Source: https://patents.google.com/patent/JP2010128637A/en
Timestamp: 2019-12-15 17:56:27
Document Index: 6008581

Matched Legal Cases: ['art 7', 'art 7', 'art 7', 'art 25', 'art 7', 'art 7', 'art 7']

JP2010128637A - Device for facilitating braking preparation - Google Patents
Device for facilitating braking preparation Download PDF
JP2010128637A
JP2010128637A JP2008300456A JP2008300456A JP2010128637A JP 2010128637 A JP2010128637 A JP 2010128637A JP 2008300456 A JP2008300456 A JP 2008300456A JP 2008300456 A JP2008300456 A JP 2008300456A JP 2010128637 A JP2010128637 A JP 2010128637A
JP2008300456A
Kimiharu Koga
威 佐藤
公治 古賀
悟朗 小林
忠靖 金子
2008-11-26 Application filed by Pioneer Electronic Corp, パイオニア株式会社 filed Critical Pioneer Electronic Corp
2008-11-26 Priority to JP2008300456A priority Critical patent/JP2010128637A/en
2010-06-10 Publication of JP2010128637A publication Critical patent/JP2010128637A/en
<P>PROBLEM TO BE SOLVED: To solve the problem that when a vehicle follows a preceding vehicle having an insufficient distance to a vehicle running ahead, the vehicle cannot respond to the preceding vehicle which has braked suddenly in response to the sudden braking of the vehicle running ahead, resulting in collision. <P>SOLUTION: A target vehicle specification part 7c specifies a target vehicle as a vehicle 39 running ahead of a preceding vehicle based on the location detection result of a vehicle detection part 7b. A braking detection part 7e detects a braking state of the vehicle 39 based on a braking signal received through a communication part 25 from the vehicle 39. When the braking of the vehicle 39 is detected by the braking detection part 7e, a notification control part 7d outputs a first notification signal to give a predetermined warning. <P>COPYRIGHT: (C)2010,JPO&INPIT
The present invention relates to a braking preparation promoting device that promotes braking preparation in advance during traveling.
In recent years, various techniques have been developed to prevent a rear-end collision of a vehicle. As a conventional vehicle control device for preventing such rear-end collision, for example, when a situation in which braking of the own vehicle is necessary in front of the own vehicle (hereinafter referred to as “own vehicle”) is detected, Information on the vehicle is detected, and lighting of a warning light for the rear vehicle is controlled based on the detected information on the rear vehicle (see, for example, Patent Document 1).
JP 2000-118296 A (paragraph numbers 0011 to 0027, FIG. 2)
The above-described conventional technology is a technology for preventing a rear vehicle from colliding with the vehicle by warning the vehicle behind the vehicle when a situation in which the vehicle needs to be braked is detected in front of the vehicle. . However, with this prior art, for example, if the distance between the vehicle and the vehicle behind it is not sufficient, the vehicle will need to know when the vehicle needs to be suddenly braked. A rear vehicle that cannot prepare for braking in advance may not be in time for braking and may collide with its own vehicle.
In order to solve the above-mentioned problem, the invention described in claim 1 is a braking preparation promoting device that is mounted on an own vehicle (hereinafter referred to as an own vehicle) and promotes the braking preparation of the own vehicle. A vehicle (hereinafter referred to as the preceding vehicle) that precedes the vehicle in the order of one vehicle earlier than the own vehicle on the front side in the traveling direction of the own vehicle on the same traveling lane as the own vehicle (hereinafter referred to as the own lane). A front vehicle detecting means for detecting the presence and at least one first preceding vehicle preceding in front of the front vehicle in the vehicle front direction in the traveling direction of the front vehicle in order of at least one vehicle ahead of the front vehicle should be monitored. A first target vehicle specifying means for specifying the target vehicle; a braking detection means for detecting a braking state of the target vehicle; and a predetermined warning when the braking state of the target vehicle is detected by the braking detection means. To output a first notification signal for Comprising a notification control means.
In order to solve the above-mentioned problems, an invention according to claim 11 is a braking preparation promoting device that is mounted on an own vehicle (hereinafter referred to as an own vehicle) and promotes the braking preparation of the own vehicle. A vehicle (hereinafter referred to as the preceding vehicle) that precedes the vehicle in the order of one vehicle earlier than the own vehicle on the front side in the traveling direction of the own vehicle on the same traveling lane as the own vehicle (hereinafter referred to as the own lane). A front vehicle detection means for detecting the presence and a traveling lane different from the own vehicle (hereinafter referred to as another lane) precedes the front of the front vehicle in the order of at least one vehicle ahead of the front vehicle. Second target vehicle specifying means for specifying a target vehicle to be monitored among at least one second preceding vehicle; lane change detection means for detecting a lane change state of the target vehicle from the other lane to the own lane; The lane change detecting means is used to change the lane. If the condition is detected, and a second notification control means for outputting a second notification signal for notifying a predetermined warning.
FIG. 1 is an explanatory diagram showing a traveling position relationship of a vehicle provided with a braking preparation promoting device in the present embodiment. In the example of FIG. 1, a vehicle 30, a vehicle 33, and a vehicle 39 are traveling in the same lane toward the right side in the figure. Of these vehicles 30, 33, and 39, in the present embodiment, the vehicle 30 is hereinafter referred to as the own vehicle 30 as a reference for explanation. In addition, a vehicle 33 that precedes in order of one vehicle ahead of the host vehicle 30 on the front side in the traveling direction of the host vehicle 30 on the same travel lane as the host vehicle 30 is hereinafter referred to as a front vehicle 33. Further, the vehicle 39 that precedes the front vehicle 33 in the order of the vehicle ahead of the front vehicle 33 on the front side in the traveling direction of the front vehicle 33 on the same travel lane as the host vehicle 30 is hereinafter referred to as a front vehicle 39. The preceding vehicle 39 constitutes at least a part of a first preceding vehicle that precedes at least one vehicle ahead of the preceding vehicle 33 on the front side in the traveling direction of the preceding vehicle 33 on the same travel lane as the host vehicle 30. ing.
