JP2005047383A - Drive assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve collision avoidance performance by carrying out assisting control effective for avoiding collision in addition to giving warning of collision avoidance and processing of brake controlling, when there is a high possibility of collision with a front obstacle such as a preceding vehicle. <P>SOLUTION: When a traveling state having a high possibility of the collision is detected on the basis of detected speed of a vehicle speed sensor 3 and a measured distance of a distance measuring sensor 4, an estimating means generates collision estimation. On the basis of the collision estimation, the collision avoiding means carries out either one of warning output of an own vehicle 1 or brake control as a collision avoidance processing, and an avoidance assisting means improves the viewability of a driver. Therefore, illuminated headlights of the own vehicle 1 is controlled to light up a high beam or simultaneously light up a low beam and the high beam. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention provides driving support that performs effective support control for collision avoidance in addition to collision avoidance warning and brake control processing when there is a high possibility of collision between the host vehicle and a front obstacle such as a preceding vehicle. It relates to the device.

  Conventionally, in a vehicle having a function of avoiding a collision with a front obstacle such as a preceding vehicle, the vehicle speed sensor detects the vehicle speed (vehicle speed) from moment to moment, and measures with a laser radar, a CCD camera, or the like. The distance sensor measures the distance between the host vehicle and the front obstacle such as the preceding car every moment, and predicts the possibility of collision with the front obstacle based on the detected vehicle speed and the measured distance of the vehicle speed sensor. When it is predicted that the possibility of a collision is high, the collision prediction is alerted to the driver of the host vehicle, and the driver is prompted to avoid the collision such as a brake operation, a steering operation, etc. (See Patent Document 1).

  In addition, when it is predicted that the possibility of a collision is high, it is also proposed to automatically brake the vehicle to decelerate the vehicle and to avoid the collision by brake control (see, for example, Patent Document 2). ).

  In addition, as brake control when it is predicted that the possibility of a collision is high, in place of the automatic brake control described above or in combination with the automatic brake control, the driver assists the brake, that is, the brake assist brake control. It has also been proposed to do.

  Furthermore, when it is predicted that the possibility of a collision is high, before the driver depresses the brake pedal by the above warning, the brake pressure is automatically generated and pre-brake control is performed so as not to give the driver a sense of incongruity. Brake control has also been proposed that decelerates to avoid collision (see, for example, Patent Document 3).

JP-A-8-324293 JP-A-7-144588 JP-A-12-309257

  There is a problem that sufficient collision avoidance cannot be achieved only by the above-described warning and brake control collision avoidance processing.

  In other words, when a collision prediction occurs at night or in the rain, depending on the lighting conditions of the headlamps and the operating state of the wiper, the visibility of the driver performing the collision avoidance operation may not be good and the best avoidance operation may not be performed. There is.

  In particular, in a vehicle with a small displacement such as a light vehicle, the air conditioner device is operating and sufficient braking performance may not be obtained.

  Furthermore, depending on the assist amount of the power steering mechanism, a quick steering operation cannot be performed, and a collision avoidance operation may be delayed.

  Next, if the volume of in-vehicle audio equipment such as so-called car radios, car stereos, and car TVs is high, the driver may not be aware of the alarm, which may make it difficult to fully grasp the driving environment during the avoidance operation. is there.

  In addition, there is a problem that it is impossible to notify the preceding vehicle or the oncoming vehicle (other vehicle) that the possibility of a collision is high, and it is impossible to raise the attention of the other vehicle and improve the collision avoidance performance.

  In addition, if the downshift operation cannot be performed during the collision avoidance operation and the automatic transmission mechanism (AT) continues to be maintained in a high speed state, even if the brake pedal is depressed by the driver based on the alarm and the brake is applied, A situation occurs in which the vehicle does not decelerate quickly.

  The present invention provides collision avoidance performance by performing effective assistance control for collision avoidance in addition to collision avoidance warning and brake control processing when there is a high possibility of collision with a front obstacle such as a preceding vehicle. The purpose is to improve.

  In order to achieve the above-described object, the driving support device of the present invention includes a vehicle speed sensor that detects a vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, Prediction means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a vehicle speed detected by a vehicle speed sensor and a measurement distance of the distance measuring sensor, an alarm output based on the collision prediction, and at least brake control And a collision avoidance unit that performs one of them as a collision avoidance process, and an avoidance support unit that controls a headlight that is lit to high beam lighting or simultaneous lighting of a low beam and a high beam based on the collision prediction. Item 1).

