JP6518145B2 - Pedestrian dummy drive for collision avoidance system evaluation system - Google Patents

Description

  The present invention relates to a collision mounted on a test vehicle that operates to avoid a collision with a pedestrian, a pedestrian dummy imitating an obstacle, or the like in a test vehicle running in a collision preventive device evaluation system for the test vehicle. The present invention relates to a pedestrian dummy driving device used to evaluate a preventing device or a collision damage reducing brake (hereinafter referred to as "AEB").

  A pedestrian or obstacle in front (hereinafter referred to simply as a "pedestrian") is detected, and the traveling condition of the vehicle is automatically controlled according to the distance to the pedestrian etc. to avoid collision with the own vehicle Anti-collision devices are known, but in order to evaluate the operation of the anti-collision devices mounted on the test vehicle, the test vehicle equipped with the anti-collision devices is run and the pedestrian dummy is used as the test vehicle. It is necessary to move it to a position where it collides.

  JP 2008-39686 A (patent document 1) assumes a collision between a dummy doll and a test vehicle, and remotely verifies the operation of the collision damage reducing device between the test vehicle and the dummy doll by a computer. The mobile unit (mobile device) which controls the movement of the dummy doll is described in U.S. Pat.

  Further, Japanese Patent Application Laid-Open No. 2005-202141 (Patent Document 2) is to experience a simulated collision accident by causing a vehicle and an object to be collided consisting of a dummy doll or a two-wheeled vehicle to jump out of the front of the running vehicle. A collision accident simulator capable of

  In addition, Air Brown Co., Ltd., "AR BROWN electronics & Machinery Home", "Products and services", "Pedestrian dummy AEB evaluation system", "Demo system configuration" page, [online], January 2015. As shown in FIG. 1 on the 26th, [March 30, 2015 search], the Internet <URL: http://www.arbrown.com/em/products/4activesb/> (non-patent document 1) An AEB evaluation system 30 for evaluating AEB is disclosed. That is, the AEB evaluation system 30 comprises a pedestrian dummy drive device 31, a traveling speed measuring device 32 and a control device 33, and the pedestrian dummy drive device 31 is in the direction orthogonal (crossed) to the traveling direction of the test vehicle 2. A surfboard 20 mounted with a moving pedestrian dummy 23, a drive unit 21 for driving the surfboard 20, a deflection unit 22 and a belt 24 for transmitting the driving force of the drive unit 21 to the surfboard 20. The rotation of the belt 24 is supplied as a driving force via the roller 26, and the deflection unit 22 is configured to turn the belt 24 rotatably by the roller 27.

  The traveling speed measuring device 32 includes light barriers 65 and 66 including a light source (for example, a laser diode) and a light receiving element (for example, a photo sensor), and a reflector 67 that reflects light from the light barriers 65 and 66 and enters the light receiving element. , 68, and the traveling speed of the test vehicle 2 can be measured by such light barrier measurement.

  Specifically, the method of calculating the traveling speed v (m / sec) of the test vehicle 2 will be described. The light barriers 65 and 66 in the traveling speed measuring device 32 travel the test vehicle 2 based on the instruction of the controller device 33. A laser beam is emitted therein, and the emitted laser beam receives the reflected light reflected by the reflectors 67 and 68. In the light barriers 65 and 66 and the reflectors 67 and 68, the irradiation path / reflection path passing through the light barriers 65 and 66 and the reflectors 67 and 68 is substantially perpendicular to the traveling path outside the traveling path on which the test vehicle 2 travels. It is arranged to become. When the test vehicle 2 passes on a line connecting the light barrier 65 and the reflector 67, the light barrier 65 can not receive the reflected light from the reflector 67, and the control device 33 detects the reflected light to detect the test vehicle 2 It can be detected that a line connecting the light barrier 65 and the reflector 67 has been reached. Similarly, the control device 33 can also detect that it has reached a line connecting the light barrier 66 and the reflector 68. Thereby, the control device 33 can detect the time tm when the test vehicle 2 travels between the light barriers 65 and 66, and the control device 33 determines the known distance between the light barriers 65 and 66 and the test vehicle 2. The traveling speed of the test vehicle 2 can be calculated from the time when the vehicle travels between the light barriers 65 and 66. Then, the control device 33 can control the moving speed of the pedestrian dummy 23 based on the calculated traveling speed. When performing such an evaluation, as shown in FIG. 2, in order to cause the pedestrian dummy 23 as a collided object to jump out to the front of the test vehicle 2 while traveling, the surfboard 20 on which the pedestrian dummy 23 can be mounted is The belt 24 is moved by being driven in contact with the road surface RD.

JP 2008-39686 A JP 2005-202141 A

Air Brown Co., Ltd., "AR BROWN electronics & Machinery Home", "Products and services", "Pedestrian dummy AEB evaluation system", "Demo system configuration" page, [online], January 26, 2015 , [March 30, 2015 search], Internet <URL: http://www.arbrown.com/em/products/4activesb/>

  In the collision test device described in Patent Document 1, it is disclosed that the pedestrian dummy can be remotely moved to the front of the test vehicle while the test vehicle is traveling to verify the presence or absence of a collision. In the collision accident simulator described in Document 2, although a dummy doll can cause a pedestrian crossing a traveling path to cause a simulated collision that collides with a vehicle, it is orthogonal to the traveling path There is a problem that the colliding object (dummy doll) is suspended on the provided rail member, and the dummy doll (colliding object) is not installed on the road surface like an actual pedestrian.

