KR200234000Y1 - apparatus for detecting an obstacle in a vehicle - Google Patents

Abstract

And a radio wave receiving device having radio wave transmitting means for transmitting radio waves directed toward the direction of travel of a vehicle, and reflected wave receiving means for receiving reflected waves reflected from an object in which the radio wave transmitted from the radio wave transmitting means is present in the direction of travel. A front obstacle recognition apparatus for a vehicle that recognizes a front obstacle present in a moving direction of a vehicle based on a detection result of the radio wave receiving apparatus, so that only an object that is a obstacle in the progress of the vehicle can be recognized as a front obstacle.

Relative distance calculating means for calculating a relative distance between an object present in the traveling direction of the vehicle based on the detected value of the vehicle speed detecting means 7 detecting the vehicle speed of the vehicle and the detection result of the radio wave receiving apparatus 1 Based on the calculation value of (5) and the calculation value of the overlap value calculating means 6 which calculated the overlap value of the car and the object in the vehicle width direction based on the detection result of the radio wave receiving apparatus 1, the front obstacle The judging means 8 determines whether or not the object detected by the radio wave receiving apparatus 1 is a front obstacle.

Description

Apparatus for detecting an obstacle in a vehicle}

The present invention provides a radio wave receiving device having a radio wave transmitting means for transmitting an electric wave toward a traveling direction of a vehicle, and a reflected wave receiving means for receiving a reflected wave reflected from an object in which the radio wave transmitted from the electric wave transmitting means is present in the traveling direction. And recognizing the front obstacle present in the direction of travel of the vehicle based on the detection result of the radio wave receiving apparatus.

Conventionally, for example, as shown in Japanese Patent Application Laid-open No. Hei 8-240660 and Japanese Patent Laid-Open No. Hei 6-160510, the radio wave of a laser beam is transmitted toward the vehicle forward direction and at the same time, On the basis of the detection result of the radio wave receiving apparatus that receives the reflected wave from the object in front of the traveling direction, the front obstacle present in the front of the traveling direction of the vehicle is recognized, and according to the recognition result, the driver may perform the avoiding operation. It is known that the above braking operation is automatically performed to generate an alarm or to avoid collision with a front obstacle.

However, such a conventional recognition device does not take into account the overlapping value of the vehicle and the object in the vehicle width direction, and thus, even if the overlapping value of the object is actually avoidable by the steering operation, the alarm or the collision avoidance is recalled. There is a possibility that the frequency of operation of the above device is increased, or a malfunction occurs, in order to avoid the collision with the front obstacle by performing an automatic braking.

The present invention has been made in view of the situation to be applied, and an object of the present invention is to provide a front obstacle recognition device for a vehicle which enables to recognize only an object that is a obstacle in the progress of a vehicle as a front obstacle.

1 is a block diagram showing the configuration of the front obstacle recognition device of the same vehicle.

2 is a diagram showing the relative relationship between the preceding vehicle and the vehicle, which are front obstacles.

3 is a diagram above to explain an avoidable distance in a state where the preceding vehicle is stopped.

4 is the above-mentioned figure explaining the avoidable distance when the preceding vehicle is running at a constant speed.

5 is a diagram illustrating an alarm and automatic braking timing according to a distance between an object and a vehicle existing in a driving direction of a vehicle.

6 is a view showing the avoidable distance by the steering operation and the brake operation.

* Description of the symbols for the main parts of the drawings *

1 ... Radio receiver 2 ... Radio transmitter

3.Reflection plate receiving means 5 ... Relative distance calculation means

6. Nesting value calculation means 7 Vehicle speed detection means

8 ... Forward obstacle judging means 9 ... Warning means

10 ... braking signal output means 11 ... distance calculator

In order to achieve the above object, the present invention is a radio wave transmission means for transmitting the radio wave toward the direction of travel of the vehicle, and the reflection wave reception receiving the reflected wave reflected from the object that the radio wave transmitted from the corresponding radio wave transmission means in the direction of travel In the vehicle front obstacle recognition device having a radio wave reception device having a means and recognizing the front obstacle present in the traveling direction of the car based on the detection result of the radio wave reception device, the vehicle speed detection of detecting the vehicle speed of the car Means and a relative distance calculating means for calculating a relative distance between the object existing in the traveling direction of the vehicle based on the detection result of the radio wave receiving apparatus; and a vehicle in the vehicle width direction of the vehicle based on the detection result of the radio wave receiving apparatus. And a superimposition value calculating means for calculating a superimposition value of the object, and the inspection of the vehicle speed detecting means. And to align the values relative distance computing means of the calculated value and the overlap value calculation means that the object detected in the wave receiving device the front obstacle is judged whether or not the front obstacle determination means based on the calculated value to the first aspect.

