JPH0210912B2 - - Google Patents
Info
- Publication number
- JPH0210912B2 JPH0210912B2 JP57215978A JP21597882A JPH0210912B2 JP H0210912 B2 JPH0210912 B2 JP H0210912B2 JP 57215978 A JP57215978 A JP 57215978A JP 21597882 A JP21597882 A JP 21597882A JP H0210912 B2 JPH0210912 B2 JP H0210912B2
- Authority
- JP
- Japan
- Prior art keywords
- distance
- speed
- vehicle
- alarm
- relative speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 21
- 230000015654 memory Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
【発明の詳細な説明】
発明の技術分野
本発明は運転者の個人差に応じて衝突警報を発
する時期を自動的に変更することができる車両衝
突警報装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to a vehicle collision warning system that can automatically change the timing of issuing a collision warning depending on individual differences between drivers.
従来技術と問題点
車両が衝突する危険性は自車両の速度、自車両
と目標物（例えば先行車両等）との相対速度及び
自車両と目標物との間の距離によつて異なるもの
であるから、衝突警報を発する場合は、これら３
つの条件に基づいて警報を発する時期を決定する
必要がある。Prior Art and Problems The risk of a vehicle colliding varies depending on the speed of the own vehicle, the relative speed between the own vehicle and a target (such as a preceding vehicle), and the distance between the own vehicle and the target. When issuing a collision warning, these three
It is necessary to decide when to issue a warning based on two conditions.
従来の車両衝突警報装置は、自車両の速度と、
自車両と目標物との相対速度とをパラメータとし
て警報距離（警報を発する時の自車両と目標物と
の間の距離）が記憶されている第１図に示すよう
なメモリを有しており、自車両の速度と、自車両
と目標物との相対速度とに基づいて、メモリから
警報距離を読出し、読出した警報距離と、その時
の自車両と目標物との間の距離を比較し、警報距
離の方が大の場合、衝突警報を発するものであ
る。例えば、自車両の速度ｖがv1≦ｖ＜v2の範
囲にあり、自車両と目標物との相対速度vdが０
≦vd＜v1の範囲にある場合は、メモリから警報
距離l12を読出し、該警報距離l12とこの時の自車
両と目標物との距離ｌとを比較し、警報距離l12
の方が大の場合、警報を発するものである。 Conventional vehicle collision warning systems detect the speed of the own vehicle,
It has a memory as shown in Figure 1 that stores the alarm distance (distance between the vehicle and the target when the alarm is issued) using the relative speed between the vehicle and the target as a parameter. , reads out the warning distance from the memory based on the speed of the host vehicle and the relative speed between the host vehicle and the target object, and compares the read warning distance with the distance between the host vehicle and the target object at that time; If the warning distance is greater, a collision warning is issued. For example, if the speed v of your vehicle is in the range v1≦v<v2, and the relative speed vd between your vehicle and the target is 0.
If the range is ≦vd<v1, read the alarm distance l 12 from the memory, compare the alarm distance l 12 with the distance l between your vehicle and the target object at this time, and set the alarm distance l 12
If the value is greater than that, an alarm is issued.
上述したように、従来装置は速度ｖと相対速度
vdとをパラメータとして予め設定されている警
報距離と、自車両と目標物との間の距離ｌとを比
較することにより、衝突警報を発するか否かを制
御するようにしているものであるが、警報距離を
予め設定しておく為、次のような欠点があつた。
即ち、運転者の運転技術、感覚には個人差がある
為、警報距離を予め設定しておいたので、運転者
の技術、感覚に合つた時期に警報を発することが
できない場合があり、この為、十分な衝突防止の
効果を得ることが難しい欠点があると共に運転者
に不快感を与えることがある欠点があつた。ま
た、このような欠点を改善する為に、外部スイツ
チ等をマニユアル操作することにより、警報距離
を変更できるようにしたものも提案されている
が、運転者の手をわずらわす割にはきめ細かい制
御を行なうことができない欠点があつた。 As mentioned above, the conventional device uses the velocity v and the relative velocity
Whether or not to issue a collision warning is controlled by comparing the distance l between the host vehicle and the target object with a warning distance preset using vd as a parameter. Since the alarm distance is set in advance, there are the following drawbacks.
