JPH0636196A - Vehicle safety equipment - Google Patents

Abstract

(57) [Summary] [Purpose] To avoid a collision between a vehicle and a rear vehicle when the vehicle stops at the vehicle stop position. A vehicle stop position on a traveling road at an intersection or the like is detected in advance by a detection unit 2, and when the vehicle stop position is detected, a rear vehicle warning unit 8 is activated to issue a warning to a rear vehicle. The warning to the rear vehicle can be issued by turning on an automatic brake lamp or transmitting an alarm signal for activating the own vehicle alarm means of the rear vehicle. When the receiving means 18 receives an alarm signal issued when the preceding vehicle detects the vehicle stop position in advance, the own vehicle alarm means 4b is activated to issue an alarm to the driver of the own vehicle.

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 avoiding a collision between a vehicle stopped at a vehicle stop position on a traveling road and a vehicle behind it.

[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 avoid a collision between the vehicle stopped at the vehicle stop position and the vehicle behind it.

That is, when there is a vehicle stop position on the traveling road, for example, when two vehicles are continuously traveling, the driver of the vehicle in front can visually recognize the vehicle stop position, but Since the driver of the vehicle cannot see the vehicle stop position behind the vehicle in front, the driver of the vehicle behind must predict that the vehicle in front will brake to stop at the vehicle stop position. As a result, the braking of the vehicle behind is delayed with respect to the braking of the vehicle before, and the vehicle behind may collide with the vehicle before stopping at the vehicle stop position. In addition, even if the vehicle behind is equipped with a safety device for detecting the vehicle stop position as described above and surely stopping the vehicle at the vehicle stop position, the vehicle behind will actually detect the vehicle stop position. When the vehicle is detected, the vehicle in front may have already started braking.In such a case, it is too late to apply the braking after detecting the vehicle stop position. A situation may occur in which another vehicle collides.

Therefore, it is desirable to provide a safety device for avoiding a collision between a vehicle stopped at the vehicle stop position and a vehicle behind it, and sufficiently avoiding a collision when the vehicle stops at the vehicle stop position.

In view of the above circumstances, an object of the present invention is to provide a vehicle safety device capable of avoiding a collision between the vehicle and a rear vehicle when the vehicle stops at the vehicle stop position. .

[0007]

In order to achieve the above object, a vehicle safety device according to the present invention secures braking of a host vehicle and vehicle stop position detecting means for detecting a vehicle stop position on a traveling road. Vehicle safety device comprising braking ensuring means for ensuring the stopping of the vehicle to the vehicle stop position based on detection of the vehicle stopping position and braking ensuring control means for operating the braking ensuring means. A rear vehicle warning means for issuing a warning to a rear vehicle, and a rear vehicle warning control means for activating the rear vehicle warning means when the vehicle stop position is detected. Is characterized by.

The warning means for the rear vehicle can be constituted by an automatic brake lamp lighting means for lighting the brake lamp, or an alarm signal for activating the warning means for the own vehicle of the rear vehicle is transmitted to the rear vehicle. It is also possible to configure by a rear vehicle warning signal transmitting means.

The vehicle safety device according to the present invention is
An alarm signal receiving means for receiving an alarm signal transmitted when a vehicle stop position on the traveling road is detected from a front vehicle, an own vehicle alarm means for issuing an alarm to a driver of the own vehicle, and the front vehicle And an alarm control means for own vehicle, which operates the above-mentioned alarm means for own vehicle when the alarm signal is received from.

This safety device is provided with a vehicle stop position detecting means for detecting a vehicle stop position on the traveling road, and the own vehicle alarm control means is based on the detection of the vehicle stop position. And when the own vehicle warning means is operated based on the reception of the warning signal from the preceding vehicle, the operation of the own vehicle warning means based on the detection of the vehicle stop position is stopped. Can be configured as.

[0011]

As described above, the vehicle safety device according to the present invention detects the vehicle stop position on the traveling road, and the braking ensuring means for ensuring the stop of the host vehicle at the detected vehicle stop position. When the stop position of the vehicle is detected, the rear vehicle is configured to give an alarm to the rear vehicle, so that the rear vehicle can stop the braking of the front vehicle at an earlier timing. Therefore, it is possible to prevent the rear-end vehicle from colliding with the own vehicle stopped at the vehicle stop position.

