JPH07108850A - Vehicular safety device - Google Patents

Abstract

PURPOSE:To send such a warning to a driver that he should pay attention to left and right conditions so as to secure traffic safety when the driver stops a vehicle based on a warning or automatic braking ad then starts the vehicle. CONSTITUTION:A vehicle stop position detecting means 1 for detecting a stop position of a vehicle on a traveling road and an automatic braking means 12 for braking a self vehicle to stop at a vehicle stop position are provided in a vehicular safety device. A time when the driver starts to drive the vehicle after the vehicle is stopped by the automatic braking is detected and a warning means 14 is actuated so as to send a warning for promoting the driver is attention such as confirming right and left of a road and also the automatic braking is canceled so that the vehicle can be started after actuating the warning means 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for stopping a vehicle at a vehicle stop position on a traveling road.

[0002]

2. Description of the Related Art Conventionally, as a vehicle safety device, for example, as disclosed in Japanese Patent Laid-Open No. 60-189100, a vehicle stop position on a traveling road is detected and the vehicle is stopped at the vehicle stop position. It is known that an alarm is issued at a predetermined timing to cause the driver to brake. Further, as disclosed in Japanese Patent Laid-Open No. 54-40432, for example, a radar device for detecting an obstacle existing in front of the own vehicle is provided, and the obstacle detected by the radar device comes into contact with the own vehicle. It is also known to automatically apply braking to decelerate or stop the vehicle in order to avoid the contact when there is a possibility.

[0003]

By the way, stopping the vehicle based on the above-mentioned alarm or automatic braking often means that the driver's mental state is unstable and the driver is driving roughly or carelessly. In addition, the mental state may continue to be unstable even when starting after the stop,
There is a risk of starting without paying sufficient attention to checking the left and right sides.

The present invention has been made in view of the above points, and an object of the present invention is to pay attention to the left and right situations of the driver when the driver starts the vehicle after stopping the vehicle based on an alarm or automatic braking. By issuing an alarm as described above, it is intended to provide a vehicle safety device capable of ensuring traffic safety.

[0005]

In order to achieve the above object, the invention according to claim 1 is a vehicle safety device which performs an operation for urging a vehicle to stop in a predetermined condition during traveling,
The vehicle is configured to include a starting operation detecting means for detecting when the driver starts the starting operation after the vehicle has stopped in the predetermined situation, and an alarm means for calling the driver's attention such as left and right confirmation at the starting operation. Here, in the operation for urging the vehicle to stop,
Includes automatic braking and alarms.

According to a second aspect of the present invention, in a vehicle safety device that automatically brakes to stop the vehicle when the vehicle is traveling in a predetermined situation, the driver starts after the vehicle is stopped by the automatic braking in the predetermined situation. Starting operation detecting means for detecting the time when an operation is performed, alarm means for calling the driver's attention such as left and right confirmation at the time of starting operation, and automatic braking for releasing the automatic braking so that the driver can start after the alarm means is activated. And a brake releasing means.

According to a third aspect of the present invention, in a vehicle safety device that automatically brakes to stop the vehicle when the vehicle is traveling in a predetermined situation, the automatic braking is performed for a predetermined time after the vehicle is stopped by the automatic braking in the predetermined situation. It is configured to include an automatic braking holding means for holding the applied state and an alarming means for urging the driver to pay attention such as left and right confirmation during the predetermined time.

The invention according to claims 4 and 5 is dependent on the invention according to any one of claims 1 to 3, and is for automatically braking in a predetermined condition during traveling. The specific configuration of is shown. That is, the invention according to claim 3 is provided with a vehicle stop position detecting means for detecting a vehicle stop position on the traveling road, and an automatic braking means for applying a brake so that the host vehicle stops at the vehicle stop position. In addition, claim 4
In the above-mentioned invention, obstacle detection means for detecting an obstacle existing in front of the own vehicle, and avoiding the obstacle detected by the obstacle detection means when the own vehicle may come into contact with the obstacle Automatic braking means for applying braking to achieve this.

