JP2018052406A - Control device of vehicle - Google Patents
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Abstract
Description
本発明は、車両を制御する制御装置に関する。 The present invention relates to a control device that controls a vehicle.
近時の車両には、接近した先行車の存在を検出したときに運転者に対して警告し、またはブレーキ装置による制動を自動で実行する衝突回避支援システムが実装されている。基本的には、自車と先行車との車間距離及び相対速度を随時演算し、それらに基づいて衝突の可能性の有無を判定して、衝突の可能性があるならば警告または自動制動を実行する。 A recent vehicle is equipped with a collision avoidance support system that warns the driver when the presence of an approaching preceding vehicle is detected, or automatically executes braking by a brake device. Basically, the distance between the vehicle and the preceding vehicle and the relative speed are calculated as needed, and based on these, the possibility of collision is determined. If there is a collision, warning or automatic braking is performed. Run.
車両の制動距離は、路面の摩擦係数に応じて変化する。凍結した路面等、摩擦係数の低下した路面上を走行している際には、制動距離が長くなる。下記特許文献には、予め車両に設置した路面μセンサを介して当該車両が現在走行している路面の摩擦係数を計測し、その摩擦係数の大きさに応じて運転者に対する警告または車両の自動制動を開始する条件を変更する技術思想が開示されている。 The braking distance of the vehicle changes according to the friction coefficient of the road surface. When traveling on a road surface with a reduced coefficient of friction such as a frozen road surface, the braking distance becomes longer. In the following patent document, the friction coefficient of the road surface on which the vehicle is currently traveling is measured via a road surface μ sensor installed in the vehicle in advance, and a warning to the driver or the vehicle's automatic is determined according to the magnitude of the friction coefficient. A technical idea for changing a condition for starting braking is disclosed.
しかしながら、現実には、走行中の車両に搭載しているセンサによって路面の摩擦係数を精度よく計測することは難しい。その上、路面の凍結状態等は場所によって異なり、故に路面の摩擦係数も場所によって異なる。センサが計測するのは車両が既に通過した場所の摩擦係数であって、これから向かう先の摩擦係数ではない。従って、将来的に実行する自動制動の確実性を高めるためには必ずしも役立たない。 However, in reality, it is difficult to accurately measure the coefficient of friction of the road surface with a sensor mounted on a traveling vehicle. In addition, the frozen state of the road surface differs depending on the location, and therefore the friction coefficient of the road surface also varies depending on the location. The sensor measures the coefficient of friction where the vehicle has already passed, not the coefficient of friction ahead. Therefore, it does not always help to increase the certainty of automatic braking to be executed in the future.
本発明は、摩擦係数が低下した路面上を走行する車両が先行車に衝突する可能性をより低減することを所期の目的とする。 An object of the present invention is to further reduce the possibility of a vehicle traveling on a road surface having a reduced friction coefficient colliding with a preceding vehicle.
本発明では、自車と先行車との車間距離及び相対速度が所定の条件を満たしている場合に、運転者の視覚または聴覚に訴えかける態様で警告し、または車両を自動的に制動するものであって、先行車の方向指示器または制動灯の点滅を検知しかつ先行車の減速度が所定値以下であるときには、上記の警告または自動制動を行うための条件を平常時の条件とは異なるものに変更する車両の制御装置を構成した。 In the present invention, when the distance between the vehicle and the preceding vehicle and the relative speed satisfy a predetermined condition, a warning is issued in a manner appealing to the driver's vision or hearing, or the vehicle is automatically braked. When the direction indicator of the preceding vehicle or the flashing of the brake light is detected and the deceleration of the preceding vehicle is below a predetermined value, the condition for performing the warning or automatic braking is the normal condition. The vehicle control device is configured to be changed to a different one.
先行車の方向指示器または制動灯が点滅しており、その先行車の減速度が小さいことは、当該先行車が走行している路面（自車がこれから向かう先の路面でもある）の摩擦係数が小さく、当該先行車のＡＢＳ（Ａｎｔｉｌｏｃｋ Ｂｒａｋｅ Ｓｙｓｔｅｍ）が作動していることを示唆する。従って、自車において、平常時と比較してより早い段階で運転者への警告を行い、または車両の自動制動を開始するようにして、先行車との衝突を確実に回避し、万が一衝突したとしてもその被害の軽減を図る。 The direction indicator or brake light of the preceding vehicle is blinking and the deceleration of the preceding vehicle is small. This is the coefficient of friction of the road surface on which the preceding vehicle is traveling (which is also the road surface to which the vehicle is heading from now on). Is small, suggesting that the ABS (Antilock Break System) of the preceding vehicle is operating. Therefore, it is possible to warn the driver at an earlier stage compared to normal times or to start automatic braking of the vehicle in the own vehicle, to reliably avoid a collision with the preceding vehicle, and in the event of a collision But we will try to reduce the damage.
