JP2704979B2 - Rear-end collision warning system for automobiles - Google Patents
Rear-end collision warning system for automobilesInfo
- Publication number
- JP2704979B2 JP2704979B2 JP3304567A JP30456791A JP2704979B2 JP 2704979 B2 JP2704979 B2 JP 2704979B2 JP 3304567 A JP3304567 A JP 3304567A JP 30456791 A JP30456791 A JP 30456791A JP 2704979 B2 JP2704979 B2 JP 2704979B2
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- Japan
- Prior art keywords
- vehicle
- inter
- alarm
- distance
- vehicle distance
- 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.)
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- Optical Radar Systems And Details Thereof (AREA)
- Emergency Alarm Devices (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車の追突警報装置
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rear-end collision warning device for an automobile.
【０００２】[0002]
【従来の技術】かかる装置は知られている（本出願人に
よる実開昭６３−２４７００号公報および自動車技術会
学術講演会前刷集８８１．昭和６３−５参照）。2. Description of the Related Art Such an apparatus is known (see Japanese Utility Model Application Laid-Open No. 63-24700 by the present applicant and a preprinted collection 881 of the Society of Automotive Engineers of Japan).
【０００３】その後者の装置を図４ないし図７について
説明すると、該装置は、第１クロスメンバ７に取付けら
れた距離検出手段であるレーザ・レーダヘッド１と、そ
のヘッド１からの信号を受けて車間距離を表示する距離
表示装置２と、車間距離の時間変化による先行車Ｂの速
度と車速検出手段である車速センサ５による自車Ａの速
度とから安全車間距離を計算する情報処理装置３と、情
報処理装置３からの信号で安全車間距離表示や警報発令
を行うとともにドライバがスイッチを操作する入力部を
もつ表示スイッチボックス４と、モニタ出力回路６とか
らなっている。The latter device will be described with reference to FIGS. 4 to 7. The device is a laser radar head 1 which is a distance detecting means attached to a first cross member 7, and receives a signal from the head 1. A distance display device 2 for displaying an inter-vehicle distance, and an information processing device 3 for calculating a safe inter-vehicle distance from the speed of the preceding vehicle B based on the time change of the inter-vehicle distance and the speed of the own vehicle A by the vehicle speed sensor 5 as vehicle speed detecting means. And a display switch box 4 having an input section for displaying a safe inter-vehicle distance and issuing an alarm by a signal from the information processing device 3 and operating a switch by a driver, and a monitor output circuit 6.
【０００４】上記レーザ・レーダヘッド１は、図６に示
すようにレーザ・ビームＣを前方に照射し、先行車Ｂの
リフレクタ８からの反射光Ｃ1 が戻ってくる時間から車
間距離Ｄを測定する。ここで、 Ｖ1 ・・・自車速度 Ｖ2 ・・・先行車速度 α1 ・・・自車の制動減速度 α2 ・・・先行車の制動減速度 Ｄｒ・・・安全車間距離 Ｄｓ・・・停止先行車時の安全車間距離 Ｔｄ・・・空走時間（例えば１秒） Ｔｘ・・・制動動作を起こすまでの判断時間 Ｔｙ・・・停止先行車時の判断時間 とすると、 Ｄｒ＝Ｖ1 （Ｔｄ＋Ｔｘ）＋（Ｖ1 2 ／２α1 −Ｖ2 2 ／２α2 ） ・・・（１） Ｄｓ＝Ｖ1 （Ｔｄ＋Ｔｙ）＋Ｖ1 2 ／２α1 ・・・（２）で示され る。The laser radar head 1 irradiates a laser beam C forward as shown in FIG. 6, and measures the inter-vehicle distance D from the time when the reflected light C1 from the reflector 8 of the preceding vehicle B returns. . Here, V1: own vehicle speed V2: preceding vehicle speed α1: braking deceleration of own vehicle α2: braking deceleration of preceding vehicle Dr: safe inter-vehicle distance Ds: stop ahead Safe inter-vehicle distance when driving Td: idle running time (for example, 1 second) Tx: determination time until braking operation occurs Ty: determination time when stopping preceding vehicle Dr = V1 (Td + Tx) + (V1 2 / 2α1 -V2 2 / 2α2) Ru indicated by ··· (1) Ds = V1 ( Td + Ty) + V1 2 / 2α1 ··· (2).
【０００５】そこで、Ｄ＜Ｄｒ、Ｄ＜Ｄｓのときに警報
を出すようにしている。Therefore, an alarm is issued when D <Dr and D <Ds.
