JPH0636188A - Safety device of vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] To prevent the behavior of the vehicle from becoming unstable due to braking after detecting the vehicle stop position. The steering regulation control means 8 operates the steering regulation means 6 until the vehicle stop detection means 4 detects the vehicle stop after the vehicle stop position detection means 2 detects the vehicle stop position on the traveling road. The steering angle is limited to a predetermined value or less. This steering angle limitation is performed, for example, when the left / right turn detection means 10 detects that the vehicle is going to turn left / right based on a turn signal input and the automatic braking means 12a or the warning means 12b is activated to secure the stop at the vehicle stop position. Be done.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle safety device for restricting steering when a vehicle stop position such as a vehicle stop line on a traveling road is detected in advance for traffic safety.

[0002]

2. Description of the Related Art Conventionally, a vehicle stop position on a traveling road is detected, and a vehicle is automatically braked at a predetermined timing or a driver is braked so as to surely stop the vehicle at the vehicle stop position. Therefore, a vehicle safety device that issues an alarm has been considered. For example, JP-A-60-18
In Japanese Patent No. 9100, a vehicle stop position on a traveling road is detected, an alarm is issued at a predetermined timing to surely stop the vehicle at the vehicle stop position, and a driver is braked. A vehicle safety device is disclosed.

[0003]

By the way, in order to ensure traffic safety when the vehicle is traveling, it is possible to detect the vehicle stop position on the traveling road as described above and surely stop the vehicle at the vehicle stop position. Of course, it is important, but it is also important to prevent an unstable behavior of the vehicle after the vehicle stop position is detected or an accident due to improper steering.

That is, the point where the vehicle stop position is present may be a vehicle whose traveling direction is different from that of the own vehicle or a pedestrian trying to cross the traveling path, and there is a possibility of contact with them. It is a power point, in which there is no need to steer after detecting the vehicle stop position until it stops at the vehicle stop position, and before the vehicle stops at the vehicle stop position after detecting the vehicle stop position. Changing the traveling direction of the vehicle by operating the steering wheel causes contact with other vehicles, pedestrians, etc., and braking is performed by the driver or safety device to stop at the vehicle stop position. There is a risk of unstable vehicle behavior such as spin, which is not preferable for safety.

Further, when there is a vehicle stop position, for example, there is an intersection or the like, and there are many cases where the vehicle makes a left-right turn, and at that time, the steering wheel is operated before the vehicle stops, and the corner of the intersection is improperly turned to the limit. If this is done, contact with pedestrians and the like may occur, which is also unfavorable for safety.

[0006] Further, as described above, a vehicle stop position on the traveling road is detected, and the vehicle is automatically braked or an alarm is issued to the driver so as to surely stop the own vehicle at the vehicle stop position. When equipped with a safety device, the driver overlooks the vehicle stop position when the safety device is activated, that is, the driver neglects safe driving, and neglects such safe driving. While driving, the driver may operate the steering wheel improperly, which may cause contact with a pedestrian or the like, which is also unsafe.

In addition, as described above, the vehicle stop position on the traveling road is detected, and the vehicle is automatically braked or an alarm is issued to the driver to surely stop the own vehicle at the vehicle stop position. When equipped with a safety device, when the driver overlooks the vehicle stop position, unexpected automatic braking is applied by the driver. Behavior instability may occur, or the driver may suddenly turn the steering wheel due to unexpected automatic braking or an alarm, which is also unsafe.

Therefore, after the vehicle stop position is detected, a safety device is provided to prevent the instability of the vehicle behavior and accidents due to improper steering as described above, and the traffic safety after the vehicle stop position is detected. It is desirable to improve

In view of the above circumstances, an object of the present invention is to improve traffic safety by preventing unstable behavior of the vehicle after detecting the vehicle stop position and accidents due to improper steering. To provide a safety device.

