JPS6247264B2 - - Google Patents
Info
- Publication number
- JPS6247264B2 JPS6247264B2 JP54102397A JP10239779A JPS6247264B2 JP S6247264 B2 JPS6247264 B2 JP S6247264B2 JP 54102397 A JP54102397 A JP 54102397A JP 10239779 A JP10239779 A JP 10239779A JP S6247264 B2 JPS6247264 B2 JP S6247264B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- pulse
- pair
- pulse wave
- determination
- 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
Links
- 238000005259 measurement Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 6
- 238000010304 firing Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000013078 crystal Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
本発明はパルスレーダを用いて車両周囲の危険
状態を探索する車両用安全制御装置に関するもの
である。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vehicle safety control device that searches for dangerous conditions around a vehicle using a pulse radar.
従来、パルスレーダを車両の前部に装着し、こ
の車両の前方にある他の車両や障害物に対する相
対距離を、パルス波の発射時点から反射パルス波
の受信時点までの時間計測により求め、その距離
が危険領域に入ると警報を発して運転者にその危
険を知らせるものがある。 Conventionally, a pulse radar is mounted on the front of a vehicle, and the relative distance to other vehicles or obstacles in front of the vehicle is determined by measuring the time from the time the pulse wave is emitted to the time the reflected pulse wave is received. There are devices that issue a warning when the distance enters a dangerous area to notify the driver of the danger.
その場合に、斜め前方の車両、斜め後方の車両
が発射したパルス波による反射パルス波を受信し
たり、また対向車両より発射されたパルス波を受
信したときなどに、自車より発射したパルス波に
基いた発射パルス波の受信とを明確に区別するこ
とができず、誤動作の原因になり、実用化の障害
となつていた。 In that case, when receiving a reflected pulse wave caused by a pulse wave emitted by a vehicle diagonally ahead or a vehicle diagonally behind, or when receiving a pulse wave emitted from an oncoming vehicle, the pulse wave emitted from the own vehicle It was not possible to clearly distinguish between the emitted pulse wave and the reception based on the system, which caused malfunctions and was an obstacle to practical application.
本発明は上記の問題に鑑みたもので、車両より
パルス波として、周期毎に変化する所定時間間隔
をもつた一対パルス波を発射し、その所定時間間
隔と等しい時間間隔を有する一対の反射パルス波
を識別し、さらに、その一対パルス波を発射して
から反射パルス波を受信するまでの時間に応じた
値が、前回と今回とで略等しい時にその反射パル
ス波を真の反射パルス波として判定することによ
つて、自車より発射したパルス波に対する反射パ
ルス波の受信を別のパルス波の受信と区別するこ
とができ、車両の安全性を高める制御をパルスレ
ーダの利用にて高精度に達成することができる車
両用安全制御装置を提供することを目的とするも
のである。 The present invention has been made in view of the above-mentioned problems.The present invention emits a pair of pulse waves as pulse waves having a predetermined time interval that changes every cycle from a vehicle, and a pair of reflected pulses having a time interval equal to the predetermined time interval. The reflected pulse wave is recognized as a true reflected pulse wave when the value corresponding to the time from emitting the pair of pulse waves to receiving the reflected pulse wave is approximately equal between the previous time and this time. By making this determination, it is possible to distinguish the reception of a reflected pulse wave from the pulse wave emitted by the own vehicle from the reception of another pulse wave, and the use of pulse radar enables highly accurate control that increases vehicle safety. The object of the present invention is to provide a vehicle safety control device that can achieve the following goals.
以下本発明を図に示す一実施例について説明す
る。 An embodiment of the present invention shown in the drawings will be described below.
第１図はその概念説明図、第２図は要部構成を
示すブロツク線図であり、予め定めた安全制御プ
ログラムに従つたデイジタル演算処理を実行する
マイクロコンピユータを用いている。 FIG. 1 is a conceptual diagram, and FIG. 2 is a block diagram showing the main configuration. A microcomputer is used to execute digital arithmetic processing according to a predetermined safety control program.
この第１図、第２図において、１はレーダを搭
載した車両、２は前方障害物をなす先行車両であ
る。１１は車両１のレーダを構成する超音波パル
スレーダで、発射指令１１ａを受けたときにその
指令に含まれた所定時間間隔にて40KHzの超音波
をパルス変調した一対パルス波を送波器１２より
車両前方へ向けて発射し、その発射後縁を示す第
２パルス波１１ｂを発生するとともに、受波器１
３を通して受信した一対発射パルス波のパルス間
隔の時間を計測して計測データ１１ｃを発生する
ものである。１４は車両走行速度に応じた周波数
の車速パルスを発生する車速センサである。 In FIGS. 1 and 2, numeral 1 represents a vehicle equipped with a radar, and numeral 2 represents a preceding vehicle that constitutes an obstacle ahead. Reference numeral 11 denotes an ultrasonic pulse radar constituting the radar of the vehicle 1, and when receiving a launch command 11a, a transmitter 12 transmits a pair of pulse waves that are pulse-modulated ultrasonic waves of 40 KHz at predetermined time intervals included in the command. The second pulse wave 11b is emitted toward the front of the vehicle, and the second pulse wave 11b indicating the trailing edge of the emitted light is generated.
