JPH0781520A - Vehicle obstacle handling device - Google Patents
Vehicle obstacle handling deviceInfo
- Publication number
- JPH0781520A JPH0781520A JP5228380A JP22838093A JPH0781520A JP H0781520 A JPH0781520 A JP H0781520A JP 5228380 A JP5228380 A JP 5228380A JP 22838093 A JP22838093 A JP 22838093A JP H0781520 A JPH0781520 A JP H0781520A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- degree
- belt
- vehicle
- avoidance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Automotive Seat Belt Assembly (AREA)
- Air Bags (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
(57)【要約】
【目的】障害物の自己車両に対する障害の程度に応じて
乗員への的確な報知を確実に行うことができ、また、該
障害物への衝突に対する乗員の保護を事前に行うことが
できる車両の障害物対応装置を提供する。
【構成】車両１の周囲に存在する障害物Ａを検出する障
害物検出手段２と、検出された障害物Ａの自己車両に対
する障害度を障害物Ａの自己車両に対する相対距離Ｄ及
び相対速度Ｖに基づいて判断する障害度判断手段４と、
装着時のベルト張力を調整可能なシートベルト装置５
と、障害度判断手段４により判断された障害度が高い
程、シートベルト装置５のベルト張力が大きくなるよう
に障害度に応じてシートベルト装置５のベルト張力を増
加せしめるベルト調整手段１６とを備える。
(57) [Abstract] [Purpose] Accurate notification to the occupant according to the degree of obstacle to the own vehicle can be reliably performed, and the occupant is protected in advance against collision with the obstacle. An obstacle handling device for a vehicle is provided. An obstacle detecting means 2 for detecting an obstacle A existing around a vehicle 1, a degree of obstacle of the detected obstacle A with respect to the own vehicle, and a relative distance D and a relative speed V of the obstacle A with respect to the own vehicle. Failure degree judging means 4 for judging based on
Seatbelt device 5 with adjustable belt tension when worn
And a belt adjusting means 16 for increasing the belt tension of the seatbelt device 5 in accordance with the degree of failure such that the higher the degree of failure judged by the failure degree judging means 4, the larger the belt tension of the seatbelt apparatus 5. Prepare
Description
【発明の詳細な説明】Detailed Description of the Invention
【０００１】[0001]
【産業上の利用分野】本発明は、走行車両の周囲の障害
物を検出して、該障害物の自己車両に対する障害度を判
断し、これに応じて警報を乗員に与える等の対応を施す
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects obstacles around a traveling vehicle, judges the degree of obstacle of the obstacle with respect to the own vehicle, and gives a warning to an occupant accordingly. Regarding the device.
【０００２】[0002]
【従来の技術】近年、自動車においては、レーダ装置等
により、車両の周囲に存在する他車等の障害物を検出し
て、その障害物の自己車両に対する障害の程度を判断
し、その障害の程度を運転者等の乗員に報知したり、車
速や制動等を必要に応じて自動制御したりするものが開
発されている。2. Description of the Related Art In recent years, in automobiles, radar devices or the like detect obstacles such as other vehicles existing around the vehicle, judge the degree of obstacle of the obstacle to the own vehicle, and detect the obstacle. Some have been developed that informs the degree to the occupant such as a driver, and automatically controls the vehicle speed, braking, etc. as necessary.
【０００３】この種の自動車において、障害物の障害の
程度を乗員に報知する場合には、例えば、検出された障
害物が自己車両に必要以上に接近している場合や、該障
害物を回避する必要がある場合、該障害物に衝突する可
能性が高い場合等に、その障害の程度を乗員が認識し得
るように報知し、それにより、運転者等に障害物に対す
る注意を促したり、障害物に対する回避処置を施すこと
を促すようにすることが好ましい。そして、このような
報知を具体的に行うためには、例えば、障害の程度が比
較的高い場合に、警報音を発したり、あるいは、警報ラ
ンプを点灯もしくは点滅させることが考えられ、また、
このとき、障害の程度に応じて警報音の音量や音色を変
化させたり、警報ランプの点灯もしくは点滅の仕方を変
化させることが考えられる。In this type of automobile, when notifying an occupant of the degree of obstacle, for example, when the detected obstacle is closer than necessary to the own vehicle or when the obstacle is avoided. If it is necessary to do so, when there is a high possibility of colliding with the obstacle, etc., it is informed so that the occupant can recognize the degree of the obstacle, thereby alerting the driver etc. to the obstacle, It is preferable to promote the avoidance treatment for the obstacle. Then, in order to specifically perform such notification, for example, when the degree of the obstacle is relatively high, it is considered that an alarm sound is emitted, or an alarm lamp is turned on or blinks.
At this time, it is conceivable to change the volume and tone color of the alarm sound or change the lighting or blinking of the alarm lamp according to the degree of the obstacle.
【０００４】しかるに、このように、障害物の障害の程
度を警報音や警報ランプ等により聴覚的あるいは視覚的
に報知しても、運転者等の能力や、走行状態、路面状態
等によっては、障害物を回避する処置を迅速且つ的確に
施すことが出来ない場合もあり、上記の警報により、必
ずしも障害物の回避を行うことができるとは限らず、障
害物に衝突してしまう場合もある。また、警報音による
聴覚的な報知では、車両周囲の騒音や車内音響等によ
り、その報知を聞き逃してしまう場合もあり、これと同
様に警報ランプ等による視覚的な報知では、その報知を
運転者等が見逃してしまう場合もある。However, even if the degree of obstacle obstacle is audibly or visually notified by an alarm sound or an alarm lamp, depending on the ability of the driver or the like, the traveling condition, the road condition, etc., In some cases, it may not be possible to quickly and accurately take measures to avoid obstacles, and the above warning may not always allow obstacles to be avoided, and it may cause collision with obstacles. . In addition, in the case of audible notification using an alarm sound, the notification may be missed due to noise around the vehicle or sound inside the vehicle. In some cases, people may miss it.
【０００５】このため、障害物の障害の程度を乗員に報
知する際には、特に、障害物の回避が必要な場合や、障
害物に衝突する可能性が高い場合等、障害の程度が高い
場合に、上記のような報知を確実に行い、さらには衝突
に対する乗員の保護を可能な限り事前に図ることができ
るようにすることが望ましい。Therefore, when notifying the occupant of the degree of obstacle, the degree of obstacle is high, especially when it is necessary to avoid the obstacle or when there is a high possibility of colliding with the obstacle. In this case, it is desirable to make sure that the above-mentioned notification is given, and that the occupant can be protected from a collision as much as possible in advance.
