JP2861679B2 - Collision judgment device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision judging device.

[0002]

2. Description of the Related Art FIG. 7 shows an example of a conventional apparatus.

Hereinafter, description will be given with reference to FIG.

In this device, when an abnormality detecting device detects a collision of the own vehicle by an ignition signal from an airbag ignition device 701, information such as the position of the own vehicle and the size of the collision is transmitted to an external device using a communication device 705. It reports to the bureau, which reports to the hospital or police that a vehicle collision has occurred.

[0005]

However, in such a conventional collision judging device, after a collision occurs in the own vehicle, a report is sent to an external communication station using a communication device mounted on the own vehicle. Therefore, if the communication device is destroyed in the event of a collision, communication becomes impossible and there is a problem that the device cannot function as a collision determination device.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and has as its object to provide a collision judging device capable of reliably reporting a vehicle collision.

[0007]

In order to achieve the above object, according to the present invention, at least the relative speed between the host vehicle and the front object and the distance between the host vehicle and the front object are set forth in the claim correspondence diagram of FIG. Calculating the proximity from the distance of the vehicle and outputting a first signal when the proximity exceeds a predetermined value; and detecting whether or not the vehicle has collided and outputting a second signal when there is no collision. The collision judging device is constituted by a collision avoidance detecting means for outputting and a judging means for judging that the collision has been avoided when the second signal is inputted after a lapse of a predetermined time from the input of the first signal.

[0008]

The proximity detecting means 101 detects the relative speed between the host vehicle and the front object and the distance from the host vehicle to the front object, and calculates the proximity from the distance and the relative speed. When the value exceeds a predetermined value, a first signal is output. The collision avoidance detecting means 103 detects whether or not a collision has occurred with the own vehicle, and when the collision has not occurred with the own vehicle, the second
The signal of is output. When the first signal is inputted from the proximity detecting means 101, the judging means 105 waits for a predetermined time and then confirms whether the second signal has been inputted from the collision detecting means and is inputted. For example, it is determined that the vehicle has avoided the collision, and if the second signal is not input, it is determined that the collision has occurred in the vehicle.

[0009]

FIG. 2 is a block diagram showing the configuration of a first embodiment of the present invention.

First, the configuration will be described with reference to FIG.
(The forward object described in claim 1 will be hereinafter described as a forward vehicle.) 201 is a vehicle speed sensor that outputs a pulse signal having a cycle corresponding to the vehicle speed Vf of the own vehicle.

Reference numeral 203 denotes a light transmitting unit for transmitting laser light from the own vehicle to the vehicle in front, a light receiving unit for receiving the transmitted laser light, and a laser light after transmitting the laser light from the light transmitting unit. Is a laser radar head comprising a calculation circuit for calculating and outputting the distance L between the host vehicle and the preceding vehicle based on the time until the light is received by the light receiving unit.

Reference numeral 205 denotes an own-vehicle position detecting device which detects and outputs the position of the own vehicle based on radio waves transmitted from an artificial satellite, for example.

Reference numeral 207 denotes a failure detection device as collision avoidance detection means, which detects the presence or absence of a failure in each equipment of the vehicle (for example, a headlamp, an alternator, etc.) and, if a failure is detected, a signal indicating the failure. Is output, and if there is no failure, a signal indicating no failure is output.

Reference numeral 211 denotes an automobile telephone mounted on the vehicle.

Reference numeral 209 denotes necessary information based on signals from the vehicle speed sensor 201, the laser radar head 203, the own vehicle position detecting device 205, and the failure detecting device 207 via an automobile telephone 211 to an external communication station (for example, police). Station, fire department, etc.).

FIG. 3 is a flowchart showing the operation of the microcomputer 309. The operation of the microcomputer 309 will be described below with reference to FIG.

First, at step 300, the vehicle speed Vf is calculated from the pulse signal output from the vehicle speed sensor 201.

