JP2006168629A - Collision prevention supporting method and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a driver of a present vehicle take a proper avoiding action by easily recognizing either one collision avoiding action of a braking avoiding and a steering avoiding by an alarm, by performing the effective alarm extremely easy to be recognized for the steering avoiding. <P>SOLUTION: In the alarm for notifying the steering avoiding of the collision of the present vehicle with the front target, the steering wheel of the present vehicle is made in a vibration state by rotating the steering wheel by a set angle in left and right directions in the range of the so-called "play". <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a collision prevention support method and a collision prevention support device that warn of avoidance by steering with at least a host vehicle and a forward target that is highly likely to collide.

  Conventionally, a vehicle equipped with a so-called damage mitigation brake system is equipped with a collision prevention support device having a microcomputer configuration, and the collision prevention support enables a moving object such as a preceding vehicle in front of its own driving lane. Alternatively, predict the possibility of collision of the target with its own vehicle from the distance of the target as an obstacle consisting of a stationary object such as a falling object, the relative speed of the target, the own vehicle speed, etc. When it is determined that a collision cannot be safely avoided, collision avoidance is performed.

  This collision avoidance includes braking avoidance that is decelerated to avoid and steering avoidance that is avoided by steering. In braking avoidance, the speed reduction at the time of collision is reduced by the intervention of automatic braking or the assistance of the braking force of the driver. We try to reduce the damage caused. Further, in steering avoidance, the steering in the avoidance direction determined from the predicted collision position of the target is promoted, or the steering is automatically steered in that direction to reduce the damage.

  Further, the above-mentioned intervention timing of braking avoidance and steering avoidance, that is, the reference timing at which collision avoidance control becomes physically impossible and intervention of the collision avoidance control is performed, the relative speed Vx of the target, the own vehicle and the object It is determined from the distance Lx to the target. At this time, for each relative speed Vx, the distance Lx that should start intervention of the collision avoidance control is obtained as an intervention reference distance (limit distance) separately for braking avoidance and steering avoidance. For example, a braking avoidance side intervention reference line and a steering avoidance limit (reference) line as shown by solid lines a and b in FIG. 8 are obtained.

  The braking avoidance side intervention reference line indicated by a solid line a is a plot of the limit distance at which braking avoidance at each relative speed Vx should be started, and the steering avoidance side intervention reference line indicated by a solid line b starts steering avoidance at each relative speed Vx. The power limit distance is plotted.

  As is clear from FIG. 8, both intervention reference lines intersect at a predetermined threshold speed Vs, and in the low speed range where the relative speed Vx is equal to or less than the threshold speed Vs, the distance for avoiding braking is shorter than the distance for avoiding steering. The control does not intervene until Lx is reached, and the control does not intervene until the steering avoidance reaches a shorter distance Lx than the braking avoidance in the high speed range where the relative speed Vx is higher than the threshold speed Vs. In other words, in the low speed region, the avoidance of braking is greater in the avoidance of braking and the avoidance priority region A, and in the high speed region, the avoidance of steering is greater and the avoidance priority region B is.

  Therefore, with reference to the threshold speed Vs, braking avoidance is preferentially performed as collision avoidance in the low speed region and steering avoidance in the high speed region (see, for example, Patent Document 1).

  Moreover, when the own vehicle and the target approach to the vicinity of the intervention reference distance, a control intervention notification alarm is also generated (see, for example, Patent Document 2).

  The distance Lx between the host vehicle and the target is braked on the basis of the threshold speed Vs by combining the control intervention for avoiding the collision and the warning for the control intervention notification just before the collision. When the distance to the intervention reference distance for avoidance and steering avoidance is shortened, the vehicle driver is warned of each avoidance control intervention, and the distance Lx is set to the intervention reference distance for avoidance of braking and steering avoidance. When the time becomes shorter, it is conceivable to avoid the collision with the target by executing braking avoidance in the low speed range and steering avoidance in the high speed range.

JP 2003-95078 A (paragraphs [0029]-[0035], FIG. 2, FIG. 4) Japanese Patent Laid-Open No. 10-119673 (paragraph [0003], FIG. 1)

  In the conventional collision prevention support, the warning method for avoiding steering is not specifically considered, and there is a problem that an effective warning that is easy to understand for steering avoidance cannot be given. In addition, the driver of the own vehicle cannot easily recognize whether the collision avoidance of the braking avoidance or the steering avoidance from the alarm, and there is a possibility that an appropriate avoidance action may not be taken.

  The first object of the present invention is to provide an effective alarm that is extremely easy to understand for avoiding steering. It is a second object of the present invention to make it possible for the driver of the own vehicle to easily recognize whether it is a collision avoidance line of braking avoidance or steering avoidance by an alarm and to take an appropriate avoidance action.

  In order to achieve the first object described above, the collision prevention support method according to the present invention generates a vehicle yaw behavior in the steering of the host vehicle as an alarm for notifying the steering avoidance of the collision between the host vehicle and the target ahead. The steering wheel is in a vibrating state by alternately rotating left and right within a set angle range (Claim 1).

  Further, the collision prevention support method of the present invention determines the steering direction for collision avoidance based on the prediction of the relative path of the target ahead of the own vehicle with respect to the own vehicle, and avoids the steering avoidance of the collision between the own vehicle and the target. As a warning to be notified, the vehicle is rotated by a set angle at which no vehicle yaw behavior occurs in the steering direction in which the steering of the host vehicle is determined (claim 2).

