the deceleration acceleration so that the first vehicle does not collide with the second vehicle and the third vehicle, the distance between the stop position of the first vehicle and the stop position of the second vehicle, and the first A safety index calculation program for executing each process of outputting a shorter distance as a safety index out of the distance between the stop position of the vehicle and the stop position of the third vehicle . A safety index calculation method executed by a computer,
Detect the driving state of the front vehicle, the driving state of the rear vehicle and the driving state of the host vehicle,
Based on each detected traveling state, an intermediate position between the first position when the front vehicle stops at the maximum deceleration acceleration and the second position when the rear vehicle stops at the maximum deceleration acceleration is When it is determined that the host vehicle can be stopped below the maximum deceleration acceleration, safety is evaluated based on the distance between the first position and the intermediate position, and the preceding vehicle stops at the maximum deceleration acceleration. When it is determined that the host vehicle cannot be stopped at a position below the maximum deceleration acceleration of the host vehicle at an intermediate position between the first position when the rear vehicle stops and the second position when the rear vehicle stops at the maximum deceleration acceleration, A process for evaluating safety based on the distance between the first position and the position when the host vehicle stops at a speed equal to or less than the maximum deceleration of the host vehicle;
The safety index calculation method characterized by performing. A detection unit for detecting the traveling state of the front vehicle, the traveling state of the rear vehicle, and the traveling state of the host vehicle;
Based on each running state detected by the detection unit, an intermediate position between a first position when the front vehicle stops at a maximum deceleration acceleration and a second position when the rear vehicle stops at a maximum deceleration acceleration. In addition, when it is determined that the host vehicle can be stopped below the maximum deceleration of the host vehicle, safety is evaluated based on the distance between the first position and the intermediate position. It is determined that the host vehicle cannot be stopped at a position equal to or lower than the maximum deceleration acceleration of the host vehicle at an intermediate position between the first position when stopped at the maximum deceleration acceleration and the second position when the rear vehicle stops at the maximum deceleration acceleration. A safety index calculation unit that evaluates safety based on a distance between the first position and a position when the host vehicle stops at a speed equal to or less than the maximum deceleration of the host vehicle,
A safety index calculation device characterized by comprising: On the computer,
Detect the driving state of the front vehicle, the driving state of the rear vehicle and the driving state of the host vehicle,
Based on each detected traveling state, an intermediate position between the first position when the front vehicle stops at the maximum deceleration acceleration and the second position when the rear vehicle stops at the maximum deceleration acceleration is When it is determined that the host vehicle can be stopped below the maximum deceleration acceleration, safety is evaluated based on the distance between the first position and the intermediate position, and the preceding vehicle stops at the maximum deceleration acceleration. When it is determined that the host vehicle cannot be stopped at a position below the maximum deceleration acceleration of the host vehicle at an intermediate position between the first position when the rear vehicle stops and the second position when the rear vehicle stops at the maximum deceleration acceleration, A process for evaluating safety based on the distance between the first position and the position when the host vehicle stops at a speed equal to or less than the maximum deceleration of the host vehicle;
A safety index calculation program characterized in that is executed.

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