JP3028261B2 - Vehicle safety equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically causes a collision avoidance operation such as braking or steering of a vehicle when the distance between the vehicle and the preceding vehicle becomes small and a collision may occur. The present invention relates to a vehicle safety device.

[0002]

2. Description of the Related Art Conventionally, as described in, for example, Japanese Patent Application Laid-Open No. 2-237736, the inter-vehicle distance between a host vehicle and a preceding vehicle is set based on the host vehicle speed, a road surface friction coefficient (road surface μ), and the like. 2. Description of the Related Art There is known a vehicle safety device that automatically performs a collision avoiding operation such as braking when the distance becomes smaller than a safe inter-vehicle distance.

[0003] In such a vehicle safety device, the safety inter-vehicle distance is generally set such that as the road surface μ decreases, the safety inter-vehicle distance increases accordingly.

[0004]

As described above, in a vehicle safety device in which the safety inter-vehicle distance is changed according to the road surface μ, the safety inter-vehicle distance is reduced when the road surface μ is considerably small, that is, when the road surface μ is low. It will be quite large. However, in actual driving, the driver takes only the same or slightly larger inter-vehicle distance as the inter-vehicle distance in the case of the high road surface μ even in the case of the low road surface μ. In other words, there is a tendency that the inter-vehicle distance is not made sufficiently large accordingly.

[0005] Specifically, for example, during rainfall, the road surface μ becomes considerably small, and the above-mentioned safe inter-vehicle distance determined in accordance therewith becomes considerably large. Without increasing the distance between cars too much,
In many cases, it is only slightly longer than that during non-rainfall.

Accordingly, in a vehicle in which the safety inter-vehicle distance is simply set to be larger when the road surface μ becomes smaller as described above, the inter-vehicle distance in actual driving is larger than the set safe inter-vehicle distance, particularly when the road surface μ is low. There is a possibility that the collision avoidance operation such as braking is automatically performed frequently.

If such automatic collision avoidance operations occur frequently, the overall traffic flow on the road will be disturbed, and the driver will not be able to perform normal driving, which he or she judges to be safe. Often, mechanical driving intervention is performed, which causes a problem that the driver feels discomfort and has difficulty driving.

SUMMARY OF THE INVENTION In view of the above circumstances, it is an object of the present invention to ensure the correctness of driving safety as much as possible, and at the same time, to avoid the frequent occurrence of driving intervention by the above-mentioned machine and to prevent the traffic flow from being interrupted and the drivability from lowering. A vehicle safety device is provided.

[0009]

In order to achieve the above object, a vehicle safety device according to a first aspect of the present invention performs an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, and performs a collision avoiding operation. A collision avoidance inter-vehicle distance determining means for determining a collision avoidance inter-vehicle distance and increasing and determining the collision avoidance inter-vehicle distance based on the road surface friction coefficient so as to increase as the road surface friction coefficient decreases. A collision avoidance control means for performing a collision avoidance operation when the distance becomes smaller than the collision avoidance inter-vehicle distance, wherein the road surface friction coefficient is smaller than a predetermined value. In the case of, a correction limiting means for limiting an increase correction of the inter-collision avoidance inter-vehicle distance based on the road surface friction coefficient is provided.

In order to achieve the above object, a vehicle safety device according to a second aspect of the present invention includes an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, and a collision avoidance inter-vehicle distance for performing a collision avoidance operation. A collision avoidance inter-vehicle distance determining means for determining and determining the inter-collision avoidance distance based on the road surface friction coefficient so as to increase as the road surface friction coefficient decreases, and A collision avoidance control means for performing a collision avoidance operation when the distance is smaller than a distance, wherein at least when the road surface friction coefficient is a low road surface friction coefficient smaller than a predetermined value, The present invention is characterized by comprising a collision avoiding inter-vehicle distance reducing means for reducing a collision avoiding inter-vehicle distance in a low relative speed range where a relative speed with the vehicle is small.