When the alarm to the rear vehicle is the lighting of the brake lamp, it is possible to recognize the braking stop of the vehicle located in front as described above at an earlier timing, and in particular, the recognition is rearward. Since it is performed by the driver of the vehicle, even if the vehicle behind is not equipped with a means for detecting the vehicle stop position, the presence of the vehicle stop position or the braking prevention of the own vehicle located in front can be known in advance. It is possible to effectively prevent a rear-end collision with the own vehicle located in the.

When the warning to the rear vehicle is transmission of a warning signal for activating the own vehicle warning means of the rear vehicle toward the rear vehicle, the braking stop of the front vehicle as described above is stopped. In addition to being able to know the vehicle at an earlier timing, the driver of the own vehicle of the rear vehicle automatically operates based on the alarm signal, so that the driver of the rear vehicle can reliably detect the presence of the vehicle stop position or the position in front of the vehicle. It is possible to know the braking stop of the host vehicle, and it is possible to effectively prevent the rear-end collision with the host vehicle located in front.

Further, the vehicle safety device according to the present invention comprises:
As described above, the vehicle is equipped with the alarm signal receiving means for receiving the alarm signal transmitted from the preceding vehicle when the vehicle stop position on the traveling path is detected, and the own vehicle is driven when the warning signal from the preceding vehicle is received. Since it is configured to give an alarm to the driver, the own vehicle located in the rear can recognize the braking stop of the front vehicle at an early timing, and the own vehicle located in the rear can collide with the front vehicle. It can be effectively prevented.

This safety device detects a vehicle stop position on the traveling road and issues a warning to the driver of the own vehicle.
When the warning signal from the preceding vehicle is received and a warning is given to the driver of the own vehicle, when the warning to the driver of the own vehicle due to detection of the vehicle stop position is stopped, It is possible to avoid duplication of the warning regarding the vehicle stop position, thereby reducing driver discomfort due to excessive driving interference.

[0016]

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 the relationship between a vehicle stop position at an intersection, a road marker, a host vehicle, a front vehicle and a rear vehicle. is there.

The illustrated embodiment apparatus is based on a vehicle stop position detecting means 2 for detecting a vehicle stop position on a traveling road, a braking ensuring means 4 for ensuring braking of the own vehicle, and a detection of the vehicle stop position. Braking securing control means 6 for operating the braking securing means 4 to secure the stop of the host vehicle to the vehicle stop position, rear vehicle warning means 8 for issuing a warning to the rear vehicle, and the vehicle stop position And a rear vehicle alarm control means 10 for activating the rear vehicle alarm means 8 when is detected.

As shown in FIG. 2, the vehicle stop position detecting means 2 detects a vehicle stop line 36 which is a vehicle stop position before the intersection 34 on the traveling road 32 on which the vehicle 30 travels. Information indicating that the vehicle stop line 36 is present in front of the road marker 38 magnetically written on the road marker 38 provided a predetermined distance before the vehicle stop line 36, and distance information L from the road marker 38 to the vehicle stop line 36. It is constituted by a road marker reading means for reading's from the road marker 38.

The braking securing means 4 is provided with the vehicle stop line 36.
To secure the braking of the own vehicle to surely stop the own vehicle, an automatic braking means 4a that automatically brakes the own vehicle, and a lamp to urge the driver of the own vehicle to perform the braking operation.・ Alarm means for own vehicle that issues an alarm with a buzzer, etc.
It is composed of 4b and.

The braking ensuring control means 6 receives the output from the vehicle stop position detecting means 4 and appropriately stops the own vehicle at the vehicle stop line 36 detected by the detecting means 4 as appropriate. Therefore, the braking ensuring control means 6 is controlled by the vehicle speed V _0.
Outputs of a vehicle speed detecting means 12 for detecting the road surface and a road surface μ detecting means 14 for detecting a road surface friction coefficient (road surface μ) of a traveling road on which the vehicle is traveling are input.

In the vehicle safety device according to this embodiment, the braking ensuring means 4 brakes the own vehicle 30 in order to avoid the collision of the own vehicle 30 with the forward vehicle 40 located in front of the own vehicle 30. The braking securing control means 6 also controls the braking securing means 4 to operate appropriately so as to avoid the collision of the host vehicle 30 with the preceding vehicle 40. Therefore, the braking securing control means 6 is secured. In addition to the own vehicle speed detecting means 12 and the road surface μ detecting means 14, the control means 6 is also configured to receive the output of a vehicle distance detecting means 16 for detecting the distance L ₁ between the own vehicle 30 and the preceding vehicle 40. Has been done.