[0010]

In order to achieve the above-mentioned object, a vehicle safety device according to the present invention detects vehicle stop position detecting means for detecting a vehicle stop position on a traveling road, and detects stop of a host vehicle. The vehicle stop detection means, the steering restriction means for restricting the steering of the host vehicle, and the steering restriction control means for controlling the operation of the steering restriction means are provided, and the steering restriction control means detects the vehicle stop position. When the vehicle is operated, the steering restricting means is operated to restrict the steering until the host vehicle stops thereafter.

The vehicle stop position means a position where the vehicle should stop once on the traveling road, for example, at an intersection or at T.
There are no vehicle stop lines or vehicle stop lines at crossroads, railroad crossings, pedestrian crossings, etc., but the position before the intersection where the vehicle should stop corresponds to this. Further, the intersections and T
A vehicle stop position that makes a left-right turn when passing through the vehicle stop position, such as a road, is mainly applicable.

The detection of the vehicle stop position is the detection of the existence of the vehicle stop position or the detection of the existence and the distance from the point where the existence is detected to the vehicle stop position. The detection reaches the vehicle stop position. It is performed before doing.

The vehicle stop position detecting means may be of any type as long as it can detect the vehicle stop position. For example, magnetically on a road marker provided in front of the vehicle stop line on the traveling road. It may be constituted by a roadside marker reading means for reading the recorded vehicle stop position information, a receiving means for receiving a radio wave having the vehicle stop position information transmitted from a transmitting means provided a predetermined distance before the vehicle stop position, and the like. it can.

The vehicle stopping means may be any means as long as it can detect the stop of the own vehicle.

The above-mentioned steering regulation means regulation of steering of the front wheels and the rear wheels. For example, the regulation may be such that the steering speed or the steering angle is limited to a predetermined upper limit value or less. Anything can be used as long as it can regulate the steering.

The steering restriction from the detection of the vehicle stop position to the stop can be performed in various modes. For example, the steering may be regulated at all times from the detection to the stop, the steering may be regulated only when a predetermined condition is satisfied during the period, the regulation content may be uniform, or various conditions may be satisfied. It may be different depending on.

The safety device is provided with a left / right folding detection means for detecting that the vehicle is turning left / right, and the steering regulation control means regulates the steering only when the left / right folding is detected. It can be configured to be performed.

The left / right turn detecting means may be any means as long as it can detect that the host vehicle turns left or right after the vehicle stop position is detected.

The safety device includes braking ensuring means for stopping the own vehicle to the vehicle stop position and braking ensuring control means for controlling the braking ensuring means, the braking ensuring control means being in the vehicle stop position. When the above is detected, the braking ensuring means is operated.

The braking securing control means actuates the braking securing means to secure a stop at the vehicle stop position. For example, the time point at which the vehicle stop position is detected or the distance to the vehicle stop position is a predetermined value. The alarm and automatic braking can be activated at the following times.

The steering regulation control means can be constructed so as to tighten the regulation of the steering when the braking ensuring means is operated.

The stricter regulation means that the regulation is larger than that when the braking ensuring means is not operating. For example, when the steering angle is limited, the upper limit value is reduced. To do. Further, various concrete modes can be considered when tightening, and for example, the severity can be changed according to the operation content of the braking ensuring means.

[0023]

As described above, in the vehicle safety device according to the present invention, when the vehicle stop position on the traveling road is detected, the steering restricting means is operated until the host vehicle stops, and the steering is restricted. Therefore, it is possible to avoid an inappropriate steering wheel operation in the vicinity of the vehicle stop position, or to avoid instability of the vehicle behavior due to the steering wheel operation that is performed together with the braking stop of the vehicle after the vehicle stop position is detected.
As a result, it is possible to improve the traffic safety after detecting the vehicle stop position.

When the steering regulation is executed only when it is detected that the vehicle is turning left or right, the steering operation for turning left or right is performed after the vehicle stop position is detected. It is possible to prevent improper steering operation performed before stopping at the stop position and the unstable behavior of the vehicle as described above due to it, and unnecessary steering when such improper steering operation is not expected. It is possible to avoid interference with the driver's driving operation by regulations, that is, unnecessary machines, and rational safety control is possible.