  Next, in order to achieve the second object described above, the collision prevention support method of the present invention is configured such that when a target ahead of the host vehicle approaches the host vehicle at a relative speed equal to or less than a threshold speed, As a warning for notifying braking avoidance, warning braking of pulse brake or micro-pressure brake is generated, and when the target approaches the host vehicle at a relative speed faster than the threshold speed, the steering avoidance of the collision is notified. As a warning, the steering of the own vehicle is alternately rotated left and right within a set angle range in which no vehicle yaw behavior occurs, and the steering is vibrated (Claim 3).

  In addition, the collision prevention support method of the present invention uses a pulse brake or a warning as a warning for notifying the collision avoidance when the target ahead of the host vehicle approaches the host vehicle at a relative speed equal to or lower than the set threshold speed. Steering in which the steering of the host vehicle is determined as an alarm to notify the avoidance of collision steering when the target approaches the host vehicle at a relative speed faster than the threshold speed, with careful braking of the micro-pressure brake The vehicle is characterized in that it rotates at a set angle at which no vehicle yaw behavior occurs in the direction (claim 4).

  Further, the collision prevention support method of the present invention is characterized in that the steering direction for collision avoidance is notified by at least one of an alarm sound output shifted in the steering direction and an indicator display of the steering direction ( Claim 5).

  Next, in order to achieve the first object described above, the collision prevention support apparatus of the present invention determines the relative speed of the target approaching the host vehicle from the time change of the distance between the host vehicle and the target ahead. Steering drive of the host vehicle as an alarm for notifying the steering avoidance of the collision between the host vehicle and the target ahead at the alarm timing of the steering avoidance of the collision based on the distance and the relative speed. The system includes steering avoidance alarm control means for commanding alternate left and right rotations of the steering within a set angle range in which no vehicle yaw behavior occurs in the system and causing the steering to vibrate (Claim 6).

  Further, the collision prevention assisting device of the present invention comprises a relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead, the distance and the relative An avoidance direction determining means for predicting a relative path of the target with respect to the vehicle from the speed and determining a steering direction for collision avoidance based on the relative path; and an alarm for avoiding collision steering based on the distance and the relative speed Steering avoidance alarm control means for commanding rotation of a set angle at which the vehicle yaw behavior does not occur in the steering direction determined by the avoidance direction determination means in the steering drive system of the host vehicle as an alarm for notifying collision avoidance of steering at the timing (Claim 7).

  Next, in order to achieve the second object described above, the collision prevention support apparatus according to the present invention determines the relative speed at which the target approaches the host vehicle from the time change of the distance between the host vehicle and the target in front. A relative speed measuring means for measuring; a speed comparing means for comparing the relative speed with a set threshold speed to detect whether the relative speed is equal to or less than the threshold speed; and a detection by the speed comparing means When it is detected from the results that the target is approaching the vehicle under the threshold speed, the collision braking is avoided at the warning timing for collision braking avoidance based on the distance and the relative speed. As an alarm to be notified, the brake avoidance alarm control means for instructing the brake control means of the own vehicle to perform caution braking of the pulse brake or the micro-pressure brake, and the comparison result of the speed comparison means in the state where the comparison result is faster than the threshold speed To the target vehicle As a warning for notifying steering avoidance at an alarm timing for avoiding collision steering based on the distance and the relative speed based on near detection, a steering angle within a set angle range in which no vehicle yaw behavior occurs in the steering drive system of the host vehicle. A steering avoidance alarm control means for commanding alternate left and right rotations to bring the steering into a vibration state is provided (claim 8).

  Further, the collision prevention assisting device of the present invention includes a relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead, and the relative speed and the setting. Speed comparison means for comparing the threshold speed with the detected threshold speed to detect whether the relative speed is equal to or lower than the threshold speed, and the detection result of the speed comparison means in the state below the threshold speed. When the approach of the target to the host vehicle is detected, a pulse is given to the brake control means of the host vehicle as an alarm for notifying the collision braking avoidance at the timing of the collision braking avoidance based on the distance and the relative speed. When the approach of the target in the state faster than the threshold speed is detected from the comparison result of the brake avoidance alarm control means for instructing the caution braking of the brake or the micro-pressure brake and the speed comparison means , The distance and the Steering avoidance warning commanding rotation of a set angle at which the vehicle yaw behavior does not occur in the steering direction determined in the steering drive system of the own vehicle as an alarm for avoiding steering at the timing of avoiding collision steering based on the speed vs. speed And a control means (claim 9).

  Furthermore, the collision prevention assisting device of the present invention is characterized in that the steering direction for collision avoidance is notified by at least one of an alarm sound output shifted in the steering direction and an indicator display of the steering direction. (Claim 10).

  First, according to the configuration of claims 1 and 6, an alarm for notifying the steering avoidance of a collision between the host vehicle and a target in front of the host vehicle moves the steering of the host vehicle to the left and right within a so-called “play” range. This is done by rotating a set angle to make it vibrate. In this case, the driver of the vehicle holding the steering wheel can easily recognize the steering avoidance warning through the vibration feeling, and the warning that informs the steering avoidance. Is extremely easy to understand and effective.