FIG. 2 is a block diagram illustrating a hardware configuration example of the braking preparation promoting device 100 according to the present embodiment. The braking preparation promotion device 100 is provided not only in the host vehicle 30 described above but also in all the first preceding vehicles including the front vehicle 33, the front vehicle 39, and the vehicle 35 described later. In the present embodiment, the braking preparation promoting device 100 is described as being provided as a part of the configuration and functions of the navigation device, but is not limited thereto. Further, as described above, in the present embodiment, the configuration and operation of the braking preparation promotion device 100 provided in the host vehicle 30 will be described below as an example.
In the braking preparation promotion device 100, the storage device 18, the arithmetic device 20, the display control circuit 14, the communication unit 25, and the interface 6 are connected to the bus 12. The communication unit 25 corresponds to a communication unit, and performs information communication with the outside under the control of the CPU 7.
A display 15 is connected to the braking preparation promoting device 100. The display 15 may be incorporated in the braking preparation promoting device 100. Various sensors 22, a speaker 19, a camera 23, and a touch panel 21 are connected to the braking preparation promotion device 100 via an interface 6. These various sensors 22 may be part of the brake preparation promoting device 100.
A storage device 18, an interface 6, an arithmetic device 20 and a display control circuit 14 are connected to the bus 12. Therefore, the arithmetic unit 20 is configured to be able to exchange data with the storage device 18, the interface 6, and the display control circuit 14.
Examples of the various sensors 22 include one of acceleration sensor 5, gyro sensor 2, vehicle speed pulse detector 3, GPS (Global Positioning System) 4, and geomagnetic sensor 11, or any combination thereof. . In the present embodiment, when the outputs of the various sensors 22 are collectively referred to, they are also called “sensor data”.
The acceleration sensor 5 has a function of detecting at least one of the acceleration and the inclination angle of the host vehicle 30. The gyro sensor 2 is a kind of angular velocity sensor that outputs angular velocity data accompanying a change in direction, and has a function of detecting the moving direction of the host vehicle 30. Note that the tilt angle may be measured by the gyro sensor 2 instead of the acceleration sensor 5.
The vehicle speed pulse detector 3 has a function of detecting the amount of movement and acceleration of the host vehicle 30, detects whether the host vehicle 30 is moving or stopped, and outputs the detection state. The vehicle speed pulse detector 3 has a function of outputting travel state data relating to the travel speed and travel distance of the host vehicle 30 when the host vehicle 30 is moving.
The GPS 4 has a function of receiving radio waves from a plurality of GPS satellites, performing calculation, positioning a current traveling position of the host vehicle 30 (hereinafter referred to as a current location), and generating position information. For example, the GPS 4 generates positioning data of any one of latitude, longitude, altitude, and traveling direction, or any combination thereof. Specifically, the GPS 4 has a function of, for example, measuring pseudo distances to four satellites observed at the same time and positioning the current location based on a difference in pseudo distances to these four satellites.
The geomagnetic sensor 11 is a kind of azimuth detecting device that detects an angle representing the absolute azimuth of the vehicle 30 based on geomagnetism. Examples of such an angle include an azimuth angle.
The camera 23 captures the front of the host vehicle 30 and outputs the captured video data. The video data is stored in a RAM 9 which will be described later via the interface 6.
The storage device 18 includes a ROM 8, a RAM 9, and a recording medium 16.
The ROM 8 is an information storage medium in which various processing programs described later and other necessary information are written in advance.
The RAM 9 is an information storage medium on which information necessary for executing the various programs is written and read, and is a memory capable of storing programs, tables, and data described later in a volatile manner.
The recording medium 16 is an information storage medium such as a flash memory or a hard disk, and can store map data described later in a nonvolatile manner. This map data includes information about nodes and links, for example.
The arithmetic unit 20 includes a CPU 7 and a graphic controller 13.
The CPU 7 has a function of controlling each connected device and performing various calculations and controls according to the various programs. CPU7 analyzes the image | video ahead of the own vehicle 30 based on the image | video data memorize | stored in RAM9, for example using an image recognition function, for example, detects the front vehicle 33 which drive | works the advancing direction.
The graphic controller 13 has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 7 and causing the display control circuit 14 to display an image based on the image data on the display 15. Specifically, the graphic controller 13 has a function of displaying, for example, an electronic map based on the map data on the display 15 or displaying a map representing the current location of the host vehicle 30 on the electronic map. Have.
The speaker 19 has a function of outputting sound under the control of the CPU 7.
The touch panel 21 is a transparent switch provided, for example, along the surface of the display area of the display 15. The touch panel 21 is configured such that, for example, when there is a contact by a driver or a passenger of the host vehicle 30 according to a display object in the display area of the display 15, a switch at the contact location is turned on.
FIG. 3 is a block diagram illustrating a configuration example of functions executed by the CPU 7. Note that the software shown in FIG. 3 is an example of a program and data whose operation is controlled by the CPU 7. Hereinafter, a configuration example of software will be described with reference to FIG.
The braking preparation promoting device 100 includes a signal output control unit 7a, a vehicle detection unit 7b, a monitoring target vehicle identification unit 7c, a notification control unit 7d, and a braking detection unit 7e.
The signal output control unit 7a controls to output a position signal including the position information of the current location of the host vehicle 30 generated by the GPS 4 via the communication unit 25. Further, for example, when a brake operation is performed by the driver of the host vehicle 30, the signal output control unit 7 a controls to output a braking signal indicating that the host vehicle 30 is braking through the communication unit 25. Note that the braking at this time may include an engine brake, an exhaust brake, or the like in addition to a normal brake in which the driver depresses the pedal.
