JP4581863B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that appropriately controls a vehicle when a vehicle collision is predicted.

  Conventionally, as shown in Patent Document 1 below, when it is predicted by the collision prediction control means that the host vehicle is in a state of colliding with an obstacle, the pretensioner device is operated to wind the seat belt. There is known a seat belt device that is configured to be driven and to change the winding tension of the seat belt in accordance with a collision prediction level by the collision prediction control means.

Further, as shown in Patent Document 2 below, when it is detected that the host vehicle is in a collision state according to a detection signal of a G sensor that two-dimensionally detects acceleration applied to the vehicle, the airbag is In addition to the deployment, the brake device is automatically operated to apply a braking force to prevent a secondary collision of the vehicle.
JP 2003-182519 A JP-A-6-234342

  As disclosed in the above-mentioned Patent Document 1, when it is predicted by the collision prediction control means that the host vehicle is in a state of colliding with an obstacle, the pretensioner device is operated to wind the seat belt. In addition, the seat belt retracting tension is set to a weak value, so that the driver can appropriately restrain the occupant and protect the occupant from the impact at the time of collision while enabling the collision avoidance operation. Is possible.

  Further, in the invention disclosed in Patent Document 2, since the brake device of the host vehicle is automatically operated when a collision accident occurs, the host vehicle moves forward due to an impact load that acts when a rear-end collision occurs. It is possible to effectively prevent the occurrence of a secondary collision caused by being pushed by the. By the way, the seed belt pretensioner device disclosed in Patent Document 1 is replaced with the automatic brake device disclosed in Patent Document 2, and the automatic brake device is operated more slowly than when the vehicle collision is detected when a vehicle collision is predicted. If it comprises, it is possible to relieve the impact at the time of a vehicle collision.

  In order to effectively reduce the impact at the time of the collision, it is preferable to operate the automatic brake device at the earliest possible timing before the collision. However, if the operation timing of the automatic brake device is set too early, in other words, if the condition for predicting the collision is set so that the collision prediction is easy to be performed, an erroneous determination of the collision prediction occurs. Even when there is a high possibility that the vehicle can be avoided, braking force is applied to the vehicle. In particular, when the automatic brake device, which is less necessary when the vehicle is traveling at high speed, is operated, the behavior of the vehicle becomes unstable, and the driver is likely to feel uncomfortable. .

  The present invention has been made in view of the above-described problems, and is a vehicle control device capable of properly operating a brake device at the time of a collision while preventing an occupant from feeling uncomfortable due to an erroneous determination of a collision prediction. The purpose is to provide.

According to a first aspect of the present invention, there is provided forward object detection means for detecting a distance and relative speed between a forward object existing ahead of the host vehicle and the host vehicle, and the forward object based on a detection result of the forward object detection means. When it is predicted that the host vehicle is in a collision state, the vehicle head time is calculated by dividing the distance between the front object and the host vehicle by the relative speed between the two and the vehicle head time is preset. A collision prediction control means for executing a control for operating the brake device when the braking threshold value becomes smaller than the braking threshold, a vehicle speed detection means for detecting the traveling speed of the own vehicle, and a vehicle speed detection means detected by the vehicle speed detection means. If the running speed is high than when the running speed is low and a control condition correcting means for correcting the braking threshold is a control condition of the braking system to delay the operation timing of the braking device Those were example.

According to a second aspect of the present invention, in the vehicle control apparatus according to the first aspect, the collision prediction control means may be in a state where the front object and the host vehicle collide based on the detection result of the front object detection means. A function of controlling the vehicle head time to be warned to an occupant when the vehicle head time becomes smaller than a warning threshold value set in advance to a value larger than the braking threshold value when predicted. And the control condition correction means corrects the control condition so that when the traveling speed of the host vehicle detected by the vehicle speed detection means is large, the operation timing of the alarm device is advanced compared to when the traveling speed is small. It has a function to do.

The invention according to claim 3, in the control apparatus for a vehicle according to the claim 2, the collision prediction control means, the headway time, the threshold for the winding which is previously set to a value smaller than the warning threshold When the vehicle speed becomes smaller , the seat belt tensioner is operated to control to wind up the seat belt, and the control condition correcting means is used when the traveling speed of the host vehicle detected by the vehicle speed detecting means is high. The function of correcting the control condition so as to delay the operation timing of the seat belt tensioner as compared with the case where the traveling speed is low is provided.

  According to a fourth aspect of the present invention, in the vehicle control device according to any one of the first to third aspects of the present invention, the vehicle control device further includes a steering angle detecting means for detecting a steering angle of the steering wheel, and a detected value of the steering angle. The control condition is corrected by the control condition correction means only when is greater than a preset reference angle.