  As shown in FIG. 2, the surfboard 20 disclosed in Non-Patent Document 1 causes a large friction to move the bottom surface of the surfboard 20 and the belt 24 in contact with the road surface RD, causing a large friction, and the surfboard 20 and the belt 24 are consumed or There is a problem that the frequency of replacement is high because of damage, and in order to evaluate the operation of the AEB 28 over and over again, it is necessary to suppress the degree of wear. Furthermore, in order to accurately control the position of the pedestrian dummy 23 in the pedestrian dummy drive device 31, the surfboard 20 is driven using the belt 24, but when the pedestrian dummy 23 and the test vehicle 2 collide, the surfboard 20 is The overload when the test car 2 passes may damage the belt 24 and the drive unit 21 for driving the surfboard 20, and the AEB 28 should be evaluated again and again without replacing the surfboard 20 etc. There is a problem that is difficult.

  The present invention has been made based on the above-described circumstances, and an object of the present invention is to provide a pedestrian dummy driving device that secures the speed and positional accuracy of a pedestrian dummy mounting portion on which a pedestrian dummy is mounted. An object of the present invention is to provide a pedestrian dummy drive device capable of suppressing the wear and tear, particularly the wear of a pedestrian dummy mounting portion, and repeatedly evaluating the operation of a collision prevention device mounted on a test vehicle.

The present invention relates to a pedestrian dummy drive device used in a collision prevention device evaluation system for evaluating the performance of a collision prevention device that applies a brake to prevent a collision between a traveling vehicle and a pedestrian or an obstacle. The above object of the present invention is to provide a drive unit including a drive roller fixed to a road surface and coupled to a drive motor, a tension unit fixed to the road surface and including a rotatable auxiliary roller, and the drive unit wherein disposed between the tension section, and a pedestrian dummy mounting portion for mounting the pedestrian dummy is fixed at both ends to the pedestrian dummy mounting portion, is stretched over the driving roller and the auxiliary roller, the A driving linear member for moving the pedestrian dummy mounting portion in the cross direction by driving a driving motor; and the driving portion and the tension portion so that the pedestrian dummy mounting portion is slid And a plurality of guide rope materials installed in the road surface between, when the pedestrian dummy mounting portion through said drive linear member by the drive motor is moved, the pedestrian dummy mounting portion wherein It slides on the guide rope material without contacting the road surface, and the pedestrian dummy mounting portion moves in a direction crossing the traveling direction of the test vehicle in front of the test vehicle equipped with the collision prevention device. The pedestrian dummy may come to a position where a collision with the test vehicle is assumed so that the collision prevention device may brake to prevent the collision between the test vehicle and the pedestrian dummy. , the position and driving speed of the pedestrian dummy mounting portion is controlled, the driving line member is driven belt, stretched through a through hole in which the driving belt is provided in the pedestrian dummy mounting portion The And the clutch portion is provided between the drive motor and the drive roller, and the pedestrian dummy mounting portion slides on the guide rope material according to the rotation of the drive roller. When the test vehicle collides with the pedestrian dummy mounting portion, the overload of the drive belt and the drive motor is reduced by the slip of the clutch portion, and the drive belt or the drive This is achieved by being able to suppress motor damage .

The above object of the present invention, prior Symbol pedestrian dummy mounting portion is a rectangular plate-shaped or disc-shaped, both ends of the driving line member is fixed to the front end and the rear end portion of the substantially central portion of the moving direction, A through hole parallel to the driving linear member is provided in the vicinity of the fixed portion of the driving linear member, and the driving linear member is stretched over the driving roller and the auxiliary roller through the through hole. Are provided between the first traveling speed detection unit, the first traveling speed detection unit, and the movement range of the pedestrian dummy mounting unit, in order to detect the traveling speed of the test vehicle. further comprising a second traveling speed detecting unit, wherein the case where the second traveling speed detected by the second speed detecting unit is different from the first speed, the control panel on the basis of the second traveling speed gait By driving the driver dummy drive It is more effectively achieved.

  According to the pedestrian dummy drive device in the collision prevention device evaluation system of the present invention, a pedestrian dummy mounting portion on which the pedestrian dummy is mounted, and a guide rope member for supporting the pedestrian dummy mounting portion so as not to contact the road surface; A drive motor and a drive linear member for transmitting the drive force of the drive motor to the pedestrian dummy mounting portion are provided, and contact between the pedestrian dummy mounting portion and the road surface is prevented. By controlling the position and speed of the pedestrian dummy mounting portion, it is possible to suppress wear and tear of the pedestrian dummy drive device and to evaluate the operation of the collision prevention device mounted on the test vehicle repeatedly. Become.

  In the present invention, after detecting the traveling speed of the test vehicle at a predetermined position, the traveling speed is detected again at a position closer to the predicted collision position, and the pedestrian dummy drive is performed when the difference between the detected values is equal to or more than a predetermined value. Since the drive speed of the apparatus is updated and controlled, more accurate drive control can be performed.

  Furthermore, in the present invention, since the rope is used for driving and guiding the pedestrian dummy mounting portion, there is an advantage that the moving distance of the pedestrian dummy mounting portion can be changed relatively easily.

It is the schematic of the pedestrian dummy drive device in AEB evaluation system of a prior art example. FIG. 2 (A) is a plan view of a surfboard for AEB evaluation of the conventional example, and FIG. 2 (B) is a side view thereof. BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the whole structure of the collision prevention apparatus evaluation system in this invention. FIG. 4A is a schematic perspective view of the pedestrian dummy drive device 4 according to the first embodiment of the present invention, and FIG. 4B is a cross-sectional view taken along the line A-A 'of FIG. It is a flow chart which shows an example of control processing of a pedestrian dummy drive device in a collision prevention device evaluation system of a 1st embodiment of the present invention. FIG. 6A is a schematic perspective view of the pedestrian dummy drive device 4 according to the second embodiment of the present invention, and FIG. 6B is interposed between the drive motor 15 and the belt drive roller 13c. FIG. 5 is an exploded perspective view of a portion including a clutch portion 16; It is a figure which shows the relationship between the travel speed of the test vehicle in 3rd Embodiment of this invention, and the collision time with a pedestrian dummy. It is a figure which shows the relationship between the drive speed of the pedestrian dummy mounting part in 3rd Embodiment of this invention, and the collision time with a test vehicle. It is a figure which shows the shift | offset | difference of the driving | running | working position of the test vehicle in the collision prevention apparatus evaluation system of this invention. It is a figure which shows the relationship between the driving | running | working position shift of the test vehicle in 3rd Embodiment of this invention, and the driving speed of a pedestrian dummy mounting part. It is a flow chart which shows an example of control processing of a pedestrian dummy drive device in a collision prevention device evaluation system of a 3rd embodiment of the present invention. It is a flowchart which shows the example of the change processing of the driving speed of a pedestrian dummy mounting part based on the travel speed after update in 3rd Embodiment of this invention. It is a flowchart which shows the example of the change processing of the drive speed of a pedestrian dummy mounting part based on the travel position after update in 3rd Embodiment of this invention.

