JPH03186447A - Method and device for prelarming prevention of rear-end collision of vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method/device for taking medium-term warning and arrest measures regarding the possibility of an unsafe situation occurring in a vehicle traveling on a road, and includes a distance measuring device, a vehicle speed measuring device, a microcomputer, etc. It is composed of an actuating device, etc., and is used to prevent accidents such as rear-end vehicle collisions and friction. The distance measuring device measures the distance between the front and rear of the vehicle and other vehicles or objects, the vehicle speed measuring device measures the traveling speed of the vehicle, and the microcontroller measures the safe distance between vehicles using the distance and speed measuring device. Calculate and issue control@sign 3 in a timely manner to perform related work v
Operates the I device and generates warnings and actions. It includes the following: (1) Turn on the brake light i- when the vehicle in the rear approaches within the safe distance wI; ■ Issue a warning signal when the vehicle in front approaches and the safe distance is insufficient; Issues a warning signal to vehicles entering the roadway; (4) Combines with an automatic cruise device to automatically switch to a safe distance (
(Automatically cancels constant speed control and reset) 20 When vehicles are temporarily parked, a caution signal is generated when the front and rear vehicles have already traveled on the track.

The present invention is a method/apparatus for taking early warning and arrest measures regarding vehicles traveling on the road that have the potential to create an unsafe situation.

When the I71 car is running on the road, the driver's reaction time and speed are limited by his or her congenital physical condition and acquired attentiveness, so an appropriate "safe distance" must be maintained between the vehicles in front and behind. There is a stipulation in the traffic rules that this should not be done, and it is also something that drivers are well aware of. Naturally, there are quite a few simple calculation methods for the following distance of a car, for example, 2 safety distance (m) - vehicle speed (KJR/h) ÷ 10 x vehicle body length (m), however, if the density of vehicles on the road is If the distance continues to increase, such a safe distance is virtually impossible to maintain, and drivers' distance judgment is not always accurate, and other vehicles may find a gap and insert or As they get closer, there is no way to move your vehicle and maintain a safe distance. However, with the current 5A configuration and performance of vehicles, if this customary safe distance is not maintained, a rear-end collision will occur again.

Therefore, how to shorten the current vehicle safety distance is a problem that must be solved by automotive engineers.

Currently, cars equipped with automatic anti-skid brakes (ABS) can shorten the braking distance, but since the deceleration is large, there is a risk of being rear-ended by the car behind (a car that does not have anti-skid brakes installed). Moreover, the above problem cannot be solved.

Cars with a third brake light installed on the rear window are tI.
In addition to reminding drivers in the car that the car is braking, it also lights up at the same time as the brake lights, so it has no use for drivers behind who are already paying attention. do not have.

Therefore, there is also a separate contribution to shortening the safety distance of each vehicle.

Many drivers take advantage of the slight application of the brakes by turning on the brake lights to alert the vehicles behind them, but this leads to wasted fuel and wears out the brakes.
This increases the burden on the driver, and the brakes are used to slow the vehicle down, which can lead to unexpected rear-end collisions.

Therefore, as an object of the present invention, when a rear vehicle approaches the main vehicle, a warning is automatically given to encourage the vehicle to slow down, thereby shortening the safe distance between the rear vehicle and the main vehicle. An object of the present invention is to provide a warning method and device that does not reduce driving safety by increasing vehicle density or increasing the number of people.

When cars are running in a line, it is often quite difficult to maintain an appropriate distance between the cars in front and behind, and when driving in a company for a long time, slowing down makes it very likely that a rear-end collision will occur. .

Therefore, the second purpose of the present invention is to notify the driver himself/herself that the vehicle in front is decelerating and the safety distance is insufficient; then take countermeasures (release the accelerator or apply the brakes). To provide a warning method and device for preventing a vehicle from colliding with a vehicle in front.

On a roadway running in the same direction with double lines or more, it is common for a vehicle in the same direction on the side IN line to enter in front of the main vehicle without a safe distance, and the tail of the vehicle and the front of the main vehicle could easily collide with each other. cause

Therefore, the third object of the present invention is to give a warning to a vehicle in front of the side that is not paying attention to its own position and almost cutting in front of it, before it crosses the center line of the vehicle, and to prevent friction. The purpose is to provide a warning method and device to exempt the occurrence.