  According to a fifth aspect of the present invention, in the vehicle control device according to any one of the first to fourth aspects, the offset distance in the vehicle width direction between the front object predicted to collide with the own vehicle and the own vehicle is calculated. Provided with offset distance measuring means for measuring, and when this offset distance is large, corrects the control condition of the brake device so that the operation timing of the brake device at the time of collision predictive control is delayed compared to when the offset distance is small It is.

  According to the first aspect of the present invention, when the traveling speed of the host vehicle is high, the traveling situation changes significantly, and the front object and the host vehicle are traveling at a high speed when the collision is predicted at a relatively early time. Is predicted to be in a state of collision, the brake device is activated at a timing later than that during normal travel, so the brake device is likely to be avoided despite the high possibility of collision being avoided. The braking force is applied at a predetermined timing while effectively suppressing the occurrence of adverse effects caused by the vehicle being activated early and the predetermined braking force being applied to the vehicle, that is, the situation in which the vehicle behavior is greatly deteriorated. Thus, there is an advantage that the impact at the time of collision can be effectively reduced.

  According to the second aspect of the present invention, when it is predicted that the front object is in a state of colliding with the own vehicle when the traveling speed of the own vehicle detected by the vehicle speed detecting means is high speed faster than the reference speed. Since the alarm device is activated at a time earlier than that during normal traveling, it is possible to provide a sufficient margin for the occupant to be ready during high-speed traveling with little time margin for taking countermeasures against collisions.

  According to the invention of claim 3, when it is predicted that the front object is in a state of colliding with the host vehicle when the host vehicle is traveling at a high speed where the traveling speed is higher than the reference speed, the vehicle is traveling more than when the host vehicle is traveling normally. Since the seat belt tensioner is activated at a later timing, there is an advantage that it is possible to prevent the passenger from feeling uncomfortable because the seat belt tensioner is activated even though the necessity is low due to the occurrence of misjudgment of collision prediction. is there.

  According to the fourth aspect of the present invention, the detected value of the steering angle is larger than a preset reference angle during high-speed traveling, and the traveling state of the host vehicle changes greatly, resulting in erroneous determination of collision by the collision prediction control means. When there is a tendency to be easy, the control condition is corrected by the control condition correction means, so that the seat belt tensioner and the brake device are in the operating state even though the collision is avoided in the traveling state. Thus, it is possible to effectively prevent the occurrence of an adverse effect that the passenger feels uncomfortable or the behavior of the vehicle is greatly deteriorated.

  According to the fifth aspect of the present invention, when the offset distance measured by the offset distance measuring unit is large and the collision prediction by the collision prediction control unit tends to be erroneously determined, compared to the case where the offset distance is small. Thus, since the control condition is corrected so as to delay the operation timing of the brake device during the collision predictive control, the brake device is in the operating state even when the collision is avoided in the traveling state. There is an advantage that it is possible to effectively prevent adverse effects such as a significant deterioration in the behavior of.

  FIG. 1 shows an embodiment of a vehicle control apparatus according to the present invention. The vehicle control device includes an automatic speed control means 1 that automatically adjusts the traveling speed of the host vehicle to follow the preceding vehicle, a front object positioned in front of the host vehicle, and the host vehicle. A collision prediction control means 2 for executing a predetermined collision prediction control in anticipation of a collision state, and a control condition correction means 3 for correcting a control condition during the execution of the collision prediction control as necessary. An operation control unit 4 is provided.

  The driving control unit 4 includes a vehicle speed sensor 6 that detects the traveling speed of the host vehicle, a steering angle sensor 7 that detects the steering angle of the steering wheel, a yaw rate sensor 8 that detects the yaw rate acting on the vehicle body, and the host vehicle. Forward object detection means 9 for detecting the distance and relative speed between the front object existing in front of the vehicle and the host vehicle, a main switch (ACC main SW) 10 for automatic speed control, a set / coast switch 11, a cancel switch 12, A resume / accelerator switch 13 and a target inter-vehicle distance setting switch 14 are connected to a collision sensor 15 made up of a G sensor or the like that detects that the front object has collided with the automobile.

  The front object detection means 9 includes, for example, a transmitter that transmits, for example, millimeter waves, laser waves, or ultrasonic waves as detection radar waves (detection waves) toward the front side of the vehicle body, and a preceding position positioned in front of the host vehicle. A receiver that receives a reflected wave reflected by another vehicle such as a vehicle or an oncoming vehicle, and sequentially measures the time from the time when the detected wave is transmitted until the time when the reflected wave is received. The distance between the vehicle and the relative speed is calculated and detected, and this detection signal is output to the automatic speed control means 1 and the collision prediction control means 2 of the operation control unit 4.