[0009]

With the above construction, in the invention according to claim 1,
When the driver performs a starting operation after stopping by an alarm or automatic braking, the starting operation detection means detects that and the alarm means that receives a signal from the detection means operates, and the driver is careful to check left and right etc. Is prompted.

According to the second aspect of the present invention, when the driver performs a starting operation after the vehicle is stopped by automatic braking, the starting operation detecting means detects that, and the alarm means which receives a signal from the detecting means operates. Then, the driver is urged to check the left and right. During this period, the automatic braking is still applied and the vehicle is stopped. After the alarm means is activated, the automatic braking is released by the automatic braking releasing means, and the host vehicle is started.

According to the third aspect of the invention, when the vehicle is stopped by automatic braking, the automatic braking holding means keeps the automatic braking applied for a predetermined time after the vehicle stops, and the alarm means is activated. The driver will be warned to check the left and right.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of a vehicle safety device according to an embodiment of the present invention, and FIG. 2 is a plan view showing a relationship between a vehicle stop position at an intersection, a road marker, a host vehicle and a preceding vehicle. .

In FIG. 1, 1 is a vehicle stop position detecting means for detecting a vehicle stop position on a traveling road, 2 is an obstacle detecting means for detecting an obstacle such as a preceding vehicle in front of the host vehicle, and 3 is a road surface. Friction coefficient (hereinafter referred to as road surface μ) of road surface μ detection means 4, a vehicle speed detection means 4 for detecting the speed of the own vehicle from the wheel speed of the driven wheels, that is, the vehicle speed, and a steering wheel for detecting the steering angle. Angle detecting means, 6 is a brake pedal switch that is turned on when the brake pedal is depressed, and 7 is an accelerator pedal switch that is turned on when the accelerator pedal is depressed.

For example, as shown in FIG. 2, the vehicle stop position detecting means 1 detects the vehicle stop line k which is the vehicle stop position before the intersection on the road on which the vehicle A travels. Information indicating that the vehicle stop line k exists ahead of the vehicle, which is magnetically written on the road marker m provided on the front side of the vehicle stop line k by a predetermined distance, and information on the distance L's from the road marker m to the vehicle stop line k. Is read from the road marker. In addition, in FIG.
L'1 is the distance between the host vehicle A and the vehicle stop line k, and L'2 is a warning to alert the driver of the host vehicle A to stop the host vehicle A at the vehicle stop line. The warning start distance, L0 ', is the automatic braking start distance at which automatic braking is started to stop the vehicle A at the vehicle stop line, and the automatic braking start distance L'0 is smaller than the warning starting distance L'2 (L' 0
<L'2) It is set. L'a is the road marker m of the vehicle
From the vehicle, L1 is the inter-vehicle distance between the own vehicle A and the preceding vehicle B, and L2 is to brake the driver of the own vehicle A in order to avoid contact (collision collision) between the own vehicle A and the preceding vehicle B. L0 is an automatic braking start distance at which automatic braking is started to avoid contact between the own vehicle A and the preceding vehicle B, and the automatic braking start distance L0 is an alarm starting distance L2. It is set smaller (L0 <L2).

Further, the obstacle detecting means 2 transmits ultrasonic waves as radar waves toward a predetermined included angle in front of the own vehicle, and at the same time, reflects waves reflected by hitting an obstacle existing within the included angle. The radar device receives and calculates the distance between each obstacle existing within the included angle and the own vehicle and the direction of the obstacle with respect to the own vehicle according to the time difference between the time of transmitting the ultrasonic wave and the time of receiving the ultrasonic wave. The road surface μ detection means 3 is configured to measure the actual acceleration / deceleration during acceleration / deceleration of the vehicle and detect the road surface μ from the acceleration / deceleration.

