Vehicle collision preventing apparatus

• US 20040085197A1
• Filed: 11/14/2003
• Published: 05/06/2004
• Est. Priority Date: 11/24/2000
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakabe, Masahiko, Nakasho, Takayuki, Igaki, Munenaga, Nonaka, Masakatsu, Kuzuya, Keiji, Watanabe, Kazuya, Nagiri, Sueharu
• Granted Patent: US 7,002,452 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

In order to maintain a suitable vehicle separation between a driven vehicle with respect to a preceding vehicle, an electric controller 10 predicts a closest approach distance between the driven vehicle and the preceding vehicle on the assumption that the preceding vehicle decelerates at a deceleration detected by a vehicle separation sensor 12 and the like and that the driven vehicle decelerates at a prescribed assumed deceleration after running at a speed detected by the vehicle speed sensor 11 for an idle running time. The electric controller predicts the speed at the time of closest approach when the separation between the preceding vehicle and the driven vehicle is the closest approach distance. A suitable vehicle separation is determined based on the product of the predicted speed at the time of closest approach and a previously set length of time, and when the predicted closest approach distance is smaller than the determined suitable vehicle separation, a warning is generated by a warning apparatus 30 or braking force is generated by a brake actuator 40.

Claims

1. A collision preventing apparatus for a vehicle comprising:

preceding vehicle running condition detecting means for detecting the running condition of a preceding vehicle,

driven vehicle running condition detecting means for detecting the running condition of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

closest approach distance predicting means for predicting the closest approach distance between the driven vehicle and the preceding vehicle based on the detected running condition of the preceding vehicle, the detecting running condition of the driven vehicle, and the detected vehicle separation,

suitable vehicle separation determining means for determining a suitable vehicle separation corresponding to a vehicle separation between the preceding vehicle and the driven vehicle which is predicted for the future, and

collision preventing means for generating a warning or braking force when the predicted closest approach distance is smaller than the determined suitable vehicle separation.

2. A collision preventing apparatus for a vehicle as described in claim 1, wherein the suitable vehicle separation determining means predicts the speed of the driven vehicle when the distance between the preceding vehicle and the driven vehicle becomes the closest approach distance as the speed at the time of closest approach, and it determines the suitable vehicle separation based on the predicted speed at the time of closest approach.

3. A collision preventing apparatus for a vehicle as described in claim 2, wherein the suitable vehicle separation determining means determines the suitable vehicle separation based on the product of the predicted speed at the time of closest approach and a previously set length of time.

4. A collision preventing apparatus for a vehicle as described in claim 3, wherein the suitable vehicle separation determining means determines the suitable vehicle separation based on the product of the predicted speed at the time of closest approach and a previously set length of time plus a prescribed margin vehicle separation.

5. A collision preventing apparatus for a vehicle as described in claim 1,

further comprising target deceleration calculating means for calculating a target deceleration necessary to maintain the suitable vehicle separation,

wherein the preceding vehicle running condition detecting means includes preceding vehicle speed detecting means for detecting the speed of the preceding vehicle as a running condition of the preceding vehicle, and preceding vehicle deceleration detecting means for detecting the deceleration of the preceding vehicle as a running condition of the preceding vehicle,

the driven vehicle running condition detecting means includes driven vehicle speed detecting means for detecting the speed of the driven vehicle as a running condition of the driven vehicle, and driven vehicle deceleration detecting means for detecting the deceleration of the driven vehicle as a running condition of the driven vehicle,

the closest approach distance predicting means predicts the closest approach distance based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation, and

the collision preventing means includes braking force generating means for generating braking force so as to make the detected deceleration of the driven vehicle equal to the calculated target deceleration when the predicted closest approach distance becomes smaller than the determined suitable vehicle separation.

6. A collision preventing apparatus for a vehicle as described in claim 5, wherein the closest approach distance predicting means predicts the closest approach distance on the assumption that the preceding vehicle decelerates at a deceleration detected by the preceding vehicle deceleration detecting means and that the driven vehicle decelerates at a prescribed assumed deceleration after running at a speed detected by the driven vehicle speed detecting means for a prescribed idle running time.

7. A collision preventing apparatus for a vehicle as described in claim 5, wherein the target deceleration calculating means maintains the calculated target deceleration when the vehicle separation becomes less than or equal to the vehicle separation recognition limit of the vehicle separation detecting means.

8. A collision preventing apparatus for a vehicle as described in claim 5, wherein the target deceleration calculating means determines whether the preceding vehicle is moving when the predicted closest approach distance becomes larger than the determined suitable vehicle separation after braking force is generated by the braking force generating means, and when it is determined that the preceding vehicle is moving, the target deceleration is maintained at a prescribed deceleration until the detected vehicle separation becomes a prescribed vehicle separation.

9. A collision preventing apparatus for a vehicle as described in claim 5, wherein the target deceleration calculating means determines whether the calculated target deceleration is unstable, and when it is determined that the calculated target deceleration is unstable, a different stable value is set as the target deceleration.

