JP2020059304A - Vehicle collision avoidance device - Google Patents

Abstract

To provide an automobile collision avoidance device that mechanically and directly operates a brake pedal by an actuator to apply braking without operating a brake system of a vehicle in a driving state.SOLUTION: An automobile collision avoidance device includes: an existing brake mechanism 22 mounted in a vehicle 1; an actuator 2 configured to operate the brake mechanism 22; a rider 6 mounted in the vehicle 1 to monitor an object ahead of the vehicle; an environment monitoring apparatus such as a monocular camera 7; and a control device 3 configured to determine information from the environment monitoring apparatus and control operation of the actuator 2. The actuator 2 is disposed close to a brake pedal 9 included in the brake mechanism 22 and is configured to mechanically and directly drive the brake pedal 9.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle collision avoidance device including an actuator that operates in response to a signal from a front monitoring device mounted on a vehicle and that directly drives a brake pedal, for example.

  Conventionally, automobile accidents due to mistaken pedaling of the accelerator pedal and brake pedal by a driver such as the elderly have been increasing, but this is caused by a delay in vehicle front recognition and front confirmation due to dry road. Therefore, in recent years, automobiles are often equipped with collision avoidance devices.

  2. Description of the Related Art Conventionally, as a vehicle collision avoidance device, there has been known a device that detects a risk of a vehicle colliding with an obstacle in advance and prevents a malfunction when the vehicle turns. The vehicle collision avoidance device includes a distance sensor that measures the distance to an obstacle in a non-contact manner, an angular acceleration sensor that detects the rotation of the vehicle, and a reference signal that determines the collision risk distance in proportion to the speed of the vehicle. I have it. The vehicle collision avoidance device compares the distance sensor with a reference signal to detect whether or not the current position of the vehicle is in a position where there is a danger of collision with an obstacle. The quantity, fuel control and brake control are performed to prevent malfunctions when the vehicle changes direction. (For example, refer to Patent Document 2).

  Further, as an object recognition device, a device that appropriately recognizes a passable object around another vehicle is known. The object recognition device recognizes another vehicle traveling around the own vehicle based on the detection point information of the rider mounted on the own vehicle, and the other vehicle recognition unit for recognizing the size of the other vehicle, and the rider. Based on the detection point information of the other vehicle, the other vehicle tracking section for tracking the other vehicle, the enlargement determination section for determining whether or not the size of the other vehicle being tracked has been enlarged, and the size of the other vehicle has been enlarged. If it is determined that the size of the other vehicle is enlarged by the lost determination unit that determines whether or not a nearby object near the other vehicle is lost, and the enlargement determination unit, based on the detected point information of the rider. If it is determined, and if it is not determined that the nearby object is lost by the lost semi-definite part, then among the detection points detected by the rider, the detection points located around the other vehicle before expansion are recognized as passable objects. Do And a possible object recognition unit (e.g., see Patent Document 2).

  Further, there is known a vehicle collision avoidance device for avoiding a collision with an oncoming vehicle when the possibility of a vehicle collision is high. The collision avoidance device uses an object detection unit that detects an object, an attribute acquisition unit that acquires an attribute of an oncoming vehicle using the detection result of the object detection unit, and an attribute acquired by the attribute acquisition unit. And a collision avoidance execution unit that performs at least one of a collision possibility notification and a collision avoidance operation when it is determined that the oncoming vehicle is off the center line (see, for example, Patent Document 3). ).

JP-A-8-72639 JP, 2018-115990, A JP, 2008-97648, A

  By the way, most of the existing vehicle collision avoidance devices issue warnings and alarms, and there is no device for decelerating or forcibly stopping the vehicle by using an actuator attached to the brake pedal of the vehicle to prevent the vehicle from starting. ， It doesn't exist in the conventional car. In addition, as an actuator to be mounted on an in-use vehicle, a method of attaching a pressure booster to the hydraulic circuit of the brake can be considered in order to operate the braking force, but there is a great deal of variation in the work to attach to the in-use vehicle. However, there is a problem such as oil leakage, which is not a preferable method. In addition, it is easy to add a pressure device to the hydraulic circuit of the vehicle brake, and it is easy to modify each vehicle. However, if the brake circuit is modified, an oil leak or the like should occur. Then, the normal brake may not work. Therefore, as a collision avoidance device for automobiles, it is desired to operate the brakes based on the judgment of the control device according to the signal of the environment monitoring device without any modification to the braking system of the in-use car.