As the own vehicle speed detecting means 12, for example, a speedometer provided in the own vehicle can be used. Also,
The road surface μ detection means 14 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 16 emits a laser beam forward, receives the reflection from the vehicle 40 in front of the laser beam, and detects the distance L based on the time from the emission to the reception.
Anything that detects ₁ can be used.

The braking ensuring control means 6 detects the distance L's to the vehicle stop line 36 and the distance L ₁ between the own vehicle 30 and the preceding vehicle 40 and detects the vehicle stop line 36.
The braking securing means 4 is operated so that the vehicle can be stopped at any time and the collision with the preceding vehicle 40 can be avoided. Therefore, the inputted L's, L ₁ , V ₀ , μ
Based on the above, the warning start distance L' _{2 at} which the driver of the host vehicle should be alerted to brake in order to stop the host vehicle 30 at the vehicle stop line 36, and the host vehicle 30 to the vehicle stop line 36.
The automatic braking start distance L' _{0 at} which the automatic braking should be started in order to stop the vehicle, and an alarm is issued to urge the driver of the own vehicle to perform braking in order to avoid the collision of the own vehicle 30 with the preceding vehicle 40. Alarm start distance L ₂ and vehicle ahead of own vehicle 30
40, an automatic braking start distance L _{0 at} which automatic braking should be started to avoid a collision with the vehicle 40, and a release distance L _{3 at} which an alarm and automatic braking for avoiding a collision of the vehicle 30 with a vehicle ahead 40 should be released. And the distance L ′ ₁ between the own vehicle 30 and the vehicle stop line 36 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 . Further, the L' ₁ is obtained by calculating the running distance l' ₁ from the road marker 38 by time integration of the vehicle speed V ₀ ,
It is calculated by subtracting this l' ₁ from the above L's.

[0026] Then, the braking secure control unit 6, the L _'1 is L' actuates the vehicle for the warning means 4b After ₂ than the small or L ₁ becomes smaller than L _2, L _'1 is L' _{If the} comb is smaller than _{0, and} L ₁ becomes smaller than L _0, automatic braking means
4a is operated to and L ₁ controls the braking securing means 4 so as to cancel the alarm and automatic braking of the automatic braking means 4a of the alarm means 4b If a larger than L _3.

The safety device further receives a rear vehicle warning means 8 for issuing a warning to the rear vehicle 42 located behind the vehicle 30, and an output from the vehicle stop position detecting means 2 to stop the vehicle. Rear vehicle warning control means 10 for activating the rear vehicle warning means 8 when the position 36 is detected.
And.

The rear vehicle warning means 8 gives a warning to the rear vehicle to give information that the vehicle stop position is present in front of the own vehicle or that the own vehicle is braking or stopping. The brake lamp lighting means 8a for lighting the brake lamp provided on the vehicle rear surface of the own vehicle to give a warning to the driver of the rear vehicle, and the rear vehicle 42 receiving the warning signal from the front vehicle similar to the present embodiment. Assuming that the vehicle is equipped with an alarm means for the own vehicle that gives an alarm to the driver of the own vehicle that is operated when
The rear vehicle 42 is composed of a rear vehicle warning signal transmitting means 8b for transmitting a warning signal (radio signal) for activating the own vehicle warning means.

As described above, the rear vehicle warning control means 10 detects the vehicle stop line 36 by the vehicle stop position detecting means 2.
When this is detected, the rear vehicle warning means 8 is activated. In operating the rear vehicle warning means 8, the automatic brake lamp lighting means 8a and the rear vehicle warning signal transmitting means 8b may be appropriately activated, but in the present embodiment, both means 8a and 8b are operated. Operate at the same time.

The safety device further includes a rear vehicle warning signal transmitting means for issuing a warning signal to the rear vehicle when the front vehicle 40 detects a vehicle stop position on the same traveling path as in the present embodiment. On the assumption that the vehicle stop line 36 on the traveling path 32 is detected from the vehicle 40 ahead of the vehicle 40, it is provided with an alarm signal reception means 18 from the vehicle ahead which receives an alarm signal transmitted.

