CN111688675A

CN111688675A - Vehicle control system

Info

Publication number: CN111688675A
Application number: CN202010160866.4A
Authority: CN
Inventors: 横山孝志
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2019-03-12
Filing date: 2020-03-10
Publication date: 2020-09-22
Also published as: JP2020149187A

Abstract

The invention provides a vehicle control system, which can restrain damage of a vehicle under the condition of earthquake during parking. When the P-wave is detected by the earthquake sensor while the vehicle (1) is stopped (ST 3: "YES") and/or when the earthquake rapid report is received by the earthquake rapid report receiving unit (ST 4: "YES"), the control device 20 determines whether or not there is a possibility that the obstacle detected by the external sensor 30 is in contact with the vehicle 1 (ST 6). If it is determined that there is a possibility of contact (ST 6; y), the control device 20 sets a retreat position with a low possibility of contact with the obstacle (ST9, ST10), and executes vehicle control in a retreat mode in which the vehicle 1 is moved from the parking position to the retreat position (ST 13).

Description

Vehicle control system

Technical Field

The present disclosure relates to a vehicle control system that moves a vehicle from a parking position to a retreat position when an earthquake is predicted.

Background

A travel control device for causing a vehicle to travel more appropriately when an earthquake occurs is known (patent document 1). The travel control device includes: the earthquake fast report receiving unit is used for receiving earthquake fast reports; a travel plan generating unit that generates a travel plan of the vehicle; and a surrounding structure collapse prediction unit that predicts the risk of collapse of structures such as roads, bridges, and buildings around the vehicle based on the earthquake prediction. When an earthquake occurs while the vehicle is traveling, the travel plan generating means generates a travel plan that can escape from the region where the structure with the risk of collapse predicted by the surrounding structure collapse prediction means is located, before the time when the earthquake fluctuation arrives.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2008-146168

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional travel control device, when an earthquake occurs while the vehicle is traveling, the vehicle can be caused to travel so as to escape from the region where the structure that is at risk of collapse is located. Further, even if the structure does not collapse due to an earthquake, the obstacle around the vehicle may move or largely shake due to the shake of the earthquake, thereby contacting the vehicle and damaging the vehicle.

In view of the background described above, an object of the present invention is to provide a vehicle control system capable of suppressing damage to a vehicle when an earthquake occurs during parking.

Means for solving the problems

In order to solve the above problem, one embodiment of the present invention is a vehicle control system (10) including: a control device (20) that is capable of executing vehicle control for performing automatic driving including steering and acceleration/deceleration of a vehicle (1) by driving a steering device (11) and a travel motor (3) of the vehicle; an external sensor (30) that detects a state of an external environment including an obstacle around the vehicle; and a seismic sensor (23) capable of detecting P-waves of an earthquake and/or a seismic rapid report receiving unit (27) capable of receiving an emergency seismic rapid report based on P-waves of the earthquake, in the case where the P-wave is detected by the seismic sensor while the vehicle is stopped (ST 3: YES), and/or when the earthquake rapid report is received by the earthquake rapid report receiving section (ST 4: YES), the control device determines whether there is a possibility that the obstacle detected by the outside sensor is in contact with the vehicle (ST6), when it is determined that there is a possibility of contact (ST 6: "YES"), a retreat position with a low possibility of contact with the obstacle is set (ST9, ST10), and the vehicle control is executed in an retreat mode in which the vehicle is moved from a parking position to the retreat position (ST 13).

According to this configuration, when the P-wave is detected and/or the earthquake early warning is received (that is, the arrival of the earthquake shock of the S-wave is predicted), the vehicle moves from the parking position to the retreat position where the possibility of contact with the obstacle is low when there is a possibility that the obstacle may contact with the vehicle. Therefore, the possibility that the vehicle comes into contact with an obstacle when the seismic vibrations of S waves whose oscillation frequency is larger than that of P waves arrive can be reduced.

In the above configuration, the control device (20) may determine whether the parking position is a retractable position (ST5), and when the parking position is a non-retractable position (ST 5: "no"), the vehicle control in the retractable mode may be prohibited (ST 13).

The parking space includes a place where the vehicle can retreat without an obstacle in the retreat direction in front of or behind the vehicle, and a place where the vehicle should not move for retreat (a place where the vehicle cannot retreat) such as a stereo parking lot even if there is no obstacle in the retreat direction of the vehicle. According to this configuration, the vehicle is moved from the parking position to the retracted position only when the parking position is a retractable position, and therefore, occurrence of an accident or the like due to retraction can be suppressed.

In the above configuration, the control device (20) may recognize a state of charge of a battery (35) that supplies electric power to the steering device (11) and the travel motor (3), and prohibit the vehicle control in the retreat mode (ST13) when the state of charge of the battery is less than a predetermined value (ST 7: "no").

According to this configuration, by executing the vehicle control in the retreat mode to move the vehicle to the retreat position, it is possible to prevent the state of charge of the battery from being lowered and hindering the subsequent driving.

In the above configuration, the vehicle control system may further include: a cable connection unit (36) provided in the vehicle (1) so that the battery (35) can be externally charged; and a connection sensor (39) that detects a connection between a charging cable (38) and the cable connection unit, wherein the control device (20) sets a chargeable area that the charging cable can reach when the connection sensor detects the connection of the charging cable (ST 8: YES), and sets the retracted position within the chargeable area (ST 10).

According to this configuration, even if the vehicle moves to the retracted position in a state where the charging cable is connected, it is possible to suppress damage to the cable connection portion or damage to the charging device due to the cable being pulled by the charging cable.

In the above configuration, the control device (20) may set a parking area in which the vehicle can be parked according to a detection result of the environment sensor (30) (ST20, ST22), execute the vehicle control in an automatic parking mode in which the vehicle is moved to the parking area (ST23), and execute the vehicle control in the automatic parking mode after executing the vehicle control in the retreat mode (ST13) (ST 23).

