JPH09190600A - Automobile collision prevention device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a vehicle by itself to take a positive measure for safety by inputting the information according to the running environment of the vehicle, deciding the vehicle braking force according to the weather, correcting the braking distance concerning front, side and rear collisions and also the rear-end collisions, and alarming the sudden braking based on the signal of a braking detection part for prevention of the following up collision accidents. SOLUTION: A control part 10 includes an inter-vehicle/side distance detection part 1 which emits and receives the laser beams to detect the front vehicles and the side objects. Then the part 10 detects the present state of a vehicle with the steering angle/lane/braking detection parts 4, 5 and 6 respectively. Furthermore, the part 10 detects the acceleration of the vehicle with an acceleration position detection part 19 if the driver steps on the acceleration pedal when the distance between his own vehicle and its preceding vehicle becomes smaller than the stop distance. Thus the part 10 unconditionally drives an alarm generation part 9 and outputs a control signal to an engine acceleration control part 40 to drive it. And also, the part 10 corrects the stop distance for braking by the signal sent from a weather state input part 30 to generate an alarm tone with the part 9 or to decelerate the vehicle with the part 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is intended to guide safe driving in various vehicle driving environments such as road conditions and traffic conditions, and in particular, it is necessary to recognize the danger of a vehicle collision. The present invention relates to a vehicle collision prevention device configured to input the driving environment of the vehicle and take more active safety measures.

[0002]

2. Description of the Related Art In recent years, in order to minimize the damage to passengers from various accidents that occur during vehicle operation, safety is ensured in the event of an accident, such as an airbag and a safety belt. In case of a potential accident while driving, an accident is prevented by predicting this and warning the driver.

In such an attempt, the time until the laser beam emitted to the front of the vehicle is returned after being reflected by a reflector installed around the rear lamp of the preceding vehicle is measured. The vehicle-to-vehicle distance between the host vehicle and the preceding vehicle is calculated, and the calculated vehicle-to-vehicle distance, stop distance, and relative speed of the preceding vehicle are calculated to determine whether or not a collision is possible.

At the same time, in order to prevent a side collision of the vehicle, ultrasonic waves are emitted to each side of the vehicle, and the time until the ultrasonic wave emitted in this way is reflected by an obstacle and received is measured. Then, the distance between the vehicle and the obstacle is calculated to determine whether or not the collision is possible.

On the other hand, the stop distance of the vehicle is the distance that the driver feels dangerous and step on the brake until the brake starts to be applied, and the distance from when the brake starts to the time when the vehicle is completely stopped. It is calculated by the sum of a certain braking distance, but such a stopping distance differs depending on the vehicle type and weight, and also changes depending on the condition of the road surface.

As an example, when an ordinary passenger car is traveling at a speed of 60 km / h, the free running distance is 17 m, the braking distance is 27 m, and the total stop distance is 44 m. However, when it rains, the stopping distance is 1.5 times as long as when it is dry, and on iced roads it is 3 times as long as when it is dry. Therefore, in order to increase the reliability of the collision warning device, it is necessary to determine the warning time point in consideration of the difference in the stop distance depending on the road surface condition.

As a typical conventional technique as described above, there is a vehicle collision prevention device as shown in FIG. This is equipped with a control unit 10 composed of a microprocessor. The control unit 10 emits a laser beam or the like and receives it to detect a vehicle in front of the vehicle or to detect an inter-vehicle distance and a lateral distance. According to the information provided by the unit 1 and the vehicle speed detection unit 2, the current distance between the vehicles is displayed on the inter-vehicle distance display unit 3 and the own vehicle speed is calculated, so that the relative speed with respect to the preceding vehicle is calculated.

The control unit 10 detects the current state of the vehicle from the steering angle detection unit 4, the lane change detection unit 5 and the braking detection unit 6, and also the motion detection unit 8 which detects whether or not the wiper can operate. In addition, an outside air temperature detection unit 9 that detects the temperature of outside air is additionally provided.

Therefore, when the driver intends to change the lane, the cause of the side collision of the vehicle is to be confirmed in advance. Further, when the temperature of the outside air is 0 ° C. or higher and the wiper operates, it is determined that it is raining and the stopping distance in rainy weather is applied to determine the collision prevention warning time. When the temperature was below ℃ and the wiper operated, it was determined that it was snowing and the stopping distance at the time of freezing was applied to determine the time point of the collision prevention warning.

