JP2001307284A - System for detecting failure of traffic lane overrun preventive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for failure detection of traffic lane overrun preventive device which can securely inspect a property with an easy method using a magnetic marker put on a road, a magnetic sensor and a control system which are carried in a car. SOLUTION: This invention has properties when receiving the magnetic intensity signal which is more than a fixed level from a plurality of magnetic sensors 1 at the same time during conducting the traffic lane overrun prevention function, the magnetic marker 1 judging it to be the time to examine the request of the failure detection which shows it a center on the road and detects lanes except for the center lane by turns, comparing the magnetic intensity signal from the every time newest magnetic intensity signal of the magnetic marker 1 with the one except for the center lane, judging the failure which is not influenced by the deviation of right or left direction of the car 11, and judging it a request of the failure detection test completion when receiving the magnetic intensity signal which is more than the fixed level from magnetic sensors 1 at the same time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a failure detection system for a lane departure prevention device of an automobile.

[0002]

2. Description of the Related Art Conventionally, a lane departure prevention system for controlling a vehicle to travel along the center of the lane is provided on the bottom of the vehicle in order to measure deviation from the center of the lane to the left or right direction with respect to the traveling direction of the vehicle. A magnetic sensor is mounted, and a magnetic marker that emits a magnetic signal is arranged on the road side.

Generally, several magnetic sensors mounted on the bottom of an automobile are arranged in a row in the vehicle width direction. Each magnetic sensor detects the magnetism generated by a magnetic marker installed on the road side, and the difference between the magnetic intensities detected by each magnetic sensor is set in the control device in advance. A method of deriving the positional relationship between the magnetic marker and the vehicle in the left-right direction by comparing the information with the correlation information of the deviation amount from the vehicle is used.

In order to improve the position detection accuracy of the magnetic marker and the vehicle, the characteristics of a plurality of magnetic sensors mounted on the same vehicle and an electronic circuit for converting an output signal from the magnetic sensor into magnetic strength are uniform. Is required,
It is necessary to rigorously perform the adjustment to make the characteristics uniform, including the effect on the magnetism inherent in the vehicle, after actually mounting and operating the vehicle.

[0005]

However, the characteristics of a plurality of devices mounted on a vehicle in a severe environment such as a temperature change, a signal, jumping of stones or water, contact with an object, etc., are maintained uniformly. It is very difficult. However, to provide safety-related functions such as lane departure prevention,
It is essential to maintain certain characteristics, and when the uniformity of characteristics is impaired, it is necessary to detect this promptly and report it as a failure.

Further, since it is necessary to maintain the characteristics between the magnetic marker installed on the road and the detector mounted on the automobile, the magnetic marker is not used without using the magnetic marker installed on the road. If a simulated test device is mounted on a vehicle and the characteristics are simulated only on the vehicle side using a dedicated logic, the accuracy is lacking.

[0007] However, frequent visits to an inspection site, a repair shop, or the like only for the inspection of characteristics causes a time and economic burden on the user of the automobile.

[0008] Therefore, there is a need for a mechanism capable of inspecting characteristics by a simple method using a magnetic marker installed on a road and a magnetic sensor and a control device mounted on a vehicle in a normal running pattern of a general automobile user. Becomes

The present invention has been made in view of the above circumstances and provides a method for detecting a failure of a lane departure prevention device capable of reliably inspecting characteristics by a simple method using a magnetic marker installed on a road, a magnetic sensor and a control device mounted on a vehicle. The purpose is to provide a system.

[0010]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides: (1) a failure detection system for a lane departure prevention device,
To notify the on-board controller of the start and end of the lane departure prevention device failure detection test, fill the road with the full lane width,
In addition, a magnetic field indicating a lane center on a road is arranged in a section between a section having a plurality of magnetic markers laid in a straight line and at regular intervals and a section having a plurality of magnetic markers laid to notify start and end of the failure detection test. When a marker and a section having a magnetic marker in which magnetic markers indicating other than the center of the lane are alternately laid are arranged, and when a lane departure prevention function is being executed, a magnetic intensity signal of a certain level or more is simultaneously received from a plurality of magnetic sensors. At the same time, it is determined that the failure detection test start request,
Magnetic markers indicating the center of the lane on the road and magnetic markers indicating other than the center of the lane are detected alternately, and the latest magnetic intensity signal from the magnetic marker and the magnetic intensity signal from the magnetic marker other than the center of the lane are compared each time. It is characterized in that a failure determination is made that is not affected by the shift of the vehicle in the left-right direction, and when a magnetic strength signal of a certain level or more is received simultaneously from a plurality of magnetic sensors, it is determined to be a failure detection test end request.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a view showing an arrangement of magnetic markers laid on a road and an embodiment of a magnetic sensor and a control device mounted on an automobile according to an embodiment of the present invention.

[0013] To the inspection start section F of the road 10, the automobile 1
The magnetic markers (marked with ●) are laid at regular intervals on a straight line so as to fill the lane width, perpendicular to the traveling direction of the vehicle. In this case, it is assumed that the distance X between the magnetic markers 1 is equivalent to about four equivalents of the entire width of the general automobile 11.
Two or more rows are laid to prevent erroneous detection. The first column F-1 and the second column F-2 are shifted in the direction perpendicular to the traveling direction of the automobile 11 by half the distance between the markers,
By laying in a straight line, it is possible to avoid non-detection.