Some vehicles are equipped with an automatic constant-speed cruising device that automatically accelerates and decelerates at the speed set by the driver to maintain the desired speed. However, if the safe distance between the vehicle and the vehicle in front is insufficient, the driver may apply the brakes or press the constant speed release button to cancel the constant speed tilJ1.
11 must be lifted.

- Once the distance between the vehicle and the vehicle is sufficient (at the discretion of the driver), manually press the constant speed reset button (or press the acceleration button to reach the desired speed, then press the constant speed button again). I have to press it. Therefore, if the speed of the vehicle in front is not maintained constant, the vehicle will inevitably have to repeatedly set and cancel the constant speed, which will be troublesome, and if you approach inside and are not careful, you will not be able to cancel the constant speed in time. There is a risk of colliding with the vehicle in front.

Therefore, a fourth object of the present invention is to provide a control method and device for an automatic constant speed cruising device that reduces the troublesome operation of the driver, avoids rear-end collisions, and allows the driver to safely follow the vehicle in front. .

When a procession of vehicles is temporarily stopped due to a traffic signal or road condition, the driver often becomes relaxed and immediately takes control of the vehicle after the situation clears, resulting in a delay in the scheduled time or prompting of vehicles behind. Pick up a rear-end collision.

Accordingly, a fifth object of the present invention is to provide a warning method and device that alerts the driver of the vehicle to immediately start driving when the vehicle in front or the vehicle behind begins to move after the vehicle has stopped. It is.

In order to achieve the above object, the present invention provides a warning system comprising a static measuring device, a vehicle speed measuring device, a microcomputer, an actuating device 1, etc. The above distance measuring device measures the distance to other vehicles or objects in front and behind the vehicle.The vehicle speed measuring device measures the traveling speed of the vehicle. The icon calculates the safe distance between vehicles using the distance and speed measuring device, and issues the 1i11111 signal in a timely manner and operates the related actuating device to generate warnings and actions to achieve the following zero purposes and effects. .

(1) Activate the brake lights when the U.S. and China behind you approach to an incomplete distance. -D If the vehicle behind you approaches too closely, the brake lights of the vehicle will automatically turn on (including the third brake light), regardless of whether the driver of the vehicle has applied plate T, and it will appear as if the vehicle is driving. It becomes like multiplying by t (
In fact, the driver of this car probably hasn't applied plate t, and what's more, he's still accelerating by stepping on the accelerator).

Depending on the driver's habits, the driver of the rear car may
Seeing that the car's brake lights are already on, Kandan releases the accelerator and prepares to apply the brakes (t!
Place your foot on the plate or apply the brakes.

At this time, when the car actually brakes, the car behind is already preparing to brake, so it immediately steps on the brake light, so all you have to do is take your foot off the accelerator pedal and move it to the brake pedal. Brake reaction time is saved thereby reducing braking distance. In other words, the safety distance between the front and rear vehicles is shortened.From the driver's point of view, the system automatically issues a warning to the vehicle behind to apply the brakes in advance, without the driver having to turn on the brakes. (For example, stepping on the brake light slightly to turn on the plate lamp, pressing the emergency flashing yellow lamp switch or pressing the headlight switch) does not cause any mental stress, increases safety, and allows the driver behind you to turn on the plate lamp. Avoid being rear-ended.

O Generates a warning signal when the vehicle in front approaches the vehicle in front and the safe distance is insufficient: When the vehicle in front slows down and stops (by releasing the accelerator, braking, or other causes), the distance between the vehicle in front and the vehicle in front of the vehicle is When the distance falls within the safe distance, the present invention prompts the driver of the vehicle to take appropriate measures with an acoustic sound or different lights (for example, ``Yo-'' means ``Don't accelerate,''``Red'' means ``brake''). This can eliminate accidents where the driver is unable to apply the brakes in time and collides with the vehicle in front, or where the vehicle is rear-ended by the vehicle behind due to sudden braking.