Accordingly, when the distance between the own vehicle and the traveling vehicle or the distance between the own vehicle and the obstacle is smaller than the braking distance of the vehicle entered in advance, the alarm sound generating unit 9 is driven to give an alarm at the same time. , A gear shift signal is output to drive the gear shift unit 11 in order to reduce the relative speed between the own vehicle and the preceding vehicle.

As a typical technique of such a configuration,
U.S. Pat. No. 5,165,497 discloses a vehicle automatic safe driving distance control device, in which a microcomputer calculates a safe distance according to a speed value transmitted from a speedometer, and then the safety distance. Since the distance is compared with the actual distance obtained by the distance detector, the acceleration / deceleration motor and the brake motor are controlled to secure a safe distance from the preceding vehicle.

Further, US Pat. No. 5,285,523 discloses a device for recognizing a driving environment of a vehicle, the device including various driving environments of the vehicle including a driving state of a driver, Since the circuit network that best suits the driving condition is selectively used, it is possible to accurately and accurately recognize the vehicle and respond to the driving of the vehicle according to the road condition and the traffic condition.

[0013]

SUMMARY OF THE INVENTION However, such a conventional technique is not suitable for the environment of the road, that is, the condition of freezing or fog on the road.
Since it is not possible to recognize the snowfall state or set appropriate parameters accordingly, it is not possible to accurately calculate the braking distance, and the safety warning may be missed because the driver may miss the time to warn the driver of collision prevention. It wasn't enough. In addition, conventionally, no measures have been taken to deal with the vehicle that employs the anti-lock brake system, which is expected as a variable parameter in relation to the traveling vehicle. That is, the vehicle that employs the anti-lock brake system and the vehicle that employs the general manual brake have different stopping distances during braking, and the same stopping distance cannot be applied.

Further, since the warning lamps are collectively arranged on the entire surface of the driver's seat, the side mirror and the warning lamp cannot be viewed at the same time when the lane of the vehicle is changed, and it is possible to recognize a side-rear collision of the vehicle. It was difficult.

According to the present invention, it is possible to input information associated with a driving environment of a vehicle and to use it as a reference material for a possibility of collision to provide a collision prevention device for a vehicle, which is provided with more active safety measures. The main purpose is.

Another object of the present invention is to correct the stopping distance depending on the climatic condition during vehicle running and whether or not the anti-lock brake system is adopted, thereby reducing the engine speed and taking more positive safety measures. Another object of the present invention is to provide a vehicle collision prevention device.

Yet another object of the present invention is to provide an automobile collision prevention device which processes a number of parameters associated with the traveling of a vehicle to predict and warn in advance the collision between vehicles and the possibility of collision with a side object. To provide.

Still another object of the present invention is to provide a vehicle collision prevention device which gives a warning by means of an alarm lamp capable of confirming the possibility of collision with a side rear object of a vehicle within the field of view of a side mirror. To provide.

[0019]

SUMMARY OF THE INVENTION The present invention detects a preceding vehicle, converts it into a distance to calculate an inter-vehicle distance to the own vehicle, and at the same time, detects an inter-vehicle distance and an inter-vehicle distance to a rear-side object. Side-rear distance detection unit, vehicle speed detection unit that detects the absolute speed of the vehicle, acceleration position detection unit that detects the amount of acceleration operation accompanying acceleration displacement, and steering angle detection that detects the steering direction and angle of the vehicle Section, a lane change detection section that detects a lane change based on the driving of a vehicle turn signal, etc., a braking detection section that detects whether or not a brake operation is possible, an inter-vehicle distance display section that displays the inter-vehicle distance, and At the same time that a warning sound is emitted for a possible collision between the car and the preceding vehicle or the own vehicle and the rear side object, at the same time, an alarm generation unit for selectively turning on an alarm lamp installed in the field of view of the side mirror, rotation of the vehicle, Current vehicle due to vehicle conditions such as lane change and braking An operation state display section that displays an operation state, an ABS key input section that detects that the vehicle is an anti-lock brake system application vehicle, and an input section that has a speed reduction ratio that corrects a braking distance corresponding to a road surface due to a climate condition. , Control the output of the engine to adjust the engine capacity,
At the same time as actively inducing vehicle deceleration, the engine speed control unit that forcibly adjusts the braking force and the data from the detection unit are received to obtain an inter-vehicle distance, an absolute speed of the own vehicle, and a relative speed to the preceding vehicle. Then, the absolute speed of the preceding vehicle is calculated to confirm whether ABS has been adopted, and the control parameters associated with the road surface condition are selected from the input section to correct the vehicle stop distance, and at the same time change lanes, braking signals, and steering. If it is not determined whether there is an angle signal, the braking distance is compared with the inter-vehicle distance, and if the braking distance is short, a control signal is issued to the engine speed control section to actively prevent a vehicle collision. Composed.

