JPH0542862A - Inter-vehicle distance control device - Google Patents
Inter-vehicle distance control deviceInfo
- Publication number
- JPH0542862A JPH0542862A JP3204120A JP20412091A JPH0542862A JP H0542862 A JPH0542862 A JP H0542862A JP 3204120 A JP3204120 A JP 3204120A JP 20412091 A JP20412091 A JP 20412091A JP H0542862 A JPH0542862 A JP H0542862A
- Authority
- JP
- Japan
- Prior art keywords
- inter
- brake
- vehicle distance
- pressure
- specified value
- 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.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車用の車間距離制
御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance control device for an automobile.
【０００２】[0002]
【従来の技術】従来の車間距離制御装置としては、例え
ば図４に示すようなものがある、（例えば、特開昭５８
−８０８００号公報参照）。2. Description of the Related Art As a conventional inter-vehicle distance control device, there is one shown in FIG. 4, for example.
-80800).
【０００３】すなわち、図４は構成を示すブロック図
で、先行車までの車間距離と相対速度を検出する距離セ
ンサ２１、速度情報を得る車速センサ２２、車輪の方向
を検出する車輪方向センサ２３、路面の状態を検出する
路面状態センサ２４、上記距離センサ２１、車速センサ
２２、車輪方向センサ２３、路面状態センサ２４の出力
によって適正な車間距離を演算するマイクロコンピュー
タ２５、このマイクロコンピュータ２５の演算結果によ
ってブレーキ２６及びアクセル２７を制御して車間距離
と車速とを制御する制御装置２８とを備えている。That is, FIG. 4 is a block diagram showing the structure of the vehicle. A distance sensor 21 for detecting an inter-vehicle distance to a preceding vehicle and a relative speed, a vehicle speed sensor 22 for obtaining speed information, a wheel direction sensor 23 for detecting a wheel direction, A road surface condition sensor 24 for detecting the condition of the road surface, a distance sensor 21, a vehicle speed sensor 22, a wheel direction sensor 23, a microcomputer 25 for calculating an appropriate inter-vehicle distance by the outputs of the road surface condition sensor 24, and a calculation result of this microcomputer 25. The controller 28 controls the brake 26 and the accelerator 27 to control the inter-vehicle distance and the vehicle speed.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の車間距離制御装置にあっては、先行車までの
車間距離と相対速度を検出する距離センサ２１、車速セ
ンサ２２等の出力を基に、適正な車間距離を演算するマ
イクロコンピュータ２５の演算結果により、ブレーキ２
６、およびアクセル２７を自動的に制御する構造となっ
ていた。このため、センサ及び制御装置には、非常に高
い精度、信頼性が要求され、コストが高くなったり適用
範囲を限定しなければならないという問題点があった。However, in such a conventional inter-vehicle distance control device, based on the outputs of the distance sensor 21, the vehicle speed sensor 22 and the like which detect the inter-vehicle distance to the preceding vehicle and the relative speed. , The brake 2 is calculated based on the calculation result of the microcomputer 25 that calculates an appropriate inter-vehicle distance.
6 and the accelerator 27 are automatically controlled. Therefore, the sensor and the control device are required to have extremely high accuracy and reliability, which causes a problem that the cost becomes high and the application range must be limited.
【０００５】また、運転者の意志に関係なく自動的にブ
レーキが作動するので、自動ブレーキをあまり早くかけ
ると不快感をもたらす、おそくかけると減速度が大きく
なりすぎる、等いずれにしても、運転者への違和感はと
り去り難いという問題点があった。Further, since the brake is automatically actuated regardless of the intention of the driver, if the automatic brake is applied too early, discomfort is caused, and if the braking is delayed, the deceleration becomes too large. There was a problem that it was difficult to remove discomfort to the person.
