JP2583335B2 - Advance vehicle approach warning device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device that detects an approaching state of a preceding vehicle and issues a warning to a driver when it is determined that the vehicle is dangerous.

2. Description of the Related Art There have been proposed various techniques for issuing a warning so that a driver of a vehicle performs safe driving. For example, there is one disclosed in JP-A-56-137500. This calculates the allowable inter-vehicle distance sufficient for safe driving according to the vehicle speed of the host vehicle, and when the inter-vehicle distance with the preceding vehicle exceeds the permissible inter-vehicle distance, alerts the driver by displaying or sounding an alarm, This is to prevent accidents.

Also, as disclosed in Japanese Patent Application Laid-Open No. 60-15830, a technology is disclosed in which an image of a driver is imaged to detect aside driving and issue an alarm to the driver. Has also been proposed.

Problems to be Solved by the Invention In the former conventional example, the allowable inter-vehicle distance is fixedly set in advance without considering the driving ability, driving state, road condition, etc. of the driver, so the driver does not need to decelerate. However, an alarm may be issued, and the alarm may bother the driver, which may impair safe driving.

Also in the latter case, it is difficult to accurately detect only driving aside in dangerous situations such as when an abnormality is approaching the preceding vehicle, and an alarm is issued when it is not necessary, so There is a problem.

Accordingly, it is an object of the present invention to provide a preceding vehicle approach warning device that issues a warning appropriately only when the driver needs it.

Means for Solving the Problems A preceding vehicle approach warning device according to the first aspect of the present invention comprises a vehicle speed detecting means for detecting the driving speed of the vehicle, a vehicle speed detecting means for detecting the driving speed of the preceding vehicle. An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle, and, when the relative speed of the own vehicle with respect to the preceding vehicle becomes equal to or greater than a predetermined allowable relative speed with respect to the inter-vehicle distance, An alarm generating means for issuing a warning to the driver, and driving state detecting means for detecting the driver's aside driving and dozing driving are provided, and when the aside driving and the dozing driving are detected, the allowable relative speed is corrected to be low. The warning is issued when the speed becomes equal to or higher than the correction allowable relative speed.

A preceding vehicle approach warning device according to a second aspect of the present invention is a brake operation means for detecting a brake operation of a driver of the own vehicle, and a relationship between a relative speed of the own vehicle to the preceding vehicle at the time of the brake operation and the inter-vehicle distance. Storage means for storing the allowable relative speed based on data stored in the storage means, and when the relative speed is equal to or higher than the allowable relative speed, an alarm is issued to the driver. It is characterized by the following.

Action The permissible relative speed for the following distance is stored in advance,
It is determined whether the relative speed obtained from the driving speed of the own vehicle and the driving speed of the preceding vehicle is equal to or greater than the allowable relative speed with respect to the inter-vehicle distance detected at that time, and whether the side-by-side driving or dozing driving is detected. Is determined, and if an aside driving or a drowsy driving is not detected, an alarm is issued when the relative speed is equal to or higher than the allowable relative speed. If the side-by-side driving or the drowsy driving is detected, a correction for lowering the allowable relative speed is made. If the current relative speed is equal to or higher than the corrected allowable relative speed, an alarm is issued. Further, the relationship between the relative speed and the inter-vehicle distance when the driver performs the braking operation is learned, the relationship is stored in the storage unit, and the relative speed corresponding to the detected inter-vehicle distance is read out from the storage unit. An allowable relative speed is set, and an alarm is issued if the current relative speed is equal to or higher than the allowable relative speed.

Embodiment FIG. 1 is a block diagram schematically showing a configuration of an embodiment in which the present invention is applied to an automobile. Reference numeral 1 denotes a processing device including a microcomputer and an input / output interface. The output signals of the own vehicle speed sensor 2, the preceding vehicle speed sensor 3, the inter-vehicle distance sensor 4, the brake pedal switch 5, and the driving state detecting device 6 are given to the processing device 1.

The own vehicle speed sensor 2 outputs a signal corresponding to the speed of the own vehicle, and the preceding vehicle speed sensor 2 outputs a signal corresponding to the speed of the preceding vehicle. The inter-vehicle distance sensor 4 is realized by a laser radar or the like, and outputs a signal corresponding to the inter-vehicle distance from a preceding vehicle. The brake pedal switch 5 is a switch that is turned on when the driver depresses the brake pedal.