In the inspection section G of the road 10, the distance between the magnetic marker 1 and the center of the lane is increased in parallel with the traveling direction of the vehicle and the distance X, 2X, 3X and X are increased in the lateral direction of the vehicle. Laid at equal intervals Y in the traveling direction of the automobile.

The magnetic marker 1 is laid on the road H at the inspection end section H in the same manner as the inspection start section F.

The car 11 has about five magnetic sensors 1
2 (A, B, C, D, E) are mounted at equal intervals in the vehicle width direction, and the control device 1 has a detection logic as shown in FIG.
3 are mounted, and these are electrically connected.

Hereinafter, the operation of the fault detection system for the lane departure prevention device will be described.

FIG. 2 is a flowchart of the inspection logic incorporated in the on-vehicle control device of the fault detection system of the lane departure prevention device according to the present invention. FIG. 3 is implemented by the control device when the vehicle passes on the road shown in FIG. FIG. 6 is a diagram specifically showing processing to be performed.

The vehicle 11 monitors the amount of deviation from the center of the lane on the road 10 on which the magnetic marker 1 is installed for the purpose of preventing lane departure (step S1). When this reaches the inspection start section F shown in FIG. 1, the control device 13 receives a magnetic intensity signal of a certain level or more from the plurality of magnetic sensors 12 at the same time (step S2). If this phenomenon has continued for a specified number of times (step S3), this is determined as a failure detection test start request, the lane departure prevention function is temporarily suspended, and the failure detection test of the magnetic sensor 12 and the control device 13 itself is started ( Step S4). In FIG. 3, after starting the failure detection test, the control device 13 checks whether or not the first magnetic marker 1 has been detected (Step S).
5). If it is detected, after temporarily determining the magnetic sensor C as the reference sensor (step S6), the magnetic markers 1 are sequentially detected by the all magnetic sensors 12 and the magnetic strength is obtained until the magnetic sensor C passes the fault detection end section H (step S6). Step S7). In addition,
If NO in steps S2 and S3, the process returns to step S1.

Further, a plurality of magnetic markers 1 are
When the magnetic markers 1 are arranged in a line in a direction perpendicular to the traveling direction, there is a possibility that mutual interference will occur depending on the distance between these magnetic markers 1. That is, the magnetic intensity detected by the on-vehicle magnetic sensor 12 from the plurality of magnetic markers 1 at the same time may be different from the case where the single magnetic marker 1 is detected. Therefore, even if the magnetic intensities are obtained simultaneously from the plurality of magnetic markers 1, they should not be used for the failure test.

In section 1 of the inspection section G shown in FIG. 3, the magnetic intensity C-1-1 of the inspection marker 1-1 is obtained by the reference sensor C, and the magnetic intensity D-1-1 of the inspection marker 1-2 is obtained by the sensor D. 2
(Steps S8, S9, S10). The ratio of this magnetic intensity C-1-1 to the magnetic intensity D-1-2 (step S
If 11) falls within the allowable range preset in the control device, it is determined that the inspection has been completed normally (step S12), otherwise, it is determined that the sensor D has failed (step S14).

In a section 2 shown in FIG. 3, the magnetic intensity C-2-1 of the inspection marker 2-1 is obtained by the reference sensor C, and the sensor E
Is used to determine the magnetic intensity E-2-2 of the inspection marker 2-2. The ratio between the magnetic intensity C-2-1 and the magnetic intensity E-2-2 is
If it falls within the allowable range set in the control device in advance, it is determined that the inspection is completed normally. Otherwise, it is determined that the sensor E has failed.

In section 3 shown in FIG. 3, although the magnetic intensity C-3-1 of the inspection marker 3-1 is obtained by the reference sensor C, a sufficient magnetic intensity is obtained from any of the magnetic sensors from the inspection marker 3-2. No judgment is made because there is no such information.

In a section 4 shown in FIG. 3, the magnetic intensity C-4-1 of the inspection marker 4-1 is obtained by the reference sensor C,
To determine the magnetic intensity B-4-2 of the inspection marker 4-2. The ratio between the magnetic strength C-4-1 and the magnetic strength B-4-2 is
If it falls within the allowable range set in the control device in advance, it is determined that the inspection has been completed normally. Otherwise, it is determined that the sensor B has failed.

In a section 5 shown in FIG. 3, the magnetic intensity C-5-1 of the inspection marker 5-1 is obtained by the reference sensor C, and the sensor A
Obtains the magnetic intensity A-5-2 of the inspection marker 5-2. The ratio between the magnetic strength C-5-1 and the magnetic strength A-5-2 is
If it is within the allowable range set in the control device in advance, it is determined that the inspection is completed normally, and otherwise, it is determined that the sensor A has failed.

