JP6237280B2 - Automatic brake control device for vehicles - Google Patents

Description

  The present invention relates to a vehicular automatic brake control device that operates a brake means of a host vehicle regardless of a depression operation of a brake pedal when a collision with a preceding vehicle ahead of the host vehicle is predicted.

  For example, in a vehicle such as an automobile, when a preceding vehicle is traveling ahead of the host vehicle, it is predicted that the preceding vehicle and the host vehicle will collide by detecting the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle. If the calculated collision prediction time is short and a collision between the preceding vehicle and the host vehicle is predicted, the brake means (automatic brake) of the host vehicle is automatically activated regardless of the brake pedal depression. 2. Description of the Related Art There is known an automatic brake control device that is operated to avoid a collision between a preceding vehicle and the host vehicle.

  Further, for example, in Patent Document 1, when the driver depresses the accelerator pedal and performs the collision avoidance operation during the operation of the automatic brake, the operation of the automatic brake is canceled giving priority to the collision avoidance operation intended by the driver, There is known an automatic brake control device that enables a driver to perform a collision avoidance operation.

JP 2012-196997 A

  As described in Patent Document 1, when the automatic brake is activated when the driver depresses the accelerator pedal, the vehicle travels according to the driver's intention to control the collision. Although the avoidance operation can be performed, the automatic brake can be activated even if the accelerator pedal is not intended by the driver, such as when the driver moves forward with the operation of the automatic brake and the accelerator pedal is depressed. The operation will be canceled.

  In this way, when a collision between the preceding vehicle and the host vehicle is predicted, if the operation of the automatic brake is canceled when the accelerator pedal is depressed, which is not the driver's intention, then the operation of the automatic brake is not released. Thus, there is a possibility that the host vehicle cannot be sufficiently decelerated with respect to the preceding vehicle.

  Therefore, an object of the present invention is to provide an automatic brake control device for a vehicle that can achieve both deceleration of the host vehicle with respect to a preceding vehicle and travel control of the vehicle following the driver's intention.

  In order to solve the above problems, the present invention is configured as follows.

First, the invention according to claim 1 of the present application is an automatic brake control device for a vehicle that operates a brake means of the host vehicle regardless of a depression operation of a brake pedal when a collision with a preceding vehicle ahead of the host vehicle is predicted. The first inter-vehicle distance detecting means for detecting the inter-vehicle distance between the preceding vehicle and the own vehicle, the first relative speed detecting means for detecting the relative speed between the preceding vehicle and the own vehicle, and the first inter-vehicle distance detecting means. First collision prediction time calculation means for calculating a predicted collision time between the preceding vehicle and the host vehicle based on the inter-vehicle distance detected by the first vehicle and the relative speed detected by the first relative speed detection means; and engine output setting means for setting the corresponding engine output, when the collision prediction time calculated by said first estimated collision time calculation means is less than the first predetermined time, said brake means And brake control means for moving, the collision prediction time calculated by said first estimated collision time calculation means has becomes smaller than or equal to the first predetermined time, to lower the set engine output by the engine output setting means at a predetermined ratio The engine is controlled to achieve engine output, and when the predicted collision time is equal to or shorter than a second predetermined time shorter than the first predetermined time, the engine output set by the engine output setting means is decreased at the predetermined rate. Engine control means for controlling the engine so that the engine output is further reduced from the engine output .

  The invention according to claim 2 of the present application is the invention according to claim 1, wherein the preceding vehicle position detecting means for detecting the position of the preceding vehicle and the position of the preceding vehicle detected by the preceding vehicle position detecting means are provided. And an overlap amount calculating means for calculating an overlap amount in the vehicle width direction between the preceding vehicle and the host vehicle based on the overlap amount calculated by the overlap amount calculating means. On the basis of this, the ratio for reducing the engine output set by the engine output setting means is changed.

Further, the invention according to claim 3 of the present application is an automatic brake control device for a vehicle that operates the brake means of the own vehicle regardless of the depression operation of the brake pedal when a collision with a preceding vehicle ahead of the own vehicle is predicted. The first inter-vehicle distance detecting means for detecting the inter-vehicle distance between the preceding vehicle and the own vehicle, the first relative speed detecting means for detecting the relative speed between the preceding vehicle and the own vehicle, and the first inter-vehicle distance detecting means. First collision prediction time calculation means for calculating a predicted collision time between the preceding vehicle and the host vehicle based on the inter-vehicle distance detected by the first vehicle and the relative speed detected by the first relative speed detection means; An engine output setting means for setting an engine output according to the operation, and the brake means is activated when the estimated collision time calculated by the first estimated collision time calculation means is a predetermined time or less. And an engine output obtained by reducing the engine output set by the engine output setting means at a predetermined rate when a predicted collision time calculated by the first brake prediction time calculating means is less than or equal to a predetermined time. Engine control means for controlling the engine, rear vehicle position detection means for detecting the position of the rear vehicle behind the own vehicle, and second inter-vehicle distance for detecting the inter-vehicle distance in the vehicle travel direction between the rear vehicle and the own vehicle. Detecting means; second relative speed detecting means for detecting a relative speed in the vehicle traveling direction between the rear vehicle and the own vehicle; and a position of the rear vehicle detected by the rear vehicle position detecting means is adjacent to the traveling lane of the own vehicle. when in the adjacent driving lane that, the detected inter-vehicle distance by the second inter-vehicle distance detecting means by said second relative speed detecting means The issued based on the relative velocity, and a second collision prediction time calculating means for calculating the estimated collision time lengths of the rear vehicle and the host vehicle when the host vehicle has a lane change to the adjacent traffic lane, the engine The control means is such that the position of the rear vehicle detected by the rear vehicle position detecting means is in an adjacent traveling lane adjacent to the traveling lane of the host vehicle, and the predicted collision time calculated by the second predicted collision time calculating means. Is less than a predetermined time, the ratio for reducing the engine output set by the engine output setting means is increased.