In other words, since there are individual differences in the driving skills and senses of drivers, since the warning distance is set in advance, it may not be possible to issue the warning at a time that suits the driver's skills and senses. Therefore, it has the drawback that it is difficult to obtain a sufficient collision prevention effect, and it also has the drawback that it may cause discomfort to the driver. In addition, in order to improve these shortcomings, a system has been proposed in which the warning distance can be changed by manually operating an external switch, etc., but it is difficult to adjust the warning distance by manually operating an external switch. The drawback was that it could not be controlled.
発明の目的
本発明は前述の如き欠点を改善したものであ
り、その目的は運転者の個人差に応じて衝突警報
の発生時期を自動的に変更できるようにすること
にある。OBJECTS OF THE INVENTION The present invention has been made to improve the above-mentioned drawbacks, and its purpose is to make it possible to automatically change the timing of occurrence of a collision warning in accordance with individual differences between drivers.
発明の構成
第２図は本発明の構成図である、対地速度検出
手段１は対地速度（自車両の速度）を検出し、相
対速度検出手段２は自車両と目標物との相対速度
を検出し、距離検出手段３は自車両と目標物との
間の距離を検出する。記憶手段５には自車両の速
度と、自車両の速度と目標物との相対速度に対応
して警報距離が記憶されている。読出手段４は記
憶装置５から対地速度検出手段１及び相対速度検
出手段２の検出結果に対応した警報距離を読出
し、制御手段６は読出手段４により読出された警
報距離と距離検出手段３の検出結果とに基づいて
衝突警報を発生するか否かを制御する。警報距離
書換手段７はブレーキ信号ａの発生時、対地速度
検出手段１と相対速度検出手段２の検出結果に対
応した警報距離と、該ブレーキ信号ａの発生時に
於ける距離検出手段３の検出結果との大小関係を
比較し、該比較結果に基づいて前記記憶装置に記
憶される該警報距離を書換え制御する。Structure of the Invention Fig. 2 is a block diagram of the present invention.The ground speed detection means 1 detects the ground speed (vehicle speed), and the relative speed detection means 2 detects the relative speed between the own vehicle and a target object. However, the distance detection means 3 detects the distance between the host vehicle and the target object. The storage means 5 stores warning distances corresponding to the speed of the own vehicle and the relative speed between the speed of the own vehicle and the target object. The reading means 4 reads the alarm distance corresponding to the detection results of the ground speed detecting means 1 and the relative speed detecting means 2 from the storage device 5, and the control means 6 reads the alarm distance read by the reading means 4 and the detection of the distance detecting means 3. Based on the results, it is controlled whether or not to issue a collision warning. The alarm distance rewriting means 7 writes the alarm distance corresponding to the detection results of the ground speed detection means 1 and the relative speed detection means 2 when the brake signal a is generated, and the detection result of the distance detection means 3 when the brake signal a is generated. The alarm distance stored in the storage device is rewritten and controlled based on the comparison result.
発明の実施例
第３図は本発明の実施例のブロツク線図であ
り、自車両と先行車等の目標物との相対速度及び
距離をFM−CWレーダを利用して検出するよう
にした場合についてのものである。同図に於い
て、１１は送信用アンテナ、１２は送信器、１３
は受信用アンテナ、１４はミキサ、１５はローパ
スフイルタ、１６は周波数カウンタ、１７は自車
両の速度に対応した周波数の速度信号を出力する
速度検出回路、１８は周波数カウンタ、１９はブ
レーキ信号ａの入力端子、２０はマイクロプロセ
ツサ等から成る処理装置、２１はメモリ、２２は
ドライバ、２３はブザーである。尚、メモリ２１
には第１図に示すように、自車両の速度ｖと自車
両と目標物との相対速度vdとパラメータとして
警報距離が記憶されているものである。Embodiment of the Invention Figure 3 is a block diagram of an embodiment of the present invention, in which the relative speed and distance between the own vehicle and a target such as a preceding vehicle are detected using an FM-CW radar. It is about. In the figure, 11 is a transmitting antenna, 12 is a transmitter, and 13 is a transmitting antenna.