Further, the safety device further includes braking ensuring means for stopping the own vehicle at the vehicle stop position, and braking ensuring control means for activating the braking ensuring means when the vehicle stop position is detected. If so, it is considered highly likely that the driver will unexpectedly operate the braking ensuring means, which will result in unstable vehicle behavior and inappropriate steering operation as described above. The instability of the vehicle behavior after the detection of the vehicle stop position and the inappropriate steering wheel operation prevention effect by the safety device are particularly remarkable.

Further, in the case where the steering regulation is made stricter when the braking ensuring means is operated, the driver is in a careless state when the braking ensuring means is operated and the driver is driving safely. Since there is no possibility that unstable behavior of the vehicle or inappropriate steering operation is more likely to occur, such instability of vehicle behavior or inconvenience due to inappropriate steering operation can be prevented more reliably. Therefore, it is possible to more reliably improve the traffic safety after the vehicle stop position is detected.

[0027]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of a vehicle safety device according to 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 forward vehicle.

The apparatus of the illustrated embodiment has a vehicle stop position detecting means 2 for detecting the vehicle stop position on the road, a vehicle stop detecting means 4 for detecting the stop of the own vehicle, and a steering regulation for regulating the steering of the own vehicle. Means 6 and steering regulation control means 8 for controlling the operation of the steering regulation means 6, the steering regulation control means 8 until the vehicle stops after the vehicle stop position is detected. During this period, the steering regulation means is operated to regulate steering.

As shown in FIG. 2, the vehicle stop position detecting means 2 detects a vehicle stop line 30 which is a vehicle stop position before the intersection 28 on the traveling road 26 on which the own vehicle 34 travels. Information indicating that the vehicle stop line 30 exists in front of the road marker 32 magnetically written in the road marker 32 provided a predetermined distance before the vehicle stop line 30 and distance information L from the road marker 32 to the vehicle stop line 30. It is constituted by road marker reading means for reading's from the road marker 30.

The vehicle stop detecting means 4 is constituted by means for detecting the stop of the own vehicle based on the own vehicle speed, based on whether the own vehicle speed is zero or not. Further, the steering regulation means 6 is
The steering angle of the front wheels is limited to a predetermined upper limit or less. Specifically, the lateral movement amount of the rack in the pinion rack mechanism that transmits the rotation of the steering wheel to the front wheels is limited to a predetermined upper limit or less. It is composed of things.

The steering regulation performed by the steering regulation control means 8 until the host vehicle 34 stops after the vehicle stop line 30 is detected will be described in detail below.

The safety device also includes a left / right turn detection means 10 for detecting whether the host vehicle 34 will turn left or right. As the left / right fold detection means 10, specifically, one that detects the above-mentioned left / right fold due to a turn signal input is used.

The safety device further comprises a braking ensuring means 12 for stopping the own vehicle at the vehicle stop position 30 and a braking ensuring control means 14 for controlling the operation of the braking ensuring means 12.

The braking securing means 12 includes the vehicle stop line 30.
In order to ensure the braking of the own vehicle 34 in order to stop the own vehicle 34 surely, the automatic braking means 12a for automatically braking the own vehicle 34 and the braking operation for the driver of the own vehicle 34 are performed. It is composed of an alarm means 12b for issuing an alarm with a lamp, a buzzer or the like to call out.

The braking ensuring control means 14 receives the output from the vehicle stop position detecting means 2 and appropriately secures the braking so as to surely stop the vehicle 34 on the vehicle stop line 30 detected by the detecting means 2. Therefore, the braking ensuring control means 14 controls the vehicle speed detection means 16 for detecting the own vehicle speed V ₀ and the road surface friction coefficient (road surface μ) of the road on which the own vehicle is traveling. ) Is detected, the output of the road surface μ detecting means 18 is inputted.