According to this configuration, the vehicle moves to the retracted position, and it is possible to prevent the vehicle from obstructing the passage of another vehicle.

In the above configuration, the control device (20) may execute the vehicle control in the automatic parking mode (ST23) when a predetermined time estimated to be S-wave seismic damping has elapsed since the P-wave was detected and/or the earthquake speed emergency report was received after the vehicle control in the retreat mode (ST13) is executed (ST 18: "yes").

According to this configuration, since the vehicle moves to the parking area when the seismic vibrations estimated as the S-waves subside, it is possible to suppress the vehicle from contacting the obstacle due to the influence of the seismic vibrations during the movement.

In the above configuration, the vehicle control system may include the earthquake sensor (23) capable of detecting an S-wave of an earthquake, and the control device (20) may execute the vehicle control in the automatic parking mode (ST23) when it is determined that the earthquake has subsided based on a detection signal of the earthquake sensor (ST 17: "yes").

According to this configuration, since the vehicle moves to the parking area after the S-wave seismic vibrations have been determined to have subsided, it is possible to suppress the vehicle from contacting the obstacle due to the influence of the seismic vibrations during movement.

In the above configuration, the control device (20) may set the parking position before the vehicle control in the retreat mode is executed as the parking area of the automatic parking mode after the vehicle control in the retreat mode is executed (ST13) (ST 20).

According to this configuration, the vehicle that has once moved to the retracted position returns to the original parking position, and therefore, it is possible to prevent the driver who has returned to the parking position thereafter from feeling uneasy because the vehicle is not at the original parking position.

In the above configuration, the control device (20) may be configured to open and close a shutter provided in a passage for reaching the parking position by wireless communication, and to open the shutter (ST12) before the vehicle control (ST13) is executed in the retreat mode.

According to this configuration, even when the vehicle is stopped at a stop position where the gate is present, when the arrival of the S-wave seismic vibration is predicted, the vehicle can be moved to the retreat position that is located outside the gate and has a low possibility of contacting an obstacle.

In the above configuration, the control device (20) may close the shutter (ST27) after executing the vehicle control in the automatic parking mode (ST23) executed after executing the vehicle control in the retreat mode (ST 13).

With this configuration, the possibility of theft of an article placed inside the shutter due to the state in which the shutter is continuously opened can be reduced.

In the above configuration, the vehicle control apparatus may further include a communication device (25) capable of communicating with the outside, and the control device (20) may transmit status information including at least one of a state of parking of the vehicle (1) and a state of surrounding of the vehicle to the outside from the communication device after executing the vehicle control in the retreat mode (ST13) (ST15, ST 28).

According to this configuration, at least one of the state of parking and the state of the surroundings of the vehicle is immediately notified to the driver of the vehicle or the outside of the vehicle, such as the owner, through wireless communication. Thus, the driver or the owner who receives the notification can grasp the fact that the vehicle has moved from the parking position to the retracted position, the parking state of the vehicle, or the state of the surroundings of the vehicle.

ADVANTAGEOUS EFFECTS OF INVENTION

As described above, according to the present invention, it is possible to provide a vehicle control system capable of suppressing damage to a vehicle when an earthquake occurs during parking.

Drawings

Fig. 1 is a schematic configuration diagram of a vehicle equipped with a vehicle control system according to an embodiment.

Fig. 2 is a functional block diagram of the vehicle control system shown in fig. 1.

Fig. 3 is a flowchart of the in-parking process executed by the control device.

Fig. 4 is a flowchart of the in-parking process executed by the control device.

Fig. 5 is a diagram showing an example of a change in the parking state of the vehicle based on the in-parking process.

Fig. 6 is a diagram showing an example of a change in the parking state of the vehicle based on the in-parking process.

Fig. 7 is a diagram showing an example of a change in the parking state of the vehicle based on the in-parking process.

Fig. 8 is a diagram showing an example of a change in the parking state of the vehicle based on the in-parking process.

Fig. 9 is a diagram showing an example of a change in the parking state of the vehicle based on the in-parking process.

Fig. 10 is a diagram showing an example of a change in the parking state of the vehicle based on the parking process.

Fig. 11 is a diagram showing an example of a change in the parking state of the vehicle based on the parking process.

Description of the reference symbols

1 vehicle

2 vehicle body

3 Motor for running

10 vehicle control system

11 steering device

17 brake device

20 control device

23 acceleration sensor (earthquake sensor)

25 communication device

27 earthquake rapid report receiving part

30 external sensor

35 cell

36 cable connection

38 charging cable

39 connected sensor

40 current sensor

41 automatic driving control part

42 earthquake determination unit

43 status management section

44 shutter control part

45 electric power storage state recognition unit

51 external recognition unit

52 vehicle position recognition unit

53 action planning part

54 running control unit

Detailed Description

Hereinafter, an embodiment of the vehicle control system 10 according to the present invention will be described with reference to the drawings.

Fig. 1 is a schematic configuration diagram of a vehicle 1 on which a vehicle control system 10 according to an embodiment is mounted. As shown in the drawing, the vehicle 1 is a 4-wheel vehicle, and includes left and right front wheels 4A and left and right rear wheels 4B supported via suspension devices on a vehicle body 2 constituting a framework of the vehicle 1.

The vehicle 1 is an electric vehicle equipped with a traveling motor 3 that drives wheels 4(4A, 4B). The traveling motors 3 are provided on left and right rear wheels 4B in the illustrated example. In another embodiment, 1 traveling motor 3 may be provided to drive the left and right rear wheels 4B and/or the left and right front wheels 4A, or 4 traveling motors 3 may be provided to the wheels 4, respectively.

The vehicle 1 may be a hybrid vehicle equipped with the power plant 5 as shown by the phantom line in fig. 1. The power plant 5 may be an internal combustion engine such as a gasoline engine or a diesel engine, and assists the traveling of the vehicle 1. That is, in this case, the vehicle 1 may travel only by driving the travel motor 3. The vehicle 1 may be a rear wheel drive vehicle or a front wheel drive vehicle, a four wheel drive vehicle.