14 is a receiving antenna, 14 is a mixer, 15 is a low-pass filter, 16 is a frequency counter, 17 is a speed detection circuit that outputs a speed signal with a frequency corresponding to the speed of the host vehicle, 18 is a frequency counter, and 19 is a brake signal a. 20 is a processing device including a microprocessor, 21 is a memory, 22 is a driver, and 23 is a buzzer. Furthermore, memory 21
As shown in FIG. 1, the vehicle speed v, the relative speed vd between the vehicle and the target object, and the warning distance are stored as parameters.
送信器１２の周波数変調波は送信用アンテナ１
１を介して出力され、先行車両、障害物等の目標
物からの反射波は受信用アンテナ１３を介してミ
キサ１４に加えられる。ミキサ１４は反射波と周
波数変調波の一部とのビート信号をローパスフイ
ルタ１５を介して周波数カウンタ１６に加え、周
波数カウンタ１６はビート信号の周波数をカウン
トする。また、速度検出回路１７から出力される
自車両の速度に対応した周波数を有する速度信号
は周波数カウンタ１８に加えられ、周波数カウン
タ１８は速度信号の周波数をカウントする。 The frequency modulated wave of the transmitter 12 is transmitted by the transmitting antenna 1
1, and reflected waves from targets such as preceding vehicles and obstacles are applied to a mixer 14 via a receiving antenna 13. The mixer 14 applies a beat signal consisting of a reflected wave and a part of the frequency modulated wave to a frequency counter 16 via a low-pass filter 15, and the frequency counter 16 counts the frequency of the beat signal. Further, a speed signal having a frequency corresponding to the speed of the host vehicle outputted from the speed detection circuit 17 is added to a frequency counter 18, and the frequency counter 18 counts the frequency of the speed signal.
処理装置２０は周波数カウンタ１６，１８のカ
ウンタ値を読込み、一定時間毎に第４図に示すフ
ローチヤートに従つた処理を行なう。即ち、処理
装置２０は周波数カウンタ１６のカウント値を読
込み、これに基づいて自車両と目標物との間の距
離ｌ及び自車両と目標物との相対速度vdを算出
すると共に、周波数カウンタ１８のカウント値を
読込み、これに基づいて自車両の速度ｖを算出す
る。 The processing device 20 reads the counter values of the frequency counters 16 and 18, and performs processing according to the flowchart shown in FIG. 4 at regular intervals. That is, the processing device 20 reads the count value of the frequency counter 16, calculates the distance l between the own vehicle and the target object and the relative speed vd between the own vehicle and the target object based on this, and also calculates the relative speed vd of the own vehicle and the target object. The count value is read and the speed v of the host vehicle is calculated based on the count value.
尚、本実施例では、受信波に基づいて距離ｌ、
相対速度vd、自車両の速度ｖを算出する処理が
それぞれ前述の距離検出手段３、相対速度検出手
段２、及び対地速度検出手段１に対応している。
次いで処理装置２０は算出した速度ｖと対地速度
vdとに対応する警報距離lAを処理装置２０の内部
にインターフエース回路として設けられた読出し
手段を介してメモリ２１から読出し、該警報距離
lAと検出した距離ｌとを比較し、警報距離lAの方
が大の場合、ドライバ２２に制御信号を加えてブ
ザー２３を鳴動させ、運転者に衝突の危険がある
ことを知らせ、ブレーキを踏ませるものである。
例えば、自車両の速度ｖがv1、自車両と目標物
との相対速度vdがvd1である場合には、処理装置
２０はメモリ２１から警報距離l22（第１図参照）
を読出し、該警報距離l22と周波数カウンタ１８
のカウント値に基づいて検出した距離ｌとを比較
し、警報距離l22の方が大の場合はドライバ２２
に制御信号を加えてブザー２３を鳴動させるもの
である。 Note that in this embodiment, the distance l,
The processes for calculating the relative speed vd and the speed v of the own vehicle correspond to the aforementioned distance detecting means 3, relative speed detecting means 2, and ground speed detecting means 1, respectively.
Next, the processing device 20 calculates the calculated speed v and ground speed.
The alarm distance l A corresponding to vd and
l A is compared with the detected distance l, and if the alarm distance l A is larger, a control signal is applied to the driver 22 to sound the buzzer 23 to notify the driver that there is a risk of collision, and to brake the driver. It is something that makes you step on it.
