JP4969935B2 - Vehicle travel safety device - Google Patents

Description

  The present invention relates to a vehicle travel safety device.

2. Description of the Related Art Conventionally, for example, a seat belt device is known in which the tension of a seat belt is changed and a driver is notified sensibly as an alarm when a collision occurs or before a curve (see, for example, Patent Document 1).
JP 2001-10447 A

By the way, in the seat belt device according to the above-described prior art, since the tension of the seat belt is merely variable intermittently, there is a problem that the driver cannot recognize the details of the alarm in detail. Occurs.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle travel safety device that allows a driver to recognize alarm contents in detail by the tension of a seat belt.

In order to solve the above-mentioned problems and achieve the object, a vehicle travel safety device according to the present invention according to claim 1 controls a seat belt mounted on an occupant and a tension of the seat belt by driving a motor. Pretensioner control means (for example, the seat belt control unit 19a in the embodiment), storage means for storing road data (for example, the storage unit 11 in the embodiment), and self-detection of the position of the host vehicle. Vehicle position detection means (for example, own vehicle position detection section 12 in the embodiment), vehicle speed detection means for detecting the vehicle speed of the own vehicle (for example, vehicle state detection section 13 in the embodiment), and the storage means Based on the road data stored in the vehicle and the position of the host vehicle, a curve recognition unit that recognizes the shape of the curve existing in the traveling direction of the host vehicle (for example, the curve recognition unit 14 in the embodiment), and the curve Based on the shape of the curve recognized by the recognition means, appropriate passing vehicle speed setting means (for example, an appropriate vehicle speed setting unit 16 in the embodiment) for setting an appropriate passing vehicle speed capable of passing the curve appropriately, and the vehicle speed Comparison means for calculating a speed difference between the vehicle speed detected by the detection means and the appropriate passing vehicle speed set by the appropriate passing vehicle speed setting means (for example, the comparison unit 17 in the embodiment), and the comparing means In the calculation result, the pretensioner control means is determined when it is determined that the speed difference between the vehicle speed of the host vehicle and the appropriate passing vehicle speed or the required deceleration calculated from the vehicle speed and the appropriate passing vehicle speed is equal to or greater than a predetermined value. And a warning device (for example, the warning unit 18 in the embodiment) that issues a warning to the occupant, wherein the pretensioner control device includes the warning device. With the at least one seat belt tension or the number of operating times during alarm, that the speed difference or the necessary deceleration calculated from the vehicle speed and the proper passage vehicle speed and the proper passage vehicle speed and the vehicle speed increases It is characterized by setting so as to change in an increasing tendency.

According to the above vehicle safety device, at least one of the seat belt tension at the time of alarm or the number of operations or the vibration state is calculated from the speed difference between the vehicle speed and the appropriate passing vehicle speed or the vehicle speed and the appropriate passing vehicle speed. As the required deceleration increases, the setting is made to change in an increasing tendency, so that the driver can intuitively recognize the alarm content.

Furthermore, in the vehicle travel safety device according to the second aspect of the present invention, the pretensioner control means sets the seat belt tension so as to change in an increasing tendency as the vehicle speed increases. It is a feature.

According to the vehicle travel safety apparatus described above, the seat belt tension at the time of alarm can be appropriately set according to the vehicle speed .

Furthermore, in the vehicle travel safety device according to the third aspect of the present invention, the pretensioner control means is set so that the operation frequency changes in an increasing tendency as the vehicle speed increases. It is said.

According to the vehicle travel safety device described above, the operation interval at the time of alarm can be appropriately set according to the vehicle speed .

Furthermore, in the vehicle travel safety device according to the fourth aspect of the present invention, the pretensioner control means is configured such that the seat belt tension or the number of operations is a difference between the vehicle speed and the appropriate passing vehicle speed, or the vehicle speed. Along with the proper passage to the required deceleration calculated from the vehicle speed increases, in a state in which it changed to increasing tendency is calculated from the speed difference or the vehicle speed and the proper passage vehicle speed and the proper passage vehicle speed and the vehicle speed When the necessary deceleration is greater than or equal to a predetermined value, the seat belt is in a vibrating state.

  According to the traveling safety device for a vehicle described above, the driver can intuitively recognize the alarm content.