【０００６】この場合、自動車には、シートベルト装置
が備えられており、該シートベルト装置は、運転者等に
装着されたベルトを障害物への衝突時の衝撃に応じて引
き込んで乗員の身体に密着させると共に、その状態にロ
ックするベルト引き込み機構を具備しているので、これ
により、ある程度は衝突の衝撃からの乗員の保護が図れ
るものの、このようなシートベルト装置の作動は、衝突
時に行われるため、その衝突の事前に乗員の保護を図る
ものではなかった。In this case, the vehicle is equipped with a seat belt device, and the seat belt device pulls in a belt worn by a driver or the like in response to an impact at the time of collision with an obstacle and the body of the occupant. The seat belt device is provided with a belt retracting mechanism that makes the seat belt closely contact with the vehicle and locks in that state, so that the occupant can be protected from the impact of the collision to some extent. Therefore, it was not intended to protect the occupants before the collision.
【０００７】[0007]
【発明が解決しようとする課題】本発明はかかる背景に
鑑み、障害物の自己車両に対する障害の程度に応じて乗
員への的確な報知を確実に行うことができ、また、該障
害物への衝突に対する乗員の保護を事前に行うことがで
きる車両の障害物対応装置を提供することを目的とす
る。In view of the background described above, the present invention can reliably notify an occupant in accordance with the degree of obstacle of the own vehicle to the own vehicle, and the obstacle can be notified. It is an object of the present invention to provide an obstacle handling device for a vehicle that can protect an occupant against a collision in advance.
【０００８】[0008]
【課題を解決するための手段】本発明はかかる目的を達
成するために、車両の周囲に存在する障害物を検出する
障害物検出手段と、該障害物検出手段により検出された
障害物の自己車両に対する障害度を判断する障害度判断
手段と、装着時のベルト張力を調整可能なシートベルト
装置と、前記障害度判断手段により判断された障害度が
高い程、前記シートベルト装置のベルト張力が大きくな
るように該障害度に応じて該シートベルト装置のベルト
張力を増加せしめるベルト調整手段とを備えたことを特
徴とする。In order to achieve such an object, the present invention provides an obstacle detecting means for detecting an obstacle existing around a vehicle, and an obstacle self-detecting means detected by the obstacle detecting means. A failure level determination means for determining the level of failure with respect to the vehicle, a seat belt device capable of adjusting the belt tension at the time of wearing, and the higher the level of failure determined by the failure level determination means, the higher the belt tension of the seat belt device. And a belt adjusting means for increasing the belt tension of the seat belt device according to the degree of the obstacle so as to increase.
【０００９】そして、前記障害物検出手段は、少なくと
も前記障害物の自己車両に対する相対距離及び相対速度
を検出する手段を備え、前記障害度判断手段は該障害物
検出手段により検出された前記障害物の相対距離及び相
対速度に基づいて該障害物の障害度を判断することを特
徴とする。The obstacle detecting means includes at least means for detecting a relative distance and a relative speed of the obstacle with respect to the own vehicle, and the obstacle degree judging means detects the obstacle detected by the obstacle detecting means. The obstacle degree is determined based on the relative distance and relative speed of the obstacle.
【００１０】また、前記障害度判断手段は、少なくとも
前記障害度を前記障害物の回避が必要な回避必要障害度
以上の障害度と該回避必要障害度未満の障害度とに類別
して判断する手段を備え、前記ベルト調整手段は前記障
害度判断手段により前記障害度が前記回避必要障害度以
上の障害度であると判断されたときに該障害度に応じて
前記シートベルト装置のベルト張力を増加せしめること
を特徴とする。Further, the failure level judging means classifies at least the failure level into a failure level equal to or higher than the avoidance necessary failure level and a failure level less than the avoidance necessary failure level, which is required to avoid the obstacle. The belt adjusting means adjusts the belt tension of the seat belt device according to the degree of obstacle when the degree of obstacle is judged by the degree of obstacle judging means to be a degree of obstacle more than the avoidance necessary obstacle degree. It is characterized by increasing the number.
【００１１】さらに、前記シートベルト装置は、その正
常装着時のベルト張力を緩和する張力緩和機能を有する
シートベルト装置であって、前記ベルト調整手段は、前
記障害度判断手段により前記障害度が前記回避必要障害
度であると判断されたときに前記張力緩和機能を解除す
ることにより該シートベルト装置のベルト張力を増加せ
しめることを特徴とする。Further, the seatbelt device is a seatbelt device having a tension relaxing function for relaxing the belt tension when the seatbelt is normally worn, and the belt adjusting means determines the degree of failure by the failure degree determining means. The belt tension of the seat belt device is increased by canceling the tension relieving function when it is determined that the degree of obstacle is to be avoided.
【００１２】また、前記シートベルト装置は、前記車両
の衝突時にベルトを最大限に引き込むベルト引き込み機
能を有するシートベルト装置であって、前記障害物判断
手段は、前記回避必要障害度以上の障害度を該回避必要
障害度と該回避必要障害度よりも高く前記障害物の回避
が不能な回避不能障害度とに類別して判断する手段を備
え、前記ベルト調整手段は、前記障害度判断手段により
前記障害度が前記回避不能障害度であると判断されたと
きに前記ベルト引き込み機能を作動せしめることにより
該シートベルト装置のベルト張力を増加せしめることを
特徴とする。Further, the seatbelt device is a seatbelt device having a belt retracting function for maximally retracting the belt in the event of a collision of the vehicle, and the obstacle judging means has a obstacle degree equal to or higher than the avoidance necessary obstacle degree. Is provided with a means for classifying the avoidance-necessary obstacle level and an unavoidable obstacle degree that is higher than the avoidance-necessary obstacle degree and incapable of avoiding the obstacle, and the belt adjusting means is The belt tension of the seat belt device is increased by activating the belt retracting function when it is determined that the obstacle level is the unavoidable obstacle level.
【００１３】また、前記障害度判断手段は、前記回避必
要障害度未満の障害度を前記障害物の回避が望ましい予
備回避障害度と該予備回避障害度未満の障害度とに類別
して判断する手段を備え、該障害度判断手段により前記
障害度が前記予備回避障害度であると判断されたときに
聴覚的又は視覚的な警報を発する警報手段を具備したこ
とを特徴とする。Further, the failure level judging means classifies the failure level less than the avoidance-necessary failure level into a preliminary avoidance failure level at which it is desirable to avoid the obstacle and a failure level less than the preliminary avoidance failure level. And a warning means for issuing an audible or visual warning when the obstacle degree judging means judges that the obstacle degree is the preliminary avoidance obstacle degree.