In the first and second aspects of the present invention, there is provided rain detecting means, and when the rain detecting means detects a rainy state, the road surface μ is a low road surface μ of a predetermined value or less. Can be determined.

The limitation of the correction in the first aspect of the invention is that the distance between collision avoiding vehicles (corresponding to the above-mentioned safe distance between vehicles) is corrected to the distance between collision avoiding vehicles which would be obtained if the correction is directly performed without limiting the correction. It is not to be large, that is, to set a smaller inter-collision avoidance distance.Specifically, for example, when the above-mentioned predetermined value is 0.5, when the road surface μ is smaller than 0.5, when the road surface μ is all 0.5, If the road surface μ is 0.4, the distance between collision avoidance vehicles is set to 0.5, and if the road surface μ is 0.4, the distance between collision avoidance vehicles is not fixed. And a method of setting a collision avoidance inter-vehicle distance smaller than the collision avoidance inter-vehicle distance that would be obtained if the distance is not limited.

In the second aspect, "reducing the distance between collision avoiding vehicles in a low relative speed region where the relative speed with the preceding vehicle is small" means that the smaller the road surface μ is, the more the distance between collision avoiding vehicles is corrected. In the case of a low road surface μ, apart from the region where the relative speed is large, at least in the region where the relative speed is small, the collision avoidance inter-vehicle distance is set to be smaller than that originally corrected for increase. For example, normally, the collision avoidance inter-vehicle distance is determined based on the own vehicle speed and the road surface μ independently of the relative speed, and in the determination, the collision avoidance inter-vehicle distance is increased and corrected so as to be larger as the road surface μ is smaller. In the case of adopting the collision avoidance inter-vehicle distance determination mode, when the road surface is low μ, the relative speed is also considered, and the lower the relative speed, the more the collision avoidance inter-vehicle distance A method of changing to a collision avoidance inter-vehicle distance determination mode in which the distance is determined to be small can be cited.

[0014]

According to the vehicle safety device of the first aspect of the present invention, the collision avoidance inter-vehicle distance is increased and corrected when the road surface μ decreases, and when the road surface μ becomes a low road surface μ smaller than a predetermined value, the road surface μ is reduced. Of the collision avoidance inter-vehicle distance based on the vehicle is limited, so that the increase in the collision avoidance inter-vehicle distance on low road surface μ is suppressed, and as a result, the automatic collision avoidance operation caused by the large collision avoidance inter-vehicle distance on low road surface μ frequently occurs. Therefore, more accurate collision avoidance control is performed in consideration of the road surface μ, and in such a case, traffic flow obstruction due to frequent occurrence of the automatic collision avoidance operation at a low road surface μ and reduction in drivability are prevented. Can be.

According to the vehicle safety device of the second aspect of the present invention, the collision avoidance inter-vehicle distance is increased and corrected when the road surface μ is reduced, and at least when the road surface μ is smaller than a predetermined value, the low relative speed is reduced. The collision avoidance inter-vehicle distance in the area is reduced, so that the increase in the collision avoidance inter-vehicle distance at low road surface μ is suppressed at least in the low relative speed range,
An operation similar to that of the first aspect is achieved.

The second invention adopts the concept of reducing the collision avoidance inter-vehicle distance in comparison with the first invention, that is, the concept of limiting the increase correction, and performs it at least at a low relative speed. The present invention is characterized in that

In determining the collision avoidance inter-vehicle distance,
For example, in order to safely stop even if the preceding vehicle suddenly stops, such as in the case of a collision, there is a case where it is determined based on only the own vehicle speed without considering the relative speed,
In such a case, if the distance between the collision avoiding vehicles is increased and corrected as the road surface μ becomes smaller, the distance between the collision avoiding vehicles increases uniformly regardless of the relative speed. As a result, the driver considers the relative speed in actual driving. However, when the relative speed is low, the inter-vehicle distance tends to be small, and there is a possibility that the automatic collision avoidance operation may occur frequently especially in the low relative speed range. The second invention corresponds to, for example, such a case.