For example, when the speed v of the host vehicle is v1 and the relative speed vd between the host vehicle and the target object is vd1, the processing device 20 calculates the alarm distance l 22 from the memory 21 (see FIG. 1).
Read out the alarm distance l 22 and frequency counter 18
Compare the detected distance l based on the count value of , and if the alarm distance l 22 is larger, the driver 22
A control signal is added to the buzzer 23 to make the buzzer 23 sound.
処理装置２０は上述した警報発生動作以外に
も、ブレーキ信号ａの発生時、第４図のフローチ
ヤートに示す警報距離書換動作を行なうものであ
る。即ち、ブレーキ信号ａが発生する毎に第４図
の処理から第５図の処理に移る。以下第５図を参
照して警報距離書換時の処理装置２０の動作を説
明する。 In addition to the above-described alarm generation operation, the processing device 20 performs an alarm distance rewriting operation shown in the flowchart of FIG. 4 when the brake signal a is generated. That is, each time the brake signal a is generated, the process shifts from the process shown in FIG. 4 to the process shown in FIG. The operation of the processing device 20 when rewriting the alarm distance will be described below with reference to FIG.
運転者がブレーキを踏むことにより、ブレーキ
信号ａが“１”となると、処理装置２０は周波数
カウンタ１６のカウント値に基づいてブレーキ信
号ａの立上り時に於ける自車両と目標物との距離
ｌ及び自車両と目標物との相対速度vdを検出す
ると共に、周波数カウンタ１８のカウント値に基
づいてブレーキ信号ａの立上り時に於ける自車両
の速度ｖを検出する。次いで処理装置２０は検出
した速度ｖと相対速度vdとに対応した警報距離lA
をメモリ２１から読出し、次いで該警報距離lAと
検出した距離ｌとを比較する。 When the brake signal a becomes "1" as a result of the driver stepping on the brake, the processing device 20 calculates the distance l between the host vehicle and the target object at the time of the rise of the brake signal a, based on the count value of the frequency counter 16. The relative speed vd between the host vehicle and the target object is detected, and the speed v of the host vehicle at the rising edge of the brake signal a is also detected based on the count value of the frequency counter 18. Next, the processing device 20 calculates an alarm distance l A corresponding to the detected speed v and relative speed vd.
is read from the memory 21, and then the alarm distance lA is compared with the detected distance l.
尚、この時、ブレーキ信号の立上り時に於ける
前記距離ｌ、相対速度vdおよび速度ｖを新たに
算出するようにしてもよいが、ブレーキ信号ａの
発生時に於いて第４図の処理に基づいて算出され
た最新の各算出値を採用するようにしてもよい。 At this time, the distance l, relative velocity vd, and velocity v at the time of the rise of the brake signal may be newly calculated, but at the time of generation of the brake signal a, The latest calculated values may be used.
そして、比較結果がlA＜ｌの場合は、処理装置
２０は読出した警報距離lAに一定値Δxを加え、こ
れを新たな警報距離lAとする。次に処理装置２０
はその内部に設けられているメモリ２４から、ブ
レーキ信号ａの立上り時の速度ｖ及び相対速度
vdに対応して記憶されている警報距離の上限値
X1を読出し、次いで上限値X1と新たな警報距離
lAとを比較する。そして新たな警報距離lAが上限
値X1以下の場合は、元の警報距離lAに一定値Δx
を加えた新たな警報距離lAをメモリ２１の対応す
る領域に記憶させた後、動作を終了し、新たな警
報距離lAが上限値X1よりも大きい場合は警報距離
の書換を行なわずに動作を終了する。 If the comparison result is l A <l, the processing device 20 adds a constant value Δ x to the read alarm distance l A and sets this as a new alarm distance l A. Next, the processing device 20
is the speed v and relative speed at the rising edge of the brake signal a from the memory 24 provided therein.
Upper limit value of alarm distance stored corresponding to vd
Read X 1 , then upper limit value X 1 and new alarm distance
l Compare with A. If the new alarm distance l A is less than the upper limit value X 1 , a constant value Δ x
After storing the new alarm distance l A with the addition of The operation ends.
