Summary of the invention
As an example, the anticollision auxiliary device of embodiment has: judging part, and judging should in the traveling of vehicleWhether the car horn of vehicle is by ring；And applying unit, it is right when being judged as that car horn is by ring in the traveling of vehicleVehicle, which applies brake force, makes vehicle deceleration.Therefore, as an example, the anticollision auxiliary device of embodiment can shorten vehicleBraking distance, be easy to avoid the collision of vehicle and external barrier.
In addition, as an example, in the anticollision auxiliary device of embodiment, when being judged as in the traveling of vehicleWhen car horn is by ring, applying unit makes the speed change gear downshift of vehicle to apply brake force to vehicle.Therefore, as an exampleSon, the anticollision auxiliary device of embodiment can shorten the braking distance of vehicle, be easy to avoid vehicle and external barrierCollision.
In addition, as an example, in the anticollision auxiliary device of embodiment, being judged as car horn by ringLater, when the brake that applying unit carries out the vehicle in front of the downshift of speed change gear is operated, applying unit is without speed change gearDownshift.Therefore, as an example, in the anticollision auxiliary device of embodiment, when the driver of vehicle operates systemWhen dynamic device, the Braking of the brake force of driver's scenario of vehicle or more can be prevented in vehicle.
In addition, as an example, in the anticollision auxiliary device of embodiment, speed change gear is repeated in applying unitDownshift to carry out speed change gear downshift after vehicle accelerator opening than carry out speed change gear downshift before plusUntil fast device aperture is big.Therefore, as an example, in the anticollision auxiliary device of embodiment, although in the row of vehicleMiddle car horn is sailed by ring, but when brake operating portion is not operated, brake force persistently can be applied to vehicle, therefore can be moreAdd the collision for being easy to avoid vehicle and external barrier.
In addition, as an example, the anticollision auxiliary device of embodiment, which is also equipped with, lights control unit, work as speed change gearWhen being downshifted by applying unit, this lights the brake lamp that control unit lights vehicle.Therefore, as an example, in embodimentAnticollision auxiliary device in, can reduce when by down-shift and speed change device to be applied with brake force to vehicle by vehicleA possibility that car rear-end of behind.
In addition, as an example, in the anticollision auxiliary device of embodiment, more than vehicle is with fixing speedWhen being judged as car horn by ring when speed is when driving or the gear of speed change gear is regulation gear or more, applying unit is to vehicleApply brake force.Therefore, as an example, the anticollision auxiliary device of embodiment can prevent from being in vehicle and stopOr vehicle applies brake force to vehicle when being in the state gone slowly etc. in the processing without applying brake force to vehicle.
In addition, as an example, in the anticollision auxiliary device of embodiment, applying unit passes through the automatic system of vehicleAt least one party in the downshift of dynamic device and speed change gear applies brake force to vehicle.Therefore, as an example, embodimentAnticollision auxiliary device can shorten the braking distance of vehicle, be easy to avoid the collision of vehicle and external barrier.
Specific embodiment
Hereinafter, disclosing embodiment illustrated of the invention.The structure of embodiment as shown below, with this configuration bandEffect, result and the effect come are an examples.The present invention can be realized through disclosed structure in the following embodimentsStructure in addition can be realized, and can obtain various effects based on basic structure and derive from effect at least one ofEffect.
The vehicle for carrying the anticollision auxiliary device of present embodiment can be internal combustion engine (engine) as driving sourceAutomobile (internal-combustion engines vehicle), be also possible to automobile (electric car, fuel cell vapour by motor (motor) as driving sourceVehicle etc.), it can also be using their both sides as the automobile (hybrid vehicle) of driving source.In addition, vehicle can carry it is variousSpeed change gear, internal combustion engine, motor driving needed for various devices (system, component etc.).In addition, can be in the carA variety of settings are carried out with mode, number, the layout etc. of the related device of driving of wheel.
