JPH06242234A - Vehicle proximity warning apparatus - Google Patents

Abstract

PURPOSE:To provide a vehicle proximity warning apparatus which can generate an alarm adapted for a driver's sense and in which validity of the alarm is improved. CONSTITUTION:The vehicle proximity warning apparatus comprises a vehicle speed sensor 4 for detecting a vehicle speed, a radar 1 for measuring a real distance to a forward vehicle, a deceleration avoiding operation sensor for detecting presence/absence of a deceleration or an avoiding operation, calculating means 2 for calculating a relative speed between an own vehicle and the forward vehicle, calculating a suitable limit distance based on an own vehicle speed, a real distance, a relative speed and deceleration of the own vehicle, setting a set value of the deceleration in the case of the calculation to a larger value as the own vehicle speed or the relative speed is increased and generating an alarm signal if the deceleration or the avoiding operation is not conducted, and warning means 3 for generating an alarm when the signal is applied. Since the deceleration is variable, as the deceleration is increased in a high speed range, a suitable limit distance is shortened, and characteristics approximate to those at the time of actual driving can be set.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle proximity warning device for an automobile.

[0002]

2. Description of the Related Art As a conventional vehicle proximity warning device, for example, "a rear-end collision prevention warning device for large trucks" automobile technology
Vol. 43, No. 2, 1989 ". In the above device, the safe inter-vehicle distances S ₁ and S ₂ under the alarm condition are obtained by using the following (Equation 1) and (Equation 2) according to the traveling conditions, and the actual distance is the above-mentioned safe inter-vehicle distance S. _An alarm is output when the value becomes ₁ or less than S ₂ . S ₁ = V _f (T _d + T _x1 ) ... ( _Equation 1) S ₂ = V _f (T _d + T _x2 ) + V _f ² / 2α (Equation 2) where V _f : own vehicle speed V _a : forward vehicle Speed α: own vehicle deceleration T _x1 and T _x2 : margin determination time T _d : pedal change time The above formula (1) is a formula showing the free running distance until the brake is actuated. The formula is a formula showing the free running distance + stop distance. When the object in front is a preceding vehicle (moving object) and the relative speed is less than or equal to a predetermined value (for example, 50 km / h), that is, when the preceding vehicle is traveling at a speed similar to that of the host vehicle, the speed is Since it is unlikely that it will become 0 instantaneously, an alarm is issued when the actual distance D between the preceding vehicle and the host vehicle becomes less than the above S ₁ . Further, when the relative speed is equal to or higher than a predetermined value (for example, 50 km / h), that is, when the preceding vehicle is traveling at an extremely low speed or is stopped, the actual distance D includes S ₂ including the stop distance. An alarm will be issued when the following occurs. In addition, the above (Equation 1)
Although the margin determination time T _x1 in the equation (Equation 2) is switched in three steps, the margin determination time T _x2 and the deceleration α are fixed values.

[0003]

However, in the conventional vehicle proximity warning device as described above, since the deceleration α in the formula for calculating the safe inter-vehicle distance is one preset fixed value, There was a problem that it did not match the driving feeling of. That is, when the vehicle decelerates too close to the preceding vehicle during high-speed traveling, the deceleration becomes larger than when decelerating during low-speed traveling, and the vehicle decelerates (or stops) at a relatively short distance despite the high traveling speed. Is common. In addition, since the driver gets used to the condition while continuing to drive at high speed, there is a problem that if the alarm is issued at a too long distance, it does not match the driver's feeling and only gives a feeling of complication. It was

Further, the above-mentioned conventional example is a device for preventing a rear-end collision, and when the oncoming vehicle approaches from the front when the own vehicle protrudes into the oncoming lane due to looking aside, dozing, etc. It has not been considered to give an appropriate warning when an oncoming vehicle approaches from the front such as when the vehicle enters the lane and approaches.

The present invention has been made in order to solve the problems of the prior art as described above, and the first object of the present invention is to issue an alarm more suited to the driver's sensation than in the prior art. It is an object of the present invention to provide a vehicle proximity warning device that can improve effectiveness. The second purpose is to provide a vehicle proximity warning device that can give a more accurate warning when an oncoming vehicle is approaching, such as when the vehicle is out of the lane due to inattentive driving, aimless driving, dozing, etc. It is to be.

