JP2000315300A - Inter-vehicle distance alarm device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an appropriate inter-vehicle distance alarm device which is better adapted to driving condition of a driver. SOLUTION: An inter-vehicle distance calculation part 102a operates an inter-vehicle distance on the basis of data detected by an inter-vehicle sensor 101. Also, a relative speed difference operation part 102b operates a relative speed difference between its own vehicle and a front vehicle from an amount of change per unit-hour of inter-vehicle distance information outputted from the inter-vehicle operation part 102a. A degree of approach decision part 102c decides the possibility of contact of its own car and the front vehicle on the basis of the inter-vehicle distance information and the relative speed difference information outputted from the inter-vehicle distance operation part 102a and the relative speed difference operation part 102b. Also, the degree of approach decision part 102c decides the degree of approach by comparing with an inter- alarm vehicle distance preset beforehand or a changed inter-alarm vehicle distance with the inter-vehicle distance information and the relative speed difference information.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance warning device, more specifically, a method of comparing two values of inter-vehicle distance information and relative speed difference information with predetermined relationship data set in advance. The present invention relates to an inter-vehicle distance alarm device that generates an alarm when it is determined that the distance is inappropriate.

[0002]

2. Description of the Related Art As a conventional inter-vehicle distance warning device, for example, an inter-vehicle distance is detected by an inter-vehicle distance detecting means, and the distance between the own vehicle and the preceding vehicle is determined based on the amount of change within a unit time. The relative speed difference is calculated, and the two values of the inter-vehicle distance information and the relative speed difference information are compared with predetermined relational data set in advance, and an alarm is generated when it is determined that the data is inappropriate. There is something to make.

Further, there is a vehicular alarm device as disclosed in Japanese Patent Application Laid-Open No. 5-155291. This is an inter-vehicle distance alarm device that compares two values of inter-vehicle distance information and relative speed difference information with predetermined relational data set in advance, and issues an alarm when it is determined to be inappropriate. A driving operation amount detecting means for detecting a driving operation amount of the driver, a vehicle driving state detecting means for detecting a driving state of the vehicle, and a driving operation amount of the driver detected by the driver operation amount detecting means Driving operation characteristic learning means for learning and storing the driving operation characteristic of the driver from the driving state of the vehicle detected by the vehicle driving state detection means; and a condition for generating an inter-vehicle distance alarm according to a change in the driving operation characteristic of the driver. And an inter-vehicle distance alarm generation condition changing means for changing the distance.

[0004]

However, in the conventional inter-vehicle distance warning device as described above, the driving operation amount of the driver detected by the accelerator pedal depression speed sensor, the brake depression force sensor, the steering wheel angle sensor, and the like, and the vehicle load are detected.・ Because the driving condition of the driver is determined from changes in the driving operation characteristics of the driver, which are learned and stored from the driving conditions of the vehicle, such as deceleration and the distance to the stop, the conditions for generating an inter-vehicle distance warning are changed. ,
Regarding the so-called inadvertent driving state, which is a driving state in which the driver has a low level of consciousness of driving that was `` blurred '' or `` had thoughts, '' the inadvertent driving was caused by the driver's driving operation amount and the vehicle driving state change amount. It often occurs during small follow-up running, and it is difficult to detect it because the driving operation at start / stop is not always dull.
There has been a problem that the condition for generating the inter-vehicle distance warning cannot be changed in the state of the inattentive driving, and an accurate warning device adapted to the driving state of the driver cannot be provided.

The present invention has been made in view of such conventional problems, and an object of the present invention is to provide an accurate inter-vehicle distance warning device adapted to the driving state of a driver.