0 Generate a warning signal for vehicles that illegally cut into the side lane = 11 When an object that suddenly approaches the I line appears (not something that gradually approaches from a distance), the vehicle that cuts in from the side lane II or the passing vehicle It may be determined that it is a person, etc. If the distance is within the safe distance associated with the medium speed of the vehicle,
The present invention automatically turns on the vehicle's headlights and flashes them several times depending on the degree of danger, warning the vehicle or passerby in front not to cut into the vehicle's lane, and the driver himself/herself can drive the vehicle. Warning message 8, which tells you to be careful and not to pay attention to anything else, adds to your safety.

■〉 Cooperates with the constant speed cruising device and automatically switches according to the safe distance: When the vehicle is cruising at a constant speed and reaches a safe distance from the vehicle in front, the present invention will issue an electric signal to control the vehicle. 5. If the distance to the vehicle in front gets closer and closer, it will issue an additional warning signal to urge the driver to apply plate T. .

When the distance from the vehicle in front is greater than the safe distance, the vehicle automatically returns to constant speed control.1 This allows the driver to drive more comfortably and eliminates the need to constantly operate the constant speed control button and apply the brakes. This allows you to avoid rear-end collisions and improves driving safety.

(5) After the vehicle has temporarily stopped, the warning signal will be generated when another vehicle has already started running. After the two vehicles have temporarily stopped running at a traffic light or on the road, the present invention will immediately move the vehicle in front of and behind the vehicle. It monitors the presence of vehicles and issues a warning signal when the vehicle in front has already started driving, or the vehicle behind has already started driving and is approaching, and also prompts the driver to start driving. , to maintain driving maneuverability and avoid rear-end collisions with vehicles behind.

The structure and operation of the present invention will now be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, the configuration of the automatic rear-end collision prevention p warning method and device of the present invention includes a distance measuring device (1), a vehicle speed measuring device Q),
Microcombiner 1- and production vJ device' ((4) S
including the part. The distance measuring device (1) includes a front middle distance measuring device (11) and a rear vehicle distance #1811I measuring device (12),
The distance vill meter is an ultra-high distance measuring device that is installed at an appropriate location on the front and rear edges of the vehicle (as shown in Figure 2) to measure the distance of the main vehicle from objects such as vehicles directly ahead and directly behind the vehicle. Rangefinding devices such as acoustic waves, lasers, or radar may be used, but the techniques are generally known and will not be discussed in detail here. I was able to measure @f! Distance and following vehicle distance are line ■
The safe distance between the vehicles is calculated by inputting it to the vehicle speed value of this Φ measured by the vehicle speed measuring device (■). Medium speed measuring device (2) is a device that uses mechanical or electrical methods to pick up the rotational speed from the vehicle's power transmission shaft and calculates it based on this. ? stomach"
One safe distance mode set for N [Co., Ltd.] (30)
, it is necessary to decelerate depending on the distance and speed of the vehicle in front, and the play
Calculate the safety distance that needs to be multiplied by , and calculate the safety distance at the rear of the middle using the rear middle distance and middle speed values. Made a
Devices (4) include (brake lamp actuator (41), deceleration required and brake warning devices (421) (422), headlights 1 to (43), cruise device activation device (44), and starting running warning device (45). ), etc., respectively, including a brake lamp control mode set (31), a deceleration and brake warning mode set (32) at line 0.

Headlight control mode set (33), cruise device control mode set (34), and starting running warning mode set (
35) Driven to 0 by the output signal of S. The operation of each mode set will be described in detail later (Figs. 3 to 8).In addition, the rear vehicle measuring device (12) is connected to one reverse alarm device (120), so that when the main vehicle backs up, Monitor the distance to obstacles behind you.

The IvJ distance measuring device (11) and the rear vehicle distance measuring device (12) of the present invention shown in FIG.
) (122), etc., and it is possible to measure appropriate angles F and R in front of the vehicle body and behind the Φ body, and objects within the appropriate distance range. Mine ■ and actuating device (4)
Of these, the warning signals provided to the driver of this vehicle, such as deceleration and brake alarms (421) (422), start-up running indicator (45), and distance indicator (1201), can be installed at an appropriate position in front of the driver's seat. The vehicle can monitor the driver and assist in maneuvering.