  Further, the driving support device of the present invention includes a vehicle speed sensor that detects a vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, a detected vehicle speed of the vehicle speed sensor, and the Collision avoidance processing is performed by at least one of prediction means for generating a collision prediction when a traveling state with a high possibility of a collision is detected based on a distance measured by the distance measuring sensor, alarm output based on the collision prediction, and brake control. A collision avoidance unit and an avoidance support unit that controls the wiper that is operating based on the collision prediction to the fastest operation are provided (claim 2).

  Furthermore, the driving support device of the present invention includes a vehicle speed sensor that detects a vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, a detected vehicle speed of the vehicle speed sensor, and the Collision avoidance processing is performed by at least one of prediction means for generating a collision prediction when a traveling state with a high possibility of a collision is detected based on a distance measured by the distance measuring sensor, alarm output based on the collision prediction, and brake control. A collision avoiding means and an avoidance supporting means for stopping the operation of the air conditioner device based on the collision prediction are provided (claim 3).

  Next, the driving support apparatus of the present invention includes a vehicle speed sensor that detects the vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, a vehicle speed sensor that detects the vehicle speed, A collision avoidance process includes at least one of a prediction unit that generates a collision prediction when a traveling state with a high possibility of a collision is detected based on a measurement distance of the distance measuring sensor, an alarm output based on the collision prediction, and a brake control. A collision avoidance unit for performing the operation and an avoidance support unit for increasing the assist amount of the power steering mechanism based on the collision prediction are provided.

  Further, the driving support device of the present invention includes a vehicle speed sensor that detects a vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, a detected vehicle speed of the vehicle speed sensor, and the Collision avoidance processing is performed by at least one of prediction means for generating a collision prediction when a traveling state with a high possibility of a collision is detected based on a distance measured by the distance measuring sensor, alarm output based on the collision prediction, and brake control. A collision avoiding means and an avoidance supporting means for controlling output reduction or power-off of the audio equipment based on the collision prediction are provided (claim 5).

  Furthermore, the driving support device of the present invention includes a vehicle speed sensor that detects a vehicle speed of the host vehicle, a distance measuring sensor that measures a distance between the host vehicle and a front obstacle such as a preceding vehicle, a detected vehicle speed of the vehicle speed sensor, and the Collision avoidance processing is performed by at least one of prediction means for generating a collision prediction when a traveling state with a high possibility of a collision is detected based on a distance measured by the distance measuring sensor, alarm output based on the collision prediction, and brake control. A collision avoiding means and an avoidance supporting means for lighting a room light based on the collision prediction are provided.

  Next, the driving support device according to the present invention is characterized in that in the driving support device according to any one of claims 2 to 6, the driving support device includes auxiliary support means for flashing a headlamp of the own vehicle based on a collision prediction. (Claim 7).

  The driving support apparatus according to the present invention is the driving support apparatus according to any one of claims 1 to 7, further comprising auxiliary support means for controlling the automatic transmission mechanism to a low speed side based on a collision prediction. (Claim 8).

  According to the first aspect of the present invention, the avoidance support means automatically turns on the headlight of the own vehicle during the collision avoidance at night or the like by the driver's brake operation or brake control based on the alarm output of the collision avoidance means. It is possible to improve the collision avoidance performance by increasing the visibility of the driver by controlling the simultaneous lighting of the low beam and the high beam.

  According to the second aspect of the present invention, the avoidance support means automatically removes the wiper during operation of the host vehicle while the driver avoids a collision such as rain by brake operation or brake control based on the alarm output of the collision avoidance means. It is possible to improve the collision avoidance performance by controlling to the fastest operation and improving the visibility of the driver.

  Furthermore, according to the invention of claim 3, the avoidance support means automatically stops the operation of the air conditioner device of the own vehicle during the collision avoidance by the driver's brake operation or brake control based on the alarm output of the collision avoidance means. However, even a vehicle with a small displacement such as a light vehicle can secure a sufficient negative pressure to obtain a large braking force, and this large braking force can improve the collision avoidance performance. it can.

  Next, according to the invention of claim 4, the avoidance support means automatically sets the assist amount of the power steering mechanism of the own vehicle during the collision avoidance by the driver's brake operation or brake control based on the alarm output of the collision avoidance means. Thus, the steering operability can be made lighter than usual, and the collision can be more reliably avoided by the deceleration of the brake operation or brake control and the quick steering operation.