The vehicle detection unit 7b receives position information (such as the front vehicle 33 and the front vehicle 39) included in the position signal received from another vehicle such as the front vehicle 33 and the front vehicle 39 via the communication unit 25. The function of detecting the presence and position of the front car 33, the front car 39, etc. based on the information generated by the GPS 4 of the car 39 and the position information of the car 30 measured by the GPS 4 of the car 30 Have The function of detecting the presence of the front vehicle 33 in the vehicle detection unit 7b corresponds to the front vehicle detection means. In addition, this vehicle detection part 7b uses the information obtained by analyzing the video data imaged with the camera 23 mentioned above with the arithmetic unit 20 mentioned above, the information obtained with the ranging sensor etc. which is not shown in figure. Based on this, the relative distance from the front wheel 33 may be grasped and the position of the front wheel 33 may be detected.
The monitoring target vehicle specifying unit 7c corresponds to a first target vehicle specifying unit, and includes the position of the preceding vehicle 39 detected by the vehicle detecting unit 7b and the position information of the own vehicle 30 measured by the GPS 4 of the own vehicle 30. Based on this, it has a function of specifying a target vehicle to be monitored. The main point of the braking preparation promoting device 100 of the present embodiment is to prevent the collision of the host vehicle 30 with the front vehicle 33, and before the situation in which the front vehicle 33 must be suddenly braked occurs, the host vehicle 30 in advance. To that driver. For this purpose, attention is paid to the behavior of the vehicle that may cause sudden braking of the front car 33. Therefore, in this case, the preceding vehicle 39 that precedes the preceding vehicle 33 in the order of one vehicle earlier is the target vehicle.
The braking detection unit 7e corresponds to a braking detection unit, and detects the braking state of the target vehicle specified by the monitoring target vehicle specifying unit 7c. Specifically, based on the braking signal received from the preceding vehicle 39 via the communication unit 25 (output from the signal output control unit 7a such as the preceding vehicle 39), the preceding vehicle 39 is braking. Detect that there is.
The notification control unit 7d corresponds to a first notification control unit, and a notification signal (corresponding to a first notification signal) for notifying a predetermined warning when the braking state of the vehicle 39 is detected by the braking detection unit 7e in advance. A function to output Specifically, the display control circuit 14 is controlled via the graphic controller 13 by the notification signal, and a predetermined warning is displayed on the display 15 for notification. Alternatively, a notification signal may be output to the speaker 19 via the interface 6 and a predetermined warning may be issued. As warnings at this time, for example, indications such as “Beware of sudden braking!” “Prepare to brake!”, Pronunciations, and the like can be given.
The braking preparation promoting device 100 is one example of the configuration as described above. Next, an example of the operation according to the example of the configuration will be described with reference to FIG.
FIG. 4 is a flowchart illustrating an example of a procedure of the braking preparation promotion method.
In step S10, it is determined whether or not the presence of the front vehicle 33 traveling in front of the host vehicle 30 has been detected by the function of the vehicle detection unit 7b described above. The loop waits until the front vehicle 33 can be detected. If the front vehicle 33 can be detected, the determination in step S10 is satisfied, and the routine proceeds to step S20.
In step S20, it is determined whether there is a target vehicle by the function of the monitoring target vehicle specifying unit 7c. Specifically, in this example, it is determined whether or not the vehicle detection unit 7b detects the presence of the preceding vehicle 39 that travels ahead of the front vehicle 33. If the presence of the vehicle 39 is not detected before, the determination is not satisfied, and the process returns to step S10 and the same procedure is repeated.
On the other hand, if the presence of the preceding vehicle 39 is detected, the determination in step S20 is satisfied, and the preceding vehicle 39 is specified as the target vehicle. Specifically, for example, an identifier that can be distinguished from other vehicles such as the front vehicle 33 is assigned to the position information of the vehicle 39 before the vehicle 39 and stored in the RAM 9. If the ROM 8 is a rewritable storage medium, it may be stored in the ROM 8 instead of the RAM 9. Thereafter, the process proceeds to step S30.
In step S30, it is determined whether or not the braking state of the preceding vehicle 39, which is the target vehicle, has been detected by the function of the braking detection unit 7e. Specifically, in this example, it is determined whether or not a braking signal has been received from the vehicle 39 via the communication unit 25. In the communication unit 25, braking signals are input from all surrounding vehicles including the preceding vehicle 33 and the preceding vehicle 39, and whether or not there is a braking signal from the preceding vehicle 39 specified as the target vehicle in step S20. You may make it determine. If the braking state of the vehicle 39 is not detected before, the determination in step S30 is not satisfied and the process returns to step S10 and the same procedure is repeated. If the braking state of the vehicle 39 is detected before, the determination at Step S30 is satisfied, and the routine goes to Step S40.
In step S40, the notification signal is output by the function of the notification control unit 7d, and a predetermined warning is issued on the display 15 or the speaker 19, for example. Thereafter, this flow is terminated.
As described above, the braking preparation promoting device 100 according to the present embodiment has the own vehicle 30 on the front side in the traveling direction of the own vehicle 30 in the same traveling lane as the own vehicle 30 (hereinafter referred to as the own lane). Front vehicle detection means 7b (corresponding to a vehicle detection unit) for detecting the presence of a preceding vehicle 33 (hereinafter referred to as the front vehicle) in the order of the earlier vehicle, and the traveling direction of the front vehicle 33 in the own lane Identify at least one first preceding vehicle 39 (corresponding to the preceding vehicle) that precedes at least one vehicle ahead of the preceding vehicle 33 on the front side, and that is to be monitored 39 (corresponding to the preceding vehicle) to be monitored The first target vehicle specifying means 7c (corresponding to the monitoring target vehicle specifying section), the braking detection means 7e (corresponding to the braking detection section) for detecting the braking state of the target vehicle 39, and the braking detection means 7e The braking state of the vehicle 39 is detected. If it is provided with a first notification control unit 7e for outputting a first notification signal for notifying a predetermined warning (corresponding to notification control unit), a.
With such a configuration, when the target vehicle 39 preceding the front vehicle 33 performs braking, the driver of the host vehicle 30 is notified in advance that it is necessary to perform braking. Accordingly, the driver of the host vehicle 30 can grasp in advance the timing of the start of braking in the target vehicle 39 even when the start of braking in the front vehicle 33 is delayed even though the target vehicle 39 has started braking. Therefore, braking can be performed without sudden braking. For this reason, a rear-end collision can be prevented.