  The present invention detects the presence of a pedestrian dummy that can move in the direction crossing (substantially orthogonal) the traveling direction of the test vehicle with the front of the test vehicle equipped with the collision prevention device, and detects the presence of the pedestrian dummy and the test vehicle. A pedestrian dummy drive device in a collision prevention device evaluation system for evaluating the performance of a collision prevention device that evaluates the performance of a collision prevention device that applies a brake to prevent a collision at a position where a collision is expected, and a pedestrian dummy mounting unit Providing a plurality of guide rope members installed on the road surface and a linear member for driving the driving force of the driving motor to the pedestrian dummy mounting portion so that the pedestrian dummy mounting portion slides; The driving force of the driving motor is transmitted to the pedestrian dummy mounting portion via the driving linear member, whereby the pedestrian dummy mounting portion slides on the guide rope material without contacting the road surface, Pedestrian dummy It controls the position and driving speed of the mount portion. Thus, it is possible to suppress wear and damage of the pedestrian dummy drive device and to evaluate the operation of the collision prevention device mounted on the test vehicle repeatedly.

  In the present invention, after detecting the traveling speed of the test vehicle at a predetermined position, the traveling speed is detected again at a position closer to the predicted collision position, and the pedestrian dummy drive is performed when the difference between the detected values is equal to or more than a predetermined value. Since the drive speed of the apparatus is updated and controlled, more accurate drive control can be performed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the code | symbol is the same about FIG.3, FIG.4, FIG.6 and FIG.

  First, a first embodiment of the pedestrian dummy drive device according to the present invention will be described. FIG. 3 is a schematic view showing the entire configuration of the collision prevention device evaluation system 1 according to the first embodiment. The collision prevention device evaluation system 1 includes a test vehicle 2 on which the collision prevention device 3 is mounted and a pedestrian dummy 5. Based on the traveling speed, a pedestrian dummy drive device 4 which is moved in a direction intersecting the traveling direction of the test vehicle 2, a traveling speed detection unit 6 which detects the traveling speed of the test vehicle 2 by laser light or ultrasonic waves And a control panel 7 for controlling the traveling speed (position) of the pedestrian dummy driving device 4. The collision prevention device 3 of the test vehicle 2 transmits a millimeter wave radar or the like to detect the pedestrian dummy 5, and automatically detects the pedestrian dummy 5 to stop the test vehicle 2 when the pedestrian dummy 5 is detected. ing.

  The anti-collision device evaluation system 1 is a system for evaluating whether or not the anti-collision device 3 mounted on the test vehicle 2 operates normally, and the pedestrian dummy 5 is operated at a speed corresponding to the speed of the test vehicle 2. The test vehicle 2 is moved in a direction intersecting (substantially orthogonal) to the traveling direction of the test vehicle 2, and when the pedestrian dummy 5 comes in front of the test vehicle 2, the collision prevention device 3 operates to separate the test vehicle 2 by a predetermined distance or more Test to see if it stops.

  A schematic perspective view of the pedestrian dummy drive device 4 is as shown in FIG. 4A, and a rectangular plate-like pedestrian dummy mounting portion 10 for mounting the pedestrian dummy 5 and a pedestrian dummy mounting portion Two guide ropes 11A and 11B having a circular cross-section, which are disposed in parallel so as to slide both ends 10 (ends along the moving direction) of 10, and front and rear ends of the pedestrian dummy mounting portion 10 For convenience, it is fixed by the fixed parts 12a and 12b) with the left side in the figure as the front and the right side in the direction of movement, and it is stretched over the drive roller 13a and the auxiliary roller 13b. The driving rope 12 for moving the pedestrian dummy mounting unit 10 by driving the drive motor, the driving motor 15 for driving the driving roller 13a, and the forward side of the pedestrian dummy mounting unit 10, and the auxiliary roller 13b is rotatable Firmly And the tension portion 18 fixing the respective ends of the guide ropes 11A and 11B by the support portions 18-1 and 18-2 and the rear side of the pedestrian dummy mounting portion 10 so that the driving roller 13a can be rotated. And a driving unit 19 fixedly connected to the driving motor 15 and fixing the other ends of the guide roll members 11A and 11B by the supporting portions 19-1 and 19-2, and the pedestrian dummy driving device 4 is controlled by the control board 7.

  The drive unit 19 provided with the drive motor 15 is disposed on the start point side of the movement range of the pedestrian dummy mounting unit 10, and on the end point side is a tension comprised of the auxiliary roller 13b etc. The part 18 is arranged. The guide ropes 11A and 11B are disposed substantially in the orthogonal direction so as to intersect the traveling path on which the test vehicle 2 travels. The movement range of the pedestrian dummy mounting portion 10 is normally set to about 5 m to 20 m, which corresponds to the width of the traveling path.