The measurement data 11c is generated by measuring the pulse interval time of a pair of emitted pulse waves received through 3. Reference numeral 14 denotes a vehicle speed sensor that generates vehicle speed pulses with a frequency corresponding to the vehicle running speed.
１５は予め定めた安全制御プログラムに従つて
ソフトウエアのデイジタル演算処理を実行するマ
イクロコンピユータで、電源回路（図示せず）よ
りの5Vの安定化電圧の供給を受けて作動状態と
なり、周期的に順次変化させた乱数計算にて所定
時間間隔の一対パルス波の発射指令１１ａを発す
るとともに超音波パルスレーダ１１よりの計測デ
ータ１１ｃに基いて真の一対反射パルス波の受信
を識別し、先行車両２との車間距離を計算し、車
速に応じた安全領域から外れると警報信号および
シートベルトロツク信号を発生するものである。
このマイクロコンピユータ１５は上記の制御のた
めの演算手順を定めた前記安全制御プログラムを
記憶している読出専用メモリ（ROM）と、この
ROMの安全制御プログラムを順次読出してそれ
に対応する演算処理を実行する中央処理部
（CPU）と、このCPUの演算処理に関連する各種
データを一時記憶するとともにそのデータの
CPUによる読出しが可能なメモリ（RAM）と、
水晶振動子を伴つて上記各種演算のための基準ク
ロツクパルスを発生するクロツク発生部と、各種
信号の入出力を調整する入出力（Ｉ／Ｏ）回路
と、一対パルス波の発射の時点からその一対反射
パルス波の受信時点までの時間を計測する時間計
測カウンタとを主要部に構成している。 15 is a microcomputer that executes software digital arithmetic processing according to a predetermined safety control program, and is activated by receiving a stabilized voltage of 5V from a power supply circuit (not shown), and is periodically activated. Based on sequentially changed random number calculations, a command 11a to emit a pair of pulse waves at predetermined time intervals is issued, and reception of a true pair of reflected pulse waves is identified based on measurement data 11c from the ultrasonic pulse radar 11. The system calculates the distance between the vehicle and the vehicle, and generates a warning signal and a seatbelt lock signal when the vehicle deviates from a safe range according to the vehicle speed.
This microcomputer 15 includes a read-only memory (ROM) that stores the safety control program that defines the calculation procedure for the above-mentioned control, and
A central processing unit (CPU) that sequentially reads safety control programs from the ROM and executes the corresponding arithmetic processing, and a central processing unit (CPU) that temporarily stores various data related to the arithmetic processing of this CPU and stores the data.
Memory (RAM) that can be read by the CPU,
A clock generator that uses a crystal oscillator to generate reference clock pulses for the various calculations described above, an input/output (I/O) circuit that adjusts the input and output of various signals, and a pair of The main part includes a time measurement counter that measures the time up to the point in time when the reflected pulse wave is received.
１６はマイクロコンピユータ１５よりの警報信
号をラツチして警報器１７を作動させる警報駆動
回路で、リセツト信号が加わるとその警報を停止
するものである。１８はマイクロコンピユータ１
５よりのシートベルトロツク信号をラツチしてシ
ートベルトロツク機構１９をロツク状態に切替え
るロツク駆動回路で、解除信号が加わるとそのロ
ツク状態を解除するものである。 Reference numeral 16 denotes an alarm drive circuit that latches an alarm signal from the microcomputer 15 to activate the alarm 17, and stops the alarm when a reset signal is applied. 18 is microcomputer 1
This is a lock drive circuit which latches the seatbelt lock signal from 5 and switches the seatbelt lock mechanism 19 to the locked state, and releases the locked state when a release signal is applied.
次に、上記構成においてその作動を第３図の波
形図、第４図および第５図の演算流れ図とともに
説明する。この第４図は安全制御プログラムの演
算処理を示す演算流れ図、第５図は第４図中の危
険演算ルーチンの詳細な演算処理を示す演算流れ
図である。 Next, the operation of the above configuration will be explained with reference to the waveform diagram in FIG. 3 and the calculation flowcharts in FIGS. 4 and 5. FIG. 4 is a calculation flowchart showing the calculation processing of the safety control program, and FIG. 5 is a calculation flowchart showing the detailed calculation processing of the danger calculation routine in FIG.