Then, the various detecting means and the switch 1 described above.
The signals of 7 to 7 are all input to the control unit 11. The control unit 11 controls the vehicle stop line k on the traveling road detected by the vehicle stop position detecting means 1.
In order to stop the own vehicle A, an operation signal is output to the actuator section 12a of the automatic braking means 12 to apply braking, and an operation signal is output to the first warning means 13 prior to the braking to output the own vehicle A. It is designed to give an alarm to driver A. In addition, the control unit 1
1 is provided in the actuator section 12a of the automatic braking means 12 in order to avoid contact between an obstacle such as the preceding vehicle B detected by the obstacle detection means 2 and the own vehicle A when there is a possibility of contact. While outputting an operation signal to apply braking, an operation signal is output to the first alarm means 13 prior to the braking to issue an alarm to the driver of the own vehicle A. The actuator section 12a has a pressure regulating valve or the like for regulating the hydraulic pressure of the brake device provided on each wheel, and by the actuator 12a and the control section (not shown) of the control unit 11 that controls the operation of the actuator 12a, An automatic braking unit 12 is configured to apply braking so that the own vehicle A stops at the vehicle stop line k on the traveling road or avoids contact between the obstacle and the own vehicle A. The first warning means 13 prompts the driver of the own vehicle A to stop by voice or display.

Furthermore, the control unit 11
Outputs an operation signal to the second alarm means 14 when the driver of the own vehicle A makes a start operation after the own vehicle A has stopped due to the operation of the automatic braking means 12 or the first alarm means 13. It is designed to alert the driver. The second warning means 14 urges the driver to pay attention to the left and right confirmation or the like by voice or display at the time of starting operation.

In FIG. 3, in the control unit 11, an alarm is issued to the driver when the own vehicle A is stopped by automatic braking and an alarm at the vehicle stop line k at the intersection shown in FIG. 2 and when the vehicle is started after the stop. It is a flowchart figure which shows the control flow at this time. However, for simplification, the flow chart is created assuming that there is no preceding vehicle B ahead of the host vehicle A.

In FIG. 3, first of all, after starting, waiting for the own vehicle A to pass the road marker m in step S1, the vehicle is moved from the road marker m to the vehicle based on the detection signal of the vehicle stop position detecting means 1 in step S2. The distance L's to the stop line k is read. Subsequently, in step S3, the vehicle speed V0 and the road surface μ are read based on the detection signals of the vehicle speed detection means 4 and the road surface μ detection means 3, and in step S4 the automatic braking start distance L'0 and the vehicle stop from the vehicle A. The distance L'1 to the line k and the warning start distance L'2 are calculated. The distance L'1 from the vehicle A to the vehicle stop line k is obtained by subtracting the travel distance L'a from the road marker m of the vehicle A from the distance L's from the previously read road marker m to the vehicle stop line k. It is calculated by The automatic braking start distance L'0 and the warning start distance L'2 are calculated from preset maps using the vehicle speed V0, the road surface μ, etc. as parameters.

Thereafter, in step S5, it is determined whether the host vehicle speed V0 is a positive value, that is, whether the host vehicle A is traveling forward toward the intersection. If this determination is YES for forward traveling, it is determined in step S6 whether or not the distance L'1 from the vehicle A to the vehicle stop line k is smaller than the warning start distance L'2. If this determination is NO. On the other hand, while returning to step S3 as it is, when the determination is YES, an operation signal is output to the first alarm means 13 to issue an alarm in step S7. Subsequently, in step S8, it is determined whether or not the distance L'1 from the host vehicle A to the vehicle stop line k is smaller than the automatic braking start distance L'0. If the determination is NO, the process returns to step S3 while the determination is made. Is YES, step S9.
Then, an operation signal is output to the actuator section 12a of the automatic braking means 12 to apply automatic braking.

According to the control flow of the above steps S1 to S9, the own vehicle A is surely stopped at the vehicle stop line k at the intersection by the brake operation or automatic braking by the driver, and the own vehicle speed V0 becomes zero. Therefore, step S
The process proceeds from step 5 to step S10.