The vehicle 1 has a steering device 11 that steers the front wheels 4A. The steering device 11 includes a steering shaft 12 rotatably supported by a steering column, and a steering wheel 13 provided at one end of the steering shaft 12. A pinion gear is provided at the other end of the steering shaft 12, and a rack gear of a rack shaft 14 extending in the left-right direction meshes with the pinion gear. The rack shaft 14 is coupled at both left and right ends to left and right knuckles supporting the front wheels 4A via tie rods. When the steering wheel 13 is rotated, the rack shaft 14 moves left and right to turn the knuckle, and the left and right front wheels 4A are steered.

The steering shaft 12 is provided with a steering torque sensor 15 for detecting a steering torque, and an assist motor 16 for applying an assist torque corresponding to the steering torque. That is, the steering device 11 constitutes electric power steering. In another embodiment, the steering device 11 may be configured as a steer-by-wire system including a reaction motor and a steering motor, and mechanically separating the steering wheel 13 and the front wheels 4A.

The vehicle 1 has a brake device 17 for braking the 4 wheels 4. The brake device 17 includes a hydraulically driven brake force generation device 18 (e.g., a brake caliper) provided on each wheel 4, and an electric cylinder 19 for supplying hydraulic pressure to the brake force generation device 18.

The vehicle 1 is provided with a control device 20, and the control device 20 controls driving of the running motor 3, the assist motor 16 of the steering device 11, the electric cylinder 19 of the brake device 17, and the like, and can execute vehicle control for performing automatic driving including steering and acceleration and deceleration of the vehicle 1. The control device 20 is an Electronic Control Unit (ECU) including a CPU, a ROM, a RAM, a peripheral circuit, an input/output interface, various drivers, and the like. The control device 20 executes various vehicle controls by executing arithmetic processing in accordance with a program by the CPU. The control device 20 may be configured as 1 piece of hardware, or may be configured as a unit configured by a plurality of pieces of hardware. At least a part of each functional unit of the control device 20 may be realized by hardware such as an LSI, an ASIC, or an FPGA, or may be realized by a combination of software and hardware.

The vehicle 1 is provided with various sensors such as a front wheel rudder angle sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, and a yaw rate sensor 24. The front wheel rudder angle sensor 21 outputs a signal corresponding to the steering angle of the left and right front wheels 4A to the control device 20. The control device 20 obtains a front wheel steering angle, which is a steering angle of the front wheels 4A, based on a signal from the front wheel steering angle sensor 21. The vehicle speed sensor 22 is provided on each of the front wheels 4A and the rear wheels 4B, and outputs a pulse signal generated in accordance with rotation of the front wheels 4A and the rear wheels 4B to the control device 20. The control device 20 obtains the wheel speeds of the front wheels 4A and the rear wheels 4B based on signals from the vehicle speed sensors 22, and obtains the vehicle speed by averaging the wheel speeds. The acceleration sensor 23 outputs signals corresponding to the vertical acceleration, lateral acceleration, and longitudinal acceleration of the vehicle body 2 to the control device 20. The control device 20 obtains the vertical acceleration, lateral acceleration, and longitudinal acceleration of the vehicle body 2 based on the signal from the acceleration sensor 23. The yaw rate sensor 24 may be, for example, a gyro sensor, and outputs a signal corresponding to a rotational angular velocity about a vertical axis of the vehicle body 2 to the control device 20. The control device 20 obtains the yaw rate of the vehicle body 2 based on a signal from the yaw rate sensor 24.

The vehicle 1 is mounted with a communication device 25 and a navigation device 26. The communication device 25 performs communication between the control device 20 and the navigation device 26 and an external device such as a peripheral vehicle or a server located outside the vehicle. The communication device 25 also includes a earthquake early warning receiving unit 27 (see fig. 2) capable of receiving an earthquake early warning. The control device 20 can perform wireless communication with the nearby vehicle via the communication device 25. Further, the control device 20 can communicate with a server that provides traffic control information via the communication device 25. The control device 20 can communicate with an external terminal such as a portable terminal held by a person existing outside the vehicle 1 or a terminal of a management request company of the vehicle 1 via the communication device 25. The control device 20 can communicate with an emergency notification center that receives an emergency notification from the host vehicle 1 via the communication device 25.

The navigation device 26 is a device that acquires the current position of the vehicle 1 and performs route guidance to a destination, and includes a GPS receiving unit 28 (see fig. 2) and a map storage unit 29 (see fig. 2). The GPS receiver 28 specifies the position (latitude and longitude) of the vehicle 1 from a signal received from an artificial satellite (positioning satellite). The map storage unit 29 is configured by a known storage device such as a flash memory or a hard disk, and stores map information. In another embodiment, the GPS receiver 28 may be configured as a part of the communication device 25. The map storage unit 29 may be configured as a part of the control device 20, or may be configured as a part of a server device that can communicate via the communication device 25.

The map information includes road information such as the type of a road such as an expressway, a toll road, a national road, and a prefecture road, the number of lanes of a road, and the center position of each lane, address information (address, zip code), facility information including the type of a facility such as a building or a parking lot, and telephone number information.

The vehicle 1 is further provided with an external sensor 30 (see fig. 2) for detecting an external state. The external sensor 30 is a sensor that detects an object outside the vehicle by capturing an electromagnetic wave, a sound wave, or the like from the periphery of the host vehicle 1, and includes a sonar 31, an outside-vehicle camera 32(32A, 32B), a radar 33(33A, 33B), and a laser radar 34. The external sensor 30 outputs the detection result to the control device 20.

