JPH0516699A - Safety driving device - Google Patents
Safety driving deviceInfo
- Publication number
- JPH0516699A JPH0516699A JP17097991A JP17097991A JPH0516699A JP H0516699 A JPH0516699 A JP H0516699A JP 17097991 A JP17097991 A JP 17097991A JP 17097991 A JP17097991 A JP 17097991A JP H0516699 A JPH0516699 A JP H0516699A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- lateral acceleration
- value
- speed
- warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/206—Body oscillation speed; Body vibration frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/63—Location of the center of gravity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/91—Frequency
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/04—Means for informing, instructing or displaying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/70—Estimating or calculating vehicle parameters or state variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9124—Roll-over protection systems, e.g. for warning or control
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は車両を安全に走行させる
安全走行装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safe traveling device for safely traveling a vehicle.
【０００２】[0002]
【従来の技術】現在、自動速度調整装置等を備えた自動
車が一般化しており、高速道路等、定速で走行する際は
運転者が特別に速度調整の操作をすることなく自動車を
安全に走行させることができる。2. Description of the Related Art At present, automobiles equipped with an automatic speed adjusting device and the like are becoming popular, and when traveling at a constant speed on a highway or the like, the driver can safely drive the car without special speed adjusting operation. Can be run.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、従来の
自動速度調整装置等では、カーブなどが続く場所など、
車両の速度の変動が大きい場所では動作させることがで
きず、この場合運転者が速度をコントロールするが、高
速道路から一般道へのランプウェイや山道などでは運転
者が車両の速度が高いままで車両の旋回半径を読み誤る
ことによる事故がおきるという問題があった。However, in the conventional automatic speed adjusting device, etc., a place where a curve etc. continues,
It cannot be operated in a place where the speed of the vehicle fluctuates greatly.In this case, the driver controls the speed.However, the driver keeps the speed of the vehicle high on rampways or mountain roads from highways to general roads. There was a problem that an accident occurred due to an incorrect reading of the turning radius of the vehicle.
【０００４】本発明はこのような従来の問題を解決する
ものであり、車両の旋回半径に対応した速度で安全に走
行できる優れた安全走行装置を提供することを目的とす
るものである。The present invention solves such a conventional problem, and an object of the present invention is to provide an excellent safe traveling device capable of safely traveling at a speed corresponding to a turning radius of a vehicle.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するために、車両の横方向加速度を演算する演算手段
と、上記横方向加速度があらかじめ設定した危険値とを
比較する限界判定手段と、上記横方向加速度が上記危険
値以上になったとき車両の減速を行う減速手段とを備え
たものである。In order to achieve the above object, the present invention comprises a calculating means for calculating a lateral acceleration of a vehicle and a limit judging means for comparing the lateral acceleration with a preset dangerous value. A deceleration means for decelerating the vehicle when the lateral acceleration exceeds the dangerous value.
【０００６】さらに上記手段に加えて、上記横方向加速
度があらかじめ設定した警告値（＜危険値）以上になれ
ば運転者に警告を与える警告手段を備えたものである。Further, in addition to the above-mentioned means, a warning means is provided for giving a warning to the driver when the lateral acceleration exceeds a preset warning value (<danger value).
【０００７】[0007]
【作用】したがって本発明によれば、車両の横方向加速
度と危険値とを比較して、上記横方向加速度があらかじ
め設定した危険値以上になれば、車両の速度を減速す
る。According to the present invention, therefore, the lateral acceleration of the vehicle is compared with the dangerous value, and when the lateral acceleration exceeds a preset dangerous value, the vehicle speed is reduced.
【０００８】また、上記横方向加速度が警告値（＜危険
値）とを比較して、上記横方向加速度が上記警告値以上
になれば運転者に警告を発する。Further, the lateral acceleration is compared with a warning value (<danger value), and if the lateral acceleration exceeds the warning value, a warning is issued to the driver.
【０００９】[0009]
【実施例】図１は本発明の一実施例の構成を示す図であ
る。図１において、１は光ファイバジャイロ等の角速度
センサを用いて車両の角速度を検出する角速度検出手
段、２は駆動輪パルスセンサ等の車速センサを用い車速
を検出する車速検出手段である。３は演算手段であり、
角速度検出手段１および車速検出手段２から得たデータ
をもとに、下式（１）、（２）を用いて、車両の旋回半
径と横方向加速度を計算する。1 is a diagram showing the configuration of an embodiment of the present invention. In FIG. 1, 1 is an angular velocity detecting means for detecting an angular velocity of a vehicle using an angular velocity sensor such as an optical fiber gyro, and 2 is a vehicle speed detecting means for detecting a vehicle speed using a vehicle speed sensor such as a drive wheel pulse sensor. 3 is a calculation means,
Based on the data obtained from the angular velocity detecting means 1 and the vehicle speed detecting means 2, the turning radius and the lateral acceleration of the vehicle are calculated using the following equations (1) and (2).