  Next, according to the invention of claim 5, the avoidance support means automatically reduces the volume of the acoustic device of the own vehicle during the collision avoidance by the driver's brake operation or brake control based on the alarm output of the collision avoidance means. Or, the sound output can be stopped by turning off the power, so that the driver can be surely aware of the alarm, and the driving environment sound can enter the driver's ear, making it easier to grasp the environment. And collision avoidance performance can be improved.

  Next, according to the invention of claim 6, during the collision avoidance by the brake operation or the brake control of the driver based on the alarm output of the collision avoidance means, the avoidance support means turns on the interior light of the own vehicle and predicts the collision to the driver. Can be reliably noticed, and collision avoidance performance can be improved.

  Further, according to the invention of claim 7, by the avoidance support means, the fastest operation control of the wiper (claim 2), the stop control of the air conditioner device (claim 3), the assist amount increase control of the power steering mechanism (claim) Item 4), control of output reduction or power-off of the audio equipment (Claim 5), lighting of the interior of the room (Claim 6), and flashing of the headlight of the vehicle by auxiliary support means, so-called passing By repeating, it is possible to call attention to the preceding vehicle and the oncoming vehicle, and collision avoidance can be more reliably performed.

  According to the invention of claim 8, the auxiliary support means further automatically controls the speed change mechanism of the own vehicle during the collision avoidance operation to the low speed side, so that the own vehicle can be quickly moved without performing the downshift operation. Thus, the collision can be avoided more reliably.

  Next, an embodiment of the present invention will be described with reference to FIGS.

  1 is a block diagram of a driving support device for a vehicle (own vehicle) 1, FIG. 2 is a control system diagram of a brake mechanism of the brake control unit of FIG. 1, FIG. 3 is a flowchart for explaining the operation of FIG. 3 is an explanatory diagram of the support control start timing in FIG. 3, and FIG. 5 is a detailed flowchart of the support control process in FIG.

  In this embodiment, when a collision prediction occurs, the alarm output and the collision avoidance process of automatic brake control are performed, and A: control for improving driver visibility, B: avoidance performance Controls for improvement, C: Among the following six types of avoidance support controls (1) to (6), which are classified into any of the controls for the purpose of increasing driving information of the own vehicle driver and improving alertness One or a plurality (including all) of the control selected by the driver, D: control for alerting the preceding vehicle and oncoming vehicle (other vehicle), E: control for the purpose of deceleration, The control selected by the driver is performed at the same time as necessary from among the assistance support controls of (7) and (8).

<< Control contents of avoidance support and assistance support >>
A: Control for improving driver visibility (1) Avoidance support control for automatically switching from low beam lighting of a headlight (headlight) to high beam lighting or simultaneous lighting of a low beam and a high beam.
(2) Avoidance support control that automatically switches from intermittent operation or low speed operation of the wiper to high speed operation.

B: Control for improving the avoidance performance (3) Avoidance support control for stopping the operation of the air conditioner device (hereinafter referred to as an air conditioner) to secure a negative pressure and improving the braking ability (braking force).
(4) Avoidance assist control that increases the amount of assist of the power steering mechanism and enables faster steering operation than usual.

C: Control for the purpose of increasing driving information and raising alerts for the driver of the vehicle (5) Avoidance assist control that makes it easy to hear alarms and driving environment sounds by reducing the volume or turning off the power of so-called car stereos, car TVs and other audio equipment .
(6) Avoidance support control that turns on the interior light of the host vehicle 1 to reliably warn the driver of the host vehicle 1.

D: Control for the purpose of alerting the preceding vehicle and the oncoming vehicle (other vehicle) (7) Avoidance assist control that flashes the headlamp and repeats passing when the headlamp is not lit.

E: Control for the purpose of deceleration (8) Avoidance assist control for automatically decelerating the automatic transmission mechanism (AT) to the low speed side to generate sufficient engine braking force and quickly decelerate.

<< Device configuration >>
The control ECU 2 having the microcomputer configuration of the driving support apparatus shown in FIG. 1 performs various sensors of the vehicle 1 such as the vehicle speed sensor 3, the distance measuring sensor 4, the throttle opening sensor 5, and the brake pressure sensor 6 after the engine of the vehicle 1 is started. Collect the detection signal every moment.

