JPS59188582A - Rear-end collision preventing device - Google Patents

Rear-end collision preventing device

Info

Publication number
JPS59188582A
JPS59188582A JP58062203A JP6220383A JPS59188582A JP S59188582 A JPS59188582 A JP S59188582A JP 58062203 A JP58062203 A JP 58062203A JP 6220383 A JP6220383 A JP 6220383A JP S59188582 A JPS59188582 A JP S59188582A
Authority
JP
Japan
Prior art keywords
speed
vehicle
distance
collosion
car
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP58062203A
Other languages
Japanese (ja)
Inventor
Kazuhide Todome
留目　一英
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Nippon Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp, Nippon Electric Co Ltd filed Critical NEC Corp
Priority to JP58062203A priority Critical patent/JPS59188582A/en
Publication of JPS59188582A publication Critical patent/JPS59188582A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves

Abstract

PURPOSE:To annunciate the real rear-end collosion danger by calculating the degree of said danger from a relative speed and the distance to a precedent car, the speed of own car, brake characteristic, etc. CONSTITUTION:The relative speed VR and distance S to the precedent car, and the speed v1 of own car from the speedometer are measured by the Doppler radar 6 and laser range finder 7 of a rear-end collosion preventing device 3 and inputted to a computer 8. This computer 8 calculates the degree of rear- end collosion danger by those inputs and brake characteristic data on own car such as a speed and a stop distance data read out of the incorporated memory, and generates a warning signal Ie, brake signal Ia, etc., necessary for prevention against rear-end collosion. Thus, the real rear-end collosion danger is annunciated.

Description

【発明の詳細な説明】 本発明は、自動車等の走行物体が前方車に追突すること
を防止する装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for preventing a running object such as an automobile from colliding with a vehicle in front.

従来のこの種装置は、単に前方車との距離を測定する測
距装置を備えて、前方車に一定距離以内に近接したとき
警報を出すように構成されている。Conventional devices of this kind are equipped with a distance measuring device that simply measures the distance to the vehicle ahead, and are configured to issue an alarm when the vehicle approaches the vehicle ahead within a certain distance.

しかし、追突の危険は、前方車との距離のみによるもの
ではなく、前方車との相対速度、自軍の現在速度等によ
っても左右される。従って、上述の従来装置では、真に
追突の危険があるか否かを判定することができないとい
う欠点がある。また、追突の危険に対して、例えば自動
的にブレーキを作動させたシまたは減速させるという自
動運転への拡張性がない。However, the risk of a rear-end collision depends not only on the distance to the vehicle in front, but also on the relative speed with the vehicle in front, the current speed of the own troops, etc. Therefore, the conventional device described above has the disadvantage that it cannot determine whether there is a real risk of a rear-end collision. Furthermore, there is no possibility of expanding to automated driving, such as automatically applying the brakes or decelerating the vehicle in response to the risk of a rear-end collision.

本発明の目的は、上述の従来の欠点を解決し、真の追突
危険度を運転者に警報することにあり、併せて、追突を
自動的に回避する自動運転への拡張の可能性を与えるこ
とにある。The purpose of the present invention is to solve the above-mentioned conventional drawbacks, to warn the driver of the true risk of rear-end collision, and at the same time, to provide the possibility of expansion to automatic driving that automatically avoids rear-end collision. There is a particular thing.

本発明の追突防止装置は、前方車との相対速度を測定す
るドツプラレーダと、前方車との距離を測定する測距器
と、自軍の速度を測定する速度計と、あらかじめ速度・
ブレーキ特性を記憶したメモリとを備えて、前方車との
相対速度と距離および自軍速度並びに前記ブレーキ特性
とから追突危険度を演算し、追突防止に必要な警報信号
等を出力することを特徴とする。The rear-end collision prevention device of the present invention includes a Doppler radar that measures the relative speed to the vehicle in front, a range finder to measure the distance to the vehicle in front, a speedometer to measure the speed of own troops, and a speed meter that measures the speed of the vehicle in advance.
The vehicle is equipped with a memory that stores braking characteristics, calculates the risk of a rear-end collision from the relative speed and distance to the vehicle in front, the own speed, and the brake characteristics, and outputs a warning signal, etc. necessary to prevent a rear-end collision. do.

次に、本発明について、図面を参照して詳細に説明する
。Next, the present invention will be explained in detail with reference to the drawings.

第１図は、本発明の一実施例を示す概念図である。今、
自車１が速度ｖ１で走行中であり、前方車は速度ｖ２で
走行中であるものとする。前方車２との相対速度υ２−
ｖ１および距離Ｓはそれぞれ本追突防止装置３の内蔵す
るドッグラレーダ、レーザ測距器によって測定される。FIG. 1 is a conceptual diagram showing one embodiment of the present invention. now,
It is assumed that the host vehicle 1 is traveling at a speed v1 and the vehicle ahead is traveling at a speed v2. Relative speed υ2− with the vehicle 2 in front
v1 and distance S are respectively measured by a dog radar and a laser range finder built into the collision prevention device 3.

