JP2669285B2 - Vehicle alarm system - Google Patents
Vehicle alarm systemInfo
- Publication number
- JP2669285B2 JP2669285B2 JP5018263A JP1826393A JP2669285B2 JP 2669285 B2 JP2669285 B2 JP 2669285B2 JP 5018263 A JP5018263 A JP 5018263A JP 1826393 A JP1826393 A JP 1826393A JP 2669285 B2 JP2669285 B2 JP 2669285B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- distance
- speed
- alarm
- equal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Traffic Control Systems (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は車両用警報装置、特に車
間距離が所定の許容車間距離以下となった場合に運転者
に警報を与える装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular warning device, and more particularly to a device for giving a warning to a driver when the inter-vehicle distance becomes less than a predetermined allowable inter-vehicle distance.
【０００２】[0002]
【従来の技術】従来より、種々の車両用安全装置が開
発、搭載されており、レーダ装置で先行車を捕捉し、先
行車との車間距離が所定の許容距離以下となった場合に
運転者に警報を与える警報装置もその一つである。2. Description of the Related Art Conventionally, various safety devices for vehicles have been developed and mounted, and a driver detects a preceding vehicle with a radar device, and when the distance between the preceding vehicle and the preceding vehicle falls below a predetermined allowable distance, the driver An alarm device that gives an alarm to is one of them.
【０００３】例えば、特開平３−１７６８００号公報に
は、レーダ装置が検出した電気信号のあるしきい値以下
のレベルの信号は無効とし、車両の走行速度が定められ
た速度以下の低速走行の場合には高いレベルの限界しき
い値に切り換えて制御を行い、定められた速度以上の高
速走行の場合には低いレベルの限界しきい値に切り換え
て制御を行う車間距離警報装置が開示されている。For example, in Japanese Patent Laid-Open No. 3-176800, a signal of a level below a certain threshold value of an electric signal detected by a radar device is invalidated, and the running speed of a vehicle is set to a low speed running below a predetermined speed. There is disclosed an inter-vehicle distance warning device for controlling by switching to a higher threshold level threshold value and for controlling at a higher speed than a predetermined speed by switching to a lower level threshold threshold value. There is.
【０００４】この装置によれば、警報を発生させるか否
かの判定に用いられる限界しきい値を車両の速度に応じ
て切り換えられるため、低速走行が生じ易い一般道路に
おいて誤警報が発生するのを防ぎ、高速道路では警報が
発生し易いように制御することができる。According to this device, the limit threshold value used for determining whether or not to issue an alarm can be switched according to the speed of the vehicle, so that an erroneous alarm occurs on a general road where low speed running is likely to occur. Can be controlled so that a warning is easily generated on a highway.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、このよ
うに低速走行時に限界しきい値を高いレベルに設定する
と、確かに路肩の看板やリフレクターなどの固定物によ
る誤警報は防止できるものの、先行車がレーダの反射レ
ベルの小さい物体の場合は警報が発生しないおそれもあ
った。However, if the threshold value is set to a high level when driving at a low speed in this way, it is possible to prevent false alarms due to fixed objects such as road signboards and reflectors, but In the case of an object with a low radar reflection level, there is a possibility that no alarm will be issued.
【０００６】本発明は上記従来技術の有する課題に鑑み
なされたものであり、その目的は誤警報を防止しつつ、
実際に車間距離が所定の許容距離以下となった場合には
確実に警報を運転者に与えることが可能な車両用警報装
置を提供することにある。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the related art, and has as its object to prevent false alarms.