  The vehicle speed sensor 3 is a so-called wheel speed sensor, and detects the rotation of the wheel of the host vehicle 1 and outputs a detection signal of the host vehicle speed.

  The distance measuring sensor 4 is composed of a laser radar, a monocular camera, etc. for exploring and photographing the front of the host vehicle 1, and detects obstacles ahead of the host vehicle 1 and the preceding vehicle by detecting a difference in transmission / reception time of laser pulses and processing the captured image. Is measured and the measurement signal is output.

  Next, the control ECU 2 includes the following means (a) to (d) of the software configuration by executing a control program that will be described later based on these detection signals and measurement signals.

(A) Prediction means This means detects the relative speed between the host vehicle 1 and a front obstacle (such as a preceding vehicle) based on the detected vehicle speed of the vehicle speed sensor 3 and the measured distance of the distance measuring sensor 4, and the measured distance is relative. When the distance becomes shorter than the safety limit distance set according to the speed and the own vehicle and the preceding vehicle are relatively close to each other and the possibility of a collision becomes high, a collision prediction is generated.

(B) Collision avoidance control means This means comprises an alarm control means and a brake control means that operate when the above-described collision prediction occurs.

  Then, the alarm control means instructs the alarm unit 7 to output an alarm, and based on this command, the alarm unit 7 displays the alarm message by voice (sound) or display of characters or figures, for example, when the above-mentioned collision prediction occurs. It outputs a warning to the driver of the vehicle 1 that the vehicle is in a traveling state where there is a high possibility of a collision (a rear-end collision), and an evasive operation such as depressing a brake pedal is urged.

  Also, the brake control means commands the brake control unit 8 to brake, for example, the brake pressure (hydraulic pressure) is increased to the hydraulic pressure corresponding to the relative speed, and the own vehicle 1 is decelerated with the braking force corresponding to the relative vehicle speed. , Automatically avoid operation.

(C) Avoidance Support Control Unit This unit includes any one or a plurality (including all) of units selected and set by a driver or the like from the following units c1 to c6.

  Headlamp lighting control means c1: Based on the collision prediction, the headlamp control unit 9 is switched to the high beam lighting or the simultaneous lighting of the low beam and the high beam so that the headlamp when the vehicle 1 is lit is brighter. Command switching.

  Wiper control means c2: Instructs the wiper control unit 10 to switch to the fastest operation of the wiper during operation of the vehicle 1 based on the collision prediction.

  Air conditioner control means c3: Instructs the air conditioner control unit 11 to stop the operation of the air conditioner based on the collision prediction.

  Steering assist amount control means c4: Based on the collision prediction, the power steering mechanism control unit 12 is commanded to increase the assist amount of the power steering mechanism, and for example, the assist amount variable characteristic of hydraulic control of the power steering mechanism according to the vehicle speed is provided. The normal (standard) characteristic is switched to a characteristic that slightly reduces the steering operation within a range in which driving safety is ensured.

  Acoustic control means c5: Instructs the acoustic equipment control unit 13 to reduce the output (sound volume reduction) or turn off the power-off sound output of an on-vehicle acoustic equipment such as a car radio, a car stereo, or a car TV based on the collision prediction.

  Interior light control means c6: Commands the interior light control unit 14 to turn on the interior light of the vehicle 1 based on the collision prediction.

(D) Auxiliary support means This means comprises either one or both of the following two means d1, d2 selected and set by a driver or the like.

  External notification means d1: Based on the collision prediction, when the headlamp of the vehicle 1 is turned off, the headlamp control unit 9 is instructed to blink, for example, a low beam or a high beam.

  Deceleration control means d2: Based on the collision prediction, the AT control unit 15 of the host vehicle 1 is commanded to shift down the AT to the low speed side, and the engine brake is increased to decelerate quickly.

  The auxiliary support means (d) is selected along with the avoidance support means (c) and is not selected alone, and may not be selected depending on circumstances.

  Reference numeral 16 in FIG. 1 denotes throttle control means, which receives a throttle opening increase / decrease command from the control ECU 2 based on detection of the throttle opening of the throttle opening sensor 5 or depression of the accelerator pedal of the driver. Accordingly, the opening degree of the engine throttle of the own vehicle 1 is controlled, and the own vehicle 1 is controlled to be accelerated.

  Next, a brake ECU having a microcomputer configuration of the brake control unit 8 and a brake mechanism (actuator) operated by the ECU will be described.