As described above, according to the vehicle travel safety device of the present invention, at least one of the seat belt tension at the time of alarm, the number of operations, or the vibration state is determined based on the speed difference between the vehicle speed and the appropriate passing vehicle speed, Since the required deceleration calculated from the appropriate passing vehicle speed is set so as to change in an increasing trend as the required deceleration increases , the driver can intuitively recognize the alarm content.

  Hereinafter, a vehicle travel safety apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 1, the vehicle travel safety device 10 according to the present embodiment includes, for example, a storage unit 11, a vehicle position detection unit 12, a vehicle state detection unit 13, a curve recognition unit 14, and a distance calculation. The vehicle is configured to include a unit 15, an appropriate vehicle speed setting unit 16, a comparison unit 17, an alarm unit 18, and a safety device 19 including a seat belt control unit 19a.

  The storage unit 11 stores node information and curve information relating to a road as road data. The node information is, for example, coordinate point data for grasping a road shape, and the curve information is, for example, a link (that is, a link (that is, In addition to the start and end points of the curve set on each node), information on the curvature of the curve (for example, the curvature and radius R and polarity of the curve) and information on the depth of the curve (For example, the turning angle θ required for passing through the curve, the length of the curve, etc.).

The own vehicle position detection unit 12 corrects an error of a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite, for example, or an appropriate base station, for example, and performs positioning. The current position of the host vehicle is calculated by a calculation process of autonomous navigation based on a positioning signal such as a D (Differential) GPS signal for improving accuracy and a detection signal output from the vehicle state detection unit 13 described later.
Furthermore, the own vehicle position detection unit 12 performs map matching based on the calculated current position of the own vehicle and the road data acquired from the storage unit 11, and corrects the result of position estimation by autonomous navigation.

  The vehicle state detection unit 13 includes, for example, a vehicle speed sensor and a wheel speed sensor that detect the current speed of the host vehicle, and a tilt angle with respect to the direction and the vertical direction of the host vehicle in a horizontal plane (for example, the vertical axis of the front and rear direction axis of the host vehicle). Gyro sensor or yaw rate sensor that detects the tilt angle with respect to the direction or the yaw angle that is the rotation angle of the vehicle center of gravity about the vertical axis, and the amount of change in the tilt angle (for example, yaw rate), and the steering angle Steering angle sensor for detecting the actual steering angle (steering angle) according to the steering angle, and a steering torque sensor for detecting the steering torque. It outputs to the comparison part 17 and the warning part 18 which are mentioned later.

The curve recognition unit 14 acquires the road data stored in the storage unit 11 and recognizes a curve existing on a road within a predetermined range ahead of the traveling direction from the current position of the host vehicle based on the road data. For example, the curve recognition unit 14 recognizes a curve shape (recognition curve shape) based on node information, that is, a coordinate point for grasping a road shape, and link information that is a line connecting the nodes.
Further, the curve recognizing unit 14 is based on the curve information included in the road data acquired from the storage unit 11 and the position and shape of the curve recognized in front of the traveling direction of the host vehicle (for example, the radius R of the curve, the curvature, the turning angle) θ, the length of the curve, the depth of the curve, etc.) are detected and output to the distance calculation unit 15 and the appropriate vehicle speed setting unit 16.

The distance calculation unit 15 calculates the distance from the current position of the host vehicle to the curve (recognition curve) recognized by the curve recognition unit 14.
Based on the recognition curve shape recognized by the curve recognition unit 14, the appropriate vehicle speed setting unit 16 calculates the speed of the vehicle that can properly pass the recognition curve shape (appropriate passing vehicle speed) and outputs the vehicle speed to the comparison unit 20.
In addition, the appropriate vehicle speed setting unit 16 calculates a lateral acceleration (appropriate lateral acceleration) that is allowed when the vehicle appropriately passes the recognition curve with respect to an acceleration (lateral acceleration) generated in the lateral direction of the host vehicle when the vehicle passes the curve. The appropriate passing vehicle speed can be calculated from the appropriate lateral acceleration.