When the present invention provides an alarm for a side-to-back collision possibility, an alarm lamp is installed in the field of view of the side mirror. Further, according to the present invention, the stop distance is calculated in consideration of the fact that the stop distance is shortened by about 5% on average for vehicles equipped with ABS.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 shows a vehicle collision prevention device according to the present invention, and the same parts as those in the prior art shown in FIG. 4 are designated by the same reference numerals.

The vehicle collision prevention device comprises a control unit 10, which emits and receives a laser beam,
An inter-vehicle and lateral distance detecting unit 1 for detecting a front vehicle or a lateral object is provided. In the inter-vehicle distance and the lateral distance detecting unit 1, the vehicle speed detecting unit 2 comes to check the traveling speed of the own vehicle,
The drive unit 12 is driven by the control signal of the control unit 10, and in an example of every predetermined time period, several milliseconds [mse].
c], one or many laser diodes 1
3 is turned on, and the laser diode 13 emits a laser beam toward the front or the rear of the vehicle. At the same time, the pulse signal of the control unit 10 causes the comparator 16 and the charger 1 to
7 to be used as a reference power source or to operate a charger 17 provided with an electric capacitor.

On the other hand, the laser beam is reflected by a side vehicle behind which the vehicle is traveling or a side object, and the port diode 1
4 and the port diode 14 is turned on, the voltage of the DC power supply Vcc is applied to the amplifier 15,
It is amplified to a predetermined size. The amplified signal is supplied to the comparator 16 and compared with the reference voltage. When a voltage higher than the reference voltage is input to the comparator 16, the high potential signal is output and the charging operation of the charger 17 is stopped.

At this time, the charger 17 applies the charged voltage to the A / D converter 9 during operation. The A / D converter 9 converts an analog voltage into a digital voltage and inputs it to the control unit 10. The control unit calculates the inter-vehicle distance between the own vehicle and the preceding vehicle according to the magnitude of the input voltage, and displays this on the inter-vehicle distance display unit 3.

Here, the control unit 10 counts the time from when the control pulse is supplied to the LED driving unit 12 to when the signal is received from the A / D converter 9. That is, regarding the inter-vehicle distance and the lateral distance, it is determined that the laser propagation velocity is the same as the light velocity, and the distance D is C × t / 2, where C is the light velocity and C≈.
3 × 10 ⁸ m / sec, and t is a flying time or a propagation time until the laser beam is emitted and received.

On the other hand, in the drawing, the LED drive unit 12 and
In connection with this, a large number of circuits etc. for detecting the flying time of the laser beam are installed as necessary, and a separate warning sound and warning lamp are provided in connection with the detection of the side object.
0 may be driven.

The control unit 10 calculates the relative speed from the vehicle speed detection unit 2 based on the absolute speed of the vehicle and the calculated inter-vehicle distance as follows.

[0028]

[Equation 1]

Here, Δd is a distance change amount, and Δt is a time change amount. Accordingly, the absolute speed V ₁ of the preceding vehicle can also be calculated as follows. V ₁ = V ₀ + Vrel Here, V ₀ is the own vehicle speed, and the control unit 10 reads the relative distance based on the inter-vehicle distance in this way, and then reads the corresponding stop distance from the memory element.

Further, the control unit 10 detects the current state of the host vehicle from the steering angle detection unit 4, the lane change detection unit 5 and the braking detection unit 6, and the inter-vehicle distance between the host vehicle and the preceding vehicle is stopped. When the driver depresses the acceleration pedal when the distance becomes shorter than the distance, the acceleration position detection unit 19 detects the degree of acceleration.

At this time, the control unit 10 judges that the driver is drowsyly driving or carelessly driving, and drives the alarm generating unit 9 unconditionally regardless of other conditions. As will be described later, a control signal is output to the engine speed control unit 40 to drive it.

However, when the vehicle is stopped or braked, the control unit 10 does not issue a warning based on the signal from the acceleration position detection unit 19. At the same time, even when the vehicle is currently traveling on a curved road or when changing lanes, the control unit 10 causes the preceding object to detect the guide rail according to the detection signals from the steering angle detection unit 4 and the lane change detection unit 5. It is determined that the vehicle is facing each other with the center line or the center line as the starting point, and the alarm generation unit 9'is not activated.