Fig. 1 is to indicate that perspective carries the state of a part of the car room of the vehicle of the anticollision auxiliary device of present embodimentAn example perspective view.As shown in Figure 1, vehicle 1 has car body 2, handling maneuver portion 4, accelerates operation portion 5, brake operatingPortion 6, variable speed operation portion 7 and monitoring arrangement 11.Car body 2 has the car room 2a to ride for passenger.In car room 2a, using as multiplyingThe state that the driver of visitor rides on seat 2b is provided with handling maneuver portion 4, accelerates operation portion 5, brake operating portion 6, speed change behaviourMake portion 7 etc..Handling maneuver portion 4 is, for example, from the steering wheel outstanding of instrument board 24.Accelerating operation portion 5 is, for example, positioned at driver'sThe accelerator pedal of the position of underfooting.Brake operating portion 6 is, for example, the brake pedal positioned at the position of the underfooting of driver.Speed change behaviourMaking portion 7 is, for example, from center operation bench gear lever outstanding.
The central portion of the vehicle width direction (that is, left and right directions) of instrument board 24 is for example arranged in monitoring arrangement 11.Monitoring arrangement11 functions such as also can have navigation system or sound system.Monitoring arrangement 11 has display device 8, sound output device9 and operation inputting part 10.In addition, monitoring arrangement 11 also can have the various operation inputs such as switch, driver plate, control stick and buttonPortion.
Display device 8 is by LCD (Liquid Crystal Display: liquid crystal display), OELD (OrganicElectroluminescent Display: display of organic electroluminescence) etc. constitute, can based on image data show it is variousImage.Sound output device 9 is made of loudspeaker etc., exports various sound based on voice data.Sound output device 9 can also be withThe different location in addition to monitoring arrangement 11 in car room 2a is set.
Operation inputting part 10 is made of touch panel etc., and passenger can input various information.In addition, operation inputting part 10 is setThe display picture in display device 8 is set, the image shown in display device 8 can be made to penetrate.Operation inputting part 10 can as a result,The image for showing that passenger's visual identity in the display picture of display device 8.Operation inputting part 10 is being shown by detecting passengerTouch operation on the display picture of device 8 receives the inputs of the various information of passenger.
Fig. 2 is the top view of an example of the vehicle of present embodiment.As shown in Figures 1 and 2, vehicle 1 is four-wheel vapourVehicle etc. has 2 rear-wheel 3R of the 2 front-wheel 3F in left and right and left and right.The all or part of 4 wheels 3 can turn to.
Vehicle 1 carries multiple shoot parts 15.In the present embodiment, vehicle 1 for example carries 4 shoot part 15a~15d.Shoot part 15 be with CCD (Charge Coupled Device: charge-coupled device) or CIS (CMOS Image Sensor:Cmos image sensor) etc. capturing elements digital camera.Shoot part 15 can shoot the week of vehicle 1 with defined frame per secondIt encloses.Moreover, the shooting image obtained around the output shooting vehicle 1 of shoot part 15.Shoot part 15 be respectively provided with wide-angle lens orFish eye lens in the horizontal direction, such as can shoot 140 °~220 ° of range.In addition, there is also the optical axises of shoot part 15The case where setting obliquely downward.
Specifically, the rear window of the door 2h of rear deck is arranged in for example positioned at the end 2e of the rear side of car body 2 in shoot part 15aLower section wall portion.Moreover, shoot part 15a can shoot the region at the rear of the vehicle 1 in around vehicle 1.Shoot partFor example positioned at the end 2f on the right side of car body 2, the peephole 2g on right side is arranged in 15b.Moreover, shoot part 15b can shoot vehicle 1Around in the vehicle side region.Shoot part 15c is for example positioned at the front side of car body 2, that is, positioned at the front and back of vehicle 1The end 2c of front side on direction is arranged in front bumper, preceding grid etc..Moreover, shoot part 15c can shoot the week of vehicle 1The region in the front of the vehicle 1 in enclosing.Shoot part 15d is for example positioned at the left side of car body 2, that is, positioned at the left side of vehicle width directionEnd 2d, the peephole 2g in left side is set.Moreover, shoot part 15d can shoot the side of the vehicle 1 in around vehicle 1The region of side.