【０００６】本発明は、このような従来の問題点に着目
してなされたものであり、車間距離及び相対速度の状態
に応じて、ブレーキ特性の異なるブレーキが運転者のブ
レーキ操作によって作動するようにし、安全性を向上さ
せた車間距離制御装置を提供することを目的としてい
る。The present invention has been made by paying attention to such a conventional problem, and brakes having different braking characteristics are activated by a driver's braking operation according to the state of the inter-vehicle distance and the relative speed. It is an object of the present invention to provide an inter-vehicle distance control device with improved safety.
【０００７】[0007]
【課題を解決するための手段】ブレーキペダルストロー
クに応じて発生するマスターシリンダの油圧によりホイ
ールシリンダ圧を決定する第１のブレーキ特性と、別途
設けた油圧上昇機構により車間距離が所定量以下又は相
対速度が所定量以上のときにブレーキペダルストローク
の初期においてホイールシリンダ圧力を瞬時に所定圧ま
で上昇する第２のブレーキ特性とを有するブレーキ装置
を設けた。A first brake characteristic that determines a wheel cylinder pressure by a hydraulic pressure of a master cylinder generated according to a brake pedal stroke, and an inter-vehicle distance that is a predetermined amount or less by a hydraulic pressure increasing mechanism that is separately provided. A brake device having a second brake characteristic that instantaneously increases the wheel cylinder pressure to a predetermined pressure when the speed is equal to or higher than a predetermined amount is provided.
【０００８】[0008]
【作用】車間距離の所定量以下又は相対速度が所定量以
上になりドライバーがブレーキ操作をすると、ブレーキ
ペダルストロークの初期に瞬時に強力なブレーキが作用
し、停止距離が短くなる。When the driver operates the brake when the distance between the vehicles is less than a predetermined amount or the relative speed is more than the predetermined amount, a strong brake is instantaneously applied at the beginning of the stroke of the brake pedal, and the stopping distance is shortened.
【０００９】[0009]
【実施例】以下、本発明を図面に基づいて説明する。図
１は本発明の一実施例の構成を示す図である。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the configuration of an embodiment of the present invention.
【００１０】まず構成を説明する。１はブレーキペダ
ル、２はマスターシリンダ、３はホイールシリンダ、４
はブレーキペダル１が踏まれたことを検出するブレーキ
スイッチ、５はコントロールユニット、６は車輪速セン
サ、７は先行車と自車との車間距離を測定する車間距離
センサ、８は油圧ポンプ９を駆動するモータ、１０はリ
ザーバタンク、１１はアキュムレータ、１２は電磁弁、
１３はシリンダ、１４はピストンで、８〜１４によって
油圧上昇機構を構成している。First, the configuration will be described. 1 is a brake pedal, 2 is a master cylinder, 3 is a wheel cylinder, 4
Is a brake switch for detecting that the brake pedal 1 is stepped on, 5 is a control unit, 6 is a wheel speed sensor, 7 is an inter-vehicle distance sensor for measuring the inter-vehicle distance between the preceding vehicle and the host vehicle, and 8 is a hydraulic pump 9. A driving motor, 10 is a reservoir tank, 11 is an accumulator, 12 is a solenoid valve,
Reference numeral 13 is a cylinder, 14 is a piston, and 8 to 14 constitute a hydraulic pressure increasing mechanism.
【００１１】先行車との車間距離が、適正車間距離以上
の通常走行時に、ブレーキペダル１を踏むと、一般の車
両同様に、マスターシリンダ２が作動しホイールシリン
ダ３の圧力が上昇してブレーキが作動する、第１のブレ
ーキ特性によってブレーキが掛かる。If the brake pedal 1 is stepped on during normal running in which the inter-vehicle distance from the preceding vehicle is equal to or greater than the appropriate inter-vehicle distance, the master cylinder 2 operates and the pressure of the wheel cylinder 3 increases to brake as in a general vehicle. The first braking characteristic that is activated is the braking.