In addition to the above-described configuration, the braking preparation promoting device 100 in the above embodiment further includes positioning means 4 (GPS for generating position information by measuring the current traveling position of the host vehicle 30 (hereinafter referred to as the current location). And the communication means 25 (corresponding to a communication unit) for communicating information with the outside, and the front vehicle detection means 7b is based on the positioning result of the positioning means 4 and the position information of the host vehicle 30 And the presence of the front vehicle 33 is detected according to the positional information of the front vehicle 33 received from the front vehicle 33 via the communication unit 25, and the first target vehicle specifying unit 7c The target vehicle according to the position information of the host vehicle 30 based on the positioning result of the positioning means 4 and the position information of the first preceding vehicle received from the first preceding vehicle via the communication means 25. 39, the braking detection means e is the received through the communication unit 25 from the target vehicle 39, the target vehicle 39 based on the brake signal indicating that it is braking, detects the braking state of the target vehicle 39.
With such a configuration, the front vehicle 33 and the first preceding vehicle are reliably detected from the respective position information, and the braking state of the target vehicle 39 is reliably detected on the own vehicle 30 side by communication, Notification can be performed.
In the braking preparation promoting device 100 in the above embodiment, in addition to the above-described configuration, the first target vehicle specifying means 7c further includes the position information of the front vehicle 33 received from the front vehicle 33, and the first preceding vehicle. Based on the position information of the first preceding vehicle received from the vehicle, the vehicle 39 that is included in the first preceding vehicle and precedes in the order of one vehicle earlier than the preceding vehicle on the front side in the traveling direction of the preceding vehicle 33. (Hereinafter, referred to as the car before) is identified as the target vehicle.
If comprised in this way, if the vehicle 39 will brake before, it will alert | report beforehand that the driver | operator of the own vehicle 30 needs to brake. As a result, the driver of the host vehicle 30 knows in advance the timing of the start of braking in the preceding vehicle 39 even when the braking of the preceding vehicle 33 is delayed even though the preceding vehicle 39 has started braking. Therefore, braking can be performed without sudden braking. For this reason, the rear-end collision accident to the front vehicle 33 by the own vehicle 30 can be prevented.
In addition, this embodiment is not restricted above, A various deformation | transformation is possible. Hereinafter, such modifications will be described in order.
(1) When a monitoring target vehicle is specified using a reference distance In this modification, a reference distance for determining whether monitoring is necessary is set for the inter-vehicle distance between the preceding vehicle 33 and the preceding vehicle 39. Keep it. That is, as shown in FIG. 5, for example, when the inter-vehicle distance I1 between the preceding vehicle 33 and the preceding vehicle 39 is equal to or less than a predetermined reference distance A, the monitoring target vehicle specifying unit 7c Target vehicle. This reference distance A is a distance that is set to a desired value from the experience value of the distance. This value may be acquired by learning from the brake behavior log of the host vehicle 30, for example.
In addition, the reference distance A at this time may be a fixed value or may be changed as appropriate according to the setting. For example, the monitoring target vehicle specifying unit 7c may change the reference distance A according to the vehicle speed of the host vehicle 30 measured by the vehicle speed pulse detector 3 of the host vehicle 30. For example, the reference distance A may be increased as the vehicle speed of the host vehicle 30 increases, and the reference distance A may be decreased as the vehicle speed of the host vehicle 30 decreases.
Conversely, as shown in FIG. 6, for example, when the inter-vehicle distance I2 between the front car 33 and the front car 39 exceeds the reference distance A, the monitoring target vehicle specifying unit 7c No. 39 is not a target vehicle (even if it is the first preceding vehicle that precedes at least one vehicle ahead of the preceding vehicle 33). In this case, the target vehicle does not exist as a result.
In addition to the above-described configuration, the braking preparation promoting device 100 according to the present modification further includes the first target vehicle specifying means 7c, the position information of the front vehicle 33 received from the front vehicle 33, and the front-to-front vehicle. If the distance l1 from the preceding vehicle 39 to the preceding vehicle 33 is within a reference distance A based on the position information of the preceding vehicle 39 received from the preceding vehicle 39, the preceding vehicle 39 is regarded as the target vehicle. Identify.
In this way, when the distance l1 between the preceding vehicle 39 and the preceding vehicle 33 is relatively small and there is a high possibility that the braking of the preceding vehicle 39 will immediately affect the preceding vehicle 33, the notification is surely performed. Can do.
In addition to the above-described configuration, the brake preparation promoting device 100 according to the present modification further includes the first target vehicle specifying means 7c, the positional information of the front vehicle 33 received from the front vehicle 33, and the vehicle before the vehicle. If the distance from the preceding vehicle 39 to the preceding vehicle 33 exceeds the reference distance A based on the position information of the preceding vehicle 39 received from 39, the preceding vehicle 39 is determined to be the target vehicle. Do not specify.
In this way, when the distance l2 between the preceding vehicle 39 and the preceding vehicle 33 is somewhat large, it is unlikely that the braking of the preceding vehicle 39 will immediately affect the preceding vehicle 33. Since the braking can be performed at the same time, the possibility of the collision of the host vehicle 30 is small, and the notification can be excluded.
In addition to the above-described configuration, the braking preparation promoting device 100 in the present modification further includes vehicle speed measuring means 3 (corresponding to a vehicle speed pulse detector) that measures the vehicle speed of the host vehicle 30, and the first target vehicle identification The means 7b changes the reference distance A according to the vehicle speed of the host vehicle 30 measured by the vehicle speed measuring means 3.
In this way, by increasing the reference distance A as the vehicle speed of the host vehicle 30 increases, it is possible to reliably prevent collision in high-speed driving where there is no margin for braking even when the inter-vehicle distance is relatively large. In addition, by making the reference distance A smaller as the vehicle speed of the host vehicle 30 is slower, it is possible to prevent a meaningless useless warning from being issued in low-speed driving where there is a margin for braking even if the inter-vehicle distance is relatively small. It becomes possible.