【０００６】すなわち図７において、初期設定を行い
（ステップＳ1 ）、車速センサ５からの信号に基づいて
自車速Ｖ1 を計算し（ステップＳ2 ）、レーダヘッド１
からの信号に基づいて車間距離Ｄを計算し加算する（ス
テップＳ3 ）。次いで、Ｔｘ、Ｔｙ、α1 、α2 の各ス
イッチのＯＮ・ＯＦＦポジションを１０マイクロ秒毎に
入力する（ステップＳ4 、Ｓ5 ）。次いで、レーダヘッ
ド１からの信号を１００マイクロ秒間加算し、この間に
５０％以上の反射光Ｃ1 が返ってくれば対象物を検知し
ていると判断し、その間の距離データの平均値を求め、
かつ、最小二乗法により距離の変化から自車Ａと先行車
Ｂとの相対速度を計算する。また、相対速度の値により
移動対象物と停止対象物を判断する（ステップＳ6 、Ｓ
7 ）。次いで、式（１）、（２）によりＤｒ、Ｄｓを計
算し（ステップＳ8 ）、Ｄ＜ＤｒまたはＤ＜Ｄｓのとき
に警報ランプに出力し（ステップＳ9 ）、モニタに出力
して（ステップＳ10）、ステップＳ2 に戻る制御を行
い、追突の防止を図っている。That is, in FIG. 7, initialization is performed (step S1), and the own vehicle speed V1 is calculated based on a signal from the vehicle speed sensor 5 (step S2).
The inter-vehicle distance D is calculated and added based on the signal from the controller (step S3). Next, the ON / OFF position of each switch of Tx, Ty, α1, α2 is input every 10 microseconds (steps S4, S5). Next, the signals from the radar head 1 are added for 100 microseconds. If 50% or more of the reflected light C1 is returned during this time, it is determined that the target is detected, and the average value of the distance data during that time is obtained.
Further, the relative speed between the own vehicle A and the preceding vehicle B is calculated from the change in the distance by the least square method. Further, the moving object and the stopping object are determined based on the value of the relative speed (steps S6 and S6).
7). Next, Dr and Ds are calculated by the formulas (1) and (2) (step S8), and when D <Dr or D <Ds, output to the alarm lamp (step S9) and output to the monitor (step S10). ), Control is returned to step S2 to prevent a rear-end collision.
【０００７】[0007]
【発明が解決しようとする課題】上記の従来装置におい
ては、警報の発生を自車と先行車との相対速度に基づい
て行っているので、先行車との安全車間距離が自車速だ
けでは決まらず、運転感覚上で違和感が生じる。また、
ドライバの運転環境すなわち技能、昼夜の別、天候等に
より必要とする警報発生距離は異なってよいものである
が、画一的なので、使い勝手が好ましくない。そこで、
後者については、例えば特開昭５７−１５７４００号公
報に見られるように、ドライバの運転技術等に応じて、
警報発生距離を変えて選定できるようにしたものが提案
されているが、この従来技術によれば適正車間距離をメ
モリに記憶させておき、自車速と相対速より、そのメモ
リ内容を呼出し、実際の車間距離と比較するものであ
り、適正車間距離をメモリに記憶させておくものである
ことからして、警報判断がきめ細かく行な得ず、きめ細
かく行おうとするとメモリ容量の大きなものが必要とな
る。In the above-mentioned conventional apparatus, the warning is issued based on the relative speed between the host vehicle and the preceding vehicle. Therefore, the safe inter-vehicle distance from the preceding vehicle cannot be determined only by the own vehicle speed. And a sense of incongruity arises in driving sensation. Also,
The required alarming distance may vary depending on the driving environment of the driver, that is, skill, day / night, weather, etc. However, since it is uniform, the usability is not preferable. Therefore,
Regarding the latter, as seen in, for example, Japanese Patent Application Laid-Open No. 57-157400,
According to this conventional technique, an appropriate inter-vehicle distance is stored in a memory, and the contents of the memory are called out from the own vehicle speed and the relative speed, and the contents of the memory are called up. Because the distance between vehicles is compared with the distance between vehicles and the appropriate distance between vehicles is stored in the memory, it is not possible to make a detailed judgment of an alarm, and a large memory capacity is required to make a detailed judgment. .