In step 305, the distance Ln (n is the number of received light = 1, 2,...) Between the host vehicle and the preceding vehicle detected by the laser radar head 203 is read.
In step 310, the relative speed V between the host vehicle and the preceding vehicle is calculated by dividing a value Ln-1-Ln obtained by subtracting the previously read distance Ln-1 from the distance Ln by the measurement interval time Δt of the laser radar head 203. Calculate.

In step 315, step 300
The speed Va of the preceding vehicle is calculated by adding the relative speed V calculated in step 310 to the vehicle speed Vf calculated in.

In step 320, a collision probability number D indicating the degree of approach is calculated from the following equation.

D = Vf · T + Vf2 / (2α)
-Va2 / (2β) Here, α is the braking limit performance of the own vehicle, and β is the braking limit performance of the preceding vehicle. However, since it greatly changes depending on the type of vehicle, road surface conditions, loading conditions, and the like, appropriate It is necessary to determine α (and β). T is the idle running time, which largely depends on the reaction time and judgment time of each driver, but is generally about 1 second.

In step 325, a threshold value d for comparison with D is calculated from the following equation.

D = γVf Here, the coefficient γ is a coefficient related to the braking force of the vehicle, and the braking force of the vehicle varies greatly depending on the type of vehicle and the loading conditions, so that it is necessary to determine an appropriate γ for each vehicle. . (Vehicle speed sensor 201 and laser radar head 203
, The microcomputer 209, the step 300, the step 305, the step 310, the step 315, and the step 320 constitute an approach detecting means)
In 30, it is determined whether or not the number of possible collisions D calculated in step 320 exceeds the threshold value d calculated in step 325. When the number of possible collisions D does not exceed the threshold value d, that is, when it is determined that no collision occurs in the own vehicle, the process returns to step 300. If it is determined that the number D of possible collisions exceeds the threshold value d, that is, if it is determined that a collision occurs in the own vehicle, the process proceeds to step 335.

In step 335, collision information as a rescue signal is reported to an external communication station. In particular,
First, the mobile phone 211 is connected to the call function of the mobile phone 211 so that the mobile phone 211 is in an on-hook state.
Dial the number of the external communication station stored in the memory in. When the car telephone 211 received the call start signal transmitted from the external communication station, it was confirmed that the car telephone 211 was connected to the external communication station, and a collision occurred between the vehicle position signal and the host vehicle. And a signal to the effect. After confirming the end of the transmission (for example, confirming that the signal of the vehicle position and the signal indicating that the collision of the own vehicle has been transmitted three times), the call is ended.

In step 340, the process waits for a predetermined time, for example, 2 seconds, and proceeds to step 345.

In step 345, it is determined whether or not a signal indicating a failure of each equipment of the vehicle is received from the failure detection device. If a signal indicating a failure is input (unless a signal indicating no failure is input), a failure has occurred in the equipment of the vehicle, that is, a collision has occurred, and the processing of the flowchart is ended. If a signal indicating no failure is received from the failure detection device, it is determined that collision has been avoided, the process proceeds to step 350, a signal indicating that collision has been avoided is transmitted, and the process returns to step 300. As for the transmission of the avoidance information, similarly to the transmission of the collision information in step 335, a signal indicating the vehicle position and a signal indicating that the collision has been avoided are transmitted using the automobile telephone 321.
(The microcomputer 209, step 325, step 330, step 340, and step 345 constitute a determination means.) After receiving the rescue signal, the external communication station waits for a predetermined time, for example, 2 seconds, to avoid collision. If a signal indicating that the vehicle has not been received is not received, information on the position of the vehicle and information indicating that a collision of the vehicle has occurred is reported to the emergency center and the police.

In the first embodiment, since a collision of a vehicle is predicted and a notification of the collision of the vehicle is sent to an external communication station before the collision of the vehicle, the communication can be reliably sent to the external communication station. In addition, when the avoidance signal is received, the external communication station can know that no collision has occurred. Further, since the car telephone 211 is used for reporting to an external communication station, there is an advantage peculiar to this embodiment that the cost can be reduced without the necessity of newly installing a communication device.