(2) Cases in which vehicles other than the preceding vehicle are the vehicles to be monitored For example, as shown in FIG. When the vehicle is traveling at a short distance, there is a possibility that the sudden braking of the vehicle 41 before the vehicle will be chained into the sudden braking of the vehicle 39 and the 33 of the preceding vehicle. In such a case, all vehicles connected at a short distance from the front vehicle 33 are set as the target vehicles.
Specifically, as shown in FIG. 7, the inter-vehicle distance I3 between the front car 33 and the front car 39 is not more than the reference distance A, and the inter-vehicle distance I4 between the front car 39 and the front car 41 is also the same. If it is equal to or less than the reference distance A, the monitoring target vehicle specifying unit 7c sets both the preceding vehicle 39 and the preceding vehicle 41 as the target vehicles. The preceding vehicle 39 and the preceding vehicle 41 that are relatively close to each other correspond to continuous preceding vehicles, and at least a part of the first preceding vehicle that precedes at least one vehicle ahead of the preceding vehicle 33 in order. It is composed.
In addition to the above-described configuration, the braking preparation promoting device 100 according to the present modification further includes the first target vehicle specifying means 7c that is spaced from the preceding vehicle 39 by an interval I4 within the reference distance A from the first preceding vehicle 39. If at least one vehicle 41 preceding in sequence (hereinafter referred to as a continuous preceding vehicle) is included, all the continuous preceding vehicles 41 are identified as target vehicles.
In this way, attention is paid to the behavior of the vehicle 41 ahead of the preceding vehicle 39, which can have a chain effect on the braking behavior of the front vehicle 33, and the braking is detected and the vehicle 30 is notified. It can be carried out. As a result, the collision of the host vehicle 30 with the front vehicle 33 can be more reliably prevented.
(3) When excluding application during low-speed driving In other words, even when the CPU 7 satisfies the above-described condition of detecting the braking state of the target vehicle, the vehicle speed of the host vehicle 30 is lower than the predetermined speed. May restrict the operation of the notification control unit 7d on the assumption that the risk of collision is low. Specifically, control is performed so that notification is not performed, notification sound is reduced, notification display is conservative, and the like. In this case, the CPU 7 corresponds to restriction control means. Further, the predetermined speed may be a fixed speed, a speed limit of the traveling road, or may be variably determined as appropriate.
FIG. 8 is a flowchart showing an example of the braking preparation promotion method in the case where the notification is not performed, and corresponds to FIG. Specifically, steps S1 and S5 are newly provided before step S10. In step S1, the speed of the host vehicle 30 is detected using the vehicle speed pulse detector 3, and in step S5, it is determined whether or not the detected speed is equal to or higher than the predetermined speed (for example, the speed limit on the traveling road). ing. If the speed is equal to or higher than the predetermined speed, the determination in step S5 is satisfied, and step S10 and subsequent steps similar to those in FIG. 4 are executed. If the speed is less than the predetermined speed, the process returns to step S1 and the same procedure is repeated.
In addition to the above-described configuration, the braking preparation promoting device 100 in the present modification example further includes:
When the vehicle speed of the host vehicle 30 measured by the vehicle speed measuring means 3 is lower than the speed limit of the road on which the vehicle is running, the restriction control means 7 (for the CPU) that restricts the operation of the first notification control means 7d. Equivalent).
In this way, in a situation where the vehicle 30 can sufficiently cope with sudden braking, such as a low vehicle speed, it is possible to prevent excessive warnings and concentrate on driving without distracting the driver of the vehicle 30 Can be made.
(4) When using vehicle identification information That is, in this modification, vehicle identification information is memorize | stored in ROM8 of each vehicle containing the own vehicle 30, the front vehicle 33, and the front vehicle 39. FIG. This vehicle identification information is an identification number or an identification symbol unique to each vehicle, which is uniquely given to each vehicle on which the braking preparation promoting device 100 is mounted.
The signal output control unit 7a of each vehicle causes the vehicle identification information of the vehicle to be output in association with the above-described braking signal and position signal. Then, in step S20 of the aforementioned flow shown in FIG. 4, when the monitoring target vehicle specifying unit 7c of the own vehicle 30 specifies the preceding vehicle 39 as the target vehicle, as described above, it is attached to the position signal of the preceding vehicle 39. The vehicle identification information thus stored is stored in the RAM 9. After that, in step S30, when the braking detection unit 7e of the host vehicle 30 receives a braking signal from the vehicle 39 before the vehicle 39, the vehicle identification information associated with the braking signal is stored in the RAM 9, and the position information is stored in the RAM 9. It collates with the vehicle identification information attached to. When the two vehicle identification information matches, it is confirmed that the target vehicle including the vehicle 39 and the like is surely in a braking state.
In addition to the above-described configuration, the braking preparation promoting device 100 according to the present modification further includes the position information of the target vehicle 39 and the braking signal received via the communication unit 25, respectively. The braking detection means 7e collates the identification information attached to the position information with the identification information attached to the braking signal, so that the target vehicle 39 It detects that it is in a braking state.
If it does in this way, it can be checked whether the vehicle which outputted the received position signal and the vehicle which outputted the received braking signal are the same. As a result, it can be detected with high accuracy that the target vehicle 39 is certainly in a braking state. In the same vehicle, for example, when braking is performed several times in a certain short time called a so-called pumping brake, it is accurately and immediately recognized that each braking signal is output from the same vehicle. You can also.
(5) In the case where the informing means is incorporated In the above, the display 15 and the speaker 19 that are the informing means are separate from the braking preparation promoting device 100. However, the present invention is not limited to this. It may be a part. Note that the notification means at this time is not limited to the display 15 and the speaker 19, and any means may be used as long as it allows the driver to feel sensually, such as vibration providing means for applying vibration. The same applies to the embodiment and the modifications (1) to (4).