10. A collision preventing apparatus for a vehicle as described in claim 5, including driven vehicle stopped state determining means for determining whether the driven vehicle is stopped, and stopped state braking force maintaining means for maintaining the braking force at a prescribed value when it is determined by the vehicle stopped stated determining means that the driven vehicle is stopped when braking force is being generated by the braking force generating means when the predicted closest approach distance occurs when the driven vehicle is stopped.

11. A collision preventing apparatus for a vehicle as described in claim 10, including brake operation determining means for determining whether the brake apparatus of the driven vehicle is being operated by the driver, and braking force maintaining cancelling means for cancelling the maintaining of the braking force by the stopped state braking force maintaining means when it is determined that the brake apparatus is being operated.

12. A collision preventing apparatus for a vehicle as described in claim 11, wherein the brake operation determining means determines whether the brake apparatus is being operated based on whether the hydraulic pressure of the brake master cylinder of the driven vehicle is larger than a prescribed hydraulic pressure.

13. A collision preventing apparatus for a vehicle as described in claim 5, including driven vehicle stopped state determining means for determining whether the driven vehicle is stopped, and engine stopping means for stopping the engine of the driven vehicle when it is determined by the driven vehicle stopped state determining means that the driven vehicle is stopped when braking force is being generated by the braking force generating means when the predicted closest approach distance occurs when the driven vehicle is stopped.

14. A collision preventing apparatus for a vehicle comprising:

preceding vehicle running condition detecting means for detecting the running condition of a preceding vehicle,

driven vehicle running condition detecting means for detecting the running condition of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

closest approach distance predicting means for predicting the closest approach distance between the driven vehicle and the preceding vehicle based on the detected running condition of the preceding vehicle, the detecting running condition of the driven vehicle, the detected vehicle separation, and an assumed deceleration of the driven vehicle, and

collision preventing means for generating a warning or braking force when the predicted closest approach distance is smaller than a prescribed suitable vehicle separation,

wherein the closest approach distance predicting means predicts the closest approach distance with the assumed deceleration being a deceleration smaller than the maximum deceleration determined by the road surface coefficient of friction of the road surface on which the driven vehicle is running.

15. A collision preventing apparatus for a vehicle as described in claim 14, wherein the closest approach distance predicting means obtain the assumed deceleration by multiplying the product of the coefficient of friction of the road surface on which the driven vehicle is running and the acceleration of gravity by a coefficient smaller than 1.

16. A collision preventing apparatus for a vehicle comprising:

preceding vehicle speed detecting means for detecting the speed of a preceding vehicle,

preceding vehicle deceleration detecting means for detecting the deceleration of the preceding vehicle,

driven vehicle speed detecting means for detecting the speed of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

first closest approach distance predicting means for predicting a first closest approach distance between the driven vehicle and the preceding vehicle based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation on the assumption that the preceding vehicle decelerates at the detected deceleration of the preceding vehicle and that the driven vehicle decelerates at a prescribed assumed deceleration after running at the detected speed of the driven vehicle for a prescribed idle running time,

second closest approach distance predicting means for predicting a second closest approach distance based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation second closest approach distance predicting means for predicting a second closest approach distance based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation on the assumption that the preceding vehicle begins to decelerate at a maximum deceleration determined by the road surface coefficient of friction and the driven vehicle begins to decelerate at the maximum deceleration after a prescribed length of time from the starting point of the deceleration of the preceding vehicle at a maximum deceleration by the time when the driven vehicle most closely approaches the preceding vehicle on the assumption that the first closest approach distance predicting means uses, and

collision preventing means for generating a warning or braking force when the predicted first closest approach distance is smaller than a first suitable vehicle separation or the predicted second closest approach distance is smaller than a second suitable vehicle separation.

17. A collision preventing apparatus for a vehicle comprising:

preceding vehicle running condition detecting means for detecting the running condition of a preceding vehicle,

driven vehicle running condition detecting means for detecting the running condition of the driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

closest approach distance predicting means for predicting the closest approach distance of the driven vehicle and the preceding vehicle based on the detected running condition of the preceding vehicle, the detecting running condition of the driven vehicle, the detected vehicle separation, and an assumed deceleration which is assumed for the driven vehicle, and

collision preventing means for generating a warning or braking force when the predicted closest approach distance is smaller than a prescribed suitable vehicle separation and for generating a warning or braking force when the actual vehicle separation detected by the vehicle separation detecting means is smaller than a prescribed distance.

18. A collision preventing apparatus for a vehicle as described in claim 17, wherein the driven vehicle running condition detecting means detects at least the speed of the driven vehicle, and the collision preventing means set the product of the detected speed of the driven vehicle and a previously set prescribed length of time plus a prescribed margin vehicle separation as the prescribed distance.