Fig. 3 is the block diagram for indicating an example of functional structure for the vehicle of present embodiment.As shown in figure 3, vehicle 1 hasStandby steering system 13, monitoring arrangement 11, braking system 18, steering angle sensor 19, acceleration sensor 20, gear shift sensing device21, wheel speed sensor 22, in-vehicle network 23,14, automobile ECU (Electronic Control Unit: electronic control unit)Loudspeaker sensor 25, car horn 26 and speed change gear 27.Monitoring arrangement 11, braking system 18, turns to steering system 13Angle transducer 19, acceleration sensor 20, gear shift sensing device 21, wheel speed sensor 22, ECU14, car horn sensor 25 andSpeed change gear 27 is via the electrical connection of in-vehicle network 23 as electrical communication line.In-vehicle network 23 is by CAN (ControllerArea Network: controller local area network) etc. constitute.
Steering system 13 is electric boosting steering system, SBW (Steer By Wire: steering-by-wire) system etc..TurnThere is actuator 13a and torque sensor 13b to steerable system 13.Moreover, by the electric control of ECU14 etc., handling maneuver systemSystem 13 applies torque to supplement steering force, to make 3 turns of wheel by acting actuator 13a, to handling maneuver portion 4To.Torque sensor 13b detection driver gives the torque in handling maneuver portion 4, its testing result is sent to ECU14.
Braking system 18 includes ABS (the Anti-lock Brake System: anti-of the locking of the brake of control vehicle 1Antilock brake system), inhibit vehicle 1 turning when slide laterally slide laterally anti-locking apparatus (ESC:ElectronicStability Control: electronic stability control), enhancing brake force come the electrodynamic braking system and BBW of auxiliary braking(Brake By Wire: line control brake system).Braking system 18 has actuator 18a and braking sensor 18b.Pass through ECU14Equal electric control braking system 18, braking system 18 apply brake force to wheel 3 via actuator 18a.Braking system 18 is according to a left sideIdle running, the sign slid laterally of locking, wheel 3 etc. of the detection brake such as right rotational difference of wheel 3, execute and inhibit brakingThe idle running of the locking, wheel 3 of device and the control slid laterally.Braking sensor 18b is that the conduct in detection brake operating portion 6 is movableThe testing result of the position of brake pedal is sent to ECU14 by the displacement sensor of the position of the brake pedal in portion.In addition, working asWhen detecting that the position of brake pedal is subjected to displacement by braking sensor 18b, braking system 18 lights brake lamp 18c.
Steering angle sensor 19 is the sensor of the handling maneuver amount in the handling maneuvers such as detection direction disk portion 4.In this implementationIn mode, steering angle sensor 19 is made of Hall element etc., detects the rotation angle conduct of the rotating part in handling maneuver portion 4Handling maneuver amount, and its testing result is sent to ECU14.The detection of acceleration sensor 20 is as the movable part for accelerating operation portion 5Accelerator pedal position, be based on its testing result computation accelerator aperture, and calculated accelerator opening be sent toECU14。
Gear shift sensing device 21 is the sensor for detecting the position of movable part (bar, arm, button etc.) of variable speed operation portion 7, andIts testing result is sent to ECU14.Wheel speed sensor 22 has Hall element etc., is the rotation amount for detecting wheel 3, unitThe sensor of the revolution of the wheel 3 of time calculates the speed (speed) of vehicle 1 based on its testing result, and by calculated vehicleSpeed is sent to ECU14.Car horn sensor 25 detects 26 ring of car horn that vehicle 1 has, and its testing result is sent outIt send to ECU14.Speed change gear 27 is operated via variable speed operation portion 7 by the driver of vehicle 1.
ECU14 carries out the whole control of vehicle 1, for example, control vehicle 1 downshift under steam and upshift speed Control,The locking control etc. for controlling the lockable mechanism that vehicle 1 has to improve the fuel efficiency of vehicle 1.ECU14 is made of computer etc.,By the cooperation of hardware and software, the whole control of vehicle 1 is carried out.Specifically, ECU14 has CPU (CentralProcessing Unit: central processing unit) 14a, ROM (Read Only Memory: read-only memory) 14b, RAM(Random Access Memory: random access memory) 14c, display control section 14d, sound control portion 14e and SSD (SolidState Drive: solid state drive) 14f.CPU14a, ROM14b and RAM14c also can be set in identical circuit substrate.