  A collision sensor 15 comprising a G sensor or the like is disposed at the center of the vehicle body in the vehicle width direction, and is offset from the center position to either the left or right direction (to the left side of the vehicle body in the illustrated example). At the position, the transmitter and receiver of the front object detection means 9 are arranged. Then, a detection wave is irradiated from the transmitter so as to spread in a fan shape toward the front side of the vehicle body, so that the detection range α of the front object by the front object detection means 9 is set to a fan shape that spreads forward. If the detection range α of the front object is too wide, an unnecessary front object located on the side of the traveling path β is detected, and there is a problem that erroneous determination of collision prediction is likely to occur. On the other hand, if the detection range α of the forward object is too narrow, the blind spot area where the forward object cannot be detected tends to be too large. For this reason, the irradiation range of the detection wave is set so that the detection range α of the front object by the front object detection means 9 becomes an appropriate value according to the width dimension of the traveling path β of the host vehicle.

  When the main switch 10 for automatic speed control is turned ON by the driver, the automatic speed control means 1 is based on the output signals of the vehicle speed sensor 6, the steering angle sensor 7, and the yaw rate sensor 8, and the progress of the own vehicle While predicting the road, it is determined based on the detection result of the forward object detection means 9 whether or not an appropriate preceding vehicle exists in the traveling path, and an appropriate preceding vehicle exists in the traveling path of the own vehicle. When it is confirmed that the engine speed is confirmed, a control signal for adjusting the engine speed is output to the throttle valve driving device 19 of the engine, and a control signal for adjusting the braking force is output to the brake device 5 of the vehicle. Thus, control is performed to adjust the traveling speed of the host vehicle so that the target inter-vehicle distance set by the target inter-vehicle distance setting switch 14 matches the inter-vehicle distance with the preceding vehicle. It is configured to row.

  The automatic speed control set / coast switch 11 is for storing the target vehicle speed in the storage means of the automatic speed control means 1 and is operated in a running state of the vehicle in which the target vehicle speed is not set by the driver. When a person operates the set / coast switch 11, the traveling speed at the time of the operation is set as the target vehicle speed. Further, when the set / coast switch 11 is operated by the driver while the target vehicle speed is already set by the driver, the target vehicle speed is reduced at a constant rate.

The cancel switch 12 has a control function for stopping the speed control by the automatic speed control means 1. When the cancel switch 12 is operated by the driver, the cancel switch 12 shifts to a normal speed control state. The resume / accelerator switch 13 is provided with a control function for returning the automatic speed control stopped by the cancel switch 12 and a control function for increasing the target vehicle speed, and the resume / accelerator switch 13 in the execution state of the automatic speed control. When the accelerator switch 13 is operated by the driver, the target vehicle speed is increased at a constant rate.

  When it is confirmed that there is no suitable preceding vehicle in the traveling path of the own vehicle according to the output signal of the front object detecting means 9, etc., it is set by the set / coast switch 11 or the like. The automatic speed control means 1 executes speed control corresponding to the target vehicle speed by outputting to the throttle valve drive device 19 and the brake device 5 a control signal for making the traveling speed of the host vehicle coincide with the target vehicle speed. It has come to be.

  Further, when it is confirmed in the automatic speed control means 1 that the inter-vehicle distance between the preceding vehicle detected by the forward object detection means 9 and the host vehicle is equal to or less than a predetermined threshold for automatic braking. Activates the throttle valve drive device 19 to close the throttle valve, activates the brake device 5 to apply a predetermined braking force to the host vehicle, and provides a display lamp or vehicle provided on the instrument panel. It is configured to execute control for notifying an occupant that the vehicle is in an automatic braking state by operating an alarm device 20 including an alarm provided in the room.

  Further, in the automatic speed control means 1, the distance between the preceding vehicle detected by the forward object detection means 9 and the host vehicle is larger than the automatic braking threshold in a traveling state where the distance between the vehicles is equal to or greater than the automatic braking threshold. When it is confirmed that the value is equal to or less than a preset alarm threshold, only the control for informing the occupant that the inter-vehicle distance is small by operating the alarm device 20 is executed. .

  The collision prediction control means 2 is based on the fact that the front object and the host vehicle are in a state of collision based on the distance and relative speed between the front object and the host vehicle detected by the front object detecting means 9, that is, Predicting that the occurrence of a collision is inevitable even if the vehicle is braked and operated by a steering wheel, a prediction function for predicting when this collision will occur, and warnings to passengers based on the results of this prediction And a control function for ensuring the safety of the occupant by executing a control for protecting the occupant from the impact load acting at the time of collision.

  Specifically, when it is confirmed that the host vehicle is in an unavoidable state of colliding with the preceding vehicle based on the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle, a collision occurs after that. Control for informing the occupant that the alarm device 20 is activated before the predicted collision prediction time and the vehicle is in a collision prediction state, and the seat belt tensioner 21 is operated to set the seat belt to a first tension set in advance. And the control for intermittently applying a predetermined braking force to the vehicle by supplying the hydraulic pressure to the driving means comprising a wheel cylinder or the like of the brake device 5 is executed in the collision prediction control means 2. It is like that.

