Vehicle collision judging system for controlling brake actuation
First Claim
1. A collision judging system for a vehicle, comprising:
- a subject vehicle position estimating means for estimating a position of a subject vehicle after a lapse of a preset time from a certain braking start time, on the assumption that a braking is started at said braking start time;
an obstacle position estimating means for estimating a position of an objective obstacle after a lapse of said preset time; and
a judging means for judging whether or not the position of the subject vehicle after a lapse of said preset time estimated by the subject vehicle position estimating means and the position of the obstacle after a lapse of said preset time estimated by the obstacle position estimating means coincide with each other,wherein said subject vehicle position estimating means estimates the position of the subject vehicle after the lapse of said preset time according to the following expression;
space="preserve" listing-type="equation">{V.sub.1 ·
t.sub.o +V.sub.1 ·
(t.sub.s -t.sub.o)-0.5·
α
.sub.1 ·
(t.sub.s -t.sub.o).sup.2 }, andwherein said obstacle position estimating means estimates the position of the objective obstacle after the lapse of the preset time according to the following expression;
space="preserve" listing-type="equation">(V.sub.2 ·
t.sub.s -0.5 α
.sub.2 ·
t.sub.s.sup.2),wherein V1 represents a travel speed of the subject vehicle;
V2 represents an absolute speed of the objective obstacle;
to represents a calculating time;
ts represents the preset time;
α
1 represents a deceleration or preset deceleration of the subject vehicle; and
α
2 represents a deceleration or preset deceleration of the objective obstacle.
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Accused Products
Abstract
A collision judging system for a vehicle comprises a subject vehicle position estimating means for estimating the position of the subject vehicle after a lapse of a preset time from a certain braking start time, on the assumption that the braking is starting at such braking start time, an obstacle position estimating means for estimating the position of an objective obstacle after the lapse of the preset time, and the judging means for judging whether or not the position of the subject vehicle estimated by the subject vehicle position estimating means and the position of the obstacle estimated by the obstacle position estimating means coincide with each other. Thus, the judgment of collision can be performed with the avoidance of the collision by the driver'"'"'s operation being taken into consideration, leading to an improved feeling of driving operation.
38 Citations
5 Claims
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1. A collision judging system for a vehicle, comprising:
-
a subject vehicle position estimating means for estimating a position of a subject vehicle after a lapse of a preset time from a certain braking start time, on the assumption that a braking is started at said braking start time; an obstacle position estimating means for estimating a position of an objective obstacle after a lapse of said preset time; and a judging means for judging whether or not the position of the subject vehicle after a lapse of said preset time estimated by the subject vehicle position estimating means and the position of the obstacle after a lapse of said preset time estimated by the obstacle position estimating means coincide with each other, wherein said subject vehicle position estimating means estimates the position of the subject vehicle after the lapse of said preset time according to the following expression;
space="preserve" listing-type="equation">{V.sub.1 ·
t.sub.o +V.sub.1 ·
(t.sub.s -t.sub.o)-0.5·
α
.sub.1 ·
(t.sub.s -t.sub.o).sup.2 }, andwherein said obstacle position estimating means estimates the position of the objective obstacle after the lapse of the preset time according to the following expression;
space="preserve" listing-type="equation">(V.sub.2 ·
t.sub.s -0.5 α
.sub.2 ·
t.sub.s.sup.2),wherein V1 represents a travel speed of the subject vehicle;
V2 represents an absolute speed of the objective obstacle;
to represents a calculating time;
ts represents the preset time;
α
1 represents a deceleration or preset deceleration of the subject vehicle; and
α
2 represents a deceleration or preset deceleration of the objective obstacle. - View Dependent Claims (2, 5)
-
-
3. A collision judging system for a vehicle, comprising:
-
a relative-position estimating means for estimating a position of an object obstacle relative to a subject vehicle after a lapse of a preset time from a certain braking start time on the assumption that a braking is started at said braking start time; and a judging means for judging whether or not the relative position after a lapse of said preset time estimated by the relative-position estimating means coincides with a position of the subject vehicle, wherein said relative-position estimating means estimates the relative position of the obstacle position after the lapse of said preset time according the following expression;
space="preserve" listing-type="equation">Δ
V·
t.sub.s -0.5·
{α
.sub.1 ·
(t.sub.s -t.sub.o).sup.2 -α
.sub.2 ·
t.sub.s.sup.2 },wherein Δ
V represents the reactive speed of the objective obstacle with respect to the subject vehicle;
to represents a calculating time;
ts represents the preset time;
α
1 represents a deceleration or preset deceleration of the subject vehicle; and
α
2 represents a deceleration or preset deceleration of the objective obstacle. - View Dependent Claims (4)
-
Specification