【００１４】[0014]
【作用】本発明によれば、前記障害物検出手段により検
出された障害物の自己車両に対する障害度が前記障害度
判断手段により判断され、その判断された障害度に応じ
て前記シートベルト装置のベルト張力がベルト調整手段
により変化されるので、該障害物の障害度を車両の乗員
が体感的に知覚することが可能となり、これにより障害
物の障害度の乗員への報知が確実なものとなる。そし
て、このとき、障害度が高いほど、ベルト張力が増加す
るので、これにより、障害物に対する乗員の保護が事前
に図られる。According to the present invention, the obstacle degree of the obstacle detected by the obstacle detecting means with respect to the own vehicle is judged by the obstacle judging means, and the seat belt device of the seatbelt device is determined according to the judged obstacle degree. Since the belt tension is changed by the belt adjusting means, the occupant of the vehicle can perceptually perceive the obstacle degree of the obstacle, and thereby the occupant can be surely notified of the obstacle degree of the obstacle. Become. Then, at this time, as the degree of obstacle increases, the belt tension increases, so that the occupant is protected in advance from obstacles.
【００１５】前記障害物検出手段が、前記障害物の自己
車両に対する相対距離及び相対速度を検出するときに
は、その相対距離及び相対速度により、該障害物の自己
車両に対する接近状態を把握することが可能となり、具
体的には例えば現在の相対速度が維持された場合に何秒
後に該障害物が自己車両に衝突する等の情報を得ること
が可能となり、これにより、該障害物の障害度を判断す
ることが可能となる。When the obstacle detecting means detects the relative distance and the relative speed of the obstacle with respect to the own vehicle, it is possible to grasp the approach state of the obstacle with respect to the own vehicle by the relative distance and the relative speed. Specifically, for example, when the current relative speed is maintained, it becomes possible to obtain information such as how many seconds later the obstacle collides with the own vehicle, and thus the obstacle degree of the obstacle can be determined. It becomes possible to do.
【００１６】前記ベルト調整手段による前記シートベル
ト装置のベルト張力の増加は、前記障害物の障害度が前
記回避必要障害度以上であるときに行うことが好まし
い。このようにすることにより、障害物の障害度の乗員
への報知を必要に応じて的確に行うことが可能となる共
に、ベルト張力の増加による乗員の保護を的確なタイミ
ングで行うことが可能となる。It is preferable that the belt tension of the seat belt device is increased by the belt adjusting means when the obstacle degree of the obstacle is equal to or higher than the avoidance obstacle degree. By doing so, it becomes possible to notify the occupant of the obstacle degree of the obstacle appropriately, and it is possible to protect the occupant by increasing the belt tension at an appropriate timing. Become.
【００１７】この場合、前記シートベルト装置がその正
常装着時のベルト張力を緩和する張力緩和機能を有する
シートベルト装置であるときには、前記障害物の障害度
が前記回避必要障害度になった場合に、該シートベルと
装置の張力緩和機能を解除することによりベルト張力が
増加し、これにより乗員への報知と乗員の事前的な保護
とを簡単に行うことが可能となる。In this case, when the seat belt device is a seat belt device having a tension relaxing function for relaxing the belt tension when the seat belt is normally worn, when the obstacle degree of the obstacle becomes the avoidance necessary obstacle degree. By releasing the tension relieving function of the seat bell and the device, the belt tension is increased, which makes it possible to easily notify the occupant and protect the occupant in advance.
【００１８】また、前記回避必要障害度以上の障害度で
ベルト張力を増加せしめるに際しては、該回避必要障害
度以上の障害度を該回避必要障害度とそれよりも高い前
記回避不能障害度とに類別し、該回避不能障害度では、
前記シートベルト装置のベルト引き込み機能を作動させ
て該ベルトを最大限に引き込ませることが好ましい。こ
のようにすることにより、障害物との衝突に対する乗員
の保護がその衝突前に図られ、乗員の保護性を高めるこ
とが可能となる。Further, when increasing the belt tension with the obstacle degree higher than the avoidance obstacle degree, the obstacle degree higher than the avoidance obstacle degree is set to the avoidance necessary obstacle degree and the unavoidable obstacle degree higher than that. Classifying, in the unavoidable obstacle degree,
It is preferable to activate the belt retracting function of the seat belt device to maximize the retracting of the belt. By doing so, the occupant can be protected against the collision with the obstacle before the collision, and the protection of the occupant can be enhanced.
【００１９】また、前記回避必要障害度未満の障害度に
おいては、該回避必要障害度未満の障害度を前記予備回
避障害度と該予備回避障害度未満の障害度とに類別し、
該予備回避障害度において、聴覚的または視覚的な警報
を発することが好ましい。このようにすることにより、
障害物の障害度が回避の必要な回避必要障害度に達する
事前の段階で、障害物の回避を乗員に促すことが可能と
なり、これにより、乗員は障害度が回避必要障害度にな
る前の事前的な対応を余裕をもってとることが可能とな
る。Further, in the case of the degree of obstacles less than the avoidance necessary obstacle degree, the degree of obstacles less than the avoidance necessary obstacle degree is classified into the preliminary avoidance obstacle degree and the obstacle degree less than the preliminary avoidance obstacle degree,
It is preferable to issue an audible or visual alarm at the preliminary avoidance disorder level. By doing this,
It is possible to prompt the occupants to avoid obstacles at a stage before the obstacle level reaches the required avoidance level. It is possible to take advance measures with a margin.
【００２０】[0020]
【実施例】本発明の一例を図１乃至図３を参照して説明
する。図１は本実施例の障害物対応装置のシステム構成
図、図２は図１の装置に作動を説明するための説明図、
図３は図１の装置の作動を説明するためのフローチャー
トである。DESCRIPTION OF THE PREFERRED EMBODIMENTS An example of the present invention will be described with reference to FIGS. 1 is a system configuration diagram of an obstacle handling device of the present embodiment, FIG. 2 is an explanatory diagram for explaining the operation of the device of FIG.
FIG. 3 is a flow chart for explaining the operation of the apparatus of FIG.
【００２１】図１を参照して、１は本実施例の障害物対
応装置を搭載した車両、２は車両１の周囲に存在する他
車等の障害物Ａを検出するためのレーダ装置３を含む障
害物検出装置（障害物検出手段）、４はレーダ装置３に
より検出された障害物Ａの自己車両１に対する障害度を
判断する障害度判断装置（障害度判断手段）、５は車両
１の運転席等に設けられたシートベルト装置、６は車内
に設けられた警報ブザー、７は障害度判断装置４により
判断された障害物Ａの障害度に応じて警報ブザー６を駆
動するためのブザー駆動回路、８はシートベルト装置５
のベルト９の張力を障害度判断装置４により判断された
障害物Ａの障害度に応じて制御するためのベルト張力制
御装置である。障害物検出装置２及び障害度判断装置４
は、マイクロコンピュータ等を含む電子回路により構成
されている。また、警報ブザー６及びブザー駆動回路７
は、本発明の構成に対応して警報手段１０を構成するも
のである。Referring to FIG. 1, reference numeral 1 is a vehicle equipped with the obstacle handling apparatus of the present embodiment, and 2 is a radar apparatus 3 for detecting an obstacle A such as another vehicle existing around the vehicle 1. An obstacle detecting device (obstacle detecting means) including 4 is a obstacle judging device (obstacle judging device) for judging the obstacle degree of the obstacle A detected by the radar device 3 with respect to the own vehicle 1, and 5 is a vehicle 1 A seat belt device provided in the driver's seat, 6 is an alarm buzzer provided in the vehicle, and 7 is a buzzer for driving the alarm buzzer 6 according to the obstacle degree of the obstacle A judged by the obstacle judging device 4. Drive circuit, 8 is seat belt device 5
Is a belt tension control device for controlling the tension of the belt 9 according to the obstacle degree of the obstacle A judged by the obstacle judging device 4. Obstacle detecting device 2 and obstacle degree judging device 4
Is composed of an electronic circuit including a microcomputer and the like. Also, the alarm buzzer 6 and the buzzer drive circuit 7
Corresponds to the alarm means 10 corresponding to the configuration of the present invention.