  The control condition correction unit 3 is preset with the traveling speed of the host vehicle detected by the vehicle speed sensor 6 when the collision prediction control unit 2 predicts that the front object is in a state of colliding with the host vehicle. It is determined whether or not the speed is higher than a predetermined reference speed, and when it is confirmed that the speed is larger, the control condition is corrected so as to advance the operation timing of the alarm device 20 and the brake device 5 and the seat belt tensioner 21 are corrected. It has a function of correcting these control conditions so as to delay the operation timing.

  That is, when it is predicted that the front object is in a state of colliding with the host vehicle during normal operation (during low speed driving) where the traveling speed of the host vehicle is equal to or lower than the reference speed, it is predicted that this collision will occur. The warning device 20 is activated to give a warning of collision prediction to the occupant at a timing earlier by a time corresponding to the preset first threshold value than the collision prediction time point, and is smaller than the first threshold value in advance. The operation timing of the brake device 5 and the seat belt tensioner 21 is set based on the second threshold value set to the value, and the seat belt is wound at a timing earlier than the collision prediction time by a time corresponding to the second threshold value. The control for intermittently applying the braking force is executed.

  When it is predicted that the front object is in a state of colliding with the host vehicle when the host vehicle is traveling at a high speed that is faster than the reference speed, the first threshold value is set to a value larger than that during normal driving. And the control condition correction means 3 executes correction for changing the second threshold value to a small value. As a result, the warning device 20 is activated at a time earlier than that during the normal running, and the passenger is informed early that the vehicle is in a collision prediction state. Then, as will be described later, the brake device 5 and the seat belt tensioner 21 will be described later. Is activated at a time later than that during normal travel, and the seat belt is wound up and braking force is intermittently applied to the vehicle.

Control operations by the control means 1 to 3 provided in the operation control unit 4 will be described based on the flowcharts shown in FIGS. 3 and 4. When the control operation starts, for example, when the automatic speed control main switch 10 is turned on, etc., after signals from the sensors and switches are input (step S1), the vehicle speed sensor 6, the steering angle sensor 7, and the like. Control for predicting the traveling path of the host vehicle is executed according to the output signal of the yaw rate sensor 8 (step S2), and the preceding vehicle or the like positioned in front of the host vehicle according to the output signal of the front object detecting means 9 Calculation of the inter-vehicle distance and the relative speed between the forward object and the own vehicle is performed (step S3).

  Next, there is a preceding vehicle in the traveling path of the host vehicle based on the traveling path of the host vehicle predicted in step S2 and the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle calculated in step S3. It is determined whether or not a forward object is approaching the host vehicle by determining whether or not there is an oncoming vehicle toward the traveling path of the host vehicle (step S4). If NO is determined, it is determined whether or not the set / coast switch 11 has been operated (step S5). If it is determined YES in step S5 and it is confirmed that the set / coast switch 11 has been operated, the traveling speed (current vehicle speed) of the host vehicle at that time is set as the target vehicle speed VT (step S6). ), The process proceeds to the following step S7.

  If it is determined NO in step S5, the deviation (VT−V) between the target vehicle speed VT set in step S6 and the like and the actual vehicle speed V detected by the vehicle speed sensor 6 is set as a preset acceleration. It is determined whether or not it is larger than the reference value α for use (step S7). If it is determined YES and it is confirmed that the actual vehicle speed V is somewhat lower than the target vehicle speed VT, the deviation ( An acceleration target value corresponding to (VT-V) is set (step S8).

  When it is determined NO in step S7 and it is confirmed that the actual vehicle speed V is not so low as compared with the target vehicle speed VT, the deviation (V-VT) between the actual vehicle speed V and the target vehicle speed VT is previously determined. It is determined whether or not it is greater than the set deceleration reference value β (step S9). If it is determined YES and it is confirmed that the actual vehicle speed V is somewhat higher than the target vehicle speed VT, Then, a deceleration target value corresponding to the deviation (V-VT) is set (step S10).

  Next, a control signal for increasing or decreasing the traveling speed of the host vehicle according to the acceleration target value or the deceleration target value set in step S8 or step S10 is sent to the throttle valve driving device 19 or the brake device 5. To the vehicle speed, the vehicle speed (actual vehicle speed V) is adjusted to match the target vehicle speed VT (step S11). If it is determined as NO in step S9 and it is confirmed that the actual vehicle speed V and the target vehicle speed VT are substantially equal, the process proceeds to the following step S21 without executing the speed control, so that the current travel is performed. Maintain speed.