  The front and rear wheel portions on the right side of the brake mechanism and the front and rear wheel portions on the left side have the same structure, and the front and rear wheel portions on the right side thereof are configured as shown in FIG.

  Then, the brake ECU 800 of the brake control unit 8 similarly controls the right front, rear wheel part, left front part, and rear wheel part of the brake mechanism of the host vehicle 1 based on the brake control command of the control ECU 2. .

  In addition, a main path 803 is connected to a master cylinder 802 that is operated by a brake pedal 801, and branch paths 806F and 806R are branched and connected to the main path 803 via an upstream valve 804 and a branch point 805 that are linear solenoid valves, The diversion flow paths 806F and 806R are connected to the diversion flow paths 809F and 809R through the front and rear wheel input side (liquid supply side) downstream valves 807F and 807R and branch points 808F and 808R, respectively. Front and rear wheel cylinders 810F and 810R are connected to 809F and 809R, respectively.

  Under the control of the ECU 800, the upstream valve 804 is opened during normal operation for accepting a driver's brake operation and closed during automatic braking, and the downstream valves 807F and 807R are held open during normal operation and braking. Closed only when the brake is released.

  When a driver's brake operation occurs during normal operation, the brake fluid pressure generated in the master cylinder 802 in accordance with the depression amount of the brake pedal 801 is the upstream valve 804, the branch flow paths 806F, 806R, the downstream valves 807F, 807R, the split flow paths. The brakes 811F and 811R are transmitted to the front and rear wheel cylinders 810F and 810R via 809F and 809R, and the brakes 811F and 811R brake the front and rear wheels 812F and 812R with a braking force corresponding to the brake fluid pressure.

  Further, output branch passages 813F and 813R are connected to branch points 808F and 808R, respectively, and both branch passages 813F and 813R are formed of on-off valves before and after the downstream wheels 814F and 814R on the output side of the rear wheels. 815F and 815R are connected, both branch flow paths 815F and 815R are connected at a connection point 816, a main path 817 is connected to the connection point 816, and the main path 817 is hydraulically connected via a connection point 818 and a pump input path 819. The input side of the pump 820 is connected.

  Then, based on the change in the brake fluid pressure and the like, excess brake fluid in the branch paths 809F and 809R is sent to the connection point 818 via the downstream valves 814F and 814R, and merges at this connection point 818 to be pump 820. Is input.

  In addition, when a reservoir tank 821 for storing brake fluid is connected to the master cylinder 802 and the brake fluid input to the pump 820 is insufficient, the brake fluid in the reservoir tank 821 is converted into an upstream valve 823 including a switching valve for the auxiliary trunk line 822, This is input to the pump 820 via a check valve 824 that prevents backflow to the reservoir tank 821, a connection point 818, and an input path 819.

  Under the control of the ECU 800, the on-off valves 814F and 814R are closed during normal times and during braking, are closed when the brake is released, and the upstream valve 823 is opened during braking.

  Furthermore, a check valve 826, an accumulator 827, and a pressure switch 828 for preventing a back flow from the pump 820 side to the forward pump 820 are provided in the pressurized output path 825 on the output side of the pump 820. The motor 829 is turned on at a preset lower limit pressure to operate the pump 820, the motor 829 is turned off at a preset upper limit pressure to stop the pump 820, and the pump 820 is started and stopped to increase the accumulator 827. Accumulator pressure is always accumulated.

  Then, when it is detected from the measured distance and the vehicle speed that the possibility of a collision is high, the brake control of the ECU 800 is executed. At this time, the upstream valve 804 is closed, and the brake fluid based on the accumulator pressure is The pressure is transmitted from the output path 825 to the front and rear wheel cylinders 810F and 810R via the diversion channels 806F and 806R, the on-off valves 807F and 807R, and the diversion channels 809F and 809R, and the brakes 811F and 811R are applied to the brake fluid. The front and rear wheels 812F and 812R are braked with a braking force corresponding to the pressure, and the brake is automatically applied to avoid a collision.

  Note that, when the downstream valves 807F and 807R are in the open state, the brake hydraulic pressure transmitted to the wheel cylinders 810F and 810R by the brake operation or the brake is determined by, for example, a flow restriction valve (not shown) provided in the branch passage 809R. Allocated to a predetermined ratio.