【００２２】障害物検出装置２のレーダ装置３は、車両
１の周囲の複数の領域に指向性をもった電磁波ビームを
車両１の外面部の適所に取り付けられたアンテナ１１か
ら送波すると共に、この時、その送波方向に存在する障
害物Ａにより反射された電磁波の反射波を該アンテナ１
１により受波する。そして、その受波信号を基に、例え
ば周知のＦＭ−ＣＷレーダ方式により電磁波の送波方向
における障害物Ａの自己車両１に対する相対距離を検出
し、また、例えば周知のドップラレーダ方式により電磁
波の送波方向における障害物Ａの自己車両１に対する相
対速度を検出する。また、障害物検出装置２は、レーダ
装置３により検出された電磁波の送波方向における障害
物Ａの相対距離及び相対速度や、車両１に設けた車速セ
ンサ１２及び舵角センサ１３によりそれぞれ検出される
車両１の車速及びステアリング（図示しない）の舵角を
基に、車両１の進行方向における障害物Ａの自己車両１
に対する相対距離Ｄ及び相対速度Ｖを求める。The radar device 3 of the obstacle detection device 2 transmits an electromagnetic wave beam having directivity to a plurality of areas around the vehicle 1 from an antenna 11 mounted at a proper position on the outer surface of the vehicle 1, and At this time, the reflected wave of the electromagnetic wave reflected by the obstacle A existing in the transmitting direction is transmitted to the antenna 1
Received by 1. Then, based on the received signal, the relative distance of the obstacle A to the own vehicle 1 in the transmission direction of the electromagnetic wave is detected by, for example, the known FM-CW radar system, and the electromagnetic wave of the electromagnetic wave is detected by, for example, the known Doppler radar system. The relative speed of the obstacle A with respect to the own vehicle 1 in the transmission direction is detected. The obstacle detection device 2 detects the relative distance and relative velocity of the obstacle A in the electromagnetic wave transmission direction detected by the radar device 3, and the vehicle speed sensor 12 and the steering angle sensor 13 provided in the vehicle 1, respectively. Of the obstacle A in the traveling direction of the vehicle 1 based on the vehicle speed of the vehicle 1 and the steering angle of steering (not shown).
The relative distance D and the relative speed V with respect to are obtained.
【００２３】障害度判断装置４は、障害物検出装置２に
より求められた障害物Ａの相対距離Ｄ及び相対速度Ｖか
ら例えば図２に示すようなあらかじめ設定されたマップ
に従って、該障害物Ａの自己車両１に対する障害度を類
別的に判断する。さらに詳細には、該マップは、障害物
検出装置２により求め得る障害物Ａの任意の相対距離Ｄ
及び相対速度Ｖにおける障害度を、該障害物Ａの回避が
不能な（即座に回避操作を行っても障害物Ａに衝突す
る）回避不能障害度（図２中、網目部分）と、迅速な回
避操作（ブレーキ操作やステアリング操作）が必要であ
って、且つその回避操作により障害物Ａを回避し得る回
避必要障害度（図２中、白抜き部分）と、即座の回避操
作は必要でないものの、回避操作が必要になる前に減速
等の回避操作を行うことが好ましい予備回避障害度と、
回避操作を必要としないか、あるいは、回避操作を必要
とするまでには充分余裕のある回避不要障害度とに類別
したものである。The obstacle degree judging device 4 detects the obstacle A from the relative distance D and the relative speed V of the obstacle A obtained by the obstacle detecting device 2 according to a preset map as shown in FIG. 2, for example. The degree of obstacle to the own vehicle 1 is categorically determined. More specifically, the map is an arbitrary relative distance D of the obstacle A that can be obtained by the obstacle detection device 2.
And the obstacle degree at the relative speed V is determined as the unavoidable obstacle degree (the mesh portion in FIG. 2) at which the obstacle A cannot be avoided (the obstacle A collides with the obstacle A even if the avoidance operation is immediately performed). Although the avoidance operation (brake operation or steering operation) is required, and the avoidance necessary obstacle degree (white portion in FIG. 2) capable of avoiding the obstacle A by the avoidance operation, and the immediate avoidance operation are not required. , A preliminary avoidance obstacle degree in which it is preferable to perform an avoidance operation such as deceleration before an avoidance operation is required,
It is categorized into the avoidance-unnecessary fault degree that does not require the avoidance operation or has sufficient margin before the avoidance operation is required.
【００２４】この場合、回避不要障害度、予備回避障害
度、回避必要障害度及び回避不能障害度は、この順に障
害度が高くなるものである。そして、回避不能障害度、
回避必要障害度及び予備回避障害度は、障害物Ａの相対
速度Ｖが自己車両１に接近する向きとなる領域に設定さ
れ、基本的には、相対距離Ｄが短いほど、それに対応す
る障害度が高くなり、また、相対速度Ｖが大きいほど、
それに対応する障害度が高くなるように設定されてい
る。In this case, the avoidance unnecessary obstacle degree, the preliminary avoidance obstacle degree, the avoidance necessary obstacle degree, and the avoidable obstacle degree are higher in this order. And the unavoidable obstacle degree,
The avoidance-necessary obstacle degree and the preliminary avoidance obstacle degree are set in an area in which the relative speed V of the obstacle A is in the direction of approaching the host vehicle 1. Basically, the shorter the relative distance D, the more the obstacle degree corresponding thereto. Becomes higher and the relative speed V becomes larger,
The obstacle level corresponding to it is set to be high.