An object of the present invention is to provide an alarm device for a vehicle that can reliably give an alarm to a driver when the inter-vehicle distance actually becomes equal to or less than a predetermined allowable distance.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するため
に、本発明は先行車を検出し、この先行車との車間距離
が所定の許容距離以下である場合に警報を発生する車両
用警報装置において、先行車との車間距離を検出するレ
ーダ手段と、自車速を検出する車速検出手段と、前記レ
ーダ装置が先行車を捕捉している捕捉時間を計測する計
測手段と、前記自車速が所定速度以上であって前記車間
距離が所定の許容距離以下である第１の条件、または前
記自車速が前記所定速度以下であって前記捕捉時間が所
定時間以上であって前記車間距離が所定の許容距離以下
である第２の条件のいずれかが成立する場合に運転者に
警報を与える警報手段とを有することを特徴とする。In order to achieve the above-mentioned object, the present invention detects a preceding vehicle and issues a warning when a distance between the preceding vehicle and the preceding vehicle is less than a predetermined allowable distance. In the device, a radar means for detecting an inter-vehicle distance to a preceding vehicle, a vehicle speed detecting means for detecting the own vehicle speed, a measuring means for measuring a capture time during which the radar device captures the preceding vehicle, and the own vehicle speed are A first condition that the vehicle speed is equal to or higher than a predetermined speed and the inter-vehicle distance is equal to or less than a predetermined allowable distance, or the own vehicle speed is equal to or less than the predetermined speed and the capture time is equal to or more than a predetermined time and the inter-vehicle distance is a predetermined And a warning means for giving a warning to the driver when any of the second conditions, which is equal to or less than the allowable distance, is satisfied.
【０００８】[0008]
【作用】このように、本発明は警報発生のための条件を
２条件設定し、これらにより誤警報を防止して確実に警
報を与えるものである。As described above, according to the present invention, two conditions for generating an alarm are set, and by these, false alarms are prevented and alarms are surely given.
【０００９】すなわち、第１の条件は自車速が所定速度
以上であって車間距離が所定の許容距離以下である場合
であり、第２の条件は自車速が前記所定速度以下であっ
て捕捉時間が所定時間以上であって車間距離が所定の許
容距離以下である場合である。That is, the first condition is that the own vehicle speed is equal to or higher than a predetermined speed and the inter-vehicle distance is equal to or less than a predetermined allowable distance, and the second condition is that the own vehicle speed is equal to or less than the predetermined speed and the acquisition time. Is a predetermined time or more and the inter-vehicle distance is a predetermined allowable distance or less.
【００１０】自車速が所定速度以下の低速走行時には、
固定物を誤って検出し誤警報を発生してしまう可能性が
あるが、この第２条件によればレーダ手段による捕捉時
間が所定時間以下のものは警報発生条件から外されるた
め、誤検出を防ぐことができる。When the vehicle is traveling at a low speed below a predetermined speed,
There is a possibility that a fixed object will be erroneously detected and an erroneous alarm will be generated. However, according to this second condition, if the acquisition time by the radar means is less than the predetermined time, it will be excluded from the alarm generation condition, so an erroneous detection will occur. Can be prevented.
【００１１】また、本発明では自車速に応じて限界しき
い値、すなわち許容距離を変更していないので、低速走
行時においても確実に短車間距離を検出することができ
る。Further, in the present invention, since the limit threshold value, that is, the allowable distance is not changed according to the own vehicle speed, the short inter-vehicle distance can be surely detected even at low speed running.
【００１２】[0012]
【実施例】以下、図面を用いながら本発明に係る車両用
警報装置の一実施例を説明する。図１には本実施例の構
成ブロック図が示されている。ミリ波やレーザ光を放射
し、自車の進行方向前方を探知するレーダ装置１０が車
両前部の所定位置に搭載される。このレーダ装置１０に
より検出された信号は電子制御装置ＥＣＵ１６に供給さ
れ、先行車との車間距離が検出される。また、車速セン
サ１４も搭載され、自車速を検出してＥＣＵ１６に供給
する。ＥＣＵ１６はＣＰＵやＲＯＭ、ＲＡＭ等を有し、
これら車間距離データ、及び車速データを後述の如く処
理して警報器１８を作動させ運転者に警報を与える構成
である。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a vehicle alarm system according to the present invention. FIG. 1 shows a block diagram of the configuration of this embodiment. A radar device 10 that emits a millimeter wave or a laser beam and detects the forward direction of the vehicle is mounted at a predetermined position on the front of the vehicle. The signal detected by the radar device 10 is supplied to the electronic control unit ECU 16, and the distance between the vehicle and the preceding vehicle is detected. A vehicle speed sensor 14 is also mounted and detects the vehicle speed and supplies it to the ECU 16. The ECU 16 has a CPU, a ROM, a RAM, etc.,
The vehicle-to-vehicle distance data and the vehicle speed data are processed as described later to operate the alarm device 18 to give an alarm to the driver.