  An object of the present invention is to solve the above problems, and to provide a collision avoidance device which can be retrofitted to an existing automobile, that is, an in-use vehicle inexpensively without purchasing a new vehicle equipped with the collision avoidance device. Therefore, even if the collision avoidance device mistakenly depresses the accelerator pedal, when the brake pedal is depressed, attention is paid to the fact that the brake operation has priority over the accelerator pedal. Is a collision avoidance device that mechanically directly actuates the brake pedal with an actuator to brake when the controller determines that the control device is in a dangerous state as a result of learning the information by AI and learning the information using artificial intelligence (AI). Without any modification to the brake system of the in-process car, the actuator is driven according to the signal of the environment monitoring device and judged by the control device. This is to activate the brake, and as the environment monitoring equipment, AI technology is used to monitor the environment such as obstacles in front of the vehicle based on the information from the monocular camera, lidar (LIDAR), millimeter wave radar, vehicle speed sensor, etc. It is an object of the present invention to provide a vehicle collision avoidance device capable of making a judgment, controlling the strength of braking force, and performing an emergency stop if necessary.

  The present invention provides a brake mechanism mounted on a vehicle of a process vehicle, an actuator for operating the brake mechanism, a monitoring device mounted on the vehicle for detecting an object in front of the vehicle, and information from the monitoring device. A control device for controlling the operation of the actuator based on a judgment, and the actuator mechanically directly drives an existing brake pedal included in the brake mechanism in response to a command from the control device. The invention relates to a vehicle collision avoidance device.

  Further, the actuator is set at a position that does not interfere with the depression area of the brake pedal. The actuator is a motor, a speed reducer that reduces the rotational speed of the output shaft of the motor, and a cam that is connected to the output shaft of the speed reducer and directly contacts the brake pedal and drives the brake pedal in a stepping direction. A cam mechanism having a cam provided on the shaft and a potentiometer for converting the displacement of the cam into a voltage are provided, and the actuator drives the motor and depresses the brake pedal in response to a command from the control device. Mechanically directly driving the cam in the direction. Further, the cam mechanism is composed of the cam provided on the cam shaft, or the cam formed by a crank provided on the cam shaft and a bearing provided at the tip of the crank.

  Further, the monitoring device mounted on the vehicle detects a front object using a camera for confirming a front environment, a vehicle speed sensor included in the in-use vehicle for detecting a speed of the vehicle, and light. A rider that measures a distance to an object, and the control device drives the actuator to drive the brake pedal by receiving a detection signal of information from the camera, the vehicle speed sensor, and the rider. Is. .

  As described above, the vehicle collision avoidance device according to the present invention is an actuator that directly drives the brake pedal in the vicinity of the brake pedal, independently of the existing brake, without modifying the brake system of the in-use vehicle. In response to a signal from an environment monitoring device installed in a vehicle, the controller can actuate the actuator to apply the brakes, which may delay the recognition of the front of the vehicle by the elderly or the accelerator. It is possible to avoid a collision with an object in front of the vehicle due to a wrong pedaling of the pedal and the brake pedal, and in particular, a vehicle collision involving a personal injury. The actuator raises the torque of the rotation of the motor through the speed reducer, so that the cam of the cam mechanism can be driven reliably and quickly, and the cam drive can immediately brake the vehicle, avoiding collision of the vehicle with an object. can do.

It is a schematic explanatory drawing which shows the Example of the motor vehicle carrying the collision avoidance apparatus by this invention. FIG. 2 is an explanatory view showing a brake mechanism mounted on the automobile of FIG. 1, showing a state where an actuator is attached to a brake pedal and the actuator is not driven. FIG. 2 is an explanatory view showing a brake mechanism installed in the automobile of FIG. 1, in which an actuator is attached to a brake pedal and the actuator is driven. It is a side view which shows the Example of the cam mechanism which comprises the actuator in this vehicle collision avoidance apparatus. It is sectional drawing which shows the Example of the cam mechanism which comprises the actuator in this vehicle collision avoidance apparatus.