CPU14a reads the program for being stored in non-volatile storage device such as ROM14b, and is executed respectively according to the programKind calculation process.For example, CPU14a executes the image procossing for the image data for being shown in display device 8, transmission control, lockOnly control etc..
Parameter needed for ROM14b stores the execution of various programs and the program etc..RAM14c temporarily stores the fortune of CPU14aVarious data used in calculation.In the calculation process of ECU14, display control section 14d is mainly executed to be directed to and be obtained from shoot part 15The image procossing of the image data of orientation CPU14a output makes the image data obtained from CPU14a be shown in display device 8The transformation etc. of the image data of display.In the calculation process of ECU14, sound control portion 14e is mainly executed to be obtained from CPU14aIt is orientated the processing for the sound that sound output device 9 exports.SSD14f is rewritable non-volatile storage unit, even ifIn the case that the power supply of ECU14 disconnects, continue to store the data obtained from CPU14a.
Fig. 4 is the block diagram of an example of the functional structure for the ECU for indicating that the vehicle of present embodiment has.Such as Fig. 4Shown, ECU14 has transmission control part 401.It is stored in for example, being mounted in the execution of the processors such as the CPU14a of circuit substrateThe program of anticollision auxiliary in the storage mediums such as ROM14b or SSD14f, thus ECU14 realizes the function of transmission control part 401Energy.Part or all of transmission control part 401 can also be made up of the hardware of circuit etc..
Transmission control part 401 is functioned as judging part, based on the testing result of car horn sensor 25, is judgedWhether car horn 26 is by ring in the traveling of vehicle 1.In addition, when being judged as 26 ring of car horn in the traveling of vehicle 1When, transmission control part 401 executes the anticollision aid in treatment for applying brake force to vehicle 1 to make the vehicle 1 slow down.
Even if the car horn 26 by ring and when the operating delay in brake operating portion 6 in the traveling of vehicle 1 as a result,Brake force can be applied to vehicle 1, therefore the braking distance of vehicle 1 can be shortened, be easy to avoid the barrier of vehicle 1 and outsideCollision.Even if in addition, do not carry the barrier of the outside for detecting vehicle 1 on vehicle 1 has GPS, camera, sound, the detection of obstacles portion of radar etc., can also be easy to avoid the collision of vehicle 1 and external barrier.Also, in vehicle 1Traveling ahead front truck vehicle headway make 26 ring of car horn close to the driver to vehicle 1 after, whenever making vapour26 ring of vehicle loudspeaker just makes vehicle 1 slow down, so as to expand the vehicle headway of vehicle 1 Yu front truck, therefore can prevent from making vapourThe invalidly ring of vehicle loudspeaker 26.
Fig. 5 is the process of the anticollision aid in treatment for the transmission control part for indicating that the vehicle based on present embodiment hasThe flow chart of one example.Testing result of the transmission control part 401 based on car horn sensor 25 judges that car horn 26 isIt is no by ring (step S501).When being judged as car horn 26 by ring (step S501: yes), transmission control part 401 is obtainedPass through the speed for the vehicle 1 that wheel speed sensor 22 calculates.
Next, transmission control part 401 judges whether the speed of acquired vehicle 1 is fixing speed or more (stepS502).It here is to need the speed for carrying out anticollision aid in treatment (in other words, to be, it is specified that speed is preset speedSpeed of the vehicle 1 in normally travel).Moreover, when the speed of vehicle 1 is slower than fixing speed (step S502: no), transmission controlPortion 401 processed does not execute anticollision aid in treatment.Thereby, it is possible to vehicle 1 be in stop or vehicle 1 be in go slowly when etc., in vehicle1 in the case where the state for not needing anticollision aid in treatment, and anticollision aid in treatment is prevented to be performed.