【０００８】したがって、本発明は、運転感覚上の違和
感をなくすとともに、運転環境にマッチした警報発生距
離が選択でき、しかもきめ細かい制御が可能な自動車の
追突警報装置を提供することを目的としてなされたもの
である。SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a rear-end collision warning device for an automobile which can eliminate a sense of incongruity in driving sensation, can select an alarm generation distance matching a driving environment, and can perform fine control. Things.
【０００９】[0009]
【課題を解決するための手段】本発明の自動車警報装置
によれば、車速検出手段と、レーザ・レーダヘッドから
なる距離検出手段と、空走時間および制動動作を起こす
までの判断時間を選択する警報距離可変スイッチとを備
え、車速検出手段からの信号に基づいて自車速を計算す
る自車速計算回路と、レーザ・レーダヘッドからなる距
離検出手段からの信号に基づいて車間距離の平均値を計
算する車間距離計算回路と、自車速計算回路からの自車
速および警報距離可変スイッチからの信号に基づいて安
全車間距離を計算する安全車間距離計算回路と、車間距
離計算回路および安全車間距離計算回路からの信号に基
づいて車間距離が安全車間距離より小さいか否かを判定
して小さい場合は警報を発する警報発生判定回路とを設
け、警報距離可変スイッチは、制動動作を起こすまでの
判断時間を警報発生を早めると警報発生を普通にすると
警報発生を遅くするの３種に等差級数的に設定するもの
であり、前記車間距離計算回路はレーダヘッドからの信
号を一定秒間加算してこの間の送光に対して反射エコー
が５０％以上のときに先行車があると判断して車間距離
の平均値を求めるようになっている。According to the present invention, a vehicle speed detecting means, a distance detecting means comprising a laser radar head, an idle running time and a judgment time until a braking operation is performed are selected. A self-vehicle speed calculation circuit for calculating a self-vehicle speed based on a signal from the vehicle speed detection means, and an average value of an inter-vehicle distance based on a signal from a distance detection means including a laser radar head. An inter-vehicle distance calculation circuit that calculates a safe inter-vehicle distance based on the own vehicle speed from the own vehicle speed calculation circuit and a signal from an alarm distance variable switch; and a inter-vehicle distance calculation circuit and a safe inter-vehicle distance calculation circuit. And a warning occurrence determination circuit for determining whether or not the inter-vehicle distance is smaller than the safe inter-vehicle distance based on the signal and issuing an alarm when the inter-vehicle distance is smaller than the safe inter-vehicle distance. The switch sets the judgment time until a braking operation is performed in an arithmetic progression into three types, that is, when an alarm is generated earlier and when an alarm is generated normally, the alarm is generated later. The signal from the head is added for a certain period of time, and when the reflected echo with respect to the light transmitted during this period is 50% or more, it is determined that there is a preceding vehicle, and the average value of the inter-vehicle distance is obtained.
【００１０】上記安全車間距離Ｄｒｉは、自車速Ｖｆ、
空走時間Ｔｄ（例えば１秒に固定）、制動動作を起こす
までの判断時間Ｔｘ（可変）から、 Ｄｒｉ＝Ｖｆ（Ｔｄ＋Ｔｘｉ） ・・・（３）The safe inter-vehicle distance Dri is calculated based on the vehicle speed Vf,
From the idle running time Td (for example, fixed to 1 second) and the judgment time Tx (variable) until the braking operation is performed, Dri = Vf (Td + Txi) (3)
【００１１】ここで、警報距離可変スイッチは、Ｔｘｉ
を、 Ｔｘｓ・・・警報発生を早める Ｔｘｍ・・・警報発生を普通にする Ｔｘｌ・・・警報発生を遅くするＴｘ の３種に等差級数的に設定し、それらにより安全車間距
離Ｄｒｓ、Ｄｒｍ、Ｄｒｌを求める。Here, the alarm distance variable switch is Txi
Txs: speed up alarm generation Txm: normalize alarm generation Txl: Tx to delay alarm generation Set to three types of arithmetic progression, and use them to ensure safe inter-vehicle distances Drs, Drm , Drl.
【００１２】[0012]
【作用】上記のように構成された自動車の追突警報装置
においては、自車速により、かつ、ドライバの選択によ
り安全車間距離すなわち警報発生距離が決められるの
で、運転感覚上の違和感をなくし、かつ運転環境にマッ
チした警報発生距離となる。In the rear-end collision warning system for an automobile constructed as described above, the safe inter-vehicle distance, that is, the warning generation distance is determined by the own vehicle speed and by the driver's selection. The alarm occurrence distance matches the environment.
