JPH01106200A - Safety traveling device for automobile - Google Patents

Abstract

PURPOSE:To attain safety traveling corresponding to a road state by executing the action of a braking device and the adjustment of steering power in accordance with a safety speed and safety steering power found out based on data such as road information applied from the road side. CONSTITUTION:Radio waves generated from a data generating device set up on a road side is received by a receiver 2 and data such as road information is extracted. A data table 7 is referred by a control circuit 6 based on data such as the road information and the safety speed and safety steering power corresponding to the condition of the road side are found out. The traveling speed of an automobile detected by a car speed sensor 5 is compared with said safety speed, and when the traveling speed is high, the braking device of the automobile is acted by a brake controller 9 to decelerate the automobile. Simultaneously, the steering power of the automobile is adjusted by a power steering (PS) controller 10 in accordance with said safety steering power.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a safe driving device for automobiles, and more specifically, it relates to a device for automatically decelerating a vehicle to a safe speed based on road information obtained by receiving radio waves. The present invention relates to a device for adjusting steering force.

[Technical background]

BACKGROUND ART Conventionally, in radio-controlled cars and unmanned carriers that travel on fixed tracks, the vehicle speed has been completely controlled remotely via radio waves.

On the other hand, in power steering vehicles, speed-sensitive control is performed to control steering force according to speed.

[Problem to be solved by the invention] For safe driving of a car, it is important to drive at a speed appropriate to the road conditions, and it is clear that excessive speed causes accidents. Therefore, it is conceivable to transmit the road condition to the car using radio waves and limit the speed of the car by remote control.

However, due to complex conditions such as differences in road conditions, types of vehicles, and the effects on drivers, there are problems in which conventional technology cannot simply be applied to vehicles driven by humans on general roads. be.

On the other hand, it is better to make the steering feel heavier when driving on rough roads than when driving on paved roads. This is to prevent the risk of the steering becoming loose due to reaction force from the road or the risk of turning the steering wheel too much by applying too much force.

However, a device that adjusts steering force according to road conditions has not been known in the past.

Therefore, it is an object of the present invention to make it possible to suitably decelerate a vehicle to a safe speed depending on the road conditions, and to adjust the steering force to suit the road conditions. Our objective is to provide a safe driving device for automobiles.

[Structure of the invention]

The safe driving device for a car of the present invention includes a safe speed extracting means that receives radio waves from a data transmitting device installed on the side of the road and extracts a safe speed based on the received signal, and a safe speed extracting means that extracts a safe speed based on the received signal. A safe steering force extraction means for extracting steering force, a traveling speed detecting means for detecting the traveling speed of the automobile, and a forced deceleration means for activating the braking device of the automobile to decelerate the vehicle if the detected traveling speed is higher than the safe speed. and,
The present invention is characterized in that it includes a steering force adjusting means for adjusting the steering force to the safe steering force by operating the steering force control device of the automobile.

[Effect]

In the vehicle safety driving device of the present invention, a safe speed is extracted on the vehicle side based on a received signal given from the road side. Therefore, it is possible to derive a safe speed by adding vehicle-side conditions such as the TL class of the vehicle to road-side conditions such as road conditions. Therefore, even if there is a difference in road conditions or vehicles such as [1!1], an appropriate safe speed can be obtained.

When the speed of the vehicle is higher than the safe speed, the brake system of the vehicle is activated to forcefully decelerate the vehicle, thereby preventing accidents caused by excessive speed.

Furthermore, since the steering force of the vehicle is adjusted according to the road condition, a suitable steering feeling can always be obtained, and it is possible to prevent steering errors on rough roads.

〔Example〕

Hereinafter, the present invention will be explained in more detail based on embodiments shown in the drawings. Here, FIG. 1 is a block diagram of the main parts of a safe driving system for an automobile according to an embodiment of the present invention, FIG. 2 is a diagram showing a table for extracting safe speed and safe steering force, and FIG. 3 is a diagram showing a table for extracting safe speed and safe steering force.
The figure shows a table for extracting safe deceleration,
4th r:! J is a flowchart of the operation of the embodiment device shown in FIG. 1, FIG. 5 is a graph showing changes in speed of a car, and FIG. 6 is a schematic perspective view showing the data transmission device installed on the side of the road. . Note that the present invention is not limited to the embodiments shown in the figures.

FIG. 1 shows a safety driving device 1 that receives radio waves from a data transmitting device installed on the side of a road, obtains road information, etc., and drives a car safely based on the road information.

This safety traveling device 1 includes a receiver 2, a direction sensor 3,
A mileage sensor 4, a vehicle speed sensor 5, a control circuit 6,
It is equipped with a data table 7, a notification means 8, a brake controller 9, and a PS controller IO.

Receiver 2 is connected to a data transmission device (6th
It receives radio waves from 33 and 35) shown in the figure, extracts data such as road information, and inputs it to the control circuit 6.