  Furthermore, on the bottom surface (road surface side) of the pedestrian dummy mounting portion 10, two substantially parallel guide rails G1 and G2 are provided. As shown in FIG. 4B, the guide rail G1 is constituted by a pair of vertically arranged guide auxiliary members 17a and 17b, and similarly, the guide rail G2 is formed by a pair of vertically arranged guide auxiliary members It is composed of 17c and 17d. The guide ropes 11A and 11B engage with the guide rails G1 and G2, respectively, and the upper surfaces of the guide ropes 11A and 11B contact the bottom of the pedestrian dummy mounting portion 10, and the pedestrian dummy mounting portion 10 is the guide rope 11A. , 11B is adapted to slide and move. In addition, a through hole K having a rectangular cross section is formed in parallel to the guide rails G1 and G2 in the pedestrian dummy mounting portion 10 so that the driving rope 12 can pass near the center of the pedestrian dummy mounting portion 10 It is done. One end of the driving rope 12 is fixed to the fixed portion 12a on the front side of the pedestrian dummy mounting portion 10, is stretched by the auxiliary roller 13b, penetrates the through hole K, and is stretched by the driving roller 13a. The other end is fixed to the fixing portion 12 b at the rear end portion of the dummy mounting portion 10. The cross section of the through hole K may be circular.

  The drive unit 19 includes a rectangular substrate 19a. A drive roller 13a for driving the drive rope 12 is disposed on the substrate 19a. The rotation shaft of the drive motor 15 is connected to the drive roller 13a. And the drive roller 13a is rotated corresponding to the rotation of the drive motor 15. For example, rubber pads or the like may be applied to the four corners of the road surface side of the substrate 19 a of the drive unit 19 so as to be fixed to the road surface RD, or they may be fixed by screws or the like.

  The tension portion 18 includes a rectangular substrate 18a, and the auxiliary roller 13b for tensioning the driving rope 12 is rotatably disposed on the substrate 18a and fixed to the road surface RD, for example, at four corners on the road surface side. A rubber pad or the like may be applied to it, or it may be fixed with a screw or the like. Also, a spring (not shown) is provided in contact with the auxiliary roller 13b so as to repel the tension of the driving rope, and the auxiliary roller 13b is made movable in the direction of the tension. A guide rail (not shown) is provided on the substrate, the auxiliary roller 13b is disposed on the guide rail, and the auxiliary roller 13b moves on the guide rail (not shown). It may be applied.

  As shown in FIGS. 4A and 4B, the two guide ropes 11A and 11B are disposed in parallel, and are stretched between the drive unit 19 and the tension unit 18, respectively, and placed on the road surface RD. It is placed in place.

  As shown in FIG. 4A, the driving rope 12 is fixed to the end 12b of the through hole K of the pedestrian dummy mounting portion 10 closer to the driving portion 19, and is hung on the driving roller 13a. It is hooked to the auxiliary roller 13 b through the hole K and fixed to the end 12 a of the pedestrian dummy mounting portion 10 closer to the tension portion 18. In addition, the structure for fixing the driving rope 12 to the pedestrian dummy mounting portion 10 is such that a hole is opened at a predetermined location of the pedestrian dummy mounting portion 10 and the driving rope 12 is connected through the hole. There is a configuration in which a protrusion is provided on the surface of the pedestrian dummy mounting portion 10, an end of the driving rope 12 is formed in an annular shape, and the end is hung on and fixed to the protrusion. Alternatively, the end of the driving rope 12 may be fixed in an annular shape, may be simply attached to the end of the driving rope 12, or a ring or hook may be attached or fixed with a bolt.

  As for the positional relationship between the pedestrian dummy mounting portion 10 and the road surface RD, as shown in FIG. 4B, the height r of the guide rails G1 and G2 in the direction perpendicular to the road surface It is designed to be smaller than the diameter R. Therefore, the pedestrian dummy mounting unit 10 is disposed apart from the road surface RD, does not contact the road surface RD, and the pedestrian dummy mounting unit 10 slides on the guide ropes 11A and 11B.

  Before driving the pedestrian dummy mounting unit 10, the position of the pedestrian dummy mounting unit 10 on which the pedestrian dummy 5 is mounted is set to an initial predetermined position (the drive unit 19 side). The driving motor 15 and the driving roller 13a are connected, and the driving force of the driving motor 15 is transmitted to the driving roller 13a, whereby the pedestrian dummy mounting portion 10 is provided via the tensioned driving rope 12 It slides on the guide ropes 11A and 11B and moves.

  Further, the drive motor 15 for driving the pedestrian dummy mounting unit 10 is controlled based on the traveling speed of the test vehicle 2 by the control panel 7 so that the position and speed of the pedestrian dummy mounting unit 10 can be controlled. Is done.

  In FIGS. 4A and 4B, the guide rails G1 and G2 are provided on the bottom surface of the pedestrian dummy mounting portion 10. However, these may be integrated. Moreover, although guide rope material 11A, 11B becomes a fastening structure to guide rail G1, G2, it may be a structure which has a space.

  The guide ropes 11A and 11B have a diameter of about 16 mm and a diameter that prevents the collision prevention device 3 from erroneously detecting the guide ropes 11A and 11B as a pedestrian dummy or the like. Is used. The driving rope 12 is about 6 mm in diameter, and when the pedestrian dummy 5 and the test vehicle 2 collide and the test vehicle 2 passes above the pedestrian dummy mounting portion 10, the driving roller 13a, The slippage between the auxiliary roller 13 b and the drive rope 12 reduces the overload, and the damage to the drive rope 12 or the drive motor 15 can be suppressed. The material of the pedestrian dummy mounting portion 10 is made of resin, and the material has good electrical insulation, less moisture absorption and moisture permeability, excellent chemical resistance, has acid resistance and alkali resistance, and is softened with a plasticizer. Polycarbonate, polyvinyl chloride and the like are suitable. For the dimensions of the pedestrian dummy mounting portion 10, for example, 900 mm long × 900 mm wide × 50 mm high is used.

  In such a configuration, an example of control processing for the pedestrian dummy drive device 4 will be described with reference to the flowcharts of FIGS. 3, 4 and 5.