[0006]

In order to solve the above-mentioned problems, the present invention provides an inter-vehicle distance detecting means for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle, and an inter-vehicle distance detected by the inter-vehicle distance detecting means. The relative speed difference calculating means for calculating the relative speed difference between the own vehicle and the preceding vehicle from the amount of change within the unit time, and the inter-vehicle distance detected by the inter-vehicle distance detecting means and the relative speed difference calculating means. An approach determining means for determining an approach at the current inter-vehicle distance from a relative speed difference; an alarm generating means for generating an inter-vehicle distance alarm based on a result of the determination by the approach determining means; and driver awareness information detecting for detecting driver information Means, a driver driving operation amount detecting means for detecting a driving operation amount of the driver, a vehicle driving state detecting means for detecting a driving state of the vehicle, A driving operation characteristic of the driver based on the identification information detected by the identification information detecting means, the driving operation amount of the driver detected by the driver driving operation amount detecting means, and the running state of the vehicle detected by the vehicle driving state detecting means; The driving operation characteristic learning means for learning and storing, and the following running characteristic of the own vehicle with respect to the preceding vehicle are learned and stored from the inter-vehicle distance detected by the inter-vehicle distance detecting means and the running state of the vehicle detected by the vehicle running state detecting means. Following running characteristic learning means, and warning inter-vehicle distance value setting changing means for changing a set value of an alarm inter-vehicle distance in accordance with at least one of a change in a driving operation characteristic of the driver or a following running characteristic of the host vehicle with respect to a preceding vehicle. An inter-vehicle distance warning device characterized by including the above.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an inter-vehicle distance warning device according to the present invention. 1 to 3 show a control method of an inter-vehicle distance warning device according to an embodiment of the present invention. FIG. 1 is a block diagram showing a configuration of a control system, and FIG. 2 is a flowchart for explaining the procedure. FIG. 3 is a map diagram showing the correction amount of the alarm inter-vehicle distance set value.

First, the configuration of a control system of an inter-vehicle distance warning device according to the present invention will be described with reference to FIG. In FIG.
Reference numeral 101 denotes an inter-vehicle distance sensor that detects an inter-vehicle distance between the host vehicle and a preceding vehicle. For example, a scanning laser radar that emits laser light and receives the reflected light to calculate the inter-vehicle distance or an ultrasonic pulse transmission method Is used. In addition, a passive triangulation distance sensor or the like may be used as long as the distance between vehicles can be detected.

Reference numeral 102 denotes a CPU (central processing unit) for executing overall control of the present apparatus. In the present embodiment, an inter-vehicle distance calculating unit (means) is provided inside the CPU 102.
102a, relative speed difference calculation unit 102b, proximity determination unit 1
02c, warning inter-vehicle distance value setting change unit (means) 102d,
A driving operation characteristic learning section (means) 102e and a following running characteristic learning section (means) 102f are provided.

An inter-vehicle distance calculation unit 102a calculates an inter-vehicle distance based on data detected by the inter-vehicle distance sensor 101. The relative speed difference calculation unit 102b calculates the relative speed difference between the own vehicle and the preceding vehicle from the amount of change per unit time of the inter-vehicle distance information output from the inter-vehicle distance calculation unit 102a. The proximity determining unit 102c determines the possibility of contact between the host vehicle and the preceding vehicle based on the inter-vehicle distance information and the relative speed difference information output from the inter-vehicle distance calculation unit 102a and the relative speed difference calculation unit 102b. Note that the proximity determining unit 102c performs the determination of the proximity based on a comparison with an alarm inter-vehicle distance set in advance at the beginning or a changed alarm inter-vehicle distance.

Reference numeral 103 denotes an alarm buzzer that generates an alarm sound based on the result of the proximity determination by the proximity determination section 102c. Reference numeral 104 denotes a driver information detector for identifying the driver from an ID card possessed by the driver or a switch input operation of the driver, and 1.
Reference numeral 05 denotes a driving operation amount detector attached to an accelerator, a brake, a steering wheel, or the like operated by the driver, which includes, for example, an accelerator depression speed sensor, a brake depression force sensor, a steering wheel angle sensor, and detects a driving operation amount of the driver. The vehicle traveling state detector detects the traveling state of the vehicle, and includes, for example, a vehicle speed sensor, an engine rotation sensor, an acceleration sensor, a steering wheel angle sensor, and the like.

A driving operation characteristic learning unit 102e learns and stores the driving operation characteristics of the driver. The driving operation characteristic learning unit 102e includes a driver information detector 10e.
4. The driving operation characteristics of the driver are stored while learning the driving operation characteristics of the driver from the driving operation amount information of the driver and the driving state information of the vehicle output from the driving operation amount detector 105 and the vehicle driving state detector 106. Determine the driving state of the driver based on the change in
The amount of correction of the warning inter-vehicle distance is derived and output.