The sonar 31 is a so-called ultrasonic sensor, and detects the position (distance and direction) of an object by emitting an ultrasonic wave to the periphery of the vehicle 1 and capturing the reflected wave thereof. The plurality of sonars 31 are provided at the rear and front of the vehicle 1, respectively. In the present embodiment, 2 pairs of sonars 31 are provided on the left and right of the rear bumper, 2 pairs of sonars 31 are provided on the left and right of the front bumper, 1 pair of sonars 31 are provided on each of the front and rear ends of the left and right side surfaces of the vehicle 1, and 6 pairs of sonars 31 are provided in total. Sonar 31 provided at the rear bumper mainly detects the position of an object located rearward of vehicle 1, and sonar 31 provided at the front bumper mainly detects the position of an object located forward of vehicle 1. The sonar devices 31 provided at the front ends of the left and right side surfaces of the vehicle 1 detect the positions of objects located outside the left and right of the front end of the vehicle, respectively, and the sonar devices 31 provided at the rear ends of the left and right side surfaces of the vehicle 1 detect the positions of objects located outside the left and right of the rear end of the vehicle, respectively.

The vehicle exterior camera 32 is a device that images the periphery of the vehicle 1, and the periphery of the vehicle 1 includes objects (for example, surrounding vehicles or pedestrians) existing around the vehicle 1, a guardrail, a curb, a wall, a road mark drawn on a road surface, and the like. The vehicle exterior camera 32 may be a digital camera using a solid-state imaging device such as a CCD or a CMOS, for example. The vehicle exterior camera 32 includes at least a front camera 32A that images the front of the vehicle 1 and a rear camera 32B that images the rear. The exterior camera 32 may be a stereo camera, for example.

The radar 33 emits a radio wave such as a millimeter wave to the periphery of the vehicle 1, and detects the position (distance and direction) of an object by capturing the reflected wave. At least 1 radar 33 is mounted at an arbitrary position of the vehicle 1. The radar 33 preferably includes at least a front radar 33A that radiates radio waves toward the front of the vehicle 1 and a rear radar 33B that radiates radio waves toward the rear of the vehicle 1, and more preferably includes a pair of left and right side radars that radiate radio waves toward the sides of the vehicle 1.

The laser radar 34 irradiates light such as infrared rays around the vehicle 1, and detects the position (distance and direction) of an object by capturing the reflected light. At least 1 laser radar 34 is provided at an arbitrary position of the vehicle 1. In the present embodiment, 1 laser radar 34 is provided toward the front in order to detect a forward object, 4 laser radars 34 are provided at each of right and left corner portions of the front and rear portions of the vehicle body 2, and a total of 5 laser radars 34 are provided.

The vehicle 1 is also mounted with a battery 35 and a cable connection portion 36 for external charging of the battery 35. The battery 35 supplies electric power to the travel motor 3, the steering 11, the brake 17, the control device 20, and the like. The cable connection unit 36 is provided at a set position of the vehicle body 2, and is configured as a connection unit to which a charging cable 38 (see fig. 11) provided in a charging station 37 (see fig. 11) can be connected. The cable connection portion 36 is provided at the rear portion of the vehicle body 2 in the illustrated example. The cable connection unit 36 is provided with a connection sensor 39 that detects the connection of the charging cable 38. The connection sensor 39 outputs a signal indicating that the charging cable 38 is connected to the cable connection unit 36 to the control device 20.

When a charging operation is performed by the charging station 37 in a state where the charging cable 38 is connected to the cable connection portion 36, a current flows from the cable connection portion 36 to the battery 35, and the battery 35 is charged. A current sensor 40 is provided in the electric circuit between the cable connection portion 36 and the battery 35. The current sensor 40 outputs a signal corresponding to the charging current to the control device 20. The control device 20 recognizes a state of charge (hereinafter referred to as SOC) of the battery 35, calculates a charging power based on a signal from the current sensor 40, and appropriately updates the recognized SOC of the battery 35. When electric power is supplied from the battery 35 to various devices of the vehicle 1, the control device 20 calculates the supplied electric power and appropriately updates the recognized SOC of the battery 35.

Fig. 2 is a functional block diagram of the control device 20 shown in fig. 1. The control device 20 controls the vehicle 1 in a parking state, and executes automatic parking for moving the vehicle 1 to a predetermined position. In order to perform such control, the control device 20 includes an autopilot control unit 41, an earthquake determination unit 42, a state management unit 43, a gate control unit 44, a storage state recognition unit 45, and a storage unit 46.

The automated driving control unit 41 includes an external environment recognition unit 51, a vehicle position recognition unit 52, an action planning unit 53, and a travel control unit 54.

The environment recognition unit 51 recognizes an obstacle, such as a parked vehicle or a wall, present in the periphery of the vehicle 1 based on the detection result of the environment sensor 30, and acquires information about the obstacle, such as a position and a size. The external world identification unit 51 analyzes the image acquired by the vehicle exterior camera 32 by a known image analysis method such as pattern matching, and acquires the presence or absence of an obstacle and the size of the obstacle. The environment recognizing unit 51 may calculate the distance to the obstacle using the signal from the sonar 31 to acquire the position of the obstacle.

The vehicle position recognition unit 52 recognizes the position of the vehicle 1 based on the signal acquired from the GPS receiving unit 28 of the navigation device 26. The own-vehicle position recognition unit 52 acquires, in addition to the signal from the GPS receiver 28, a vehicle speed, a yaw rate, and the like from vehicle sensors including the vehicle speed sensor 22, the yaw rate sensor 24, and the like, and determines the position and the posture of the vehicle 1 using a so-called inertial navigation method. The own-vehicle position recognition unit 52 determines whether the parking position at which the vehicle 1 is parked is a category of on-road (parking area or shoulder), flat parking lot, or stereo parking lot, and determines whether the parking position is a place where it is possible to retreat to another place when an earthquake is predicted.

The external world identification unit 51 analyzes the detection result of the external world sensor 30, more specifically, the image captured by the external camera 32, by a known image analysis method such as pattern matching, and can acquire the position of a white line drawn on a road surface such as a parking lot.