【００２５】シートベルト装置５は、車両１の衝突時に
その衝撃に応じてベルト９を最大限に引き込んでその状
態にロックするベルト引き込み機構１４と、ベルト９の
装着時のベルト張力を緩和する張力緩和機構１５とを備
えている。この場合、ベルト９は基本的には、引き込み
側に付勢されているのであるが、張力緩和機構１５は、
ベルト９の装着時にその引き込み側に付勢された状態か
ら所定量だけ該ベルト９を引き出して保持し、これによ
り該ベルト９の張力を緩和する。尚、このようなシート
ベルト装置５は周知のものである。The seat belt device 5 includes a belt retracting mechanism 14 for maximally retracting and locking the belt 9 in accordance with the impact when the vehicle 1 collides, and a tension for relaxing the belt tension when the belt 9 is worn. And a relaxation mechanism 15. In this case, the belt 9 is basically biased toward the retracting side, but the tension relaxing mechanism 15
When the belt 9 is attached, the belt 9 is pulled out and held by a predetermined amount from the state in which the belt 9 is urged toward the pulling side, whereby the tension of the belt 9 is relaxed. Incidentally, such a seat belt device 5 is well known.
【００２６】ベルト張力制御装置８は、シートベルト装
置５のベルト引き込み機構１４及び張力緩和機構１５と
併せてベルト調整手段１６を構成するものであり、詳細
は後述するが、障害度判断装置４により判断された障害
物Ａの障害度に応じて、ベルト９の張力をベルト引き込
み機構１４あるいは張力緩和機構１５を介して制御す
る。The belt tension control device 8 constitutes a belt adjusting means 16 together with the belt retracting mechanism 14 and the tension relieving mechanism 15 of the seat belt device 5. The tension of the belt 9 is controlled via the belt retracting mechanism 14 or the tension relieving mechanism 15 according to the determined obstacle degree of the obstacle A.
【００２７】尚、図１において、１７は障害物検出装置
２により車両１の周囲の障害物Ａを監視しながら、車両
１の図示しないブレーキ装置やアクセル装置等を含む車
両駆動系１８を介して車間保持や目的値までの自動走行
等の自動走行制御を行う自動走行制御装置である。この
場合、本実施例においては、運転者は自動走行モードと
手動走行モードとを選択し得るようになっており、自動
走行制御装置１７は、自動走行モードが選択された場合
に車両駆動系１８を介して車両１の自動走行制御を行
う。そして、該自動走行制御装置１７は、例えば車両１
の周囲の状況が複雑で自動走行を行うことが困難である
と判断した場合や、目的地に到着した場合等に、自動走
行モードを解除するようにしており、この時、その旨が
後述するように運転者に報知されるようになっている。In FIG. 1, reference numeral 17 denotes an obstacle detection device 2 for monitoring an obstacle A around the vehicle 1 and a vehicle drive system 18 including a brake device, an accelerator device and the like (not shown) of the vehicle 1. It is an automatic travel control device that performs automatic travel control such as keeping the distance between vehicles and automatic travel to a target value. In this case, in this embodiment, the driver can select the automatic driving mode and the manual driving mode, and the automatic driving control device 17 causes the vehicle drive system 18 to operate when the automatic driving mode is selected. The automatic traveling control of the vehicle 1 is performed via. Then, the automatic traveling control device 17 is, for example, the vehicle 1
The automatic driving mode is canceled when it is determined that it is difficult to perform automatic driving due to the complicated surroundings, or when the vehicle arrives at the destination. At that time, this will be described later. Thus, the driver is informed.
【００２８】次に、本実施例の障害物対応装置の作動を
図３を参照して説明する。Next, the operation of the obstacle handling system of this embodiment will be described with reference to FIG.
【００２９】図１及び図３において、障害物検出装置２
により前述したように障害物Ａが検出され（ＳＴＥＰ
１）、さらに、車両１の進行方向における該障害物Ａの
自己車両１に対する相対距離Ｄ及び相対速度Ｖが求めら
れると（ＳＴＥＰ２）、その相対距離Ｄ及び相対速度Ｖ
から、障害度判断装置４により図２に示したマップに従
って、障害物Ａの障害度が判断される（ＳＴＥＰ３）。In FIG. 1 and FIG. 3, the obstacle detecting device 2
As described above, the obstacle A is detected (STEP
1) Further, when the relative distance D and the relative speed V of the obstacle A with respect to the own vehicle 1 in the traveling direction of the vehicle 1 are obtained (STEP 2), the relative distance D and the relative speed V are obtained.
From the above, the obstacle degree judging device 4 judges the obstacle degree of the obstacle A according to the map shown in FIG. 2 (STEP 3).
【００３０】この時、障害度判断装置４により判断され
た障害度が、前記回避不能障害度である場合（ＳＴＥＰ
４においてＹＥＳ）、すなわち、障害物Ａを回避するこ
とができない場合には、これに応じて、ベルト張力制御
装置８がシートベルト装置５のベルト引き込み機構１４
を強制的に作動させる（ＳＴＥＰ５）。これにより、シ
ートベルト装置５のベルト９が当初の状態から瞬間的に
最大限に引き込まれて、その張力が増加すると共に、該
ベルト９が運転者等の身体に比較的強い力でもって密着
する。このため、運転者等は、障害物Ａの障害度が回避
不能障害度であること、すなわち、間もなく自己車両１
が障害物Ａに衝突することを体感的に確実に認識するこ
とができる。そして、この時、衝突の事前にベルト９が
最大限に引き込まれて身体に密着するので、その衝突に
対する運転者等の保護が事前に図られることとなって、
運転者等の保護性が高められる。At this time, if the failure level judged by the failure level judging device 4 is the unavoidable failure level (STEP)
4), that is, when the obstacle A cannot be avoided, the belt tension control device 8 accordingly causes the belt retracting mechanism 14 of the seat belt device 5 to move.
Is forcibly activated (STEP 5). As a result, the belt 9 of the seat belt device 5 is instantaneously pulled to the maximum from the initial state, the tension thereof is increased, and the belt 9 is brought into close contact with the body of the driver or the like with a relatively strong force. . For this reason, the driver or the like determines that the obstacle degree of the obstacle A is the unavoidable obstacle degree, that is, the own vehicle 1 soon.
Collision with the obstacle A can be surely recognized by experience. Then, at this time, the belt 9 is pulled in to the maximum extent before the collision and comes into close contact with the body, so that the driver or the like is protected against the collision in advance.
The protection of the driver etc. is enhanced.