  On the other hand, if it is determined as YES in step S4 and it is confirmed that a forward object such as a preceding vehicle exists in the traveling path of the host vehicle, the preceding vehicle detected by the forward object detecting means 9 or the like. It is determined whether or not the distance between the vehicle and the host vehicle is smaller than a predetermined automatic braking threshold value K1 (step S12). When it is confirmed that the throttle valve is in a state, the throttle valve driving device 19 is operated to close the throttle valve, and the brake device 5 is operated to set a value corresponding to a deceleration of about 0.4 G in advance. Control that automatically applies the set braking force and activates the alarm device 20 to notify that it is in the automatic braking state is executed (step S13).

  If it is determined NO in step S12, the automatic braking is performed in a state where the inter-vehicle distance between the preceding vehicle detected by the forward object detection means 9 and the own vehicle is equal to or greater than the automatic braking threshold K1. It is determined whether or not the alarm threshold value K2 is set to a value larger than the threshold value K1 in advance (step S14), and it is determined as YES and it is confirmed that the preceding vehicle and the host vehicle are in a state of approaching slightly. If it is, the alarm device 20 is operated to execute control for notifying that the inter-vehicle distance is small (step S15).

  When it is determined NO in step S14 and it is confirmed that the inter-vehicle distance between the preceding vehicle and the own vehicle is equal to or greater than the alarm threshold K2, the target inter-vehicle distance set by the target inter-vehicle distance setting switch 14 It is determined whether or not a deviation (LT-L) between the distance LT and the actual inter-vehicle distance L detected by the forward object detection means 9 is larger than a preset acceleration reference value γ (step S16). If it is determined YES and it is confirmed that the actual inter-vehicle distance L is somewhat smaller than the target inter-vehicle distance LT, an acceleration target value corresponding to the deviation (LT-L) is set (step S17). ).

  When it is determined NO in step S15 and it is confirmed that the actual inter-vehicle distance L is not so small compared to the target inter-vehicle distance LT, the deviation between the actual inter-vehicle distance L and the target inter-vehicle distance LT ( It is determined whether or not (L-LT) is greater than a preset deceleration reference value δ (step S18), and it is determined as YES, and the actual inter-vehicle distance L is somewhat larger than the target inter-vehicle distance LT. If it is confirmed, a deceleration target value corresponding to the deviation (L-LT) is set (step S19).

  Thereafter, a control signal for increasing or decreasing the traveling speed of the host vehicle according to the acceleration target value or the deceleration target value set in step S17 or step S19 is sent to the throttle valve driving device 19 or the brake device 5. Is output to the vehicle, the speed control for making the inter-vehicle distance between the preceding vehicle and the host vehicle coincide with the target inter-vehicle distance is executed (step S20). If NO is determined in step S18 and it is confirmed that the inter-vehicle distance between the preceding vehicle and the host vehicle is substantially equal to the target inter-vehicle distance, the process proceeds to the following step S21 without executing the speed control. To maintain the current inter-vehicle distance.

  Next, it is determined whether or not it is predicted by the collision prediction control means 2 that the forward object and the host vehicle are in a state of collision (step S21). If NO is determined, the process returns. If it is determined YES in step S21 and it is confirmed that the vehicle is in the above-described collision prediction state, the traveling speed (vehicle speed) V of the host vehicle detected by the vehicle speed sensor 6 is determined based on a preset reference value. Is also larger (step S22). This reference value is a value for determining whether the driver is in a high vehicle speed state that pays attention to the altitude, or whether the driver is in a normal driving state that is relaxed to some extent. For example, the speed is about 60 km / h. Is set to

  If it is determined NO in step S22 and it is confirmed that the vehicle speed V is in a normal traveling state below the reference value, the first threshold for setting the operation timing of the alarm device 20 and the above Normal values A1 and B1 are set as the second threshold values for setting the operation timing of the brake device 5 and the seat belt tensioner 21 (step S23). The normal value A1 for setting the first threshold value is set to a value larger than the normal value B1 for the second threshold value, so that the alarm device 20 is more than the brake device 5 and the seat belt tensioner 21 as will be described later. It is configured to be in an operating state at an early stage.

  On the other hand, if it is determined as YES in step S22 and it is confirmed that the traveling speed V of the host vehicle is in a high speed traveling state larger than the reference value, a second timing for setting the operation timing of the alarm device 20 is set. A correction value A2 larger than the normal value A1 is set as one threshold value, and a correction value B2 smaller than the normal value B1 is set as a second threshold value for setting the operation timing of the brake device 5 and the seat belt tensioner 21. Is set (step S24). In this way, when the host vehicle is in a high-speed traveling state, the alarm device 20 is activated earlier than during normal traveling, and the brake device 5 and the seat belt tensioner 21 are slower than during normal traveling. The first and second threshold values are respectively corrected so that the operation state is reached at the time.