  With the above configuration, according to the invention of each claim of the present application, the following effects can be obtained.

First, according to the first aspect of the present invention, when the predicted collision time between the preceding vehicle and the host vehicle calculated based on the inter-vehicle distance and the relative speed between the preceding vehicle and the host vehicle is equal to or shorter than the first predetermined time. The host vehicle can be decelerated with respect to the preceding vehicle by actuating the brake means of the host vehicle regardless of the depression operation of the brake pedal.

Further, when the predicted collision time between the preceding vehicle and the host vehicle calculated based on the inter-vehicle distance and the relative speed between the preceding vehicle and the host vehicle becomes equal to or shorter than the first predetermined time, the engine output set according to the accelerator opening Is reduced at a predetermined rate, the host vehicle can be further decelerated with respect to the preceding vehicle as compared with the case where the engine output set according to the accelerator opening is not reduced. Collision avoidance or damage reduction due to collision can be achieved.

  When the accelerator pedal depression by the driver increases and the accelerator opening increases, the engine output is reduced at a predetermined rate compared with the case where the engine output set according to the accelerator opening is not reduced. Since the engine output increases in accordance with the accelerator opening as the accelerator opening increases, the vehicle can be driven following the driver's intention. When the driver depresses the accelerator pedal and determines that the collision with the preceding vehicle can be avoided, the driver can perform the collision avoiding operation for avoiding the collision with the preceding vehicle.

  Therefore, the host vehicle can be decelerated with respect to the preceding vehicle, and the vehicle can be driven following the driver's intention. Can be made compatible.

For example, even when the accelerator pedal is depressed more than the driver's intention, the engine output set according to the accelerator opening is reduced at a predetermined rate, so that the automatic brake against the accelerator pedal depression Compared with the case where the operation of is canceled, the host vehicle can be further decelerated relative to the preceding vehicle, and collision avoidance with the preceding vehicle or damage reduction due to the collision can be achieved.
In addition, when the predicted collision time is equal to or shorter than the second predetermined time shorter than the first predetermined time, the engine output set according to the accelerator opening is further reduced from the engine output reduced at the predetermined rate. Thus, the host vehicle can be further decelerated with respect to the preceding vehicle, collision avoidance with the preceding vehicle or damage reduction due to the collision can be further achieved, and the above effect can be more effectively achieved.

  Further, according to the invention according to claim 2 of the present application, based on the overlap amount in the vehicle width direction between the preceding vehicle and the host vehicle, the ratio for reducing the engine output set according to the accelerator opening is changed. Therefore, when the overlap amount is small, the engine output is increased by reducing the ratio of decreasing the engine output compared to when it is large, thereby suppressing the deceleration with respect to the preceding vehicle and giving priority to the collision avoidance operation by the driver. And the effect can be more effectively achieved.

Furthermore, according to the invention according to claim 3 of the present application, as in the invention according to claim 1, the collision prediction between the preceding vehicle and the host vehicle calculated based on the inter-vehicle distance and the relative speed between the preceding vehicle and the host vehicle. When the time becomes equal to or shorter than the predetermined time, the own vehicle can be decelerated relative to the preceding vehicle by operating the brake means of the own vehicle regardless of the depression operation of the brake pedal.
In addition, when the predicted collision time between the preceding vehicle and the host vehicle calculated based on the inter-vehicle distance and the relative speed between the preceding vehicle and the host vehicle is equal to or shorter than a predetermined time, the engine output set according to the accelerator opening is predetermined. As a result, the host vehicle can be further decelerated with respect to the preceding vehicle compared with the case where the engine output set according to the accelerator opening is not reduced, and the collision with the preceding vehicle is avoided. Alternatively, damage caused by a collision can be reduced.
When the accelerator pedal depression by the driver increases and the accelerator opening increases, the engine output is reduced at a predetermined rate compared with the case where the engine output set according to the accelerator opening is not reduced. Since the engine output increases in accordance with the accelerator opening as the accelerator opening increases, the vehicle can be driven following the driver's intention. When the driver depresses the accelerator pedal and determines that the collision with the preceding vehicle can be avoided, the driver can perform the collision avoiding operation for avoiding the collision with the preceding vehicle.
Therefore, the host vehicle can be decelerated with respect to the preceding vehicle, and the vehicle can be driven following the driver's intention. Can be made compatible.
Further, the position of the rear vehicle is in the adjacent traveling lane adjacent to the traveling lane of the own vehicle, and the own vehicle calculated based on the inter-vehicle distance and the relative speed in the vehicle traveling direction between the rear vehicle and the own vehicle is adjacent traveling. When the predicted time of collision between the rear vehicle and the host vehicle when the lane is changed to the lane is less than the predetermined time, the driver's collision is increased by increasing the ratio of decreasing the engine output set according to the accelerator opening. When a collision with a rear vehicle is predicted by the avoidance operation, the engine output can be decreased by increasing the ratio of decreasing the engine output, and the collision avoidance operation by the driver is suppressed to avoid the collision with the rear vehicle. be able to.