本発明によれば、摩擦係数が低下した路面上を走行する車両が先行車に衝突する可能性をより低減することができる。 According to the present invention, it is possible to further reduce the possibility of a vehicle traveling on a road surface having a reduced friction coefficient colliding with a preceding vehicle.
本発明の一実施形態を、図面を参照して説明する。本実施形態における車両の制御装置（Ｅｌｅｃｔｒｏｎｉｃ Ｃｏｎｔｒｏｌ Ｕｎｉｔ）０は、プロセッサ、メモリ、入力インタフェース、出力インタフェース等を有したマイクロコンピュータシステムであり、予めメモリに格納されているプログラムをプロセッサにおいて解釈、実行し、車両の衝突回避支援システムの機能を具現するものである。 An embodiment of the present invention will be described with reference to the drawings. The vehicle control device (Electronic Control Unit) 0 in this embodiment is a microcomputer system having a processor, a memory, an input interface, an output interface, and the like, and interprets and executes a program stored in the memory in advance. It embodies the function of a vehicle collision avoidance support system.
図１に示すように、ＥＣＵ０は、自車の走行速度即ち車速を計測する車速センサ１や、自車の加速度または減速度を計測する加速度センサ２、並びに、自車の前方に存在する先行車その他の障害物を検出するための手段、例えば、車両の前方を撮影するカメラセンサ３、自車の前方に電磁波を出射してその反射波を受信するレーダ（レーザレーダ、赤外線レーダ、ミリ波レーダ等））４等から情報を得、それら情報を基に自車と先行車等との相対速度、自車と先行車等との車間距離等を反復的に演算する。
As shown in FIG. 1, the ECU 0 includes a vehicle speed sensor 1 that measures the traveling speed of the host vehicle, that is, a vehicle speed, an
そして、自車及び先行車等が互いにそのままの速度で走行を続けると仮定して、自車と先行車とが衝突するまでの余裕時間、つまりは何秒後に自車が先行車に衝突するかを推算し、その余裕時間が閾値以下であるならば、運転者の視覚または聴覚に訴えかける態様で警告し、及び／または、車両を自動で制動する。警告は、例えば、車両のコックピットに設置したブザー５を鳴らしたり、コックピットに設置したインジゲータランプ６を点灯ないし点滅させたり、ディスプレイの画面に表示したりすることによって行う。車両の自動制動では、運転者のアクセルペダルの操作によらず強制的に走行駆動源である内燃機関７または電動機の出力を低下させるとともに、運転者のブレーキペダルの操作によらず強制的にブレーキ装置８を作動させる。即ち、ディスクブレーキのブレーキキャリパやドラムブレーキのホイールシリンダに作動液圧を供給し、または供給する作動液圧を昇圧して、ディスクブレーキまたはドラムブレーキによる制動力を増大させる。
Assuming that the host vehicle and the preceding vehicle continue to travel at the same speed as each other, the time until the host vehicle and the preceding vehicle collide, that is, how many seconds later the host vehicle collides with the preceding vehicle. If the margin time is less than or equal to the threshold value, a warning is issued in a manner appealing to the driver's vision or hearing, and / or the vehicle is automatically braked. The warning is performed by, for example, sounding the
その上で、本実施形態のＥＣＵ０は、図２に示すように、先行車の方向指示器または制動灯の点滅を検知し（ステップＳ１）、かつ先行車の減速度が所定値以下に小さい（ステップＳ２）ときには、警告または自動制動を行うための条件を平常時の条件とは異なるものに変更する（ステップＳ３）。 Then, as shown in FIG. 2, the ECU 0 of the present embodiment detects blinking of the direction indicator or the brake light of the preceding vehicle (step S1), and the deceleration of the preceding vehicle is small below a predetermined value ( In step S2), the condition for performing the warning or automatic braking is changed to a condition different from the normal condition (step S3).