【００３１】また、障害物Ａの障害度が、前記回避不能
障害度ではなく（ＳＴＥＰ４においてＮＯ）、前記回避
必要障害度である場合（ＳＴＥＰ６においてＹＥＳ）、
すなわち、迅速な回避操作をすれば障害物Ａを回避する
ことができる場合には、これに応じて、ベルト張力制御
装置８がシートベルト装置５の張力緩和機構１５による
ベルト張力の緩和を解除せしめる（ＳＴＥＰ７）。これ
により、シートベルト装置５のベルト９がその緩和状態
から引き込まれて運転者等の身体に密着すると共に、そ
の張力が増加し、このため、運転者等は、障害物Ａの障
害度が回避必要障害度であること、すなわち、回避が必
要な状態であることを体感的に確実に認識することがで
き、それに応じたブレーキ操作やステアリング操作等の
回避操作を迅速に行うことができる。そして、この時、
回避操作に遅れ等により万が一障害物に衝突してしまう
ようなことがあっても、衝突の事前にベルト９が引き込
まれて身体に密着するので、ベルト張力が緩和されたま
ま衝突するような場合に較べて運転者等の保護性が高め
られる。When the obstacle degree of the obstacle A is not the avoidable obstacle degree (NO in STEP 4) but the avoidable obstacle degree (YES in STEP 6),
That is, when the obstacle A can be avoided by performing a quick avoidance operation, the belt tension controller 8 releases the relaxation of the belt tension by the tension relaxation mechanism 15 of the seat belt device 5 accordingly. (STEP 7). As a result, the belt 9 of the seatbelt device 5 is pulled from the relaxed state and comes into close contact with the body of the driver or the like, and the tension thereof is increased. Therefore, the driver or the like avoids the obstacle degree of the obstacle A. It is possible to sensuously and reliably recognize that the degree of obstacle is the required degree, that is, the state in which avoidance is necessary, and the avoidance operation such as the brake operation or the steering operation can be quickly performed. And at this time,
In the event of collision with an obstacle due to delay in avoidance operation, etc., the belt 9 is pulled in and adheres to the body prior to the collision, so that the belt tension is relieved and the collision occurs. Compared with, the protection of drivers etc. is enhanced.
【００３２】また、障害物Ａの障害度が、前記回避不能
障害度及び回避必要障害度のいずれでもなく（ＳＴＥＰ
６においてＮＯ）、前記予備回避障害度である場合（Ｓ
ＴＥＰ８においてＹＥＳ）、すなわち、即座の回避は必
要ではないが、車間距離の適正な保持等の回避操作が望
ましい場合には、ベルト張力制御装置８はベルト張力を
変化させる制御を行わず、前記ブザー駆動回路７が警報
ブザー６を駆動して警報音を発する（ＳＴＥＰ９）。こ
れにより運転者は、障害物Ａの回避操作が望ましい状況
であることを聴覚的に認識することができ、その後に回
避が必要な状況になっても迅速に回避処置をとることが
できる。尚、このような報知は、警報ランプ等により視
覚的に行うようにしてもよい。Further, the obstacle degree of the obstacle A is neither the above-mentioned avoidable obstacle degree nor avoidable obstacle degree (STEP
No in 6), in the case of the preliminary avoidance obstacle degree (S
(YES in TEP8), that is, when immediate avoidance is not necessary, but when avoidance operation such as proper holding of the inter-vehicle distance is desired, the belt tension control device 8 does not perform the control for changing the belt tension, and the buzzer does not operate. The drive circuit 7 drives the alarm buzzer 6 to emit an alarm sound (STEP 9). As a result, the driver can audibly recognize that the avoidance operation of the obstacle A is desirable, and can promptly take the avoidance procedure even in the situation where the avoidance operation is required thereafter. Note that such notification may be visually provided by an alarm lamp or the like.
【００３３】また、障害物Ａの障害度が、前記回避不能
障害度、回避必要障害度及び予備回避障害度のいずれで
もなく、前記回避不要障害度である場合（ＳＴＥＰ８に
おいてＮＯ）、すなわち、障害物Ａが自己車両１に対し
て離反していて回避の必要がないか、あるいは、障害物
Ａが自己車両１に対して接近しているものの該障害物Ａ
の相対距離Ｄが充分大きいか、相対速度Ｖが充分小さ
く、回避が必要となるまでに充分余裕がある場合には、
ベルト張力制御装置８はベルト張力を変化させる制御を
行わず、また、ブザー駆動回路７は警報ブザー６を駆動
せず、従って、現状が維持される。Further, when the obstacle degree of the obstacle A is not the avoidance obstacle degree, the avoidance necessary obstacle degree and the preliminary avoidance obstacle degree but the avoidance unnecessary obstacle degree (NO in STEP 8), that is, the obstacle The object A is separated from the own vehicle 1 and does not need to be avoided, or the obstacle A is close to the own vehicle 1 but the obstacle A
If the relative distance D of is sufficiently large or the relative velocity V is sufficiently small and there is sufficient margin before avoidance is required,
The belt tension control device 8 does not control to change the belt tension, and the buzzer drive circuit 7 does not drive the alarm buzzer 6, so that the current state is maintained.
【００３４】このように、本実施例の障害物対応装置に
おいては、障害度判断装置４により判断された障害物Ａ
の障害度に応じてシートベルト装置５のベルト張力を変
化させるので、運転者等はその障害度を体感的に認識す
ることができ、その認識を確実なものとすることができ
る。そして、運転者等は該障害度の認識により、障害物
Ａに対する回避処置等を迅速にとることができる。As described above, in the obstacle handling device of this embodiment, the obstacle A judged by the obstacle degree judging device 4 is used.
Since the belt tension of the seat belt device 5 is changed according to the degree of the obstacle, the driver or the like can perceive the degree of the obstacle and the recognition can be ensured. Then, the driver or the like can quickly take avoidance measures for the obstacle A by recognizing the obstacle degree.
【００３５】また、障害物Ａの障害度が高い程、シート
ベルト装置５のベルト張力を増加させて、衝突の事前に
ベルト９の身体への密着性を高めるので、万が一、障害
物Ａに衝突するようなことがあっても、運転者等の保護
性を高めることができる。Further, as the obstacle A has a higher degree of obstacle, the belt tension of the seat belt device 5 is increased to enhance the adhesion of the belt 9 to the body before the collision, so that the obstacle A should be collided. Even in such a case, the protection of the driver or the like can be enhanced.
【００３６】尚、本実施例の装置において、前記自動走
行制御装置１７は、自動走行モードを解除したときに、
ブザー駆動回路７を介して警報ブザー６を鳴らしめると
共に、シートベルト装置５の張力緩和機構１５によるベ
ルト張力の緩和を解除せしめる。これにより、運転者
は、警報ブザー６の警報音とシートベルト装置５のベル
ト張力の増加とにより聴覚的及び体感的に、自動走行モ
ードから手動走行モードに移行したことを確実に認識す
ることができ、これに応じて迅速に手動運転操作等を行
うことができる。In the apparatus of this embodiment, the automatic traveling control device 17 is
The alarm buzzer 6 is sounded via the buzzer drive circuit 7 and the relaxation of the belt tension by the tension relaxation mechanism 15 of the seat belt device 5 is released. As a result, the driver can surely recognize that the automatic traveling mode has been switched to the manual traveling mode audibly and sensibly by the alarm sound of the alarm buzzer 6 and the increase in the belt tension of the seat belt device 5. Therefore, it is possible to perform a manual driving operation or the like promptly.