【００１０】ｖ＝ｒ×ω ……（１）
ｇs＝ｖ×ω ……（２）
ここで、ｇs：車両横方向加速度
ｒ：車両の旋回半径
ω：車両の角速度
ｖ：車両の接線方向速度
４は表示手段であり、演算手段３より出力される旋回半
径、横方向加速度を表示する。この表示手段３は、車室
内に設けたテレビ等のＣＲＴ、液晶表示板を兼用した
り、あるいは前面ガラスに値を照射するヘッドアップデ
ィスプレイ等を用いてもよい。５は限界判定手段であ
り、演算手段３より出力された横方向加速度が警告値ま
たは危険値以上であるかどうかを判断するとともに、危
険値を超えない速度の算出を行う。６は警告手段であ
り、横方向加速度が警告値であれば、音響、光等の手段
により運転者に警告を与える。７は速度制限手段であ
り、エンジンへの燃料供給量の調整、エンジン回転数の
制御、あるいは車両に制動を加える等の方法により、車
両の速度制限を行う。V = r × ω (1) g s = v × ω (2) where g s : lateral acceleration of the vehicle r: turning radius of the vehicle ω: angular velocity of the vehicle v: tangent of the vehicle The directional speed 4 is a display means, and displays the turning radius and the lateral acceleration output from the computing means 3. The display means 3 may also be used as a CRT such as a television installed in the vehicle compartment, a liquid crystal display plate, or a head-up display that illuminates a value on the front glass. Reference numeral 5 denotes a limit determination means, which determines whether or not the lateral acceleration output from the calculation means 3 is equal to or greater than a warning value or a dangerous value, and calculates a speed that does not exceed the dangerous value. Reference numeral 6 denotes a warning means, which gives a warning to the driver by means such as sound and light when the lateral acceleration is a warning value. A speed limiting unit 7 limits the speed of the vehicle by adjusting the amount of fuel supplied to the engine, controlling the engine speed, or braking the vehicle.
【００１１】次に上記実施例の動作について図２も参照
にしつつ説明する。角速度検出手段１と車速検出手段２
で車両の角速度、車速を検出し（ステップ８）、演算手
段３により旋回半径および横方向加速度を計算する（ス
テップ９）。このとき、表示手段４では旋回半径、横方
向加速度を表示する。限界判定手段５では、演算手段３
から得た横方向加速度を警告値、危険値（警告値＜危険
値）と比較して横方向加速度を評価する。ここで、横方
向加速度が警告値以上であれば、警告手段６により運転
者に対して警告を行う（ステップ１１）。ここで警告手
段６を表示手段４と兼用して、例えば、表示手段４を赤
色発光させる等の方法を用いてもよい。また、横方向加
速度が危険値以上であれば、危険値を超えない速度ｖ
limitを限界判定手段５にて演算し（ステップ１３）、
速度制限手段７によりｖ＜ｖlimitとなるように車両の
速度制限を行う。（ステップ１４）さらに、車両の走行
中は、これらのステップが可能な限り短い時間単位で繰
り返し行われる。Next, the operation of the above embodiment will be described with reference to FIG. Angular velocity detecting means 1 and vehicle speed detecting means 2
The angular velocity and vehicle speed of the vehicle are detected at (step 8), and the turning radius and lateral acceleration are calculated by the computing means 3 (step 9). At this time, the display means 4 displays the turning radius and the lateral acceleration. In the limit determination means 5, the calculation means 3
The lateral acceleration obtained from is compared with the warning value and the dangerous value (warning value <danger value) to evaluate the lateral acceleration. If the lateral acceleration is greater than or equal to the warning value, the warning means 6 warns the driver (step 11). Here, the warning means 6 may also be used as the display means 4, and for example, a method of causing the display means 4 to emit red light may be used. If the lateral acceleration is equal to or higher than the dangerous value, the velocity v that does not exceed the dangerous value
The limit is calculated by the limit judging means 5 (step 13),
The speed limiter 7 limits the speed of the vehicle so that v <v limit . (Step 14) Furthermore, while the vehicle is traveling, these steps are repeated in the shortest possible time unit.