19. A collision preventing apparatus for a vehicle comprising:

preceding vehicle running condition detecting means for detecting the running condition of a preceding vehicle,

driven vehicle running condition detecting means for detecting the running condition of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

closest approach distance predicting means for predicting the closest approach distance between the driven vehicle and the preceding vehicle based on the detected running condition of the preceding vehicle, the detecting running condition of the driven vehicle, the detected vehicle separation, and an assumed deceleration which is assumed for the driven vehicle,

suitable vehicle separation determining means for predicting the speed of the driven vehicle when the distance between the preceding vehicle and the driven vehicle becomes the closest approach distance as the speed at the time of closest approach and for determining a suitable vehicle separation based on the predicted speed at the time of closest approach, and

collision preventing means for generating a warning or braking force when the predicted closest approach distance is smaller than the suitable vehicle separation determined by the suitable vehicle separation determining means, and for stopping the generation of the warning or the braking force when the predicted closest approach distance has become larger than the suitable separation determined by the suitable vehicle separation determining means by a prescribed distance after the generation of the warning or the braking force.

20. A collision preventing apparatus for a vehicle comprising:

preceding vehicle speed detecting means for detecting the speed of a preceding vehicle,

preceding vehicle deceleration detecting means for detecting the deceleration of the preceding vehicle,

driven vehicle speed detecting means for detecting the speed of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

first collision preventing means for predicting a first closest approach distance between the driven vehicle and the preceding vehicle and a first speed at the time of closest approach on the assumption that the preceding vehicle decelerates at the detected deceleration and that the driven vehicle decelerates at a first assumed deceleration after running for a first idle running time at the detected speed, and for generating a warning or braking force when the predicted first closest approach distance is smaller than a first suitable vehicle separation determined based on the product of the predicted first speed at the time of closest approach and a previously set first length of time,

second collision preventing means for predicting a second closest approach distance between the driven vehicle and the preceding vehicle and a second speed at the time of closest approach on the assumption that the preceding vehicle decelerates at the detected deceleration and that the driven vehicle decelerates at a second assumed deceleration greater than the first assumed deceleration after running at the detected speed for a second idle running time less than the first idle running time and for generating a warning or braking force when the predicted second closest approach distance is smaller than a second suitable vehicle separation determined based on the product of the predicted second speed at the time of closest approach and a previously set second length of time which is less than the first length of time, and

preventive measure continuing means for continuing the generation of a warning or braking force by the second collision preventing means until a situation is achieved where the warning or the braking force is no longer generated by the first collision preventing means when a warning or braking force has been generated by the second collision preventing means.

21. A collision preventing apparatus for a vehicle as described in claim 20, comprising brake operation determining means for determining whether a brake apparatus of the driven vehicle is being operated by the driver,

wherein the first collision preventing means predicts the first closest approach distance with changing the first idle running time to a longer time when it is determined by the brake operation determining means that the brake is not being operated than when it is determined that the brake is being operated, and

the preventive measure continuing means continues the generation of a warning or braking force by the second collision preventing means until a state is realized in which the warning or the braking force is not generated even if the first collision preventing means predicts the first closest approach distance based on the first idle running time which is changed to the longer time.

22. A collision preventing apparatus for a vehicle comprising:

preceding vehicle speed detecting means for detecting the speed of a preceding vehicle,

preceding vehicle deceleration detecting means for detecting the deceleration of the preceding vehicle,

driven vehicle speed detecting means for detecting the speed of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

brake operation determining means for determining whether the brake apparatus of the driven vehicle is being operated by the driver,

collision preventing means for predicting a closest approach distance between the driven vehicle and the preceding vehicle based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation, on the assumption that the preceding vehicle decelerates at the detected deceleration and that the driven vehicle decelerates at an assumed deceleration after running for a prescribed idle running time at the detected speed and for generating a warning or braking force when the predicted closest approach distance is smaller than a prescribed suitable vehicle separation, and

idle running time changing means for changing the prescribed idle running time to a longer time when it is determined by the brake operation determining means that the brake is not being operated than when it is determined that the brake is being operated.

23. A collision preventing apparatus for a vehicle comprising:

preceding vehicle speed detecting means for detecting the speed of a preceding vehicle,

preceding vehicle deceleration detecting means for detecting the deceleration of the preceding vehicle,

driven vehicle speed detecting means for detecting the speed of a driven vehicle,

vehicle separation detecting means for detecting the vehicle separation between the driven vehicle and the preceding vehicle,

parameter storing means for storing a plurality of sets of parameters which determine an idle running time, an assumed vehicle deceleration of the driven vehicle, and a suitable vehicle separation, to output one of the plurality of stored sets of parameters in response to operation from the outside, and

collision preventing means for predicting a closest approach distance between the driven vehicle and the preceding vehicle based on the detected speed of the preceding vehicle, the detected deceleration of the preceding vehicle, the detected speed of the driven vehicle, and the detected vehicle separation on the assumption that the preceding vehicle decelerates at the detected deceleration and that the driven vehicle decelerates at an assumed deceleration determined based on the output parameter after running at the detected speed for a prescribed idle running time determined based on the output parameter and for generating a warning or braking force when the predicted closest approach distance is smaller than a suitable vehicle separation determined based the output parameter.

24. A collision preventing apparatus for a vehicle as described in claim 23, wherein the suitable vehicle separation is determined by the product of a speed at the time of closest approach predicted under the above assumptions and a predetermined length of time, and the parameter which determines the suitable vehicle separation is predetermined length of time.