It is a control system figure of the automatic brake control device concerning a 1st embodiment of the present invention. It is explanatory drawing for demonstrating the action | operation of the said automatic brake control apparatus. It is a figure which shows the change of the relative speed with respect to the collision prediction time in predetermined | prescribed accelerator opening, throttle opening, an engine output, an automatic brake pressure, and an alarm device. It is a graph which shows the relationship between the accelerator opening at the time of the action | operation of the said automatic brake control apparatus, and throttle opening. It is a figure which shows the control flowchart of the said automatic brake control apparatus. It is explanatory drawing for demonstrating the action | operation of the automatic brake control apparatus which concerns on 2nd Embodiment of this invention. It is a graph which shows the relationship between the accelerator opening at the time of the action | operation of the said automatic brake control apparatus, and throttle opening. It is explanatory drawing for demonstrating the action | operation of the automatic brake control apparatus which concerns on 3rd Embodiment of this invention. It is a graph which shows the relationship between the accelerator opening at the time of the action | operation of the said automatic brake control apparatus, and throttle opening.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a control system diagram of the automatic brake control device according to the first embodiment of the present invention. As shown in FIG. 1, in the vehicle 1 provided with the automatic brake control device according to the first embodiment of the present invention, the preceding vehicle detection for detecting the preceding vehicle when the preceding vehicle is traveling ahead of the host vehicle. A sensor 2, a vehicle speed sensor 3 that detects the vehicle speed of the host vehicle, an accelerator position sensor 4 that detects the amount of depression of the accelerator pedal by the driver (accelerator position), and a rear vehicle is traveling behind the host vehicle. In this case, a rear vehicle detection sensor 5 for detecting the rear vehicle is provided.

  The preceding vehicle detection sensor 2 can use, for example, a millimeter wave radar or a CCD camera, and detects the position of the preceding vehicle, the distance between the preceding vehicle and the host vehicle, and the relative speed between the preceding vehicle and the host vehicle. It is configured. Similarly, for the rear vehicle detection sensor 5, for example, a millimeter wave radar or a CCD camera can be used as the rear vehicle detection sensor 5, and the position of the rear vehicle, the distance between the rear vehicle and the host vehicle, and the rear vehicle It is comprised so that the relative speed with the own vehicle may be detected.

  The preceding vehicle detection sensor 2 corresponds to “first inter-vehicle distance detection means”, “first relative speed detection means”, and “preceding vehicle position detection means” in the claims, and the rear vehicle detection sensor 5 This corresponds to “second inter-vehicle distance detection means”, “second relative speed detection means”, and “rear vehicle position detection means” in the claims.

  The vehicle 1 is also supplied with a predetermined brake pressure (automatic brake pressure) to the brake means of the host vehicle regardless of the depression of the brake pedal when a collision between the preceding vehicle ahead of the host vehicle and the host vehicle is predicted. Then, the automatic brake device 6 that operates the brake means, the throttle valve 7 that is opened / closed according to the accelerator opening and throttles the amount of intake air supplied to the engine, and the driver predicts a collision between the preceding vehicle and the host vehicle. And an alarm device 8 such as an alarm buzzer for informing the user that the operation is to be performed.

  The vehicle 1 is also provided with a control unit 9 that controls the operation of the automatic brake device 6 when a collision between a preceding vehicle ahead of the host vehicle and the host vehicle is predicted. The control unit 9 comprehensively controls the configuration related to the host vehicle 1 including the automatic brake device 6 and the engine, and the control unit 9 includes a preceding vehicle detection sensor 2 as shown in FIG. , A signal from the vehicle speed sensor 3, a signal from the accelerator opening sensor 4, a signal from the rear vehicle detection sensor 5, and the like are input.

  The control unit 9 also has an automatic brake device 6 and a throttle according to a signal from the preceding vehicle detection sensor 2, a signal from the vehicle speed sensor 3, a signal from the accelerator opening sensor 4, a signal from the rear vehicle detection sensor 5, and the like. Various controls such as the valve 7 and the alarm device 8 are performed. The control unit 9 includes a microcomputer as a main part.

  Although not shown, the vehicle 1 is provided with an air flow sensor as an intake air amount detecting means for detecting the intake air amount supplied to the engine, and the control unit 9 performs intake based on a signal from the air flow sensor. A predetermined fuel is supplied to the injector according to the air amount, and the engine output is controlled according to the throttle opening.

  In this embodiment, when the vehicle speed detected by the vehicle speed sensor 3 is equal to or higher than a predetermined vehicle speed such as 15 km / h, the control unit 9 determines whether the preceding vehicle detected by the preceding vehicle detection sensor 2 and the host vehicle are Based on the inter-vehicle distance and the relative speed, specifically, the collision between the preceding vehicle and the own vehicle is predicted by dividing the inter-vehicle distance between the preceding vehicle and the own vehicle by the relative speed between the preceding vehicle and the own vehicle. A collision prediction time (TTC: Time To Collision) can be calculated.

  The control unit 9 stores in advance a throttle opening corresponding to the accelerator opening as an engine output corresponding to the accelerator opening. As shown by a solid line L1 in FIG. 4 to be described later, the control unit 9 stores in advance a throttle opening characteristic that is set so that the throttle opening increases in proportion to the accelerator opening.

Next, the operation of the automatic brake control device according to the first embodiment of the present invention will be described.
FIG. 2 is an explanatory diagram for explaining the operation of the automatic brake control device, and FIG. 3 is a diagram illustrating a relative speed, a throttle opening, an engine output, an automatic brake pressure and an alarm with respect to a predicted collision time at a predetermined accelerator opening. It is a figure which shows the change of an apparatus. As shown in FIG. 2, when the preceding vehicle 21 is traveling ahead of the host vehicle 1 traveling at a predetermined accelerator opening α1 in the traveling lane 16 defined by the traveling division line 15, When the distance between the host vehicle 1 and the preceding vehicle 21 is reduced to a predetermined time t1, for example, 3 seconds or less, as shown in FIG. Is activated to notify the driver that a collision between the preceding vehicle 21 and the host vehicle 1 is predicted.