In the vehicle safety device according to this embodiment, the braking ensuring means 12 brakes the own vehicle 34 to avoid the collision of the own vehicle 34 with the forward vehicle 36 located in front of the own vehicle 34. The braking securing control means 14 also performs control to operate the braking securing means 12 as appropriate in order to avoid the collision of the host vehicle 34 with the preceding vehicle 36. In addition to the vehicle speed detection means 16 and the road surface μ detection means 18, the control means 14 also receives the output of the vehicle distance detection means 20 for detecting the distance L ₁ between the vehicle 34 and the preceding vehicle 36. Has been done.

As the vehicle speed detecting means 16, for example, a speedometer provided in the vehicle can be used. Also,
The road surface μ detection means 18 uses, for example, a device that emits light or the like toward the traveling road surface, receives regular reflection from the road surface, and detects the roughness of the traveling road surface, that is, the road surface μ by the magnitude of the regular reflection amount. be able to. The vehicle distance detecting means 20 emits, for example, a laser forward, receives the reflection from the vehicle 36 in front of the laser, and the distance L is based on the time from the emission to the reception.
Anything that detects ₁ can be used.

The braking ensuring control means 14 detects the distance L's to the vehicle stop line 36 and the distance L ₁ between the own vehicle 34 and the preceding vehicle 36 and detects the vehicle stop line 30.
The braking securing means 12 is operated so that the vehicle can be stopped at any time and the collision with the preceding vehicle 36 can be avoided. Therefore, the inputted L's, L ₁ , V ₀ , μ
Based on the warning start distance L' _{2 at} which the driver of the own vehicle should be alerted to brake to stop the own vehicle 34 at the vehicle stop line 30 and the own vehicle 34 at the vehicle stop line 30.
And an automatic braking start distance L' _{0 at} which automatic braking should be started to stop the vehicle and an alarm urging the driver of the own vehicle to perform braking in order to avoid a collision of the own vehicle 34 with the preceding vehicle 36. Alarm start distance L ₂ and vehicle ahead of own vehicle 34
An automatic braking start distance L _{0 at} which automatic braking should be started in order to avoid a collision with the vehicle 36, and a release distance L _{3 at} which an alarm and automatic braking for canceling the collision of the own vehicle 34 with the vehicle ahead 36 should be released. And the distance L' ₁ between the host vehicle 34 and the vehicle stop line 30 is calculated.

L' ₀ and L' ₂ are calculated by a predetermined arithmetic expression based on the input vehicle speed V ₀ and the road surface friction coefficient μ, and an alarm is issued before automatic braking is applied. L' ₂ >L' ₀ . Above L ₀ , L ₂
And L ₃ are calculated from the input vehicle speed V ₀ , the road surface friction coefficient μ, and the relative speed V ₁ between the own vehicle and the preceding vehicle, and L is set so that an alarm is issued before automatic braking is applied.
₂ > L ₀ and L ₃ > L ₀ , L ₂ . The relative velocity V ₁ is calculated by the time derivative of L ₁ . The L' ₁ is calculated by calculating the running distance l' ₁ from the road marker 32 by time integration of the vehicle speed V ₀ and subtracting the l' ₁ from the L's.

[0041] Then, the braking secured control means 14, the L _'1 is L' actuates the warning means 12b Once become small or L ₁ than ₂ and less than L _2, the small L _'1 is L' than ₀ If the L ₁ becomes smaller than L _{0, the} automatic braking means 12a is activated, and if the L ₁ becomes larger than L ₃ , the alarm of the alarm means 12b and the automatic braking of the automatic braking means 12a are released. The braking securing means 4 is controlled.