In step S10, it is determined whether an alarm or automatic braking is operating. This determination is based on whether the alarm or automatic braking is activated and the vehicle A is stopped at the vehicle stop line k, or the vehicle A is stopped at the vehicle stop line k by the driver's braking operation without activation of the alarm or automatic braking. It distinguishes whether or not it is done. Then, in the latter case, the routine returns as it is, while in the former case, after waiting for the driver of the vehicle A to step on the brake pedal to turn on the brake pedal switch 6 in step S11, the above warning or Stop the automatic braking operation. Then, in step S13, the driver of the own vehicle A waits until the accelerator pedal switch 7 is turned on by depressing the accelerator pedal, and then in step S14, an operation signal is output to the second warning means 14 to output the self-control signal. An alarm is issued to alert the driver of vehicle A to check the left and right, and the process returns.

A warning or automatic braking is activated by the steps S5, S10, S13 and the accelerator pedal switch 7 or the like involved in the determinations in these steps, and then the own vehicle A stops at the vehicle stop line k and then the own vehicle A The starting operation detecting means 15 for detecting when the driver A depresses the accelerator pedal, which is the starting operation, is configured.
The warning means 14 is activated during the starting operation based on the detection of the starting operation detecting means 15 to alert the driver of the own vehicle A to check the left and right.

In the case where the control is performed according to the flow chart as described above, when the host vehicle A passes the road marker m and travels forward toward the vehicle stop line k at the intersection, the driver of the host vehicle A moves to the vehicle stop line k. Even when the driver does not notice it, the first warning means 13 is activated to call the driver's attention, and the automatic braking means 12 (actuator portion 12a) is activated to apply automatic braking, whereby the host vehicle A stops the vehicle. It will definitely stop at line k. Stopping the vehicle based on such an alarm or automatic braking often means that the driver's mental state is unstable and the driver is driving roughly or carelessly.

In such a situation, the driver of the vehicle A once depresses the brake pedal to stop the operation of the warning means 13 or the automatic braking means 12, and then returns the brake pedal to the original position and depresses the accelerator pedal to start the vehicle. When the driver does, the second warning means 14 is activated to prompt the driver to check the left and right. For this reason, the driver of the own vehicle recovers his / her sanity from a state of mental instability and performs left / right confirmation and the like, so that traffic safety can be ensured.

As a second embodiment of the present invention, FIG. 4 is a control flow when an own vehicle is stopped by an automatic braking and an alarm at a vehicle stop line at an intersection, and when an alarm is issued to a driver at a start operation after the stop. It is a flowchart figure which shows the modification of. In the case of the second embodiment, the safety device has the same hardware configuration as that of the first embodiment (see FIG.
In the following description of the control flow, the reference numerals used in the case of the first embodiment are attached to the corresponding members.

In the case of the second embodiment, the control flow (steps S21 to S29) for stopping the own vehicle by the automatic braking and the alarm at the vehicle stop line at the intersection corresponds to the control flow of the first embodiment (steps S21 to S29). This is the same as S1 to S9), and the control flow ensures that the vehicle A is stopped at the vehicle stop line k at the intersection by the brake operation or automatic braking by the driver, and the vehicle speed V0 becomes zero.

The vehicle A is the vehicle stop line k at the intersection.
When the vehicle speed V0 becomes zero after the vehicle stops at step S25, the process proceeds from step S25 to step S30, and it is determined whether or not the first alarm means 13 is activated to issue an alarm. This judgment is NO
If the answer is YES, the routine returns, while if the answer is YES, the operation of the alarm means 13 is stopped in step S31. Succeedingly, in a step S32, it is determined whether or not the automatic braking means 12 (actuator portion 12a) is operated and the automatic braking is applied. When the determination is NO, the routine returns, while when the determination is YES, the step S33 is performed. After the driver of the host vehicle A depresses the accelerator pedal and waits for the accelerator pedal switch 7 to be turned on, an operation signal is output to the second warning means 14 in step S34, and the driver of the host vehicle A is driven to the left or right. Issue an alarm to call attention such as confirmation of. Then, in step S35, the operation of the automatic braking means 12 is stopped, the automatic braking is released, and the process returns.