  An embodiment of a vehicle collision avoidance device according to the present invention will be described below with reference to the drawings. This vehicle collision avoidance device mechanically connects the brake pedal 9 mechanically directly in the vicinity of the brake pedal 9 of the in-use vehicle independently of the existing brake 10 without any modification to the brake system of the in-use vehicle. The feature is that the actuator 2 for driving is provided. The actuator 2 mechanically directly drives the existing brake mechanism 22 provided in the vehicle (automobile) 1 of the in-use vehicle constituting the brake system. The vehicle collision avoidance device according to the present invention includes a monocular camera 7, a lidar (LIDAR) 6, a millimeter wave radar (not shown), and a vehicle speed sensor 8 for detecting obstacles in front of the vehicle 1, objects such as people. Environmental monitoring equipment such as. In the vehicle collision avoidance apparatus according to the present invention, the actuator 2 mechanically directly drives the brake pedal 9 in response to the judgment of the controller 3 having the AI (artificial intelligence) 4. The AI4 receives information from the monitoring equipment as signals, logically infers those signals and machine-learns them, creates inference rules from the learning results, that is, creates a map from various learning results, and based on the map. The control device 3 issues a drive instruction to the actuator 2. That is, the actuator 2 mechanically directly drives the brake pedal 9 included in the brake mechanism 22.

  In this vehicle collision avoidance device, the actuator 2 is installed at a position where the brake pedal 9 does not interfere with the area where a person steps on, for example, as shown in the figure, a gap 19 exists above the brake pedal 9. The actuator 2 is generally connected to the output shaft of the motor 11, the speed reducer 12 that reduces the rotation speed of the output shaft 21 of the motor 11, the output shaft of the speed reducer 12, and is in direct contact with the brake pedal 9 to depress the brake pedal 9. It is provided with a cam mechanism 5 having a driving cam 13 and a potentiometer for converting the displacement of the cam 13 into a voltage. In the potentiometer, for example, a brush that synchronizes with the rotation of the cam 13 is attached to a resistor, a constant voltage is applied to both ends of the resistor, the resistance change between one end of the resistor and the brush is read, and the resistance change is converted into a voltage. Then, the position of the cam 13, for example, the rotation angle and the movement amount of the cam 13 are detected. In addition, the actuator 2 drives the motor 11 in response to a command from the control device 3 to mechanically directly drive the cam 13 in the direction in which the brake pedal 9 is depressed. Therefore, the control device 3 detects the situation in front of the vehicle 1 with the monitoring device and receives the measurement result of the potentiometer to control the operating state of the actuator 2.

  Further, in this vehicle collision avoidance device, as shown in FIG. 1, the monitoring device mounted on the vehicle 1 is a monocular camera 7 for checking the environment in front, a vehicle speed sensor 8 for detecting the speed of the vehicle 1, the present device. The monitor 23 displays an ON display when the function starts and an OFF display when the function does not work, and a rider 6 that detects an object in front by using light and measures the distance to the object. This vehicle collision avoidance device double-monitors the front of the vehicle 1 using the rider 6 and the monocular camera 7, but the rider 6 emits a light pulse and senses its reflection. I know the shape of an object, but I can't judge what it is. Rider 6 is also effective at night. On the other hand, since the camera 7 can see the target object like human eyes, it is easy to determine what the target object is, but the sensitivity is reduced at night. Further, the control device 3 receives the detection signals of information from the camera 7, the vehicle speed sensor 8 and the rider 6 and drives the actuator 2 to drive the brake pedal 9. In this vehicle collision avoidance device, the detection signals from the rider 6 and the monocular camera 7 are sent to the AI 4 through the connection line 20 and subjected to judgment processing. The detection signal from the vehicle speed sensor 8 is sent to the control device 3 through the connection line 20. The control device 3 drives and controls the actuator 2 through the connection line 20. In this vehicle collision avoidance device, the vehicle speed sensor 8 is attached to the wheels 29 of the vehicle 1, and the wheels 29 are provided with a brake disc 17 and a brake 10. The monitor 23 is mounted on the vehicle 1. For example, the ON display can be displayed by a green lamp and the OFF display can be displayed by a red lamp.