It should be noted that even if the functions of steps 340, 345 and 350 are provided to an external communication station,
The effects of the present invention according to the first embodiment can be obtained. That is, the external communication station waits for two seconds after receiving the rescue signal from the vehicle, and detects whether a signal indicating a failure of each device of the vehicle has been received from the vehicle failure detection device 207,
If the signal does not enter, it is determined that no collision has occurred in the vehicle. If the signal is present, it is determined that a collision has occurred in the vehicle, and the emergency center and the police may be notified.

FIG. 4 is a block diagram showing the configuration of a second embodiment of the present invention.

First, the configuration will be described with reference to FIG.
(The forward object described in claim 1 is hereinafter described as a forward vehicle.) Reference numeral 401 denotes a vehicle speed sensor that outputs a pulse signal having a cycle corresponding to the vehicle speed Vf of the own vehicle.

Reference numeral 403 denotes a light transmitting unit for transmitting laser light from the own vehicle to the preceding vehicle, a light receiving unit for receiving the transmitted laser light, and a laser light transmitted from the light transmitting unit and transmitted. Is a laser radar head comprising a calculation circuit for calculating and outputting the distance L between the host vehicle and the preceding vehicle based on the time until the light is received by the light receiving unit.

Reference numeral 405 denotes an own-vehicle position detecting device which detects and outputs the position of the own vehicle based on radio waves transmitted from an artificial satellite, for example.

Reference numeral 407 denotes a failure detection device as collision avoidance detection means, which detects the presence or absence of a failure in each equipment (for example, a headlamp, an alternator, etc.) of the vehicle and, if a failure is detected, a signal indicating the failure. Is output, and if there is no failure, a signal indicating no failure is output.

Reference numeral 411 denotes a transmitter mounted on the vehicle, which always transmits information indicating no failure to the receiver 413 when a signal indicating no failure of vehicle equipment is input.

A transmitter 409 transmits necessary information based on signals from the vehicle speed sensor 401, the laser radar head 403, the own vehicle position detecting device 405, and the failure detecting device 407.
11 is a microcomputer A mounted on a vehicle that performs control for transmission from the microcomputer 11.

Reference numeral 413 denotes a receiver provided at a communication station outside the vehicle, for receiving and outputting information transmitted from the transmitter 411.

415 receives the signal output from the receiver 413 and determines whether a collision has occurred in the vehicle.
This is a microcomputer B provided in a communication station outside the vehicle.

FIG. 5 is a flowchart showing the operation of the microcomputer A409. The operation of the microcomputer A409 will be described below with reference to FIG.

First, at step 500, the vehicle speed Vf is calculated from the pulse signal output from the vehicle speed sensor 401.

In step 505, the distance Ln (n is the number of received light = 1, 2,...) Between the host vehicle and the preceding vehicle detected by the laser radar head 403 is read.
In step 510, the relative speed V between the host vehicle and the preceding vehicle is calculated by dividing the value Ln-1-Ln obtained by subtracting the previously read distance Ln-1 from the distance Ln by the measurement interval time Δt of the laser radar head 403. Calculate.

In step 515, step 500
The speed Va of the preceding vehicle is calculated by adding the relative speed V calculated in step 510 to the vehicle speed Vf calculated in.

In step 520, a collision probability number D indicating the degree of approach is calculated from the following equation.

D = Vf · T + Vf2 / (2α)
-Va2 / (2β) Here, α is the braking limit performance of the own vehicle, and β is the braking limit performance of the preceding vehicle. However, since it greatly changes depending on the type of vehicle, road surface conditions, loading conditions, and the like, appropriate It is necessary to determine α (and β). T is the idle running time, which largely depends on the reaction time and judgment time of each driver, but is generally about 1 second.

In step 525, a threshold value d for comparison with D is calculated from the following equation.

D = γVf Here, the coefficient γ is a coefficient related to the braking force of the vehicle. Since the braking force of the vehicle greatly changes depending on the type of vehicle and the loading conditions, it is necessary to determine an appropriate γ for each vehicle. .