The automatic braking is activated by the steps S25, S32, S33 and the accelerator pedal switch 7 involved in the determinations in these steps, and the vehicle A stops after the vehicle A stops at the vehicle stop line k. The starting operation detecting means 15 'for detecting when the driver depresses the accelerator pedal, which is the starting operation, is configured, and the second warning means 14 is based on the detection of the starting operation detecting means 15'. It is activated during the start operation to alert the driver of the own vehicle A to check the left and right. Further, the step S35 constitutes the automatic braking releasing means 16 for releasing the automatic braking so that the vehicle can start after the second warning means 14 is activated.

In the second embodiment, when the driver of the own vehicle A depresses the accelerator pedal to start the vehicle after the own vehicle A stops at the vehicle stop line k at the intersection due to automatic braking, As in the case of the first embodiment, since the second warning means 14 is activated to call the driver's attention such as left and right confirmation, traffic safety can be secured. Moreover, since the automatic braking is released after the activation of the warning means 14 and the vehicle A starts, the traffic safety can be ensured more reliably.

FIG. 5 is a flow chart showing the operation pattern after the host vehicle according to the third embodiment of the present invention approaches the vehicle stop line at the intersection. In the case of the third embodiment, the hardware configuration of the safety device is the same as that in the case of the first embodiment (see FIG. 1).
The reference numerals used in the case of the first embodiment are attached to the corresponding members.

In FIG. 5, when the host vehicle A approaches the vehicle stop line k at the intersection, first, in step S41, it is determined whether or not the first alarm means 13 is activated to issue an alarm, and the step In S42, it is determined whether the automatic braking means 12 is activated and automatic braking is applied.

When the alarm is not issued and the automatic braking is not applied, the driver of the own vehicle A depresses the brake pedal to apply the braking (called a foot brake), so that the own vehicle A is at the vehicle stop line k at the intersection. It will stop (step S43). At this time, the automatic braking means 16 and the alarm means 13 and 14 are not operated at all (step S44).

When the alarm is issued and the automatic braking is not applied, the driver of the own vehicle urged by the alarm depresses the brake pedal to apply the braking, and the own vehicle A stops at the vehicle stop line k at the intersection. (Step S45). At this time, the second warning means 14 is activated to issue a warning to the driver of the own vehicle A to call attention such as left and right confirmation (step S46). Even during this alarm, your vehicle A
Can be started by the driver's starting operation.

Further, when the alarm is issued and the automatic braking is applied, the own vehicle A is stopped at the vehicle stop line k at the intersection by the automatic braking (step S47). At this time, the automatic braking is held in a stopped state for a predetermined time, and the second warning means 14 is activated to issue a warning to the driver of the own vehicle A to pay attention such as left and right confirmation (step S48). . After that, until the driver releases the accelerator pedal and depresses the brake pedal, the automatic braking is maintained and the stopped state is continued (step S50). When the driver performs the above operation, the automatic braking is released. The vehicle is allowed to run (step S51). The step S48 constitutes an automatic braking holding means 21 for holding the automatic braking for a predetermined time after the vehicle is stopped by the automatic braking. When the driver releases the accelerator pedal and depresses the brake pedal, the automatic braking is released to prevent the host vehicle A from running out of control, and the host vehicle A actually starts when the driver brakes. It is when the pedal is returned to its original position and the accelerator pedal is depressed.

In the third embodiment, when the vehicle A is stopped at the vehicle stop line k at the intersection due to the automatic braking, the automatic braking is held in the stopped state for a predetermined time, and The alarm means 14 of 2 operates and an alarm is issued to warn the driver of the own vehicle A to check the left and right. Therefore, the driver of the own vehicle A regains his sanity and performs the left and right confirmation, etc. Can be secured.

