JP3978170B2 - 車両の車間距離制御装置 - Google Patents
車両の車間距離制御装置 Download PDFInfo
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Description
しかし、まだ安定した近距離用レーダーセンサーはなく、値段や重量の側面からも遠距離レーダーセンサーと共に車両に装着するほど実用化の段階には至っていない。
前記車間距離制御部は前記第3、4距離が前記第1、2距離のうちの短い距離より短い場合に、前記側方の先行車両までの車間距離を調節することを特徴とする。
また、レーダーセンサーと超音波センサーとの周波数は互いに大きく異なるので(レーダーセンサーの周波数=76Ghz、超音波センサーの周波数=40Khz)、干渉がない。
さらに、近距離用レーダーセンサーの重量より軽い超音波センサーを装着することによって、車両の軽量化を図ることができる。
図1は、本発明の実施例による車間距離制御装置の構成を示した図面であり、図2及び図3は、各々本発明の実施例による車間距離検出部の装着位置及び検出領域を示した図面である。
車両走行情報検出部100は、車速検出センサー、エンジン回転数検出センサーのように車両の走行状態を検出する各々のセンサーで構成し、検出された車両走行情報を車間距離制御部110に入力する機能を有する。
第2車間距離検出部104は、第1車間距離検出部102の装着位置を基準にして、左右側に対称な位置に装着され、前方の先行車両までの第2距離(D2;近距離で、一例として0.2〜10mの範囲の値である)を検出する。
第2車間距離検出部104は、近距離用超音波センサーで構成する。
このような前記車間距離制御部110は、設定されたプログラムによって動作する一つ以上のマイクロプロセッサーで具現でき、このような設定されたプログラムは、後述する表1によって車間距離を調節するための一連の命令とすることができる。
車間距離調節アクチュエータ120は、スロットルの開度状態を調節するアクチュエータ及び車両の制動状態を調節するアクチュエータを含むことができる。したがって、車間距離制御部110は、前記車間距離調節アクチュエータ120を制御することによって、車両を増速または減速制御することができるようになる。
第3、第4車間距離検出部106、108は、近距離用超音波センサーで構成する。
前記のような構成で、車間距離制御部110は、第3、第4車間距離検出部106、108から各々入力される第3、4距離(D3、D4)に基づいて側方の先行車両の有無を判別し、前記側方の先行車両の有無によって、前記車両の走行状態をさらに制御する。
本発明の実施例は、車両が走行する速度領域全体での車間距離の制御のために、遠距離用の第1車間距離検出部102(レーダーセンサー)及び近距離用の第2〜第4車間距離検出部104〜108(超音波センサー)を用いて検出された車間距離によって、該当する車間距離制御動作を行なうことを特徴とする。
第1車間距離検出部102が装着された状態で、その位置を基準にしてフロントバンパーの左、右側の対称位置に、近距離(0.2〜10m)用の超音波センサーである第2車間距離検出部104を装着する。
第2車間距離検出部104は、図3の2の領域に該当する前方の先行車両を検出する。
第3、第4車間距離検出部106、108は、各々図3の3、4の領域に該当する前方の先行車両を検出する。
表1−1及び表1−2を参照すれば、遠距離値(D1)と近距離値(D2)との有無及び差によって、遠距離車両の追従または近距離車両を追従するように制御することが分かる。
また、SGは、近距離の車両との距離制御のために車速が制御されることをいい、これは現在の車速が第2距離に基づいて制御されることを意味する。
そして、近距離値の差(D2とD3との差及び/またはD2とD4との差)に基づいて車両の走行状態を制動し、車両間の衝突を防止するように制御することが分かる。
参考として、車間距離制御部110に入力される各々の距離値に対する優先権は、走行車線の近距離領域、走行車線の遠距離領域、左右側車線の近距離領域の順に設定される。
このような場合、車間距離制御部110は、車両のブレーキペダル圧力を補助して、衝突を防止するように車両の制動制御動作を行う。
表2は、第1車間距離検出部102及び第2車間距離検出部104から前方の先行車両までの車間距離が各々検出され、第3、4車間距離検出部106、108のうちの少なくとも一つから側方の先行車両までの距離が検出される状態での車間距離制御を説明した表である。
反面、第1、2距離(D1、D2)が互いに異なれば、第1、2距離(D1、D2)のうちの短いほうの距離に基づいて車両の車間距離を制御する。
反面、第1、2距離(D1、D2)が互いに異なれば、第1、2距離(D1、D2)のうちの短いほうの距離に基づいて車両の車間距離を制御する。
そして、側方の先行車両に関しては、第3距離(D3)及び第4距離(D4)が設定された距離より小さくならないように、左側及び右側の側方の先行車両の軌跡を追跡する。この時、車間距離制御部110は、車両を減速制御することができる。
102、104、106、108 第1、2、3、4車間距離検出部
110 車間距離制御部
120 車間距離調節アクチュエータ
Claims (4)
- 車両の車間距離制御装置において、
前記車両の走行状態を検出する車両走行情報検出部と、
前記車両の前方の中央部に装着され、前方の先行車両までの第1距離を検出する第1車間距離検出部と、
前記第1車間距離検出部の装着位置を基準にして、左右側の対称な位置に装着され、前方の先行車両までの第2距離を検出する第2車間距離検出部と、
前記車両の前方左右側の両端に各々装着され、前記車両の走行方向から横側に傾いた方向の側方の先行車両までの第3、4距離を各々検出する第3、第4車間距離検出部と、
前記第1距離及び前記第2距離に基づいて前方の先行車両の有無を判別し、前記第3距離及び第4距離に基づいて側方の先行車両の有無を判別し、前記前方及び側方の先行車両の有無によって、前記車両の走行状態を制御する車間距離制御部と、
前記車間距離制御部から入力される車両の走行状態制御信号によって駆動されて、前記車両の走行状態を制御することにより、前記前方及び側方の先行車両までの車間距離を調節する車間距離調節アクチュエータと、
を含み、
前記車間距離制御部は前記第3、4距離が前記第1、2距離のうちの短い距離より短い場合に、前記側方の先行車両までの車間距離を調節することを特徴とする車両の車間距離制御装置。 - 前記第1車間距離検出部は、遠距離用レーダーセンサーを含むことを特徴とする請求項1に記載の車両の車間距離制御装置。
- 前記第2車間距離検出部は、近距離用超音波センサーを含むことを特徴とする請求項1に記載の車両の車間距離制御装置。
- 前記第3、第4車間距離検出部は、近距離用超音波センサーを含むことを特徴とする請求項1に記載の車両の車間距離制御装置。
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US7100726B2 (en) | 2006-09-05 |
DE10356176A1 (de) | 2004-12-30 |
KR20040102803A (ko) | 2004-12-08 |
US20040238249A1 (en) | 2004-12-02 |
CN1572576A (zh) | 2005-02-02 |
CN100366457C (zh) | 2008-02-06 |
DE10356176B4 (de) | 2016-05-19 |
KR100513523B1 (ko) | 2005-09-07 |
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