[0018]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the first invention. In the illustrated embodiment, when the road surface μ is smaller than a predetermined value, the correction of the increase in the inter-collision avoidance distance by the road surface μ is limited.

The illustrated embodiment includes an inter-vehicle distance detecting means 2 for detecting an inter-vehicle distance L ₁ between the preceding vehicle and the own vehicle, an own vehicle speed detecting means 4 for detecting an own vehicle speed V ₀ , a relative speed detecting means 6 for detecting the relative velocity V ₁ of the host vehicle, and the road surface mu detecting means 8 for detecting a road surface friction coefficient (road surface mu), in the above vehicle speed V ₀ and the relative speed V ₁ and the road surface mu The collision avoidance inter-vehicle distance L ₀ is determined based on the road surface μ by increasing and correcting the collision avoidance inter-vehicle distance L ₀ based on the road surface μ. The inter-vehicle distance determining means 12 and the inter-vehicle distance L ₁
There a collision avoidance control means 16 for actuating the collision avoidance unit 14 in the case of less than collision avoidance vehicle distance L ₀ determined above, the road surface μ collision avoidance vehicle distance according to the correction means 10 in the case of smaller than the predetermined value L Correction limiting means 18 for limiting the increase correction of ₀
And comprising.

In this embodiment, in order to determine whether or not the road surface μ in the case where the correction by the correction means 10 is restricted is equal to or smaller than a predetermined value, a rainfall state is provided in addition to the road surface μ detection means 8. It is provided with rainfall detecting means 20 comprising a known raindrop sensor for determining whether or not the rainfall is detected.

The inter-vehicle distance detecting means 2 detects the inter-vehicle distance from a preceding vehicle based on a time from when a laser, a radio wave, an ultrasonic wave, or the like is emitted, to the time when the reflected light is received from the preceding vehicle and received. can do. The own vehicle speed detecting means 4 can use, for example, a speedometer provided in the own vehicle. As the relative speed detecting means 6, for example, _one that calculates the relative speed from the temporal change of the inter-vehicle distance L1 can be used. The road surface μ detecting means 8 may be, for example, a device that emits light or the like toward the road surface, receives regular reflection from the road surface, and detects the roughness of the road surface, that is, the road surface μ based on the amount of the regular reflection. Can be. Further, as the collision avoiding means 14, for example, means capable of avoiding a collision with the preceding vehicle, such as braking (braking) means and steering means, can be used.

FIG. 2 is a diagram showing the collision avoidance inter-vehicle distance L ₀ determined by the collision avoidance inter-vehicle distance determining means 12.
Figure is a diagram showing a collision avoidance vehicle distance L ₀ which is determined by the relative velocity V ₁ and the road surface μ in the case where a predetermined value there is a vehicle speed, collision avoidance vehicle distance L ₀ is the relative velocity V as shown
_It is determined so that it becomes smaller as ₁ becomes smaller and becomes larger as the road surface μ becomes smaller, and that it becomes larger as the road surface μ becomes smaller as the vehicle speed increases, though not shown, although not shown. In other words, the correction means 10 in accordance with collision avoidance vehicle distance L ₀ is when the decision and determines the collision avoidance vehicle distance L ₀ based on the vehicle speed V ₀ to the relative velocity V ₁ and the road surface μ of the road surface μ Thus, the collision avoidance inter-vehicle distance L ₀ is determined by performing an increase correction so as to increase as the road surface μ decreases.