ステップＳ１では、自車の前方の撮影画像を解析することで、先行車の後背に設置されている方向指示器または制動灯が、運転者の操作による通常の方向指示器または制動灯の点滅の周期よりも短い周期（毎分１８０回以上３００回以下）で高速に点滅しているか否かを判定する。このような点滅は、エマージェンシーストップシグナル（緊急制動表示）と呼称される。エマージェンシーストップシグナルの発生条件は、先行車の現在の車速が所定値以上に高く、かつ先行車の運転者がブレーキペダルを踏み込んでいる状態で、当該先行車の減速度が所定値以上に高い急減速であるか、または当該先行車のＡＢＳが作動していることである。 In step S1, by analyzing a photographed image in front of the host vehicle, the direction indicator or the brake light installed behind the preceding vehicle is changed to the blinking of the normal direction indicator or the brake light by the driver's operation. It is determined whether or not it is blinking at high speed with a cycle shorter than the cycle (180 to 300 times per minute). Such blinking is called an emergency stop signal (emergency braking display). The emergency stop signal is generated under the condition that the current vehicle speed of the preceding vehicle is higher than a predetermined value and the driver of the preceding vehicle depresses the brake pedal and the deceleration of the preceding vehicle is higher than the predetermined value. The vehicle is decelerating or the ABS of the preceding vehicle is operating.
ステップＳ２では、自車の加速度または減速度と、自車と先行車との車間距離の単位時間あたりの変化量とから、先行車の減速度を推算する。 In step S2, the deceleration of the preceding vehicle is estimated from the acceleration or deceleration of the own vehicle and the amount of change per unit time in the inter-vehicle distance between the own vehicle and the preceding vehicle.
ステップＳ１及びＳ２がともに真である場合には、先行車が走行している路面、換言すれば自車がこれから向かう先の路面の摩擦係数が小さく、当該先行車においてＡＢＳが作動していると考えられる。従って、ステップＳ３において、平常時と比較してより早い段階で運転者への警告を行い、または車両の自動制動を開始するように、警告または自動制動の開始条件を変更する。具体的には、
・自車と先行車との車間距離が閾値以下であることを条件として警告を実行するにあたり、その閾値を平常時よりも引き上げる
・自車と先行車との車間距離が閾値以下であることを条件として自動制動を実行するにあたり、その閾値を平常時よりも引き上げる
・自車が先行車に衝突するまでの余裕時間が閾値以下であることを条件として警告を実行するにあたり、その閾値を平常時よりも引き上げる
・自車が先行車に衝突するまでの余裕時間が閾値以下であることを条件として自動制動を実行するにあたり、その閾値を平常時よりも引き上げる
のうちの何れか少なくとも一を実施する。
If both steps S1 and S2 are true, the friction coefficient of the road surface on which the preceding vehicle is traveling, in other words, the road surface ahead of the own vehicle is small, and the ABS is operating in the preceding vehicle. Conceivable. Accordingly, in step S3, the warning or the automatic braking start condition is changed so as to warn the driver at an earlier stage than in normal times or to start automatic braking of the vehicle. In particular,
・ In order to issue a warning on the condition that the distance between the host vehicle and the preceding vehicle is less than the threshold, the threshold is raised from the normal level. ・ The distance between the host vehicle and the preceding vehicle is less than the threshold. When executing automatic braking as a condition, raise the threshold from the normal level. ・ When executing a warning on the condition that the time until the vehicle collides with the preceding vehicle is less than the threshold, the threshold is set to normal.・ When executing automatic braking on the condition that the allowance time until the vehicle collides with the preceding vehicle is less than the threshold, implement at least one of raising the threshold more than normal .
また、先行車のＡＢＳが作動しているときには、先行車の減速度が当該先行車の所在する路面の摩擦係数の大きさを示唆していると言える。そこで、ステップＳ３では、現状の自車と先行車との相対速度及び車間距離の下で、自車が先行車の減速度と同等の減速度で減速したとしても自車と先行車との衝突が回避されるようなタイミングで自動制動を開始できるように、自動制動の開始条件の閾値を設定することが好ましい。 Further, when the ABS of the preceding vehicle is operating, it can be said that the deceleration of the preceding vehicle indicates the magnitude of the friction coefficient of the road surface where the preceding vehicle is located. Therefore, in step S3, even if the host vehicle decelerates at a deceleration equivalent to the deceleration of the preceding vehicle under the current relative speed and distance between the preceding vehicle and the preceding vehicle, the collision between the own vehicle and the preceding vehicle occurs. It is preferable to set a threshold value for the automatic braking start condition so that the automatic braking can be started at such a timing as to avoid this.