【００１３】その際、安全車間距離すなわち警報発生距
離は、自車速および警報距離可変スイッチからの信号に
より適時計算して求められるものであるので、きめ細か
い制御が可能である。At this time, since the safe inter-vehicle distance, that is, the alarm generation distance, is obtained by timely calculation based on the own vehicle speed and a signal from the alarm distance variable switch, fine control is possible.
【００１４】[0014]
【実施例】以下図面を参照して本発明の実施例を説明す
る。Embodiments of the present invention will be described below with reference to the drawings.
【００１５】図１において、追突防止装置は、レーザを
用いたレーザ・レーダヘッド１と、車速センサ５と、距
離表示装置２と、警報発生装置すなわち図示の例では警
報発生ブザー９と、警報距離可変スイッチ４Ａと、情報
処理装置１０とから構成されており、スイッチ４Ａは制
動動作を起こすまでの判断時間Ｔｘｉを、前記のよう
に、Ｔｘｓ、Ｔｘｍ、Ｔｘｌの３種に選択できるように
なっている。In FIG. 1, a rear-end collision prevention device includes a laser radar head 1 using a laser, a vehicle speed sensor 5, a distance display device 2, an alarm generation device, that is, an alarm generation buzzer 9 in the illustrated example, and an alarm distance. The switch 4A includes the variable switch 4A and the information processing device 10, and the switch 4A can select the determination time Txi until the braking operation is performed to three types of Txs, Txm, and Txl as described above. I have.
【００１６】図２において、情報処理装置１０はマイク
ロコンピュータで構成され、車速センサ５からの車速信
号に基づいて自車速Ｖｆを計算する自車速計算回路１１
と、レーザ・レーダヘッド１からの信号に基づいて車間
距離Ｄを計算する車間距離計算回路１２と、前記回路１
１と警報距離可変スイッチ４Ａからの信号に基づき、式
（３）により制動距離すなわち安全車間距離Ｄｒｉを計
算する安全車間距離計算回路１３と、両回路１２、１３
からの信号に基づき、車間距離Ｄが安全車間距離より小
さくなったときに警報装置、図示の例では警報発生ブザ
ー９に制御信号を出力する警報発生判定回路１４とが設
けられている。In FIG. 2, an information processing apparatus 10 is constituted by a microcomputer, and calculates an own vehicle speed Vf based on a vehicle speed signal from a vehicle speed sensor 5.
An inter-vehicle distance calculating circuit 12 for calculating an inter-vehicle distance D based on a signal from the laser radar head 1;
1 and a signal from the alarm distance variable switch 4A, a safe inter-vehicle distance calculation circuit 13 for calculating a braking distance, that is, a safe inter-vehicle distance Dri, by equation (3), and both circuits 12, 13
When the inter-vehicle distance D becomes smaller than the safe inter-vehicle distance on the basis of a signal from the vehicle, an alarm device, in the illustrated example, an alarm generation determination circuit 14 that outputs a control signal to the alarm buzzer 9 is provided.
【００１７】作動に際し図３に示すように、情報処理装
置１０は、空走時間（例えば１秒に固定）等の初期設定
を行い（ステップＳ1 ）、車速センサ５からの信号に基
づき、自車速計算回路１１で自車速Ｖｆを計算し（ステ
ップＳ2 ）、レーザ・レーダヘッド１からの信号に基づ
き、車間距離計算回路１２で車間距離Ｄを計算し加算す
る（ステップＳ3 ）。次いで、警報距離可変スイッチ４
Ａの選択値ＴｘｓまたはＴｘｍまたはＴｘｌを１０マイ
クロ秒毎に入力する（ステップＳ4 、Ｓ5 ）。次いで、
車間距離計算回路１２でレーダヘッド１からの信号を１
００マイクロ秒加算し、この間に送光に対して反射エコ
ーが５０％以上の反射波Ｃ1 が返ってくれば先行車があ
ると判断し、その間の距離データから車間距離Ｄの平均
値を求める（ステップＳ6 、Ｓ11）。次いで、安全車間
距離計算回路１３は、回路１１とスイッチ４Ａからの信
号Ｖｆ、Ｔｘｉに基づき、式（３）により安全車間距離
Ｄｒｉを計算する（ステップＳ12）。次いで、警報発生
判定回路１４は、回路１２、１３からの信号に基づき、
車間距離Ｄが安全車間距離Ｄｒｉより小さいか否かを判
定し（ステップＳ13）、ＮＯの場合はステップＳ2 に戻
り、ＹＥＳだったら、警報発生ブザー９に制御信号を出
力し、警報を発生して（ステップＳ14）、ステップＳ2
に戻る。In operation, as shown in FIG. 3, the information processing apparatus 10 performs initial settings such as idle running time (fixed to, for example, one second) (step S1), and based on a signal from the vehicle speed sensor 5, the own vehicle speed. The calculation circuit 11 calculates the own vehicle speed Vf (step S2), and the inter-vehicle distance calculation circuit 12 calculates and adds the inter-vehicle distance D based on the signal from the laser radar head 1 (step S3). Next, the alarm distance variable switch 4