In addition to the above, the control unit 10 is provided with an ABS key 20 and a climate condition input unit 30 as an input unit for determining whether the vehicle is equipped with an antilock brake system. The climate condition input unit 30 is arranged in front of the driver's seat and includes information input keys for the driving environment of the vehicle.
The normal state key 31 is for inputting the current state of the road surface, the normal state key 31 is for inputting that the road surface is in a normal state, and the rainfall state key 32 is an input for indicating the state where it is currently raining. The snowfall state key 33 is an input for a state where it is currently snowing, the frozen state key 34 is an input for indicating that the road surface is in a frozen state, and the fog state key 35 is an input for notifying current fog attention.

In this way, all parameters for the driving environment of the vehicle are determined, and the control unit 10 causes the operation state display unit 21 to display the result of detecting the parameters associated with the traveling of the vehicle. Provide driving information to the driver.

Further, the control unit 10 corrects the stop distance for braking in accordance with the signal from the climate condition input unit 30 and performs calculation according to the climate so that the vehicle secures a safe distance.

When the control unit 10 calculates the safety distance S ₁ composed of the sum of the braking distance and the free running distance, when the road surface is in a normal state, it is calculated based on the following formula.

[0037]

[Equation 2]

Where V _{2 is} the speed of the own vehicle (m / sec), V _{1 is} the absolute speed of the preceding vehicle (m / sec), T is the reaction time (sec), and a is the speed reduction ratio of the own vehicle (with respect to the road surface). Friction force) b: Reduction ratio of preceding vehicle According to such a formula, the reduction ratios on the normal road surface and the road surface in the abnormal climate state are different, but the reduction ratio in the abnormal climate is determined by the experiment as shown in the following table.

[0039]

[Table 1]

Here, it is shown that the snowfall state and the fog state are subdivided according to their degree, which is selected by the driver or
It is determined by the detection means. Therefore, the control unit 10 calculates the safe distance S ₁ in accordance with the driving environment during vehicle traveling, that is, the climatic condition. In an actual example, the reduction ratio a of the host vehicle is 6 m / sec ² in the rain condition. Then, the vehicle is forcibly decelerated from the preceding vehicle. At this time, the inter-vehicle distance is within the stop distance. Eventually, the vehicle will maintain the distance between the vehicles more actively, and the driver can be warned of this.

For this reason, the engine speed control unit 40 is
By controlling the opening angle of the throttle valve of the engine, the engine capacity adjusting section 41 for reducing the engine capacity, the gear shifting section 42 for increasing the speed reduction ratio of the wheels to reduce the speed of the vehicle, and the brake are operated. And a brake operation unit 43 that reduces the speed of the.

As a result, the control unit 10 calculates a predetermined stop distance as the climate key is turned on, and the lane change signal, the braking signal, and the finally calculated braking distance, that is, the corrected braking distance is more than the inter-vehicle distance. When the braking distance is long, the alarm generation unit 9 is driven to generate an alarm sound or an alarm lamp is turned on.

Next, the engine speed control unit 40 is controlled, and a predetermined deceleration control signal is output to the engine capacity adjustment unit 41, the gear transmission unit 42, and the brake operation unit 43 so that the vehicle is independent of the driver. Will be decelerated to.

Further, when the ABS system is installed, the control unit 10 determines the stop distance by a value that is 5% less than that of the vehicle without the ABS system. The present invention thus configured operates as shown in FIGS. 2 and 3.

First, when the vehicle is started and operated, the control unit 10 is initialized, and the inter-vehicle distance is calculated in step 101 in accordance with the vehicle running. Next, when the traveling vehicle has a predetermined speed, for example, at a speed of 40 km / h or more, when the braking state is not at a predetermined level according to the signal detected from the acceleration position detection unit 19, the braking distance and the inter-vehicle distance are compared. If the braking distance is short, control jumps to step 123 to issue an alarm and control the engine speed.

If the inter-vehicle distance is longer than the braking distance, the current inter-vehicle distance is displayed in step 103. In step 104, the own vehicle speed is calculated based on the signal from the vehicle speed detection unit 2, and in step 105, the relative speed is calculated based on the inter-vehicle distance. In step 106, the absolute speed of the preceding vehicle is calculated, and in step 107, it is confirmed that the vehicle is equipped with ABS.

Subsequently, the control unit 10 scans the input from the external input key and the climate state input unit 30, but if the fog state key input is confirmed in Step 108, Step 10
At 9, the fog state braking distance is calculated. Similarly, if the rain state key input is step 110, the rain state braking distance is calculated in step 112, and if the snow state key is input in step 113, the snow state braking distance is calculated in step 114, and step 115. If the frozen state key is turned on at, the procedure goes to step 116 to calculate the frozen state braking distance. If the normal state key is turned on in step 117, the normal state braking distance is calculated (step 118).