  Next, the vehicle head time T, which is a value obtained by dividing the inter-vehicle distance between the front object consisting of the preceding vehicle or the oncoming vehicle and the host vehicle by the relative speed of both, is greater than the first threshold value set in step S23 or step S24. By determining whether or not the time is smaller (step S25), it is determined whether or not the current time is the time corresponding to the first threshold value before the predicted time when the collision is predicted. That is, by comparing the vehicle head time with the first threshold value in step S25, when the current relative speed is maintained, it is predicted that the own vehicle will collide with the preceding vehicle or that the oncoming vehicle and the own vehicle will collide. It is determined whether or not the operation timing of the alarm device 20 set at an earlier time is reached with reference to the collision prediction time to be performed, and when the determination is YES, the alarm device 20 is operated and the instrument is An occupant is informed that the vehicle is in a collision-predicted state by turning on a display lamp provided on the vehicle panel or outputting a warning sound from an alarm provided in the passenger compartment (step S26).

  When it is determined NO in step S25 and it is confirmed that the operation timing of the alarm device 20 is not yet reached, the process returns to step S21 and the above control operation is repeated. In this process, if it is determined NO in step S21 and it is confirmed that the collision prediction state between the front object and the host vehicle has been resolved by performing a collision avoidance operation or the like, by returning as it is, the collision is performed. End predictive control.

  Next, by determining whether or not the vehicle head time T between the forward object and the host vehicle is smaller than the second threshold value set in step S23 or step S24 (step S27), it is predicted that a collision will occur in this state. It is determined whether or not the operation timing of the seat belt tensioner 21 and the brake device 5 set at a time earlier than the time corresponding to the second threshold value before the predicted collision time is reached, and when it is determined NO Returns to step S21 and repeats the above control operation.

  Then, when it is determined YES in step S27, the seat belt tensioner 21 is operated so that the seat belt is loosened without excessively restraining the seat belt, for example, a first tension set in advance. The control to wind up the seat belt with the set tension is executed (step S28), and the braking force corresponding to the first deceleration set in advance to 0.45G is intermittently activated by operating the brake device 5. The assigned control is executed (step S29).

  Next, it is determined whether or not the occurrence of a collision has been detected in accordance with the detection signal of the collision sensor 15 (step S30). When the determination is YES, the seat belt tensioner 21 is operated to preset the seat belt. The second tension, for example, a control for winding up the seat belt with a tension set to such an extent that the occupant is held on the occupant seat with a considerable restraining force (step S31), and the brake device 5 is operated to act on the vehicle. By outputting a control signal for increasing the applied braking force from the collision prediction control means 2 to the brake device 5, a braking force having a value corresponding to the second deceleration set to about 0.6 G in advance is continuously applied. (Step S32).

As described above, the front object detection means 9 for detecting the distance and relative speed between the front object existing ahead of the host vehicle and the host vehicle, and the front object and the host vehicle based on the detection result of the front object detection means 9. When the vehicle is predicted to be in a state of collision, a collision prediction control means 2 that executes control for operating the brake device 5 before a collision prediction time at which a collision is predicted to occur, and traveling of the host vehicle A vehicle speed detecting means comprising a vehicle speed sensor 6 for detecting the speed, and when the traveling speed of the host vehicle detected by the vehicle speed detecting means is large, the operation timing of the brake device 5 is delayed as compared with the case where the traveling speed is small. Since the control condition correction means 3 for correcting the control condition of the brake device 5 is provided in the vehicle, it is possible to prevent the passenger from feeling uncomfortable due to excessive operation of the collision prediction control means 2. There is an advantage that the impact can be effectively alleviated in the event of a collision accident.

  That is, when it is predicted that the host vehicle collides with a preceding vehicle or the like based on the detection result of the front object detection means 9, the above-mentioned time of the collision prediction when it is predicted that this collision will occur. The alarm device 20 is activated at a time point before the time corresponding to the first threshold value, and is set so as to eliminate the slack of the seat belt at a time point before the time corresponding to the second threshold value before the collision prediction time point. By carrying out occupant protection control comprising control for winding up the seat belt with the first tension and control for intermittently applying the braking force corresponding to the first deceleration, the occupant is made aware of the danger and prepared. In addition, the impact speed at the time of collision can be effectively mitigated by reducing the collision speed.

  The driving condition of the brake device 5 is set during high-speed driving in which the driving situation significantly fluctuates due to the high driving speed of the host vehicle and collision prediction tends to be performed earlier than normal. By correcting the second threshold value to be smaller than that during normal traveling, the operation timing of the brake device 5 is configured to be delayed as compared to during normal speed traveling, so there is a high possibility that a collision will be avoided. Nevertheless, while effectively preventing the occurrence of adverse effects caused by the braking device 5 being activated and applying a predetermined braking force to the vehicle, that is, the situation in which the behavior of the vehicle greatly deteriorates, It is possible to effectively reduce the impact at the time of collision by applying a braking force to the vehicle at the timing.