[0006]

In order to achieve the above object, the present invention is constructed as described in the claims. That is, according to the first aspect of the invention, the vehicle is provided with a speed detecting means, a distance measuring means, a deceleration avoiding operation detecting means, a calculating means, and an alarm means, and the vehicle speed, the actual distance, the relative speed, and the preset speed Based on the deceleration of the host vehicle, the appropriate limit distance is calculated by an arithmetic expression that includes a term whose denominator is the above deceleration, and when the appropriate limit distance is calculated, the set value of the deceleration is set to the own vehicle speed. Alternatively, the larger the relative speed is, the larger the value is set to perform the calculation, and the alarm is issued when the deceleration operation or the avoidance operation is not performed even if the actual distance is less than the appropriate limit distance. . The speed detecting means corresponds to, for example, the vehicle speed sensor 4 in the embodiment shown in FIG. 1, the distance measuring means corresponds to the radar device 1, and the deceleration avoiding operation detecting means corresponds to the deceleration avoiding operation sensor 5. Correspondingly, the arithmetic means also corresponds to the arithmetic device 2, and the alarm means also corresponds to the alarm device 3. Further, the appropriate limit distance S is a limit distance that can reliably and with a sufficient margin to avoid excessive approach, and is calculated using, for example, the following (Equation 3) or (Equation 4). S = (V ² / 2α) + VT (Equation 3) S = (V ₂ ² / 2α) − (V ₁ ² / 2β) + V ₂ T (Equation 4) However, in the (Equation 3) expression, V: Vehicle speed (m / s) T: Marginal reaction judgment time (se
c) α: deceleration (Equation 4), V ₁ : preceding vehicle speed (m / s) V ₂ : own vehicle speed (m / s)
s) α: own vehicle deceleration β: preceding vehicle deceleration The value of deceleration α in the above formula (3) is set to a larger value as the own vehicle speed V increases, and in the above formula (4) The value of the vehicle deceleration α is set to increase as the relative speed (V ₂ −V ₁ ) increases.

The above formula (3) is an arithmetic formula suitable for the case where the preceding vehicle is stopped or is traveling at an extremely low speed (when the own vehicle speed and the relative speed are substantially equal to each other). Expression 4) is an arithmetic expression that is suitable when the preceding vehicle is traveling normally (when the own vehicle speed and the relative speed are different). These arithmetic expressions may be switched and calculated according to the relationship between the vehicle speed and the relative speed.

Further, in the invention described in claim 2,
Speed detection means, distance measurement means, deceleration avoidance operation detection means, instruction operation detection means, calculation means, alarm means,
It is configured to issue an alarm when the relative speed between the own vehicle and the preceding vehicle is higher than the own vehicle speed, and the direction indicator is not operated and the deceleration operation or the avoidance operation is not performed. ing. The speed detecting means corresponds to, for example, the vehicle speed sensor 4 in the embodiment shown in FIG.
The distance measuring means also corresponds to the radar device 1, the deceleration avoidance operation detecting means also corresponds to the deceleration avoiding operation sensor 5, the pointing operation detecting means also corresponds to the pointing operation sensor 6, and the computing means also serves as the computing device 7. The alarm means also corresponds to the alarm device 3. Further, since the invention of claim 1 and the invention of claim 2 have many common parts in the constituent elements,
It is also possible to easily realize a device having both functions by combining both. For example, in the device shown in the block diagram of FIG. 6, a computing device that performs both the computation of FIG. 3 and the computation of FIG. 7 may be used as the computing device 7.

[0009]

In the invention described in claim 1, as described above, the value of the deceleration α is set to increase as the vehicle speed or the relative speed increases, so that the deceleration α increases in the high speed region. Therefore, the appropriate limit distance S becomes shorter than in the conventional case. Therefore, it becomes possible to set the appropriate limit distance S to a characteristic closer to that during actual driving, and it is possible to give an alarm that suits the driving feeling as compared with the conventional case.

According to the second aspect of the invention,
When the relative speed between the own vehicle and the preceding vehicle is higher than the own vehicle speed (that is, when the preceding vehicle travels in the direction of the own vehicle) and the direction indicator is not operated (that is,
When the driver is not consciously in the oncoming lane for overtaking), and when the deceleration operation or the avoidance operation is not performed (that is, the driver does not approach the oncoming vehicle). If the driver is not aware of the above and has not performed deceleration or avoidance operation), he / she determines that the driver is inattentive to the front due to looking aside, aimlessly driving, dozing, etc., and gives a warning to the driver.