The comparison unit 17 compares the vehicle state (for example, vehicle speed) detected by the vehicle state detection unit 13 with the appropriate passing vehicle speed set by the appropriate vehicle speed setting unit 16, and outputs the comparison result to the alarm unit 18. .
The alarm unit 18 controls the operation of the seat belt control unit 19 a to the safety device 19 based on the comparison result in the comparison unit 17. For example, when the comparison result in the comparison unit 17 indicates that the current speed and the appropriate passing vehicle speed are different, for example, when the vehicle is not in the appropriate vehicle state, such as a state where the current speed is higher than the appropriate passing vehicle speed, the seat belt The control unit 19a controls the tension of the seat belt to alert the driver.
For example, the seatbelt control unit 19a alternately performs forward rotation of the motor a that increases the tightening force of the seatbelt and stationary of the motor that maintains the tightening force of the seatbelt for a predetermined plurality of times within a predetermined time. Repeat the process to drive the motor. Thereby, stepwise tension is generated by stepwise winding of the seat belt, that is, stepwise driving in the tightening direction, and an alarm for the curve is notified to the occupant by the behavior of the seat belt.

  The vehicle travel safety device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel safety device 10, particularly the operation of the seat belt control unit 19 a, will be described with reference to the accompanying drawings. .

First, in step S01 shown in FIG. 2, road data ahead of the traveling direction of the host vehicle stored in the storage unit 11 is acquired.
Next, in step S02, the current position and vehicle speed of the host vehicle are acquired.
In step S03, it is determined whether or not a curve is recognized ahead in the traveling direction based on the road data.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 04.

In step S04, it is determined whether or not the distance to the recognized curve (recognition curve) is equal to or less than a predetermined distance.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.
In step S05, an appropriate passing vehicle speed in the recognition curve is calculated.
In step S06, it is determined whether or not the vehicle speed of the host vehicle is greater than the appropriate passing vehicle speed.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S07.

In step S07, the speed difference ΔV is calculated by subtracting the appropriate passing vehicle speed from the vehicle speed of the host vehicle.
In step S08, the operating state of the seat belt is calculated according to the speed difference ΔV.
The operation state of the seat belt is, for example, the number of operations of changing the tension of the seat belt or the tension of the seat belt, the vibration state of the seat belt, and the like. For example, as shown in FIG. 3, the speed difference ΔV increases. As a result (that is, as the degree of urgency increases), the tension of the seat belt is set so as to increase, and for example, as shown in FIG. 4, the speed difference ΔV increases. It is set so that the number of operations changes in an increasing trend (in other words, as the degree of urgency increases). For example, when the speed difference ΔV is equal to or greater than a predetermined value, the seat belt is set to be in a vibrating state.
The operating state of the seat belt is not limited to the speed difference ΔV, and may be set according to the vehicle speed of the host vehicle. For example, as the vehicle speed increases, the tension of the seat belt changes in an increasing trend. In addition, the number of operations may be set to increase as the vehicle speed increases.
Further, the tension of the seat belt is controlled by, for example, a current value supplied to a motor (not shown) that winds up the seat bell, and the number of operations for changing the tension of the seat belt is, for example, a motor that winds up the seat bell ( It is controlled by the number of operations (not shown).

In step S09, the distance to the recognition curve is calculated.
In step S10, a distance (deceleration required distance) required for deceleration from the current vehicle speed required to pass the recognition curve at an appropriate passing vehicle speed is calculated.
In step S11, it is determined whether the required deceleration distance is greater than the distance to the recognition curve.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S12.
In step S12, the seatbelt control unit 19a controls the tension of the seatbelt worn on the vehicle occupant to output a tactile alarm, and the series of processing ends.

  As described above, according to the vehicle travel safety device 10 according to the present embodiment, at least one of the seat belt tension at the time of alarm or the number of operations or the vibration state is determined between the appropriate vehicle state and the detected vehicle state. Since the setting is made based on the comparison result (for example, deviation or the like), the driver can intuitively recognize the alarm content.

In the above-described embodiment, as the speed difference ΔV obtained by subtracting the appropriate passing vehicle speed from the vehicle speed of the host vehicle increases, the seat belt tension changes in an increasing tendency, or the number of operations is increased. However, the present invention is not limited to this, and the vehicle speed of the host vehicle is not limited to the speed difference ΔV. A necessary deceleration calculated from the appropriate passing vehicle speed may be used.
This required deceleration is a deceleration necessary for decelerating from the current vehicle speed to the appropriate passing vehicle speed, for example, from the current position of the own vehicle until reaching the recognition curve. Described as shown.