ドツプラレーダから発射される電波４は前方車によって
反射され、相対速度に応じて周波数が変化して受信され
る。また、レーザ測距器から発射されるレーザ光５の前
方車からの反射光によシ前方車との距離を測定する。Radio waves 4 emitted from the Doppler radar are reflected by the vehicle ahead and received with the frequency changed depending on the relative speed. Further, the distance to the vehicle ahead is measured by the reflected light of the laser beam 5 emitted from the laser range finder from the vehicle ahead.

第２図は、上記追突防止装置３の一構成例を示すブロッ
ク図である。すなわち、ドツプラレーダ６と、レーザ測
距器７と計算機８とを内蔵していて、これらの出力する
相対速度ｖ、Ｉと距離Ｓと外部に備えた速度計から与え
られる速度ｖ１とを計算機８に入力させ、計算機８はこ
れら入力信号と予めメモリに記憶した自軍のブレーキ特
性データ（速度・停止距離データ等）とから追突の危険
度を計算して必要な信号を出す。ドツプラレーダ６は、
発射電波と受信電波の周波数の変化量（ドツプラ（３） 周波数）によって自車と前方車との相対速度ｖＲ（””
　２−ｖｌ）を測定する。レーザ測距器７は発射しだレ
ーザ光５が前方車で反射されて帰って来るまでの時間か
ら車間距離Ｓを測定する。前記速度計は例えば自動車自
体の速度計を流用できることは勿論である。前記計算機
８はブレーキ作動時間等をも考慮して上述のデータから
追突の危険性を判断し、危険があるときは、警報信号工
、を出力して表示器９および又はブザー１０を作動させ
て運転者に追突の危険性を警報し、必要な処置をとらせ
る。さらには、自動ブレーキ信号１．でアクチェータ１
１を作動させ、ブレーキ１２を作動させ、油圧系１４に
よってホイール１３を自動的に制動して安全な速度まで
スピードダウンさせることも可能である。すなわち、自
動運転へ拡張することも可能である。また、危険度に応
じて早めに減速制御を行なうようにし、ブレーキの作動
は必要最小限に止める等も可能である。FIG. 2 is a block diagram showing a configuration example of the rear-end collision prevention device 3. As shown in FIG. That is, it has a built-in Doppler radar 6, a laser range finder 7, and a computer 8, and outputs the relative speed v, I, distance S, and speed v1 provided from an external speedometer to the computer 8. The computer 8 calculates the risk of a rear-end collision based on these input signals and own force's braking characteristic data (speed, stopping distance data, etc.) stored in memory in advance, and outputs a necessary signal. Dotsupura radar 6 is
The relative speed between your vehicle and the vehicle in front vR (""
2-vl). The laser range finder 7 measures the inter-vehicle distance S from the time it takes for the emitted laser beam 5 to be reflected by the vehicle ahead and return. Of course, the speedometer of the automobile itself can be used as the speedometer, for example. The computer 8 determines the risk of a rear-end collision from the above data, taking into account the brake operating time, etc., and if there is a danger, outputs a warning signal and activates the display 9 and/or the buzzer 10. Warns the driver of the risk of a rear-end collision and makes them take necessary measures. Furthermore, automatic brake signal 1. actuator 1
1, the brake 12 is activated, and the hydraulic system 14 automatically brakes the wheels 13 to reduce the speed to a safe speed. In other words, it is possible to extend it to automatic driving. It is also possible to perform deceleration control early depending on the degree of danger, and to limit the operation of the brakes to the minimum necessary.

以上のように、本発明においては、自車の速度。As described above, in the present invention, the speed of the own vehicle.

前方車との相対速度および車間距離並びにプレー（４） キ特性によシ真の追突危険度を計算し、警報等の追突防
止に必要な信号を出力するように構成したから、居眠り
運転、脇見運転、未熟運転等による追突の危険を防止す
る効果がある０さらに、自動的にブレーキをかけ又は必
要な減速をさせる等自動的に追突を防止しつづ走行させ
る自動運転に拡張使用することも可能である。The system is configured to calculate the true risk of rear-end collision based on the relative speed and inter-vehicle distance to the vehicle in front, and key characteristics (4), and output signals necessary to prevent rear-end collisions, such as warnings, to prevent drowsy driving and inattentive driving. It has the effect of preventing rear-end collisions caused by unskilled driving, etc.0 Furthermore, it can also be used for extended use in autonomous driving, where the vehicle continues to drive and automatically prevents rear-end collisions by automatically applying the brakes or decelerating as necessary. It is.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例を示す概念図、第２図は上記
実施例の追突防止装置の構成例を示すブロック図である
。 図において、１・・・自車、２・・・前方車、３・・・
追突防止装置、４・・・電波、５・・・レーザ光、６・
・・ドツプラレーダ、７・・・レーザ測距器、８・・・
計算機、９・・・表示器、１０・・・ブザー、１１・・
・アクチェータ、１２・・・ブレーキ、１３・・・ホイ
ール、１４・・・油圧系、ｖｌ・・・自軍の速度、ｖ２
・−・・前方車の速度、ｖＲ・・・相対速度、Ｓ・・・
車間距離、工、・・・警報信号、Ｉａ・・・自動ブレー
キ信号。 （５） 第２図 ６ ８　　　　ＦＲ Ｉ ７ °呂 曵゛ ０ ＩＩ　　、、４（＋２　　．１３FIG. 1 is a conceptual diagram showing one embodiment of the present invention, and FIG. 2 is a block diagram showing a configuration example of the rear collision prevention device of the above embodiment. In the diagram, 1...own vehicle, 2...vehicle in front, 3...
Rear-end collision prevention device, 4... Radio waves, 5... Laser light, 6.
... Dotsupura radar, 7... Laser range finder, 8...
Calculator, 9... Display, 10... Buzzer, 11...
・Actuator, 12...Brake, 13...Wheel, 14...Hydraulic system, vl...Speed of own army, v2
...Speed of the vehicle ahead, vR...Relative speed, S...
Inter-vehicle distance, distance,...alarm signal, Ia...automatic brake signal. (5) Fig.2