In the description of each operation of the first to third embodiments, the case where the host vehicle A stops at the vehicle stop line k at the intersection has been described, but contact between the host vehicle A and the preceding vehicle is avoided. Therefore, the same operation is performed when the vehicle is stopped by automatic braking. In addition, traffic safety can be ensured thereby.

In each of the above embodiments, the automatic braking means 1 is used as means for stopping the vehicle at the vehicle stop position.
Although the case where both 2 and the alarm means 13 are provided has been described, the invention particularly according to claim 1 of the present invention is similarly applicable to the case where only one of the automatic braking means 12 and the alarm means 13 is provided. Of course, it can be applied.

[0040]

As described above, according to the first aspect of the present invention, when the driver performs a start operation after the vehicle is stopped by an alarm or automatic braking, the warning alerts the driver to check the left and right, and so on. It is possible to ensure safety.

According to the second aspect of the present invention, when the driver starts the vehicle after the vehicle is stopped by the automatic braking, an alarm warns the driver to check the left and right, etc., while the automatic braking is kept applied during that time. Since the vehicle is maintained in the stopped state and the automatic braking is released after the warning, the traffic safety can be more reliably ensured.

Further, according to the third aspect of the invention, the automatic braking is maintained for a predetermined time after the vehicle is stopped by the automatic braking, and a warning is given to the driver to check the left and right. Traffic safety can be secured more reliably.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of a safety device according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a relationship among a vehicle stop position, a road marker, a host vehicle, and a preceding vehicle at an intersection.

FIG. 3 is a flowchart showing a control flow when an own vehicle is stopped by an automatic braking and an alarm at a vehicle stop line at an intersection and when an alarm is issued to a driver at a start operation after the stop.

FIG. 4 is a view corresponding to FIG. 3 according to a second embodiment of the present invention.

FIG. 5 is a flowchart showing an operation pattern after the host vehicle according to the third embodiment of the present invention approaches the vehicle stop line at an intersection.

[Explanation of symbols]

 1 Vehicle Stop Position Detecting Means 2 Obstacle Detecting Means 12 Automatic Braking Means 14 Warning Means 15, 15 'Start Detecting Means 16 Automatic Braking Release Means 21 Automatic Braking Retaining Means

Claims (5)

[Claims] 1. A vehicle safety device that performs an operation for urging a vehicle to stop when a vehicle is traveling in a predetermined situation, and a start operation detection means for detecting when the driver starts the vehicle after the vehicle has stopped in the predetermined situation. A safety device for a vehicle, comprising: an alarm means for calling a driver's attention such as left-right confirmation at the time of starting operation. 2. A safety device for a vehicle, which automatically brakes to stop the vehicle when the vehicle is traveling in a predetermined situation, detects a time when a driver performs a start operation after the vehicle is stopped by automatic braking in the predetermined situation. An operation detecting means, an alarming means for calling the driver's attention such as left and right confirmation at the time of the starting operation, and an automatic braking releasing means for releasing the automatic braking so that the driver can start after the alarming means is activated. Vehicle safety device characterized by. 3. A safety device for a vehicle which automatically brakes to stop the vehicle when the vehicle is traveling in a predetermined situation, wherein the vehicle is stopped by the automatic braking in the predetermined situation, and then automatically braked for a predetermined time. A vehicle safety device comprising: automatic braking holding means for holding the vehicle; and warning means for calling the driver's attention such as left and right confirmation during the predetermined time. 4. A vehicle stop position detecting means for detecting a vehicle stop position on a traveling road, and an automatic braking means for applying a brake so that the host vehicle stops at the vehicle stop position.
The vehicle safety device according to claim 3. 5. An obstacle detecting means for detecting an obstacle existing in front of the own vehicle, and avoiding the obstacle detected by the obstacle detecting means when the own vehicle may come into contact with the obstacle. The vehicle safety device according to any one of claims 1 to 3, further comprising: an automatic braking unit that applies braking to operate the vehicle.