【００１２】車間距離が所定量以下又は相対速度が所定
量以上になり、運転者がブレーキペダル１を踏むと、ブ
レーキスイッチ４、車輪速センサ６、車間距離センサ７
からの信号を基にコントロールユニット５が、車間距離
は所定量以下、又は相対速度は所定量以上であると判断
して、モータ８に信号を出力し、モータ８を回転させて
ポンプ９を駆動してアキュムレータ１１に蓄圧する。When the vehicle distance becomes less than a predetermined amount or the relative speed becomes more than a predetermined amount and the driver depresses the brake pedal 1, the brake switch 4, the wheel speed sensor 6, the inter-vehicle distance sensor 7
Based on the signal from the control unit 5, the control unit 5 determines that the inter-vehicle distance is less than or equal to a predetermined amount or the relative speed is greater than or equal to a predetermined amount, outputs a signal to the motor 8, and rotates the motor 8 to drive the pump 9. Then, the pressure is accumulated in the accumulator 11.
【００１３】また、コントロールユニット５から電磁弁
１２に開弁信号を送り電磁弁１２を開弁する。電磁弁１
２が駆動され開弁すると、シリンダ１３内のピストン１
４の後方にアキュムレータ１１の圧力が導かれ、ピスト
ン１４が図で左側に移動し、シリンダ１３内の圧力が高
まって、チェック弁１５を動かして、マスターシリンダ
２とホイールシリンダ３との連通を断つと同時に、ホイ
ールシリンダ３の圧力を瞬時に高めブレーキを掛ける。
このように車間距離が所定量以下又は相対速度が所定量
以上になり運転者がブレーキペダル１を踏むと、ブレー
キ操作の早い時期、すなわち、ブレーキペダルストロー
クの初期に瞬時に強力なブレーキが作動する第２のブレ
ーキ特性によってブレーキが掛かる。Further, the control unit 5 sends a valve opening signal to the solenoid valve 12 to open the solenoid valve 12. Solenoid valve 1
2 is driven to open the valve, the piston 1 in the cylinder 13
4, the pressure of the accumulator 11 is introduced, the piston 14 moves to the left side in the figure, the pressure in the cylinder 13 increases, and the check valve 15 is moved to disconnect the communication between the master cylinder 2 and the wheel cylinder 3. At the same time, the pressure of the wheel cylinder 3 is instantly increased and the brake is applied.
Thus, when the inter-vehicle distance is equal to or less than the predetermined amount or the relative speed is equal to or more than the predetermined amount and the driver depresses the brake pedal 1, a powerful brake is instantaneously activated at an early timing of the brake operation, that is, at the beginning of the brake pedal stroke. The second brake characteristic applies the brake.
【００１４】次に図２のフローチャートにより、制御動
作を説明する。なお、この制御動作は図示しないオペレ
ーティングシステムにより所定周期（例えば５ｍｓ）毎
に起動される。Next, the control operation will be described with reference to the flow chart of FIG. It should be noted that this control operation is started by a not-shown operating system every predetermined period (for example, 5 ms).
【００１５】ステップ１００では、各輪に設置された車
輪速センサ６から車輪回転数ωｉ（ｉ＝１〜４）を、車
間距離センサ７から車間距離Ｌを、ブレーキスイッチ４
よりＯＮ、ＯＦＦ信号を読み込む。In step 100, the wheel rotation speed ωi (i = 1 to 4) is measured from the wheel speed sensor 6 installed on each wheel, the vehicle distance L is measured from the vehicle distance sensor 7, and the brake switch 4 is operated.
More ON and OFF signals are read.
【００１６】ステップ１１０では、車輪速ωｉから車速
Ｖを算出する。In step 110, the vehicle speed V is calculated from the wheel speed ωi.
【００１７】ステップ１２０では、車間距離Ｌが車速Ｖ
に対して充分（ＯＫ）か、不充分かを判断し、充分（Ｏ
Ｋ）ならステップ１５０へ進み、不充分ならフラグを立
てステップ１３０へ進む。In step 120, the inter-vehicle distance L is the vehicle speed V.
Is judged to be sufficient (OK) or insufficient,
If K), proceed to step 150, and if insufficient, set a flag and proceed to step 130.