  When the main power supply of the control panel 7 is turned on, control processing of the pedestrian dummy drive device 4 is started. The control panel 7 has a road surface width, a distance L on which the test vehicle 2 travels until the collision between the test vehicle 2 and the pedestrian dummy 5 that has been set, and a travel position D of the test vehicle in the width direction of the travel path Is read from the ROM or the like (step S1). Waiting for detection of a signal indicating the start of traveling of the test vehicle 2 (step S2), if it is detected, the control panel 7 detects data of the traveling speed v0 based on the value measured by the traveling speed determination means 6 ( Step S3) If there is a detection, the process proceeds to step S4. That is, the driving speed V0 (= D / T) of the pedestrian dummy drive mounting unit 10 is calculated based on the time T (= L / v0) until the predicted collision with the pedestrian dummy 5 (step S4). The control board 7 instructs the driving unit 19 to start driving the pedestrian dummy mounting unit 10, and after detecting the traveling speed v0, after T time, at the traveling position D in the width direction of the traveling path, walking The person dummy mounting unit 10 is driven in such a relationship that the pedestrian dummy 5 and the test vehicle 2 collide (step S5). Thereafter, it is confirmed whether or not the evaluation result of the anti-collision device has been acquired (step S6), and if it can be confirmed, the test evaluation of the series of pedestrian dummy drive devices 4 is ended, and if it can not be confirmed Return to S1.

  The driving of the pedestrian dummy mounting unit 10 is started in synchronization with the traveling of the test vehicle 2 (step S5), and the collision prevention device 3 equipped on the test vehicle 2 is the pedestrian dummy 5 in front of it by the millimeter wave radar or the like. When the presence is detected, the collision prevention device 3 operates the brake of the test vehicle 2 to evaluate whether the collision can be prevented or not. Such evaluation can be repeated by changing the conditions such as the traveling speed of the test vehicle 2 and the above evaluation results can be accumulated.

  The control panel 7 is provided with laser sensors 61 and 62 including a light source (e.g., a laser diode) and a light receiving element (e.g., a photo sensor) for calculating the traveling speed v (m / sec) of the test vehicle 2. The traveling speed v of the test vehicle 2 is calculated from the distance d (m) between the above and the time .tau. (Sec) when the test vehicle 2 travels between the laser sensors 61 and 62. Control is performed based on the traveling speed v so as to synchronize the traveling timing of the test vehicle 2 with the jumping out timing of the pedestrian dummy 5.

  The control panel 7 is internally provided with a computer having a CPU, ROM, RAM, I / O, and a bus line connecting these components. In addition, a program executed by the control panel 7 is written in the ROM, and the CPU executes this program to automatically measure, for example, the traveling speed of the test vehicle 2 and control the pedestrian dummy drive device 4. Further, the computer used for the control panel 7 may be a notebook PC.

  Next, a second embodiment of the pedestrian dummy drive device according to the present invention will be described.

  FIG. 6A is a diagram showing a schematic perspective view of the pedestrian dummy drive device 4 according to the second embodiment in correspondence with FIG. 4, and the pedestrian dummy drive device 4 shown in FIG. The second embodiment differs from the first embodiment in that a drive belt 14 and a clutch portion 16 are provided instead of the drive ropes 12, and in that the belt rollers 13c and 13d are used accordingly. When using the drive motor 15 to control the position of the pedestrian on the pedestrian dummy mounting unit 10, using the belt is more accurate in position accuracy than using a rope, but the pedestrian dummy mounting unit 10 When the test vehicle passes above (collision), overload may cause damage to the belt 14 and the drive motor 15.

  Therefore, in order to control the position of the pedestrian dummy mounting unit 10 in the pedestrian dummy driving device 4 correctly, when driving the pedestrian dummy mounting unit 10 using the driving belt 14, the driving motor 15 and A clutch unit 16 is provided between the belt drive roller 13a. As a result, even if the collision prevention device does not function properly and the pedestrian dummy mounting portion 10 and the test vehicle 2 collide, the clutch plate 16e of the clutch portion 16 between the belt 14 and the drive motor 15 is By sliding and rotating, overload can be reduced, and damage to the belt 14 and the drive motor 15 can be suppressed.

  A perspective view in which a portion including the clutch portion 16 interposed between the drive motor 15 and the belt drive roller 13c is disassembled is shown in FIG. 6 (B). The large gear 151a of the two-step gear 151 meshes with the pinion gear 15a fixed to the shaft of the drive motor 15, the spur gear 15b meshes with the small gear 151b, and the friction gear 16d meshes with the spur gear 15b. There is. Therefore, the friction gear 16 d rotates in conjunction with the rotation of the shaft of the drive motor 15.

  The friction gear 16d of the clutch portion 16 is configured to be in pressure contact with the clutch plate 16e by the support portion 16a, the shaft 16b, and the spring 16c. Further, an angular shaft 16f formed so as to protrude from the back surface of the clutch plate 16e is fitted in a square hole 131 formed in the belt drive roller 13c, and the clutch plate 16e is coupled to the belt drive roller 13c. As a result, the belt drive roller 13c rotates in conjunction with the rotation of the clutch plate 16e, and the drive belt 14 can be driven.

  With such a structure, the clutch plate 16e rotates integrally with the friction gear 16d unless a large load is applied to the belt drive roller 13c, but a large load is temporarily transmitted through the drive belt 14 or the like. If it is added to the clutch plate 16e, the clutch mechanism operates and the clutch plate 16e slides and rotates. Therefore, the drive motor 15 can be protected without an overload being transmitted to the friction gear 16 d, and the drive belt 14 can also be moved independently of the rotation of the drive motor 15, so that the overload is not generated. Thus, the drive motor 15 can be protected.

  Next, an outline of a pedestrian dummy drive device according to a third embodiment of the present invention will be described.