【００１３】図２には本実施例におけるＥＣＵ１６の処
理フローチャートが示されている。まず、先行車を検出
しているか否かが判定される（Ｓ１００）。この判定
は、レーダ装置１０から有限の値が供給されるか否かで
判定される。先行車を検出している場合には、次にこの
先行車、つまりターゲットが変化したか否かが判定され
る（Ｓ１１０）。この判定は、レーダ装置１０から車間
距離データが不連続的に変化したか否か、あるいは反射
レベルが不連続的に変化したか否かで判定される。ター
ゲットが変化していない場合にはタイマＣＴを１ずつイ
ンクリメントしてターゲット捕捉時間を計測する（Ｓ１
１５）。一方、ターゲットが変化した場合にはタイマＣ
Ｔを０にリセットする（Ｓ１２０）。FIG. 2 shows a flowchart of the processing of the ECU 16 in the present embodiment. First, it is determined whether or not a preceding vehicle is detected (S100). This determination is made based on whether a finite value is supplied from the radar device 10. If the preceding vehicle has been detected, it is determined whether the preceding vehicle, that is, the target has changed (S110). This determination is made based on whether the inter-vehicle distance data from the radar device 10 has changed discontinuously or whether the reflection level has changed discontinuously. If the target has not changed, the timer CT is incremented by one to measure the target capture time (S1).
15). On the other hand, if the target changes, timer C
T is reset to 0 (S120).
【００１４】このようにしてターゲット捕捉時間が計測
され、次にレーダ装置１０から得られた車間距離ＬＴと
所定の許容車間距離ＬＴ0 との大小比較が行われる（Ｓ
１３０）。所定の許容車間距離ＬＴ0 は予めＲＯＭある
いはユーザが設定しＲＡＭに格納され、ＣＰＵにより読
み出されて比較される。検出車間距離ＬＴが許容車間距
離ＬＴ0 以下である場合には、さらに車速センサ１４で
得られた自車速Ｖと予め定められたしきい車速Ｖ0 との
大小比較が行われる（Ｓ１４０）。このしきい車速Ｖ0
もＲＯＭあるいはＲＡＭに格納され、読み出されて比較
される。自車速Ｖがしきい車速Ｖ0 以上であり、高速走
行している場合には、車間距離が許容車間距離以下であ
るので直ちに警報を発生する（Ｓ１５０）。この警報は
第１の条件、すなわち自車速がしきい速度以上であって
車間距離が所定の許容距離以下である条件が成立した場
合の警報である。In this manner, the target acquisition time is measured, and then the inter-vehicle distance LT obtained from the radar device 10 is compared with a predetermined allowable inter-vehicle distance LT0 (S).
130). The predetermined allowable inter-vehicle distance LT0 is set in advance in a ROM or a RAM by a user, stored in a RAM, read by the CPU, and compared. When the detected inter-vehicle distance LT is less than or equal to the permissible inter-vehicle distance LT0, the vehicle speed V obtained by the vehicle speed sensor 14 is further compared with a predetermined threshold vehicle speed V0 (S140). This threshold vehicle speed V0
Is also stored in the ROM or RAM and is read and compared. When the vehicle speed V is equal to or higher than the threshold vehicle speed V0 and the vehicle is traveling at a high speed, an alarm is immediately issued because the inter-vehicle distance is equal to or less than the allowable inter-vehicle distance (S150). This alarm is an alarm when the first condition, that is, the condition that the own vehicle speed is equal to or higher than the threshold speed and the inter-vehicle distance is equal to or less than a predetermined allowable distance is satisfied.