  According to the second and seventh aspects of the present invention, the steering is rotated by a set angle within the range of the “play” in the direction determined as the steering direction for avoiding the collision as an alarm for notifying the steering avoidance of the collision. In this case, the driver of the own vehicle holding the steering wheel can recognize the steering avoidance warning through the sense of rotation, and the driver can naturally handle the steering in the direction of rotation. Appropriate collision avoidance action can be taken (unconsciously), and an alarm for notifying steering avoidance can be performed very easily and effectively.

  Next, according to the configuration of claims 3 and 8, when the target ahead of the host vehicle approaches the host vehicle at a relative speed equal to or lower than the threshold speed, warning of braking avoidance is performed and the brake control is executed. With the careful braking of the pulse brake or the micro-pressure brake, the driver of the own vehicle can easily recognize the alarm through the experience of momentary or micro advance braking.

  In addition, when a target ahead of the host vehicle approaches the host vehicle at a relative speed faster than the threshold speed and issues a steering avoidance alarm, the driver of the host vehicle easily recognizes the alarm through the feeling of steering vibration. be able to.

  Therefore, the driver can easily distinguish and recognize the braking avoidance warning and the steering avoidance alarm without paying special attention, and the collision avoidance line of braking avoidance or steering avoidance is determined by the alarm. Can be grasped instantly and appropriate avoidance action can be taken.

  Next, according to the configurations of the fourth and ninth aspects, when the target ahead of the host vehicle approaches the host vehicle at a relative speed faster than the threshold speed and warns of avoidance of steering, Instead, the driver can easily recognize the alarm due to the rotation of the set angle at which the vehicle yaw behavior does not occur in the steering direction determined by the steering, and the driver can naturally recognize by steering in the rotation direction. Appropriate collision avoidance action can be taken (unconsciously).

  Therefore, the driver of the vehicle can easily distinguish and recognize the braking avoidance alarm and the steering avoidance alarm without paying special attention, and can perform either the braking avoidance or the steering avoidance by the alarm. An appropriate avoidance action can be taken by immediately grasping whether or not there is, and in particular, an appropriate avoidance action for steering avoidance can be taken very easily.

  Next, according to the fifth and tenth aspects of the present invention, the driver can know the steering direction through hearing and vision by at least one of an alarm sound output shifted in the steering direction for collision avoidance and an indicator display in that direction. It is possible to easily notify the user, and it is possible to perform an effective alarm that makes it easier to understand steering avoidance.

  Next, in order to describe the present invention in more detail, an embodiment thereof will be described in detail with reference to FIGS.

  FIG. 1 is a block diagram of a collision prevention support device for the own vehicle 1, FIG. 2 is an explanatory diagram of a brake mechanism of the brake module, FIG. 3 is an explanatory diagram of a relationship between relative speed and distance of alarm / control intervention, and FIG. Collision avoidance alarm, control intervention vehicle and target positions explanatory diagram, FIG. 5 is a pulse brake alarm diagram, FIG. 6 is a steering vibration alarm diagram, FIG. 7 is for explaining the operation of FIG. It is a flowchart of.

  1 operates while the engine of the host vehicle 1 is running, and forward monitoring of the host vehicle 1 such as a radar 2, a vehicle speed sensor 3, a rudder angle sensor 4, and a yaw rate sensor 5 as search sensors. And various sensors for state monitoring.

  The radar 2 is a ranging radar such as a laser radar or an ultrasonic radar. The radar 2 scans the front of the host vehicle in the left-right direction (horizontal width direction) and searches the front of the host vehicle, for example, from the position where the laser pulse is received. The position (left-right direction position) of each reflector such as a reflector of the vehicle in front is detected, and the distance Lx is measured (ranging) every moment from the transmission / reception time difference of the pulse.

  The vehicle speed sensor 3 detects the vehicle speed from the wheel speed of the host vehicle 1 every moment, and the steering angle sensor 4 and the yaw rate sensor 5 detect the steering angle and yaw rate value of the host vehicle 1.

  Next, the collision prevention support apparatus includes an ECU 6 for control processing of a microcomputer configuration. The ECU 6 executes a preset collision prevention support program. For example, the collision avoidance intervention reference line dc shown in FIG. 3 set in accordance with the braking avoidance side intervention reference line shown in FIG. Based on the setting of the collision avoidance alarm reference line dw substantially parallel to the line dc above the line dc, the following means (a) to (i) of the software configuration are formed.

  In the intervention reference line dc, the low speed region giving priority to braking avoidance is the characteristic of the solid line a in FIG. 8 with the threshold speed Vs as the boundary, and the high speed region giving priority to steering avoidance is the solid line b in FIG. The region of the distance Lx below the intervention reference line dc between the intervention reference line dc and the horizontal axis (the axis of the relative speed Vx) is a braking avoidance and steering avoidance control region Dc where collision cannot be avoided, The range below the warning reference line dw before reaching the control region Dc is the warning region Dw for generating warnings for braking avoidance and steering avoidance.

  The reference lines dc and dw are, for example, as shown in FIG. 4, the alarm reference line dw and the intervention reference line dc are positioned in order from the target TG between the host vehicle 1 and the target TG ahead. The distance before the warning reference line dw from the intervention reference line dc is determined based on experiments and the like. 4 indicates the search range of the radar 2.