まず、このマイクロコンピユータ１５の演算処
理について説明する。今、この装置を備えた車両
について、その運転開始によりマイクロコンピユ
ータ１５が電源回路より安定化電圧の供給を受け
て作動状態となり、数百マイクロ秒（μ Sec）
程度の周期にて安全制御プログラムの演算処理を
実行する。 First, the arithmetic processing of this microcomputer 15 will be explained. Now, when a vehicle equipped with this device starts operating, the microcomputer 15 receives a stabilized voltage from the power supply circuit and enters the operating state, which lasts several hundred microseconds (μ Sec).
The calculation process of the safety control program is executed at a certain period.
すなわち、定周期の定刻に達すると定周期判定
ステツプ１０１に到来したときその判定がイエス
（YES）になり、乱数計算ステツプ１０２に進ん
で一対パルス波の所定時間間隔Taをその乱数計
算値にて定め、次の発射指令ステツプ１０３に進
んでその所定時間間隔Taでの一対パルス波を発
射させるための発射指令信号を超音波パルスレー
ダ１１に加える。そして、その数百μ Sec後に
再び定周期判定ステツプ１０１に到来するとその
判定はノー（NO）に反転し、乱数計算ステツプ
１０２に進まず第２パルス判定ステツプ１０４に
進む。この第２パルス判定ステツプ１０４では一
対パルス波の発射における第２番目のパルス波の
発射時に同期した第２パルスが超音波パルスレー
ダ１１より発生しているか否かを判定し、その判
定が第２パルスの発生にてYESになると、Tnカ
ウント開始ステツプ１０５に進んで一対パルス波
の発射時点よりの経過時間を計測するためのTn
カウントを時間計測カウンタに開始させ、データ
発生判定ステツプ１０６に進んで超音波パルスレ
ーダ１１より一対反射パルス波のパルス間隔を示
す計測データ１１ｃが発生しているか否かを判定
する。その判定がYESのときにデータ入力ステ
ツプ１０７に進んで計測データ１１ｃの時間間隔
Tbを入力し、次の識別ステツプ１０８にて先の
発射指令の所定時間間隔Taにその時間間隔Tbが
略等しいか否かを判定し、その判定がNOになる
とノイズ受信であると判定して次のデータ発生の
待機状態となるが、その判定がYESになつたと
きには上記の一対パルス波の発射に対応した反射
パルス波を受信したと判定し、Tnカウント終了
ステツプ１０９に進んでTnカウントを停止し、
そのカウント値Tnを記憶して次の一致判定ステ
ツプ１１０に進み、前回計測したカウント値Tn0
に今回のカウント値が略一致しているか否かを判
定する。その判定がNOになつたときにはプリセ
ツト記憶ステツプ１１１に進んで今回のカウント
値TnをTn0に置換記憶して次の計測時における
各種演算の待機状態になる。他方、前記一致判定
ステツプ１１０の判定がYESになつたときには
２回連続してカウント値が一致したことを示し、
信頼性の高いカウント値を得たと判断して危険対
処ルーチン２００に進む。この危険対処ルーチン
２００ではそのカウント値Tnに基いて車間距離
を計算し、その距離が車速に応じた安全領域から
外れているか否かを判定し、警報制御およびシー
トベルトロツク制御を行ない、その後にプリセツ
ト記憶ステツプ１１１に進んでTnをTn0に置換
記憶し、次回の計測時における各種演算の待機状
態になる。 That is, when the time of the fixed period is reached, the judgment becomes YES at the fixed period judgment step 101, and the process proceeds to the random number calculation step 102, where the predetermined time interval Ta of the pair of pulse waves is calculated using the random number calculation value. Then, proceeding to the next firing command step 103, a firing command signal is applied to the ultrasonic pulse radar 11 to fire a pair of pulse waves at the predetermined time interval Ta. Then, several hundred microseconds later, when the periodic determination step 101 is reached again, the determination is reversed to NO, and the process proceeds to the second pulse determination step 104 without proceeding to the random number calculation step 102. In this second pulse determination step 104, it is determined whether or not a second pulse synchronized with the emission of the second pulse wave in the emission of a pair of pulse waves is generated by the ultrasonic pulse radar 11. If the result is YES when a pulse is generated, the process proceeds to Tn count start step 105, where Tn is counted to measure the elapsed time from the point of emission of a pair of pulse waves.
The time measurement counter starts counting, and the process proceeds to data generation determination step 106, where it is determined whether or not the ultrasonic pulse radar 11 generates measurement data 11c indicating the pulse interval of a pair of reflected pulse waves. When the determination is YES, the process advances to data input step 107 to input the time interval of the measurement data 11c.