A following running characteristic learning unit 102f learns and stores the following running characteristics of the host vehicle with respect to the preceding vehicle. The following running characteristic learning unit 102f receives the following distance calculation unit 102a and the vehicle running state detector 106. Based on the outputted inter-vehicle distance information and the traveling state information of the vehicle, it is determined whether or not the traveling vehicle exists in front of the own vehicle. If the traveling vehicle exists, the following traveling characteristics of the own vehicle with respect to the preceding vehicle are learned. The driver's driving state is determined based on the change in the following running characteristics of the own vehicle with respect to the preceding vehicle, and the correction amount of the warning inter-vehicle distance is derived, and the correction amount of the warning inter-vehicle distance and the driver's driving operation are stored. The correction amount of the warning inter-vehicle distance derived and output based on the change in the characteristics is compared, and the correction amount of the warning inter-vehicle distance is derived and output again. .

The warning inter-vehicle distance value setting change unit 102d
Changes the set value of the warning inter-vehicle distance map based on the correction amount of the warning inter-vehicle distance output from the driving operation characteristic learning unit 102e and the following running characteristic learning unit 102f.

Next, the operation of the present embodiment will be described with reference to FIGS. First, the driving operation characteristic learning unit 10
2e and the following running characteristic learning unit 102f identify the driver who operates the vehicle based on the information from the driver information detector 104 (step S2).

Next, the driving operation characteristic learning unit 102e and the following driving characteristic learning unit 102f read the data output from the driving operation amount detector 105 and the vehicle driving state detector 106 for a predetermined time (step S3). , S
4).

When the reading for the predetermined time is completed, the driving operation characteristic learning unit 102e performs statistical processing on the read data for the predetermined time (step S5), and derives the current driving operation characteristic of the identified driver. Then, the driving state is compared with a characteristic already learned and stored as the driving operation characteristic in the normal driving state of the driver (step S6), and the driving state of the driver is determined based on a change in the driving operation characteristic of the driver (step S6). S7), and derives and outputs a warning inter-vehicle distance correction amount (step S8).

In general, the driving operation characteristics of a driver change in accordance with changes in the driving conditions of the driver, such as changes in mood and fatigue. Therefore, in this embodiment, the driver's driving operation characteristics are changed based on the changes in the driving operation characteristics of the driver. The driving state is determined, and a warning inter-vehicle distance correction amount corresponding to the driving state of the driver is derived and output.

For example, when the accelerator pedal depressing speed is faster than the normal driving state and the vehicle acceleration is large, or
When the depressing of the brake is stronger than in the normal driving state and the deceleration is large, it is judged that the driving state is quite rough and the driver's response is fast, and the warning inter-vehicle distance value of the preset warning inter-vehicle distance map is set normally. Then, a warning inter-vehicle distance correction amount for shortening by a predetermined amount is derived and output.

Conversely, when the accelerator depression speed is lower than the normal driving state and the vehicle acceleration is small, or when the brake depression is weaker than the normal driving state and the deceleration is small, the driver is in a tired driving state. It is determined that the response of the driver is slow, and a warning inter-vehicle distance correction amount for making the pre-set warning inter-vehicle distance value a predetermined amount longer than the normal setting is derived and output.

On the other hand, the current driving operation characteristics derived this time are added to the driving operation characteristics in the normal driving state of the driver which have already been learned and stored, and the driving operation characteristics of the driver are learned again. Is stored as the driving operation characteristic of the normal driving state (step S
9).

Next, the following running characteristic learning unit 102f includes an inter-vehicle distance calculating unit 102a and a vehicle running state detector 106.
It is determined whether or not a traveling vehicle is present in front of the own vehicle based on the information from the vehicle (step S10). If the traveling vehicle is present, it is determined that the vehicle is in a follow-up traveling state. (Step S17) to derive the following running characteristics of the identified driver with respect to the vehicle in front of the current own vehicle, and learn and store the following running characteristics as the following running characteristics of the normal driving state of the driver. (Step S18), the driving state of the driver is determined based on a change in the following characteristics of the driver (step S19), a correction amount of the warning inter-vehicle distance is derived, and the warning inter-vehicle distance is corrected. The amount of warning and the corrected amount of warning inter-vehicle distance derived and output based on changes in the driver's driving operation characteristics are compared, and the warning inter-vehicle distance is corrected again. Performing derivation and output of (step S20).