Next, the steering regulation control by the steering regulation control means 8 will be described. The steering regulation control means 8
Is the vehicle stop line 30 detected by the vehicle stop position detecting means 2.
After the vehicle stop detection means 4 detects that the vehicle has stopped, the steering restriction means 6 restricts the front wheel steering angle to a predetermined upper limit value or less until the own vehicle 34 stops. The steering angle is limited only when it is detected by 10 that the vehicle will turn left or right.

Further, the steering angle limit is determined by the above vehicle stop line.
The braking securing means 12 to secure the stop of the own vehicle 34 to 30
When the braking ensuring means 12 is not operated, the upper limit value is set to ± θ ₁ and the warning means 12b is used to tighten the regulation of the steering angle. When the automatic braking means 12a is activated, the upper limit is set to ± θ ₂ (θ ₁ > θ ₂ ) and the upper limit is set to be more severe when the automatic braking means 12a is activated. ± θ ₃ (θ ₂ > θ ₃ )
The above-mentioned θ ₁ may be set smaller than the maximum steerable steering angle θ max, or may be set as θ ₁ = θ max. When θ ₁ = θ max is set, the steering angle is limited only when a left / right turn is detected and an alarm or automatic braking is activated.

Next, the control by the steering regulation control means 8 and the braking securing control means 14 will be concretely described with reference to the flow charts shown in FIGS.

First, at R1, the vehicle 34 is a road marker.
Determine if you passed 32. If it has not passed yet, the routine proceeds to R2 in order to execute the basic control for avoiding a collision with the forward vehicle 36, where V ₀ , μ, L ₁ is detected, and at R3, L ₀ , L ₂ , L are detected by the method described above. Calculate ₃ . Then, R4 determines whether the relative speed V ₁ is positive or negative (when it is positive, the vehicle is approaching the front vehicle, and when it is negative, the vehicle is distant), and when V ₁ is 0 or more, R 5 is L ₁ and L ₁ is greater than L ₂ . It is judged whether it is small or not, and if it is not small yet, it proceeds to return, and when it becomes small, an alarm is issued at R6, then at R7 it is judged whether L ₁ is smaller than L ₀ , and it is still small. If not, proceed to return, and when it becomes small, apply automatic braking with R8. Further, L ₁ is determined whether small or not than L ₃ in the case of less than the relative speed is 0 in R4 R9, go directly to the return if less than L _3,
When L ₁ becomes L ₃ or more, R11 alarms R6 and R8
Release the automatic braking of.

Next, when the road marker 32 is passed at R1, the vehicle 34 is located on the road marker 32 as indicated by the chain double-dashed line in FIG. When it is determined that the road marker 32 has been passed by reading the road marker 32 by means, the routine proceeds to R12, where the road marker 36 is also read to read the road marker 32 from the road marker 32 to the vehicle stop line 30. The distance L's to is detected. Subsequently, R13 detects V ₀ , μ, and L ₁ , and R14 detects L ₀ by the above-mentioned method.
₀ , L ₂ , L' ₀ , L' ₁ , L' ₂ are calculated, and it is determined whether or not there is a blinker input at R15. If there is an input, the front wheel steering angle is set to the upper limit value ± θ ₁ (here Then θ ₁ = θ max)
The brake lamp is turned on at R17 by giving a warning to the rear vehicle that the own vehicle will stop braking. If there is no input, the steering angle is not limited and the brake lamp is turned on at R17.