  2 and 3 show the brake mechanism of the brake system provided in the vehicle 1. The brake pedal 9 is attached to a master back 18 that doubles the depression force of the brake pedal 9 by the intake negative pressure of the engine so as to pivot on a fulcrum shaft 30. FIG. 2 shows the brake pedal 9 without the brake 10 in the vehicle collision avoidance device, and FIG. 3 shows the brake pedal 9 with the brake 10 in the vehicle collision avoidance device. The actuator 2 moves the brake pedal 9 to the full stroke.

  The speed reducer 12 provided in the collision avoidance device for an automobile is configured to have a three-speed reduction gear mechanism, for example, as shown in FIGS. 4 and 5, but further reduction speeds are increased to five speeds. You can do it. In FIG. 5, the motor 11 and the speed reducer 12 are housed in the housing 24. In the speed reducer 12, the output shaft 21 of the motor 11 is connected to the first-stage gear train 25 of the speed reducer 12 to reduce the rotation of the motor 11, and then the gear train 25 is connected to the second-stage gear train 26. The rotation of the gear train 25 on the output side is further reduced, and the gear train 26 is further connected to the gear train 27 of the third stage to further reduce the rotation of the gear train 26 on the output side. Next, the output shaft 28 on the output side of the gear train 27 constitutes the cam shaft 14 of the cam mechanism 5. The cam mechanism 5 is, as shown in FIGS. 4 and 5, a cam 13 formed of a crank 31 provided on the cam shaft 14 and a bearing 16 provided at the tip of the crank 31, or although not shown, It is composed of a general oval-shaped eccentric cam provided on the cam shaft 14. The illustrated cam 13 constituting the cam mechanism 5 is a kind of crank 31 extending from the cam shaft 5, and a bearing 16 is attached to the tip of the crank 31. The cam mechanism 5 is provided with the bearing 16 which functions as the cam 13, so that the cam 13 can easily ride on the brake pedal 9, and the brake pedal 9 is immediately pushed down according to the drive of the actuator 2 to apply the brake 10. You can

  In this vehicle collision avoidance device, the actuator 2 can reduce the rotation of the motor 11 by the speed reducer 12 to about 20 to 50 times and transmit it to the cam shaft 14, and at the same time increase the rotational torque of the cam shaft 14. In this vehicle collision avoidance device, the control device 3 judges from the learning result of AI4, and the control device 3 issues a command to the motor 11 of the actuator 2 to rotate the motor 11 in a short time, thereby causing the cam 13 of the cam mechanism 5 to rotate. Is driven at a predetermined rotation angle. In this collision avoidance device, the braking force is 0 at the position of the brake pedal 9 and is about 200 N at the maximum depression of the brake pedal 9, that is, at the position 15 of the brake full stroke. The maximum stroke of the brake pedal 9 is about 20 mm. Since the lever ratio of the brake pedal 9 is about 4, the load when the lever of the master back 18 is depressed is 800 N and the maximum displacement is about 5 mm. When the brake pedal 9 is stepped on by the hydraulic actuator, the maximum load from the initial stage is 800 N. On the other hand, in the collision avoidance device, in the drive using the cam mechanism 5, the load is almost 0 in the initial stage, and if the eccentricity amount is set to 5 mm, the rotational moment is 0. When the brake pedal 9 is fully depressed, the driving torque is 800 N, but the eccentricity is 0, so the driving torque is almost 0.

  In this vehicle collision avoidance device, the rotation speed and rotation angle of the cam shaft 14 of the cam mechanism 5, that is, the crank shaft, are set so that the vehicle is driven by being judged according to the driving risk according to the AI4 judgment. . Regarding the determination of AI4, when the traveling of the vehicle 1 is dangerous, but it is determined by the detection signal from the potentiometer of the actuator 2 that deceleration of the vehicle 1 is sufficient, the rotation speed of the cam shaft 14 and the rotation angle of the cam 13 are appropriate. To be set. Even when a person suddenly jumps out in front of the vehicle 1, the braking strength is adjusted according to the degree of danger. In response to a detection signal from the potentiometer of the actuator 2, when the person is extremely dangerous to jump out, the brake pedal 9 is driven all at once to the brake full stroke position 15 of the brake pedal 9 at the maximum speed. The controller 3 is programmed to avoid excessive braking 10 as long as the driving safety of the vehicle 1 is ensured. The reason is to consider the safety of the passengers of the vehicle 1. This is to prevent the driver from hitting the steering wheel or the passenger in the passenger seat hitting the windshield when the vehicle 1 is suddenly braked. However, if the actuator 2 determines that a person outside the vehicle will be injured, the actuator 2 will relentlessly drive the emergency brake at the maximum speed to the brake full stroke position 15. This is because the lives of people outside the vehicle are overwhelmingly higher in priority than the impacts of people inside the vehicle.