Claims (1)

【特許請求の範囲】[Claims] 前方車との相対速度を測定するドツプラレーダと、前方
車との距離を測定する測距器と、自軍の速度を測定する
速度計と、あらかじめ速度・ブレーキ特性を記憶したメ
モリとを備えて、前方車との相対速度と距離および自軍
速度並びに前記ブレーキ特性とから追突危険度を演算し
、追突防止に必要な舒報信号等を出力することを特徴と
する追突防止装置。It is equipped with a Doppler radar that measures the relative speed to the vehicle in front, a range finder to measure the distance to the vehicle in front, a speedometer to measure the speed of your own troops, and a memory that stores speed and braking characteristics in advance. A rear-end collision prevention device, which calculates the risk of rear-end collision from the relative speed and distance to a vehicle, the own speed, and the braking characteristics, and outputs a warning signal, etc. necessary for preventing rear-end collision.
JP58062203A 1983-04-11 1983-04-11 Rear-end collision preventing device Pending JPS59188582A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58062203A JPS59188582A (en) 1983-04-11 1983-04-11 Rear-end collision preventing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58062203A JPS59188582A (en) 1983-04-11 1983-04-11 Rear-end collision preventing device

Publications (1)

Publication Number Publication Date
JPS59188582A true JPS59188582A (en) 1984-10-25

Family

ID=13193351

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58062203A Pending JPS59188582A (en) 1983-04-11 1983-04-11 Rear-end collision preventing device

Country Status (1)

Country Link
JP (1) JPS59188582A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01299486A (en) * 1988-05-26 1989-12-04 Matsushita Electric Works Ltd Apparatus for detecting body for vehicle
JPH03224858A (en) * 1990-01-29 1991-10-03 Nissan Motor Co Ltd Automatic brake device
JPH04232160A (en) * 1990-12-28 1992-08-20 Mitsubishi Motors Corp Car-to-car distance detector and alarm device
US5355118A (en) * 1991-07-11 1994-10-11 Nissan Motor Co., Ltd. Vehicle collision alert system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01299486A (en) * 1988-05-26 1989-12-04 Matsushita Electric Works Ltd Apparatus for detecting body for vehicle
JPH03224858A (en) * 1990-01-29 1991-10-03 Nissan Motor Co Ltd Automatic brake device
JPH04232160A (en) * 1990-12-28 1992-08-20 Mitsubishi Motors Corp Car-to-car distance detector and alarm device
US5355118A (en) * 1991-07-11 1994-10-11 Nissan Motor Co., Ltd. Vehicle collision alert system

Similar Documents

Publication Publication Date Title
US5162794A (en) Safe trailing distance warning for vehicles
CN108515934B (en) Automobile anti-collision early warning method and system based on multiple radars
US5760708A (en) Signaling means
US20150187217A1 (en) Collision avoidance system and method for vehicles
US20210221369A1 (en) Vehicle distance warning and signalling system with dynamically generated ttc (dwss-ttc)
JP3334326B2 (en) Stopper distance alarm
JPS59188582A (en) Rear-end collision preventing device
JP6631100B2 (en) Vehicle travel control device and vehicle travel control method
JPH06278584A (en) Collision preventive automatic brake control method and device for vehicle
JPH0454600A (en) Car alarm device
JP3308292B2 (en) Vehicle safety equipment
JPH04201643A (en) Between-vehicle distance detecting alarm device
JPH0612592A (en) Vehicle safety device
JPH05225499A (en) Inter-vehicle distance detecting and alarming device
JP2830575B2 (en) Inter-vehicle distance detection and alarm device
JP3195805B2 (en) Vehicle contact prevention device
WO2024014049A1 (en) Collision avoidance assistance device
JP7282115B2 (en) Driving support device
JPH027158U (en)
JPH04213200A (en) Distance between cars detection/alarm device
JPH11183622A (en) Rear-end collision warning device
JPH0222340Y2 (en)
JPH04213800A (en) Detecting/alarming device for distance between cars
JP3061677B2 (en) Vehicle safety equipment
JP2588874Y2 (en) Rear-end collision warning system for vehicles