In general, the following characteristic of the vehicle following the preceding vehicle changes in accordance with a change in the driving state of the driver due to a change in the level of consciousness of driving, in addition to the change in mood and fatigue. In the embodiment, the driving state of the driver in the following traveling state is determined based on the change in the following traveling characteristic of the own vehicle with respect to the preceding vehicle, and a warning inter-vehicle distance correction amount corresponding to the driving state of the driver is derived.

For example, in the following running state, the driver is traveling while taking a specific inter-vehicle distance value corresponding to the traveling speed for each driver with respect to the inter-vehicle distance between the host vehicle and the preceding vehicle. In the normal driving state, the vehicle is following the vehicle while substantially maintaining the inter-vehicle distance value unique to the driver, but is in a state of driving with a low level of consciousness of driving that "was blurred" and "had thoughts". In a so-called inattentive driving state, it is difficult to keep the inter-vehicle distance value unique to the driver. Therefore, in the following traveling state, when the current inter-vehicle distance value is in a state where the current inter-vehicle distance value deviates from the driver-specific inter-vehicle distance value is long, or the current inter-vehicle distance value is different from the driver-specific inter-vehicle distance value. When the frequency of divergence is high, it is determined that the driver is in a state of inattentive driving and the response of the driver is slow, and the warning inter-vehicle distance value of the preset warning inter-vehicle distance map is longer than the normal setting by a predetermined amount. The amount of warning inter-vehicle distance correction is calculated, and the amount of warning inter-vehicle distance correction is compared with the amount of warning inter-vehicle distance correction derived and output based on a change in the driving operation characteristics of the driver. The correction amount for the longer distance value is adopted and output as the correction amount for the warning inter-vehicle distance.

On the other hand, the current follow-up running characteristics derived this time are added to the follow-up running characteristics of the driver in the normal driving state which have already been learned and stored, and the following follow-up running characteristics of the driver are learned again. Is stored as the follow-up running characteristic of the normal driving state (step S
22).

Next, the warning inter-vehicle distance value setting change unit 102d
Changes the setting of the preset warning inter-vehicle distance map based on the information from the driving operation characteristic learning unit 102e and the following driving characteristic learning unit 102f so as to be a set value corresponding to the driving state of the driver (step S11).

Next, the possibility of contact of the own vehicle with the preceding vehicle is determined based on the warning inter-vehicle distance map (steps S12 to S14). In the present embodiment, a pulse laser transmission type inter-vehicle distance detector is used as the inter-vehicle distance sensor 101.

First, a laser beam is transmitted from the inter-vehicle distance sensor 101 at a predetermined interval with a predetermined pulse width. At this time, if a traveling vehicle exists in front of the own vehicle, the pulse laser light is reflected by the preceding vehicle and enters the light receiving unit of the inter-vehicle distance sensor 101. Inter-vehicle distance calculation unit 102a
Measures the time from the transmission of the pulsed laser light to its incidence, and calculates the distance between the host vehicle and the preceding vehicle based on the measured time. (Step S12)

Next, the value of the inter-vehicle distance obtained by the calculation is compared with the relative speed difference calculation unit 102b and the proximity determination unit 10b.
2c. The relative speed difference calculation unit 102b stores the previous inter-vehicle distance data (D (n-1)), and the inter-vehicle distance data (D (n)) measured this time and the previous inter-vehicle distance data (D (n-1)). And pulse transmission interval (δ
Based on t), a relative speed difference between the own vehicle and the preceding vehicle, that is, (D (n) -D (n-1)) / δt is calculated. (Step S13)

Thereafter, it is determined whether there is a possibility of contact (step S14). That is, when the current inter-vehicle distance between the current vehicle and the preceding vehicle in the current relative speed difference is shorter than the warning inter-vehicle distance in the warning inter-vehicle distance map,
The proximity determining unit 102c determines that there is a possibility of contact, and generates an inter-vehicle distance alarm from the alarm buzzer 103 (step S15). That is, since the set value of the warning inter-vehicle distance is changed also for the state of the inattentive driving,
A more accurate inter-vehicle distance warning device adapted to the driving state of the driver can be provided, and driving safety can be improved.