  In the above-described embodiment, the front object is in a state of colliding with the host vehicle when the host vehicle traveling speed (vehicle speed) detected by the vehicle speed detecting means including the vehicle speed sensor 6 is higher than the reference speed. When the control condition correction unit 3 executes the control for correcting the first threshold value for setting the operation timing of the alarm device 20 to a value larger than that during normal travel, By operating the alarm device 20 at a timing earlier than that during the normal running, it is possible to promptly recognize that the vehicle is in a collision prediction state.

  It is determined whether or not the traveling speed of the host vehicle (the host vehicle speed) detected by the vehicle speed detecting means comprising the vehicle speed sensor 6 is faster than a reference speed, and the first and second are determined according to the determination result. Instead of the above-described embodiment configured to change the first and second threshold values in two stages by changing the threshold values from the preset normal values A1 and B1 to the correction values A2 and B2 for high speed, The operation timing of the alarm device 20 and the brake device 5 can be finely adjusted according to the host vehicle speed by changing the first and second threshold values in multiple steps or linearly according to the detected value of the host vehicle speed. You may comprise as follows.

  Further, instead of the above-described configuration in which the second threshold value for adjusting the operation timing of the brake device 5 is changed, or together with this configuration, the braking force applied to the vehicle from the brake device 5 is converted into the vehicle speed sensor. The substantial operation timing of the brake device 5 may be adjusted to correspond to the own vehicle speed by changing it according to the detection signal 6. For example, when it is confirmed that the host vehicle is in a high speed running state according to the detection signal of the vehicle speed sensor 6, the braking force applied to the vehicle from the brake device 5 is smaller than that in the normal running state. The control condition may be changed so as to be set as follows. As a result, the execution of the braking force control that significantly changes the vehicle speed during high-speed traveling is suppressed, whereby the operation timing of the brake device 5 can be substantially delayed as compared to during normal traveling, and a large amount of control during high-speed traveling can be achieved. There is an advantage that it is possible to effectively suppress the occupant from feeling uncomfortable due to the power being applied.

  Further, in the above embodiment, when it is predicted that the front object and the host vehicle are in a state of collision based on the detection result of the front object detection means 9, the collision prediction time point when the collision is predicted to occur is predicted. When the collision prediction control means 2 executes the control for retracting the seat belt by operating the seat belt tensioner 21 before, and when the traveling speed of the host vehicle detected by the vehicle speed detection means including the vehicle speed sensor 6 is high, Since the control condition correction means 3 is configured to correct the control conditions for the seat belt tensioner 21 so that the operation timing of the seat belt tensioner 21 is delayed as compared with the case where the traveling speed is low, collision is avoided during high speed traveling. The seatbelt tensioner 21 is in an activated state despite the high possibility that There is an advantage that the passenger can be effectively prevented occurrence of a situation that is constrained unnecessarily by.

  As shown in FIG. 5, when it is determined as YES in step S22 and it is confirmed that the traveling speed of the host vehicle is in a high speed traveling state larger than the reference value, the steering angle sensor 7 is formed in step S41. It is determined whether or not the steering angle θ of the steering wheel detected by the steering angle detection means is smaller than a preset reference angle, and the operation timing of the alarm device 20 is set according to the determination result. The first threshold value and the second threshold value for setting the operation timing of the brake device 5 and the seat belt tensioner 21 may be changed.

  That is, when it is determined NO in step S41 and it is confirmed that the steering angle θ is equal to or larger than the reference angle, the process proceeds to step S24, and the first threshold value is set to the correction value A2 larger than the normal value A1. In addition to the setting, the second threshold value is corrected to a correction value B2 smaller than the normal value B1. On the other hand, when it is determined YES in step S41 and it is confirmed that the steering angle θ is smaller than the reference value, the process proceeds to step S23 to correct the first and second threshold values. The operation timing of the alarm device 20 is set based on the first and second threshold values set to the normal values A1 and B1, and the operation timing of the seat belt tensioner 21 and the brake device 5 is set. May be.

  As described above, when the detected value of the steering angle is larger than a preset reference angle during high-speed traveling, the traveling state of the host vehicle tends to change greatly, and a misjudgment of collision prediction tends to occur. If the control condition is corrected by the control condition correction means 3 only when it is confirmed that the vehicle is in such a state, the collision is likely to be avoided in the traveling state. In addition, there is a problem that the seat belt tensioner 21 and the brake device 5 are in an activated state, that is, a problem that the passenger is unnecessarily restrained by the seat belt and feels uncomfortable or the behavior of the vehicle is greatly deteriorated. There is an advantage that it can be effectively prevented.