In addition to the configuration described above, the braking preparation promoting device 100 according to the present modification further includes notification means 15 and 19 (corresponding to a display and a speaker) that notify the predetermined warning based on the first notification signal. If it does in this way, the brake preparation promotion apparatus 100 can be made into the all-in-one type which does not need to prepare an alerting | reporting means separately, and can reduce the number of parts at the time of system construction.
(6) When dealing with interruption due to lane change In the above-described embodiment and the braking preparation promoting device 100 according to the modified examples of (1) to (5), the situation in which the front wheel 33 has to suddenly brake is used. In order to detect and notify the driver of the vehicle 30 in advance, the vehicle 39 traveling in front of the front vehicle 33 in the same lane as the vehicle 30 or before traveling in front of the same lane. The braking state of the vehicle 41 etc. was detected. However, when a vehicle traveling in a lane different from the traveling lane of the host vehicle 30 suddenly changes lanes to block or obstruct the way of the front vehicle 33, the front vehicle 33 is also suddenly braked. There is a possibility that it will be necessary to do. The braking preparation promoting device 100A of the present modification is for dealing with such a case. In each figure, the same code | symbol is attached | subjected to the part equivalent to the brake preparation promotion apparatus 100 in the said embodiment and the modification of (1)-(5), and description is abbreviate | omitted or simplified suitably.
FIG. 9 is an explanatory diagram showing the traveling state of each vehicle as described above. In this example, the host vehicle 30 and the front vehicle 33 travel on the same lane (hereinafter referred to as the host lane) L1. ing. Further, a vehicle (hereinafter referred to as the front of another lane) in the order of one vehicle earlier than the front vehicle 33 at a position ahead of the front vehicle 33 in a lane L2 (hereinafter referred to as another lane) L2 different from the lane L1. 43) is running ahead. The vehicle 43 in front of another lane is at least a second preceding vehicle that precedes at least one vehicle ahead of the front vehicle 33 on the front side in the traveling direction of the front vehicle 33 on the other lane L2 different from the own vehicle 30. Part of it.
At this time, for example, as shown in FIG. 9, the detection that the vehicle 43 in front of the other lane is traveling in the other lane L2 is detected based on the position information of the vehicle 43 in front of the other lane. What is necessary is just to determine with driving | running | working another lane that the width direction distance I5 with the car 43 is more than the predetermined reference distance B. This reference distance B may generally be set from information on the lane width, may acquire information on the lane of the road on which the host vehicle 30 is traveling, or may measure the lane width during traveling. Also good.
The hardware configuration of the braking preparation promotion device 100A in the present modification is the same as that of the braking preparation promotion device 100 described above with reference to FIG. The braking preparation promoting device 100A is provided not only for the host vehicle 30 described above but also for all the second preceding vehicles including the front vehicle 33 and the vehicle 43 before the other lane. In the present modification as well, as described above, the braking preparation promoting device 100A is described as being provided as a part of the configuration and functions of the navigation device, but is not limited thereto. Similarly to the above, the configuration and operation of the braking preparation promoting device 100A provided in the host vehicle 30 will be described below as an example.
FIG. 10 is a block diagram illustrating a configuration example of functions and the like executed by the CPU 7 in the braking preparation promoting device 100A of the present modification, and corresponds to FIG. Note that the software shown in FIG. 10 is an example of a program and data whose operation is controlled by the CPU 7.
In FIG. 10, the brake preparation promoting device 100A is newly provided in place of the signal output control unit 7a, the vehicle detection unit 7b, the monitored vehicle specifying unit 7c, the notification control unit 7d, and the brake detection unit 7e as described above. And a lane change detector 7f.
The signal output control unit 7a controls to output a position signal including the position information of the host vehicle 30 generated by the GPS 4 via the communication unit 25 as described above. Further, in this modification, when acceleration in the road width direction (so-called lateral G) is generated by the driving operation of the driver of the host vehicle 30, it corresponds to the angular acceleration value measured by the gyro sensor 2 corresponding to the angular acceleration measuring means. The angular acceleration signal thus output is output via the communication unit 25 under the control of the signal output control unit 7a.
The monitoring target vehicle specifying unit 7c corresponds to a second target vehicle specifying unit, and the position of the vehicle 43 in front of another lane detected by the vehicle detecting unit 7b and the position information of the own vehicle 30 measured by the GPS 4 of the own vehicle 30. Based on the above, it has a function of specifying a target vehicle to be monitored. In the present modification, as described above, the target vehicle is the vehicle 43 in front of another lane that precedes the preceding vehicle 33 in the order of one vehicle earlier in the other lane L2.
The lane change detection unit 7f corresponds to a lane change detection means, and detects the lane change state of the target vehicle specified by the monitoring target vehicle specifying unit 7c from the other lane L2 that is not the own lane L1 to the own lane L1. Specifically, based on the angular acceleration signal (output from the signal output control unit 7a of the preceding lane 43, etc.) received from the preceding lane 43 via the communication unit 25, the different lane It detects that the preceding vehicle 43 is about to change the lane from the other lane L2 to the own lane L1.
The notification control unit 7d corresponds to a second notification control means, and a notification signal (second signal) for informing a predetermined warning when the lane change detection unit 7f detects a lane change state of the vehicle 43 before another lane. (Corresponding to a notification signal). Specifically, the notification is performed on the display 15 and the speaker 19 in the same manner as described above.
The braking preparation promoting device 100A is one configuration example as described above. Next, an operation example according to the one configuration example will be described with reference to FIG. FIG. 11 is a flowchart showing an example of the procedure of the braking preparation promotion method, and corresponds to FIG. 4 and FIG. The same steps as those in FIG. 4 are denoted by the same reference numerals, and description thereof will be omitted or simplified as appropriate.
In FIG. 11, step S30A is provided instead of step S30 in FIG.
That is, the front vehicle 33 is detected by the function of the vehicle detection unit 7b in step S10, and the determination is satisfied. In step S20, the presence detection of the vehicle 43 in front of another lane in the vehicle detection unit 7b is detected by the function of the monitored vehicle specifying unit 7c. Is confirmed and the determination is satisfied, like the preceding vehicle 39, the preceding vehicle 43 in the other lane is specified as the target vehicle, and the process proceeds to step S30A.