The action planning unit 53 sequentially generates action plans for causing the vehicle 1 to travel along the route. More specifically, first, the action planning unit 53 determines an event for causing the vehicle 1 to travel on the route determined by the route determination unit of the navigation device 26 without contacting an obstacle. The events include a retreat event for moving the vehicle 1 to a safe retreat position when an earthquake is predicted, and an automatic parking event for parking the vehicle 1 in a parking area after the retreat event. The action planning unit 53 further generates a target trajectory on which the vehicle 1 should travel in the future, based on the determined event. The target track is obtained by sequentially arranging track points, which are points to be reached by the vehicle 1 at each time.

The travel control unit 54 controls the travel motor 3, the brake device 17, and the steering device 11 so that the vehicle 1 passes through the target track generated by the behavior planning unit 53.

The earthquake determination unit 42 determines whether or not the earthquake prediction unit 27 has received the earthquake prediction emergency, analyzes the detection signal of the acceleration sensor 23, determines whether or not the P-wave vibration due to the earthquake has occurred, and predicts the arrival of the S-wave of the earthquake based on the result of the determination. That is, the acceleration sensor 23 functions as an earthquake sensor capable of detecting P-waves of an earthquake. The earthquake determination unit 42 predicts an earthquake in which a large fluctuation occurs later when either one or both of the reception of the earthquake early warning and the detection of the vibration generation by the P-wave occur.

The earthquake determination unit 42 determines that the earthquake is terminated when a predetermined time has elapsed since the reception of the earthquake emergency velocity report, and the predetermined time is set to a time sufficient for the arrival of the S-wave and the cancellation of the vibration due to the S-wave. The detection signal of the acceleration sensor 23 is analyzed to determine the occurrence and convergence of S-wave vibration of the earthquake, and when the S-wave vibration subsides, it is determined that the earthquake is ended. That is, the acceleration sensor 23 functions as an earthquake sensor capable of detecting S-waves of an earthquake.

The state management unit 43 determines whether or not the parking state of the vehicle 1 and the parking position of the vehicle 1 are the retractable places based on at least one of the determination result of the vehicle position by the vehicle position recognition unit 52, the power supply state of the vehicle 1, and the power storage state of the battery 35 by the power storage state recognition unit 45. The state management unit 43 determines whether or not to cause the action planning unit 53 to execute the evacuation event and the subsequent automatic stop event when an earthquake is predicted during the stop of the vehicle, and controls the action planning unit 53. When the action planning unit 53 executes the back-off event, the state management unit 43 transmits, to the outside via the communication device 25, state information indicating that the vehicle 1 has moved to the back-off position after the back-off event is completed. When the action planning unit 53 executes the automatic parking event, the state management unit 43 may transmit, to the outside via the communication device 25, state information indicating that the vehicle 1 has moved from the retracted position to the parking position even after the automatic parking event is ended. These pieces of state information may include information on the position at which the vehicle 1 is stopped and information on the state of the surroundings of the vehicle 1 detected by the external sensor 30. The state management unit 43 transmits the state information to an external terminal such as a portable terminal held by a person existing outside the vehicle 1 or a terminal of a management request company of the vehicle 1.

The gate control unit 44 outputs an opening signal for opening the gate and a closing signal for closing the gate to enter the parking position to a gate management device provided in a garage that requires opening and closing of the gate by wireless communication. The gate management device is, for example, a device installed in a garage where the vehicle 1 frequently stops or a contract garage of a work place, and the control device 20 of the vehicle 1 is registered in the gate management device in advance as a terminal for permitting an opening/closing command of the gate.

The state of charge recognition unit 45 always recognizes the SOC of the battery 35, and appropriately updates the SOC of the battery 35 based on the signal from the current sensor 40.

The storage unit 46 is configured by ROM, RAM, or the like, and stores information necessary for processing by the automatic driving control unit 41, the state management unit 43, the shutter control unit 44, and the electric storage state recognition unit 45.

After the vehicle 1 is stopped, the control device 20 manages the stop state of the vehicle 1 by the state managing unit 43. When there is an execution instruction of the evacuation event by the state management unit 43, the control device 20 executes the automated driving in the evacuation mode by the automated driving control unit 41. When there is an execution instruction of the automatic parking event by the state management unit 43, the control device 20 executes the automatic driving in the automatic parking mode by the automatic driving control unit 41. These automated driving are performed when there is no occupant in the vehicle compartment. Hereinafter, a parking process performed by the control device 20 during parking of the vehicle 1, including automatic driving in the evacuation mode and automatic driving in the automatic parking mode, will be described with reference to the flowcharts of fig. 3 and 4.

As shown in fig. 3, after the vehicle 1 is parked, the control device 20 first confirms the status of the parking position (ST 1). In this process, the control device 20 confirms the type and status of the parking lot. Next, the control device 20 confirms whether the parking lot is a gate (ST 2). In this process, the control device 20 confirms the presence or absence of the gate based on the information whether or not the parking lot is the parking lot in which the vehicle 1 is registered and whether or not the parking lot has the gate. These processes are performed immediately after the vehicle 1 is stopped, and are stored in the storage unit 46.

Next, the control device 20 determines whether or not a P wave is detected (ST3), and determines whether or not a earthquake alarm is received (ST 4). If the control device 20 detects a P-wave (ST 3: YES), the process proceeds to step ST5 to step ST7 when the earthquake speed report is received (ST 4: YES). In the case where the P-wave is not detected (ST 3: NO), and the earthquake early warning is not received (ST 4: NO), the control device 20 repeats the processing of step ST3 and step ST 4. The determination of the detection of the P-wave in step ST3 and the determination of the reception of the earthquake prediction in step ST4 mean that the arrival of the earthquake shock of the next large shaking S-wave, that is, the occurrence of a large earthquake, is predicted.

