Collision mitigation apparatus
A collision mitigation apparatus configured to mitigate a shock to an occupant of a vehicle when a rearward vehicle collides into the vehicle from behind, including a driving unit generating a driving force, and an electronic control unit having a microprocessor and a memory. The microprocessor is configured to perform predicting whether the rearward vehicle collides into the vehicle, and controlling the driving unit so that when it is predicted that the rearward vehicle collides into the vehicle, a difference between a vehicle speed of the vehicle and a vehicle speed of the rearward vehicle reduces and a driving force of a rear wheel is greater than a driving force of a front wheel immediately before the rearward vehicle collides into the vehicle.
1. A collision mitigation apparatus configured to mitigate a shock to an occupant of a vehicle when a rearward vehicle collides into the vehicle from behind,
the apparatus comprising:
a driving unit configured to generate a driving force in a manner of being able to vary a distribution of the driving force to a front wheel and a rear wheel; and
an electronic control unit having a microprocessor and a memory, wherein
the microprocessor is configured to perform
predicting whether the rearward vehicle collides into the vehicle;
controlling the driving unit so that when it is predicted that the rearward vehicle collides into the vehicle, the vehicle travels at a forward tilting state while accelerating immediately before the rearward vehicle collides into the vehicle, and
the controlling including varying the distribution of the driving force so that a driving force of the rear wheel is greater than a driving force of the front wheel while maintaining a constant acceleration of the vehicle.
2. The apparatus according to claim 1 , wherein
the vehicle is a self-driving vehicle with a self-drive function,
the apparatus further comprises
a driving level switching portion configured to switch a driving automation level to a first driving automation level involving a driver responsibility to monitor surroundings during traveling or a second driving automation level not involving the driver responsibility to monitor the surroundings during traveling, and
the microprocessor is configured to perform
the controlling including controlling the driving unit so that when the driving automation level is switched to the second driving automation level by the driving level switching portion and it is predicted that the rearward vehicle collides into the vehicle, the vehicle travels at the forward tilting state while accelerating.
3. The apparatus according to claim 1 , wherein
the driving unit includes a front driving unit driving the front wheel and a rear driving unit driving the rear wheel,
the front driving unit is configured by a motor-generator, and
the microprocessor is configured to perform
the controlling including controlling the driving unit so that when it is predicted that the rearward vehicle collides into the vehicle, the front driving unit generates a regenerative torque and the rear driving unit generates a driving torque while accelerating the vehicle at the constant acceleration.
4. The apparatus according to claim 3 , wherein
the front driving unit is a first motor-generator, and
the rear driving unit is configured by a second motor-generator.
5. The apparatus according to claim 1 , further comprising
a distance detector configured to detect an inter-vehicle distance from the vehicle to the rearward vehicle, wherein
the microprocessor is configured to further perform
calculating a relative vehicle speed by subtracting the vehicle speed of the rearward vehicle from the vehicle speed of the vehicle, and
the predicting including predicting that the rearward vehicle collides into the vehicle when the inter-vehicle distance detected by the distance detector is smaller than a predetermined inter-vehicle distance and the relative vehicle speed calculated in the calculating is smaller than a predetermined relative vehicle speed.
6. The apparatus according to claim 5 , wherein
the predetermined inter-vehicle distance is a first predetermined inter-vehicle distance,
the predetermined relative vehicle speed is a negative value, and
the microprocessor is configured to perform
the controlling including controlling the driving unit so that the driving force of the vehicle increases when it is predicted that the rearward vehicle collides into the vehicle at a first time point, and so that the vehicle travels at the forward tilting state while maintaining the constant acceleration of the vehicle when the relative vehicle speed calculated in the calculating is a negative value and the inter-vehicle distance detected by the distance detector is smaller than a second predetermined inter-vehicle distance being smaller than the first predetermined inter-vehicle distance at a second time point after the first time point.
7. A collision mitigation apparatus configured to mitigate a shock to an occupant of a vehicle when a rearward vehicle collides into the vehicle from behind,
the apparatus comprising:
a driving unit configured to generate a driving force in a manner of being able to vary a distribution of the driving force to a front wheel and a rear wheel; and
an electronic control unit having a microprocessor and a memory, wherein
the microprocessor is configured to function as:
a collision prediction unit configured to predict whether the rearward vehicle collides into the vehicle; and
a drive force control unit configured to control the driving unit so that when it is predicted by the collision prediction unit that the rearward vehicle collides into the vehicle, the vehicle travels at a forward tilting state while accelerating immediately before the rearward vehicle collides into the vehicle, and
the drive force control unit is configured to vary the distribution of the driving force so that a driving force of the rear wheel is greater than a driving force of the front wheel while maintaining a constant acceleration of the vehicle.
8. The apparatus according to claim 7 , wherein
the vehicle is a self-driving vehicle with a self-drive function,
the apparatus further comprises
a driving level switching portion configured to switch a driving automation level to a first driving automation level involving a driver responsibility to monitor surroundings during traveling or a second driving automation level not involving the driver responsibility to monitor the surroundings during traveling, and
the drive force control unit controls the driving unit so that when the driving automation level is switched to the second driving automation level by the driving level switching portion and it is predicted by the collision prediction unit that the rearward vehicle collides into the vehicle, the vehicle travels at the forward tilting state while accelerating.