In step S30A, the function of the lane change detection unit 7f determines whether the lane change state from the other lane L2 to the own lane L1 of the preceding lane 43, which is the target vehicle, is detected. Specifically, as described above, based on the angular acceleration signal received from the front lane 43 via the communication unit 25, it is determined whether the front lane 43 is in the lane change state to the own lane L1. To do. The communication unit 25 inputs angular acceleration signals from all the surrounding vehicles including the front vehicle 33 and the preceding vehicle 39, and the angular acceleration signal from the other lane front vehicle 43 identified as the target vehicle in step S20 from among them. It may be extracted and the above determination may be made. When the lane change state of the vehicle 43 before the other lane is not detected, the determination in step S30A is not satisfied, the process returns to step S10, and the same procedure is repeated. If the braking state of the vehicle 43 before the other lane is detected, the determination at Step S30A is satisfied, and the routine goes to Step S40.
In step S40, as described above, the notification signal is output by the function of the notification control unit 7d and a predetermined warning is issued. Thereafter, this flow is terminated.
The braking preparation promoting device 100A in the present modification is a vehicle that is one vehicle ahead of the host vehicle 30 on the front side in the traveling direction of the host vehicle 30 in the same travel lane (hereinafter referred to as host vehicle lane) L1 as the host vehicle 30. A front vehicle detection means 7b (corresponding to a vehicle detection unit) that detects the presence of a vehicle 33 that precedes in order (hereinafter referred to as a front vehicle) and a traveling lane L2 (hereinafter referred to as another lane) that is different from the host vehicle 30. Among the at least one second preceding vehicle that precedes at least one vehicle ahead of the front vehicle 33 on the front side in the traveling direction of the front vehicle 33, the target vehicle 43 to be monitored (the vehicle ahead of another lane) Second target vehicle specifying means 7c (corresponding to a monitoring target vehicle specifying section) for specifying the equivalent) and lane change detecting means 7f for detecting the lane change state of the target vehicle 43 from the other lane L2 to the own lane L1. (Lane change detection And a second notification control unit 7d (corresponding to a notification control unit) that outputs a second notification signal to notify a predetermined warning when the lane change state is detected by the lane change detection unit 7f. And comprising.
In this way, when the target vehicle 43 that precedes the front vehicle 33 in the lane L2 different from the front vehicle 33 tries to interrupt the vehicle by changing the lane before the front vehicle 33, the driver of the host vehicle 30 is braked. It is notified in advance that it is necessary to carry out. Accordingly, the driver of the host vehicle 30 can grasp in advance the timing of the start of braking in the target vehicle 43 even when the start of braking is delayed in the front vehicle 33 even though the target vehicle 43 has started to change lanes. Therefore, braking can be performed without sudden braking. For this reason, it is possible to prevent a rear-end collision with the front wheel 33.
In addition to the above-described configuration, the braking preparation promoting device 100 according to the present modification further includes positioning means 4 (GPS for generating position information) by measuring the current traveling position of the host vehicle 30 (hereinafter referred to as the current location). And a communication means 25 (corresponding to a communication section) for communicating information with the outside, and the front vehicle detection means 7b (corresponding to a vehicle detection section) is based on the positioning result of the positioning means 4 The presence of the front car 33 is detected according to the position information of the host vehicle 30 and the position information of the front car 33 received from the front car 33 via the communication means 25, and the second object The vehicle specifying means 7c includes the position information of the host vehicle 33 based on the positioning result of the positioning means 4, and the position information of the second preceding vehicle received from the second preceding vehicle via the communication means 25. In accordance with the above, the target vehicle 43 is specified, The lane change detection means 7 f includes an angular acceleration measurement value obtained by the angular acceleration measurement means 2 (corresponding to a gyro sensor) provided in the target vehicle 43, and is received from the target vehicle 43 received via the communication means 25. A lane change state of the target vehicle 43 is detected based on the angular acceleration signal.
With such a configuration, the front vehicle 33 and the second preceding vehicle are reliably detected from the respective position information, and the lane change state (see the arrow in FIG. 9) of the target vehicle 43 is reliably detected by communication. It can detect on the side and notify the driver.
Note that, in the above, a function is performed in which the vehicles equipped with the above-described braking preparation promoting device 100 and the like are combined with each other, and the braking preparation promoting devices 100 and the like of these vehicles display each other's position information on the display 15 via the server. May be installed.
It is explanatory drawing showing the driving | running | working positional relationship of the vehicle provided with the brake preparation promotion apparatus in one Embodiment of this invention. It is a block diagram which shows the hardware structural example of the brake preparation promotion apparatus in this embodiment. It is a block diagram which shows the structural examples, such as a function which CPU performs. It is a flowchart which shows an example of the procedure of the brake preparation promotion method. It is explanatory drawing showing the case where the inter-vehicle distance of a front vehicle and a preceding vehicle is comparatively short. It is explanatory drawing showing the case where the inter-vehicle distance of a front vehicle and a preceding vehicle is comparatively long. It is explanatory drawing showing the case where a vehicle is also made into a monitoring object vehicle immediately before. It is a flow showing an example of the braking preparation promotion method when excluding the application at low speed. It is explanatory drawing showing the driving | running | working positional relationship in the case of making the vehicle which drive | works a driving lane different from the driving lane of the own vehicle into a monitoring object vehicle. It is a block diagram which shows the structural examples, such as a function which CPU performs. It is a flowchart which shows an example of the procedure of the brake preparation promotion method.