【００１５】一方、自車速Ｖがしきい車速Ｖ0 以下であ
り、低速で走行している場合には、さらに計測された捕
捉時間ＣＴと所定のしきい時間ＣＴ0 との大小比較が行
われる（Ｓ１４５）。検出された車間距離が所定の許容
距離以下であっても、路肩の構造物を誤って検出してい
る場合があるが、このような構造物はレーダ装置１０で
捕捉されている時間は短時間である。従って、しきい時
間ＣＴ0 を適当な時間に設定することにより、このよう
な誤検出の場合にはＣＴ＜ＣＴ0 と判定され、警報器１
８は作動しない。一方、ＣＴがＣＴ0 以上である場合に
は、レーダ装置１０により検出された車間距離は先行車
によるものであると判別でき、この場合には警報器１８
を作動させて運転者に警報を与える（Ｓ１５０）。この
警報は第２の条件、すなわち自車速がしきい速度以下で
あり、捕捉時間が所定時間以上であって車間距離が所定
の許容距離以下である場合の警報である。On the other hand, when the host vehicle speed V is equal to or lower than the threshold vehicle speed V0 and the vehicle is running at a low speed, the magnitude comparison between the measured capture time CT and the predetermined threshold time CT0 is performed (S145). ). Even if the detected inter-vehicle distance is less than or equal to a predetermined allowable distance, a structure on the road shoulder may be erroneously detected, but such a structure is captured by the radar device 10 for a short time. Is. Therefore, by setting the threshold time CT0 to an appropriate time, it is determined that CT <CT0 in the case of such an erroneous detection, and the alarm device 1
8 does not work. On the other hand, when CT is equal to or greater than CT0, it is possible to determine that the inter-vehicle distance detected by the radar device 10 is due to the preceding vehicle. In this case, the alarm device 18
Is activated to give an alarm to the driver (S150). This alarm is a second condition, that is, the vehicle speed is equal to or lower than the threshold speed, the capturing time is equal to or longer than a predetermined time, and the inter-vehicle distance is equal to or smaller than a predetermined allowable distance.
【００１６】このように、本実施例では低速走行時にお
いては、レーダ装置による捕捉時間が十分長い場合に限
って警報を与えているので、路肩の構造物を先行車と誤
認識して誤警報を与えることを防止することができる。
また、高速走行時と定速走行時で許容車間距離を変化さ
せる必要がないので、自車速によらず確実に車間距離の
短縮を検出し、運転者に警報を与えることができる。As described above, in this embodiment, when the vehicle is traveling at a low speed, the warning is given only when the time taken by the radar device is sufficiently long. Therefore, the structure on the road shoulder is erroneously recognized as a preceding vehicle and a false alarm is given. Can be prevented from being given.
Further, since it is not necessary to change the allowable inter-vehicle distance between high speed traveling and constant speed traveling, it is possible to reliably detect the shortening of the inter-vehicle distance regardless of the own vehicle speed and give a warning to the driver.
【００１７】[0017]
【発明の効果】以上説明したように、本発明に係る車両
用警報装置によれば、誤警報を防止しつつ、実際に車間
距離が所定の許容距離以下となった場合には確実に警報
を運転者に与えることができる。As described above, according to the vehicle alarm system of the present invention, an erroneous alarm can be prevented and a warning can be reliably issued when the inter-vehicle distance actually becomes equal to or less than the predetermined allowable distance. Can be given to the driver.
【図１】本発明の一実施例の構成ブロック図である。FIG. 1 is a configuration block diagram of an embodiment of the present invention.
【図２】同実施例の処理フローチャートである。FIG. 2 is a processing flowchart of the embodiment.