In step ST5, the control device 20 determines whether or not the parking position of the vehicle 1 is a retractable position based on the result of the confirmation by the vehicle position recognition unit 52. In the process of step ST5, it is determined as no, for example, when the parking lot is a three-dimensional parking lot, or when the parking lot has a gate that cannot be driven by wireless communication and the vehicle 1 cannot be steered and driven in the parking lot. In step ST6, the control device 20 determines whether there is a possibility that the peripheral object may come into contact with the vehicle 1 based on the detection result of the external sensor 30. In the process of step ST6, it is determined as yes, for example, when there is another vehicle that may shake due to earthquake shock in the vicinity of the vehicle 1, or when there is a structure such as a stand that may fall down around the vehicle 1. In step ST7, control device 20 determines whether or not SOC of battery 35 is equal to or greater than a predetermined value based on SOC identified by state of charge identification unit 45. In the process of step ST7, for example, if the SOC of the battery 35 is less than 5%, it is determined as no. If all of the determinations at step ST5 to step ST7 are yes, the control device 20 advances the process to step ST8, and if any of these determinations is no, the control device 20 ends the process during parking without performing any process (see fig. 4). That is, the control device 20 does not perform (prohibit) the vehicle control in the retreat mode at step ST13 or the vehicle control in the automatic parking mode at step ST23, which will be described later.

In step ST8, the control device 20 determines whether or not the charging cable 38 is connected to the cable connection unit 36 based on the detection signal of the connection sensor 39. When the charging cable 38 is not connected to the cable connection unit 36 (ST 8: "no"), the control device 20 sets a place around the vehicle 1 where the possibility of contact with an obstacle is lowest and the possibility of damage to the vehicle 1 is low as a retracted position based on the detection result of the external sensor 30 (ST 9). On the other hand, when the charging cable 38 is connected to the cable connection unit 36 (ST 8: "yes"), the control device 20 sets a chargeable area where the charging cable 38 is expected to reach, and sets a place where the possibility of damage to the vehicle 1 is estimated to be low as a retracted position within the chargeable area (ST 10).

Next, the control device 20 determines whether or not there is a wirelessly operable shutter on the route from the parking position to the retracted position, based on the presence or absence of the shutter confirmed in step ST2 and the retracted position set in step ST9 or step ST10 (ST 11). When there is a wirelessly operable shutter on the route (ST 11: "yes"), the control device 20 wirelessly transmits an open signal for opening the shutter through the shutter control unit 44 (ST 12).

After step ST12 or when there is no shutter on the route (ST 11: no), the control device 20 starts vehicle control in the retreat mode to move the vehicle 1 from the parking position to the retreat position (ST 13). When the vehicle 1 reaches the retreat position, the control device 20 stops the vehicle 1 and ends the vehicle control in the retreat mode.

The control device 20 determines whether or not the vehicle control in the evacuation mode is completed in step ST14, and when the vehicle control in the evacuation mode is completed (ST 14: yes), transmits status information indicating that the vehicle 1 has moved to the evacuation position to the outside (ST 15).

As shown in fig. 4, the control device 20 then determines whether or not an S-wave of an earthquake has been detected, based on the detection signal of the acceleration sensor 23 (ST 16). When the S-wave of the earthquake is detected (ST 16: "yes"), the control device 20 determines whether or not the shaking of the S-wave of the earthquake is completed, and continues the processing until the determination result becomes "yes". When the S-wave of the earthquake is not detected (ST 16: NO), the control device 20 determines whether or not a predetermined time has elapsed since the earthquake prediction in step ST3 or step ST4, the predetermined time being set to a time sufficient for the arrival of the S-wave and the damping of the vibration by the S-wave (ST 18). If the predetermined time has not elapsed (ST 18: no), the control device 20 repeats the processing from step ST16 onward. When a predetermined time has elapsed (ST 18: "yes") or when it is determined that the shaking of the S-wave of the earthquake has ended (ST 17: "yes"), the control device 20 advances the process to step ST 19.

In step ST19, the control device 20 determines whether or not there is an obstacle to the original (before the vehicle control in the retreat mode) parking position, based on the detection result of the external sensor 30. When an obstacle is scattered at the original parking position or when the possibility of damage to the original parking position is higher than the possibility of damage to the retracted position, it is determined that there is an obstacle. If there is no obstacle to the movement to the original parking position (ST 19: "no"), the control device 20 sets the original parking position to the parking area to which the vehicle 1 is to be moved by executing the vehicle control in the automatic parking mode (ST20), and advances the process to step ST 23. If there is an obstacle to the movement to the original parking position (ST 19: "yes"), the control device 20 searches for a parking-possible location around the vehicle 1 based on the detection result of the outside sensor 30, and determines whether or not there is a new parking-possible location (ST 21). When a new place where the vehicle 1 can be parked exists around the vehicle (ST 21: "yes"), the control device 20 sets a place other than the original parking position as a parking area (ST22), and advances the process to step ST 23. If there is no new place around the vehicle 1 where parking is possible (ST 21: "no"), the control device 20 advances the process to step ST 25.

In step ST23, control device 20 starts vehicle control in the automatic parking mode to move vehicle 1 from the current position to the parking area. When the vehicle 1 reaches the parking area, the control device 20 stops the vehicle 1 and ends the vehicle control in the automatic parking mode. After step ST23, control device 20 determines whether or not vehicle control in the automatic parking mode is finished (ST 24). When the vehicle control in the automatic parking mode is finished (ST 24: yes), the process proceeds to step ST 25.

In step ST25, the control device 20 determines whether the gate is opened by sending a gate opening signal before execution of the vehicle control in the retreat mode (before ST13) (ST 25). When the shutter is opened (ST 25: "YES"), the control device 20 determines whether or not there is a blockage in closing the shutter based on the detection result of the outside sensor 30 (ST 26). When there is no obstacle to close the shutter (ST 26: "no"), the control device 20 wirelessly transmits a lock signal for locking the shutter by the shutter control unit 44 (ST27), and advances the process to step ST 28. If there is a hindrance to closing the shutter (ST 26: "YES"), the control device 20 advances the process directly to step ST 28.