  In the third embodiment, as shown in FIG. 7 and FIG. 8, even when the traveling speed v of the test vehicle 2 changes in the middle, the pedestrian dummy mounting portion is reached so that the predicted collision position with the test vehicle 2 is reached. A process of updating the driving speed of 10 is performed. In the collision prevention device evaluation system 1, when the traveling speed v 1 changes from the traveling speed v 0 detected by the traveling speed detection unit 6 while the traveling speed v 1 approaches the pedestrian dummy 5, the test car 2 It is necessary to measure the traveling speed v of the vehicle in real time, and to update the driving speed V of the pedestrian dummy mounting unit 10 according to the updated traveling speed of the test vehicle 2. As a method of measuring the traveling speed of the test vehicle 2 in such a case in real time, the traveling calculated based on the signal indicating the position of the Global Positioning System (hereinafter abbreviated as GPS) receiver mounted on the test vehicle 2 A method of transmitting the traveling speed to the control board 7 via wireless communication, or a Doppler speedometer (especially, a laser Doppler speedometer) provided between the traveling speed detection unit 6 and the movement range of the pedestrian mounting unit 10 The method etc. which transmit the travel speed calculated based on the result of having measured using to the control board 7 etc. are mentioned. Furthermore, in the collision prevention device evaluation system 1, in addition to the traveling speed of the test vehicle 2, the control panel 7 issues a command to update the driving speed of the pedestrian dummy according to the traveling position of the test vehicle 2.

  Further, as shown in FIGS. 9 and 10, even when the traveling position D changes, the driving speed of the pedestrian dummy mounting unit 10 is updated so as to reach the predicted collision position with the test vehicle 2. The driving distance D to the predicted collision between the test vehicle 2 and the pedestrian dummy mounting portion 10 is, as shown in FIG. 9, perpendicular to the traveling direction of the test vehicle with reference to the start point of the pedestrian dummy mounting portion 10 That is, it is set as the position of the width direction of a travel path, and it is set as difference (DELTA) D (= D'-D) with the travel position D 'which changed about the travel position shift of the test vehicle 2. FIG. For example, the pedestrian dummy 5 is controlled to move to the traveling position where a collision is expected based on the traveling speed by the traveling speed detection unit 6, but when the test vehicle 2 travels with the traveling position before traveling However, the driving speed of the pedestrian dummy mounting unit 10 needs to be updated based on the traveling position measured in real time on the traveling position of the test vehicle 2. As a method of measuring the traveling position of the test vehicle 2 in such a case in real time, a control panel 7 which issues a command to the pedestrian dummy drive device 4 indicating a position of a GPS receiver mounted on the test vehicle 2 In the control board 7, the traveling position calculated based on the method of transmitting as the updated traveling position via wireless communication and the measurement result obtained from the position detection device such as a stereo camera is updated. A system etc. which transmit as a run position are mentioned.

  Here, the driving speed V1 of the pedestrian dummy mounting portion 10 is updated when the test vehicle 2 changes to the traveling speed v 'at the time t0 when the pedestrian dummy 5 is moving in the collision prevention device evaluation system 1 Explain the method. First, the remaining travel distance “L−L0” is calculated from the travel distance L until the predicted collision and the travel distance L0 (= v0 * t0) until the change in travel speed is detected, and the travel speed v after change is calculated. Divide by ', and calculate the remaining time (L−L0) / v ′ until the collision of predicted after change.

  Then, when the time for the test vehicle 2 to reach the line driving the pedestrian dummy 5, i.e., the time until the predicted collision is calculated, the total changes to t0 + (L−L0) / v ′. In FIG. 6, in the three stages v '= v1, v' = v0 and v '= v2 (note that v1> v0> v2), t0 + (L−L0) / v1 corresponding to each. , T0 + (L-L0) / v0, t0 + (L-L0) / v2, etc., it is illustrated that the time to the expected collision changes.

  As an example, when the test vehicle 2 accelerates the traveling speed from v0 to v1 at time t = t0, the pedestrian dummy 5 reaches a position where a collision with the test vehicle 2 is scheduled, so the control panel 7 walks The driver 19 is instructed to perform control such that the driving speed of the dummy mounting unit 10 is increased. As for the driving speed of the pedestrian dummy mounting unit 10, as shown in FIG. 7, the driving speed V1 of the pedestrian dummy mounting unit 10 may be calculated based on the traveling speed v '= v1 after time t = t0. it can.

  First, the driving distance of the pedestrian dummy mounting portion 10 up to the time t0 can be calculated as D0 (= V0 * t0) and the traveling distance L0 (= v0 * t0) of the test vehicle 2, and the traveling distances D and L are As described above, since the driving distance, traveling distance and time remaining until the expected collision are D-D0, L-L0 and (L-L0) / v1, respectively, the updated driving speed is V1 = (D- It can be calculated as D0) / {(L−L0) / v1}.

  Furthermore, in the collision prevention device evaluation system 1, when the driving distance D until the predicted collision between the test vehicle 2 and the pedestrian dummy mounting unit 10 changes, a method of calculating the driving speed of the pedestrian dummy mounting unit 10 will be described. Do. For example, as shown in FIG. 8, in the collision prevention device evaluation system 1, the driving distance D to the predicted collision between the test vehicle 2 and the pedestrian dummy mounting portion 10 is the pedestrian dummy mounting portion 10 to the predicted collision. It is set to substantially match the driving distance of

  For example, when the change of + ΔD is based on the driving distance D to the predicted collision between the test vehicle 2 and the pedestrian dummy mounting portion 10 at time t = t0 in a period during which the pedestrian dummy 5 is moving, the pedestrian As seen from the dummy mounting unit 10, the driving distance “D + ΔD” to the expected collision becomes far, so it is necessary to increase the driving speed of the pedestrian dummy mounting unit 10. Therefore, as shown in FIG. 9, the driving speed of the pedestrian dummy mounting unit 10 is updated as V1 = (D−D0 + ΔD) / {(L−L0) / v}, and the pedestrian is brought to the predicted collision position. The control board 7 issues a command to the drive unit 19 to perform control to cause the dummy 5 to reach. Similarly, when the traveling position of the test vehicle 2 changes −ΔD based on the driving distance D of the pedestrian dummy mounting unit 10 until the predicted collision, the driving distance to the collision as viewed from the pedestrian dummy mounting unit 10 As it becomes close to “D−ΔD”, it is necessary to lower the driving speed of the pedestrian dummy mounting portion 10. Therefore, the driving speed of the pedestrian dummy mounting unit 10 is updated as V1 = (D−D0−ΔD) / {(L−L0) / v} so that the pedestrian dummy 5 reaches the predicted collision position. The control board 7 instructs the drive unit 19 to perform control.