[0011]

FIG. 1 is a block diagram of a first embodiment of the present invention,
2 is a side view showing the distance measurement situation in the embodiment of FIG. 1, and FIG. 3 is a flow chart showing the contents of calculation in the embodiment of FIG. In FIG. 1, reference numeral 1 is a radar device for measuring the presence or absence of a front object and the distance. Examples of the radar device 1 include a laser radar, a microwave radar,
An ultrasonic radar or the like can be used. Further, it is possible to measure the distance to the front object by image processing from the image of the video camera mounted on the front part of the own vehicle without using the radar device. Further, the arithmetic unit 2 is composed of, for example, a microcomputer, and performs various arithmetic operations such as calculation of relative speed between the own vehicle and the preceding vehicle, calculation of an appropriate limit distance, judgment of alarm generation, and the like. Further, 4 is a vehicle speed sensor that detects the speed of the host vehicle, and 5 is a deceleration avoidance operation sensor that detects deceleration operation and avoidance operation of an occupant. The deceleration operation includes, for example, an operation of opening the accelerator pedal (closing the throttle valve) and an operation of depressing the brake pedal, and an avoidance operation is an operation of rotating the steering column by a predetermined angle or more. Therefore, as the deceleration avoidance operation sensor, a throttle switch that operates when the throttle is closed, a brake switch that operates when the brake is operated, or a steering angle sensor can be used.

Further, in FIG. 2, 11 is the own vehicle and 12
Is a preceding vehicle, 13 is a head of a laser radar mounted on the front of the own vehicle 11, 14 is a reflector at the rear of the preceding vehicle, 1
Reference numeral 5 is a laser beam emitted from the head 13, and 16 is reflected light reflected by the reflector 14. Further, L is an actual inter-vehicle distance.

The operation of this embodiment will be described below with reference to the flow chart of FIG. FIG. 3 shows a flowchart of a vehicle proximity warning when a vehicle approaching at a certain speed is stopped or traveling at a very low speed. In FIG. 3, first, it is detected whether or not there is a vehicle ahead in the measurable range of the laser radar device. When there is no vehicle in front, the process returns to the start. When there is a vehicle in front, the vehicle speed V ₁ and the distance between the vehicle and the vehicle ahead are read to calculate the relative speed V. The relative speed V can be easily obtained by calculating the rate of change of distance. Next, if the host vehicle speed V ₁ ≤0 (stopping or reversing) and the relative speed V ≤ 0 (constant speed or the vehicle ahead is faster), the process returns to the start, and the host vehicle speed V ₁ > 0 (forward. (While running) and relative speed V> 0 (approaching the vehicle ahead)
Only in case of, proceed to judgment A. Next, in the judgment A, the own vehicle speed V ₁ and the relative speed V are compared and judged. If the own vehicle speed and the relative speed are different, the process returns to the start, and if the own vehicle speed and the relative speed are almost equal (the preceding vehicle Is stopped or the vehicle runs at an extremely low speed), the judgment condition 1 is entered. This judgment condition 1 is a summary of the relationship between the vehicle speed (approach speed) and the distance to the vehicle ahead (stop), and the details will be described later. Next, in the judgment condition 1, when the distance between the own vehicle and the vehicle in front is within an appropriate range determined by the relationship with the own vehicle speed (approach speed), that is, from the appropriate limit distance that can avoid the collision with certainty and margin. If it is large, go back to the start. On the contrary, when the distance to the vehicle in front is in the caution area range, that is, when the distance is equal to or less than the appropriate limit distance, it is determined whether the deceleration operation or the avoidance operation is performed. If the deceleration operation or the avoidance operation (including the case where both operations are duplicated) has already been performed, it is determined that the driver is consciously performing the normal driving state and the process returns to the start. . On the other hand, if there is no deceleration operation or avoidance operation, it is considered that the driver is inattentive to the front, such as looking aside, aimlessly driving, dozing, etc., and issues an alarm. As for this alarm,
For example, an acoustic alarm such as a buzzer or a voice, an optical alarm such as lighting of a lamp, or a mechanical alarm that vibrates a seat can be used.