ステップＳ１とＳ２とのうち何れか一方または両方が偽である場合には、上掲の車間距離または余裕時間と比較するべき閾値を平常時の値に設定する（ステップＳ４）。 When one or both of steps S1 and S2 are false, the threshold value to be compared with the above-mentioned inter-vehicle distance or margin time is set to a normal value (step S4).
本実施形態では、自車と先行車との車間距離及び相対速度が所定の条件を満たしている場合に、運転者の視覚または聴覚に訴えかける態様で警告し、または車両を自動的に制動するものであって、先行車の方向指示器または制動灯の点滅を検知しかつ先行車の減速度が所定値以下であるときには、上記の警告または自動制動を行うための条件を平常時の条件とは異なるものに変更する車両の制御装置０を構成した。本実施形態によれば、摩擦係数の低下した路面上での自車と先行車との衝突を効果的に回避することができ、車両の安全性が増す。 In the present embodiment, when the distance between the vehicle and the preceding vehicle and the relative speed satisfy a predetermined condition, a warning is given in a manner appealing to the driver's vision or hearing, or the vehicle is automatically braked. When the direction indicator of the preceding vehicle or the flashing of the brake light is detected and the deceleration of the preceding vehicle is below a predetermined value, the above warning or automatic braking condition is set as the normal condition. The vehicle control device 0 is changed to a different one. According to the present embodiment, it is possible to effectively avoid a collision between the own vehicle and a preceding vehicle on a road surface having a reduced friction coefficient, and the safety of the vehicle is increased.
なお、本発明は以上に詳述した実施形態に限られるものではない。各部の具体的構成や、具体的な処理の内容及び手順は、本発明の趣旨を逸脱しない範囲で種々変形が可能である。 The present invention is not limited to the embodiment described in detail above. Various modifications can be made to the specific configuration of each part and the content and procedure of specific processing without departing from the spirit of the present invention.
本発明は、車両に搭載される制御装置に適用できる。 The present invention can be applied to a control device mounted on a vehicle.
０…制御装置（ＥＣＵ）
１…車速センサ
２…加速度センサ
３…カメラセンサ
４…レーダ
５…ブザー
６…インジゲータランプ
７…走行駆動源（内燃機関）
８…ブレーキ装置
0 ... Control unit (ECU)
DESCRIPTION OF SYMBOLS 1 ...
8 ... Brake device
Claims (1)
先行車の方向指示器または制動灯の点滅を検知しかつ先行車の減速度が所定値以下であるときには、上記の警告または自動制動を行うための条件を平常時の条件とは異なるものに変更する車両の制御装置。 When the distance between the vehicle and the preceding vehicle and the relative speed satisfy a predetermined condition, a warning is made in a manner appealing to the driver's vision or hearing, or the vehicle is automatically braked,
When the flashing of the direction indicator or brake light of the preceding vehicle is detected and the deceleration of the preceding vehicle is less than the predetermined value, the above warning or automatic braking conditions are changed to those different from the normal conditions A vehicle control device.
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| CN110171401A (en) * | 2018-12-03 | 2019-08-27 | 周毅 | A kind of Intelligent brake system and method |
| US20210331691A1 (en) * | 2020-04-28 | 2021-10-28 | Mando Corporation | Driver assistance system and driver assistance method |
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| JP2001199260A (en) * | 2000-01-20 | 2001-07-24 | Matsushita Electric Ind Co Ltd | Inter-vehicle distance controller, vehicle traveling condition display device, vehicle speed control releasing device, and vehicle sudden brake warning device |
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| JPH05266399A (en) * | 1992-03-19 | 1993-10-15 | Hitachi Ltd | Travel controller by inter-vehicle communication |
| JPH05270372A (en) * | 1992-03-25 | 1993-10-19 | Mazda Motor Corp | Control device for vehicle |
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| CN110171401A (en) * | 2018-12-03 | 2019-08-27 | 周毅 | A kind of Intelligent brake system and method |
| US20210331691A1 (en) * | 2020-04-28 | 2021-10-28 | Mando Corporation | Driver assistance system and driver assistance method |
| US11634120B2 (en) * | 2020-04-28 | 2023-04-25 | Hl Mando Corporation | Driver assistance system and driver assistance method |
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