(A) Data collection means This means that each time the position of each reflector of the radar 2 and the distance Lx data (ranging data), the vehicle speed data of the vehicle speed sensor 3, the steering angle sensor 4 and the yaw rate sensor 5 The detection data of the steering angle of the own vehicle 1, the yaw rate value, and the like are collected, and the data for the latest fixed time is rewritable.

(B) Relative speed measuring means This means is a known clustering process or the like of each reflector position, and each target of the size of an obstacle such as a preceding vehicle in front of the own vehicle (a constant area viewed from the own vehicle 1). Each target) is detected, the time change of the distance Lx between the own vehicle and the target is detected from the time change of the distance measurement data, and the target vehicle of the target is detected from the time change. The relative velocity Vx in the direction approaching 1 is measured.

(C) Speed comparison means This means compares the relative speed Vx measured by the relative speed measurement means with the set threshold speed Vs, and detects whether the relative speed Vx is equal to or less than the threshold speed Vs.

(D) Braking avoidance alarm control means This means detects the approach of the target to the vehicle 1 when the relative speed Vx detected by the speed comparison means is equal to or lower than the threshold speed Vs (Vx ≦ Vs). At a collision avoidance warning timing based on the distance Lx and the relative speed Vx, in other words, the target ahead of the host vehicle approaches the host vehicle 1 at a relatively slow speed equal to or lower than the threshold speed Vs. When the distance Lx is shortened to the distance of the warning reference line dw (warning reference distance), the brake module 7 serving as the brake control means of the host vehicle 1 is used as a warning to notify the brake avoidance of the collision. Or, the caution braking of the micro pressure brake is commanded.

(E) Braking avoidance operation control means This means is used when the distance Lx becomes the distance of the intervention reference line dc when the detection result of the speed comparison means is equal to or lower than the threshold speed Vs (Vx ≦ Vs). The target ahead of the host vehicle approaches the host vehicle 1 at a relatively slow speed below the threshold speed Vs, and the distance Lx is shortened to the distance of the intervention reference line dc (braking intervention reference distance) to avoid collision. When it is no longer possible, the brake module 7 is instructed to perform brake control set (or selected) to avoid braking such as automatic brake control and brake assist control.

  Then, when the caution braking is the braking of the pulse brake, when a target that cannot avoid collision appears in front of the host vehicle 1, in the brake module 7, based on the commands of the braking avoidance alarm control means and the braking avoidance operation control means, For example, as shown in FIG. 5, before the brake pressure Pm for collision avoidance automatic braking or brake assist is generated, pulse brake braking pressure Pp as caution braking is generated by automatic brake control, and the instantaneous braking speed Pp is generated by this braking pressure Pp. By the effective deceleration, the driver of the vehicle 1 can instantly recognize that the braking avoidance occurs, and can take an appropriate collision avoidance action such as stepping on the brake pedal.

  Note that the braking pressure Pp is smaller than the braking pressure Pm, as is apparent from FIG. 5, but the magnitude, time width, etc. are momentary enough for the driver to notice without applying excessive shock based on experiments and the like. It is set so that braking occurs.

  In addition, when the attention braking is the braking of the micro-pressure brake, for example, the micro-braking is performed so that the driver notices the deceleration without applying an excessive impact by the automatic brake control until the distance Lx reaches the distance of the intervention reference line dc. The brake is applied to the host vehicle 1, and in this case, the driver of the host vehicle 1 can instantly recognize that the braking avoidance occurs and can take appropriate collision avoidance action such as stepping on the brake pedal.

(F) Avoidance direction determination means This means is, for example, a relative path in which a target approaches the host vehicle 1 by a known method of least-squares calculation of traveling estimation based on a collection result of a distance Lx and a relative speed Vx ( (Predicted course) is obtained and predicted, a vector of the steering direction in which the vehicle 1 deviates from the relative course is obtained, the direction is determined as the steering direction for collision avoidance, and the steering amount is also obtained.

(G) Steering avoidance warning control means When this means detects the approach of the target to the vehicle 1 when the comparison result of the speed comparison means is faster than the threshold speed Vs (Vx> Vs), At the warning timing of collision steering avoidance based on the distance Lx and the relative speed Vx, in other words, the target ahead of the host vehicle approaches the host vehicle 1 at a speed faster than the threshold speed Vs, and the distance Lx is In this embodiment, when the distance to the alarm reference line dw (alarm reference distance) is shortened, a vehicle yaw behavior is generated in the power steering module 8 as the steering drive system of the host vehicle 1 as an alarm for avoiding steering. Instructing the left and right alternate rotation of the steering within the set angle range that does not occur, for example, as shown in FIG. 6, the steering 11 is prevented from rotating to the left and right within the so-called “play” angle range θ. It returns to the small vibration state.

  Then, the minute vibration of the steering wheel 11 is transmitted to the driver of the own vehicle 1 holding the steering wheel 11, so that the driver can instantly recognize the steering avoidance alarm through the vibration feeling.

(H) Steering direction notification control means This means is based on the collision avoidance steering direction determined by the avoidance direction determination means, and outputs the alarm sound of the speaker module 9 shifted in the steering direction of the collision avoidance, and the indicator module 10 Notification control is performed by at least one of the indicator displays of the steering direction.