On the other hand, when the speed of vehicle 1 is fixing speed or more (step S502: yes), transmission control part 401 is executedAftermentioned anticollision aid in treatment.Thereby, it is possible to vehicle 1 in super expressway when driving etc., only carry out normally travel in vehicle 1In the case of, execute anticollision aid in treatment.
In the present embodiment, although transmission control part 401 judges whether to execute anticollision auxiliary based on the speed of vehicle 1Processing, however, not limited to this, for example, it is also possible to the gear of the speed change gear 27 based on vehicle 1 judges whether that execution anticollision is auxiliaryHelp processing.
Specifically, transmission control part 401 obtains the gear of the speed change gear 27 detected by gear shift sensing device 21, sentenceWhether the acquired gear that breaks is regulation gear or more.It here is to need to carry out anti-collision, it is specified that gear is preset gearHit the gear (in other words, being gear of the vehicle 1 in normally travel) of aid in treatment.
Moreover, transmission control part 401 does not execute anticollision aid in treatment when acquired gear is lower than regulation gear.Thereby, it is possible to be in vehicle 1 and do not need anticollision aid in treatment when vehicle 1 is in stopping or vehicle 1 and goes slowly etc.In the case where state, anticollision aid in treatment is prevented to be performed.On the other hand, when acquired gear is regulation gear or moreWhen, transmission control part 401 executes aftermentioned anticollision aid in treatment.Thereby, it is possible to vehicle 1 in super expressway when driving etc., onlyIn the case where vehicle 1 carries out normally travel, anticollision aid in treatment is executed.
When the speed for being judged as vehicle 1 is fixing speed or more (step S502: yes), transmission control part 401 is from accelerationSensor 20 obtains accelerator opening (accelerator opening before hereinafter referred to as downshifting) (step S503).That is, transmission control part 401Obtain the accelerator opening before the downshift of the speed change gear 27 of the vehicle 1 based on anticollision aid in treatment.Next, transmission controlPortion 401 processed judges whether brake operating portion 6 (brake) is operated (step S504).(the step when brake operating portion 6 is operatedS504: yes), transmission control part 401 does not execute anticollision aid in treatment.That is, can judge when brake operating portion 6 is operatedThe operation in brake operating portion 6 is not postponed because making the operation of 26 ring of car horn for the driver of vehicle 1.Therefore, at thisIn embodiment, when brake operating portion 6 is operated, transmission control part 401 does not execute anticollision aid in treatment.Thereby, it is possible toAlthough preventing from the driver of vehicle 1 from operating brake operating portion 6 to be applied automatically vehicle 1 yet by anticollision aid in treatmentBrake force, thus can prevent vehicle 1 driver's scenario brake force more than Braking in vehicle 1.
In the present embodiment, although when brake operating portion 6 is operated after 26 ring of car horn transmission control partWhether 401 do not execute anticollision aid in treatment, but can also be operated independently, in the traveling of vehicle 1 with brake operating portion 6After 26 ring of car horn, anticollision aid in treatment is executed.
When brake operating portion 6 is not operated (step S504: no), transmission control part 401 executes the speed change for reducing vehicle 1Manual (mechanical system) downshift control (step S505) of the gear of device 27.Transmission control part 401 is executed to vehicle 1 as a result,The anticollision aid in treatment for applying brake force the vehicle 1 is made to slow down.
Even if as a result, in the traveling of vehicle 1,26 ring of car horn and when the operating delay in brake operating portion 6,Also it can apply brake force to vehicle 1, therefore the braking distance of vehicle 1 can be shortened, be easy to avoid vehicle 1 and external barrierCollision.In addition, when the vehicle headway of vehicle 1 and the vehicle in front shortens to which the driver of vehicle 1 makes car horn 26 ringWhen ringing, whenever making 26 ring of car horn that vehicle 1 just be made to slow down, so as to extend the vehicle headway with the vehicle in front, becauseThis can reduce the operation for shortening brought unwanted car horn 26 with the vehicle headway of the vehicle in front.