【００３７】[0037]
【発明の効果】上記の説明から明らかなように、本発明
によれば、障害物検出手段により検出された障害物の自
己車両に対する障害度を障害度判断手段により判断し、
その判断された障害度に応じてシートベルト装置のベル
ト張力をベルト調整手段により変化せしめることによっ
て、障害物の障害度を車両の乗員が体感的に知覚するこ
とができ、これにより障害物の障害度の乗員への報知を
確実なものとすることができると共に、その障害物に対
する回避処置等を乗員に迅速に促すことができる。そし
て、このとき、障害度が高いほど、ベルト張力を増加さ
せるので、障害物に対する乗員の保護を、該障害物への
衝突等が生じる事前の段階で図ることができ、乗員の保
護性を高めることができる。As is apparent from the above description, according to the present invention, the obstacle degree judging means judges the obstacle degree of the obstacle detected by the obstacle detecting means with respect to the own vehicle,
By changing the belt tension of the seat belt device by the belt adjusting means according to the determined degree of obstacle, the occupant of the vehicle can perceptually perceive the degree of obstacle of the obstacle. The occupant can be reliably notified of the degree, and the occupant can be promptly instructed to avoid the obstacle. Further, at this time, the belt tension increases as the degree of obstacle increases, so that the protection of the occupant against the obstacle can be achieved at a stage before a collision with the obstacle occurs and the protection of the occupant is enhanced. be able to.
【００３８】また、障害物検出手段により障害物の自己
車両に対する相対距離及び相対速度を検出するときに
は、その相対距離及び相対速度により、該障害物の自己
車両に対する接近状態を把握することができるので、こ
れにより、該障害物の障害度を実際の状況に対応させて
的確に判断することができ、従って、障害度に応じたベ
ルト張力の変化による乗員への報知と乗員の保護とを的
確に行うことができる。Further, when the obstacle detecting means detects the relative distance and the relative speed of the obstacle with respect to the own vehicle, the approaching state of the obstacle with respect to the own vehicle can be grasped by the relative distance and the relative speed. Thus, it is possible to accurately judge the obstacle degree of the obstacle in accordance with the actual situation, and accordingly, to accurately notify the occupant and protect the occupant by the change of the belt tension according to the obstacle degree. It can be carried out.
【００３９】また、ベルト調整手段によるシートベルト
装置のベルト張力の増加を、障害物の障害度が回避の必
要な回避必要障害度以上であるときに行うことにより、
障害物の障害度の乗員への報知と、ベルト張力の増加に
よる乗員の保護とを必要に応じた的確なタイミングで行
うことができる。Further, the belt tension of the seat belt device is increased by the belt adjusting means when the obstacle degree is equal to or higher than the avoidance necessary obstacle degree which is required to be avoided.
It is possible to notify the occupant of the obstacle degree of the obstacle and protect the occupant by increasing the belt tension at an appropriate timing as necessary.
【００４０】この場合、障害物の障害度が前記回避必要
障害度になったときに、シートベルト装置に備えられた
張力緩和機能を解除してベルト張力を増加せしめること
により、乗員への報知と乗員の事前的な保護とを既存の
装備を用いて簡単に行うことができる。In this case, when the obstacle degree of the obstacle reaches the avoidance obstacle degree, the occupant is notified by releasing the tension relieving function provided in the seat belt device to increase the belt tension. Preliminary protection of the occupant can be easily achieved using existing equipment.
【００４１】また、回避必要障害度以上の障害度でベル
ト張力を増加せしめるに際して、該回避必要障害度以上
の障害度を該回避必要障害度とそれよりも高い回避の不
能な回避不能障害度とに類別し、該回避不能障害度で
は、シートベルト装置のベルト引き込み機能を作動させ
て該ベルトを最大限に引き込ませることにより、障害物
との衝突に対する乗員の保護を衝突前に図ることがで
き、障害物との衝突に対する乗員の保護性を高めること
ができる。Further, when the belt tension is increased with the obstacle degree higher than the avoidance obstacle degree, the obstacle degree higher than the avoidance obstacle degree is the avoidance necessary obstacle degree and the higher avoidance impossible obstacle degree which cannot be avoided. In the unavoidable obstacle degree, the belt retracting function of the seat belt device is activated to pull the belt to the maximum extent, thereby protecting the occupant against the collision with the obstacle before the collision. It is possible to enhance the protection of the occupant against a collision with an obstacle.
【００４２】また、回避必要障害度未満の障害度におい
ては、該回避必要障害度未満の障害度を回避が望ましい
予備回避障害度と該予備回避障害度未満の障害度とに類
別し、該予備回避障害度において、聴覚的または視覚的
な警報を発することにより、障害物の障害度が回避の必
要な回避必要障害度に達する事前の段階で、障害物の回
避を乗員に促すことができ、これにより、乗員は障害度
が回避必要障害度になる前の事前的な対応を余裕をもっ
てとることができる。Further, in the case of the degree of obstacle less than the degree of obstacle required to avoid, the degree of obstacle less than the degree of obstacle required to avoid is classified into a preliminary avoidance obstacle degree for which avoidance is desirable and a degree of obstacle lower than the preliminary avoidance obstacle degree, and By issuing an audible or visual alarm at the avoidance obstacle level, it is possible to prompt the occupant to avoid the obstacle at a stage before the obstacle level reaches the avoidance required obstacle level, which is necessary for avoidance. As a result, the occupant can take a priori action before the obstacle level becomes the avoidance-needed obstacle level.
【図１】本発明の車両の障害物対応装置の一例のシステ
ム構成図。FIG. 1 is a system configuration diagram of an example of a vehicle obstacle handling device of the present invention.
【図２】図１の装置の作動を説明するための説明図。FIG. 2 is an explanatory diagram for explaining the operation of the apparatus of FIG.
【図３】図１の装置の作動を説明するためのフローチャ
ート。3 is a flow chart for explaining the operation of the apparatus of FIG.
１…車両、２…障害物検出手段、４…障害度判断手段、
５…シートベルト装置、９…ベルト、１０…警報手段、
１６…ベルト調整手段。1 ... Vehicle, 2 ... Obstacle detecting means, 4 ... Obstacle degree judging means,
5 ... Seat belt device, 9 ... Belt, 10 ... Warning means,
16 ... Belt adjusting means.
Claims (6)
害物検出手段と、該障害物検出手段により検出された障
害物の自己車両に対する障害度を判断する障害度判断手
段と、装着時のベルト張力を調整可能なシートベルト装
置と、前記障害度判断手段により判断された障害度が高
い程、前記シートベルト装置のベルト張力が大きくなる
ように該障害度に応じて該シートベルト装置のベルト張
力を増加せしめるベルト調整手段とを備えたことを特徴
とする車両の障害物対応装置。1. An obstacle detecting means for detecting an obstacle existing around a vehicle, a obstacle degree judging means for judging a degree of obstacle of the obstacle detected by the obstacle detecting means with respect to the own vehicle, and when mounted. Seatbelt device capable of adjusting the belt tension of the seatbelt device and the seatbelt device of the seatbelt device according to the degree of the obstacle so that the belt tension of the seatbelt device increases as the degree of obstacle judged by the obstacle degree judging means increases. An obstacle handling device for a vehicle, comprising: a belt adjusting means for increasing a belt tension.