Tb is input, and in the next identification step 108, it is determined whether the time interval Tb is approximately equal to the predetermined time interval Ta of the previous firing command, and if the determination is NO, it is determined that noise reception has occurred. It is in a standby state for the next data generation, but when the determination becomes YES, it is determined that the reflected pulse wave corresponding to the emission of the pair of pulse waves described above has been received, and the process advances to step 109 to end the Tn count, and the Tn count is started. stop,
The count value Tn is memorized and the process proceeds to the next match determination step 110, where the previously measured count value Tn 0
It is determined whether the current count values substantially match. When the determination is NO, the process proceeds to a preset storage step 111, where the current count value Tn is replaced with Tn0 and stored, and the system enters a standby state for various calculations at the time of the next measurement. On the other hand, when the determination in the coincidence determination step 110 becomes YES, it indicates that the count values coincide twice in a row;
It is determined that a highly reliable count value has been obtained, and the process proceeds to the danger handling routine 200. In this danger handling routine 200, the inter-vehicle distance is calculated based on the count value Tn, it is determined whether the distance is out of the safe range according to the vehicle speed, alarm control and seat belt lock control are performed, and then Proceeding to preset storage step 111, Tn is replaced with Tn 0 and stored, and a standby state is entered for various calculations during the next measurement.
このとき、前記危険対処ルーチン２００におい
ては、第５図に示す如く、まず距離計算ステツプ
２０１にて車間距離Dnを一対パルス波の先行車
両による反射時間を示すカウント値Tnに基いて
Dn＝ｋ／Tn、但しｋは係数、の計算式に従つて
求め、車速計算ステツプ２０２にて車速センサ１
４の車速パルスから車速Ｓを計算し、次の危険判
定ステツプ２０３に進む。この危険判定ステツプ
２０３では車速Ｓに応じた安全領域の境界を示す
安全車間距離ａ・Ｓ＋ｂ、但しａ、ｂは定数、を
計算し、その安全車間距離に対して実際に計測し
た車間距離Dnの方が小さくなつているか否かを
Dn＜ａ・Ｓ＋ｂの関係式にて判定し、その判定
がYESになつたときには次の接近判定ステツプ
２０４に進んで今回計測した車間距離Dnが５回
分前に計測した車間距離Dn4以下になつているか
否かをDn≦Dn4の関係式にて判定し、その判定も
YESになつたとき危険状態になつたことを判定
したことになり、シートベルトロツクステツプ２
０５に進んでシートベルトロツク信号をロツク駆
動回路１８に加え、シートベルトロツク機構１９
を作動させてシートベルトをロツク状態に制御
し、さらに警報ステツプ２０６に進んで警報信号
を警報駆動回路１６に加えて警報器１７より警報
を発生させる。その後シフト記憶ステツプ２０７
に進んでDnをDn0、Dn0をDn1、Dn1をDn2、Dn2
をDn3、Dn3をDn4、Dn4を消去する如く順次置換
記憶し、最新５回分のデータを保持する。 At this time, in the risk handling routine 200, as shown in FIG. 5, first, in a distance calculation step 201, the inter-vehicle distance Dn is calculated based on the count value Tn indicating the reflection time of the pair of pulse waves by the preceding vehicle.
Dn=k/Tn, where k is a coefficient, is calculated according to the formula, and in vehicle speed calculation step 202, the vehicle speed sensor 1
The vehicle speed S is calculated from the vehicle speed pulse No. 4, and the process proceeds to the next danger determination step 203. In this risk determination step 203, the safe following distance a・S+b, where a and b are constants, indicating the boundary of the safe area according to the vehicle speed S, is calculated, and the actually measured inter-vehicle distance Dn is calculated with respect to the safe following distance. whether it is getting smaller or not.
Determination is made using the relational expression Dn<a・S+b, and when the determination is YES, the process advances to the next approach determination step 204 to ensure that the currently measured inter-vehicle distance Dn is less than or equal to the inter-vehicle distance Dn 4 measured five times previously. Use the relational expression Dn≦Dn 4 to determine whether
When it becomes YES, it is determined that a dangerous situation has occurred, and the seatbelt lock step 2 is activated.
Proceeding to step 05, the seat belt lock signal is applied to the lock drive circuit 18, and the seat belt lock mechanism 19 is activated.
The seat belt is controlled to be in a locked state by operating the seat belt, and the process further advances to an alarm step 206 where an alarm signal is applied to the alarm drive circuit 16 and the alarm 17 generates an alarm. Then shift memory step 207
Go to Dn 0 , Dn 0 to Dn 1 , Dn 1 to Dn 2 , Dn 2
Dn 3 , Dn 3 is replaced with Dn 4 , Dn 4 is deleted, and the data of the latest five times is retained.