The 70-chart of the safe distance calculation mode set (38) in line (2) will be explained with reference to FIG. First of all,
Read the front distance value f, the rear distance value V, and the medium speed value V (if an object cannot be measured within the measurement range, the distance value r or r is its maximum measurable value). ), and at this time, the front and rear vehicle distances ``,'' and their previous measurements (changes in mero, ro, Δr, △r are learned: △f=lf.

Δr=rr.

After that, calculate the safe distance in front of the vehicle by calculating the necessary deceleration Sd, the required play distance *sb, and the safety distance behind the vehicle tl.
lsr: Sd = 2AV-2BV (△t'/△t>-B〈△r
/△t〉2 (1) Sb =
AV-2BV(△f/△t)-8(△f/△t〉2
0Sr =AV-(A+2
BV) △f/△t-+3(△"/△t)2
(3) Here, A = Coefficient related to the reaction time of two drivers B - Coefficient related to braking performance of the vehicle △t = Time interval between current calculation and previous calculation The significance of the above safety distance calculation is The total failure of the brakes is due to the driver's reaction time (the time it takes to recognize the need to decelerate or brake, move your foot to the positioning device, and start operating), increased mileage, and the vehicle floating after applying the brakes. The pre-cancer is determined by the driver reaction time coefficient A and the medium speed V raised to the power IAV.The latter is determined by the vehicle brake performance coefficient B and the vehicle speed V raised to the square power !tiBV2.

For example, if the brake performance coefficient of each vehicle is set to one average value B, and each driver's reaction coefficient is set to an average of 1 mA, then the driver of the vehicle will say that the vehicle needs to decelerate and maintain a sufficient braking distance from the vehicle in front. "Required deceleration distance JS" when a warning is issued
d is the "brake distance 11f" when you are warned to brake.
This is the AxV distance before J Sb. Since the braking distance at the Vf speed of the vehicle in front is BVf2, the vehicle reacts immediately and maintains the safety distance S to avoid rear-ending the vehicle in front.
d and sb are respectively: Sd =2AV−+−BV2−BVf2 (4
) Sb = AV + BV2 - BVf2 (5
) Similarly, the safety distance Sr at which the vehicle behind is warned to decelerate or brake is calculated as follows: Sr = AVr + BVr 2-BV' (
6) Above (4) (5) In the formula (6), the vehicle speeds Vf and Vr of the front and rear vehicles are the medium speed difference △ corresponding to the vehicle speed V of the main vehicle.
f/△t.

It can be determined by △r/△t: Vf =V+ (△"/△t) (i
') Vr = V-(△r/△t)
■Then, by substituting (7) [stock] formula into (4) ■6), we get
The above formula (1)00 is obtained.

The microcomputer ■ constantly calculates the distance change values △f, △' and the safety distance 11sd of the vehicle at appropriate time intervals △t.

sb and Sr are calculated and recorded to support the other mode sets described below. Then the distance value f on the current right.

``Input into memory, calculate the number of times for the next calculation,
Set to ro and enter the procedure for this mode (end here.

FIG. 4 is a flowchart of the brake lamp control mode set (31) in the microcomputer (2). That is, whether the rear middle distance r is within the safe distance Sr after the heavy body (r<S
r? ), and even if it is (f), it outputs an electrical signal to drive the brake lamp actuator (41) (Fig. 1), turns on the brake lamp, and alerts the vehicle behind to slow down. The dynamic action of turning on the brake lights does not require the driver of the vehicle to actually step on the brake lights, so the driver does not have to worry about overlapping safety distances and is able to timely remind the vehicle behind him to maintain a safe distance. The brake lamp activator (41) is, for example, an electronic switch or relay, in parallel with the brake lamp switch.

FIG. 5 is a flow chart of the deceleration and brake warning mode set (32) at the microcomputer (marked).