In the present embodiment, although transmission control part 401 is carried out, by the gear of the speed change gear 27 of vehicle 1, grade drops one by oneLow manual downshift control, however, not limited to this, reduced hand that the gear of the speed change gear 27 of vehicle 1 is bypassed the immediate leadership can also be carried outDynamic downshift control.
In addition, in the present embodiment, transmission control part 401 is carried out the gear reduction of the speed change gear 27 of vehicle 1Downshift control manually, to make engine brake that vehicle 1 be acted on to apply brake force to vehicle 1, but not limited thereto.ExampleSuch as, transmission control part 401 can also automatically operate brake operating portion 6 (in other words, by the automatic brake of vehicle 1) to vehicle1 applies brake force.Alternatively, transmission control part 401 can also by execute manually downshift control and brake operating portion 6 it is automaticIt operates (automatic brake of vehicle 1) this both sides and brake force is applied to vehicle 1.
In addition, worrying subsequent vehicle if becoming emergency braking and applying brake force to vehicle 1 and being chased after to vehicle 1Tail.Therefore, transmission control part 401 is by at least one party in downshift control manually and being automatically brought into operation of brake operating portion 6 to vehicle1 application brake force makes the vehicle 1 slow down, so that the speed of vehicle 1 will not decline preset speed or more.As a result,Anticollision aid in treatment can be prevented to be performed in the normally travel of vehicle 1 to vehicle 1 is a significant slowdown and in vehicle 1The vehicle headway of the rear car of behind sharply shortens, thus can reduce rear car because vehicle 1 deceleration by vehicle 1 knock into the back canIt can property.
In addition, in the present embodiment, when by the way that downshift control is applied with brake force to vehicle 1 manually, transmission controlPortion 401 is functioned as the control unit of lighting for lighting the brake lamp 18c that vehicle 1 has.Even if as a result, by dropping manuallyAfter shelves control makes the vehicle 1 slow down the application brake force of vehicle 1, it can also notify that rear car vehicle 1 has slowed down, therefore energyEnough reduce a possibility that rear car knocks into the back to vehicle 1.
After the gear by the speed change gear 27 that downshift control reduces vehicle 1 manually, transmission control part 401 is from accelerationSensor 20 obtains accelerator opening (hereinafter referred to as downshift postaccelerator aperture) again.That is, the acquisition of transmission control part 401 is based onAccelerator opening after the downshift of the speed change gear 27 of the vehicle 1 of anticollision aid in treatment.Next, transmission control part 401Judge whether downshift postaccelerator aperture is greater than accelerator opening (step S506) before downshift.
Moreover, before the postaccelerator aperture that downshifts is downshift below accelerator opening when (step S506: no), transmission controlAccelerator opening (step S507) before the downshift postaccelerator aperture is set as downshifting by portion 401 processed, is back to step S504.Downshift control manually is repeated in transmission control part 401 as a result, until accelerator opening before downshift postaccelerator opening ratio downshiftUntil big.As a result, although car horn 26 is by ring in the traveling of vehicle 1, when brake operating portion 6 is not operated,Brake force persistently can be applied to vehicle 1, therefore can be more easier to avoid the collision of vehicle 1 and external barrier.
On the other hand, when accelerator opening is big before the postaccelerator opening ratio downshift that downshifts (step S506: yes), transmissionControl unit 401 terminates to execute the anticollision aid in treatment for applying vehicle 1 brake force.That is, when downshift postaccelerator opening ratio dropWhen accelerator opening is big before shelves, what vehicle 1 avoided the risk of the collision of external barrier to start again at acceleration canEnergy property is higher.Therefore, when accelerator opening is big before the postaccelerator opening ratio downshift that downshifts, transmission control part 401 is judged asVehicle 1 is very low with the risk of the collision of external barrier, terminates anticollision aid in treatment.
In this way, vehicle 1 according to the present embodiment, even if car horn 26 is braked by ring in the traveling of vehicle 1When the operating delay of operation portion 6, it can also apply brake force to vehicle 1, therefore the braking distance of vehicle 1 can be shortened, be easy to keep awayExempt from the collision of vehicle 1 and external barrier.