  Specifically, the speaker module 9 includes, for example, speakers 9L and 9R disposed on the left and right in the passenger compartment, and if the determined steering direction is the left turning direction that turns the steering wheel 11 to the left, the steering direction The notification control means controls the output of the warning sound from the speakers 9L and 9R to shift the sound source localization so that the driver can hear a predetermined warning sound from the left side. At that time, the sound source localization may be fixed at a predetermined position on the left side.For example, the sound source localization is shifted once or a plurality of times so as to move to the left side from the center position, so that the alarm sound moves to the left side. You may make it raise an effect. If the determined steering direction is the right turning direction in which the steering wheel 11 is turned to the right, the steering direction notification control means causes the predetermined warning sound from the speakers 9L and 9R to be heard from the right side by the driver. Control the output of the alarm sound and shift the sound source localization.

  On the other hand, the indicator module 10 includes, for example, left and right turn indicators (including a monitor display such as an in-vehicle dashboard panel) or a dedicated alarm display for displaying in a meter on the dashboard panel, for example. These indicators are formed by left and right lamps or liquid crystal display graphics thereof.

  If the determined steering direction is the left turning direction in which the steering wheel 11 is turned to the left, the steering direction notification control means instructs the indicator module 10 to blink the left lamp of the direction indicator or alarm indicator, The left lamp of the monitor indicator or warning indicator of the indicator is flashed to notify the driver of the vehicle 1 and, similarly, if the determined steering direction is the right turn direction, the direction indicator The right lamp of the monitor indicator or alarm indicator flashes to notify the driver of the vehicle 1 of the steering direction.

  At this time, the driver who has recognized the steering avoidance alarm through the feeling of vibration of the steering wheel 11 recognizes the steering direction for collision avoidance from the blinking of the left and right lamps of the monitor indicator of the direction indicator or the alarm indicator. As soon as the steering 11 is turned in that direction, the collision can be avoided.

  When the left and right lamps of the direction indicator of the own vehicle 1 blink by the steering direction notification control means, the driver of the target approaching by the blinking can also know the steering avoidance direction of the own vehicle 1. There are advantages you can do. The same advantage can be obtained if the direction indicator of the host vehicle operates in conjunction with the left and right lamps of the dedicated warning indicator blinking by the steering direction notification control means. it can.

(I) Steering avoidance operation control means This means, in other words, when the distance Lx is equal to or less than the intervention reference line dc in a state where the detection result of the speed comparison means is faster than the threshold speed Vs (Vx> Vs). For example, when the target ahead of the host vehicle approaches the host vehicle 1 at a speed faster than the threshold speed Vs and the distance Lx approaches the distance below the intervention reference line dc, the collision direction cannot be avoided. The power steering module 8 is controlled according to the determined steering direction of collision avoidance by the determining means and the determined steering amount, and the steering amount of the vehicle 1 is automatically determined in the determined steering direction. It rotates and avoids collision without the driver performing a collision avoidance steering operation to improve safety.

  Next, the brake mechanism of the brake module 7 will be described with reference to FIG.

  The brake unit 7 includes a microcomputer-controlled brake control ECU 70 and a hydraulic pump brake mechanism (actuator) operated by the ECU 70. The brake ECU 70 controls the brake mechanism in accordance with a control command of the ECU 6 in FIG. .

  The front and rear wheel parts on the right side of the brake mechanism and the front and rear wheel parts on the left side have the same structure, for example, the front and rear wheel parts on the right side are configured as shown in FIG. The ECU 70 controls the right front and rear wheel portions and the left front and rear wheel portions in the same manner.

  A master cylinder 73 is connected to the brake pedal 71 via a brake booster 72, and a reservoir tank 74 that stores brake fluid (brake oil) is connected to the master cylinder 73.

  Furthermore, a hydraulic pressure path 701 as an upstream inflow trunk path is connected to the master cylinder 73, and the brake hydraulic pressure corresponding to the depression force of the brake pedal 71 of the driver is upstream through the hydraulic pressure path 701 as the master cylinder pressure. The upstream valve 702 is controlled to be opened and closed by the ECU 70.

  When a master cylinder pressure lower than the set threshold pressure is generated by a normal braking operation during traveling, the master cylinder pressure is directly branched from the hydraulic pressure path 703 as the downstream inflow trunk path. Is transmitted to the downstream valves (intensification valves) 705F and 705R through the branch paths 704F and 704R on the side, and further to the wheel cylinder 13F of the front wheel 12F and the wheel cylinder 13R of the rear wheel 12R via the branch paths 706F and 706R. Accordingly, a braking force corresponding to the depression pressure of the brake pedal 71 is generated.

  Next, downstream valves (reducing valves) 708F and 708R are connected to the branch paths 706F and 706R via the branch paths 707F and 707R, and the normally open downstream valves 708F and 708R are operated by the ECU 70 with normal braking operation and brake assist. The closed state is maintained during the control, and the open / close control is performed during the automatic brake control.

  In addition, front and rear branch paths 709F and 709R are connected to the downstream valves 708F and 708R, and both branch paths 709F and 709R are coupled at one end of a hydraulic pressure path 710 as an outflow trunk path. The other end is connected to the suction path 712 of the hydraulic pump 711 of the pressurizing mechanism.

  Further, the pump 711 is driven by a motor 713 in accordance with the control of the ECU 70, and the pressure path 714 on the discharge side is provided with a check valve 715, an accumulator 716, and a pressure switch 717 in order from the pump 711 side. Further, a pressurized liquid supply path 718 is provided between the end of the hydraulic path 701 on the master cylinder 73 side and the other end of the hydraulic path 710, and the hydraulic path is connected to the path 718. An upstream valve (switching valve) 719 and a check valve 720 are provided in order from the 701 side. The check valve 715 prevents backflow from the hydraulic pressure path 703 side to the pump 711, and the check valve 720 prevents backflow from the hydraulic pressure path 710 and the suction path 712 to the path 718.