  As shown in FIG. 2, when the inter-vehicle distance between the preceding vehicle 21 and the host vehicle 1 is further shortened and the predicted collision time becomes a predetermined time t2, for example, 2 seconds or less, the control unit 9 Regardless of the depression of the accelerator pedal of the driver, the operation of the automatic brake device 6 is controlled so as to operate the brake means by supplying a predetermined brake pressure P1 to the brake means of the host vehicle. Further, the operation of the throttle valve 7 is controlled so that the throttle opening set in accordance with the accelerator opening is reduced at a predetermined rate and the engine output is reduced at a predetermined rate.

  FIG. 4 is a graph showing the relationship between the accelerator opening and the throttle opening when the automatic brake control device is in operation. In the control unit 9, as shown by the solid line L1 in FIG. 4, the throttle opening corresponding to the accelerator opening is preset and stored. In the present embodiment, a throttle opening that increases in proportion to the accelerator opening is set.

  When the predicted collision time becomes equal to or shorter than the predetermined time t2, as shown by a broken line L1 ′ in FIG. 4, the throttle opening set according to the accelerator opening is decreased at a predetermined rate. For example, the throttle opening degree X1 set when the accelerator opening degree α1 is set is reduced to a throttle opening degree X1 ′ by a predetermined ratio A, for example, 0.5 times. The throttle opening X1 ′ is set to (X1−X1 · A).

  As shown in FIG. 3, when the predicted collision time is equal to or shorter than a predetermined time t2, the throttle opening set in accordance with the accelerator opening is reduced at a predetermined rate, and the engine output is reduced at a predetermined rate.

  As described above, when the predicted collision time becomes equal to or shorter than the predetermined time t2, the operation of the automatic brake device 6 is controlled to supply the predetermined brake pressure P1 and operate the brake means, and is set according to the accelerator opening. By controlling the operation of the throttle valve 9 so as to decrease the throttle opening at a predetermined rate and decrease the engine output at a predetermined rate, the relative speed between the preceding vehicle 21 and the host vehicle 1 is decreased. .

  As shown in FIG. 2, when the inter-vehicle distance between the preceding vehicle 21 and the host vehicle 1 is further shortened and the predicted collision time becomes a predetermined time t3, for example, 1 second or less, the control unit 9 is as shown in FIG. In addition, the operation of the automatic brake device 6 is controlled so as to operate the brake means by supplying a predetermined brake pressure P2 higher than the predetermined brake pressure P1 to the brake means of the host vehicle regardless of the depression of the accelerator pedal of the driver.

  Further, the operation of the throttle valve 7 is controlled so that the engine opening is further reduced by fully closing the throttle opening set according to the accelerator opening. Note that the vehicle 1 is provided with a bypass passage through which intake air flows by bypassing the throttle valve 7 even when the throttle valve 7 is fully closed.

  As described above, when the predicted collision time becomes t3 or less, the operation of the automatic brake device 6 is controlled so as to operate the brake means by supplying the predetermined brake pressure P2, and the throttle opening set according to the accelerator opening degree is controlled. By controlling the operation of the throttle valve 9 so as to further reduce the engine output at the fully closed state, the relative speed between the preceding vehicle 21 and the host vehicle 1 is further decreased.

  FIG. 5 is a diagram showing a control flowchart of the automatic brake control device. As shown in FIG. 5, when the collision between the preceding vehicle 21 ahead of the host vehicle and the host vehicle 1 is predicted, the control operation of the automatic brake control device that operates the brake means of the host vehicle regardless of the depression operation of the brake pedal. Is executed by the control unit 9.

  As described above, the characteristics of the throttle opening with respect to the accelerator opening are preset and stored in the control unit 9, and various signals are first read into the control unit 9 (step S1). Specifically, the inter-vehicle distance and relative speed between the preceding vehicle 21 and the host vehicle 1, the vehicle speed, the accelerator opening, and the like are read.

  Next, it is determined whether or not the vehicle speed read in step S1 is a predetermined vehicle speed V1, for example, 15 km / h or more (step S2). If the determination result in step S2 is no (NO), that is, if the vehicle speed is less than the predetermined vehicle speed V1, steps S1 to S2 are repeated.

  On the other hand, if the determination result in step S2 is yes (YES), that is, if the vehicle speed is equal to or higher than the predetermined vehicle speed V1, based on the inter-vehicle distance and relative speed between the preceding vehicle 21 and the host vehicle 1 read in step S1. A predicted collision time (TTC) between the preceding vehicle 21 and the host vehicle 1 is calculated (step S3).

  Then, it is determined whether or not the predicted collision time calculated in step S3 is equal to or shorter than the predetermined time t1 (step S4). If the determination result in step S4 is no, that is, if the collision prediction time is longer than the predetermined time t1, steps S1 to S4 are repeated. If the determination result in step S4 is yes, that is, the collision prediction time is a predetermined time. When it becomes t1 or less, the alarm device 8 is activated (step S5).

  Next, it is determined whether or not the predicted collision time calculated in step S3 is equal to or shorter than a predetermined time t2 (step S6). If the determination result in step S6 is no, that is, if the predicted collision time is longer than the predetermined time t2 and less than or equal to the predetermined time t1, steps S1 to S6 are repeated, but if the determination result in step S6 is yes, When the predicted time becomes equal to or shorter than the predetermined time t2, it is determined whether or not the predicted collision time is equal to or shorter than the predetermined time t3 (step S7).

  If the determination result in step S7 is no, that is, if the predicted collision time is longer than the predetermined time t3 and shorter than the predetermined time t2, the first brake operation control is performed (step S8). Regardless of the depression of the accelerator pedal of the driver, the operation of the automatic brake device 6 is controlled so that a predetermined brake pressure P1 is supplied to the brake means of the host vehicle 1 to operate the brake means.