他方、危険判定ステツプ２０３或は接近判定ス
テツプ２０４のいずれか一方の判定がNOになつ
たときには危険状態に至つていないことを示し、
ロツク解除ステツプ２０８にて解除信号をロツク
駆動回路１８に加えてシートベルトロツクを解除
し、さらに警報リセツトステツプ２０９にてリセ
ツト信号を警報駆動回路１６に加えて警報停止を
行ない、そしてシフト記憶ステツプ２０７に進ん
でDnをDn0、Dn0をDn1、Dn1をDn2、Dn2をDn3、
Dn3をDn4、Dn4を消去する如く順次置換記憶す
る。 On the other hand, when the judgment in either the danger judgment step 203 or the approach judgment step 204 becomes NO, it indicates that a dangerous state has not been reached;
At lock release step 208, a release signal is applied to the lock drive circuit 18 to release the seatbelt lock, and at alarm reset step 209, a reset signal is applied to the alarm drive circuit 16 to stop the alarm, and then at shift memory step 207. Proceed to convert Dn to Dn 0 , Dn 0 to Dn 1 , Dn 1 to Dn 2 , Dn 2 to Dn 3 ,
Dn 3 is replaced and stored sequentially by erasing Dn 4 and Dn 4 .
次に、種々の状態に応じた全体作動について説
明する。 Next, the overall operation according to various conditions will be explained.
今、時刻t1になるとマイクロコンピユータ１５
の演算における定周期判定ステツプ１０１の判定
がYESになり、乱数計算ステツプ１０２、発射
指令ステツプ１０３に進んで乱数計算に基く２〜
３mm Sec程度の所定時間間隔Taの一対パルス波
の発射指令１１ａを超音波パルスレーダ１１に加
える。これによつて、超音波パルスレーダ１１は
時刻t1にて1m Sec幅の第１パルス波およびそれ
と間隔Taの時刻t2にて1m Sec幅の第２パルス波
よりなる一対パルス波を送波器１２より車両１の
前方に向けて発射する。 Now, at time t 1 , the microcomputer 15
The determination in the fixed period determination step 101 in the calculation becomes YES, and the process proceeds to the random number calculation step 102 and the firing command step 103, where 2 to 3 are determined based on the random number calculation.
A pair of pulse wave emission commands 11a with a predetermined time interval Ta of about 3 mm Sec are applied to the ultrasonic pulse radar 11. As a result, the ultrasonic pulse radar 11 transmits a pair of pulse waves consisting of a first pulse wave with a width of 1 m Sec at time t 1 and a second pulse wave with a width of 1 m Sec at time t 2 with an interval Ta. The device 12 fires toward the front of the vehicle 1.
その間、マイクロコンピユータ１５は上記の発
射指令１１ａを発生した後数百μ Secの周期に
て定周期判定ステツプ１０１から第２パルス判定
ステツプ１０４、データ発生判定ステツプ１０６
を通つてアウトステツプに至る演算を繰返してお
り、時刻t2にて超音波パルスレーダ１１より第２
パルス波の発射に同期した第２パルス１１ｂがマ
イクロコンピユータ１５に加わつているとき、定
周期判定ステツプ１０１、第２パルス判定ステツ
プ１０４、Tnカウント開始ステツプ１０５、デ
ータ発生判定ステツプ１０６を通つてアウトステ
ツプに至る演算を実行し、マイクロコンピユータ
１５における時間計測カウンタによるTnカウン
トを開始し、第２パルスが消えると定周期判定ス
テツプ１０１、第２パルス判定ステツプ１０４、
データ発生判定ステツプ１０６を通つてアウトス
テツプに至る演算を繰返す。 During this period, the microcomputer 15 generates the above-mentioned firing command 11a and then executes a process from a fixed period determination step 101 to a second pulse determination step 104 and a data generation determination step 106 at a period of several hundred microseconds.
The calculations leading to the out step are repeated, and at time t2 , the ultrasonic pulse radar 11
When the second pulse 11b synchronized with the emission of the pulse wave is applied to the microcomputer 15, the outstep is executed through the fixed period determination step 101, the second pulse determination step 104, the Tn count start step 105, and the data generation determination step 106. The time measurement counter in the microcomputer 15 starts counting Tn, and when the second pulse disappears, a fixed period determination step 101, a second pulse determination step 104,
The operation through the data generation determination step 106 to the out step is repeated.
そして、時刻t3にて受波器１３よりノイズ混入
すると、超音波パルスレーダ１１より計測データ
１１ｃが発生するため、マイクロコンピユータ１
５の上記繰返演算におけるデータ発生判定ステツ
プ１０６の判定がYESになり、その時間間隔Tb
＝Tb1のデータをデータ入力ステツプ１０７にて
入力し、次の識別ステツプ１０８に進む。このと
き、先の発射指令における所定時間間隔Taに対
してその時間間隔Tb＝Tb1が大きくずれている
ので、その識別判定ステツプ１０８の判定がNO
になり、Tnカウント終了ステツプ１０９に進ま
ず、直接アウトステツプに進む演算を実行し、以
後定周期判定ステツプ１０１、第２パルス判定ス
テツプ１０４、データ発生判定ステツプ１０６を
通つてアウトステツプに至る繰返演算にもどり、
混入したノイズの受信に影響されることなく時刻
t1にて発射した一対パルス波に対応する一対反射
パルス波を受信するまでTnカウントを持続す
る。 Then, when noise is mixed in from the receiver 13 at time t3 , measurement data 11c is generated from the ultrasonic pulse radar 11, so the microcomputer 1
The judgment in the data generation judgment step 106 in the above-mentioned iterative operation in step 5 becomes YES, and the time interval Tb
=Tb 1 data is input in data input step 107, and the process advances to the next identification step 108. At this time, since the time interval Tb= Tb1 is significantly different from the predetermined time interval Ta in the previous firing command, the determination in the identification determination step 108 is NO.