【００１８】ステップ１３０では、ブレーキスイッチ４
がブレーキペダル１の踏まれたＯＮ状態か否かを判断
し、ブレーキが踏まれていればステップ１４０へ、ブレ
ーキが踏まれていなければステップ１５０へ進む。In step 130, the brake switch 4
Determines whether the brake pedal 1 is depressed or not, and proceeds to step 140 if the brake is depressed, and proceeds to step 150 if the brake is not depressed.
【００１９】ステップ１４０では、不充分な車間距離に
おいてブレーキペダル１が踏まれた状態であるので、電
磁弁１２を駆動して、小さいブレーキペダルストローク
で瞬時にブレーキが作動する第２のブレーキ特性によっ
てブレーキが掛かるようにする。In step 140, since the brake pedal 1 is stepped on at an insufficient inter-vehicle distance, the solenoid valve 12 is driven, and the second brake characteristic in which the brake is instantaneously operated with a small brake pedal stroke is set. Make sure the brakes are applied.
【００２０】ステップ１５０では、車間距離は充分（Ｏ
Ｋ）であるので、電磁弁１２をＯＦＦとして通常のマス
ターシリンダ２の油圧がホイールシリンダ３に作用する
第１のブレーキ特性によってブレーキが掛かるようにす
る。In step 150, the inter-vehicle distance is sufficient (O
K), the solenoid valve 12 is turned off so that the hydraulic pressure of the normal master cylinder 2 is applied to the wheel cylinder 3 by the first brake characteristic.
【００２１】以上で、制御動作を終え、所定時間経過後
に再び起動して、この制御動作を繰り返す。なお、以上
の説明では車間距離についてのみ説明したが、相対速度
についても同様に制御される。As described above, the control operation is completed, the control operation is restarted after a lapse of a predetermined time, and the control operation is repeated. Although only the inter-vehicle distance has been described in the above description, the relative speed is controlled similarly.
【００２２】図３のタイムチャートにより、本発明の制
御動作の時間経過を説明する。The time chart of the control operation of the present invention will be described with reference to the time chart of FIG.
【００２３】まず、第２のブレーキ特性について説明す
る。時刻ｔ0にて、車速Ｖに対する車間距離Ｌが不充分
な領域になると、図２のフローチャートのステップ１２
０で説明したように、車間距離は不充分と判断して、図
３（ａ）の如くフラグを立てる。First, the second brake characteristic will be described. At time t 0 , when the inter-vehicle distance L with respect to the vehicle speed V becomes insufficient, step 12 of the flowchart of FIG.
As described in 0, it is determined that the inter-vehicle distance is insufficient, and a flag is set as shown in FIG.
【００２４】次に、時刻ｔ1において、運転車がブレー
キペダル１を踏むと、図３（ｂ）の如くブレーキスイッ
チ４がＯＮし、また図３（ｃ）の如く電磁弁１２がＯＮ
する。Next, at time t 1 , when the driver depresses the brake pedal 1, the brake switch 4 is turned on as shown in FIG. 3 (b), and the solenoid valve 12 is turned on as shown in FIG. 3 (c).
To do.
【００２５】すると、図３（ｄ），（ｅ）の如くブレー
キペダルストロークの初期にホイールシリンダ３の圧力
は瞬時に所定圧Ｐ0（本実施例では、例えばＰ0＝２０ｋ
ｇ／ｃｍ2）に達し、図３（ｆ）に実線で示す如く、よ
り早く減速度が発生して、危険回避性能を高める。Then, as shown in FIGS. 3 (d) and 3 (e), the pressure of the wheel cylinder 3 is instantaneously set to a predetermined pressure P 0 (in this embodiment, for example, P 0 = 20k) at the beginning of the stroke of the brake pedal.
g / cm 2 ), and as shown by the solid line in FIG. 3 (f), deceleration occurs faster and the danger avoidance performance is enhanced.