Specific examples of data include azimuth data D that indicates the driving direction of the vehicle to which information is conveyed, and if the information relates to a rough road ahead, the distance to the rough road, the length of the rough road, etc. R1 Road surface condition C4 indicates whether the road up to the rough road is dry, wet, snowy, frozen, etc., and whether the rough road is a main road, a 9-stone road, an uneven road, etc. An example of this is the rough road condition CJ.

The orientation sensor 3 detects the traveling orientation d of the vehicle using earth's magnetism and inputs it to the control circuit 6 .

The mileage sensor 4 detects the mileage X based on the number of revolutions of the rear wheels of the automobile, and inputs the detected distance to the control circuit 6.

The vehicle speed sensor 5 detects the running speed V from the rotational speed of the rear wheels of the automobile and inputs it to the control circuit 6.

The control circuit 6 is centered on a microcomputer, and will be explained in detail later with reference to FIG.

The data table 7 is a kind of memory, in which the safe speed according to the conditions on the road side and/or the conditions on the vehicle side,
Safe steering force, safe deceleration, etc. are stored in advance (see Figures 2 and 3).

The notification means 8 is for generating an alarm by sound and/or display.

The brake controller 9 operates the braking system of the automobile.

The PS controller 10 controls the steering force of the power steering (PS) of the automobile, and is used for conventionally known vehicle speed sensitive control as well as adjustment of the steering force according to road conditions according to the present invention. Ru.

Next, with reference to FIG. 4, the specific operation of the safe traveling device 1 will be explained.

However, for convenience of explanation, a situation as shown in FIG. 6 will be assumed. That is, there is a rough road 31 between paved roads 30 and 30, and road surface sensors 32 and 34 are provided on the paved roads 30 and 30 leading to the rough road 31, and detect the road surface conditions of lanes a and b, respectively. ing. Well before the bad road (for example, 30
0ffl), the data transmitting device i! There is a sign post with 33.35 installed. The data transmitting devices 33 and 35 receive signals from the road surface sensors 32 and 34, respectively. Furthermore, the reach ranges of radio waves of the data transmitting devices 33 and 35 are each indicated by broken lines. The data transmitting device 33 transmits information for a car traveling in lane a, and the azimuth data D is 115 degrees, for example.
is being sent. Also, the distance to Rough Road 31, Rough Road 3
The length R of 1 and the rough road condition C4 are sent out. Furthermore,
The road surface condition CL obtained by the road surface sensor 32 is sent out. On the other hand, the data transmitting device 35 transmits information regarding the vehicle traveling in the lane, and transmits, for example, 295° as the direction data D, and also the distance to the rough road 31 and the distance to the rough road 31. Length R and rough road condition C.

Furthermore, the road surface condition C4 obtained by the road surface sensor 34 is sent out.

Now, as shown in FIG. 4, the control circuit 6 checks whether a received signal is obtained by the receiver 2 (Sl).
.

When the received signal is obtained, the direction data D is read (S2
), and reads the traveling direction d from the direction sensor 3 (S
3).

Next, the difference between the azimuth data D and the traveling azimuth d is calculated, and it is checked whether the difference is smaller than 90° (34). Since the radio waves from the data transmitting device 33 shown in 1 are received not only by car A traveling in lane a, but also by car B traveling in lane 1, it is difficult to determine whether the received signal is valid for any of them.

This is a process for determining.

Particularly, the azimuth data D included in the signal from the data transmitting device 33 is 115°, and the traveling azimuth d detected by the vehicle A is considered to be at least in the range of 90° to 180'', so the difference between them is 90°. The following results, and in car A, the received signal is determined to be valid.

On the other hand, since the traveling direction d of automobile B is considered to be between 270° and 0°, the difference therebetween is 90' or more, and the received signal is determined to be invalid. Therefore, although the car B receives the radio waves from the data transmitter 33, it ignores them. In this way, if it is determined in step S4 that the process is invalid, the process returns to step S1.

On the other hand, if it is determined to be effective, road information is extracted from the received signal. That is, the distance to the rough road 31 is 1i11L.

The length R of the rough road 31, the rough road condition Cj, and the road surface condition C are read (S5).

Next, the control circuit 6 refers to the data table 7 as a function of the rough road condition w3CJ and determines the safe speed V, which is the upper limit speed at which the vehicle can safely pass through the rough road 31.

At the same time, a safe deceleration a that allows the vehicle to decelerate without slipping is determined from the road surface condition C4 (S6).

Next, the control circuit 6 detects the traveling distance X from the time of receiving the signal, and also reads the traveling speed V (S7).

Next, compare the safe speed V and the traveling speed V (S8),
If the traveling speed V is greater, a warning to the effect that the vehicle should be decelerated is issued (S9). This W warning is given by an acoustic means such as a buzzer, or a visual display means such as an indicator or CRT.

If the traveling speed V is less than or equal to the safe speed V, there is no need for a warning, so the warning will not be issued, or if the warning has been issued, it will be deleted (SIO).
>v, an alarm is generated (S9).