また、比較結果がlA＞ｌの場合は、処理装置２
０は読出した警報距離lAから一定値Δxを減じ、こ
れを新たな警報距離lAとする。次に処理装置２０
はその内部に設けられているメモリ２４からブレ
ーキ信号ａの立上り時の速度及び相対速度vdに
対応して記憶されている警報距離の下限値X2を
読出し、次いで下限値X2と新たな警報距離lAとを
比較する。そして新たな警報距離lAが下限値X2以
上の場合は、元の警報距離から一定値Δxを減じ
た新たな警報距離lAをメモリ２１の対応する領域
に記憶させた後、動作を終了し、新たな警報距離
lAが下限値X2よりも小さい場合は、警報距離の書
換えを行なわずに動作を終了する。 In addition, if the comparison result is l A > l, the processing device 2
0 subtracts a constant value Δx from the read alarm distance lA , and sets this as a new alarm distance lA . Next, the processing device 20
reads the lower limit value X 2 of the alarm distance stored in correspondence to the speed at the rise of the brake signal a and the relative speed vd from the memory 24 provided therein, and then reads the lower limit value X 2 and the new alarm value. Compare the distance l A. If the new alarm distance lA is equal to or greater than the lower limit value Ended and new alert distance
l If A is smaller than the lower limit value X2 , the operation is ended without rewriting the alarm distance.
また、比較結果がｌ＝lAの場合は、処理装置２
０は警報距離の書換えを行なわずに動作を終了す
る。 Furthermore, if the comparison result is l=l A , the processing device 2
0 ends the operation without rewriting the alarm distance.
本実施例に於いては、第５図のフローチヤート
の如く検出した距離ｌと警報距離lAとの大小関係
に基づいて警報距離lAを書換える（更新する）処
理が前述の警報距離書換手段に対応している。 In this embodiment, the process of rewriting (updating) the alarm distance lA based on the magnitude relationship between the detected distance l and the alarm distance lA as shown in the flowchart of FIG. corresponds to the means.
尚、実施例に於いて、警報距離の上限値と下限
値とを定め、その範囲内で警報距離の書換えを行
なうようにしたが、これは警報距離の書換えを無
制限に行なうと安全性に問題が生じるからであ
る。また、メモリ２１とメモリ２４とは別個に設
ける必要はなく１つのメモリで記憶領域を分けて
使用するようにしてもよい。 In addition, in the embodiment, the upper and lower limits of the alarm distance were determined, and the alarm distance was rewritten within these limits, but this is because if the alarm distance is rewritten unlimitedly, there will be a safety problem. This is because Further, it is not necessary to provide the memory 21 and the memory 24 separately, and the storage areas may be used separately in one memory.
さらに、実施例に於いては説明しなかつたが、
警報距離をメモリ２１に書込む際、パリテイビツ
トを付加し、誤つたデータ（警報距離）が書込ま
れた場合、それを検出できるようにしておくこと
が望ましい。 Furthermore, although not explained in the examples,
When writing the warning distance into the memory 21, it is desirable to add a parity bit so that if incorrect data (warning distance) is written, it can be detected.
発明の効果
以上説明したように、本発明は運転者がブレー
キを踏むタイミングに従つて警報距離を自動的に
書換えることができるものであるから、運転者の
運転技術、好みに合わせたタイミングで衝突警報
を発することができる利点がある。Effects of the Invention As explained above, the present invention is capable of automatically rewriting the warning distance according to the timing when the driver steps on the brake. It has the advantage of being able to issue a collision warning.
第１図はメモリの記憶内容を示す図、第２図は
本発明の構成を示すブロツク線図、第３図は本発
明の実施例のブロツク線図、第４図及び第５図は
処理装置２０の処理内容を示すフローチヤートで
ある。
１は速度検出手段、２は相対速度検出手段、３
は距離検出手段、４は読出手段、５は記憶装置、
６は制御手段、７は警報距離書換手段、１１は送
信用アンテナ、１２は送信器、１３は受信用アン
テナ、１４はミキサ、１５はローパスフイルタ、
１６，１８は周波数カウンタ、１７は速度検出回
路、１８は周波数カウンタ、１９はブレーキ信号
の入力端子、２０は処理装置、２１，２４はメモ
リ、２２はドライバ、２３はブザーである。
FIG. 1 is a diagram showing the stored contents of the memory, FIG. 2 is a block diagram showing the configuration of the present invention, FIG. 3 is a block diagram of an embodiment of the present invention, and FIGS. 4 and 5 are processing devices. 20 is a flowchart showing the processing contents of step 20. 1 is a speed detection means, 2 is a relative speed detection means, 3
4 is a distance detection means, 4 is a reading means, 5 is a storage device,
6 is a control means, 7 is an alarm distance rewriting means, 11 is a transmitting antenna, 12 is a transmitter, 13 is a receiving antenna, 14 is a mixer, 15 is a low-pass filter,
16 and 18 are frequency counters, 17 is a speed detection circuit, 18 is a frequency counter, 19 is a brake signal input terminal, 20 is a processing device, 21 and 24 are memories, 22 is a driver, and 23 is a buzzer.