According to the configuration of the first feature, among the objects detected by the radio wave receiving apparatus, the front obstacle is based on the vehicle speed of the vehicle, the overlapping value of the vehicle and the object in the vehicle width direction, and the relative distance between the vehicle and the object. By judging whether or not the superposition value is relatively small and the relatively large relative distance is not recognized as the front obstacle, it is possible to recognize only the object which is a obstacle in the progress of the vehicle as the front obstacle.

According to a second aspect of the present invention, there is provided a warning means in which a warning operation is performed in accordance with the configuration of the first feature, wherein the front obstacle determination means determines that the front obstacle is a front obstacle. Is recognized as a front obstacle and the driver can be warned in advance that there is a possibility that the control that avoided the collision with the front obstacle has been executed, so that the driver does not feel burden even when the avoidance control is executed.

The present invention provides a braking output of a signal for operating the automatic braking apparatus based on the configuration of the first or second feature, even when the front obstacle determining means determines that the object detected by the radio wave receiving apparatus is a front obstacle. The third feature includes a signal output means, and the above-mentioned automatic braking can be performed at an accurate timing to avoid collision with the recognized front obstacle.

According to the present invention, the distance required between the object and the object is determined because the front obstacle determining means avoids the object detected by the radio wave receiving apparatus based on the steering operation of the driver. And a distance calculating section calculated on the basis of the detected value of the vehicle speed detecting means, the calculated value of the overlapping value calculating means, and the calculated value of the relative distance calculating means. The distance based on the control avoiding the front obstacles can be accurately calculated based on the overlap value, the vehicle speed of the car, and the relative distance to the front object, so that the control necessary for avoiding collision with the object existing in the direction of travel is established. It is possible to avoid being done blindly.

The distance calculation unit according to the fourth aspect is a relative speed with the object requested based on the detected value of the vehicle speed detecting means and the calculated value of the relative distance calculating means, and the calculated value of the overlapping value calculating means. It is preferable that the distance should be calculated and configured based on the time the vehicle has moved in the horizontal direction by the steering operation.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described based on one Example of this invention shown in an accompanying drawing.

1 to 6 show one embodiment of the present invention, FIG. 1 is a block diagram showing the configuration of an apparatus for recognizing a front obstacle of a vehicle, and FIG. 2 is a diagram showing the relative relationship between the preceding vehicle and the vehicle as a front obstacle. Figure 3 illustrates the avoidable distance in the state where the preceding vehicle is stopped. Figure 4 illustrates the avoidable distance when the preceding vehicle is traveling at a constant speed. FIG. 6 is a diagram illustrating an alarm and automatic braking timing according to a distance between an object and a vehicle present in a traveling direction of FIG. 6, and FIG. 6 is a diagram illustrating an avoidable distance by a steering operation and a brake operation.

First, in Fig. 1, for example, all of the automobiles not shown are equipped with a radio wave receiver 1 capable of detecting an object in front of the vehicle's traveling direction, and the radio wave receiver 1 is a vehicle. The radio wave transmitting means 2 which transmitted the laser or the electric wave of 1-10 millimeters, etc. toward the front direction, and the laser wave transmitted from the said electric wave transmitting means 2 reflect the reflected wave reflected from the object ahead of the said propagation direction. It is equipped with the received reflection wave receiving means 3, and the object identification means 4 which identified the object which exists ahead of the advancing direction of a vehicle based on the reception result of the reflection wave receiving means 3.

The detection result by this radio wave reception apparatus 1 is input to the relative distance calculating means 5 and the overlapping value calculating means 6. And the relative distance calculating means 5 calculates the relative distance in the direction according to the traveling direction of the vehicle between the object existing in front of the traveling direction of the automobile and the automobile, and the overlapping value calculating means 6 is the automobile The superposition value of the car and the object in the vehicle width direction is calculated.

The calculated value of the relative distance calculating means 5 and the overlapping value calculating means 6, and the detected value of the vehicle speed detecting means 7 which has detected the vehicle speed of the automobile are input to the front obstacle determining means 8, In the obstacle determination means 8, the overlapping value of the vehicle and the object in the vehicle width direction of the vehicle is relatively small, and the object having a relatively large relative distance between the vehicle and the object is not recognized as a front obstacle, so that the overlapping value is relatively large and the An object having a relatively small relative distance is determined as a front obstacle.