Then, the control device 20 transmits status information indicating that the vehicle 1 has moved to the original parking position or a new parking area by executing the vehicle control in the automatic parking mode or has left at the retracted position without executing the vehicle control in the automatic parking mode to the outside (ST 28). Through the above processing, the control device 20 ends the parking process.

In the above-described parking process, for example, when any 1 of the determinations at step ST5 to step ST7 is determined as "no", no process is performed. Therefore, as shown in fig. 5, the vehicle 1 does not move from the pre-earthquake-prediction parking position of (a) after the earthquake prediction of (B) and does not move from the pre-earthquake-prediction parking position of (a) after the earthquake of (C) is completed.

As shown in fig. 6 a, when another vehicle is present in the vicinity of the vehicle 1 (in the parking division line or in the vicinity outside the parking division line), the determination at step ST6 is yes, and the vehicle control in the retreat mode is executed at step ST13, whereby the vehicle 1 moves to the retreat position shown in fig. 6B. After the earthquake is ended, the determination of step ST19 is yes, the parking place adjacent to the original parking position is set as the parking area in step ST22, and the vehicle control in the automatic parking mode is executed in step ST23, whereby the vehicle 1 moves to a new parking area shown in fig. 6 (C).

As shown in fig. 7 a, when there is a structure such as a stand that may fall down around the vehicle 1 (ST 6: "yes") and the wirelessly operable shutter is positioned in the retreat direction of the vehicle 1, the retreat position is set to a position away from the stand in step ST9, and the vehicle 1 moves to the retreat position shown in fig. 7B (ST 13). After the earthquake is ended, the determination at step ST19 is yes, and the determination at step ST21 is no, and therefore the vehicle 1 remains at the retracted position as shown in fig. 7 (C).

As shown in fig. 8 a, when there is a structure such as a stand that may fall down around the vehicle 1 (ST 6: "yes") and the wirelessly operable shutter is located in the retreat direction of the vehicle 1 (ST 11: "yes"), the shutter is opened and driven in step ST12, and then the vehicle 1 moves to the retreat position shown in fig. 8B (ST 13). After the earthquake is ended, as shown in fig. 8C, the vehicle 1 moves to the original parking position (ST23), and then the gate is driven to be closed by the process of step ST 27.

On the other hand, as shown in fig. 9, even under the same parking conditions, when the vehicle 1 moves to the retracted position (ST13) shown in fig. 9 (B), an obstacle such as an article dropped from the rack may be scattered at the original parking position as shown in fig. 9 (C). In this case, the determination at step ST19 is yes, and the determination at step ST21 is no, and therefore the vehicle 1 remains at the retracted position. If the determination at step ST26 is yes, the shutter is opened. Even if the obstacle is scattered in the original parking position, it may be determined that there is no obstacle in closing the shutter in step ST26 (no), and the shutter may be closed.

As shown in fig. 10 (a), even if there is no structure such as a rack that may fall down around the vehicle 1, the vehicle 1 may stop near an obstacle such as a wall. In this case, the determination at step ST6 is yes. Further, when the shutter that cannot be operated wirelessly is located in the retreat direction of the vehicle 1 (ST 11: no), the position away from the wall is set as the retreat position in step ST 9. In the example of fig. 10 (B), the center of the garage is set to the retracted position where the possibility of damage is lowest, and the vehicle 1 moves to the retracted position (ST 13). After the earthquake is ended, the determination at step ST19 is yes, and the determination at step ST21 is no, and therefore the vehicle 1 remains at the retracted position as shown in fig. 7 (C).

As shown in fig. 11 (a), sometimes the vehicle 1 is parked at a parking position where there is a charging station 37, the charging cable 38 is connected to the vehicle 1 to perform charging (ST 8: "yes"), and another vehicle is present in the vicinity of the vehicle 1 (ST 6: "yes"). In this case, the location in the chargeable area is set as the retracted position (ST 10). Thereby, the vehicle 1 moves to the retracted position within the chargeable area shown in fig. 11 (B). After the earthquake is ended, the determination at step ST19 is yes, and at step ST22, the location in the chargeable area adjacent to the original parking position is set as the parking area, and the vehicle 1 moves to a new parking area shown in fig. 6C (ST 23).

According to the vehicle control system 10 configured as described above, the following effects are obtained.

When the P-wave is detected by the earthquake sensor while the vehicle 1 is stopped (ST 3: "yes"), and/or when the earthquake rapid report is received by the earthquake rapid report receiving unit 27 (ST 4: "yes"), the control device 20 determines whether or not there is a possibility that the obstacle detected by the external sensor 30 is in contact with the vehicle 1 (ST 6). If it is determined that there is a possibility of contact (ST 6; y), the control device 20 sets a retreat position with a low possibility of contact with the obstacle (ST9, ST10), and executes vehicle control in an retreat mode in which the vehicle 1 is moved from the parking position to the retreat position (ST 13). Therefore, for example, as shown in fig. 6 (B), the possibility that the vehicle 1 comes into contact with an obstacle when the seismic vibrations of the S-wave whose sway is larger than the P-wave arrive is reduced.

The parking space includes a place where the vehicle 1 can retreat without an obstacle in the retreat direction in front of or behind the vehicle 1, and a place where the vehicle 1 should not move for retreat (a place where the vehicle cannot retreat) such as a stereo parking lot even if there is no obstacle in the retreat direction of the vehicle 1. In the present embodiment, the control device 20 determines whether the parking position is a place where the vehicle cannot be retracted (ST5), and when the parking position is a place where the vehicle cannot be retracted (ST 5: "no"), the vehicle control in the retracted mode is prohibited (fig. 3 and 4, "a"). Therefore, only when the parking position is a place where the vehicle can be retracted, the vehicle 1 is moved from the parking position to the retracted position (ST13), and occurrence of an accident or the like due to the retraction is suppressed.