  Further, when the predicted collision time is longer than the predetermined time t3 and shorter than or equal to the predetermined time t2, first engine output restriction control is performed (step S9). The engine is controlled by controlling the operation of the throttle valve 7 so that the throttle opening set in accordance with the accelerator opening is reduced at a predetermined rate and the engine output is reduced at a predetermined rate.

  On the other hand, if the determination result in step S7 is yes, that is, if the predicted collision time is equal to or shorter than the predetermined time t3, the second brake operation control is performed (step S10). Regardless of the depression of the accelerator pedal of the driver, the operation of the automatic brake device 6 is controlled so that a predetermined brake pressure P2 higher than the predetermined brake pressure P1 is supplied to the brake means of the host vehicle 1 to operate the brake means.

  When the collision prediction time is equal to or shorter than the predetermined time t3, the second engine output restriction control is performed (step S11). The engine is controlled by controlling the operation of the throttle valve 7 so as to further reduce the engine output by fully closing the throttle opening set according to the accelerator opening.

  As described above, when the predicted collision time between the preceding vehicle 21 and the host vehicle 1 becomes equal to or shorter than the predetermined time t1, the alarm is activated. When the predicted collision time becomes equal to or shorter than the predetermined time t2, the first brake control is performed and the first engine is operated. When the output restriction control is performed and the predicted collision time becomes equal to or shorter than the predetermined time t3, the second brake control is performed and the second engine output restriction control is performed.

  As described above, in the automatic brake control device according to the present embodiment, when the predicted collision time is equal to or shorter than the predetermined time t2, the brake means of the host vehicle 1 is operated regardless of the depression operation of the brake pedal. 1 can be decelerated with respect to the preceding vehicle 21.

  Further, when the predicted collision time becomes equal to or less than the predetermined time t2, the throttle opening set according to the accelerator opening is reduced at a predetermined rate, and the engine output is reduced at a predetermined rate. Accordingly, the host vehicle 1 can be further decelerated with respect to the preceding vehicle 21 as compared with the case where the engine opening is not reduced without lowering the throttle opening set accordingly, and avoiding collision with the preceding vehicle or damage caused by the collision. Mitigation can be achieved.

  When the accelerator pedal depression by the driver increases and the accelerator opening increases, the throttle opening is predetermined compared to the case where the throttle opening set according to the accelerator opening is not decreased and the engine output is not decreased. Although the engine output is decreased at a predetermined rate and the engine output is decreased at a predetermined rate, the throttle opening set according to the accelerator opening increases and the engine output increases as the accelerator opening increases. Thus, the vehicle can be driven following the driver's intention.

  As shown in FIG. 4, when the accelerator pedal depression of the driver increases and the accelerator opening increases from α1 to α2, the throttle opening X2 set according to the accelerator opening is not decreased. Although the throttle opening is reduced at a predetermined ratio A to the throttle opening X2 ′, the throttle opening is increased from X1 ′ to X2 ′ as the accelerator opening increases from α1 to α2. Increase engine output. Accordingly, when the driver depresses the accelerator pedal and determines that the collision with the preceding vehicle 21 can be avoided, the driver can perform the collision avoiding operation for avoiding the collision with the preceding vehicle 21.

  Therefore, the host vehicle 1 can be decelerated with respect to the preceding vehicle 21, and the vehicle can be driven following the driver's intention. The vehicle following the deceleration of the host vehicle 1 with respect to the preceding vehicle 21 and the driver's intention. The travel control can be made compatible.

  For example, even when the accelerator pedal is depressed more than the driver's intention, the throttle opening set according to the accelerator opening is reduced at a predetermined rate, and the engine output is reduced at a predetermined rate. Thus, the host vehicle 1 can be further decelerated with respect to the preceding vehicle 21 as compared with the case where the operation of the automatic brake is released when the accelerator pedal is depressed, and the collision avoidance with the preceding vehicle 21 or the damage caused by the collision. Mitigation can be achieved.

  In the first embodiment described above, the automatic brake control device for the host vehicle 1 having a gasoline engine having the throttle valve 7 as an engine is described. However, in the case of a diesel engine having no throttle valve, the control unit 9 includes As the engine output corresponding to the accelerator opening, the fuel injection amount corresponding to the accelerator opening is preset and stored, and when the predicted collision time between the preceding vehicle 21 and the host vehicle 1 becomes less than the predetermined time t2, the control unit 9, the engine is controlled such that the fuel injection amount set in advance according to the accelerator opening is decreased at a predetermined rate and the engine output is decreased at a predetermined rate.

  Similarly, in the case of a diesel engine, an automatic brake control device for a host vehicle equipped with a gasoline engine having a throttle valve according to second and third embodiments, which will be described later, is preset according to the accelerator opening. Instead of controlling the throttle opening, a fuel injection amount set in advance according to the accelerator opening is controlled.

  FIG. 6 is an explanatory diagram for explaining the operation of the automatic brake control device according to the second embodiment of the present invention. In the automatic brake control device according to the second embodiment of the present invention, the ratio of decreasing the engine output by decreasing the throttle opening set in accordance with the accelerator opening is set to the overrun in the vehicle width direction of the preceding vehicle and the host vehicle. Since it is the same as that of the automatic brake control apparatus which concerns on 1st Embodiment of this invention except changing based on the amount of laps, it abbreviate | omits about description other than this.

  In the second embodiment, the control unit 9 can calculate the overlap amount in the vehicle width direction between the preceding vehicle 21 and the host vehicle 1 based on the position of the preceding vehicle 21 detected by the preceding vehicle detection sensor 2. It is like that. The overlap amount is a ratio of the overlap amount in the vehicle width direction between the preceding vehicle 21 and the host vehicle 1 with respect to the vehicle width of the host vehicle 1.