Then, without proceeding to the Tn count end step 109, the operation is executed to proceed directly to the out step, and thereafter, the process is repeated through the fixed period judgment step 101, the second pulse judgment step 104, and the data generation judgment step 106 to reach the out step. Return to calculation,
time without being affected by mixed noise reception.
The Tn count is maintained until a pair of reflected pulse waves corresponding to the pair of pulse waves emitted at t 1 is received.
その後、時刻t4にて受波器１３より一対反射パ
ルス波を受信すると、超音波パルスレーダ１１よ
り再び計測データ１１ｃが発生する。これによ
り、マイクロコンピユータ１５の上記繰返演算に
おけるデータ発生判定ステツプ１０６の判定が
YESになり、その時間間隔Tb＝Tb2のデータを
データ入力ステツプ１０７にて入力し、次の識別
ステツプ１０８に進む。このとき、先の発射指令
における所定時間間隔TaにそのデータTb＝Tb2
が等しくなるため、その識別ステツプ１０８の判
定がYESになり、Tnカウント終了ステツプ１０
９に進んで時間計測カウンタのTnカウントを停
止し、そのカウント値Tnを記憶し、次の一致判
定ステツプ１１０に進む。このとき、前回計測し
たカウント値Tn0に対して今回計測したカウント
値Tnが略一致していればその判定がYESにな
り、危険対処ルーチン２００に進む。 Thereafter, when a pair of reflected pulse waves is received from the receiver 13 at time t4 , the ultrasonic pulse radar 11 generates measurement data 11c again. As a result, the determination in the data generation determination step 106 in the above-mentioned repetitive calculation by the microcomputer 15 is made.
YES, the data for the time interval Tb=Tb 2 is input at data input step 107, and the process proceeds to the next identification step 108. At this time, the data Tb = Tb 2 at the predetermined time interval Ta in the previous launch command
are equal, the determination at the identification step 108 becomes YES, and the Tn count end step 10
The process proceeds to step 9, where the time measurement counter stops counting Tn, stores the count value Tn, and proceeds to the next match determination step 110. At this time, if the count value Tn measured this time substantially matches the count value Tn 0 measured last time, the determination becomes YES and the process proceeds to the danger handling routine 200.
そして、先行車両２に対して充分に安全な車間
距離を確保しているときには、その危険対処ルー
チン２００において第５図の距離計算ステツプ２
０１、車速計算ステツプ２０２を通つて危険判定
ステツプ２０３に到来し、その判定がNOになつ
てロツク解除ステツプ２０８、警報リセツトステ
ツプ２０９、シフト記憶ステツプ２０７を通る演
算を実行する。従つて、このときは警報器１７お
よびシートベルトロツク機構１９は作動しない。 When a sufficiently safe distance from the preceding vehicle 2 has been secured, the distance calculation step 2 in FIG.
01, the vehicle speed calculation step 202 is reached and the danger determination step 203 is reached, and when the determination becomes NO, calculations are executed through the lock release step 208, the alarm reset step 209, and the shift storage step 207. Therefore, at this time, the alarm 17 and the seat belt lock mechanism 19 do not operate.
他方、先行車両２に対して異常接近したときに
は、上記の危険対処ルーチン２００において距離
計算ステツプ２０１、車速計算ステツプ２０２を
通つて危険判定ステツプ２０３に到来したときそ
の判定がYESになり、しかも接近判定ステツプ
２０４の判定もYESになり、シートベルトロツ
クステツプ２０５、警報ステツプ２０６、シフト
記憶ステツプ２０７を通る演算を実行する。これ
により、警報信号が警報駆動回路１６にラツチさ
れて警報器１７より危険警報を発生し、さらにシ
ートベルトロツク信号もロツク駆動回路１８にラ
ツチされてシートベルトロツク機構１９が作動
し、シートベルトをロツク状態に切替えて追突な
どの危険に事前対処することができる。 On the other hand, when the vehicle approaches the preceding vehicle 2 abnormally, in the above-mentioned danger handling routine 200, when the danger judgment step 203 is reached after passing through the distance calculation step 201 and the vehicle speed calculation step 202, the judgment becomes YES, and the approach judgment becomes YES. The determination at step 204 also becomes YES, and the calculations are executed through seat belt lock step 205, alarm step 206, and shift storage step 207. As a result, the alarm signal is latched to the alarm drive circuit 16, and the alarm 17 generates a danger alarm.Furthermore, the seatbelt lock signal is also latched to the lock drive circuit 18, and the seatbelt lock mechanism 19 is actuated to tighten the seatbelt. By switching to the locked state, you can proactively deal with dangers such as rear-end collisions.