  Further, an offset distance measuring means for measuring an offset distance in the vehicle width direction between the forward object predicted to collide with the own vehicle and the own vehicle, for example, the forward object detecting means 9 or an object located on the front side of the vehicle body is imaged. Accordingly, the position of the front object formed by the oncoming vehicle or the like detected by the front information detecting means including the CCD camera or the like for detecting the image data of the front object, and the own vehicle appearing by the steering angle sensor 7 and the yaw rate sensor, etc. The driving control unit 4 may be provided with an offset distance measuring means for obtaining an offset distance in the vehicle width direction between the forward object and the host vehicle based on the traveling path.

  And, when the offset distance measured by the offset distance measuring means is large, there is a tendency that an erroneous determination of the collision prediction is likely to occur compared to the case where the measured value of the offset distance is small. You may comprise so that control conditions may be correct | amended so that the operation timing of the belt tensioner 21 and the brake device 5 may be delayed. Accordingly, although the collision is highly likely to be avoided in the traveling state, the seat belt tensioner 21 and the brake device 5 are in an activated state, and the passenger is unnecessarily restrained by the seat belt, or the vehicle behavior It is possible to effectively prevent the occurrence of adverse effects such as the deterioration of

  In the above embodiment, the vehicle speed sensor is set by setting the first threshold value for setting the operation timing of the alarm device 20 to a value larger than the second threshold value for setting the operation timing of the seat belt tensioner 21 and the brake device 5. Even when the traveling speed of the host vehicle detected by the vehicle speed detecting means 6 is smaller than the reference value, the seat belt tensioner 21 and the brake device 5 are activated when a predetermined time has elapsed after the alarm device 20 is activated. In the case of the normal traveling where the traveling speed of the host vehicle is smaller than the reference value, the alarm device 20 and the seat are set by setting the first threshold value and the second threshold value to the same value. The belt tensioner 21 and the brake device 5 may be operated at the same time.

1 is a block diagram illustrating an embodiment of a vehicle control device according to the present invention. It is explanatory drawing which shows the detection range of a front object detection means. It is a flowchart which shows the first half part of control operation by the said control apparatus. It is a flowchart which shows the latter half part of the control action by the said control apparatus. It is a flowchart which shows another example of the latter half part of the control action by the said control apparatus.

Explanation of symbols

2 Collision prediction control means 3 Control condition correction means 5 Brake device 6 Vehicle speed sensor (vehicle speed detection means)
7 Steering angle sensor (steering angle detection means)
20 Alarm device 21 Seat belt tensioner

Claims (5)

Front object detection means for detecting the distance and relative speed between the front object existing in front of the host vehicle and the host vehicle, and the front object and the host vehicle collide based on the detection result of the front object detection means. When it is predicted that there is a vehicle head time, which is a value obtained by dividing the inter-vehicle distance between the forward object and the host vehicle by the relative speed between the two, the vehicle head time becomes smaller than a preset braking threshold. Collision predicting control means for executing control for operating the brake device at the time of the vehicle, vehicle speed detecting means for detecting the traveling speed of the own vehicle, and traveling when the traveling speed of the own vehicle detected by the vehicle speed detecting means is high characterized in that a control condition correcting means for correcting the braking threshold is a control condition of the braking system to delay the operation timing of the brake device in comparison with the case where the speed is low Both of the control device. The collision prediction control means sets the vehicle head time to a value larger than the braking threshold when it is predicted that the front object and the host vehicle are in a state of collision based on the detection result of the front object detection means. The control condition correction means includes a function of controlling the alarm device to actuate a warning to the occupant when it becomes smaller than a preset warning threshold , and the control condition correction means includes a vehicle speed detection means. 2. The vehicle control device according to claim 1, further comprising a function of correcting the control condition so that the operation timing of the alarm device is advanced when the travel speed is high compared to when the travel speed is low. The collision prediction control means operates the seat belt tensioner to wind up the seat belt when the vehicle head time becomes smaller than the winding threshold value set in advance to a value smaller than the warning threshold value. The control condition correcting means has a function of controlling so that when the traveling speed of the host vehicle detected by the vehicle speed detecting means is high, the operation timing of the seat belt tensioner is delayed as compared with the case where the traveling speed is low. The vehicle control device according to claim 2 , further comprising a function of correcting the control condition.   A steering angle detection means for detecting the steering angle of the steering wheel is provided, and the control condition correction means corrects the control condition only when the detected value of the steering angle is larger than a preset reference angle. The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device.   Provided with an offset distance measuring means for measuring an offset distance in the vehicle width direction between the forward object predicted to collide with the host vehicle and the host vehicle, and when the offset distance is large, the operation of the brake device during the collision predictive control The vehicle control device according to any one of claims 1 to 4, wherein the control condition of the brake device is corrected so as to delay the timing as compared with a case where the offset distance is small.

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