Next, the judgment condition 1 will be described in detail. FIG. 4 is a diagram showing the relationship between the vehicle speed and the appropriate limit distance. In the characteristic curve of FIG. 4, the appropriate limit distance S is expressed by the formula (3), that is, S = (V ² / 2α) + VT, where V: own vehicle speed (m / s) T: margin reaction determination time (sec ) Α: It is obtained by using deceleration, and the characteristic curve is deceleration α =
0.7 g (constant), the characteristic curve is deceleration α = 0.5 g (constant). Further, the characteristic curve is the characteristic of the present embodiment, and shows the case where the value of the deceleration α is made variable so as to increase as the vehicle speed increases as shown in the characteristic curve of FIG. The margin reaction determination time T is set to 1.5 sec in any case. Also, the vehicle speed V in the above formula
Although the unit of (m / s) is (m / s), it is shown in FIG. 4 after being converted to (km / h). Further, the characteristic curve shows the characteristic when the margin reaction judgment time T is 0.7 sec and the deceleration rate α is 0.7 g (constant) as a limit value that can barely avoid the collision. As can be seen from FIG. 4, in the case of the characteristic curve, the appropriate limit distance S is short and close to the limit characteristic value. Therefore, the collision may not be avoided even if the deceleration operation or the avoidance operation is performed after the alarm is issued. Further, comparing with the characteristic curve, the appropriate limit distance S becomes longer because the deceleration α of the characteristic curve is smaller up to the vehicle speed of 80 km / h, and the characteristic curve is more preferable in the high speed region of 80 km / h or more. Since the deceleration α becomes large, the appropriate limit distance S becomes short.

The reason why the deceleration α is made variable with the characteristic curve as described above is as follows. That is, when the vehicle decelerates too close to the preceding vehicle during high-speed traveling, the deceleration becomes larger than when decelerating during low-speed traveling, and the vehicle decelerates (or stops) at a relatively short distance despite the high traveling speed. Is common. Also, while continuing high-speed running,
Since the driver becomes accustomed to the state, if the alarm is issued at a too long distance, the driver's feeling may not be met and only a feeling of complication may be given. Therefore, if the deceleration rate α is set to a fixed value as in the characteristic curve, the calculated appropriate limit distance becomes too long compared to the actual driving condition, and the alarm is issued before the driver decelerates or avoids the steering wheel. It will come out and it will not fit the driving feeling of the driver. Further, when the deceleration α is set to a large constant value like the characteristic curve, the appropriate limit distance becomes too short even at low speed, and there is a possibility that collision avoidance may not be in time. Therefore, if the value of the deceleration α is made variable as shown by the characteristic curve and the value of the deceleration α is increased as the vehicle speed increases, the proper limit distance S should be set to a characteristic closer to that during actual driving. This makes it possible to give an alarm that suits the driving sensation as compared with the prior art.

In the above embodiment, the value of the deceleration α is changed according to the speed of the host vehicle.
A similar effect can be obtained by setting the value of the deceleration α depending on the relative speed between the preceding vehicle and the host vehicle. That is, the appropriate limit distance S is expressed by the formula (4), that is, S = (V ₂ ² / 2α) − (V ₁ ² / 2β) + V ₂ T, where V _{1 is the} preceding vehicle speed (m / s) V ₂ : Own vehicle speed (m / s) α: Own vehicle deceleration β: Leading vehicle deceleration In the preceding vehicle deceleration, the own vehicle deceleration α may be increased as the relative speed (V ₂ −V ₁ ) increases. .

The above equation (3) is an equation suitable for the case where the preceding vehicle is stopped or traveling at an extremely low speed (when the own vehicle speed and the relative speed are substantially equal), Expression 4) is an arithmetic expression that is suitable when the preceding vehicle is traveling normally (when the own vehicle speed and the relative speed are different). These arithmetic expressions may be switched and calculated according to the relationship between the vehicle speed and the relative speed.

Next, FIG. 6 is a block diagram of the second embodiment of the present invention, and FIG. 7 is a flow chart showing the contents of calculation in the embodiment of FIG. In this example, when the oncoming vehicle approaches when the own vehicle is out of the oncoming lane due to the inattentive driving, aimless driving, drowsy driving, etc., or when the oncoming vehicle enters the own lane, the inattentive driving or the ambush driving Is an example of issuing an alarm when the driver does not notice. In FIG. 6, the instruction operation sensor 6 is a sensor that detects whether or not the driver has operated the turn indicator, and for example, an operation switch of the turn indicator can be used. Further, the arithmetic unit 7 is
Calculates the relative speed between the host vehicle and the preceding vehicle, and outputs an alarm signal when the relative speed is greater than the host vehicle speed, and there is no direction indicator operation and no deceleration operation or avoidance operation is performed. Occur. In addition, the same reference numerals as those in FIG.