  When the automatic brake control is set or selected as the braking control, the target ahead of the host vehicle approaches the host vehicle 1 at a relatively slow speed equal to or lower than the threshold speed Vs, and the distance Lx is the above-described alarm reference. When the distance is shortened to the distance of the line dw, the braking avoidance alarm control means of the ECU 6 instructs the ECU 70 to perform caution braking of pulse braking by automatic brake control, for example.

  At this time, the ECU 70 executes automatic brake control of the pulse brake, instantaneously closes the upstream valve 702, drives the motor 713, and opens the upstream valve 719 to open the hydraulic pressure from the reservoir tank 74 via the master cylinder 73 and the path 718. The brake fluid is sent to the pump 711, and the pulse brake pressure of the set braking pressure Pp is instantaneously formed by the discharge of the hydraulic pump 711 and the accumulated pressure of the accumulator 716.

  The pulse brake pressure is transmitted to the wheel cylinders 13F and 13R via the downstream valves 705F and 705R, and instantaneous braking of the brake pressure is applied to the host vehicle 1 by automatic brake control.

  Further, when the target ahead of the host vehicle approaches the host vehicle 1 at a relatively slow speed of the threshold speed Vs or less and the distance Lx approaches the distance of the intervention reference line dc or less, the collision is unavoidable. Commands well-known automatic brake control for collision avoidance.

  At this time, the ECU 70 executes automatic braking control for emergency braking, closes the upstream valve 702, drives the motor 713, opens the upstream valve 719, and opens the master cylinder from the reservoir tank 74 until at least the host vehicle 1 stops braking. 73, the brake fluid is sent to the hydraulic pump 711 via the path 718, and the automatic brake pressure of the braking pressure Pm is formed by the discharge of the hydraulic pump 711 and the accumulated pressure of the accumulator 716.

  The automatic brake pressure is transmitted to the wheel cylinders 13F and 13R via the downstream valves 705F and 705R, and the host vehicle 1 is automatically stopped by braking of the brake pressure.

  On the other hand, when the brake assist control is set or selected as the braking control, the target in front of the host vehicle approaches the host vehicle 1 at a relatively slow speed equal to or lower than the threshold speed Vs, and the distance Lx indicates the warning. When the distance to the reference line dw is shortened, as in the case where automatic brake control is set or selected, the braking avoidance alarm control means of the ECU 6 commands the ECU 70 to perform caution braking of pulse braking by the automatic brake control.

  Then, the pulse brake pressure of the braking pressure Pp set as described above is instantaneously formed, and this pulse brake pressure is transmitted to the wheel cylinders 13F and 13R via the downstream valves 705F and 705R, and the brake pressure is instantaneously generated. Braking is applied to the vehicle 1 by automatic brake control.

  Next, when a target ahead of the host vehicle approaches the host vehicle 1 at a relatively slow speed of the threshold speed Vs or less and the distance Lx approaches a distance of the intervention reference line dc or less, a collision cannot be avoided. The brake avoidance operation control means of the ECU 6 commands the brake module 7 to perform brake assist control. Based on this command, the ECU 70 automatically performs brake assist control even if the master cylinder pressure does not increase above the threshold pressure. Execute.

  By the brake assist control of the ECU 70, the motor 713 is driven and the upstream valve 719 is opened, and brake fluid for assist pressurization is sent from the reservoir tank 74 to the hydraulic pump 711 via the master cylinder 73 and the path 718. An assist pressure is formed by the discharge of the pump 711 and the accumulated pressure of the accumulator 716.

  When the assist pressure reaches a set level, the upstream valve 719 is closed, the generated constant assist pressure is added to the master cylinder pressure, and the control pressure having a large master cylinder pressure + assist pressure is reduced to the downstream valve 705F, When the driver depresses the brake pedal 71 to avoid collision, the braking force applied to the own vehicle 1 is greater than the case of only the master cylinder pressure based on the depressing force. 1 quickly stops braking.

  Note that when the brake assist control is set, the master cylinder pressure becomes equal to or higher than the threshold pressure when the driver depresses the brake pedal 71 suddenly at a predetermined amount or higher and at a predetermined speed or higher during driving. Upon detection of this pressure increase, the ECU 6 commands the ECU 70 to perform normal brake assist control. Based on this command, the ECU 70 executes the brake assist control, the motor 713 is driven, and the upstream valve 719 is opened. Assist pressure is generated in the same manner as the above-described collision avoidance brake assist control, and the host vehicle 1 is braked by a control pressure having a large master cylinder pressure + assist pressure.

  Next, the collision prevention support operation of FIG. 1 based on the operation of each means will be described with reference to the flowchart of FIG.

  When the host vehicle 1 starts the engine, the data collection means of the ECU 6 causes the distance measurement data of the radar 2, the vehicle speed data of the vehicle speed sensor 3, the steering angle sensor 4, and the yaw rate sensor 5 of the host vehicle 1 in step S1 of FIG. Steering angle, yaw rate value detection data, etc. are collected, and based on these data, in steps S2 and S3, the relative speed measuring means of the ECU 6 detects each target such as a preceding vehicle ahead of the host vehicle, and the detected object. A distance Lx and a relative speed Vx are measured and detected for the mark.