害物の自己車両に対する相対距離及び相対速度を検出す
る手段を備え、前記障害度判断手段は該障害物検出手段
により検出された前記障害物の相対距離及び相対速度に
基づいて該障害物の障害度を判断することを特徴とする
請求項１記載の車両の障害物対応装置。2. The obstacle detecting means includes means for detecting at least a relative distance and a relative speed of the obstacle with respect to the own vehicle, and the obstacle degree judging means detects the obstacle detected by the obstacle detecting means. 2. The obstacle handling device for a vehicle according to claim 1, wherein the obstacle degree of the obstacle is judged based on the relative distance and the relative speed of the obstacle.
害度を前記障害物の回避が必要な回避必要障害度以上の
障害度と該回避必要障害度未満の障害度とに類別して判
断する手段を備え、前記ベルト調整手段は前記障害度判
断手段により前記障害度が前記回避必要障害度以上の障
害度であると判断されたときに該障害度に応じて前記シ
ートベルト装置のベルト張力を増加せしめることを特徴
とする請求項１記載の車両の障害物対応装置。3. The failure level judgment means classifies at least the failure level into a failure level equal to or higher than the avoidance necessary failure level and a failure level less than the avoidance necessary failure level for avoiding the obstacle. The belt adjusting means adjusts the belt tension of the seat belt device according to the degree of obstacle when the degree of obstacle is judged by the degree of obstacle judging means to be a degree of obstacle more than the avoidance necessary obstacle degree. The obstacle handling device for a vehicle according to claim 1, wherein the obstacle handling device is increased.
のベルト張力を緩和する張力緩和機能を有するシートベ
ルト装置であって、前記ベルト調整手段は、前記障害度
判断手段により前記障害度が前記回避必要障害度である
と判断されたときに前記張力緩和機能を解除することに
より該シートベルト装置のベルト張力を増加せしめるこ
とを特徴とする請求項３記載の車両の障害物警報装置。4. The seatbelt device is a seatbelt device having a tension relieving function for relieving the belt tension when the seatbelt is normally worn, and the belt adjusting means determines the degree of failure by the failure degree determining means. 4. The obstacle warning device for a vehicle according to claim 3, wherein the belt tension of the seat belt device is increased by canceling the tension relaxation function when it is determined that the obstacle level is an avoidance requirement.
時にベルトを最大限に引き込むベルト引き込み機能を有
するシートベルト装置であって、前記障害物判断手段
は、前記回避必要障害度以上の障害度を該回避必要障害
度と、該回避必要障害度よりも高く前記障害物の回避が
不能な回避不能障害度とに類別して判断する手段を備
え、前記ベルト調整手段は、前記障害度判断手段により
前記障害度が前記回避不能障害度であると判断されたと
きに前記ベルト引き込み機能を作動せしめることにより
該シートベルト装置のベルト張力を増加せしめることを
特徴とする請求項３記載の車両の障害物対応装置。5. The seatbelt device is a seatbelt device having a belt retracting function for maximally retracting a belt in the event of a collision of the vehicle, wherein the obstacle judging means has a degree of obstruction equal to or higher than the avoidance obstruction level. And a means for determining the degree of unavoidable obstacle and an unavoidable degree of obstacle that is higher than the degree of unavoidable obstacle and incapable of avoiding the obstacle, and the belt adjusting means includes the obstacle degree determining means. The obstacle of the vehicle according to claim 3, wherein the belt tension of the seat belt device is increased by activating the belt retracting function when it is determined that the obstacle degree is the unavoidable obstacle degree. Equipment for objects.
度未満の障害度を前記障害物の回避が望ましい予備回避
障害度と該予備回避障害度未満の障害度とに類別して判
断する手段を備え、該障害度判断手段により前記障害度
が前記予備回避障害度であると判断されたときに聴覚的
又は視覚的な警報を発する警報手段を具備したことを特
徴とする請求項３記載の車両の障害物対応装置。6. The failure level determination means classifies the failure level less than the avoidance required failure level into a preliminary avoidance failure level at which it is desirable to avoid the obstacle and a failure level less than the preliminary avoidance failure level. 4. An alarming means for providing an audible or visual alarm when the obstacle degree judging means judges that the obstacle degree is the preliminary avoidance obstacle degree. Vehicle obstacle handling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5228380A JP3046186B2 (en) | 1993-09-14 | 1993-09-14 | Vehicle obstacle handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5228380A JP3046186B2 (en) | 1993-09-14 | 1993-09-14 | Vehicle obstacle handling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0781520A true JPH0781520A (en) | 1995-03-28 |
| JP3046186B2 JP3046186B2 (en) | 2000-05-29 |
Family
ID=16875564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5228380A Expired - Lifetime JP3046186B2 (en) | 1993-09-14 | 1993-09-14 | Vehicle obstacle handling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3046186B2 (en) |
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| JPH09132113A (en) * | 1995-09-08 | 1997-05-20 | Takata Kk | Occupant restricting protective system of vehicle |
| JPH09175327A (en) * | 1995-12-27 | 1997-07-08 | Nippon Seiko Kk | Vehicle safety devices |
| JPH1120606A (en) * | 1997-07-01 | 1999-01-26 | Mitsubishi Electric Corp | Occupant restraint |
| JPH11334437A (en) * | 1998-05-22 | 1999-12-07 | Mazda Motor Corp | Occupant protector for vehicle |
| JP2000006759A (en) * | 1998-06-22 | 2000-01-11 | Nippon Seiko Kk | Vehicle occupant restraint system |
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| WO2003080405A3 (en) * | 2002-03-22 | 2003-12-11 | Bosch Gmbh Robert | Method and device for actuating a restraining means in a vehicle |
| US6758495B2 (en) | 2000-02-04 | 2004-07-06 | Daimlerchrysler Ag | Method and safety restraint device for restraining an occupant on a vehicle seat |
| WO2004065182A1 (en) * | 2003-01-24 | 2004-08-05 | Honda Motor Co., Ltd. | Seatbelt apparatus |
| JP2004224182A (en) * | 2003-01-22 | 2004-08-12 | Nsk Autoliv Co Ltd | Occupant restraining and protecting device for vehicle |
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| JP2005041465A (en) * | 2003-01-24 | 2005-02-17 | Honda Motor Co Ltd | Vehicle travel safety device |
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| US8880296B2 (en) | 1994-05-23 | 2014-11-04 | American Vehicular Sciences, LLC | Techniques for improving safe operation of a vehicle |
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