  The control unit 9 also reduces the engine output by changing the ratio of reducing the throttle opening set according to the accelerator opening based on the overlap amount in the vehicle width direction between the preceding vehicle 21 and the host vehicle 1. The engine is controlled by controlling the operation of the throttle valve 7 so as to change the ratio to be changed. Specifically, when the overlap amount is small, the throttle rate is reduced by reducing the rate of lowering the engine output by reducing the rate of lowering the throttle opening that is set according to the accelerator opening than when it is large. The operation of the throttle valve 7 is controlled so as to increase the engine output by increasing the opening.

  As shown in FIG. 6, when the preceding vehicle 21 is traveling ahead of the host vehicle 1 traveling at the predetermined accelerator opening α1, the predicted collision time between the preceding vehicle 21 and the host vehicle 1 is equal to or less than the predetermined time t2. Then, as in the first embodiment, the operation of the automatic brake device 6 is controlled so that the brake means is operated by supplying the predetermined brake pressure P1 to the brake means of the host vehicle regardless of the depression of the accelerator pedal of the driver. At the same time, the operation of the throttle valve 7 is controlled so as to decrease the engine output by decreasing the throttle opening set according to the accelerator opening at a predetermined rate.

  In the second embodiment, based on the overlap amount W1 between the preceding vehicle 21 and the host vehicle 1 in the vehicle width direction, the throttle valve is changed so as to change the ratio of decreasing the throttle opening set according to the accelerator opening. 7 is controlled.

  As described above, the overlap amount W1 is the ratio of the overlap amount in the vehicle width direction between the preceding vehicle 21 and the own vehicle 1 with respect to the vehicle width of the own vehicle 1, and the preceding vehicle 21 and the own vehicle 1 are in the vehicle width direction. 1 when the vehicle is at the same position, and zero when the preceding vehicle 21 and the host vehicle 1 do not overlap in the vehicle width direction.

  FIG. 7 is a graph showing the relationship between the accelerator opening and the throttle opening when the automatic brake control device is in operation. Similar to the first embodiment, the throttle opening corresponding to the accelerator opening is preset and stored in the control unit 9 as indicated by the solid line L1 in FIG.

  In the first embodiment, when the predicted collision time between the preceding vehicle 21 and the host vehicle 1 becomes equal to or shorter than the predetermined time t2, as shown by a broken line L1 ′ in FIG. 7, the throttle opening X1 set according to the accelerator opening. Is reduced to a throttle opening X1 ′ at a predetermined ratio A, but in the second embodiment, the vehicle width direction between the preceding vehicle 21 and the host vehicle 1 as shown by the one-dot chain line L1 ″ in FIG. Based on the overlap amount W1, the ratio of decreasing the throttle opening set according to the accelerator opening is changed to change the ratio of decreasing the engine output.

  Specifically, the throttle opening X1 ″ is obtained by multiplying the ratio A for decreasing the throttle opening X1 set when the accelerator opening α1 is set by the overlap amount W1. The throttle opening X1 ″ is set to (X1−X1 · A · W1).

  Thus, based on the overlap amount W1 in the vehicle width direction between the preceding vehicle 21 and the host vehicle 1, the engine output is reduced by changing the ratio of reducing the throttle opening set according to the accelerator opening. By changing the ratio, when the overlap amount W1 is small, the ratio of decreasing the throttle opening is reduced compared to when it is large, the ratio of decreasing the engine output is decreased, and the throttle opening is increased. By increasing the output, it is possible to give priority to the collision avoidance operation by the driver while suppressing deceleration of the preceding vehicle 21.

  FIG. 8 is an explanatory diagram for explaining the operation of the automatic brake control device according to the third embodiment of the present invention. In the automatic brake control device according to the third embodiment of the present invention, the position of the rear vehicle is in the adjacent traveling lane adjacent to the traveling lane of the own vehicle, and the predicted collision time between the rear vehicle and the own vehicle is a predetermined time or less. In some cases, the automatic brake control device according to the first embodiment of the present invention is used except that the ratio of lowering the engine output is increased by increasing the ratio of decreasing the throttle opening that is set according to the accelerator opening. Since this is the same as the above, the description other than this is omitted.

  In the third embodiment, the control unit 9 specifically determines the inter-vehicle distance between the rear vehicle and the host vehicle based on the inter-vehicle distance and the relative speed between the rear vehicle and the host vehicle detected by the rear vehicle detection sensor 5. Is divided by the relative speed between the rear vehicle and the host vehicle, and a predicted collision time TTC ′ in which a collision between the rear vehicle and the host vehicle in which the inter-vehicle distance in the vehicle traveling direction between the rear vehicle and the host vehicle is zero is predicted. It can be calculated.

  Further, the control unit 9 is configured such that the position of the rear vehicle detected by the rear vehicle detection sensor 5 is in the adjacent traveling lane adjacent to the traveling lane of the own vehicle, and the predicted collision time between the rear vehicle and the own vehicle is equal to or less than a predetermined time. If the throttle opening is set, the throttle opening that is set according to the accelerator opening is increased to increase the engine output, and the throttle opening is decreased to reduce the engine output. The operation of the valve 7 is controlled.