FIG. 3 shows the operation procedure of the above embodiment.
This will be described more specifically with reference to FIG. In this embodiment, the road surface μ for determining whether the road surface μ is a low road surface μ equal to or less than a predetermined value is set to 0.5, and the road surface μ is set to 0.5.
0.5 When the following low road surface mu, limits the increase correction of the collision avoidance vehicle distance L ₀ when the low road surface mu by fixing the 0.5 road mu when increasing correction collision avoidance vehicle distance L ₀ is uniformly Things.

Further, this embodiment is provided with the rainfall detecting means 20 as described above, and when it is detected that rain is occurring, the road surface μ is determined to be a low road surface μ smaller than the predetermined value 0.5. Is what you do. This is based on the fact that the most common situation of low road surface μ is rainfall, and in that case, an automatic collision avoidance operation is often performed.

Further, in this embodiment, the collision avoidance inter-vehicle distance determining means 12 determines the inter-collision avoidance inter-vehicle distance L ₀ and the alarm start inter-vehicle distance L ₂ (L ₂ is a predetermined value larger than L ₀ ). When the distance L ₁ becomes smaller than the warning issue inter-vehicle distance L _2, an alarm to inform the driver that is approaching collision avoidance vehicle distance L _0, braking (braking) performed as a collision avoidance operation, and braking An inter-vehicle release distance L ₃ (L ₃ is a predetermined value larger than L ₀ ) is determined, and when the inter-vehicle distance L ₁ becomes equal to or more than the inter-vehicle release braking distance L ₃ , automatic braking as a collision avoidance operation is released. I have.

That is, first, at S1, the inter-vehicle distance L ₁ and the own vehicle speed V
₀ , the relative speed V ₁ , the road surface μ, and whether or not it is raining is detected and read. At S2, it is determined whether or not it is raining.
The road surface μ is fixed to 0.5 at 4 and if it is not raining, it is determined at S3 whether or not the road surface μ is smaller than a predetermined value of 0.5, and if it is small, the road surface μ is fixed at 0.5 at S4. This case corresponds to, for example, a case where the road surface μ is small due to the rain but not rain but a rain.

Next, at S5, the above V ₀ , V ₁ and the road surface μ
The distance L ₀ between collision avoidance vehicles and the distance L between warning start vehicles
₂ and the distance L ₃ between the brake release vehicles (the description of L ₃ is omitted in S5), and in S6, the sign of V ₁ is positive or negative (when it is positive, it is close to the preceding vehicle, when it is negative, it is away) determines, L ₁ in S9 when V ₁ is greater than 0, it is determined whether small or not than L _2, returns to the return if not yet small, issues a warning in S10 when it is small, followed by L ₁ is L in S11 Te
_It is determined whether the _value is smaller than ₀ , and if not smaller, the process returns to the return to continue to issue an alarm. If the value becomes smaller, the alarm is released in S12 and automatic braking is applied.

Further, when V ₁ is small than 0 in S6 S7
S in L ₁ is determined whether small or not than L _3, directly returns to the return if less than L _3, in S8 if L ₃ or more
Release 12 automatic braking.

When the inter-collision avoidance distance L ₀ is corrected by the road surface μ as described above, when the road surface μ decreases rapidly, the collision avoidance inter-vehicle distance L ₀ rapidly increases, and as a result, automatic braking is suddenly applied. The driver may feel discomfort. Therefore, if as a collision avoidance vehicle distance L ₀ I decision logic off changeover collision avoidance vehicle distance L ₀ in its as abruptly increases is discomfort to the driver by performing the switching of the logic smoothly It is desirable not to feel.