【００２６】次に第１のブレーキ特性について説明す
る。通常のブレーキでは、ブレーキペダル１のストロー
クには遊びｌ0があるので、図３（ｄ），（ｅ）に示す
如く、ブレーキストロークがｌ0に達する時刻ｔ2までホ
イールシリンダ３の圧力は上昇しない。従って減速度は
図３（ｆ）に点線で示す如く上昇し、ゆるやかにブレー
キが掛かる。Next, the first braking characteristic will be described. In a normal brake, since the stroke of the brake pedal 1 has a play l 0 , as shown in FIGS. 3D and 3E, the pressure of the wheel cylinder 3 rises until time t 2 when the brake stroke reaches l 0. do not do. Therefore, the deceleration increases as shown by the dotted line in FIG. 3 (f), and the brake is applied gently.
【００２７】このように、本発明によれば、車間距離又
は相対速度の大小に応じて必要とするブレーキ特性によ
ってブレーキが作動する。しかも、車間距離が所定量以
下又は相対速度が所定量以上のときに運転者がブレーキ
を操作して、はじめてブレーキをより早くより強く掛け
るように構成されているので、従来の車間距離制御装置
が自動的に作動するために運転車が感ずる違和感はな
く、ブレーキを操作した際の違和感も、いわゆるカック
ンブレーキとなる程度で緊急のときの違和感としては極
めて小さい。As described above, according to the present invention, the brake is operated according to the required braking characteristics depending on the inter-vehicle distance or the relative speed. Moreover, since the driver operates the brake when the inter-vehicle distance is equal to or less than the predetermined amount or the relative speed is equal to or more than the predetermined amount, the brake is applied more quickly and harder. Since it operates automatically, there is no discomfort felt by the driving vehicle, and the discomfort when operating the brake is so small that it is a so-called Kack'n brake, which is extremely uncomfortable in an emergency.
【００２８】また、センサ及びコントロールユニットは
通常程度の精度で良く、コスト的にも有利である。Further, the sensor and the control unit are required to have a normal degree of accuracy, which is advantageous in terms of cost.
【００２９】[0029]
【発明の効果】以上説明してきたように、本発明によれ
ば、運転状態に応じてブレーキ特性が変わり、従来と同
一のブレーキ操作で緊急時の停止距離が短くなるので、
安全性を大幅に向上することができる。As described above, according to the present invention, the braking characteristic changes according to the driving condition, and the stopping distance in an emergency can be shortened by the same braking operation as the conventional one.
The safety can be greatly improved.
【図１】本発明の一実施例の構成の概要を示す全体構成
図。FIG. 1 is an overall configuration diagram showing an outline of a configuration of an embodiment of the present invention.
【図２】同じく一実施例の制御動作を示すフローチャー
ト。FIG. 2 is a flow chart showing a control operation of the same embodiment.
【図３】同じく一実施例の制御動作の時間経過を示すタ
イムチャート。FIG. 3 is a time chart which shows a lapse of time in the control operation of the embodiment.
【図４】従来例を示すブロック図。FIG. 4 is a block diagram showing a conventional example.
３…ホイールシリンダ ４…ブレーキスイッチ ６…車輪速センサ ７…車間距離センサ ９…ポンプ １２…電磁弁 １４…ピストン １５…チェック弁 3 ... Wheel cylinder 4 ... Brake switch 6 ... Wheel speed sensor 7 ... Inter-vehicle distance sensor 9 ... Pump 12 ... Electromagnetic valve 14 ... Piston 15 ... Check valve
Claims (1)
するマスターシリンダの油圧によりホイールシリンダ圧
力を決定する第１のブレーキ特性と、別途設けた油圧上
昇機構により車間距離が所定量以下又は相対速度が所定
量以上のときにブレーキペダルストローク初期において
ホイールシリンダ圧力を瞬時に所定圧まで上昇する第２
のブレーキ特性とを有するブレーキ装置を備えたことを
特徴とする車間距離制御装置。1. A first brake characteristic in which a wheel cylinder pressure is determined by a hydraulic pressure of a master cylinder generated according to a brake pedal stroke, and an inter-vehicle distance is a predetermined amount or less or a relative speed is a predetermined amount by a hydraulic pressure increasing mechanism provided separately. In the above case, the wheel cylinder pressure is instantly increased to a predetermined pressure in the initial stage of the brake pedal stroke.