  As shown in FIG. 8, when the preceding vehicle 21 is traveling ahead of the host vehicle 1 traveling at the predetermined accelerator opening α1, the predicted collision time between the preceding vehicle 21 and the host vehicle 1 is equal to or less than the predetermined time t2. Then, as in the first embodiment, the operation of the automatic brake device 6 is controlled so that the brake means is operated by supplying the predetermined brake pressure P1 to the brake means of the host vehicle regardless of the depression of the accelerator pedal of the driver. At the same time, the engine is controlled by controlling the operation of the throttle valve 7 so that the throttle opening set in accordance with the accelerator opening is reduced at a predetermined rate and the engine output is reduced at a predetermined rate.

  In the third embodiment, the position of the rear vehicle 31 behind the host vehicle 1 is in the adjacent traveling lane 17 adjacent to the traveling lane 16 of the host vehicle 1, and the inter-vehicle distance and relative speed between the rear vehicle 31 and the host vehicle 1. When the predicted collision time TTC ′ between the rear vehicle 31 and the host vehicle 1 calculated based on the above is a predetermined time t4, for example, 3 seconds or less, the ratio of decreasing the throttle opening set according to the accelerator opening The engine is controlled by controlling the operation of the throttle valve 7 so that the ratio of decreasing the engine output is increased by increasing the ratio and the throttle opening is decreased to decrease the engine output.

  FIG. 9 is a graph showing the relationship between the accelerator opening and the throttle opening when the automatic brake control device is in operation. Similar to the first embodiment, the throttle opening corresponding to the accelerator opening is preset and stored in the control unit 9 as indicated by the solid line L1 in FIG.

  In the first embodiment, when the predicted collision time between the preceding vehicle 21 and the host vehicle 1 becomes equal to or shorter than the predetermined time t2, as shown by a broken line L1 ′ in FIG. 9, the throttle opening X1 set according to the accelerator opening. Is reduced to a throttle opening X1 ′ by a predetermined ratio A. In the third embodiment, as indicated by a two-dot chain line L1 ′ ″ in FIG. When the predicted time TTC 'between the rear vehicle 31 and the host vehicle 1 is equal to or shorter than the predetermined time t4, the throttle opening set according to the accelerator opening is reduced. Increase the ratio to reduce the engine output.

  Specifically, the throttle opening X1 ″ ′ is obtained by multiplying the ratio A for decreasing the throttle opening X1 set when the accelerator opening α1 is set by a predetermined magnification B. The throttle opening X1 ′ ″ is set to (X1−X1 · A · B). Here, the predetermined magnification B is set to a value larger than 1, such as 1.4.

  As described above, the position of the rear vehicle 31 is in the adjacent travel lane 17 adjacent to the travel lane 16 of the host vehicle 1, and the predicted collision time TTC 'between the rear vehicle 31 and the host vehicle 1 is equal to or less than the predetermined time t4. In such a case, a collision with the rear vehicle 31 is predicted by a collision avoidance operation by the driver by increasing the ratio of decreasing the throttle opening that is set according to the accelerator opening and increasing the ratio of decreasing the engine output. In this case, the engine output can be reduced by increasing the rate of reducing the throttle opening, and the collision avoidance operation by the driver can be suppressed to avoid the collision with the rear vehicle 31. When the driver of the host vehicle 1 tries to travel in the adjacent traveling lane 17 by turning the handle in order to avoid the collision with the preceding vehicle 21, the collision with the rear vehicle 31 traveling in the adjacent traveling lane 17 is avoided. be able to.

  As described above, in the second embodiment, the ratio of decreasing the throttle opening set according to the accelerator opening is changed based on the overlap amount W1 in the vehicle width direction between the preceding vehicle 21 and the host vehicle 1. In the third embodiment, the rear vehicle 31 is in the adjacent traveling lane 17 adjacent to the traveling lane 16 of the host vehicle 1 and the estimated collision time between the rear vehicle 31 and the host vehicle 1 is changed. When TTC ′ is equal to or less than the predetermined time t4, the ratio of decreasing the throttle opening set in accordance with the accelerator opening is increased to increase the ratio of decreasing the engine output. You may make it combine embodiment.

  That is, when the preceding vehicle 21 is traveling in front of the host vehicle 1 and the rear vehicle 31 is traveling behind the host vehicle 1, the predicted collision time between the preceding vehicle 21 and the host vehicle 1 is a predetermined time t2. Below, the ratio of decreasing the engine output by changing the ratio of decreasing the throttle opening that is set according to the accelerator opening based on the overlap amount W1 in the vehicle width direction of the preceding vehicle 21 and the host vehicle 1 When the rear vehicle 31 is in the adjacent travel lane 17 adjacent to the travel lane 16 of the host vehicle 1 and the predicted collision time TTC ′ between the rear vehicle 31 and the host vehicle 1 is less than the predetermined time t4, the accelerator is You may make it enlarge the ratio which reduces the engine output by increasing the ratio which reduces the throttle opening set according to the opening.

  In this embodiment, as shown by the solid line L1 in FIGS. 4, 7, and 9, the throttle opening that is linearly increased in proportion to the accelerator opening is set. However, the present invention is not limited to this. For example, a throttle opening that increases in a curve in proportion to the accelerator opening may be set.

  Further, in the present embodiment, a road surface μ sensor is provided as a road surface state detecting means for detecting a road surface state (road surface friction coefficient), and the accelerator opening is determined based on the road surface friction coefficient detected by the road surface μ sensor. It is also possible to change the ratio of decreasing the engine output by changing the ratio of decreasing the throttle opening set in the above.

  Specifically, when the road surface friction coefficient detected by the road surface μ sensor is a high friction coefficient, the rate at which the throttle opening set in accordance with the accelerator opening is decreased compared to the case of a low friction coefficient It is also possible to control the operation of the throttle valve 7 so as to decrease the ratio of decreasing the engine output and decrease the engine output, and increase the throttle opening to increase the engine output.