In step 530, step 520
It is determined whether or not the number of possible collisions D calculated in step S5 exceeds the threshold value d calculated in step S525. When the number of possible collisions D does not exceed the threshold value d, that is, when it is determined that no collision occurs in the own vehicle, the process returns to step 500. When it is determined that the number of possible collisions D exceeds the threshold value d, that is, when it is determined that a collision occurs in the own vehicle,
Proceed to step 535.

In step 535, collision information as a collision signal (a signal indicating the position of the vehicle and a signal indicating that a collision has occurred in the host vehicle) is transmitted to a receiver installed in a communication station outside the vehicle.

All the above steps and vehicle speed sensor 401, laser radar head 403, vehicle position detecting device 405,
The microcomputer 409 and the transmitter 411 constitute an approach detecting means.

FIG. 6 is a flowchart showing the operation of the microcomputer B415 provided in the communication station outside the vehicle.

The operation of the microcomputer B 415 will be described below with reference to the drawings.

In step 600, it is determined whether collision information has been received. If the collision information has not been received, step 600 is repeated. If the collision information has been received, the process proceeds to step 605.

In step 605, the process waits for a predetermined time, for example, 2 seconds, and proceeds to step 610.

In step 610, it is determined whether or not a signal indicating that there is no failure in each equipment of the vehicle is transmitted from the vehicle that has transmitted the collision information. If a signal indicating no failure has been transmitted, it is determined that the vehicle has avoided the collision, and this flowchart ends. If the signal indicating that there is no failure has not been transmitted, it means that a failure has occurred in the equipment of this vehicle, that is, a collision has occurred. Therefore, the collision occurrence information is reported to the emergency center and the police station, and the processing of the flowchart is ended. (Step 610 and failure detection device 407
Transmitter 411, receiver 413, microcomputer B
In this second embodiment, since the collision of the vehicle is predicted and the information about the collision of the vehicle is transmitted to the communication station outside the vehicle before the collision of the vehicle, the second embodiment can be surely provided. Can be reported to any communication station. In addition, the communication station outside the vehicle can know that no collision has occurred when the signal indicating the failure of the vehicle is received.

[0054]

As described above, according to the present invention, a collision of a vehicle is predicted and information about the collision of the vehicle is transmitted to a communication station outside the vehicle before the collision of the vehicle. Can be reliably reported to an external communication station without the possibility that the vehicle is broken and cannot be reported to an external communication station.

[Brief description of the drawings]

FIG. 1 is a claim correspondence diagram for claim 1;

FIG. 2 is a block diagram showing a configuration of the first embodiment.

FIG. 3 is a flowchart showing the operation of the microcomputer of the first embodiment.

FIG. 4 is a block diagram showing a configuration of a second embodiment.

FIG. 5 is a flowchart showing the operation of the microcomputer A of the second embodiment.

FIG. 6 is a flowchart showing the operation of the microcomputer B of the second embodiment.

FIG. 7 is an image diagram showing a configuration of a conventional technique.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 101 ... Approach detection means 103 ... Collision avoidance detection means 105 ... Judgment means 201 ... Vehicle speed sensor 203 ... Laser radar head 205 ... Vehicle position detection device 207 ... Failure detection device 209 ... Microcomputer 211 ... Car telephone 401 ... Vehicle speed sensor 403 ... Laser radar head 405 Vehicle position detecting device 407 Fault detecting device 409 Microcomputer A 411 Transmitter 413 Receiver 415 Microcomputer B 701 Airbag ignition device 703 Abnormality sensing device 705 Communication device

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields investigated (Int. Cl. ⁶ , DB name) G01S 7/00-17/95 B60R 21/00 G08B 21/00 G08G 1/16

Claims (1)

(57) [Claims] An approach detecting means for calculating an approach based on at least a relative speed between a host vehicle and a forward object and a distance from the host vehicle to a forward object, and outputting a first signal when the approach exceeds a predetermined value. And detects whether or not the own vehicle has collided.
A collision avoidance detecting means for outputting a signal of the second type, and a second type after a lapse of a predetermined time from the input of the first signal.
A collision judging device for judging that the own vehicle has avoided the collision when the signal is inputted.