By comparing the frontal distance @f and the inter-type safety distances Sb and Sd,
It outputs electrical signals in a timely manner to decelerate and plate tW (4
21) (422) (Figures 1 and 2) and generates a warning that deceleration is required or braking is required: When the distance f of the vehicle in front is within the required braking distance sb (f≦Sb), Warn the driver of the vehicle to apply the brakes: The cocoon weight distance f is outside the required brake distance sb, and deceleration is required C
When the distance is within the distance 11Isd (3b<fi, 3d), the driver of the vehicle is warned to slow down (maintain the distance from #i). In other words, when the main Φ gradually approaches the vehicle in front and reaches ISd, which requires deceleration, a warning signal (lamp signal or name) that requires deceleration is generated, so the driver releases the accelerator or lightly applies plate t to reduce the vehicle speed. Do something like take a break. - Inside the shell, the vehicle speed difference between the main vehicle and the front Φ becomes smaller, and the safety distance between the vehicles also decreases accordingly, so the deceleration warning station disappears. Therefore, the vehicle can maintain a distance of currency from that vehicle. On the other hand, if the medium speed difference between the vehicle and the vehicle in front has not decreased (for example, the vehicle in front has already applied its brakes), when the vehicle approaches the required msb, the braking warning signal ( A light or a sound is generated to tell the driver to immediately apply Play Y.

The deceleration required warning device (421) (Figure 1) can be used as a warning with a flashing lamp (for example, a yellow lamp); the brake required warning device (422) can be given as a warning by adding an intermittent sound to the flashing lamp (for example, a red lamp). I can do it. The frequency of the audio intermittent (varies depending on the degree of braking required, i.e.,
The speed of the voice frequency Q is determined by the strict degree that the distance f of the vehicle in front is smaller than the required braking distance sb (the shorter the distance, the steeper it becomes, and in the end it becomes a voice), and QCC ( Sb - f ) /Sb The driver controls the degree of braking appropriately.

FIG. 6 shows a flowchart of the headlight control mode set (33) in Fin. Front car ff1ll
Absolute value of change in f, f I△fI - predetermined value v1C; and when the front vehicle distance 111f is within the required deceleration distance Sd of the vehicle (r≦Sd), a signal is output and the headlight adjustment is performed. ll] device (43) (Fig. 1), flashes the vehicle's headlights once or twice, and warns the vehicle in front of the vehicle that is suddenly trying to change the center line in front of the vehicle to react (for example, refrain from doing so). or accelerate forward).

The predetermined value C is determined appropriately and is determined based on the general normality between the main vehicle and the previous model (
The alarm (g) is activated only when an object (Φ or person, etc.) suddenly appears in front of the vehicle, without causing any activation due to medium-speed changes in the speed (continuity). This warning is also probably activated when the vehicle suddenly encounters a vehicle in front or an object on the side while making a curve. The flashing lights also remind the driver of the vehicle to pay attention to road conditions. Headlights (43) & 1. Basically, one electronic switch or relay is connected in parallel to the headlight switch, and the headlights are turned on at the same time or in order, so whether headlights 1~ are turned on or not. All have a flashing display effect, regardless of the mode.

Figure 7 shows the cruiser control mode cellar 1 at Fin 0.
This mode set can be used in combination with a generally used constant speed cruising device, and after starting the cruising device, this mode set l- shows the flow chart of (34). It is determined whether deceleration is required or not within 111tsd, and if so, a - signal is output, the constant speed control action at cruising position 5A is canceled, and the vehicle is allowed to decelerate naturally. In the opposite case, when the distance ll1l [f of the vehicle in front is already shorter than the deceleration required [tSd], another signal is output to reset the constant speed control of the cruise gear. By doing so, the driver of the vehicle can be exempted from the trouble of operating the deceleration and reset buttons 1 to 1 when approaching the vehicle in front.

What about figure 8? The start running warning-[-set (35)] chart at engine 0 is shown. This mode set determines whether the vehicle is stopped and whether the front or rear vehicle has already started running. In other words, the vehicle temporarily stops (V = O
), pay close attention to the condition of the FIT car and the car behind you. −
When the car starts running and wants to leave △f>O), and the car behind C starts running and approaches (Δ"〈O), it outputs a signal and activates the starting running alarm (45) (No. Figures 1 and 2) are driven to generate a warning signal such as a voice, alerting the driver of the vehicle to start-up run 1! Plus, it eliminates the possibility of being hit by a vehicle behind you.