  In the embodiment described above, when the predicted collision time between the preceding vehicle 21 and the host vehicle 1 reaches the predetermined time t2, the operation of the automatic brake device 6 is controlled so as to supply the predetermined brake pressure P1 and operate the brake means. The operation of the throttle valve 7 is controlled so that the throttle opening set in accordance with the accelerator opening is reduced at a predetermined rate and the engine output is reduced at a predetermined rate. Then, the operation of the automatic brake device 6 is controlled so as to operate the brake means by supplying the predetermined brake pressure P1, and when the predicted collision time reaches the predetermined time t2, the throttle opening set according to the accelerator opening is predetermined. The operation of the throttle valve 7 may be controlled so that the engine output is reduced at a predetermined rate by reducing the engine output at a predetermined rate.

  Further, in the above-described embodiment, a steering angle sensor that detects the steering angle of the host vehicle and a yaw rate sensor that detects the yaw rate of the host vehicle are provided, and the driver confirms the sudden handle based on signals from the steering angle sensor and the yaw rate sensor. When this is detected, it is also possible to cancel the first and second brake operation controls and the first and second engine output restriction controls with priority given to the driver's intention.

  The present invention is not limited to the illustrated embodiments, and various improvements and design changes can be made without departing from the scope of the present invention.

  As described above, according to the automatic brake control device for a vehicle according to the present invention, it is possible to achieve both the deceleration of the host vehicle with respect to the preceding vehicle and the traveling control of the vehicle following the driver's intention. In the field, there is a possibility of being suitably used.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Leading vehicle detection sensor 3 Vehicle speed sensor 4 Accelerator opening degree sensor 5 Rear vehicle detection sensor 6 Automatic brake device 7 Throttle valve 8 Alarm device 9 Control unit 16 Traveling lane 17 Adjacent traveling lane 21 Leading vehicle 31 Rear vehicle

Claims (3)

An automatic brake control device for a vehicle that operates a brake means of the host vehicle regardless of the depression operation of the brake pedal when a collision with a preceding vehicle ahead of the host vehicle is predicted,
First inter-vehicle distance detection means for detecting the inter-vehicle distance between the preceding vehicle and the host vehicle;
First relative speed detection means for detecting a relative speed between the preceding vehicle and the host vehicle;
A first collision prediction time calculation for calculating a collision prediction time between the preceding vehicle and the host vehicle based on the inter-vehicle distance detected by the first inter-vehicle distance detection unit and the relative speed detected by the first relative speed detection unit. Means,
Engine output setting means for setting the engine output in accordance with the accelerator opening;
Brake control means for operating the brake means when the predicted collision time calculated by the first predicted collision time calculation means is equal to or shorter than a first predetermined time;
When the predicted collision time calculated by the first predicted collision time calculation means becomes equal to or shorter than the first predetermined time, the engine output is set such that the engine output set by the engine output setting means is reduced by a predetermined rate. When the predicted collision time becomes equal to or shorter than a second predetermined time shorter than the first predetermined time, the engine output set by the engine output setting means is further reduced from the engine output reduced by the predetermined ratio. Engine control means for controlling the engine so that the engine output is
An automatic brake control device for a vehicle, comprising: Preceding vehicle position detecting means for detecting the position of the preceding vehicle;
An overlap amount calculating means for calculating an overlap amount in the vehicle width direction between the preceding vehicle and the host vehicle based on the position of the preceding vehicle detected by the preceding vehicle position detecting means;
With
The engine control means changes the ratio for reducing the engine output set by the engine output setting means based on the overlap amount calculated by the overlap amount calculation means.
The vehicular automatic brake control device according to claim 1. An automatic brake control device for a vehicle that operates a brake means of the host vehicle regardless of the depression operation of the brake pedal when a collision with a preceding vehicle ahead of the host vehicle is predicted,
First inter-vehicle distance detection means for detecting the inter-vehicle distance between the preceding vehicle and the host vehicle;
First relative speed detection means for detecting a relative speed between the preceding vehicle and the host vehicle;
A first collision prediction time calculation for calculating a collision prediction time between the preceding vehicle and the host vehicle based on the inter-vehicle distance detected by the first inter-vehicle distance detection unit and the relative speed detected by the first relative speed detection unit. Means,
Engine output setting means for setting the engine output in accordance with the accelerator opening;
Brake control means for operating the brake means when the estimated collision time calculated by the first collision prediction time calculation means is a predetermined time or less;
When the collision prediction time calculated by the first collision prediction time calculation means becomes a predetermined time or less, the engine is controlled so that the engine output set by the engine output setting means is reduced by a predetermined ratio. Engine control means for
Rear vehicle position detecting means for detecting the position of the rear vehicle behind the host vehicle;
Second inter-vehicle distance detection means for detecting the inter-vehicle distance in the vehicle travel direction between the rear vehicle and the host vehicle;
A second relative speed detecting means for detecting a relative speed in the vehicle traveling direction between the rear vehicle and the host vehicle;
When the position of the rear vehicle detected by the rear vehicle position detection means is in an adjacent travel lane adjacent to the travel lane of the host vehicle , the inter-vehicle distance detected by the second inter-vehicle distance detection means and the second relative speed Second predicted collision time calculation means for calculating a predicted collision time between the rear vehicle and the host vehicle when the host vehicle changes lanes to the adjacent traveling lane based on the relative speed detected by the detection unit;
With
The engine control means includes a collision calculated by the second collision predicted time calculation means, and the position of the rear vehicle detected by the rear vehicle position detection means is in an adjacent traveling lane adjacent to the traveling lane of the host vehicle. When the predicted time is less than or equal to a predetermined time, increase the ratio to reduce the engine output set by the engine output setting means,
Car dual automatic brake control device you wherein a.

Images