In a section 6 shown in FIG. 3, although the magnetic intensity C-6-1 of the inspection marker 6-1 is obtained by the reference sensor C, a sufficient magnetic intensity is obtained from any of the magnetic sensors from the inspection marker 6-2. No judgment is made because there is no such information.

Thereafter, the control device 13 of the automobile 11 receives a constant magnetic intensity signal from the plurality of magnetic sensors 12 at the same time. If this phenomenon continues for a specified number of times in the failure detection test state, this is determined as a failure detection test termination request, the failure detection test is terminated, and the failure sensor number or normal After notifying the driver of the end, the lane departure prevention function is restarted and the operation returns to the normal operation.

When the control device 13 finally determines that all the ABDEs are faulty except for the sensor C assumed to be the reference sensor, the controller 13 reports that the sensor C assumed to be the reference is faulty.

Finally, the operation enters the inspection end section H, receives signals from a plurality of sensors simultaneously (step S15), receives signals continuously for a specified number of times (step S16), and checks whether there is any fault sensor (step S17). ), Step S
If there is no faulty sensor in 17, all sensors are notified of normality, and the process returns to step S1. If there is a failure sensor in step S17, the failure is notified (notification of the failure sensor number) (step S19).

As described above, by incorporating the logic for the failure detection test on the vehicle 11 side in advance, if the lane departure prevention marker 1 is laid on the road 10 in the test mode, the vehicle 11 will The test of the lane departure prevention device can be performed only by passing the vehicle, and a failure can be detected.

In the inspection section G, the vehicle 11 and the reference magnetic sensor do not always pass directly above the magnetic marker 1 laid in the center of the lane without error. If the magnetic marker 1 is laid at the center of the lane only at the beginning of the inspection section G, the magnetic intensity first obtained by the reference sensor with the lateral displacement of the passing vehicle 11 is not the actual substance. This is different, and lowers the accuracy of the fault determination. On the other hand, in the present invention, by alternately laying the magnetic markers at the center of the lane and other than at the center of the lane, the magnetic intensity including the change due to the lateral displacement can be obtained and compared each time, so that the accuracy of the fault determination is reduced. Can be prevented. (Usage Form) In the above embodiment, the lane departure prevention device using the magnetic marker and the magnetic sensor has been described. However, the present invention is not limited to magnetism, but may be applied to a system for detecting the intensity of radio waves, light, ultrasonic waves, sound waves, and the like. Also, the marker laying form and the test logic of the control device can be applied.

Further, in this embodiment, the fault detection test section is applied to a road. However, the present invention is not limited to the road, and the markers may be laid in the same arrangement form on a road surface such as a gas station, a car dealer, and a car supply store. The same effect can be obtained, and the convenience for the automobile user can be further improved.

Further, in this embodiment, the failure detection test and the failure notification have been described. However, based on the difference between the characteristics of each magnetic sensor and the electronic circuit obtained by the test, logic and processing for equalizing the characteristics and the electronic circuit are performed. A calibration function can be realized by additionally incorporating a circuit.

It should be noted that the present invention is not limited to the above embodiment, but various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[0035]

As described in detail above, according to the present invention, a reliable inspection of characteristics is performed by a simple method using a magnetic marker installed on a road, a magnetic sensor and a control device mounted on a vehicle. be able to.

Therefore, it is possible to maintain certain characteristics of the lane departure prevention device during traveling on the road, and when the uniformity of the characteristics is impaired, this is quickly detected and reported as a failure. be able to.

In addition, since the user is freed from frequently going to an inspection place or a repair shop only for inspecting the characteristics, no time and economic burden is imposed on the user of the vehicle, and the practical effect is not obtained. It is huge.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an arrangement of a magnetic marker laid on a road and an installation of a magnetic sensor and a control device mounted on an automobile according to an embodiment of the present invention.

FIG. 2 is a flowchart of an inspection logic incorporated in a vehicle-mounted control device of the fault detection system of the lane departure prevention device of the present invention.

FIG. 3 is a diagram specifically showing a process performed by a control device when a vehicle passes on the road shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Magnetic marker 10 Road 11 Automobile 12 (A, B, C, D, E) Magnetic sensor 13 Control device

Claims (1)

[Claims] (A) In order to notify the start and end of a failure detection test of a lane departure prevention device to an on-vehicle control device, a plurality of magnets are laid on the road so as to fill the lane width and to be arranged in a straight line at regular intervals. A section having a marker, and (b) a magnetic marker disposed at a section between a plurality of magnetic marker laying sections for notifying the start and end of the failure detection test and indicating a lane center on a road, and a magnetic field indicating a section other than the lane center. (C) When a magnetic intensity signal of a certain level or more is simultaneously received from a plurality of magnetic sensors during execution of the lane departure prevention function, a fault is detected. (D) A magnetic marker indicating the center of the lane on the road and a magnetic marker indicating a position other than the center of the lane are alternately detected. The magnetic intensity signals from the magnetic markers are compared to determine a failure that is not affected by the lateral displacement of the vehicle. (E) When a magnetic intensity signal of a certain level or more is received from a plurality of magnetic sensors at the same time, A failure detection system for a lane departure prevention device, which determines a failure detection test termination request.