  In step S4, the avoidance direction determination means of the ECU 6 obtains and predicts the relative path (predicted path) of the target in front of the host vehicle approaching the host vehicle 1, and then the process proceeds to step S5 and the speed comparison unit of the ECU 6 To detect whether the relative speed Vx is equal to or lower than the threshold speed Vs.

  If the relative speed Vx is equal to or less than the threshold speed Vs (Vx ≦ Vs), the process proceeds from step S5 to step S6, and the target in front of the host vehicle is thresholded by the braking avoidance alarm control means of the ECU 6. When approaching the host vehicle 1 at a relatively slow speed equal to or less than the value speed Vs and monitoring whether the distance Lx has approached the distance (alarm reference distance) of the alarm reference line dw, In step S7, a caution braking of a pulse brake or a micro-pressure brake is generated and a warning of braking avoidance is issued.

  Further, the process proceeds to step S8, where the target in front of the host vehicle approaches the host vehicle 1 at a relatively slow speed equal to or less than the threshold speed Vs by the braking avoidance operation control means of the ECU 6, and the distance Lx is set to the intervention reference line. Whether the distance is shortened to the distance dc (intervention reference distance) or not, and when the collision becomes unavoidable because the distance is shortened to the intervention reference distance, the brake for avoiding the braking in the automatic brake control or the brake assist control is performed in step S9. Take control and avoid collisions.

  In step S5, if the relative speed Vx is higher than the threshold speed Vs (Vx> Vs), the process proceeds from step S5 to step S10. The target approaches the host vehicle 1 at a speed faster than the threshold speed Vs and monitors whether the distance Lx is shortened to the warning reference distance. When the target is shortened to the warning reference distance, according to step S11, The steering 11 is vibrated slightly, and the steering direction is notified by the steering direction notification control means to warn of steering avoidance.

  Further, the process proceeds to step S12, where the target in front of the host vehicle approaches the host vehicle 1 at a speed faster than the threshold speed Vs by the steering avoidance operation control means of the ECU 6, and the distance Lx is the distance of the intervention reference line dc. (Intervention reference distance) is monitored to see if it has become shorter, and when a collision becomes unavoidable, the power steering according to the determined steering direction of the collision avoidance of the avoidance direction determination means and the calculated steering amount When the module 8 is controlled and the collision becomes unavoidable because the distance is shortened to the intervention reference distance, the steering 11 is automatically rotated in the steering direction determined in step S13 to avoid the collision. .

  Therefore, an alarm for notifying the steering avoidance of the collision between the host vehicle 1 and the target in front of the host vehicle 1 is performed by making the steering 11 of the host vehicle 1 in a vibrating state. In this case, the host vehicle holding the steering 11 The driver 1 can easily recognize the steering avoidance alarm through the vibration feeling, and the alarm for informing the steering avoidance can be performed very easily and effectively.

  At that time, at least one of the warning sound output shifted in the steering direction for collision avoidance and the indicator display in that direction can inform the driver of the steering direction through hearing and vision in an easy-to-understand manner. An easy-to-understand and effective alarm can be performed.

  Further, an alarm for notifying braking avoidance of collision between the host vehicle 1 and a target in front of the host vehicle 1 is performed by careful braking of a pulse brake or a minute pressure brake. In this case, the driver of the host vehicle 1 is instantaneous or minute. The warning can be easily recognized through a prior braking experience, and the warning for notifying the braking can be performed very easily and effectively.

  Further, the combination of the steering avoidance alarm and the braking avoidance alarm allows the driver to easily distinguish and recognize the braking avoidance alarm and the steering avoidance alarm without paying special attention. An appropriate avoidance action can be taken by grasping instantly whether the collision avoidance is a braking avoidance or a steering avoidance by an alarm.

  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 gist of the present invention. As an alarm for informing the steering avoidance of the vehicle, the power steering module 8 is instructed to rotate the set angle at which the vehicle yaw behavior does not occur in the steering direction determined by the avoidance direction determining means, and the steering 11 is vibrated as in the embodiment. Instead of this, the steering 11 may be rotated by a small angle in the steering direction for collision avoidance to warn of steering avoidance. In this case, the driver of the own vehicle 1 holding the steering 11 steers through the feeling of the rotation. It is possible to recognize avoidance warnings, and by steering in the direction of rotation, the driver can naturally (unconsciously) apply Can take a Do collision avoidance behavior, the alarm is very easy to understand effectively performed to inform the steering avoidance.

  Further, the collision prevention support program executed by the ECU 6, the procedure of processing based on the execution of this program, and the like may be any and are not limited to the configuration of the embodiment.

  And when simplifying a structure etc., you may make it perform only the warning of steering avoidance, and may abbreviate | omit the display of a rotation direction in that case.

  By the way, in order to reduce the number of equipped parts of the own vehicle 1, for example, the radar 2 and the vehicle speed sensor 3 of FIG. 1 can be applied also to other control sensors.