In the embodiment shown in FIG. 3, when the distance L ₀ between collision avoidance vehicles suddenly increases in such a manner, the state changes from a sunny state to a sudden rain state, that is, sudden rain starts to fall. Alternatively, in consideration of the fact that it is typically raining after passing through the tunnel, the logic for determining the collision avoidance inter-vehicle distance L _{0 in} the case of a sunny condition is a logic for a sunny condition.
The decision logic collision avoidance vehicle distance L ₀ in the case of rain and rain logic, when switching to rain logic from sunny logic, i.e. when moving to step S4 from S2 and S3 in FIG. 3, with respect to the driver An alarm is issued to notify the switching of the logic, or the switching of the logic is gradually performed. For example, in the clear logic, the state in which the inter-collision avoidance distance L ₀ is determined at the road surface μ = 1.0 and the logic is switched to the rain logic. Rather than determining the distance L ₀ between collision avoidance vehicles suddenly when the road surface μ = 0.5, the road surface μ is sequentially changed to 0.9, 0.8, 0.7 and 0.6 with a time delay, and then the road surface μ = 0.5 with rain logic. To determine the collision avoidance inter-vehicle distance L ₀ or the inter-vehicle distance L
₁ rain after increased wait until greater than collision avoidance vehicle distance L ₀ in the Rain logic headway distance L ₁ when less than the collision avoidance vehicle distance L ₀ in the case of switching to rain logic It is possible to switch to the use logic.

FIG. 4 is a block diagram showing an embodiment of the second invention. This embodiment differs from the embodiment shown in FIG. 1 in that the content of the collision avoidance inter-vehicle distance determining means 12 is different and the collision avoidance inter-vehicle distance reducing means 22 is provided instead of the correction limiting means 18. Are different and the others are the same. Therefore, the following description will focus on the differences.

The apparatus of this embodiment, the road surface μ is small low road surface μ times than a predetermined value so as to reduce the collision avoidance vehicle distance L ₀ at least the relative speed is smaller low relative velocity range. Specifically, the collision avoidance inter-vehicle distance determining means 12
Is usually (at non-low road surface μ), the collision avoidance vehicle distance L _{0 is determined} by the absolute safety inter-vehicle distance mode A, that is, based on only the own vehicle speed V ₁ and the road surface μ without considering the relative speed V _1. The distance L ₀ is determined, and in determining the distance L ₀ , the collision avoidance inter-vehicle distance L ₀ is determined by the correcting means 10 in a mode in which the correction is performed in accordance with the road surface μ so as to increase as the road surface μ decreases. In other words, as shown in FIG. 5, under a certain vehicle speed, a collision avoidance inter-vehicle distance L ₀ (line A in the figure) irrespective of the relative speed V ₁ is calculated according to the vehicle speed V ₀ . When the distance L ₀ between collision avoidance vehicles changes, for example, when the road surface μ changes from 1 to 0.5, the correction is increased from the solid line A to the broken line A in the figure. Of course, the collision avoidance inter-vehicle distance L ₀ in this case is set to a larger value if the own vehicle speed is higher, and to a smaller value if it is smaller.

The rain detection means 20 determines whether or not it is raining. In the case of rain, it is determined that the road surface μ is a low road surface μ having a predetermined value or less, and the collision avoidance inter-vehicle distance is reduced by the collision avoidance inter-vehicle distance reducing means 22. The determination mode is the absolute safety inter-vehicle distance mode A
Is changed to the relative safety inter-vehicle distance mode B, and the collision avoidance inter-vehicle distance L ₀ is determined by the relative safety inter-vehicle distance mode B.

The relative safety inter-vehicle distance mode B is a mode in which not only the own vehicle speed V ₀ and the road surface μ but also the relative speed V ₁ is taken into consideration, and the collision avoidance inter-vehicle distance L ₀ is set to be smaller as the relative speed V ₁ becomes smaller. . Specifically, under a certain own vehicle speed in FIG. 5, the collision avoidance inter-vehicle distance L ₀ is reduced as the relative speed V ₁ is reduced as shown by a line B, and the road surface μ is reduced from 1 to 0.5, for example. This mode is a mode in which, when it changes, the correction is increased from the solid line B to the broken line B in the figure. Of course, also in this case, the collision avoidance inter-vehicle distance L ₀ is set to a larger value according to the own vehicle speed.