The selected value Txs or Txm or Txl of A is input every 10 microseconds (steps S4 and S5). Then
The inter-vehicle distance calculation circuit 12 converts the signal from the radar head 1 to 1
00 microseconds are added. During this time, if a reflected wave C1 with a reflected echo of 50% or more is returned with respect to the transmitted light, it is determined that there is a preceding vehicle, and the average value of the inter-vehicle distance D is obtained from the distance data therebetween ( Steps S6 and S11). Next, the safe inter-vehicle distance calculation circuit 13 calculates the safe inter-vehicle distance Dri based on the circuit 11 and the signals Vf and Txi from the switch 4A according to equation (3) (step S12). Next, based on the signals from the circuits 12 and 13, the alarm occurrence determination circuit 14
It is determined whether or not the inter-vehicle distance D is smaller than the safe inter-vehicle distance Dri (step S13). If NO, the process returns to step S2. If YES, a control signal is output to the alarm buzzer 9 to generate an alarm. (Step S14), Step S2
Return to
【００１８】[0018]
【発明の効果】以上の通り本発明によれば、下記のすぐ
れた効果を奏する。 （イ） 自車と先行車との安全車間距離が自車速だけで
決まり、自車と先行車との相対速度に基づいて安全車間
距離を決める従来のものにおける運転感覚上の違和感が
解消される。 （ロ） 警報距離可変スイッチにより、制動動作を起こ
すまでの判断時間を、警報発生を早めると警報発生を普
通にすると警報発生を遅くするの３種に等差級数的に設
定でき、ドライバの運転環境すなわち技能、昼夜の別、
天候等に警報発生距離をマッチさせ、使い勝手を良くす
ることができる。 （ハ） 安全車間距離を自車速および警報距離可変スイ
ッチからの信号により適時計算して求めているので、き
め細かい制御が可能である。 （ニ） 反射エコーが５０％以上あったときに先行車が
あると判断するので、鳥等の飛来やカーブを切るときに
道路ポール等を誤って先行車と判断せず、無用な警報を
発しない。As described above, according to the present invention, the following excellent effects can be obtained. (B) The safe inter-vehicle distance between the own vehicle and the preceding vehicle is determined solely by the own vehicle speed, and the sense of incongruity in driving sensation in the conventional vehicle in which the safe inter-vehicle distance is determined based on the relative speed between the own vehicle and the preceding vehicle is eliminated. . (B) The variable alarm distance switch can be used to set the judgment time until the braking action to occur in an arithmetic progression to three types, that is, if the alarm generation is advanced, the alarm generation is made normal and the alarm generation is delayed. Environment or skills, day or night,
The alarm generation distance can be matched to the weather or the like to improve the usability. (C) Since the safe inter-vehicle distance is calculated and obtained in a timely manner from the own vehicle speed and a signal from the warning distance variable switch, detailed control is possible. (D) When the reflected echo is 50% or more, it is determined that there is a preceding vehicle. Therefore, when a bird or the like comes in or turns a curve, a road pole or the like is not erroneously determined to be the preceding vehicle, and an unnecessary alarm is issued. do not do.
【図１】本発明の一実施例を示す全体構成図。FIG. 1 is an overall configuration diagram showing one embodiment of the present invention.
【図２】本発明を実施した追突警報装置の一例を示す制
御ブロック図。FIG. 2 is a control block diagram illustrating an example of a rear-end collision warning device embodying the present invention.
【図３】図２の制御フローチャート図。FIG. 3 is a control flowchart of FIG. 2;
【図４】従来の追突警報装置を示す全体構成図。FIG. 4 is an overall configuration diagram showing a conventional rear-end collision warning device.
【図５】従来の追突警報装置の制御ブロック図。FIG. 5 is a control block diagram of a conventional rear-end collision warning device.