In addition to the actions of each mode hit described above, the middle distance measuring device (12) is connected to the backing warning device (120) (Fig. 1), and when the vehicle backs up, it measures the distance of the obstacle after Φ. to look up at. The warning device will display a distance display, and as the distance decreases, it will give a voice warning that will gradually become more rapid (when the distance is less than 30m, it will become longer) to help the driver back up safely. This warning device is the deceleration and brake warning device (
The same 6-voice voice generator can be used in common with the brake necessity warning sound in 42).

FIG. 9 is a layout diagram of the alarm face plate of one embodiment of the present invention.

The stone has a speed limit setting and display part (36) at the L corner, and Φ
The display (360) of this embodiment, which is used to set the maximum speed limit for both runs (or the constant speed value of the constant speed cruising device) and display the speed limit, is used to display the travel time and medium speed. Also serves as Therefore, reset the running time 1 (361) (
When the car is started or this key is pressed, the running time is 0.
Start timing from hour O minute) and press the high/constant speed range select key (362) and speed limit setting key (363) (use both [-] to select and set the maximum speed limit for both sets. , applied to two different situations, e.g. in the city and on the highway). For vehicles that do not have a constant speed cruising device, this embodiment provides one super speed warning device (364), which blinks when the set speed limit is exceeded, and at the same time generates a warning signal from a voice generator (401). Do, ancient equipment (4
85 of 01) is adjusted with the 5-press key (402), above the voice generator (401) is a green activation alarm (450)
The deceleration required warning lights (421) and A10- generate flashing lamp signals indicating start-up running and deceleration required, respectively, to call attention, and at the same time, a warning signal is issued from the voice generator (401).

The above-mentioned super-speed, start-up and deceleration warning indicators are adopted in different formats to add to the classification of drivers. Front vehicle distance display (110) from top to bottom on the right side of the panel
, rear vehicle distance indicator (121), brake required warning lamp set (422), and reverse warning lamp set (122)
). Distance indicators (110) and (121) L display the distance between the front and rear vehicles and the main vehicle, respectively. The brake required warning light set (422) is a warning device that lights up a larger number of lamps from left to right in the - row depending on the degree of braking, and when the heaviest braking is required, the "stop" lamp on the far right turns off all lights. Illuminated: Reverse warning light set 1
-(122) is a large number of yellow warning light signals extending from the left to the right of the row.
They light up one by one depending on the degree of approach, and all light up when the R known distance reaches 111 (for example, within 300 meters). When both of the above lamp sets (422) and (122) are turned on, the voice generator (401) also emits a warning signal (ranging from slow to quick and finally one long tone), making it easy for the driver to hear. That's what I do.

The above description of the embodiments merely expresses the spirit of the present invention, and each of the mode sets described above can be suitably improved when actually implementing the present invention. In particular, the arrangement of the alarm panel can be modified in various ways. These modifications are naturally included within the scope of the claims of the invention.

[Brief Description of the Drawings] Figure 1 is a configuration block diagram of the present invention, Figure 2 is a layout diagram of a distance measuring device, microcomputer, and alarm in the present invention, and Figure 3 is a safe or remote mode in the present invention. Fig. 4 is a flowchart of brake lamp control mode set in the present invention; Fig. 5 is a flowchart of deceleration and brake warning mode set in the present invention; Fig. 6 is a flowchart of headlight control mode set in the present invention; FIG. 7 is a flowchart of the cruise control mode setting according to the present invention, FIG. 8 is a flowchart of setting the starting travel warning mode according to the present invention, and FIG. 9 is a layout diagram of the warning device face plate in the embodiment of the present invention. 1... B11f measuring device, 11... fTJ vehicle distance measuring device, 12... Rear vehicle distance III measuring device, 110...
Front vehicle distance indicator, 120... Backward warning indicator, 121...
・Rear distance indicator, 122... Reverse warning indicator set, 2
...Gravity speed measuring device, 3...Micro combiner (?in), 30...Safety distance calculation mode set,
31... To brake lamp control mode set 1, 32.
・・Deceleration and Brake Y warning mode Sera 1-133...
Headlight control mode set, 34...Cruising equipment Todoroki i
, II ill mode set, 35...Start running warning mode cella 1-136...Display unit, 360...Display unit, 361...Running? j Aima reset j-362...
Low and high speed range selection key 363... Speed limit setting key 364... Super speed warning device, 4... Actuating device, 41.
...Brake lamp 0 engine, 43...Headlight operator, 44...Cruise equipment r11fll engine, 45...
Starting running warning device, 401... Sound generator, 402... Volume) = -421... Deceleration warning device, 422... Brake warning light, 450... Starting running warning device.