2 Gyro sensor (equivalent to angular acceleration detection means)
3 Vehicle speed pulse detector (equivalent to vehicle speed detection means)
4 GPS (equivalent to positioning means)
7b Vehicle detection unit (equivalent to front vehicle detection means)
7c Monitoring target vehicle specifying unit (corresponding to first target vehicle specifying means and second target vehicle quantity specifying means)
7d Notification control unit (corresponding to first notification control means and second notification control means)
7e Brake detector (corresponding to brake detector)
7f Lane change detection part (equivalent to lane change detection means)
15 Display (equivalent to notification means)
19 Speaker (equivalent to notification means)
25 Communication unit (equivalent to communication means)
30 own vehicle 33 preceding vehicle 39 preceding vehicle 41 preceding vehicle 43 preceding lane preceding vehicle 100 braking preparation promotion device 100A braking preparation promotion device
A braking preparation promoting device that is mounted on its own vehicle (hereinafter referred to as its own vehicle) and promotes braking preparation of the own vehicle,
Presence of a vehicle (hereinafter referred to as a preceding vehicle) that precedes the vehicle in the order of one vehicle ahead of the own vehicle on the front side in the traveling direction of the own vehicle on the same traveling lane as the own vehicle (hereinafter referred to as the own lane) Front vehicle detecting means for detecting
First target vehicle identification that identifies a target vehicle to be monitored among at least one first preceding vehicle that precedes at least one vehicle ahead of the preceding vehicle on the front side in the traveling direction of the front vehicle in the own lane Means,
Braking detecting means for detecting a braking state of the target vehicle;
A first notification control unit that outputs a first notification signal for notifying a predetermined warning when the braking state of the target vehicle is detected by the braking detection unit;
A braking preparation promoting device comprising:
In the braking preparation promotion device according to claim 1,
Positioning means for measuring the current traveling position of the vehicle (hereinafter referred to as the current location) and generating position information;
Communication means for communicating information with the outside,
The front vehicle detection means includes
Detecting the presence of the front vehicle according to the position information of the own vehicle based on the positioning result in the positioning means and the position information of the front vehicle received from the front vehicle via the communication means;
The first target vehicle specifying means is
The target vehicle is identified according to the position information of the host vehicle based on the positioning result of the positioning means and the position information of the first preceding vehicle received from the first preceding vehicle via the communication means. And
The braking detection means includes
A braking preparation promotion device that detects a braking state of the target vehicle based on a braking signal received from the target vehicle via the communication means and indicating that the target vehicle is being braked.
The braking preparation promoting device according to claim 2,
The progress of the front vehicle included in the first preceding vehicle based on the position information of the front vehicle received from the front vehicle and the position information of the first preceding vehicle received from the first preceding vehicle. A braking preparation promoting device, characterized in that a vehicle that precedes in the order of one vehicle earlier than the preceding vehicle on the front side in the direction (hereinafter referred to as a preceding vehicle) is identified as a target vehicle.
In the braking preparation promotion device according to claim 3,
Based on the positional information of the preceding vehicle received from the preceding vehicle and the positional information of the preceding vehicle received from the preceding vehicle, the distance from the preceding vehicle to the preceding vehicle is within a reference distance. If there is, a braking preparation promotion device that identifies the preceding vehicle as the target vehicle.
In the braking preparation promotion device according to claim 4,
Based on the position information of the preceding vehicle received from the preceding vehicle and the position information of the preceding vehicle received from the preceding vehicle, the distance from the preceding vehicle to the preceding vehicle is the reference distance. When exceeding, the braking preparation promotion apparatus characterized by not specifying the said vehicle as the said object vehicle before the said.
In the braking preparation promotion device according to claim 4 or 5,
When the first preceding vehicle includes at least one vehicle (hereinafter referred to as a continuous preceding vehicle) that sequentially precedes the preceding vehicle at an interval within the reference distance, A braking preparation promoting device that identifies a vehicle as a target vehicle.
The braking preparation promoting device according to any one of claims 4 to 6,
Vehicle speed measuring means for measuring the vehicle speed of the host vehicle,
A braking preparation promoting device, wherein the reference distance is changed according to a vehicle speed of the host vehicle measured by the vehicle speed measuring means.
The braking preparation promoting device according to claim 7,
When the vehicle speed of the own vehicle measured by the vehicle speed measuring means is lower than the speed limit of the road on which the vehicle is running, the vehicle has a restriction control means for restricting the operation of the first notification control means. Braking preparation promotion device.
The braking preparation promoting device according to any one of claims 2 to 8,
The position information and the braking signal of the target vehicle received via the communication means are each accompanied with identification information of the target vehicle,
The brake preparation promoting device, wherein the identification information attached to the position information is compared with the identification information attached to the braking signal to detect that the target vehicle is in the braking state. .
The braking preparation promoting device according to any one of claims 1 to 9,
A braking preparation promoting device comprising: a notifying means for notifying the predetermined warning based on the first notification signal.
Of at least one second preceding vehicle that precedes at least one vehicle ahead of the preceding vehicle on the front side in the traveling direction of the preceding vehicle on a traveling lane different from the own vehicle (hereinafter referred to as another lane), A second target vehicle specifying means for specifying the target vehicle to be monitored;
Lane change detection means for detecting a lane change state of the target vehicle from the other lane to the own lane;
Second notification control means for outputting a second notification signal for informing a predetermined warning when the lane change state is detected by the lane change detection means;
In the braking preparation promotion device according to claim 11,
The second target vehicle specifying means is
The target vehicle is identified according to the position information of the host vehicle based on the positioning result of the positioning means and the position information of the second preceding vehicle received from the second preceding vehicle via the communication means. And
The lane change detection means is
Detecting a lane change state of the target vehicle based on an angular acceleration signal of the target vehicle received via the communication unit, including an angular acceleration measurement value by an angular acceleration measuring unit provided in the target vehicle. Braking preparation promoting device characterized.
JP2008300456A 2008-11-26 2008-11-26 Device for facilitating braking preparation Pending JP2010128637A (en)
JP2008300456A JP2010128637A (en) 2008-11-26 2008-11-26 Device for facilitating braking preparation
JP2010128637A true JP2010128637A (en) 2010-06-10
ID=42329003
JP2008300456A Pending JP2010128637A (en) 2008-11-26 2008-11-26 Device for facilitating braking preparation
JP (1) JP2010128637A (en)
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2008-11-26 JP JP2008300456A patent/JP2010128637A/en active Pending
2011-10-05 A621 Written request for application examination