Claims (1)
標物との間の相対速度を検出する相対速度検出手
段と、目標物との間の距離を検出する距離検出手
段と、前記対地速度と相対速度とに対応して警報
距離を記憶した記憶装置と、前記距離検出手段に
より検出された距離が、前記記憶装置から読出さ
れた警報距離以下のとき、衝突警報を出力する車
両衝突警報装置に於いて、ブレーキ信号発生時に
於ける前記対地速度検出手段からの対地速度及び
前記相対速度検出手段からの相対速度に対応した
警報距離と該ブレーキ信号発生時に於ける前記距
離検出手段からの検出距離との大小関係を比較
し、該比較結果に基づいて前記記憶装置に記憶さ
れている前記ブレーキ信号発生時の対地速度及び
相対速度に対応した警報距離を書換え制御する警
報距離書換手段を備えたことを特徴とする車両衝
突警報装置。1 Ground speed detection means for detecting ground speed, relative speed detection means for detecting relative speed to a target object, distance detection means for detecting a distance to the target object, and said ground speed and relative speed. and a vehicle collision warning device that outputs a collision warning when the distance detected by the distance detection means is equal to or less than the warning distance read from the storage device. , the magnitude of the alarm distance corresponding to the ground speed from the ground speed detecting means and the relative speed from the relative speed detecting means when the brake signal is generated, and the detection distance from the distance detecting means when the brake signal is generated; The vehicle is characterized by comprising an alarm distance rewriting means for comparing the relationship and rewriting and controlling the alarm distance corresponding to the ground speed and relative speed at the time of generation of the brake signal stored in the storage device based on the comparison result. Vehicle collision warning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215978A JPS59105587A (en) | 1982-12-09 | 1982-12-09 | Apparatus for alarming vehicle collision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57215978A JPS59105587A (en) | 1982-12-09 | 1982-12-09 | Apparatus for alarming vehicle collision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59105587A JPS59105587A (en) | 1984-06-18 |
| JPH0210912B2 true JPH0210912B2 (en) | 1990-03-12 |
Family
ID=16681384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57215978A Granted JPS59105587A (en) | 1982-12-09 | 1982-12-09 | Apparatus for alarming vehicle collision |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59105587A (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2958013B2 (en) * | 1989-02-15 | 1999-10-06 | 日本無線株式会社 | Vehicle collision warning device |
| DE4418085C2 (en) * | 1993-05-21 | 1999-09-09 | Toyota Motor Co Ltd | Safety device for a vehicle |
| JP3257310B2 (en) * | 1994-12-22 | 2002-02-18 | トヨタ自動車株式会社 | Inattentive driving detection device |
| JP2000331297A (en) * | 1999-05-17 | 2000-11-30 | Denso Corp | Car distance warning system |
| JP3938023B2 (en) | 2002-11-27 | 2007-06-27 | 日産自動車株式会社 | Risk potential calculation device, vehicle driving assistance device, vehicle equipped with the device, and risk potential calculation method |
| US10518782B2 (en) | 2012-06-05 | 2019-12-31 | Toyota Jidosha Kabushiki Kaisha | Driving characteristics estimating device and drive assisting system |
| JP6699665B2 (en) * | 2015-09-08 | 2020-05-27 | ソニー株式会社 | Information processing apparatus, information processing method, and program |
-
1982
- 1982-12-09 JP JP57215978A patent/JPS59105587A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59105587A (en) | 1984-06-18 |
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