The operation of this embodiment will be described below with reference to FIG. In FIG. 7, the process from the start to the judgment A is the same as that in FIG. Next, in the judgment A, a comparison judgment is made between the own vehicle speed and the relative speed, and if the relative speed is equal to or smaller than the own vehicle speed (the front vehicle is stopped or the own vehicle is approaching the front vehicle), it is started. If the relative speed is greater than the speed of the host vehicle (the vehicle in front is moving backward or is traveling toward the host vehicle), the process proceeds to the determination of whether or not the turn indicator is operated. Then, if the direction indicator is operated, it is determined that the driver intentionally left the oncoming lane due to overtaking or the like, and the process returns to the start. On the other hand, when the direction indicator is not operated, it is determined whether the deceleration operation or the avoidance operation is performed. Then, if the deceleration operation or the avoidance operation has already been performed, it is determined that the vehicle is in a normal operating state and the process returns to the start. on the other hand,
When there is no deceleration operation or avoidance operation, that is, when the oncoming vehicle is approaching without operating the direction indicator, decelerating, or avoiding operation, during the inadvertent forward driving due to the inattentive driving, aimless driving, dozing driving, etc., It is considered that the driver has not noticed that the driver's own vehicle is protruding into the oncoming lane or a vehicle in the oncoming lane is approaching the driver's own lane and issues an alarm.

Next, FIG. 8 is a block diagram of a third embodiment of the present invention, FIG. 9 is a side view showing a distance measuring situation in the embodiment of FIG. 8, FIG. 10 is a plan view of the same, and FIG. 11 is FIG. 3 is a flowchart showing the contents of calculation in the embodiment of FIG. This embodiment is a device that gives an alarm when a vehicle inadvertently approaches a priority road from a non-priority road at an intersection without a traffic light, or when the traffic light approaches an intersection when the traffic light is yellow or red at an intersection with a traffic light. is there. In FIG. 8, reference numeral 1 denotes a radar device that measures the presence or absence of a front object and the distance. As the radar device 1, for example, a laser radar, a microwave radar, an ultrasonic radar or the like can be used. The arithmetic unit 8 is composed of, for example, a microcomputer and performs various arithmetic operations such as calculation of relative speed, calculation of an appropriate limit distance, and determination of alarm generation. Further, 4 is a vehicle speed sensor for detecting the speed of the host vehicle, and 9 is a deceleration operation sensor for detecting deceleration operation of an occupant. The deceleration operation includes, for example, an operation of opening the accelerator pedal (closing the throttle valve) and an operation of depressing the brake pedal. Therefore, as the deceleration operation sensor, a throttle switch that operates when the throttle is closed or a brake switch that operates when the brake is operated can be used.

In FIGS. 9 and 10, 20 is the own vehicle, 21 is the head of the laser radar mounted on the front part of the own vehicle 20, 22 is a traffic sign for a temporary stop installed at an intersection, and 23 is a traffic sign. 22 is a reflector attached to the pole, 24 is a laser beam emitted from the head 13, and 25 is reflected light reflected by the reflector 23.
9 and 10 show the case where the own vehicle traveling on the non-priority road is approaching the intersection at the intersection of the non-priority road without traffic lights and the priority road.

The operation of this embodiment will be described below with reference to the flow chart of FIG. In FIG. 11, first, it is detected whether or not there is a reflector 23 installed on a traffic sign 22 of a temporary stop within a measurable range of a laser radar. If there is no reflector 23 in front, the process returns to the start. If there is, the vehicle speed V ₁ , the distance from the vehicle to the reflector 23, and the relative speed are calculated. If the vehicle speed V ₁ ≤0 (stopping or moving backward), the process returns to the start. If the vehicle speed V ₁ > 0 (during forward traveling), the process proceeds to the next step of the determination condition 1. The determination condition 1 is a determination condition as to whether or not the host vehicle can be stopped reliably and with a margin before the intersection, and the distance from the host vehicle to the reflector 23 depends on the approach speed (the relative speed between the reflector 23 and the host vehicle). An appropriate limit distance determined in accordance with the speed, in this case the reflector 23 is a fixed object and is equal to the own vehicle speed (details will be described later).
Judge by whether it is larger or smaller. Then, when the distance is larger than the proper limit distance, the process returns to the start, and when it is equal to or smaller than the proper limit distance, it is determined whether or not the deceleration operation is performed. If the deceleration operation has already been performed, it is determined that the vehicle is in a normal operating state and the process returns to the start. On the other hand, if there is no deceleration operation, it is considered that the driver is inadvertently driving forward due to inattentiveness, aimlessness, dozing, etc., and an alarm is issued. As the warning, for example, an acoustic warning such as a buzzer or a voice, an optical warning such as lighting of a lamp, or a mechanical warning such as vibration of a seat can be used.