The operating state detecting device 6 is, for example, as shown in FIG.
It comprises glasses 10, a CCD camera 11, and an image processing device 12. This means that the CCD camera 11 captures the face of the driver 13, the coordinate position of the LED 10 a attached to the center of the glasses 10 is obtained in the image, and the LE 13 is driven when the driver 13 is operating normally.
D10a determines the orientation angle of the face from the deviation of the coordinate position with respect to the reference coordinate position to be located, and when the angle is equal to or greater than the allowable angle over the allowable time, the driver 13 performs a look-aside driving or dozing driving. And outputs the determination signal.

Referring back to FIG. 1, reference numeral 7 denotes a storage device in which the relationship between the relative speed and the inter-vehicle distance is stored as map data, as described later. Reference numeral 8 denotes an alarm generating device that issues an alarm by a buzzer sound or panel display so as to perform a brake operation to a driver, and 9 denotes an automatic brake operation that automatically activates a brake by a predetermined actuator on behalf of the driver. The device is shown.

Next, the operation of the processing apparatus 1 will be described with reference to FIGS.

As shown in the flow chart of FIG. 3, first, from the preceding vehicle output signal and an output signal of the vehicle speed sensor 2 of the vehicle speed sensor 3 is detected the preceding vehicle and the vehicle speed V ₂ and the vehicle speed V ₁ of the vehicle ( Steps S1 and S2). Then, the relative speed ΔV (= V ₁ −V ₂ ) of the own vehicle with respect to the preceding vehicle is calculated (step S3), and the following distance L from the preceding vehicle is detected from the output signal of the following distance sensor 4 (step S4). . And the inter-vehicle distance L
It is determined whether the distance is 150 m or less (step S41). If the inter-vehicle distance L is 150 m or more, it is determined that the safe distance is maintained with respect to the preceding vehicle, and the process returns to step S1.

If less inter-vehicle distance L is 150 meters, the allowable relative speed [Delta] V ₃ are read out in accordance with the inter-vehicle distance L when automatically actuate the brake from the storage unit 7 (step S5). This sets the minimum relative velocity is extremely dangerous not performed brake operation for each inter-vehicle distance L of pre-150m as the allowable relative speed [Delta] V _3, and the allowable relative speed [Delta] V ₃ and the inter-vehicle distance L This becomes possible by storing the relationship in the storage device 7 as map data. Its allowable relative speed ΔV ₃
The relationship between and the inter-vehicle distance L can be set, for example, as shown by a dashed line in FIG.

Then, a relative speed [Delta] V, which is calculated by the permissible relative speed [Delta] V ₃ and step S3 read the are compared (step S6). Permissible relative speed in the case from the [Delta] V ₃ towards the relative speed [Delta] V is greater is judged to be dangerous, the brake operation command to the automatic brake actuator 9 is output, the brake is automatically activated (step S7). If the relative speed is smaller, it is determined whether the brake pedal switch 5 is on (step S8).

If the brake pedal switch S5 is ON, it is determined whether or not the driver is looking aside (including drowsy driving) based on the determination signal of the driving state detecting device 6 (step S9). Return to In the case of normal driving without looking aside (when the driving vehicle is looking forward and driving while confirming the inter-vehicle distance to the preceding vehicle), in order to determine whether or not to issue an alarm in a step described later. The setting and storage of map data indicating the relationship between the allowable relative speeds ΔV ₁ , ΔV ₂ and the inter-vehicle distance L are performed (steps S10, S11).
The permissible relative speed ΔV ₁ is a permissible relative speed for making an alarm judgment when the driver is performing normal driving without looking aside, and the permissible relative speed ΔV ₂ is a driving aside driving This is the permissible relative speed for making a warning determination in the case.

Setting storing map data showing the relationship between the permissible relative speed [Delta] V ₁ and inter-vehicle distance in step S10 is performed based on the flowchart shown in Figure 4. First, after the inter-vehicle distance L detected in the above-described step S4 is determined by the processes in steps S101 to S105 to belong to each of the inter-vehicle distance ranges obtained by dividing 0 to 150m into 15 units in steps of 10m, step S106 is performed. ~ S1
In 09, the allowable relative speed ΔV _{1 for} each of the divided inter-vehicle distance ranges
Is set and stored by learning. For example, if the detected inter-vehicle distance L is 115 m, SP = 110, EP =
Shifts from step S103 to step S106 when it is 120, setting storage allowable relative speed [Delta] V ₁ for the inter-vehicle distance 100~120m is performed by the learning operation as follows. That is,
At first, when the allowable relative speed ΔV ₁ is not set, the relative speed ΔV calculated in the above-described step S3 is set and stored as the allowable relative speed ΔV ₁ as it is, but subsequently, the newly detected vehicle speeds V ₁ , V ₂ the number of data added to the total value V _i is added to the first relative speed one after another the computed relative speed ΔV by
Average value obtained by dividing the N _i is updated and stored as the allowable relative speed [Delta] V _1. The relationship between the allowable relative speed ΔV ₁ and the inter-vehicle distance L is stored as map data, for example, as shown by a broken line in FIG.