Here, as shown in FIG. 2, assuming that an object, for example, a preceding vehicle, which is present in front of the traveling direction of the vehicle is stopped, when the vehicle and the preceding vehicle overlap only Δy in the vehicle width direction of the vehicle, As shown in FIG. 2, when only the said overlap value (DELTA) y moves a car to a horizontal direction by a steering operation, and avoids a preceding car, the car advances only x in the advancing direction in the meantime. Therefore, since the preceding vehicle is avoided by the steering operation, the distance X b of the limit required for the vehicle and the preceding vehicle is

X b = x ----------- (1)

It becomes

On the other hand, assuming that the preceding vehicle is traveling at the same speed at the vehicle speed V 1, the distance X b avoids the preceding vehicle, so that the time that the vehicle moves laterally with respect to the overlap value Δ by the steering operation is T d. When the preceding vehicle is avoided by the steering operation, the distance Xb of the limit required for the vehicle and the preceding vehicle is equal to X a (= V) as shown in FIG. Since only 1 × T d) moves forward,

X b = x-X a = x-V 1 × T d ---- (2)

Is expressed.

Here, the distance x the vehicle advances in the traveling direction when only the overlap value Δy is moved in the horizontal direction by the steering operation and the preceding vehicle is avoided is equal to the distance ahead of the traveling direction between the time T d and the vehicle. Since there is almost no difference in the distance traveled,

x = V × T d -------- (3)

It is possible to consider. Then, substituting Equation (3) into Equation (2),

Xb = (V × T d)-V 1 × T d = (V-V1) × T d --- (4)

Can be obtained.

Here, the time T d is a time when only the overlap value Δy is moved laterally by the steering operation, and is determined by the capability of the vehicle. Therefore, since the time T d is calculated or measured in advance for each car in advance, the time T d is determined according to the overlap value Δy. The speed V 1 of the preceding vehicle can be calculated according to the relative speed of the preceding vehicle and the vehicle speed V of the vehicle based on the amount of change in the relative distance between the vehicle and the preceding vehicle.

The front obstacle determining means 8 is a superimposition value obtained by the overlap value calculating means 6, a relative distance obtained by the relative distance calculating means 5, and a vehicle speed obtained by the vehicle speed detecting means 7. Based on the vehicle speed V, since the object detected by the radio wave receiver 1 is avoided based on the steering operation of the driver, the distance calculation unit 11 that calculates the distance X b of the limit required between the object and the object. ) And the first set distance X b1 determined based on the distance X b obtained by the distance calculation unit 11 and the relative distance obtained by the relative distance calculating means 5, or not. The second determination distance X b2 determined on the basis of the alarm determination unit 12 that determines the control unit 12, the distance X b obtained by the distance calculation unit 11, and the relative obtained by the relative distance calculation unit 5. Make automatic braking system by comparison with distance And a braking judgment unit 13 having judged whether or not it is the same, and on the basis of the fact that it is natural to issue an alarm in the alarm determination unit 12, the warning means 9 by voice or display is activated, The brake signal is output from the braking signal output means 10 to the automatic braking device when it is natural that the braking determination unit 13 makes the automatic braking operation operate.

The distance calculating section 11 calculates the distance X b based on the above equation (4), and requests based on the detected value of the vehicle speed detecting means 7 and the calculated value of the relative distance calculating means 5. The distance X b is calculated based only on the relative speed VV 1 to the object and the calculated value of the overlap value calculating means 6 based on the time T d of the vehicle moving in the lateral direction by the steering operation. .

Here, the second set distance X b2 is set larger than the limit distance X b in consideration of the operation delay of the automatic braking device, and the first set distance X b1 warns in advance before the operation of the automatic braking device. In order to operate the machine 9, it is set larger than the second set distance X b2, and the relationship between the respective distances X b, X b1 and X b2 is shown in FIG. 5.

Next, the operation of the present embodiment will be described. Among the objects detected by the radio wave receiving apparatus 1, the vehicle speed V of the vehicle, the overlap value Δy of the vehicle and the object in the vehicle width direction of the vehicle, and the relative distance between the vehicle and the object It is determined by the front obstacle judging means 8 based on whether or not the front obstacle is determined, and the obstacles in progress of the vehicle are prevented from recognizing the object as the front obstacle with a relatively small overlap value? Y and a relatively large relative distance. It is possible to recognize only an object as a front obstacle.

Further, since the front obstacle determining means 8 avoids the object detected by the radio wave receiving apparatus 1 based on the steering operation of the driver, the vehicle speed detecting means 7 determines the distance X b required between the object and the object. ) And a distance calculation unit 11 calculated based on the calculated value of the overlap value calculating means 6 and the calculated value of the relative distance calculating means 5, and the front obstacle present in the traveling direction of the vehicle. By accurately calculating the distance X b based on the control avoiding the above, it is possible to avoid the control necessary for avoiding collision with the object existing in the advancing direction.