The braking ensuring control means 6 as the own-vehicle warning control means for controlling the own-vehicle warning means 4b has its own vehicle when the warning signal receiving means 18 receives the warning signal from the preceding vehicle 40. Control is performed to activate the own vehicle warning means 4b in order to give a warning to the driver of 30. Further, when the own vehicle warning means 4b is actuated based on the warning signal from the preceding vehicle 40, the vehicle stop position detecting means 2 of the own vehicle 30 thereafter detects the corresponding vehicle stop line 36. The control is performed so that the above-mentioned own vehicle warning means 4b in FIG.

Next, the operation of the apparatus shown in FIG. 1 will be described with reference to FIGS. 3 and 4 which are flowcharts showing the specific procedure thereof.

First, it is determined whether or not the warning signal receiving means 18 has received a warning signal transmitted when the vehicle stop line 36 on the traveling path 32 from the forward vehicle 40 is detected. If not received, the routine proceeds to R2, where it is determined whether or not the vehicle 30 has passed the road marker 38. If it has not passed yet, the routine proceeds to R3 in order to execute basic control for avoiding contact with the vehicle 40 in front, where V ₀ , μ, L ₁ is detected, and R4 is detected.
At, L ₀ , L ₂ and L ₃ are calculated by the method described above. Then, in R5, it is determined whether the relative speed V ₁ is positive or negative (when it is positive, the vehicle is approaching the preceding vehicle, and when it is negative, the vehicle is away), and V ₁ is determined.
When is less than 0, it is judged in R6 whether L ₁ is smaller than L _2. If it is not small yet, the process proceeds to return. When it becomes small, R7 activates the vehicle warning means 4b. Own vehicle 30
A warning is issued to the driver of the car, and then at R8, L ₁ changes to L ₀
It is judged whether it is smaller, and if it is not smaller, the process proceeds to return, and when it becomes smaller, the automatic braking means 4a is operated at R9 to automatically brake the vehicle 30. Further, L ₁ in the case the relative speed is smaller than 0 R10 is determined whether small or not than L ₃ in R5, go directly to the return if less than L _3, L
_{When 1} becomes L ₃ or more, R11 releases the alarm of R7 and the automatic braking of R9.

Next, when the vehicle passes the road marker 38 at R2, that is, the vehicle 30 is located on the road marker 38 as shown by the chain double-dashed line in FIG. When it is determined that the road marker 38 has been passed by reading the road marker 38 by means, the routine proceeds to R12, where the automatic brake lamp lighting means 8a is operated to turn on the brake lamp in order to give an alarm to the rear vehicle 42. At the same time, the rear vehicle alarm signal transmitting means 8b is operated to transmit an alarm signal for operating the own vehicle alarm means of the rear vehicle 42. Followed by R13 L's, V _0, detects the mu, L in the manner described above in R14 _'0, L' _1,
L 'compares ₂ and, L'_'2 is calculated, it is determined whether or not the own vehicle 30 by R15 is stopped, yet if it is not stopped L in R16' and ₁ L ₁ is L ' R less than ₂
At 17 the alarm means 4b for the own vehicle is activated to give an alarm to the driver of the own vehicle, and if not small, the routine returns to R13. After the alarm is issued, L' ₁ is compared with L' ₀ at R18. If L' ₁ is smaller than L' ₀ , the automatic braking means 4a is operated at R19 to activate the vehicle 30. Automatic braking,
If not small, return to R13.

When the vehicle 30 is stopped, R15
To R20, determine whether the alarms and automatic braking of R17 and R19 are activated, and if they are not activated, turn off the brake lamp lit in R12 in R22 and proceed to return to activate. If so, those operations are released at R21, the brake lamp is similarly turned off at R22, and then the routine proceeds to return. It should be noted that the transmission of the warning signal to the rear vehicle in the above R12 is performed only for a predetermined time set in advance, and the transmission is terminated when the predetermined time has elapsed.

Further, in the above R1, the preceding vehicle 40 mentioned above is used.
When the warning signal from the vehicle is received, the warning means 4b for the own vehicle is activated in R23 to give a warning to the driver of the own vehicle 30, and then the routine proceeds to R2. After the alarm is issued at R23, the alarm at R17 is stopped after passing the road marker.

In the above flow chart, the collision avoidance control with the preceding vehicle is not performed after passing the road marker, but in this case also the collision avoidance control with the preceding vehicle which is the same as during normal traveling is also performed. You may do it.