この場合、超音波パルスレーダ１１にて計測可
能な車間距離は10数ｍ程度までの範囲であるた
め、道路交差点などにおける停止或は徐行の際の
追突防止などに有効となる。 In this case, since the inter-vehicle distance that can be measured by the ultrasonic pulse radar 11 is up to about 10 meters, it is effective for preventing rear-end collisions when stopping or slowing down at road intersections.
そして、所定時間間隔Taの一対パルス波を周
期的に発射するとともに、その所定時間間隔Ta
を乱数計算ステツプ１０２の計算に従つて順次変
化させているため、他の車両より発射されるパル
ス波などによるノイズ受信と真の一対反射パルス
波の受信とを前記所定時間間隔Taに基いて識別
ステツプ１０８の判定により識別することができ
る。従つて、一対パルス波の発射時点からそれに
対応する一対反射パルス波の受信時点までの時間
計測となるカウント値Tnが正確なものとなる。 Then, a pair of pulse waves is periodically emitted at a predetermined time interval Ta, and the predetermined time interval Ta
is sequentially changed according to the calculation in the random number calculation step 102, so that reception of noise due to pulse waves etc. emitted from other vehicles and reception of a true pair of reflected pulse waves can be distinguished based on the predetermined time interval Ta. This can be identified by the determination in step 108. Therefore, the count value Tn, which is a time measurement from the point in time when a pair of pulse waves is emitted to the point in time when the corresponding pair of reflected pulse waves is received, becomes accurate.
これに加えて一致判定ステツプ１１０により前
回のカウント値Tn0と今回の計測によるカウント
値Tnの一致判定を行なうことにより、その計測
の信頼性をより一層高めることができる。 In addition, by performing a match determination step 110 to determine whether the previous count value Tn 0 matches the current count value Tn, the reliability of the measurement can be further improved.
このようなノイズ対策を設けることによつてパ
ルスレーダを用いた車両安全制御システムを多数
の車両に搭載しても常に正確な計測を行なつて車
両の安全制御に役立てることができる。 By providing such noise countermeasures, even if a large number of vehicles are equipped with a vehicle safety control system using a pulse radar, accurate measurements can always be made and the system can be useful for vehicle safety control.
なお、上述の実施例では超音波パルスレーダを
用いるものを示したが、電磁波によるパルスレー
ダを用いてもよい。 Note that although the above-described embodiment uses an ultrasonic pulse radar, a pulse radar using electromagnetic waves may also be used.
又、車両の後方へパルスを発射することにより
後方車両の追突による事故に対処することもでき
る。 Furthermore, by emitting pulses to the rear of the vehicle, it is possible to deal with accidents caused by a rear-end collision of the rear vehicle.
以上述べたように本発明においては、車両より
パルス波として、周期毎に変化する所定時間間隔
をもつた一対パルス波を発射し、その所定時間間
隔と等しい時間間隔を有する一対の反射パルス波
を識別し、さらに、その一対パルス波を反射して
から反射パルス波を受信するまでの時間に応じた
値が、前回と今回とで略等しい時にその反射パル
ス波を真の反射パルス波として判定しているので
自車より発射したパルス波に対する反射パルス波
の受信をノイズの受信と区別することが容易にな
り、これにより多数の車両にパルスレーダを搭載
してノイズに影響されない高精度の安全制御を行
なうことが可能になるという優れた効果がある。 As described above, in the present invention, a pair of pulse waves having a predetermined time interval that changes every cycle is emitted from a vehicle as a pulse wave, and a pair of reflected pulse waves having a time interval equal to the predetermined time interval is emitted from a vehicle. Further, when the value corresponding to the time from reflecting the pair of pulse waves to receiving the reflected pulse wave is approximately equal between the previous time and this time, the reflected pulse wave is determined to be a true reflected pulse wave. This makes it easy to distinguish the reception of reflected pulse waves from the pulse waves emitted by the own vehicle from the reception of noise, and this allows many vehicles to be equipped with pulse radar and achieve high-precision safety control that is unaffected by noise. This has the excellent effect of making it possible to perform
第１図は本発明の一実施例を示す概念説明図、
第２図はその要部構成を示すブロツク線図、第３
図は本発明の作動説明に供する波形図、第４図は
第２図中のマイクロコンピユータの演算処理を示
す演算流れ図、第５図は第４図中の危険対処ルー
チンの詳細な演算処理を示す演算流れ図である。
１１…超音波パルスレーダ、１２…送波器、１
３…受波器、１４…車速センサ、１５…マイクロ
コンピユータ、１７…警報器、１９…シートベル
トロツク機構。
FIG. 1 is a conceptual explanatory diagram showing one embodiment of the present invention;
Figure 2 is a block diagram showing the configuration of its main parts, Figure 3
The figure is a waveform diagram to explain the operation of the present invention, Figure 4 is a calculation flowchart showing the calculation process of the microcomputer in Figure 2, and Figure 5 shows the detailed calculation process of the danger response routine in Figure 4. It is a calculation flowchart. 11... Ultrasonic pulse radar, 12... Transmitter, 1
3... Wave receiver, 14... Vehicle speed sensor, 15... Microcomputer, 17... Alarm, 19... Seatbelt lock mechanism.