Necessary deceleration = {(vehicle speed of own vehicle) ² − (appropriate passing vehicle speed) ² } / {2 × (distance to recognition curve)}

  In this case, for example, as the required deceleration increases, the seat belt tension changes so as to increase or the number of operations changes so as to increase, and the required deceleration exceeds a predetermined value. In this case, the seat belt is brought into a vibration state.

In the above-described embodiment, an alarm is issued to the occupant by the seat belt control unit 19a for the curve in the traveling direction of the host vehicle. However, the present invention is not limited to this. However, an alarm may be issued to the occupant by the seat belt control unit 19a.
That is, current position detection means for detecting the current position of the host vehicle, temporary stop position storage means for storing a temporary stop point at which the host vehicle is to be temporarily stopped, speed detection means for detecting the traveling speed of the host vehicle, Based on signals from the current position detection means, the temporary stop position storage means and the speed detection means, it is determined whether or not the host vehicle needs to be braked, and the host vehicle needs to be braked. In this case, the present invention can also be applied to a temporary stop alarm device that outputs a command to the alarm means so as to generate an alarm for the driver.

1 is a functional block diagram illustrating a configuration of a vehicle travel safety device according to an embodiment of the present invention. It is a flowchart which shows operation | movement of the vehicle travel safety apparatus shown in FIG. It is a graph which shows an example of the tension | tensile_strength of the seatbelt according to speed difference (DELTA) V, ie, the change of the electric current value supplied with a motor. It is a graph which shows an example of the frequency | count of operation | movement which changes the tension | tensile_strength of the seatbelt according to speed difference (DELTA) V, ie, the change of the frequency | count of motor operation.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle travel safety apparatus 11 Storage part (storage means)
12 own vehicle position detection unit (own vehicle position detection means)
13 Vehicle state detection unit ( vehicle speed detection means)
14 Curve recognition part (curve recognition means)
15 Distance calculation part (distance calculation means)
16 Appropriate vehicle speed setting section (appropriate passing vehicle speed setting means)
17 Comparison part (comparison means)
18 Alarm section (alarm means)
19a Seat belt control unit (pretensioner control means)

Claims (4)

A seat belt to be worn by the passenger;
Pretensioner control means for controlling the tension of the seat belt by driving a motor;
Storage means for storing road data;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
Curve recognition means for recognizing the shape of a curve existing in the traveling direction of the own vehicle based on the road data stored in the storage means and the position of the own vehicle;
Based on the shape of the curve recognized by the curve recognition means, appropriate passing vehicle speed setting means for setting an appropriate passing vehicle speed capable of passing the curve appropriately;
Comparison means for calculating a speed difference between the vehicle speed detected by the vehicle speed detection means and the appropriate passing vehicle speed set by the appropriate passing vehicle speed setting means;
When it is determined in the calculation result of the comparison means that the speed difference between the vehicle speed of the host vehicle and the appropriate passing vehicle speed or the required deceleration calculated from the vehicle speed and the appropriate passing vehicle speed is greater than or equal to a predetermined value, A travel safety device comprising alarm means for operating a tensioner control means to issue an alarm to an occupant,
The pretensioner control means, at least one of the seat belt tension or speed operation times during the alarm of the alarm, is calculated from the proper passage vehicle speed and the speed difference or the vehicle speed and the proper passage vehicle speed and the vehicle speed A travel safety device for a vehicle, characterized in that it is set so as to change in an increasing trend as the required deceleration increases. 2. The vehicle travel safety device according to claim 1, wherein the pretensioner control means is set so that the seat belt tension changes in an increasing tendency as the vehicle speed increases. 3. The vehicle travel safety device according to claim 1, wherein the pretensioner control means is set so that the number of actuations changes in an increasing tendency as the vehicle speed increases. 4. In the pretensioner control means, as the seat belt tension or the number of operations is increased, a speed difference between the vehicle speed and the appropriate passing vehicle speed or a necessary deceleration calculated from the vehicle speed and the appropriate passing vehicle speed increases. In a state of changing to an increasing tendency, when the speed difference between the vehicle speed and the appropriate passing vehicle speed or the required deceleration calculated from the vehicle speed and the appropriate passing vehicle speed is equal to or greater than a predetermined value, the seat belt is in a vibrating state The travel safety device for a vehicle according to claim 1, wherein:

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