  In addition, this vehicle collision avoidance device is a mis-shift of the vehicle 1 or the vehicle 1 stops at the convenience store in the forward direction, and when the driver shifts to the back, the vehicle 1 goes straight ahead when the driver steps on the accelerator pedal, However, in this case, since the monitoring device such as the rider 6 and the monocular camera 7 provided in the present invention monitors the front of the vehicle 1, the collision avoidance device operates and the vehicle 1 operates. You can make an emergency stop. Even when the driver missteps the accelerator pedal and the brake pedal 9 and depresses the accelerator pedal due to the accumulation of the stopped vehicle, the front of the vehicle 1 is monitored and it is judged that there is a risk of collision with an object of the vehicle 1. For example, the collision avoidance device operates to avoid collision of the vehicle 1 with an obstacle. The existing collision avoidance device is set so that the operation of the brake 10 has priority over the accelerator when the brake pedal 9 is depressed no matter how much the accelerator pedal is depressed. The above setting is established because the accelerator pedal does not directly control the engine but replaces the accelerator speed with a signal to control the engine. This means that the brake signal obtained by pressing the brake pedal 9 has priority over the accelerator signal.

  The vehicle collision avoidance device according to the present invention is an actuator installed in the vicinity of the brake pedal of the in-use vehicle independently of the existing brake, and may be provided independently of the brake system of the in-use vehicle, for example. It is preferable.

1 Vehicle 2 Actuator 3 Controller 4 AI
5 Cam Mechanism 6 Rider 7 Monocular Camera 8 Vehicle Speed Sensor 9 Brake Pedal 10 Brake 11 Motor 12 Reducer 13 Cam 14 Cam Shaft 15 Brake Down Stroke Position 16 Bearing 19 Gap 22 Brake Mechanism 23 Monitor 31 Crank

Claims (5)

  A brake mechanism installed in a vehicle of an in-use vehicle, an actuator that operates the brake mechanism, a monitoring device that is mounted on the vehicle and detects an object in front of the vehicle, and the information from the monitoring device is determined to determine the information. A vehicle having a control device for controlling the operation of an actuator, wherein the actuator mechanically directly drives an existing brake pedal provided in the brake mechanism in response to a command from the control device. Collision avoidance device.   2. The vehicle collision avoidance device according to claim 1, wherein the actuator is set at a position that does not interfere with a depression area of the brake pedal.   The actuator is a motor, a speed reducer that reduces the rotational speed of the output shaft of the motor, and a cam shaft that is connected to the output shaft of the speed reducer and that is in direct contact with the brake pedal and drives the brake pedal in the stepping direction. A cam mechanism having a provided cam and a potentiometer for converting the displacement of the cam into a voltage are provided, and the actuator drives the motor in response to a command from the control device to move the brake pedal in the direction of depression. 3. The vehicle collision avoidance device according to claim 1, which comprises directly driving the cam mechanically.   4. The cam mechanism according to claim 3, wherein the cam mechanism includes the cam provided on the cam shaft, or the cam formed by a crank provided on the cam shaft and a bearing provided at a tip of the crank. Car collision avoidance device.   The monitoring device mounted on the vehicle detects a front object using a camera for confirming a front environment, a vehicle speed sensor included in the in-use vehicle for detecting a speed of the vehicle, and a light to detect a front object. A rider that measures a distance to an object, wherein the control device receives a detection signal of information from the camera, the vehicle speed sensor, and the rider, and drives the actuator to drive the brake pedal. The vehicle collision avoidance device according to any one of claims 1 to 4.

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