The setting and storage of the map data indicating the relationship between the allowable relative speed ΔV ₂ and the inter-vehicle distance in step S11 are performed according to the flowchart shown in FIG. First, the inter-vehicle distance L detected at step S4 in the aforementioned is corrected to the inter-vehicle distance L ₂ by the following equation (step S111).

L ₂ = L + ΔV · T ₀ where T ₀ is a general brake operation reaction time (approximately 0.8
Seconds). Incidentally, when the inter-vehicle distance L ₂ is more than 150m sets the inter-vehicle distance L ₂ to 150m.

Next, the processing of the inter-vehicle distance L ₂ which is longer corrected from actual inter-vehicle distance L by the operation step S112～S116, belongs to which range of each inter-vehicle distance range in increments of 10m was 15 dividing the 0~150m is After it is determined, steps S117 to S1
At 20 the permissible relative speed ΔV _{2 for} each of the divided inter-vehicle distance ranges
Is set by the next learning operation. At first, when the allowable relative speed ΔV ₂ is not set, the relative speed ΔV calculated in step S3 is set and stored as the allowable relative speed ΔV ₁ as it is, but subsequently, the newly detected vehicle speeds V ₁ , V ₂ The relative velocity ΔV calculated according to the above is added one after another, and the total value is added.
The average value obtained by dividing V _j by the number of added data N _j is the allowable relative speed Δ
It is updated and stored as V _2. As a result, the allowable relative speed ΔV ₂
Is the same inter-vehicle distance L as shown by the solid line in FIG. 6, for example.
It is set smaller storage than the allowable relative velocity [Delta] V ₁ relative.

As described above, when the brake operation is performed normally, the relationship between the inter-vehicle distance L and the allowable relative speed ΔV when the driver performs the brake operation is learned, and the inter-vehicle distance is determined based on the relationship. The relationship between L and the allowable relative speeds ΔV ₁ and ΔV ₂ is set and stored as map data. In the above learning operation, each data is cleared every time the ignition key switch is turned off, for example.

If the brake pedal switch is off in step S8 described above, one of the data addition numbers _Ni or _Nj (for example, the latest updated data addition number) in steps S10 and S11 is obtained (step S12). It is determined whether the data addition number N is equal to or greater than "10" (step S1).
3). When the data addition number N is less than “10” and the map data is small and learning is not sufficient, if deceleration is performed within a normal stop range until the own vehicle as the succeeding vehicle reaches the position of the preceding vehicle, position preceding vehicle is the vehicle at the same speed as when passing allowable relative speed [Delta] V ₄ that can pass through the position is calculated by the following equation (step S14).

ΔV ₄ = a · ((2L / a) ^1/2 −T ₀ ) where a is the average deceleration from the running state to the stop of the car, 2.4 m / sec, and T ₀ is a general brake operation. Shows the reaction time (about 0.8 seconds).

Then, the relative speed ΔV calculated in step S3 described above.
Is compared with the allowable relative speed ΔV ₄ (step S1
Five). If the relative speed ΔV is less than the allowable relative speed ΔV ₄ , the process returns to step S 1. However, if the relative speed ΔV is equal to or higher than the allowable relative speed ΔV ₄ , it is dangerous if the brake operation is not performed,
A command is given to the alarm generation device 8, and an alarm is issued to the driver (step S21).

If the data addition number N is "10" or more and learning is sufficiently performed in step S13, it is determined from the output signal of the driving state detection device 6 whether or not the driver is looking aside (including drowsy driving). Is performed (step S16). If the driver is not looking aside, the allowable relative speed ΔV ₁ with respect to the inter-vehicle distance L is read from the normal driving map data set and stored in step S10 (step S17), and the relative speed Δ
V is compared with the allowable relative speed [Delta] V ₁ (step S1
8). If the relative speed [Delta] V is permissible relative speed [Delta] V ₁ or more,
If the brake operation is not performed, it is dangerous.
, And a warning is issued to the driver (step S21).