And an inter-vehicle distance control device having a braking device having the braking characteristic of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3204120A JP2707880B2 (en) | 1991-08-14 | 1991-08-14 | Inter-vehicle distance control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3204120A JP2707880B2 (en) | 1991-08-14 | 1991-08-14 | Inter-vehicle distance control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0542862A true JPH0542862A (en) | 1993-02-23 |
| JP2707880B2 JP2707880B2 (en) | 1998-02-04 |
Family
ID=16485154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3204120A Expired - Fee Related JP2707880B2 (en) | 1991-08-14 | 1991-08-14 | Inter-vehicle distance control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2707880B2 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5607209A (en) * | 1994-06-06 | 1997-03-04 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Braking apparatus and braking method for vehicle |
| JP2000177550A (en) * | 1998-12-14 | 2000-06-27 | Aisin Seiki Co Ltd | Brake device |
| US6393361B1 (en) | 1999-05-18 | 2002-05-21 | Mitsubishi Denki Kabushiki Kaisha | Dangerous approach prevention device for vehicle |
| KR100369034B1 (en) * | 2000-10-24 | 2003-01-24 | 현대자동차주식회사 | Break system of vehicle |
| KR100372910B1 (en) * | 1998-12-29 | 2003-04-21 | 주식회사 만도 | Electronic hydraulic brake system |
| KR100378749B1 (en) * | 1998-12-29 | 2003-06-18 | 주식회사 만도 | Electronic hydraulic brake system |
| KR100579224B1 (en) * | 1999-12-28 | 2006-05-11 | 현대자동차주식회사 | Break system |
| WO2019017385A1 (en) * | 2017-07-18 | 2019-01-24 | 株式会社アドヴィックス | Vehicle brake control device |
| CN110329224A (en) * | 2019-08-14 | 2019-10-15 | 吉林大学 | Emergency braking energy recycle device and control method based on gas type accumulator |
-
1991
- 1991-08-14 JP JP3204120A patent/JP2707880B2/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5607209A (en) * | 1994-06-06 | 1997-03-04 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Braking apparatus and braking method for vehicle |
| DE19520609B4 (en) * | 1994-06-06 | 2004-10-14 | Mitsubishi Jidosha Kogyo K.K. | Braking device for a vehicle |
| JP2000177550A (en) * | 1998-12-14 | 2000-06-27 | Aisin Seiki Co Ltd | Brake device |
| KR100372910B1 (en) * | 1998-12-29 | 2003-04-21 | 주식회사 만도 | Electronic hydraulic brake system |
| KR100378749B1 (en) * | 1998-12-29 | 2003-06-18 | 주식회사 만도 | Electronic hydraulic brake system |
| US6393361B1 (en) | 1999-05-18 | 2002-05-21 | Mitsubishi Denki Kabushiki Kaisha | Dangerous approach prevention device for vehicle |
| KR100579224B1 (en) * | 1999-12-28 | 2006-05-11 | 현대자동차주식회사 | Break system |
| KR100369034B1 (en) * | 2000-10-24 | 2003-01-24 | 현대자동차주식회사 | Break system of vehicle |
| WO2019017385A1 (en) * | 2017-07-18 | 2019-01-24 | 株式会社アドヴィックス | Vehicle brake control device |
| CN110329224A (en) * | 2019-08-14 | 2019-10-15 | 吉林大学 | Emergency braking energy recycle device and control method based on gas type accumulator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2707880B2 (en) | 1998-02-04 |
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| Date | Code | Title | Description |
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| LAPS | Cancellation because of no payment of annual fees |