It is a block diagram of one embodiment of this invention. It is explanatory drawing of the brake mechanism of the brake module of FIG. It is explanatory drawing of the relationship between the relative speed and distance of alarm and control intervention of FIG. It is explanatory drawing of the position of the own vehicle and target of the collision avoidance warning of FIG. 1, and control intervention. It is explanatory drawing of the alarm by the pulse brake of FIG. It is explanatory drawing of the alarm by the steering vibration of FIG. It is a flowchart for operation | movement description of FIG. It is explanatory drawing of the intervention timing of braking avoidance and steering avoidance.

Explanation of symbols

1 Own vehicle 6 ECU
7 Brake module 8 Power steering module 9 Speaker module 10 Indicator module 11 Steering Vs Threshold speed

Claims (10)

  As an alarm for notifying the steering avoidance of the collision between the host vehicle and the target in front, the steering of the host vehicle is alternately rotated left and right within a set angle range in which the vehicle yaw behavior does not occur, and the steering is vibrated. A collision prevention support method characterized by the above. Determine the steering direction for collision avoidance based on the prediction of the relative path of the target ahead of the vehicle to the vehicle,
A collision prevention support method characterized by rotating a set angle at which no vehicle yaw behavior occurs in the steering direction in which the steering of the host vehicle is determined as an alarm for notifying the steering avoidance of the collision between the host vehicle and the target. When a target in front of the host vehicle approaches the host vehicle at a relative speed equal to or lower than the threshold speed, a warning brake of a pulse brake or a micro-pressure brake is generated as an alarm to notify the avoidance of the collision braking,
When the target approaches the host vehicle at a relative speed faster than the threshold speed, as a warning for notifying collision avoidance, the steering of the host vehicle is set to the left and right within a set angle range in which no vehicle yaw behavior occurs. A collision prevention supporting method, wherein the steering wheel is alternately rotated to bring the steering into a vibrating state. When a target in front of the vehicle approaches the vehicle at a relative speed equal to or less than the set threshold speed, as a warning to notify the avoidance of collision braking, pulse braking or minute pressure braking is generated.
When the target approaches the host vehicle at a relative speed faster than the threshold speed, a setting angle at which vehicle yaw behavior does not occur in the steering direction in which the steering of the host vehicle is determined as an alarm for notifying the avoidance of collision steering. A collision prevention support method characterized by rotating.   The collision according to any one of claims 1 to 4, wherein a steering direction for collision avoidance is notified by at least one of an alarm sound output shifted in the steering direction and an indicator display of the steering direction. Prevention support method. A relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead;
The vehicle yaw behavior does not occur in the steering drive system of the host vehicle as an alarm for notifying the steering avoidance of the collision between the host vehicle and the target in front at the timing of the collision steering avoidance based on the distance and the relative speed. An anti-collision assistance device comprising steering avoidance alarm control means for commanding alternate left and right rotations of the steering within a set angle range and causing the steering to vibrate. A relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead;
An avoidance direction determination means for predicting a relative path of the target with respect to the vehicle from the distance and the relative speed, and determining a steering direction for collision avoidance based on the relative path;
The vehicle yaw behavior in the steering direction determined by the avoidance direction determining means in the steering drive system of the host vehicle as an alarm for notifying the steering avoidance of the collision at the alarm timing for avoiding the collision steering based on the distance and the relative speed. A collision avoidance assisting device comprising steering avoidance alarm control means for commanding rotation of a set angle at which no occurrence occurs. A relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead;
Speed comparison means for comparing the relative speed with a set threshold speed to detect whether the relative speed is less than or equal to the threshold speed;
When it is detected from the detection result of the speed comparison means that the target is approaching the host vehicle in a state equal to or lower than the threshold speed, an alarm timing for avoiding a collision braking based on the distance and the relative speed is used. A braking avoidance alarm control means for instructing the brake control means of the own vehicle to perform a caution braking of a pulse brake or a micro-pressure brake, as an alarm for informing the braking avoidance of the collision;
When the approach of the target to the vehicle in a state faster than the threshold speed is detected from the comparison result of the speed comparison means, the warning steering avoidance warning timing based on the distance and the relative speed is used. Steering avoidance alarm control means for instructing the steering drive system of the host vehicle to alternately rotate left and right of the steering in a set angle range in which the vehicle yaw behavior does not occur and causing the steering to vibrate. A collision prevention support device characterized by comprising: A relative speed measuring means for measuring a relative speed of the target approaching the host vehicle from a time change of a distance between the host vehicle and a target ahead;
Speed comparison means for comparing the relative speed with a set threshold speed to detect whether the relative speed is less than or equal to the threshold speed;
When it is detected from the detection result of the speed comparison means that the target is approaching the host vehicle in a state equal to or lower than the threshold speed, an alarm timing for collision braking avoidance based on the distance and the relative speed is used. A braking avoidance alarm control means for instructing the brake control means of the own vehicle to perform a caution braking of a pulse brake or a micro-pressure brake, as an alarm for informing the braking avoidance of the collision;
When the approach of the target to the vehicle in a state faster than the threshold speed is detected from the comparison result of the speed comparison means, the warning steering avoidance warning timing based on the distance and the relative speed is used. A collision avoidance characterized by comprising a steering avoidance alarm control means for commanding rotation of a set angle at which the vehicle yaw behavior does not occur in the steering direction determined for the steering drive system of the host vehicle as a warning for steering avoidance notification Support device.   10. The collision avoidance steering direction is notified by at least one of an alarm sound output shifted in the steering direction and an indicator display of the steering direction. The collision prevention support apparatus described.

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