When the weather is fine (for example, the road surface μ = 1), in the mode A, for example, the distance L ₀ between collision avoidance vehicles is determined as shown by a solid line A in the figure, and when it becomes rain (for example, the road surface μ = 0.5). The mode is switched to the mode B, and the collision avoidance inter-vehicle distance L ₀ is determined, for example, as shown by a broken line B in the figure. By switching the as-mode, the collision avoidance vehicle distance L ₀ indicated by the broken line B in the case of switching the mode in comparison with the collision avoidance vehicle distance L ₀ shown by a broken line A when no switched mode at least In the low relative speed range, the collision avoidance inter-vehicle distance L ₀ is reduced, so that it is possible to prevent the automatic braking avoidance operation from occurring frequently in the low relative speed range.

Next, the operation procedure of the embodiment shown in FIG. 4 will be described with reference to FIG. The operation procedure shown in FIG. 6 is different from the operation procedure shown in FIG. 3 only in that R2 to R5 are different, and therefore only that part will be described. That is, in the case of the apparatus of the present embodiment, it is determined whether or not it is raining in R2. In the case of rain, the above-described relative safety inter-vehicle distance mode B is selected in R4. The absolute safety inter-vehicle distance mode A is selected, and at R5, V ₀ , V ₁ , μ under the selected mode A or mode B.
The collision avoidance inter-vehicle distance L ₀ is determined on the basis of the above, and the alarm start inter-vehicle distance L ₂ and the brake release inter-vehicle distance L ₃ are determined in the same manner as in FIG. Perform braking and braking release.

[0038] In the above embodiment was to increase the correction under mode B the collision avoidance vehicle distance L ₀ in accordance with the road surface mu even when rainfall (Low road surface mu), but for rain for example the road surface μ is uniformly fixed to 0.5, and is always indicated by a broken line B in FIG.
It may be a collision avoidance vehicle distance L ₀ shown in.

FIG. 7 is a diagram showing the collision avoidance inter-vehicle distance L ₀ based on the absolute safety inter-vehicle distance mode A and the relative safety inter-vehicle distance mode B under a predetermined own vehicle speed and road surface μ. As shown in this figure, when the inter-collision avoidance distance L ₀ is determined by the modes A and B, the area (a) above the inter-collision avoidance inter-vehicle distance L _{0 in} mode A is safely stopped even in the case of a collision. absolutely safe region, the region between the collision avoidance vehicle distance L ₀ by the collision avoidance vehicle distance L ₀ and mode B by the mode a (b) is the preceding vehicle performs normal braking (including sudden braking) capable It is a relative safety area that can safely stop on the premise that the area (c) below the collision avoidance inter-vehicle distance L ₀ in mode B is a non-safety area where there is a possibility of collision if the preceding vehicle applies sudden braking. It can be said.

Then, the current inter-vehicle distance is equal to the above-mentioned area (a),
Informing the driver which of (b) and (c) is very significant for safe driving. Therefore, the with automatic braking, for example, a display apparatus as shown in FIG. 8 in the instrument panel portion of the front of the driver's seat is provided, blue light to the left of the region a when the headway distance L ₁ is in the area (a) Lights up, and when it is in the area (b), the central area
It is desirable that a yellow lamp be turned on in b, and a red lamp be turned on in the right area c when in the area (c).

As means for displaying which of the above areas (a), (b) and (c) is present, various means such as the above-mentioned visual and other sounds can be used. Also, just not only indicate in which region, or what if the inter-vehicle distance L ₁ position in or that is for example the area (a) is sufficiently larger than the collision avoidance vehicle distance L ₀ by the mode A in each region It is more preferable that the display can be made as close to the collision avoidance inter-vehicle distance L ₀ as possible.
The degree of the distance to ₀ can be determined by changing the lighting area in the area a of the display device in FIG.