In addition, when the front obstacle determination means 8 determines that the front obstacle exists in the forward direction by the alarm determination unit 12, the warning means 9 warns, and therefore, the warning means 9 exists in the travel direction of the vehicle. Recognizes an object as a forward obstacle and warns the driver in advance that there is a possibility that an automatic braking has been executed to avoid collision with the front obstacle, and even if the automatic braking operation is performed, There is no burden.

Further, in the front obstacle determination means 8, the braking signal is output from the braking signal output means 10 in accordance with the fact that the braking determination means 13 makes it possible to operate the automatic braking device, and accordingly the braking signal is output. Since the braking device works, it becomes possible to precisely timing the above-mentioned automatic braking to avoid collision with the recognized front obstacle.

At this time, since the collision with the front obstacle present in the advancing direction is avoided, when the driver performs the steering operation and the brake operation, the avoidance limit distance is different as shown in FIG. If the speed V becomes high, the width of the limit distance by the steering operation becomes short. Therefore, in the case where the automatic braking device is operated based on the second set distance X b2 based on X b, it may be difficult to avoid the front obstacle present in the traveling direction of the vehicle. While trouble is avoided, troublesome automatic braking is avoided for the driver.

As mentioned above, although the Example of this invention was described above, this invention is not limited to the said Example, A various design change is possible without deviating from this invention described in a claim.

For example, in the above embodiment, the time T d is determined only by the capability of the vehicle, but the road surface state in which the vehicle is running may be detected, and the time T d may be determined in advance according to the capability and the road situation of the vehicle. . When the distance between the object in front of the traveling direction and the vehicle reaches the distance Xb calculated by the distance calculating unit 11, the voice or display differs from the voice or display depending on the determination result by the alarm determining unit 12. It is also possible to activate the warning means 9.

In addition, the present invention is also applicable to a front obstacle recognition device for recognizing a front obstacle present on the rear side of the vehicle in the traveling direction.

With this configuration, the present invention is based on whether or not the front obstacle is based on the vehicle speed of the vehicle, the overlapping value of the vehicle and the object in the vehicle width direction, and the relative distance between the vehicle and the object among the objects detected by the radio wave receiver. By judging, it is possible to recognize only the object which becomes a obstacle in the progress of a vehicle as a front obstacle.

It is also possible to recognize in advance the object present in the direction of travel of the vehicle as a front obstacle and to notify the driver in advance that there is a possibility that the control that avoided the collision with the front obstacle has been executed. You will not feel the burden of an accident.

In addition, it becomes possible to perform the above-described automatic braking at an accurate timing to avoid collision with the recognized front obstacle.

Furthermore, the distance based on the control which avoided the front obstacle which exists in the traveling direction of a vehicle is computed correctly based on the said superposition value, the vehicle speed of a vehicle, and the relative distance with a front object, and exists in the said traveling direction. It is possible to avoid that control necessary for collision avoidance with the object to be performed is unconditionally performed.

Claims (1)

A radio wave transmitting means (2) which transmits radio waves directed toward the traveling direction of the vehicle, and a reflected wave receiving means (3) which receives reflected waves reflected from an object in which the radio wave transmitted from the radio wave transmitting means (2) exists in the traveling direction; In the front obstacle recognition device of a vehicle having a radio wave reception device (1) possessed, and recognizing the front obstacle present in the traveling direction of the vehicle based on the detection result of the radio wave reception device (1), A vehicle speed detecting means 7 which detects a vehicle speed of a vehicle, Relative distance calculating means (5) for calculating a relative distance with an object present in the traveling direction of the vehicle on the basis of the detection result of the radio wave receiving apparatus (1); Superposition value calculating means (6) for calculating superposition values of vehicles and objects in the vehicle width direction on the basis of the detection result of the radio wave receiving apparatus (1), On the basis of the detected value of the vehicle speed detecting means 7, the calculated value of the relative distance calculating means 5, and the calculated value of the overlapping value calculating means 6, an object detected by the radio wave receiver 1 is a front obstacle. Forward obstacle determining means (8) for determining whether or not; Braking signal output means 10 for outputting a signal for operating the automatic braking device when the front obstacle determining means 8 determines that the object detected by the radio wave receiving device 1 is a front obstacle, and the radio wave receiving device Avoiding the Object Detected in (1) Based on the Steering Operation of the Driver Recalling the distance required between the object and the detected value of the vehicle speed detecting means 7 and the overlapping value calculating means 6. And a distance calculator (11) calculated on the basis of a value and a calculated value of the relative distance calculating means (5).