  A specific process of updating the driving speed of the pedestrian dummy mounting unit 10 will be described using a flowchart. FIG. 11 is a flowchart showing an example of control processing for the pedestrian dummy drive device 4 of the third embodiment. And although the control processing about pedestrian dummy drive 4 of a 3rd embodiment is different from the control processing of a 1st embodiment or a 2nd embodiment by the point provided with Step S16-Step S19, Step S12- The functions of step S15 and step S20 are almost common.

  First, in the control process for the pedestrian dummy drive device 4 of the third embodiment, after the process of step S15, that is, after the movement of the pedestrian dummy mounting unit 10 is started, the traveling with the test vehicle 2 changed in step S16. If the speed v 'is detected, the process proceeds to step S17, and the process skips to a subroutine that executes a process of changing the driving speed of the pedestrian dummy mounting unit 10 based on the changed traveling speed v'. In step S16, if there is no detection of the data of the traveling speed at which the test vehicle 2 has changed, the process proceeds to step S18 without skipping to the subroutine. In step S18, if there is a detection of the changed traveling position D 'of the test vehicle 2, the process proceeds to step S19, and a subroutine for changing the driving speed of the pedestrian dummy mounting portion 10 based on the changed traveling position D'. If there is no detection of the changed traveling position of the test vehicle 2, the process proceeds to step S20 without skipping to the subroutine, and in step S20 a confirmation is made as to whether or not the evaluation result of the expected collision has been obtained. Then, the control of the pedestrian dummy drive device 4 is ended.

  In this way, even if the traveling speed or traveling position of the test vehicle 2 changes while the pedestrian dummy 5 in the collision prevention device evaluation system 1 is moving, the changed traveling speed v 'or traveling position D The driving speed V1 of the pedestrian dummy mounting unit 10 can be updated based on the symbol ', and the pedestrian dummy mounting unit 10 carrying the pedestrian dummy 5 can be driven to the predicted collision position with the test vehicle 2.

  Next, subroutines corresponding to step S17 and step S19 will be described. First, FIG. 12 shows a flowchart of a subroutine process for executing the process of changing the driving speed of the pedestrian dummy mounting portion 10 based on the changed traveling speed v '.

  First, in step S71, a time t0 from when driving of the pedestrian dummy mounting unit 10 is started to when a change in traveling speed is detected is measured. In step S72, since the traveling speed v0 before the change, the traveling distance L0 = v0 * t0 until the update of the traveling speed is detected can be calculated. In step S73, since the distance traveled by the test vehicle 2 until the predicted collision is L, the remaining travel distance (L−L0) can be calculated. In step S74, since the traveling speed after change is v1, the remaining time (L−L0) / v1 from the time point t0 to the expected collision can be calculated.

  In step S75, since the driving speed V0 of the pedestrian dummy mounting unit 10 is up to the time point t0 as described above, it is possible to calculate the distance D0 = V0 * t0 that the pedestrian dummy mounting unit 10 has moved up to the time point t0. In step S76, since D is the distance that the pedestrian dummy mounting unit 10 moves to the predicted collision, the remaining movement distance D-D0 can be calculated. Finally, in step S77, the driving speed V1 of the pedestrian dummy mounting unit 10 = (D−D0) / {(L−L0) / v1} can be calculated, and the process returns to step S71.

  Next, FIG. 13 shows a flowchart of a subroutine process for executing the process of changing the driving speed of the pedestrian dummy mounting unit based on the changed travel position D ′. In step S91, since it is travel position D 'after change, shift delta D = D'-D of a travel position can be computed. In step S92, a time t0 from when movement of the pedestrian dummy mounting unit 10 starts to when movement of the vehicle is detected is measured. In step S93, v0 is the traveling speed before the change, and the traveling distance L0 = v0 * t0 until the change of the traveling position is detected is calculated and stored. In step S94, since the distance traveled by the test vehicle 2 until the scheduled collision is L, the remaining travel distance (L−L0) can be calculated. In step S95, the time (L−L0) / v from the time t0 to the predicted collision can be calculated, where v is the latest traveling speed. In step S96, the distance D0 = V0 * t0 which the pedestrian dummy mounting portion has moved to time t0 is calculated and stored. In step S97, since the distance the pedestrian dummy loading unit 10 moves to the predicted collision before the change of the traveling position is D, the driving distance (D−D0 + ΔD) remaining until the predicted collision can be calculated. Finally, in step S98, considering that (L−L0) / v is the required time from the time point t0 of the pedestrian dummy loading unit to the expected collision, the pedestrian dummy after updating of the pedestrian dummy loading unit 10 The driving speed V1 of the mounting portion V1 = (D−D0 + ΔD) / {(L−L0) / v} can be calculated and stored. Then, the above process ends, and the process returns to step S91 in the main routine.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention.

  For example, in order to detect the rotational position of the motor driver and amplifier for driving the drive motor and the drive motor 15 based on the command (control signal) of the control panel 7 with respect to the drive of the drive motor 15 in the drive unit 19 A feedback loop is formed by providing an encoder consisting of an encoder sensor including a rotating disk (code wheel), a light emitting element and a light receiving element, and an encoder counter that calculates the rotational direction, rotational position and rotational speed based on the encoder output. Then, based on the result of the rotation of the drive motor, electric power necessary for the result of the target rotational position and the rotational speed may be supplied to the drive motor. Further, by adopting a servomotor as the drive motor 15 and further by using an AC servomotor, it may be possible to perform positioning control with high accuracy.