【００１２】また、横方向加速度の警告値、危険値は天
候、道路状況等の様々な要因により変化するが、複数の
値をメモリ等に蓄積しておき、運転者が任意に選択する
か、あるいは一定期間危険値を超えることがなければ徐
々に危険値を低く、逆に危険値を超えることが続けば徐
々に危険値を高くするように設定してもよい。Although the warning value and the danger value of the lateral acceleration change depending on various factors such as weather and road conditions, a plurality of values may be stored in a memory or the like and the driver may select them arbitrarily. Alternatively, it may be set such that the dangerous value is gradually lowered if the dangerous value is not exceeded for a certain period, and conversely the dangerous value is gradually increased if the dangerous value is continuously exceeded.
【００１３】このように上記実施例によれば、横方向加
速度が危険値以上になれば、速度制限手段７が車両の速
度を制限するため、速度の出しすぎによる横滑りを起こ
しての事故を防止することができるという効果を有す
る。As described above, according to the above-described embodiment, when the lateral acceleration becomes equal to or higher than the dangerous value, the speed limiting means 7 limits the speed of the vehicle. Therefore, an accident caused by skidding due to excessive speed is prevented. It has the effect of being able to.
【００１４】また、横方向加速度が警告値以上になった
ときは、警告手段６により運転者に速度超過の警告を与
えるため、運転者が速度超過を認識できるという効果も
有する。When the lateral acceleration exceeds the warning value, the warning means 6 gives a warning to the driver that the vehicle is overspeed, so that the driver can recognize the overspeed.
【００１５】[0015]
【発明の効果】本発明は上記実施例から明らかなよう
に、車両の横方向加速度とあらかじめ設定した危険値と
を常に比較し、以上になれば車速を制限し、車両の減速
を行うため、カーブ等で車両が旋回しているときの速度
の出し過ぎによる事故を防止することができるという効
果を有する。As is apparent from the above embodiment, the present invention constantly compares the lateral acceleration of the vehicle with a preset danger value, and when the above is exceeded, the vehicle speed is limited and the vehicle is decelerated. This has the effect of preventing an accident due to excessive speed when the vehicle is turning on a curve or the like.
【００１６】また、横方向加速度が警告値以上になれば
運転者に対して警告を行うため、運転者が速度超過を認
識できるという効果も有する。Further, since the driver is warned when the lateral acceleration exceeds the warning value, the driver can recognize the excessive speed.
【図１】本発明の一実施例を示すブロック図FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】上記実施例の動作を示すフローチャートFIG. 2 is a flowchart showing the operation of the above embodiment.
１ 角速度検出手段 ２ 車速検出手段 ３ 演算手段 ４ 表示手段 ５ 限界判定手段 ６ 警告手段 ７ 減速手段 1 Angular velocity detection means 2 Vehicle speed detection means 3 computing means 4 Display means 5 Limit judgment means 6 Warning means 7 deceleration means
Claims (4)
と、上記横方向加速度があらかじめ設定した危険値とを
比較する限界判定手段と、上記横方向加速度が上記危険
値以上になったとき車両の減速を行う減速手段とを備え
た安全走行装置。1. A calculation means for calculating a lateral acceleration of a vehicle, a limit judgment means for comparing the lateral acceleration with a preset dangerous value, and a vehicle when the lateral acceleration exceeds the dangerous value. A safe traveling device including a deceleration means for decelerating the vehicle.
向加速度を演算することを特徴とする請求項１記載の安
全走行装置。2. The safe traveling device according to claim 1, wherein the lateral acceleration is calculated based on the angular velocity and the vehicle speed of the vehicle.
になったとき運転者に警告を与える警告手段を備えた請
求項１記載の安全走行装置。3. The safe traveling apparatus according to claim 1, further comprising warning means for giving a warning to the driver when the lateral acceleration exceeds a warning value (<danger value).