Subsequently, after R18, an alarm is issued or a self-braking is automatically issued to urge the driver of the own vehicle 34 to perform a braking operation in order to stop at the vehicle stop line 30 and avoid a collision with the preceding vehicle 34. Operate and limit steering angle in response to alarms and automatic braking. More specifically, first, at R18, it is determined whether or not the host vehicle speed V ₀ is greater than _{0. If it} is greater than 0, that is, if the host vehicle is not yet stopped, then at R19, L ₁ -L ₂ and L' _1. -L ' ₂ is compared to determine whether the degree of danger to the vehicle in front or the degree of danger to the vehicle stop line is greater regarding the warning to the driver of the own vehicle, and the degree of danger to the vehicle stop line is larger. towards that is, if L _'1 -L' ₂ any compares 'and ₁ L' L in R20 if small ₂ and found the danger degree of words L ₁ -L ₂ if large for forward vehicle If small in R21 comparing the L ₁ and L _2, also L 'warning issue _1, L ₁ respectively distances L' cases _2, L ₂
If smaller, R22 activates the alarm means 12b to give an alarm, and if not smaller, returns to R13. When an alarm is issued, it is determined at R23 whether or not there is a turn signal input. If there is an input, the front wheel steering angle is set to the upper limit value ± θ ₂
The control proceeds to R25 by limiting to (θ ₂ <θ ₁ ). If there is no input, the control proceeds to R25 without limiting the steering angle.

Then, at R25, L ₁ -L ₀ and L' _1- L ' ₀
This is compared with this time to determine which danger degree is greater with respect to automatic braking, and if the danger degree with respect to the vehicle stop line is great, L' ₁ and L' ₀ are compared at R26, and the preceding vehicle If the degree of danger to is large, R 27 compares L ₁ and L _{0. In} any case, if L ′ ₁ and L ₁ are smaller than the automatic braking start distances L ′ ₀ and L ₀ , respectively, R28 automatically calculates. Braking means
Operate 12a to apply automatic braking, and if not small, return to R13. When the automatic braking is activated, R
At 29, it is determined whether there is a turn signal input. If there is an input, the front wheel steering angle is limited to the upper limit value ± θ ₃ (θ ₃ <θ ₂ ) and the process returns to R13. Return to R13 without restriction.

Then, if V ₀ is not greater than _{0 at} R18, that is, if it is stopped, the routine proceeds to R31, where it is determined whether or not an alarm or automatic braking is operating.
Turn off the brake lights at 33, release them at R32 if they are working, turn off the brake lights at R33,
Subsequently, at R34, the restriction on the front wheel steering angle is released, and the routine proceeds to return.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a vehicle safety device according to the present invention.

FIG. 2 is a plan view showing a positional relationship between a vehicle stop position, a road marker, a host vehicle, and a forward vehicle.

3 to 5 are flowcharts showing the operation procedure of the embodiment shown in FIG.

FIG. 6 is a diagram showing a steering angle limit upper limit value.

[Explanation of symbols]

 2 Vehicle stop position detection means 4 Vehicle stop detection means 6 Steering regulation means 8 Steering regulation control means 10 Left and right turn detection means 12 Braking securing means 14 Braking securing control means 26 Running path 30 Vehicle stopping position 34 Own vehicle

Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical display location B62D 105: 00 109: 00 113: 00 117: 00 137: 00 (72) Inventor Tomohiko Adachi Fuchu, Aki-gun, Hiroshima Prefecture No. 3 Shinmachi, Mazda Co., Ltd.

Claims (4)

[Claims] 1. A vehicle stop position detecting means for detecting a vehicle stop position on a traveling road, a vehicle stop detecting means for detecting stop of the own vehicle, and a steering restricting means for restricting steering of the own vehicle.
Steering regulation control means for controlling the operation of the steering regulation means, the steering regulation control means, when the vehicle stop position is detected, until the host vehicle stops thereafter. A vehicle safety device characterized by being operated to regulate steering. 2. A left / right folding detection means for detecting that the vehicle is turning left / right, wherein the steering regulation control means restricts the steering only when the left / right folding is detected. The vehicle safety device according to claim 1, wherein: 3. A braking ensuring means for stopping the own vehicle to the vehicle stopping position, and a braking ensuring control means for controlling the braking ensuring means, wherein the braking ensuring control means detects the vehicle stopping position. The vehicle safety device according to claim 1 or 2, wherein the braking ensuring means is actuated in the event of a failure. 4. The vehicle safety device according to claim 4, wherein the steering regulation control means tightens regulation of the steering when the braking ensuring means is activated.