  Furthermore, the control panel 7 is appropriately provided with timers, and prior to operation of the collision prevention device evaluation system, initialization of each timer and measurement of the traveling speed or position of the test vehicle during operation of the collision prevention device evaluation system were performed. The time or time may be measured, stored as data as necessary, and displayed. In the function and display of the control panel 7, an automatic mode, a manual mode, a maintenance mode may be selectively selected as a dedicated application. When the software is executed and the manual mode is selected, forward / backward / reverse or the like may be optionally controlled as the pedestrian dummy mounting unit 10, in which case the control panel (computer) 7 Information on the test car 2 (for example, measurement state, speed, time, distance) and information on the pedestrian dummy mounting unit 10 (for example, during stop, movement, and position) are displayed on the display screen. It may be Shimesuru so. In addition, when the automatic mode or the maintenance mode is selected, information on the position of the test car 2, the laser sensors 61 and 62, the reference point (origin) in the collision prevention device evaluation system 1 and the pedestrian dummy mounting unit 10 is displayed. May be

  In general, it is known to fix the pedestrian dummy to the pedestrian dummy mounting portion 10 using a magnet, but other fixing methods may be used. For example, a woven surface fastener may be used, and the woven surface fastener can be easily tightened simply by pressing, easily peeled off, highly durable, and freely cut in size. There is no risk of false detection as an obstacle to the test vehicle 2.

  Furthermore, in the arrangement of the configuration of the present invention, for example, as shown in FIG. 4 in the embodiment of the present invention, the driving rope 12 is disposed to pass under the pedestrian dummy mounting portion, It may be distributed by the route.

  In addition to the above, various modifications can be made without departing from the scope of the invention.

DESCRIPTION OF SYMBOLS 1 collision prevention apparatus evaluation system 2 test car 3 collision prevention apparatus 4 pedestrian dummy drive 5 pedestrian dummy 6 traveling speed detection unit 7 control panel 10 pedestrian dummy mounting unit 11 guide rope member 12 driving rope 13 a driving roller 13 b Auxiliary roller 13c Belt drive roller 131 Square hole 13d Belt auxiliary roller 14 Drive belt 15 Drive motor 15a Pinion gear 151 Two-step gear 151a Large gear 151b Small gear 15b Spur gear 16 Clutch part 16a Support part 16b Shaft 16c Spring 16d friction Gear 16e Clutch plate 16f Square shaft 17a, 17b, 17c, 17d Guide auxiliary member 18 Tension part 19 Drive part 20 Surfboard 21 Drive unit 22 Deflection unit 23 Pedestrian dummy 24 Belt 25 Motor 26 27 roller 28 AEB
30 AEB Evaluation System 31 Pedestrian Dummy Drive Device 32 Travel Speed Measurement Device 33 Control Device 61, 62 Laser Sensor 63, 64 Mirror (Reflective Mirror)
65, 66 Light Barrier 67, 68 Reflector

Claims (3)

A pedestrian dummy drive device for use in a collision prevention device evaluation system for evaluating the performance of a collision prevention device that applies a brake to prevent a collision between a traveling vehicle and a pedestrian or an obstacle, comprising:
A drive unit comprising a drive roller fixed to the road surface and connected to the drive motor;
A tension portion fixed to the road surface and provided with a rotatable auxiliary roller;
Disposed between said tension section and said driving section, and the pedestrian dummy mounting portion for mounting the pedestrian dummy,
Drive linear members fixed at both ends to the pedestrian dummy mounting portion and stretched over the driving roller and the auxiliary roller and moving the pedestrian dummy mounting portion in the crossing direction by driving the driving motor When,
The pedestrian as the dummy mount portion is slid, and a plurality of guide rope materials installed in the road surface between said drive unit said tension part,
When the pedestrian dummy mounting portion is moved by the driving motor via the driving linear member, the pedestrian dummy mounting portion slides on the guide rope material without contacting the road surface .
The pedestrian dummy mounting portion is movable in the direction crossing the traveling direction of the test vehicle in front of the test vehicle provided with the collision prevention device, and the collision prevention device is the test vehicle and the pedestrian dummy Controlling the position and driving speed of the pedestrian dummy mounting portion such that the pedestrian dummy comes to a position where a collision with the test vehicle is assumed so as to apply a brake to prevent a collision with the vehicle ;
The driving linear member is a driving belt, and the driving belt is stretched through a through hole provided in the pedestrian dummy mounting portion, and the driving motor and the driving roller A clutch unit is provided between the two, and the pedestrian dummy mounting unit slides on the guide rope material according to the rotation of the driving roller,
When the test vehicle collides with the pedestrian dummy mounting portion, the overload of the driving belt and the driving motor is reduced by the slip of the clutch portion, and the driving belt or the driving motor A pedestrian dummy drive device characterized in that damage can be suppressed . The pedestrian dummy mounting portion has a rectangular plate shape or a disk shape, and both ends of the driving linear member are fixed to the front end portion and the rear end portion of a substantially central portion in the moving direction, and the driving linear member is fixed A through hole parallel to the driving linear member is provided in the vicinity of the portion, and the driving linear member is stretched on the driving roller and the auxiliary roller through the through hole. Pedestrian dummy drive. In order to detect the traveling speed of the test vehicle, a second traveling speed detection unit provided between the first traveling speed detection unit, the first traveling speed detection unit, and the movement range of the pedestrian dummy mounting unit And the control panel drives the pedestrian dummy driving device based on the second traveling speed when the second traveling speed detected by the second traveling speed detection unit is different from the first traveling speed. The pedestrian dummy drive device according to claim 1 or 2, which is configured as described above.