Claims (1)
的に繰返し発射し、しかも、その所定時間間隔を
周期毎に変化させるようにしたパルス波発射手段
と、 受信したパルス波のうち、前記所定時間間隔と
略等しい時間間隔を有する一対のパルス波を反射
パルス波として識別する識別手段と、 前記一対パルス波を発射した時点から、前記反
射パルス波の受信時点までの時間に応じた値を計
測する計測手段と、 該計測手段により計測された今回の値と、前回
に計測された値とを比較して、両者の値が略等し
い時に、今回の値を真の反射パルス波に対応した
値として判定する判定手段と、 該判定手段により判定された今回の計測値によ
り車両周囲の危険状態を判断し安全制御を行う手
段と、 を備える事を特徴とする車両用安全制御装置。[Claims] 1. Pulse wave emitting means for periodically and repeatedly emitting a pair of pulse waves at predetermined time intervals from a vehicle, and furthermore, changing the predetermined time intervals for each cycle; Among them, an identification means for identifying a pair of pulse waves having a time interval substantially equal to the predetermined time interval as a reflected pulse wave; The current value measured by the measuring device is compared with the previously measured value, and when the two values are approximately equal, the current value is determined as the true reflected pulse wave. A vehicle safety control device comprising: a determination means for determining a value corresponding to the current measurement value; and a means for determining a dangerous state around the vehicle and performing safety control based on the current measurement value determined by the determination means. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10239779A JPS5626273A (en) | 1979-08-10 | 1979-08-10 | Car safety control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10239779A JPS5626273A (en) | 1979-08-10 | 1979-08-10 | Car safety control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5626273A JPS5626273A (en) | 1981-03-13 |
| JPS6247264B2 true JPS6247264B2 (en) | 1987-10-07 |
Family
ID=14326308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10239779A Granted JPS5626273A (en) | 1979-08-10 | 1979-08-10 | Car safety control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5626273A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017519967A (en) * | 2015-05-07 | 2017-07-20 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | System and method for detecting an object |
| WO2017134707A1 (en) * | 2016-02-02 | 2017-08-10 | ソニー株式会社 | Distance measurement device, distance measurement method, signal processing device, and light projection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5863875A (en) * | 1981-10-13 | 1983-04-15 | Nissan Motor Co Ltd | Search eye device for periphery of car |
| JPS61191945U (en) * | 1985-05-23 | 1986-11-29 | ||
| JPH0768504B2 (en) * | 1988-09-20 | 1995-07-26 | 常盤化学工業株式会社 | Adhesive composition |
| JP2006118924A (en) * | 2004-10-20 | 2006-05-11 | Tdk Corp | Pulse radar system |
| JP2006308482A (en) * | 2005-04-28 | 2006-11-09 | Sanyo Electric Co Ltd | Detector |
| DE102011122318A1 (en) * | 2011-12-23 | 2013-06-27 | Valeo Schalter Und Sensoren Gmbh | Method for the contactless detection of an object in an environment of a vehicle, driver assistance device with an ultrasound sensor device and vehicle with such a driver assistance device |
| JP6048731B2 (en) * | 2012-05-29 | 2016-12-21 | パナソニックＩｐマネジメント株式会社 | Obstacle detection device |
| US9933513B2 (en) | 2016-02-18 | 2018-04-03 | Aeye, Inc. | Method and apparatus for an adaptive ladar receiver |
| CA3053775A1 (en) | 2017-02-17 | 2018-08-23 | Aeye, Inc. | Method and system for ladar pulse deconfliction |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5249792A (en) * | 1975-10-20 | 1977-04-21 | Mitsubishi Electric Corp | Radar apparatus |
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1979
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5249792A (en) * | 1975-10-20 | 1977-04-21 | Mitsubishi Electric Corp | Radar apparatus |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017519967A (en) * | 2015-05-07 | 2017-07-20 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | System and method for detecting an object |
| WO2017134707A1 (en) * | 2016-02-02 | 2017-08-10 | ソニー株式会社 | Distance measurement device, distance measurement method, signal processing device, and light projection device |
| JPWO2017134707A1 (en) * | 2016-02-02 | 2018-11-29 | ソニー株式会社 | Ranging device, ranging method, signal processing device, and projector |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5626273A (en) | 1981-03-13 |
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