<< Processing such as collision avoidance >>
Next, specific processing operations of collision avoidance, avoidance assistance, and assistance assistance of the host vehicle 1 will be described.

  First, as described above, after the engine of the host vehicle 1 is started, the control ECU 2 collects detection signals and the like of the various sensors of the host vehicle 1 from time to time, and based on these signals, a preset collision avoidance program is collected. Execute.

  This program includes, for example, steps S1 to S3 shown in FIG. 3, and in step S1, the prediction unit operates to repeatedly determine the possibility of collision between the host vehicle 1 and the preceding vehicle.

  At this time, as shown in FIG. 4, the position of the rear end of the preceding vehicle 16 that is a front obstacle, that is, the position of the front end of the host vehicle 1 is sufficiently separated from the position P0 of the collision. P4, a position P3, P2 or P1 approaching the preceding vehicle 16 from this position P4 (in order of distance from the position P0), and the inter-vehicle distance between the own vehicle 1 and the preceding vehicle 16 is L4, L3, L2 or L1. In this case, the distance L3 is a safety limit distance set based on an experiment or the like with respect to the relative speed obtained from the change in the host vehicle speed and the inter-vehicle distance, and the position from the set collision limit position (closest position) P1. The danger range L13 up to P3 is a predetermined range where the possibility of collision is high and collision avoidance and avoidance assistance are performed.

  When the measured distance between the host vehicle 1 and the preceding vehicle 16 is within the danger range L13, a collision prediction occurs, and based on this occurrence, the control ECU 2 performs alarm / brake control in step S2 of FIG. Execute.

  At this time, the alarm control means of the collision avoidance control means may simply issue an alarm output to the alarm unit 7 to warn that the vehicle is in a traveling state where there is a high possibility of a collision (a rear-end collision). In the embodiment, the brake control means instructs the brake control unit 8 to perform automatic braking, and based on this command, the automatic brake control described above is also performed simultaneously with the alarm output to avoid a collision.

  In order to improve the collision avoidance performance and the like, as shown in the support control intervention indicated by the white arrow in FIG. 4, the control ECU 2 executes the support control process of step S3 in conjunction with the execution of step S2.

  When all avoidance assistance and assistance assistance are performed based on the selection setting of the driver or the like, the processing program for assistance control in step S3 includes, for example, steps Q1 to Q12 shown in FIG.

  Then, in step Q1, the deceleration control means d2 is operated to instruct the AT control unit 15 to control to the low speed side, and the AT is automatically shifted down to the low speed side during the collision avoidance operation, so that sufficient engine braking force is obtained. Occurs and slows down quickly.

  Further, in step Q2, the steering assist amount control means c4 operates to instruct the power steering mechanism control unit 12 to increase the assist amount, and the assist amount of the power steering mechanism with respect to the vehicle speed is increased to perform a steering operation quicker than usual. enable.

  Further, in step Q3, the room light control means c6 is operated to instruct the room light control unit 14 to turn on and automatically turn on the room light of the own vehicle 1. Especially at night, the driver of the own vehicle 1 may collide. Be sure to tell that it is highly likely and avoidance operations are necessary.

  Further, the air conditioner control means c3 is operated, and it is detected in step Q4 whether or not the air conditioner is in operation from the status signal of the air conditioner control unit 11, and if it is in operation, the air conditioner is turned off to the control unit 11 in step Q5. Command to turn off the power of the air conditioner and stop its operation to ensure a sufficient negative pressure, especially to improve the braking ability (braking force) of light cars with small displacement.

  Further, the headlamp lighting control means c1 operates, and it is determined in step Q6 whether or not the headlamp of the host vehicle 1 is lit from the status signal of the headlamp control unit 9.

  Then, during lighting at night or the like, the process proceeds to step Q7, and in order to improve the visibility of the driver of the own vehicle 1, the headlamp control unit 9 is switched from low beam lighting to high beam lighting, or low beam, high beam. Is switched from single lighting to simultaneous lighting of low beam and high beam, and the headlight of the vehicle 1 is automatically switched to brighter high beam lighting or simultaneous lighting of low beam and high beam.

  On the other hand, when the headlamps are turned off during the daytime or the like, the process proceeds from step Q6 to step Q8, and the external notification means d1 operates to call attention to the preceding vehicle 16 or the oncoming vehicle (other vehicle). Then, the headlamp control unit 9 is instructed to blink the low beam, the high beam, or both beams, and the headlamp blinks to repeat so-called passing.