Next, the judgment condition 1 will be described with reference to FIGS. 12 and 13. 12 and 13 are characteristic diagrams showing experimental values of the approaching speed and the appropriate limit distance. FIG. 12 shows the approaching speed at the time of performing the deceleration operation for releasing the accelerator pedal (throttle valve is off), and thereafter,
FIG. 13 shows an experimental value showing the relationship with the distance at which the host vehicle can stop reliably and with a margin, and FIG. 13 shows the approach speed at the time when the deceleration operation for operating the brake is performed and the distance at which the host vehicle can stop with certainty and a margin. It is an experimental value showing the relationship. In FIG. 12, the portion above the solid line shows a range in which when the vehicle approaches an intersection at a certain approach speed, if the deceleration operation for releasing the accelerator pedal is performed at this distance, then the vehicle can be stopped reliably and with a margin, In FIG.
The portion above the solid line shows a range in which, when the vehicle approaches the intersection at a certain approach speed, if the deceleration operation of the brake operation is performed at this distance, then the vehicle can be stopped reliably and with a margin. Therefore, if the accelerator pedal is not released or the deceleration operation of the brake operation is not performed even if it becomes less than the appropriate limit distance shown by the above solid line, it is regarded as inadvertent driving such as looking aside, aimlessly, dozing, etc. and an alarm is issued. . In addition,
Either of the determination based on the presence or absence of the brake operation and the determination based on the presence or absence of the accelerator pedal release may be used.
As can be seen from FIG. 13, the timing of issuing an alarm is slightly earlier in the detection based on the presence / absence of the accelerator pedal release than in the detection of the inattentive / ambush operation based on the presence / absence of the brake operation.

In the above description, the approach speed (relative speed) is used as a reference. In this case, however, the reflector 23 is a fixed object, and therefore the approach speed is equal to the own vehicle speed. Therefore, the own vehicle speed may be simply used without calculating the relative speed in the flowchart of FIG.

Next, FIG. 14 is a plan view showing a situation where the traffic light is yellow or red and the traffic light approaches yellow or red, and FIG. 15 is a front view and a side view of the variable reflector device 27. . In FIG. 14, 26 is a traffic light,
Reference numeral 27 is a variable reflector device in which the angle of the reflector 29 changes in association with the traffic light 26. Further, in FIG. 15, 29 is a reflector, 30 is a pole for fixing the reflector 29, 32 is a motor, 33 is a bracket for fixing the reflector 29 and the motor 32 to the pole 30, and 34 is for rotating the reflector 29 by the motor 32. The bearings 35 and 36 are stoppers for preventing the excessive rotation of the reflector 29. Further, the control circuit 37 is interlocked with the traffic light 26. When the traffic light 26 is yellow or red, the control circuit 37 rotates the reflector 29 in a standing state so as to react with the laser radar device of the vehicle, and when the traffic light 26 is blue, the laser radar. The motor 32 is controlled so as to rotate in a tilted state so as not to react with the device. In the case of FIGS. 14 and 15, the reflector 29 is in a reflecting state only when the traffic light is yellow or red, and reacts with the laser radar device of the approaching vehicle to produce the same operation as that in FIGS. 8 to 11. . As described above, in this embodiment, the inattentive driving /
It is possible to give the driver a warning when a driver overlooks a signal at a crossing or ignores a temporary stop due to carelessness in front of the driver, such as involuntary driving or drowsy driving, thus improving driving safety at the crossing.