9. The apparatus according to claim 7 , wherein
the driving unit includes a front driving unit driving the front wheel and a rear driving unit driving the rear wheel,
the front driving unit is configured by a motor-generator, and
the drive force control unit controls the driving unit so that when it is predicted by the collision prediction unit that the rearward vehicle collides into the vehicle, the front driving unit generates a regenerative torque and the rear driving unit generates a driving torque while accelerating the vehicle at the constant acceleration.
10. The apparatus according to claim 9 , wherein
the front driving unit is a first motor-generator, and
the rear driving unit is configured by a second motor-generator.
11. The apparatus according to claim 7 , further comprising
a distance detector configured to detect an inter-vehicle distance from the vehicle to the rearward vehicle, wherein
the microprocessor is configured to further function as
a relative speed calculation unit configured to calculate a relative vehicle speed by subtracting the vehicle speed of the rearward vehicle from the vehicle speed of the vehicle, and
the collision prediction unit predicts that the rearward vehicle collides into the vehicle when the inter-vehicle distance detected by the distance detector is smaller than a predetermined inter-vehicle distance and the relative vehicle speed calculated by the relative speed calculation unit is smaller than a predetermined relative vehicle speed.
12. The apparatus according to claim 11 , wherein
the predetermined inter-vehicle distance is a first predetermined inter-vehicle distance,
the predetermined relative vehicle speed is a negative value, and
the drive force control unit controls the driving unit so that the driving force of the vehicle increases when it is predicted by the collision prediction unit that the rearward vehicle collides into the vehicle at a first time point, and so that the vehicle travels at the forward tilting state while maintaining the constant acceleration of the vehicle when the relative vehicle speed calculated by the relative speed calculation unit is a negative value and the inter-vehicle distance detected by the distance detector is smaller than a second predetermined inter-vehicle distance being smaller than the first predetermined inter-vehicle distance at a second time point after the first time point.
13. A collision mitigation method configured to mitigate a shock to an occupant of a vehicle when a rearward vehicle collides into the vehicle from behind, the vehicle including a driving unit configured to generate a driving force in a manner of being able to vary a distribution of the driving force to a front wheel and a rear wheel,
the method comprising:
predicting whether the rearward vehicle collides into the vehicle; and
controlling the driving unit so that when it is predicted that the rearward vehicle collides into the vehicle, the vehicle travels at a forward tilting state while accelerating immediately before the rearward vehicle collides into the vehicle, wherein
the controlling includes varying the distribution of the driving force so that a driving force of the rear wheel is greater than a driving force of the front wheel while maintaining a constant acceleration of the vehicle.
14. The method according to claim 13 , wherein
the vehicle is a self-driving vehicle with a self-drive function,
the method further comprises
switching a driving automation level to a first driving automation level involving a driver responsibility to monitor surroundings during traveling or a second driving automation level not involving the driver responsibility to monitor the surroundings during traveling, and
the controlling includes controlling the driving unit so that when the driving automation level is switched to the second driving automation level and it is predicted that the rearward vehicle collides into the vehicle, the vehicle travels at the forward tilting state while accelerating.
15. The method according to claim 13 , wherein
the driving unit includes a front driving unit driving the front wheel and a rear driving unit driving the rear wheel,
the front driving unit is configured by a motor-generator, and
the controlling includes controlling the driving unit so that when it is predicted that the rearward vehicle collides into the vehicle, the front driving unit generates a regenerative torque and the rear driving unit generates a driving torque while accelerating the vehicle at the constant acceleration.
16. The method according to claim 15 , wherein
the front driving unit is a first motor-generator, and
the rear driving unit is configured by a second motor-generator.
17. The method according to claim 13 , further comprising:
detecting an inter-vehicle distance from the vehicle to the rearward vehicle; and
calculating a relative vehicle speed by subtracting the vehicle speed of the rearward vehicle from the vehicle speed of the vehicle, wherein
the predicting includes predicting that the rearward vehicle collides into the vehicle when the inter-vehicle distance detected in the detecting is smaller than a predetermined inter-vehicle distance and the relative vehicle speed calculated in the calculating is smaller than a predetermined relative vehicle speed.
18. The method according to claim 17 , wherein
the predetermined inter-vehicle distance is a first predetermined inter-vehicle distance,
the predetermined relative vehicle speed is a negative value, and
the controlling includes controlling the driving unit so that the driving force of the vehicle increases when it is predicted that the rearward vehicle collides into the vehicle at a first time point, and so that the vehicle travels at the forward tilting state while maintaining the constant acceleration of the vehicle when the relative vehicle speed calculated in the calculating is a negative value and the inter-vehicle distance detected in the detecting is smaller than a second predetermined inter-vehicle distance being smaller than the first predetermined inter-vehicle distance at a second time point after the first time point.