示する表示手段を備えた請求項１記載の安全走行装置。4. The safe traveling apparatus according to claim 1, further comprising display means for displaying a turning radius and a lateral acceleration of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17097991A JPH0516699A (en) | 1991-07-11 | 1991-07-11 | Safety driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17097991A JPH0516699A (en) | 1991-07-11 | 1991-07-11 | Safety driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0516699A true JPH0516699A (en) | 1993-01-26 |
Family
ID=15914891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17097991A Pending JPH0516699A (en) | 1991-07-11 | 1991-07-11 | Safety driving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0516699A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0684150A1 (en) * | 1994-05-24 | 1995-11-29 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | System for determining the stability of a vehicle |
| US6263261B1 (en) | 1999-12-21 | 2001-07-17 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
| US6324446B1 (en) | 1999-12-21 | 2001-11-27 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
| US6332104B1 (en) | 1999-12-21 | 2001-12-18 | Ford Global Technologies, Inc. | Roll over detection for an automotive vehicle |
| US6397127B1 (en) | 2000-09-25 | 2002-05-28 | Ford Global Technologies, Inc. | Steering actuated wheel lift identification for an automotive vehicle |
| US6654674B2 (en) | 2001-11-21 | 2003-11-25 | Ford Global Technologies, Llc | Enhanced system for yaw stability control system to include roll stability control function |
| US6799092B2 (en) | 2001-02-21 | 2004-09-28 | Ford Global Technologies, Llc | Rollover stability control for an automotive vehicle using rear wheel steering and brake control |
| JP2006151179A (en) * | 2004-11-29 | 2006-06-15 | Nissan Motor Co Ltd | Turning travel control device for vehicle |
| US7252346B2 (en) | 2004-06-09 | 2007-08-07 | Nissan Motor Co., Ltd. | Braking force control apparatus and method for automotive vehicle |
| US7419229B2 (en) | 2004-06-07 | 2008-09-02 | Nissan Motor Co., Ltd. | Vehicle braking force control |
| US7463963B2 (en) | 2004-07-16 | 2008-12-09 | Nissan Motor Co., Ltd. | Turning motion control for vehicle |
| US7593800B2 (en) | 2003-11-13 | 2009-09-22 | Nissan Motor Co., Ltd. | Turning control apparatus and method for automotive vehicle |
| US8020947B2 (en) | 2004-06-07 | 2011-09-20 | Nissan Motor Co., Ltd. | Vehicle turning motion control |
-
1991
- 1991-07-11 JP JP17097991A patent/JPH0516699A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0684150A1 (en) * | 1994-05-24 | 1995-11-29 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | System for determining the stability of a vehicle |
| NL9400843A (en) * | 1994-05-24 | 1996-01-02 | Tno | System for determining the stability of a vehicle. |
| US6529803B2 (en) | 1999-12-21 | 2003-03-04 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle having rear wheel steering |
| US6324446B1 (en) | 1999-12-21 | 2001-11-27 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
| US6332104B1 (en) | 1999-12-21 | 2001-12-18 | Ford Global Technologies, Inc. | Roll over detection for an automotive vehicle |
| US6338012B2 (en) | 1999-12-21 | 2002-01-08 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
| US6496758B2 (en) | 1999-12-21 | 2002-12-17 | Ford Global Technologies, Inc. | Rollover stability control for an automotive vehicle using front wheel actuators |
| US6263261B1 (en) | 1999-12-21 | 2001-07-17 | Ford Global Technologies, Inc. | Roll over stability control for an automotive vehicle |
| US6397127B1 (en) | 2000-09-25 | 2002-05-28 | Ford Global Technologies, Inc. | Steering actuated wheel lift identification for an automotive vehicle |
| US6799092B2 (en) | 2001-02-21 | 2004-09-28 | Ford Global Technologies, Llc | Rollover stability control for an automotive vehicle using rear wheel steering and brake control |
| US6654674B2 (en) | 2001-11-21 | 2003-11-25 | Ford Global Technologies, Llc | Enhanced system for yaw stability control system to include roll stability control function |
| US7593800B2 (en) | 2003-11-13 | 2009-09-22 | Nissan Motor Co., Ltd. | Turning control apparatus and method for automotive vehicle |
| US7419229B2 (en) | 2004-06-07 | 2008-09-02 | Nissan Motor Co., Ltd. | Vehicle braking force control |
| US8020947B2 (en) | 2004-06-07 | 2011-09-20 | Nissan Motor Co., Ltd. | Vehicle turning motion control |
| US7252346B2 (en) | 2004-06-09 | 2007-08-07 | Nissan Motor Co., Ltd. | Braking force control apparatus and method for automotive vehicle |
| US7463963B2 (en) | 2004-07-16 | 2008-12-09 | Nissan Motor Co., Ltd. | Turning motion control for vehicle |
| JP2006151179A (en) * | 2004-11-29 | 2006-06-15 | Nissan Motor Co Ltd | Turning travel control device for vehicle |
| US7805234B2 (en) | 2004-11-29 | 2010-09-28 | Nissan Motor Co., Ltd. | Vehicular turning control apparatus and method |
| JP4581653B2 (en) * | 2004-11-29 | 2010-11-17 | 日産自動車株式会社 | Vehicle turning control device |
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