[0042]

As described above, the vehicle safety device according to the first invention of the present application corrects the collision avoidance inter-vehicle distance so as to increase when the road surface μ decreases, and when the road surface μ is a low road surface μ smaller than a predetermined value. Since the increase of the collision avoidance inter-vehicle distance based on μ is limited, the increase of the collision avoidance inter-vehicle distance at low road surface μ is controlled, and the occurrence of the automatic collision avoidance operation due to the increase of the collision avoidance inter-vehicle distance is prevented. Based high-precision automatic collision avoidance control based on
It is possible to prevent the traffic flow from being hindered and the drivability from being reduced due to the frequent occurrence of automatic collision avoidance operations.

Further, the vehicle safety device according to the second invention of the present application corrects the collision avoidance inter-vehicle distance to increase as the road surface μ decreases as described above, and at least reduces the distance when the road surface μ is smaller than a predetermined low road surface μ. Since the inter-collision avoidance distance in the relative speed range is reduced, at least in the low relative speed range, an increase in the inter-collision avoidance distance on a low road surface μ is suppressed, and the same effect as in the first aspect is exerted.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the first invention of the present application.

FIG. 2 is a diagram showing a manner of determining a collision avoidance inter-vehicle distance in the apparatus shown in FIG. 1;

FIG. 3 is a flowchart showing an operation procedure of the apparatus shown in FIG. 1;

FIG. 4 is a block diagram showing an embodiment of the second invention of the present application;

FIG. 5 is a diagram showing a manner of determining a collision avoidance inter-vehicle distance in the device shown in FIG. 4;

FIG. 6 is a flowchart showing an operation procedure of the apparatus shown in FIG. 4;

FIG. 7 is a diagram showing an absolute safety area, a relative safety area, and a danger area;

FIG. 8 is a diagram showing a display unit.

[Explanation of symbols]

 2 Inter-vehicle distance detection means 8, 20 Road surface friction coefficient detection means 12 Collision avoidance inter-vehicle distance determination means 16 Collision avoidance control means 18 Correction limiting means 22 Collision avoidance inter-vehicle distance reduction means

Claims (3)

(57) [Claims] 1. An inter-vehicle distance detecting means for detecting an inter-vehicle distance from a preceding vehicle, and a collision avoidance inter-vehicle distance to be subjected to a collision avoidance operation is determined, and the collision avoidance inter-vehicle distance is determined based on a road surface friction coefficient. Collision avoidance inter-vehicle distance determining means that determines the correction by increasing the friction coefficient so as to increase as the friction coefficient decreases, and collision avoidance control means that performs a collision avoidance operation when the inter-vehicle distance becomes smaller than the collision avoidance inter-vehicle distance. A safety device for a vehicle, comprising: a correction limiting unit configured to limit an increase correction of a collision avoidance inter-vehicle distance based on the road surface friction coefficient when the road surface friction coefficient is a low road surface friction coefficient smaller than a predetermined value. A vehicle stabilizing device characterized by comprising: 2. An inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, and a collision avoidance inter-vehicle distance to be subjected to a collision avoidance operation is determined, and the collision avoidance inter-vehicle distance is determined based on a road surface friction coefficient. Collision avoidance inter-vehicle distance determining means that determines the correction by increasing the friction coefficient so as to increase as the friction coefficient decreases, and collision avoidance control means that performs a collision avoidance operation when the inter-vehicle distance becomes smaller than the collision avoidance inter-vehicle distance. A safety device for a vehicle, comprising: when the road surface friction coefficient is a low road surface friction coefficient smaller than a predetermined value, at least reducing a distance between collision avoidance vehicles in a low relative speed region where a relative speed with a preceding vehicle is small. A vehicle safety device comprising a collision avoidance inter-vehicle distance reducing means. 3. A rain detection means, wherein when the rain detection means detects a rainfall state, it is determined that the road surface friction coefficient is a low road surface friction coefficient equal to or less than a predetermined value. The vehicle safety device according to claim 1.