  Further, the process proceeds from step Q7, Q8 to step Q9, the wiper control means c2 operates, and it is determined from the state signal of the wiper control unit 10 whether the wiper of the host vehicle 1 is operating.

  If the wiper is operating in rainy weather or the like, in order to improve the driver's visibility, the process proceeds to step Q10 to instruct the wiper control unit 10 to perform the fastest operation, and the wiper of the vehicle 1 is automatically intermittent. Switching from operation or low-speed operation to high-speed operation.

  In addition, the sound control means c5 is operated from Steps Q9 and Q10 to Step Q11, and an on-vehicle sound device such as a car radio of the own vehicle 1, a car stereo, or a car TV is determined from the state signal of the sound device control unit 13. It is determined whether or not is operating (sound is being output).

  If it is in operation, the process proceeds to step Q12 to notify the audio equipment control unit 13 of a command to lower the volume level to the minimum level or a command to turn off the power to automatically reduce the volume of the audio equipment to the minimum. Alternatively, it is turned off so that the driver can easily hear the driving environment sound and can concentrate on the collision avoidance operation.

  By the above avoidance support and assistance support, when the possibility of a collision becomes high, the best support for collision avoidance can be automatically performed, and the existing equipment of the own vehicle 1 is utilized to suppress the cost increase. The effect of collision avoidance and damage suppression can be remarkably improved.

  Note that only a part of the avoidance support processing of the control means c1 to c6 may be performed based on the selection setting of the driver or the like, and at the same time as one part of the control means d1, d2 or Both assistances may be provided, and the same effect can be obtained in those cases.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. Only a part of the avoidance support control means among the avoidance support of (6) to (6) may be provided. Furthermore, the control means for avoidance support and one of the assist support of the above (7) and (8) or Both control means may be provided.

  Also, the brake control for the driver's brake assistance (brake assist) is performed in which the brake control when it is predicted that the possibility of the collision is high is performed instead of the automatic brake control or in combination with the automatic brake control. Control may also be used.

  By the way, in order to reduce the number of equipment parts of the vehicle, the sensors 3 to 6 in FIG. 1 can also be applied to other sensors for the own vehicle 1 such as follow-up running control.

It is a block diagram of one embodiment of this invention. It is a block diagram of the brake mechanism of the brake control unit of FIG. It is a flowchart for operation | movement description of FIG. It is explanatory drawing of the avoidance assistance start timing of FIG. It is a detailed flowchart of the assistance control process of FIG.

Explanation of symbols

1 Vehicle 2 Control ECU
3 Vehicle speed sensor 4 Distance sensor 7 Alarm unit 8 Brake control unit 9 Headlight control unit 10 Wiper control unit 11 Air conditioner control unit 12 Power steering control unit 13 Acoustic equipment control unit 14 Indoor light control unit 15 AT control unit

Claims (8)

A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving assistance apparatus comprising: an avoidance assistance unit configured to control a headlight that is lit up to high beam lighting or simultaneous lighting of a low beam and a high beam based on the collision prediction. A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving assistance apparatus comprising: an avoidance assisting unit that controls the wiper that is operating based on the collision prediction to the fastest operation. A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving support apparatus comprising: avoidance support means for stopping the operation of the air conditioner apparatus based on the collision prediction. A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving assistance apparatus comprising: avoidance assistance means for increasing an assist amount of the power steering mechanism based on the collision prediction. A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving assistance device comprising avoidance assistance means for controlling output reduction or power-off of the audio equipment based on the collision prediction. A vehicle speed sensor for detecting the vehicle speed of the vehicle;
A distance measuring sensor that measures the distance between the vehicle and a front obstacle such as a preceding vehicle;
A predicting means for generating a collision prediction when detecting a traveling state having a high possibility of a collision based on a detection vehicle speed of the vehicle speed sensor and a measurement distance of the distance measuring sensor;
Collision avoidance means for performing at least one of alarm output based on the collision prediction and brake control as collision avoidance processing,
A driving assistance device comprising: avoidance assistance means for lighting a room lamp based on the collision prediction.   The driving support device according to any one of claims 2 to 6, further comprising auxiliary support means for blinking a headlamp based on a collision prediction.   The driving support device according to any one of claims 1 to 7, further comprising auxiliary support means for controlling the speed change mechanism to a low speed side based on a collision prediction.

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