【図６】車間距離の測定を示す説明図。FIG. 6 is an explanatory diagram showing measurement of an inter-vehicle distance.
【図７】図５の制御のフローチャート図。FIG. 7 is a flowchart of the control in FIG. 5;
１・・・レーザ・レーダヘッド ４Ａ・・・警報距離可変スイッチ ５・・・車速センサ １０・・・情報処理装置 １１・・・自車速計算回路 １２・・・車間距離計算回路 １３・・・安全車間距離計算回路 １４・・・警報発生判定回路 DESCRIPTION OF SYMBOLS 1 ... Laser radar head 4A ... Warning distance variable switch 5 ... Vehicle speed sensor 10 ... Information processing device 11 ... Own vehicle speed calculation circuit 12 ... Inter-vehicle distance calculation circuit 13 ... Safety Inter-vehicle distance calculation circuit 14 ・ ・ ・ Alarm generation judgment circuit
Claims (1)
からなる距離検出手段と、空走時間および制動動作を起
こすまでの判断時間を選択する警報距離可変スイッチと
を備え、車速検出手段からの信号に基づいて自車速を計
算する自車速計算回路と、レーザ・レーダヘッドからな
る距離検出手段からの信号に基づいて車間距離の平均値
を計算する車間距離計算回路と、自車速計算回路からの
自車速および警報距離可変スイッチからの信号に基づい
て安全車間距離を計算する安全車間距離計算回路と、車
間距離計算回路および安全車間距離計算回路からの信号
に基づいて車間距離が安全車間距離より小さいか否かを
判定して小さい場合は警報を発する警報発生判定回路と
を設け、警報距離可変スイッチは、制動動作を起こすま
での判断時間を警報発生を早めると警報発生を普通にす
ると警報発生を遅くするの３種に等差級数的に設定する
ものであり、前記車間距離計算回路はレーダヘッドから
の信号を一定秒間加算してこの間の送光に対して反射エ
コーが５０％以上のときに先行車があると判断して車間
距離の平均値を求めるものであることを特徴とする自動
車の追突警報装置。1. A vehicle speed detecting means, a distance detecting means comprising a laser radar head, and an alarm distance variable switch for selecting an idling time and a judgment time until a braking operation is performed, and a signal from the vehicle speed detecting means. A self-vehicle speed calculation circuit for calculating the own-vehicle speed on the basis of the vehicle speed, an inter-vehicle distance calculation circuit for calculating the average value of the inter-vehicle distance based on a signal from the distance detection means comprising a laser radar head, A safe inter-vehicle distance calculation circuit that calculates a safe inter-vehicle distance based on a signal from the vehicle speed and alarm distance variable switch, and whether the inter-vehicle distance is smaller than the safe inter-vehicle distance based on signals from the inter-vehicle distance calculation circuit and the safe inter-vehicle distance calculation circuit An alarm generation determination circuit that issues an alarm if it is small, and an alarm distance variable switch provides an alarm for a determination time until a braking operation is performed. If the generation of the alarm is advanced, the generation of the alarm is made normal and the generation of the alarm is delayed. The three types are set in an arithmetic progression. The inter-vehicle distance calculation circuit adds a signal from the radar head for a certain period of time and transmits the signal during this period. A rear-end collision warning device for an automobile, wherein when a reflected echo with respect to light is 50% or more, it is determined that there is a preceding vehicle, and an average value of an inter-vehicle distance is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3304567A JP2704979B2 (en) | 1991-11-20 | 1991-11-20 | Rear-end collision warning system for automobiles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3304567A JP2704979B2 (en) | 1991-11-20 | 1991-11-20 | Rear-end collision warning system for automobiles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0644500A JPH0644500A (en) | 1994-02-18 |
| JP2704979B2 true JP2704979B2 (en) | 1998-01-26 |
Family
ID=17934550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3304567A Expired - Lifetime JP2704979B2 (en) | 1991-11-20 | 1991-11-20 | Rear-end collision warning system for automobiles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2704979B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3189560B2 (en) * | 1994-03-25 | 2001-07-16 | 株式会社デンソー | Inter-vehicle distance detection device and inter-vehicle distance alarm device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57157400A (en) * | 1981-03-23 | 1982-09-28 | Honda Motor Co Ltd | Radar for running object |
-
1991
- 1991-11-20 JP JP3304567A patent/JP2704979B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0644500A (en) | 1994-02-18 |
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