[0026]

As described above, in the invention according to the first aspect of the present invention, the deceleration is set when the proper limit distance that can surely avoid the excessive approach with a margin is set. By setting the value to a larger value as the vehicle speed or relative speed increases, an alarm is issued when deceleration operation or avoidance operation is not performed even if the actual distance is less than the appropriate limit distance. As a result, it is possible to issue an alarm that is more suitable to the driver's sense than before, and to improve the effectiveness of the alarm. Further, in the invention according to claim 2, the relative speed between the preceding vehicle and the own vehicle is higher than the own vehicle speed, the direction indicator is not operated, and the deceleration operation or the avoidance operation is not performed. In this case, it is possible to give an effective warning when the vehicle in the oncoming lane is approaching, such as when the lane is pushed out by inattentive driving, aimless driving, drowsy driving, etc. Is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a side view showing a distance measurement situation in the embodiment of FIG.

FIG. 3 is a flowchart showing the contents of calculation in the embodiment of FIG.

FIG. 4 is a characteristic diagram showing a relationship between a vehicle speed and an appropriate limit distance.

FIG. 5 is a characteristic diagram showing a relationship between a vehicle speed and deceleration.

FIG. 6 is a block diagram of a second embodiment of the present invention.

FIG. 7 is a flowchart showing the contents of calculation in the embodiment of FIG.

FIG. 8 is a block diagram of a third embodiment of the present invention.

9 is a side view showing a distance measurement situation in the embodiment of FIG.

FIG. 10 is a plan view showing a distance measurement situation in the embodiment of FIG.

FIG. 11 is a flowchart showing the contents of calculation in the embodiment of FIG.

FIG. 12 is a characteristic diagram showing experimental values of an approach speed and an appropriate limit distance when the accelerator pedal is released as a deceleration operation.

FIG. 13 is a characteristic diagram showing experimental values of an approach speed and an appropriate limit distance when a brake is operated as a deceleration operation.

FIG. 14 is a plan view showing a situation where a traffic light approaches yellow or red at an intersection with a traffic light and approaches the intersection.

FIG. 15 is a front view and a side view of a variable reflector device.

[Explanation of symbols]

1 ... Radar device 21 ... Laser radar head 2 ... Arithmetic device 22 ... Temporary stop traffic sign 3 ... Warning device 23 ... Reflector 4 ... Vehicle speed sensor 24 ... Laser beam 5 ... Deceleration avoidance operation sensor 25 ... Reflected light 6 ... Instructing operation Sensor 26 ... Traffic light 7, 8 ... Arithmetic device 27 ... Variable reflector device 9 ... Deceleration operation sensor 29 ... Reflector 13 ... Laser radar head 30 ... Pole 14 ... Reflector 32 ... Motor 15 ... Laser beam 33 ... Bracket 16 ... Reflected light 34 ... Bearing 35, 36 ... Stopper for preventing over-rotation

Claims (2)

[Claims] 1. A speed detecting means for detecting a speed of the own vehicle, a distance measuring means for measuring an actual distance to a vehicle or an object in front of the own vehicle, and a deceleration avoiding operation detecting for detecting presence or absence of a deceleration operation or an avoidance operation. A means for calculating the relative speed between the host vehicle and the preceding vehicle, and including a term having the deceleration as a denominator based on the host vehicle speed, the actual distance, the relative speed, and the preset deceleration of the host vehicle. The appropriate limit distance is calculated by an arithmetic expression, and in the calculation of the appropriate limit distance, the set value of the deceleration is set to a larger value as the vehicle speed or the relative speed increases, and the calculation is performed. And an arithmetic means for generating an alarm signal when the deceleration operation or the avoidance operation is not performed even if the actual distance becomes equal to or less than the appropriate limit distance, and an alarm means for issuing an alarm when the alarm signal is given. That Vehicle proximity warning apparatus according to symptoms. 2. A speed detecting means for detecting the speed of the own vehicle, a distance measuring means for measuring an actual distance to a vehicle or an object in front of the own vehicle, and a deceleration avoidance operation detection for detecting the presence or absence of a deceleration operation or an avoidance operation. Means, an instruction operation detecting means for detecting whether or not the turn indicator is operated, and a relative speed between the own vehicle and the preceding vehicle, wherein the relative speed is greater than the own vehicle speed, and the direction indicator A vehicle comprising: an arithmetic unit that issues an alarm signal when there is no operation and the deceleration operation or the avoidance operation is not performed; and an alarm unit that issues an alarm when the alarm signal is given. Proximity alarm device.