If it is determined in step S16 that the driver is performing a look-ahead operation, the allowable relative speed ΔV ₂ with respect to the inter-vehicle distance L is read from the map data for the look-ahead driving set and stored in the aforementioned step S11 (step S19), and It is compared with the allowable relative speed ΔV ₂ (step S20). Relative speed ΔV
Is greater than or equal to the permissible relative speed ΔV ₂ , it is dangerous if the brake operation is not performed, and a command is given to the alarm generator 8,
An alarm is issued to the driver (step S21).

When an alarm is issued in step S21, it is determined again whether or not the brake pedal switch 5 is turned on (step S2).
2), an alarm is issued until the driver performs the brake operation, and if the driving vehicle performs the brake operation and the brake pedal switch is turned on, a command is output to the alarm generation device 8 and the alarm is stopped (step S1). S23).

As described above, in this embodiment, the inter-vehicle distance L at the time of the brake operation performed based on the driving ability of the driver and the road condition is described.
And the relative speed ΔV, while learning the inter-vehicle distance L and the allowable relative speed Δ during normal operation based on this learning.
Storing a relationship between the allowable relative speed [Delta] V ₂ as respective mapped data at V ₁ and inattentive during operation. Then, when the driver does not perform the brake operation, one of the permissible relative speeds ΔV ₁ or ΔV ₂ is selected with respect to the detected inter-vehicle distance L, depending on whether the driver is not driving aside. If the speed exceeds the allowable relative speed ΔV ₁ or ΔV ₂ , an alarm is issued to the driver. Therefore, an appropriate warning is issued only when there is a danger in accordance with the driver's driving ability and road conditions, and the driver is not bothered. In addition, when the driver is looking aside, an alarm is issued earlier than during normal driving, so that the driver can perform the brake operation with a margin at that time, and the probability of occurrence of a rear-end collision by looking aside Can be reduced. Further, the relative speed ΔV is too high with respect to the inter-vehicle distance L (the previously stored allowable relative speed ΔV ₃
The brakes are automatically activated in very dangerous (higher) situations, so that the worst can be avoided.

Advantageous Effects of the Invention As apparent from the above description, according to the preceding vehicle approach warning device of the present invention, the driver's aside driving or dozing driving is detected, and it is determined that the aside driving or dozing driving is performed. When the driver is driving aside or drowsy, the preceding vehicle is approaching abnormally because the permissible relative speed is corrected to be lower when the vehicle is running and a warning is issued based on the corrected permissible relative speed. Brake operation is performed early before the operation is performed, and safety is improved. Further, the relationship between the inter-vehicle distance to the preceding vehicle and the relative speed when the driving vehicle performs the normal brake operation is stored, and when the driver does not perform the brake operation, the driving state and the inter-vehicle distance at that time are stored. The permissible relative speed is calculated based on the relative speed, and a warning is issued when the current relative speed is equal to or higher than the permissible relative speed. A warning is properly issued only for dangerous driving that is not sufficiently taken, and a rear-end collision can be prevented.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing the configuration of an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the configuration of an operating state detecting device in the embodiment, and FIGS. FIG. 6 is a flowchart for explaining the operation of the processing apparatus in the embodiment, and FIG. 6 is a graph for explaining map data in the embodiment. DESCRIPTION OF SYMBOLS 1 ... Processing apparatus 2 ... Own vehicle speed sensor 3 ... Previous vehicle speed sensor 4 ... Inter-vehicle distance sensor 5 ... Brake pedal switch 6 ... Driving state detection device 7 ... Storage device 8. An alarm generator.

Claims (2)

(57) [Claims] 1. A vehicle speed detecting means for detecting a driving speed of a vehicle, a vehicle speed detecting means for detecting a driving speed of a preceding vehicle, and an inter-vehicle detecting an inter-vehicle distance between the vehicle and the preceding vehicle. Distance detection means; alarm generation means for issuing an alarm to the driver when the relative speed of the own vehicle with respect to the preceding vehicle is equal to or greater than a predetermined allowable relative speed with respect to the inter-vehicle distance; Operating state detecting means for detecting driving or dozing driving, and correcting the allowable relative speed to be low when aside driving or dozing driving is detected, and issuing the alarm when the corrected relative speed is equal to or more than the corrected allowable relative speed. A preceding vehicle approach warning device characterized in that: 2. A brake operation means for detecting a brake operation of a driver of the own vehicle, and a storage means for storing a relationship between a relative speed of the own vehicle with respect to a preceding vehicle at the time of the brake operation and the inter-vehicle distance, 2. The apparatus according to claim 1, wherein the allowable relative speed is set based on data stored in the storage unit, and when the relative speed is equal to or higher than the allowable relative speed, an alarm is issued to the driver. The preceding vehicle approach warning device according to any one of the preceding claims.