If the braking distance is corrected according to any one of the climates, the process proceeds to step 119 to determine whether there is a lane change signal according to the signal from the lane change detection unit. Further, in step 120, it is determined whether there is a brake signal, and in step 121 it is determined whether there is a steering angle detection signal having a predetermined angle or more. If a signal is input from step 119 through step 121, the process returns. If there is no such signal, the process moves to step 122 to compare the corrected braking distance with the inter-vehicle distance.

If the corrected braking distance is shorter than the inter-vehicle distance, an alarm is generated in step 123, and through steps 124, 125, 126, etc., an engine capacity adjustment signal, a gear shift signal and a brake signal are generated. An operation control signal is output to actively reduce the vehicle speed.

[0050]

As described above, the present invention enables the input of information according to the driving environment of the vehicle, determines the braking force of the vehicle according to the climate, and prevents the front and side and rear collisions and rear-end collisions in advance. Thus, the braking distance is corrected, the sudden braking is warned on the basis of the signal from the braking detection unit in case of a rear-end collision, and the vehicle itself can take more active safety measures in preparation for a side collision.

[Brief description of the drawings]

FIG. 1 is a block diagram of an automobile collision prevention device according to the present invention.

FIG. 2 is a flowchart showing the operation of the vehicle collision prevention device according to the present invention.

FIG. 3 is a flowchart showing the operation of the vehicle collision prevention device according to the present invention.

FIG. 4 is a block diagram of a conventional vehicle collision prevention device.

[Explanation of symbols]

 1: Inter-vehicle distance detection unit 2: Vehicle speed detection unit 3: Inter-vehicle distance display unit 4: Steering angle detection unit 5: Lane change detection unit 6: Braking detection unit 10: Control unit 19: Acceleration position detection unit 20: ABS key 30 : Climate condition input unit 3, 40: engine speed control unit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location H01S 3/00 G01S 13/93 Z

Claims (6)

[Claims] 1. After detecting the speed of the own vehicle and the inter-vehicle distance between the preceding vehicles, the relative speed between the own vehicle and the preceding vehicle is calculated based on the detected speed, and the inter-vehicle distance corresponds to the calculated relative speed. In vehicles that warn of the possibility of collision when the distance becomes smaller than the stop distance, an input section for inputting the adoption of an anti-lock braking system and a number of keys for correcting the braking distance corresponding to the road surface condition from the outside according to the driving environment of the vehicle A climate condition input section consisting of a number of inter-vehicle and side-rear distance detection sections that detect the absolute speed of the host vehicle and detect the collision with the preceding vehicle and the distance to the side-rear object. In order to prevent the rear-end vehicle from colliding with the vehicle, the detection unit that detects the current brake braking state and the measurement distance between the vehicle and the preceding vehicle or the side-rear object are within the braking distance. An engine speed control unit that reduces the speed, an alarm generation unit that generates a warning sound and a warning lamp when the measured distance between the own vehicle and the preceding vehicle or the side rear object is within the braking distance, the input unit and its A vehicle collision avoidance device comprising a control unit for receiving an input parameter of a vehicle, correcting a braking distance corresponding to a road surface due to a climatic condition, and actively controlling an engine output of the vehicle. 2. The collision avoidance apparatus for a vehicle according to claim 1, wherein the climate condition input unit comprises input keys corresponding to a normal condition, a rain condition, a snow condition, an ice condition and a fog condition. 3. The inter-vehicle distance detecting section includes a vehicle speed detecting section, and emits a laser beam to the front, rear, and side of the vehicle,
The vehicle collision prevention device according to claim 1, wherein the inter-vehicle distance and the distance to the object are calculated by measuring the time until the reflected signal is received. 4. The engine output control unit includes an engine capacity adjustment unit that controls an opening angle of a throttle valve of the engine, and a gear transmission unit that increases a reduction ratio between the engine and wheels to reduce the speed of the vehicle. The vehicle collision prevention device according to claim 1, further comprising: a brake operation unit that operates a brake to reduce the speed of the vehicle. 5. The alarm generating section is provided with at least one speaker and a lamp, and an alarm sound is generated or a warning lamp is turned on under the control of the control section. The vehicle collision prevention device according to 1. 6. The warning lamp formed in the alarm generation unit,
The vehicle collision prevention device according to claim 1 or 5, wherein the vehicle collision prevention device is installed so as to be in a field of view of a side mirror of a vehicle so that a driver can easily recognize a side collision.