１０ レーダ装置 １４ 車速センサ １６ ＥＣＵ １８ 警報器 10 radar device 14 vehicle speed sensor 16 ECU 18 alarm device
Claims (1)
離が所定の許容距離以下である場合に警報を発生する車
両用警報装置において、 先行車との車間距離を検出するレーダ手段と、 自車速を検出する車速検出手段と、 前記レーダ装置が先行車を捕捉している捕捉時間を計測
する計測手段と、 前記自車速が所定速度以上であって前記車間距離が所定
の許容距離以下である第１の条件、または前記自車速が
前記所定速度以下であって前記捕捉時間が所定時間以上
であって前記車間距離が所定の許容距離以下である第２
の条件のいずれかが成立する場合に運転者に警報を与え
る警報手段と、 を有することを特徴とする車両用警報装置。1. A vehicle alarm device for detecting a preceding vehicle and issuing an alarm when the distance between the preceding vehicle and the preceding vehicle is equal to or less than a predetermined allowable distance, and radar means for detecting a distance between the preceding vehicle and the preceding vehicle. A vehicle speed detecting means for detecting a vehicle speed, a measuring means for measuring a capturing time during which the radar device captures a preceding vehicle, the vehicle speed is a predetermined speed or more and the inter-vehicle distance is a predetermined allowable distance or less Or the second condition that the own vehicle speed is equal to or lower than the predetermined speed and the acquisition time is equal to or longer than a predetermined time and the inter-vehicle distance is equal to or less than a predetermined allowable distance.
An alarm device for a vehicle, comprising: an alarm unit that gives an alarm to a driver when any one of the above conditions is satisfied.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5018263A JP2669285B2 (en) | 1993-02-05 | 1993-02-05 | Vehicle alarm system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5018263A JP2669285B2 (en) | 1993-02-05 | 1993-02-05 | Vehicle alarm system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06227337A JPH06227337A (en) | 1994-08-16 |
| JP2669285B2 true JP2669285B2 (en) | 1997-10-27 |
Family
ID=11966791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5018263A Expired - Fee Related JP2669285B2 (en) | 1993-02-05 | 1993-02-05 | Vehicle alarm system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2669285B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004330950A (en) | 2003-05-09 | 2004-11-25 | Honda Motor Co Ltd | Travel safety device for vehicle |
| JP4252945B2 (en) * | 2004-08-05 | 2009-04-08 | 富士重工業株式会社 | Vehicle driving support device |
-
1993
- 1993-02-05 JP JP5018263A patent/JP2669285B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06227337A (en) | 1994-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108877261B (en) | Motorcycle with device for detecting vehicle approaching from rear | |
| CN106233159B (en) | False alarm reduction using location data | |
| JP2006240453A (en) | Sensor failure detector and detection method of sensor failure | |
| JPH1194946A (en) | Obstacle recognition device for vehicle | |
| JP4876772B2 (en) | Interrupting vehicle determination device | |
| EP0720075B1 (en) | Off-lane alarm apparatus | |
| JP4052167B2 (en) | Pause alarm device | |
| JP2861431B2 (en) | In-vehicle distance measuring device | |
| JP4284652B2 (en) | Radar equipment | |
| JP2001357497A (en) | Rear side vehicle monitoring device | |
| JP2669285B2 (en) | Vehicle alarm system | |
| JP6548147B2 (en) | Vehicle control device | |
| JP2789437B2 (en) | Inter-vehicle distance alarm | |
| RU2724044C1 (en) | Collision warning method | |
| JPH1172562A (en) | Alarming device for distance between vehicles | |
| JP3905496B2 (en) | Rear side warning device | |
| JP2006047033A (en) | Object recognition method and device | |
| JP3441342B2 (en) | Vehicle distance measuring device | |
| CN113442942B (en) | Vehicle and control method thereof | |
| JP3241906B2 (en) | In-vehicle object detection device using laser light | |
| JP4221663B2 (en) | Radar equipment | |
| JP6570302B2 (en) | Driving assistance device | |
| JP3134275B2 (en) | Distance measuring device and collision warning system | |
| EP1820173B1 (en) | Apparatus for assisted driving of a vehicle in relation to keeping the safety distance with respect to a vehicle or obstacle in front | |
| JP2009093561A (en) | Driving support apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |