JPH1095291A - Collision warning system of vehicle - Google Patents
Collision warning system of vehicleInfo
- Publication number
- JPH1095291A JPH1095291A JP8273082A JP27308296A JPH1095291A JP H1095291 A JPH1095291 A JP H1095291A JP 8273082 A JP8273082 A JP 8273082A JP 27308296 A JP27308296 A JP 27308296A JP H1095291 A JPH1095291 A JP H1095291A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- obstacle
- speed
- warning system
- generation area
- 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.)
- Granted
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、レーダを用いて障害物
を検出し、この障害物との衝突に対する警報を発生する
車両の衝突警報システムに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle collision warning system for detecting an obstacle using a radar and generating a warning for a collision with the obstacle.
【０００２】[0002]
【従来の技術】従来、レーザ光線や電磁波や音波などの
ビームを送受信するレーダ装置を利用して先行車両など
の障害物を検出し、この障害物との衝突に対する警報を
発生する車両の衝突警報システムが開発されてきてい
る。2. Description of the Related Art Conventionally, a vehicle collision alarm which detects an obstacle such as a preceding vehicle using a radar device which transmits and receives a beam such as a laser beam, an electromagnetic wave or a sound wave, and issues an alarm for a collision with the obstacle. Systems are being developed.
【０００３】この衝突警報システムは、放射したレーザ
光線などのビームが他の車両などで反射されて戻って来
るのに要した伝播所要時間から他の車両などとの車間距
離を検出する。更に、ビームを自車両の横幅方向に走査
することなどにより、他の車両との車間距離と共にこの
他の車両の自車両から見た方向（方位）を検出し、自車
両の前方の二次元空間内での他の車両の位置を検出する
ようになっている。This collision warning system detects an inter-vehicle distance from another vehicle or the like based on a propagation time required for returning a beam such as an emitted laser beam from another vehicle or the like. Further, by scanning the beam in the width direction of the own vehicle, the inter-vehicle distance to the other vehicle and the direction (azimuth) of the other vehicle viewed from the own vehicle are detected, and the two-dimensional space ahead of the own vehicle is detected. The position of another vehicle is detected within the vehicle.
【０００４】この種の衝突警報システムのうちのある種
のものは、自車両の車速その他の走行状態に応じて変更
される障害物に対する警報発生領域を自車両の前方に予
め設定しておき、レーダ装置及びこれに付帯する処理装
置を用いて検出した障害物が設定中の警報発生領域内に
出現した時に警報を発生するように構成されている。One type of this type of collision warning system has a warning area for an obstacle which is changed in accordance with the vehicle speed and other running conditions of the vehicle in advance set in front of the vehicle. An alarm is generated when an obstacle detected by using the radar device and a processing device attached thereto appears in the alarm generation area being set.
【０００５】上記衝突警報システムでは、特開平７ー24
4162号公報などによって代表されるように、障害物に対
する検知範囲（警報発生領域）は、自車両の車速の増加
と共に前方に拡大されると同時に横幅が縮小されること
によって、自車両の前方に細長く伸びた形状に変更され
る。これとは逆に、車速の小さな状態では、交差点内の
進路変更などに対処するため、警報発生領域は前方に短
くて横幅の大きな団扇（うちわ）のような形状に変更さ
れる。In the above collision warning system, Japanese Patent Application Laid-Open No. 7-24
As typified by Japanese Patent No. 4162, the detection range for an obstacle (alarm generation area) expands forward with an increase in the vehicle speed of the host vehicle, and at the same time, reduces the lateral width, so that the detection range is set ahead of the host vehicle. It is changed to an elongated shape. Conversely, when the vehicle speed is low, in order to cope with a change in the course within the intersection, the warning issuance area is changed to a fan-like shape with a short front and a large width.
【０００６】[0006]
【発明が解決しようとする課題】上記従来の衝突警報シ
ステムでは、警報発生領域が自車両の車速の増加につれ
て自車両の前方に細長く伸びた形状に変更される。この
ため、高速走行時において隣接車線からの割り込み車両
などの障害物の検出が、この検出のためのアルゴリズム
やプロセッサによるデータ処理の速度次第では、遅れ気
味となり、車速の増加と共に増大する安全車間距離を確
保できなくなるおそれもある。In the above-mentioned conventional collision warning system, the warning generation area is changed to a shape elongated in front of the host vehicle as the vehicle speed of the host vehicle increases. Therefore, detection of an obstacle such as an interrupted vehicle from an adjacent lane during high-speed driving tends to be delayed depending on the algorithm for this detection and the speed of data processing by the processor, and the safe inter-vehicle distance increases as the vehicle speed increases. May not be able to be secured.
【０００７】従って、本発明の一つの目的は、車両の高
速走行時において、隣接車線からの割り込み車両などの
障害物を早期に検出できる車両の衝突警報システムを提
供することにある。It is, therefore, an object of the present invention to provide a vehicle collision warning system capable of detecting an obstacle such as an interrupted vehicle from an adjacent lane at an early stage when the vehicle is running at a high speed.
【０００８】[0008]
【課題を解決するための手段】本発明に係わる車両の衝
突警報システムによれば、障害物に対する警報発生領域
は、車速が所定値を越えると車両の前方だけでなく横方
向にも拡大されるように構成されている。According to a vehicle collision warning system according to the present invention, a warning area for an obstacle is expanded not only in front of the vehicle but also in a lateral direction when the vehicle speed exceeds a predetermined value. It is configured as follows.
【０００９】[0009]
【発明の実施の形態】本発明の好適な実施の形態によれ
ば、障害物に対する警報発生領域は、自車両の車速の増
加に伴って前方に増加せしめられると共に、車速の低速
から中速への移行に伴って横幅が狭められ、中速から高
速への移行に伴って再び横幅が拡大されるように構成さ
れている。以下、本発明を実施例と共に詳細に説明す
る。According to a preferred embodiment of the present invention, an alarm generation area for an obstacle is increased forward with an increase in the vehicle speed of the own vehicle, and also from a low vehicle speed to a medium vehicle speed. The width is narrowed with the shift of the speed, and the width is expanded again with the shift from the middle speed to the high speed. Hereinafter, the present invention will be described in detail with examples.
【００１０】[0010]
【実施例】図２は、本発明の一実施例に係わる車両の衝
突警報システムの構成を示すブロック図であり、１はデ
ータプロセッサ、２は障害物検出部、３はレーザ送受光
部、４は入力インタフェース部、５はデータメモリ、６
は衝突警報発生部、７はキー入力部である。FIG. 2 is a block diagram showing a configuration of a vehicle collision warning system according to one embodiment of the present invention, wherein 1 is a data processor, 2 is an obstacle detecting unit, 3 is a laser transmitting / receiving unit, Is an input interface unit, 5 is a data memory, 6
Is a collision warning generating unit, and 7 is a key input unit.
【００１１】レーザ送受光部３は自車両のバンパーの裏
側や車室内などの適宜な箇所に設置されており、その送
光部からは自車両の前方に向けてパルス状のレーザビー
ムが放射される。この放射されたレーザビームは、自車
両の前方に存在する先行車両などの障害物で反射され、
レーザ送受光部３の受光部に受光される。The laser transmission / reception unit 3 is installed at an appropriate location such as behind the bumper of the vehicle or in the vehicle interior, and emits a pulsed laser beam from the light transmission unit toward the front of the vehicle. You. This emitted laser beam is reflected by obstacles such as a preceding vehicle existing in front of the own vehicle,
The light is received by the light receiving unit of the laser transmitting / receiving unit 3.
【００１２】障害物検出出部２は、レーザ送受光部３が
パルス状のレーザビームを送光してからその反射ビーム
を受光するまでに要した伝播所要時間に基づきレーザビ
ームの伝播距離、すなわち先行車両などの障害物との距
離を検出する。放射レーザビームの横方向への走査に伴
って、自車両から障害物までの距離と共に、自車両から
見た障害物の方向（方位）も検出される。The obstacle detecting and outputting unit 2 determines a propagation distance of the laser beam, that is, a propagation distance of the laser beam based on a propagation time required from when the laser transmitting and receiving unit 3 transmits the pulsed laser beam to when the reflected beam is received. The distance to an obstacle such as a preceding vehicle is detected. Along with the scanning of the emitted laser beam in the lateral direction, the direction (azimuth) of the obstacle viewed from the own vehicle is detected along with the distance from the own vehicle to the obstacle.
【００１３】データプロセッサ１は、入力インタフェー
ス部４を介して通知された自車両の車速などの走行状態
に応じて、図１に例示するように、自車両の車両に応じ
て変更される障害物に対する警報発生領域を設定する。
すなわち、車両の低速走行時には、図１（Ａ）に点線で
例示するように、前方に縮小されると共に横方向に拡大
された偏平な衝突警報領域が設定される。車両の中速走
行時には、図１（Ａ）に実線で例示するように、前方に
拡大されると共に横方向に縮小された縦長の衝突警報領
域が設定される。As shown in FIG. 1, the data processor 1 changes an obstacle which is changed according to the running state of the own vehicle, such as the vehicle speed of the own vehicle notified via the input interface unit 4. Set the alarm generation area for.
That is, when the vehicle is running at a low speed, a flat collision warning area that is reduced in the forward direction and expanded in the horizontal direction is set as illustrated by the dotted line in FIG. When the vehicle is traveling at medium speed, a vertically long collision warning area that is enlarged forward and reduced horizontally is set as illustrated by a solid line in FIG.
【００１４】自車両の車速が更に増大して、高速走行状
態になると、隣接車線からの割り込み車両の早期検出を
可能にするために、図１（Ｂ）に示すように、前方には
更に拡大されると共に、横方向にも再び拡大された障害
物に対する衝突警報領域が設定される。When the vehicle speed of the host vehicle further increases and the vehicle is driven at a high speed, in order to enable early detection of an interrupted vehicle from an adjacent lane, the vehicle is further expanded forward as shown in FIG. At the same time, a collision warning area for an obstacle that has been expanded again in the lateral direction is set.
【００１５】図３は、自車両の車速に応じて変更される
衝突警報領域の前方への長さと横幅との一例を示す概念
図である。ただし、縦軸の前方への長さは横幅に比べて
数十倍の目盛りで描かれている。衝突警報領域の長さ
は、車速Ｖの増加と共に単調に増加する。この衝突警報
領域の長さは、いわゆる車速に依存して変化する安全車
間距離に該当し、車速の増加と共に加速的に増加する。
これに対して、障害物に対する衝突警報領域の横幅は、
低速走行時にはほぼ一定で、中速範囲に移行すると一旦
減少し、高速になると再び増加するように設定されてい
る。FIG. 3 is a conceptual diagram showing an example of the front length and the width of the collision warning area which are changed according to the speed of the host vehicle. However, the length in front of the vertical axis is drawn on a scale several tens of times larger than the horizontal width. The length of the collision warning area monotonically increases as the vehicle speed V increases. The length of the collision warning area corresponds to a so-called safe inter-vehicle distance that varies depending on the vehicle speed, and increases at an accelerating rate as the vehicle speed increases.
In contrast, the width of the collision warning area for obstacles is
It is set to be substantially constant during low-speed running, to decrease once in the middle speed range, and to increase again at high speed.
【００１６】なお、図１に例示した障害物に対する警報
発生領域は、必ずしもレーザビームの照射範囲や、障害
物による反射レーザビームの受光可能範囲とは一致しな
い。すなわち、例えば、機械的な走査によるレーザビー
ムの照射範囲と、反射レーザビームの受光可能範囲と
を、低速、中速及び高速の全ての走行時の警報発生領域
をカバーできるような十分広い範囲に予め固定しておい
て、この照射範囲と受光可能範囲内に車速に応じて変更
される警報発生領域を設定することもできる。Note that the alarm generation area for an obstacle illustrated in FIG. 1 does not always coincide with the irradiation range of the laser beam or the receivable range of the laser beam reflected by the obstacle. That is, for example, the irradiation range of the laser beam by mechanical scanning and the receivable range of the reflected laser beam are set to a sufficiently wide range that can cover the alarm generation area at the time of running at all of low speed, medium speed, and high speed. It is also possible to fix in advance and set an alarm generation area that is changed according to the vehicle speed within the irradiation range and the light receiving range.
【００１７】しかしながら、他の車両への干渉などによ
る妨害や、レーザダイオードの長寿命化などを考慮する
と、車速に応じて変更される障害物に対する警報発生領
域をカバー可能な最小限の範囲を、レーザビームの照射
範囲や反射ビームの受光可能範囲とすることが望まし
い。そこで、好適な一例としては、レーザビームの照射
範囲の変更が、自車両の幅方向には機械的走査の角度の
範囲の変更によって行われると共に、自車両の前方方向
にはレーザダイオードへのバイアス電圧の変更に伴う発
光量の変更によって行われる。However, in consideration of interference due to interference with other vehicles and extension of the life of the laser diode, the minimum range that can cover the alarm generation area for an obstacle that is changed according to the vehicle speed is as follows. It is desirable to set the irradiation range of the laser beam and the receivable range of the reflected beam. Therefore, as a preferred example, the irradiation range of the laser beam is changed by changing the range of the angle of the mechanical scanning in the width direction of the own vehicle, and the bias to the laser diode is set in the forward direction of the own vehicle. This is performed by changing the amount of light emission according to the change in voltage.
【００１８】なお、好適には、上記障害物に対する警報
の発生に際して、他の車両から放射されたレーザビーム
やその反射光、あるいはコーナーリフレクタなど他の車
両や歩行者以外の反射体からの反射光を受信することよ
って出現することのある偽のあるいは不要な障害物の除
去や検出の回避などが適宜な選択規則のもとにデータプ
ロセッサ１によって実行される。Preferably, when an alarm is issued for the obstacle, a laser beam emitted from another vehicle or its reflected light, or a reflected light from another vehicle or a reflector other than a pedestrian such as a corner reflector. Is removed by the data processor 1 under appropriate selection rules, for example, removal of false or unnecessary obstacles that may appear by avoidance of detection and avoidance of detection.
【００１９】例えば、他の車両からの干渉を避けるため
には、特開平７ー35863 号公報に開示されたように、一
定周期で送光が反復される他車両からの干渉を検出した
場合には、自車両のレーザ光線の送光タイミングを変更
したりすることにより干渉を回避するなど公知の種々の
技術を併用できる。For example, in order to avoid interference from another vehicle, as disclosed in Japanese Patent Application Laid-Open No. 7-35863, when interference from another vehicle whose light transmission is repeated at a constant period is detected. Various known techniques, such as avoiding interference by changing the transmission timing of the laser beam of the vehicle, can be used in combination.
【００２０】また、コーナーリフレクタなどを他の車両
などの障害物と弁別するために、特開平５ー159199号公
報に開示されたように、反射体の距離が走査角度に対し
て単調に変化する場合にはこの反射体は曲線路肩上のリ
フレクタと判定して障害物から除外したり、特開平 5ー
312954号公報に開示されたように、路肩上への固定リフ
レクタと車両リフレクタとに異なる偏向特性を持たせた
り、特開平６ー222143号に開示されたように、固定リフ
レクタと仮定して次回の位置を予測し、予測が外れたこ
とをもって車両からの反射光と判定するなどの公知の種
々の技術を併用できる。Further, in order to discriminate a corner reflector or the like from other obstacles such as a vehicle, the distance of the reflector changes monotonously with respect to the scanning angle as disclosed in Japanese Patent Application Laid-Open No. 5-159199. In this case, this reflector is judged as a reflector on a curved road shoulder and is excluded from obstacles.
As disclosed in Japanese Patent No. 312954, the fixed reflector on the road shoulder and the vehicle reflector have different deflection characteristics, or as disclosed in Japanese Patent Laid-Open No. Various known techniques, such as estimating the position and judging that the light is reflected from the vehicle when the estimation is incorrect, can be used together.
【００２１】更には、ナビゲーションシステムや、カメ
ラによる車両の前方の光景の撮像の解析システムなどと
の情報交換を行うことにより、障害物の検出の確度を更
に高める構成とすることもできる。Further, by exchanging information with a navigation system or a system for analyzing an image of a scene ahead of a vehicle by a camera, the accuracy of obstacle detection can be further improved.
【００２２】また、本発明によれば、自車両がカーブに
差しかかると、高速走行状態から中速走行状態に移行す
るため、警報発生領域の横幅が減少され、コーナーリフ
レクタや対向車などに対する無駄な警報が発生しにくく
なる。しかしながら、一層好適には、舵角センサやヨー
レイトセンサなどの加速度計によって検出された、ある
いは、特開平５ー196736号公報などに開示されたよう
に、ナビゲーションの地図情報から検出されたカーブの
湾曲の状況に応じて、レーザヘッドと警報発生領域の向
きが変更されたり、警報発生領域のうちカーブの内側の
近傍部分やカーブの外側の遠方部分の一部が切り欠かれ
るなどの適宜な修正が行われる。Further, according to the present invention, when the own vehicle approaches a curve, the vehicle shifts from a high-speed running state to a medium-speed running state, so that the width of the alarm generation area is reduced, and the corner reflector and the oncoming vehicle are wasted. Alarm is less likely to occur. However, more preferably, the curvature of a curve detected by an accelerometer such as a steering angle sensor or a yaw rate sensor, or detected from navigation map information as disclosed in Japanese Patent Application Laid-Open No. 5-196736. Depending on the situation, appropriate corrections such as changing the direction of the laser head and the alarm generation area, or cutting out a part of the alarm generation area near the inside of the curve or a part of the distant part outside the curve, etc. Done.
【００２３】以上、警報発生領域の横幅を低速走行時に
は拡大する構成を例示したが、必要に応じて、図３の点
線で示すように、低速走行時の横幅を中速走行時とほぼ
同一の値に保つ構成とすることもできる。また、高速走
行時に横幅を車速の増加と共に徐々に増加する代わり
に、ある車速から階段的に増加させる構成とすることも
できる。In the above, the configuration in which the width of the alarm generation area is enlarged at the time of low-speed running has been exemplified. If necessary, as shown by the dotted line in FIG. 3, the width at the time of low-speed running is almost the same as that at the time of medium-speed running. It can be configured to keep the value. In addition, instead of gradually increasing the width at a high speed while increasing the vehicle speed, a configuration in which the width is increased stepwise from a certain vehicle speed may be adopted.
【００２４】また、警報発生領域の前方への長さを自車
両の車速のみに応じて設定する構成を例示したが、車速
の他にライトのオン／オフ信号などによって示される昼
間／夜間の時間帯や、ワイパーのオン／オフ信号などに
よって示される晴天／降雨の天候などを考慮して警報発
生領域の長さ（安全車間距離）を設定する構成とするこ
ともできる。Further, the configuration in which the length in front of the alarm generation area is set only in accordance with the vehicle speed of the host vehicle has been exemplified. However, in addition to the vehicle speed, the daytime / nighttime indicated by a light on / off signal or the like is used. The length of the alarm generation area (safety inter-vehicle distance) may be set in consideration of a band, fine weather / rainy weather indicated by a wiper on / off signal, or the like.
【００２５】更に、障害物や車間距離の検出装置とし
て、レーザ光線を送受光するレーザレーダ装置を使用す
る構成を例示したが、これに代えて、電波や音波など他
の適宜な波動を送受信するレーダ装置を利用することも
できる。Further, a configuration in which a laser radar device for transmitting and receiving a laser beam is used as a device for detecting an obstacle or an inter-vehicle distance has been exemplified, but instead, other appropriate waves such as radio waves and sound waves may be transmitted and received. A radar device can also be used.
【００２６】[0026]
【発明の効果】以上詳細に説明したように、本発明の衝
突警報システムによれば、障害物に対する警報発生領域
が高速走行時には車両の前方だけでなく横方向にも拡大
される構成であるから、隣接車線からの割り込み車両な
どの障害物を早期に検出できるという効果が奏される。As described above in detail, according to the collision warning system of the present invention, the warning generation area for the obstacle is expanded not only in front of the vehicle but also in the lateral direction at the time of high-speed running. This has the effect that an obstacle such as an interrupting vehicle from an adjacent lane can be detected early.
【図１】本発明の一実施例の衝突警報システムにおい
て、自車両の前方に設定される障害物に対する警報発生
領域の一例を、低速、中速及び高速の各走行速度のそれ
ぞれの場合について示す概念図である。FIG. 1 shows an example of an alarm generation area for an obstacle set in front of a host vehicle in a collision alarm system according to an embodiment of the present invention for each of low, medium, and high traveling speeds. It is a conceptual diagram.
【図２】上記実施例の衝突警報システムの構成を示すブ
ロック図である。FIG. 2 is a block diagram showing a configuration of the collision warning system of the embodiment.
【図３】自車両の前方に設定される衝突警報領域の長さ
と横幅の車速Ｖに対する依存性の一例を示す概念図であ
る。FIG. 3 is a conceptual diagram showing an example of the dependence of the length and width of a collision warning area set in front of a host vehicle on a vehicle speed V;
１ データプロセッサ ２ 障害物検出部 ３ レーザ送受光部 ４ 入力インタフェース部 ５ データメモリ ６ 警報発生部 1 Data Processor 2 Obstacle Detector 3 Laser Transmitter / Receiver 4 Input Interface 5 Data Memory 6 Alarm Generator
Claims (6)
更される警報発生領域を自車両の前方に設定しておき、
レーダ装置を含む障害物検出装置を用いて検出した障害
物が前記設定中の警報発生領域内に出現した時にその障
害物との衝突に対する警報を発生する車両の衝突警報シ
ステムにおいて、 前記警報発生領域は、自車両の車速が所定値を越えると
自車両の前方に拡大されると共に横幅方向にも拡大され
ることを特徴とする車両の衝突警報システム。1. An alarm generation area which is changed in accordance with a vehicle speed and a traveling state of the own vehicle is set in front of the own vehicle.
A collision warning system for a vehicle that generates an alarm for a collision with an obstacle when an obstacle detected using an obstacle detection device including a radar device appears in the alarm generation region being set, wherein the alarm generation region Is a vehicle collision warning system characterized in that when a vehicle speed of the own vehicle exceeds a predetermined value, the system is expanded in front of the own vehicle and also in a lateral direction.
射したビームやその反射光、あるいはコーナリフレクタ
など他の車両又は歩行者以外からの反射ビームを受信す
ることによって出現することのある偽の障害物を、適宜
な規則を利用して検出し、除去する機能を備えたことを
特徴とする車両の衝突警報システム。2. The obstacle detecting device according to claim 1, wherein the obstacle detecting device including the radar device receives a beam radiated by another vehicle or a reflected light thereof, or a reflected beam from a vehicle other than another vehicle or a pedestrian such as a corner reflector. A collision warning system for a vehicle, comprising a function of detecting and removing a false obstacle that may appear by performing the operation using an appropriate rule.
検出した車道の湾曲状況に応じて、その向きが変更され
ると共に一部が切り欠かれることを特徴とする車両の衝
突警報システム。3. The warning generation area according to claim 1, wherein the direction of the warning generation area is changed and a part of the warning generation area is cut out according to a curve state of a road detected using a steering angle sensor or an accelerometer. A vehicle collision warning system.
更される警報発生領域を自車両の前方に設定しておき、
レーダ装置を含む障害物検出装置を用いて検出した障害
物が前記設定中の警報発生領域内に出現した時にその障
害物との衝突に対する警報を発生する車両の衝突警報シ
ステムにおいて、 前記警報発生領域は、自車両の車速の増加に伴って自車
両の前方に拡大されると共に、自車両の車速の低速から
中速への移行に伴って横幅が縮小され、中速から高速へ
の移行に伴って再び横幅が拡大されることを特徴とする
車両の衝突警報システム。4. An alarm generation area which is changed in accordance with a vehicle speed and other traveling conditions of the own vehicle is set in front of the own vehicle,
A collision warning system for a vehicle that generates an alarm for a collision with an obstacle when an obstacle detected using an obstacle detection device including a radar device appears in the alarm generation region being set, wherein the alarm generation region Is expanded in front of the own vehicle as the vehicle speed increases, the width decreases as the vehicle speed shifts from low to medium speed, and as the vehicle speed shifts from middle to high speed. A vehicle collision warning system, wherein the width of the vehicle is increased again.
射したビームやその反射光、あるいはコーナリフレクタ
など他の車両又は歩行者以外からの反射ビームを受信す
ることによって出現することのある偽の障害物を、適宜
な規則を利用して検出し、除去する機能を備えたことを
特徴とする車両の衝突警報システム。5. The obstacle detection device according to claim 4, wherein the obstacle detection device including the radar device receives a beam radiated by another vehicle or a reflected light thereof, or a reflected beam from another vehicle such as a corner reflector or other than a pedestrian. A collision warning system for a vehicle, comprising a function of detecting and removing a false obstacle that may appear by performing the operation using an appropriate rule.
検出した車道の湾曲状況に応じて、その向きが変更され
ると共に一部が切り欠かれることを特徴とする車両の衝
突警報システム。6. The warning generation area according to claim 4, wherein the direction of the warning generation area is changed and a part of the warning generation area is cut out according to a curve state of a road detected using a steering angle sensor or an accelerometer. A vehicle collision warning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27308296A JP3336207B2 (en) | 1996-09-24 | 1996-09-24 | Vehicle collision warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP27308296A JP3336207B2 (en) | 1996-09-24 | 1996-09-24 | Vehicle collision warning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1095291A true JPH1095291A (en) | 1998-04-14 |
| JP3336207B2 JP3336207B2 (en) | 2002-10-21 |
Family
ID=17522899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP27308296A Expired - Fee Related JP3336207B2 (en) | 1996-09-24 | 1996-09-24 | Vehicle collision warning system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3336207B2 (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000185610A (en) * | 1998-12-24 | 2000-07-04 | Mazda Motor Corp | Obstacle alarm device for vehicle |
| JP2003157498A (en) * | 2001-11-19 | 2003-05-30 | Honda Motor Co Ltd | Obstacle warning device |
| JP2005092665A (en) * | 2003-09-19 | 2005-04-07 | Fuji Heavy Ind Ltd | Entering decision apparatus and method for the same |
| JP2009173239A (en) * | 2008-01-28 | 2009-08-06 | Toyota Motor Corp | Vehicular periphery monitoring device |
| JP2012138081A (en) * | 2010-12-06 | 2012-07-19 | Denso Corp | Collision detecting device, avoidance support device and alarm system |
| JP2012138080A (en) * | 2010-12-06 | 2012-07-19 | Denso Corp | Collision detecting device, avoidance support device and alarm system |
| JP2012230604A (en) * | 2011-04-27 | 2012-11-22 | Toyota Motor Corp | Data processor |
| JP2012234410A (en) * | 2011-05-02 | 2012-11-29 | Mazda Motor Corp | Driving support device for vehicle |
| US8760276B2 (en) | 2010-12-06 | 2014-06-24 | Denso Corporation | Collision detector and warning apparatus which defines an enter-determination area and an exist-determination area |
| CN106597472A (en) * | 2016-12-21 | 2017-04-26 | 深圳市镭神智能***有限公司 | Intelligent vehicle collision avoidance system and method based on laser radar |
| US10351128B2 (en) | 2016-12-08 | 2019-07-16 | Hyundai Motor Company | Vehicle and method for controlling thereof for collision avoidance |
| CN112889100A (en) * | 2018-10-29 | 2021-06-01 | 日立安斯泰莫株式会社 | Moving body behavior prediction device |
| CN115973196A (en) * | 2023-03-16 | 2023-04-18 | 中国科学院大学 | Special-shaped ring anti-collision method, device and system for unmanned vehicle |
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1996
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000185610A (en) * | 1998-12-24 | 2000-07-04 | Mazda Motor Corp | Obstacle alarm device for vehicle |
| JP2003157498A (en) * | 2001-11-19 | 2003-05-30 | Honda Motor Co Ltd | Obstacle warning device |
| JP2005092665A (en) * | 2003-09-19 | 2005-04-07 | Fuji Heavy Ind Ltd | Entering decision apparatus and method for the same |
| JP4531366B2 (en) * | 2003-09-19 | 2010-08-25 | 富士重工業株式会社 | Approach determination device and approach determination method |
| JP2009173239A (en) * | 2008-01-28 | 2009-08-06 | Toyota Motor Corp | Vehicular periphery monitoring device |
| JP2012138080A (en) * | 2010-12-06 | 2012-07-19 | Denso Corp | Collision detecting device, avoidance support device and alarm system |
| JP2012138081A (en) * | 2010-12-06 | 2012-07-19 | Denso Corp | Collision detecting device, avoidance support device and alarm system |
| US8760276B2 (en) | 2010-12-06 | 2014-06-24 | Denso Corporation | Collision detector and warning apparatus which defines an enter-determination area and an exist-determination area |
| JP2012230604A (en) * | 2011-04-27 | 2012-11-22 | Toyota Motor Corp | Data processor |
| JP2012234410A (en) * | 2011-05-02 | 2012-11-29 | Mazda Motor Corp | Driving support device for vehicle |
| US10351128B2 (en) | 2016-12-08 | 2019-07-16 | Hyundai Motor Company | Vehicle and method for controlling thereof for collision avoidance |
| CN106597472A (en) * | 2016-12-21 | 2017-04-26 | 深圳市镭神智能***有限公司 | Intelligent vehicle collision avoidance system and method based on laser radar |
| CN112889100A (en) * | 2018-10-29 | 2021-06-01 | 日立安斯泰莫株式会社 | Moving body behavior prediction device |
| CN112889100B (en) * | 2018-10-29 | 2023-01-17 | 日立安斯泰莫株式会社 | Moving body behavior prediction device |
| CN115973196A (en) * | 2023-03-16 | 2023-04-18 | 中国科学院大学 | Special-shaped ring anti-collision method, device and system for unmanned vehicle |
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