Now, if the mileage is X, the distance S to the rough road 31 is
It is calculated as 5-L-x. Then, calculate or use a table to find the allowable speed V to decelerate to the safe speed V at the deceleration aL during this distance S (Sll)
, As a calculation example, ■.

= (v, 2 + 2 a s) I/2T: Calculation T
Lumonoka 21hLf I'm happy. A relationship curve between the distance fis and the allowable speed V is illustrated by a solid line in FIG.

Next, the traveling speed V and the allowable speed V are compared (S12
) , even under the worst-case conditions where the car is extremely high-speed and the safe deceleration ai is extremely small due to frozen road surfaces, etc., when S=L, v>V does not hold. The distance from 31 to the data transmitting device 33.35 is large. Therefore, initially v > V
, will not hold.

If v>V, then check whether the distance to the rough road 31 is US-0 (513), and if S=0, return to step S7.

Therefore, only a warning is issued at first, and a grace period is always given to encourage voluntary deceleration. If the driver voluntarily decelerates during this grace period so that v>V does not hold, forced deceleration will not be performed.

The length of the grace period changes as the vehicle speed V becomes lower, and the grace period becomes longer as the road surface condition improves.

Now, in the grace period when v>'t/, deceleration is left to the driver's operation, but when the spontaneous deceleration is not performed or is insufficient and v>V, the control circuit 6 The braking device is activated for a short time via the brake controller 9 to apply the brakes (S14). Since the braking is for a short time, the wheels will not lock and slip, and
This short-term braking is repeated, and the vehicle is forced to decelerate until V>V no longer holds true.

In this way, even if the driver does not operate the brakes at all, deceleration is automatically performed as shown by the broken line in Figure 5.
When the vehicle reaches the rough road 31, it reaches the safe speed V.

When reaching the rough road 31, the control circuit 6 refers to the data table 7 as a function of the rough road condition MCJ, and determines the safe steering force FJ, which is the steering force that can safely pass through the rough road 31 (3
15).

Then, the steering force control device of the power steering device is activated via the PS controller 10 to articulate the steering force to the safe steering force F (316).

This provides a steering feeling suitable for driving on rough roads, thereby preventing the occurrence of steering errors.

Next, the control circuit 6 detects the travel distance X since entering the rough road 31 (517) and compares it with the length R of the rough road 31 to check whether the rough road 31 has ended. (31
B).

Once the rough road 31 is finished, normal processing begins.

〔Effect of the invention〕

According to the present invention, a safe speed extraction means receives radio waves from a data transmission device installed on the side of a road, etc., and extracts a safe speed based on the received signal, and extracts a safe steering force based on the received signal. a safe speed extracting means for detecting the traveling speed of the vehicle, a traveling speed detecting means for detecting the traveling speed of the vehicle, a forced deceleration device for operating a braking device of the vehicle to decelerate the vehicle if the detected traveling speed is higher than the safe speed, and a steering device for the vehicle. A safe driving device for a vehicle is provided, comprising a steering force adjusting means for adjusting the steering force to the safe steering force by activating a force control device, thereby adjusting the steering force according to the road side conditions and the vehicle side conditions. A safe speed is determined accordingly, and if the vehicle speed exceeds the safe speed, deceleration is forcibly performed. Furthermore, since the steering force is adjusted according to the road condition, steering errors are prevented from occurring. So, in the end, even in cars driven by people on general roads, depending on the situation and
Safe driving can be ensured remotely without adversely affecting the driver.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the main parts of a safe driving system for an automobile according to an embodiment of the present invention, Fig. 2 is a diagram showing a table for extracting safe speed and safe steering force, and Fig. 3 is a diagram showing a table for extracting safe speed and safe steering force. A diagram showing a table for extraction, Figure 4 is a flowchart of the operation of the embodiment device shown in Figure 1, Figure 5 is a graph showing changes in the speed of a car, and Figure 6 is a diagram showing a data transmission device installed on the side of the road. FIG. 3 is a schematic perspective view showing a state in which the [Explanation of symbols] l...Automobile safety driving system 2...Receiver 3...Direction sensor 4...Distance sensor 5.
... Vehicle speed sensor 6 ... Control circuit 7 ... Data table 8 ... Notification means 9 ... Brake controller 10 ... PS controller 30 ... Road 31 ... Bad road 32.34.
...Road surface sensor 33.35...Data transmission device. Applicant Daihatsu Motor Co., Ltd.

Claims (1)

[Claims] 1. Safe speed extraction means that receives radio waves from a data transmission device installed on the side of the road and extracts a safe speed based on the received signal; and a safe steering force that extracts a safe steering force based on the received signal. an extracting means, a traveling speed detecting means for detecting the traveling speed of the automobile, a forced deceleration means for activating a braking device of the automobile to decelerate the vehicle if the detected traveling speed is higher than the safe speed, and a steering force control device for the automobile. 1. A safe driving device for a motor vehicle, comprising: a steering force adjusting means for adjusting the steering force to the safe steering force by activating the steering force.