The vehicle safety device according to the present invention is basically a vehicle stop position detecting means for detecting the vehicle stop position on the traveling road as described above, and a braking ensuring means for ensuring the braking of the own vehicle. And a braking ensuring control means for actuating the braking ensuring means to ensure that the host vehicle stops at the vehicle stop position based on the detection of the vehicle stop position. The rear vehicle warning means for issuing a warning to the vehicle and the rear vehicle warning control means for activating the rear vehicle warning means when the vehicle stop position is detected are provided. When the position is detected, an alarm is issued to the rear vehicle, and as a result, the rear vehicle can know the braking stop of the front vehicle at an earlier timing, and the rear vehicle stops at the vehicle stop position. It is possible to prevent the collision of the rear vehicle with respect to both.

In this case, the vehicle stop position means a position where the vehicle should stop once on the traveling road. For example, there is no vehicle stop line at an intersection, a railroad crossing, a pedestrian crossing, or the like, but the vehicle stops. The position in front of the intersection or the like that should be applied corresponds thereto, and it is not necessarily the vehicle stop line at the intersection.

The vehicle stop position detecting means detects the vehicle stop position, that is, the presence of the vehicle stop position, or the presence of the vehicle stop position and the distance between the vehicle stop positions from the point where the presence is detected. Anything can be used as long as it can be performed before reaching the stop position, and it does not need to be the road marker reading means as described above, and is provided, for example, a predetermined distance before the vehicle stop position. It can be configured by a receiving unit or the like that receives a radio wave having the vehicle stop position information transmitted from the transmitting unit.

The braking securing means may be any means for securing the braking of the host vehicle, and is not necessarily the automatic braking means or the own vehicle alarm means. .

The rear vehicle warning means also informs that there is a vehicle stop position in front of the own vehicle with respect to the rear vehicle, or that the own vehicle is about to brake or stop, or anything about them. Any method may be used as long as it gives an alarm for taking such measures.

[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, a front vehicle, and a rear vehicle.

3 and 4 are flowcharts showing the operating procedure of the embodiment shown in FIG.

[Explanation of symbols]

 2 Vehicle stop position detecting means 4 Braking securing means 4a Automatic braking means 4b Own vehicle warning means 6 Braking securing control means (own vehicle warning control means) 8 Rear vehicle warning means 8a Automatic brake lamp lighting means 8b Rear vehicle warning Signal transmission means 18 Warning signal reception means from front vehicle 30 Own vehicle 32 Driving path 36 Vehicle stop position 40 Front vehicle 42 Rear vehicle

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tomohiko Adachi 3-1, Shinchi Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda Co., Ltd. (72) Inoue Naoji Masuda 3-3 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Corporation Within

Claims (5)

[Claims] 1. A vehicle stop position detecting means for detecting a vehicle stop position on a traveling road, a braking ensuring means for ensuring braking of the own vehicle, and a vehicle stop position detection means for detecting the vehicle stop position based on the detection of the vehicle stop position. A vehicle safety device comprising a braking securing control means for operating the braking securing means to secure the stop of the own vehicle, and a rear vehicle warning means for issuing a warning to a rear vehicle,
A vehicle safety device comprising: a rear vehicle alarm control means for activating the rear vehicle alarm means when the vehicle stop position is detected. 2. The vehicle safety device according to claim 1, wherein the rear vehicle warning means is an automatic brake lamp lighting means for lighting a brake lamp. 3. The rear vehicle alarm means is a rear vehicle alarm signal transmitting means for transmitting an alarm signal for operating the own vehicle alarm means of the rear vehicle to the rear vehicle. 1. The vehicle safety device according to 1. 4. An alarm signal receiving means for receiving an alarm signal transmitted when a vehicle stop position on the traveling road is detected from a preceding vehicle, and an own vehicle alarm means for issuing an alarm to a driver of the own vehicle. And a vehicle safety control means for activating the vehicle self-warning means when an alarm signal from the preceding vehicle is received. 5. A vehicle stop position detecting means for detecting a vehicle stop position on a traveling road is provided, and the own vehicle alarm control means activates the own vehicle alarm means based on the detection of the vehicle stop position. When the warning means for the own vehicle is operated based on the reception of the warning signal from the preceding vehicle, the operation of the warning means for the own vehicle based on the detection of the vehicle stop position is to be stopped. The vehicle safety device according to claim 4, wherein the safety device is a vehicle safety device.