[0031]

As described in detail above, according to the present invention, the configuration is detected by the following distance detecting means for detecting the following distance between the own vehicle and the preceding vehicle, and the following distance detecting means. Relative speed difference calculating means for calculating the relative speed difference between the own vehicle and the preceding vehicle from the amount of change of the obtained inter-vehicle distance within a unit time, and the inter-vehicle distance detected by the inter-vehicle distance detecting means and the relative speed difference calculating means An approach determining means for determining an approach at the current inter-vehicle distance from the relative speed difference calculated by the following; an alert generating means for issuing an inter-vehicle distance alert based on a result of the determination by the approach determining means; and detecting driver information Driver identification information detecting means, driver driving operation amount detecting means for detecting the driver's driving operation amount, and vehicle driving state detecting means for detecting the driving state of the vehicle The driver's driving operation is performed based on the driver identification information detected by the driver identification information detecting means, the driver's driving operation amount detected by the driver's driving operation amount detecting means, and the running state of the vehicle detected by the vehicle driving state detecting means. A driving operation characteristic learning means for learning and storing characteristics; and a follow-up traveling characteristic of the own vehicle with respect to a preceding vehicle is learned from an inter-vehicle distance detected by the inter-vehicle distance detection means and a traveling state of the vehicle detected by the vehicle traveling state detection means. Follow-up running characteristic learning means for storing, and warning inter-vehicle distance value setting changing means for changing a set value of an alarm inter-vehicle distance in accordance with at least one of a change in a driving operation characteristic of the driver or a following running characteristic of the own vehicle with respect to a vehicle ahead. The inter-vehicle distance warning system is characterized by Be a bar accurate distance warning device which is adapted to the operating state of,
The effect that the driving safety can be improved is obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a control system of an inter-vehicle distance alarm device according to an embodiment.

FIG. 2 is a flowchart illustrating a control method of the inter-vehicle distance warning device according to the present embodiment.

FIG. 3 is a map diagram showing a warning inter-vehicle distance correction amount.

[Explanation of symbols]

 101 inter-vehicle distance sensor 102 CPU (central processing unit) 102a inter-vehicle distance calculation unit 102b relative speed difference calculation unit 102c proximity determination unit 102d warning inter-vehicle distance value setting change unit 102e driving operation characteristic learning unit 102f following running characteristic learning unit 103 alarm buzzer 104 Driver information detector 105 Driving operation amount detector 106 Vehicle running state detector

Claims (1)

[Claims] An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and a preceding vehicle; and a relative distance between the own vehicle and the preceding vehicle based on a change in the inter-vehicle distance detected by the inter-vehicle distance detecting means within a unit time. Relative speed difference calculating means for calculating a speed difference; and proximity determination for determining an approach at the current inter-vehicle distance from the inter-vehicle distance detected by the inter-vehicle distance detecting means and the relative speed difference calculated by the relative speed difference calculating means. Means, an alarm generating means for generating an inter-vehicle distance alarm based on the determination result by the approach degree determining means, a driver consciousness information detecting means for detecting driver consciousness information, and a driver driving operation for detecting a driving operation amount of the driver Amount detecting means, vehicle running state detecting means for detecting a running state of the vehicle, Driving operation characteristic learning means for learning and storing the driving operation characteristic of the driver from the driving operation amount of the driver and the driving state of the vehicle detected by the vehicle driving state detection means; and the identification information of the driver detected by the driver identification information detection means A follow-up running characteristic learning unit that learns and stores a follow-up running characteristic of the own vehicle with respect to a preceding vehicle based on an inter-vehicle distance detected by the inter-vehicle distance detecting unit and a running state of the vehicle detected by the vehicle running state detecting unit; And a warning inter-vehicle distance value setting changing means for changing a setting value of a warning inter-vehicle distance according to at least one of a change in a driving operation characteristic of the vehicle and a following traveling characteristic of the own vehicle with respect to a preceding vehicle. Alarm device.