Claims (1)

[Scope of Claims] 1. An automobile rear-end collision prevention warning device that monitors the driving safety of an automobile and prevents accidents such as the vehicle colliding with the vehicle in front or being rear-ended by the vehicle behind, comprising (1) ) Includes a front vehicle distance measuring device and a rear vehicle distance measuring device, which are installed on the front and rear edges of the vehicle to measure the distance from the vehicle to the vehicle in front (object) and the distance from the vehicle to the vehicle behind the vehicle (object). (2) A distance measuring device used to measure distance and output an electrical signal; (3) The electric signal output from the distance measuring device and the electric signal output from the vehicle speed measuring device determine whether the vehicle is at a deceleration distance or a braking distance relative to the front. , and a safety distance calculation mode set for calculating the safe distance of the vehicle; a brake lamp control mode set for determining whether the rear vehicle is within the safe distance behind the vehicle and outputting an electric signal; is between the required deceleration distance and the required braking distance and outputs an electrical signal, and determines whether the vehicle in front is within the required braking distance and outputs another electrical signal. A brake warning mode set; A headlight control mode set that outputs an electric signal when a vehicle (object) suddenly appears within the distance in front of the vehicle that requires deceleration; The cruise control mode set determines that the vehicle in front is already at a distance other than the distance at which deceleration should be made and outputs another electric signal; The vehicle is stopped. , a microcomputer consisting of a starting running warning mode set that outputs an electric signal when the front vehicle has already started running and has moved away or the rear vehicle has already started running and approaches; (4) a brake lamp control mode set; A brake lamp actuator turns on the brake lamp according to the output electric signal; and a corresponding lamp signal and audio warning are generated by the electric signals indicating the need for deceleration and the need for braking output from the deceleration and brake warning mode sets, respectively. A deceleration required warning device and a brake required warning device; A headlight actuator that flashes and lights up the headlights of the vehicle based on an electrical signal output from a headlight control mode set; A headlight actuator that flashes and lights up the headlights of the vehicle based on an electrical signal output from a cruise control mode set; , a cruising device actuator that releases and resets the constant speed control of the constant speed cruising device of the vehicle; and a starting cruising warning device that issues a lamp warning or audio warning based on an electric signal output from the starting cruising warning mode set; A method/apparatus for preventing a rear-end collision of a motor vehicle, characterized in that each of the actuators and the warning device comprises an actuating device connected to each control and warning mode set of the microcomputer, respectively. 2. The above safe distance calculation mode set is based on the distance Sd that requires deceleration, the distance Sb that requires braking, and the safe distance Sr from the rear vehicle as calculated by the following formula, Sd = 2AV - 2BV (△f / △t )-B (△f/△t)^2 Sb=AV-2BV(△f/△t)-B (△f/△t)^2 Sr=AV-(A+2BV)△r/△t・+B( △r/
△t)^2 Here, A = Coefficient related to the driver's reaction time B = Coefficient related to vehicle braking performance V = Vehicle speed of the vehicle △f = Distance to the vehicle in front measured this time and the distance measured last time 2. The difference in distance from the vehicle in front, Δr=difference between the currently measured rear vehicle distance and the previously measured rear vehicle distance, Δt=the time interval between the current calculation and the previous calculation. Pre-warning method/device for preventing rear-end vehicle collisions. 3. The vehicle rear-end collision according to claim 1, characterized in that the warning sound of the brake necessity warning device determines whether or not the frequency of the warning sound is determined depending on the degree of the distance where the brake is required and the distance of the vehicle in front is smaller than the distance where the brake is required. Prevention method/device.