When the SOC (state of charge) of the battery 35 is less than the predetermined value (ST 7: no), the control device 20 prohibits the vehicle control in the retreat mode ("a" in fig. 3 and 4). Therefore, by executing the vehicle control in the retreat mode (ST13) to move the vehicle 1 to the retreat position, the state of charge of the battery 35 is prevented from being lowered and the subsequent driving is prevented from being hindered.

When the connection sensor 39 detects the connection of the charging cable 38 (ST 8: "yes"), the control device 20 sets a chargeable area that the charging cable 38 is estimated to reach, and sets the retracted position within the chargeable area (ST 10). Therefore, as shown in fig. 11 (B), even if the vehicle 1 moves to the retracted position in a state where the charging cable 38 is connected, damage to the cable connection portion 36 due to the cable 38 being pulled, damage to the charging equipment such as the charging station 37 and the charging cable 38, and the like can be suppressed.

After executing the vehicle control in the retreat mode (ST13), the control device 20 sets a parking area in which the vehicle 1 can be parked based on the detection result of the outside sensor 30 (ST20, ST22), and executes the vehicle control in the automatic parking mode (ST 23). Therefore, for example, as shown in fig. 6 (C), by moving the vehicle 1 to the retracted position, it is possible to prevent the other vehicle 1 from being obstructed from passing.

After executing the vehicle control in the retreat mode (ST13), the control device 20 executes the vehicle control in the automatic stop mode (ST23) when a predetermined time estimated as the seismic damping of the S-wave has elapsed since the P-wave is detected and/or the earthquake speed emergency report is received (ST 18: yes). In this way, since the vehicle 1 moves to the parking area when the seismic vibrations estimated as the S-waves subside, the vehicle 1 is prevented from contacting the obstacle due to the influence of the seismic vibrations during the movement.

When it is determined that the earthquake has subsided based on the detection signal of the earthquake sensor (ST 17: YES), the control device 20 executes vehicle control in the automatic parking mode (ST 23). In this way, since the vehicle 1 moves to the parking area after the S-wave seismic vibrations have been determined to have subsided, the vehicle 1 is prevented from contacting an obstacle due to the influence of the seismic vibrations during movement.

After executing the vehicle control in the retract mode (ST13), the control device 20 sets the parking position before executing the vehicle control in the retract mode as the parking area of the automatic parking mode (ST 20). Therefore, the vehicle 1 that has once moved to the retracted position returns to the original parking position, and therefore, it is possible to prevent the driver who has returned to the parking position thereafter from feeling uneasy because the vehicle 1 is not at the original parking position.

The control device 20 is configured to open and close a shutter provided in a passage for reaching the parking position by wireless communication, and to open the shutter (ST12) before performing vehicle control in the evacuation mode (ST 13). Therefore, as shown in fig. 8, even if the vehicle 1 stops at a stop position where a gate is present, when the arrival of the seismic shock of the S-wave is predicted, the vehicle 1 can move to a retracted position located outside the gate and having a low possibility of contacting an obstacle.

The control device 20 closes the shutter (ST27) after executing the vehicle control in the automatic parking mode (ST23) which is executed after executing the vehicle control in the retreat mode (ST 13). Therefore, the possibility of theft of an article placed inside the shutter due to the state in which the shutter is continuously opened is reduced.

After the vehicle control in the evacuation mode is executed (ST13) or after the vehicle control in the automatic parking mode is executed (ST23), the control device 20 transmits the state information including at least one of the state of parking of the vehicle 1 and the state of the surroundings of the vehicle 1 to the outside from the communication device 25 (ST15, ST 28). Therefore, at least one of the parking state and the state around the vehicle 1 is immediately notified to the driver of the vehicle 1 or the outside related to the owner or the like by wireless communication, and the driver or the owner receiving the notification can grasp the state where the vehicle 1 moves from the parking position to the retreat position or the parking area, and the parking state of the vehicle 1 or the state around the vehicle 1.

The description of the specific embodiments is completed above, but the present invention is not limited to the above embodiments and can be widely modified and implemented. For example, in the above embodiment, as shown in FIG. 3, the control device 20 advances the process to step ST5 when a P-wave is detected (step ST 3: "YES") or when a earthquake early warning is received (step ST 4: "YES"), but the control device may advance the process to step ST5 when a P-wave is detected and a earthquake early warning is received. The specific configuration, arrangement, number, angle, steps, and the like of the respective members and portions can be appropriately modified within a range not departing from the gist of the present invention. On the other hand, all the components shown in the above embodiments are not necessarily required to be provided, and can be appropriately selected.

Claims

1. A vehicle control system characterized in that,

the vehicle control system includes:

a control device capable of executing vehicle control for performing automatic driving including steering and acceleration/deceleration of a vehicle by driving a steering device and a motor for running of the vehicle;

an external sensor that detects a state of an external environment including an obstacle around the vehicle; and

a seismic sensor capable of detecting P-waves of an earthquake and/or a seismic rapid report receiving unit capable of receiving an emergency seismic rapid report based on P-waves of the earthquake,

when the P-wave is detected by the seismic sensor while the vehicle is stopped, and/or when the earthquake early warning is received by the earthquake early warning receiving unit, the control device determines whether or not there is a possibility that the obstacle detected by the external sensor is in contact with the vehicle, and when it is determined that there is a possibility of contact, sets a retreat position at which there is a low possibility of contact with the obstacle, and executes the vehicle control in an retreat mode in which the vehicle is moved from the stop position to the retreat position.

2. The vehicle control system according to claim 1,

the control device determines whether the parking position is a place where the parking position can be retracted, and prohibits the vehicle control in the retraction mode when the parking position is a place where the parking position cannot be retracted.

3. The vehicle control system according to claim 1,

the control device recognizes a state of charge of a battery that supplies electric power to the steering device and the travel motor, and prohibits the vehicle control in the retreat mode when the state of charge of the battery is less than a predetermined value.

4. The vehicle control system according to claim 3,

the vehicle control system further has: a cable connection unit provided in the vehicle so as to be able to externally charge the battery; and a connection sensor that detects connection of a charging cable to the cable connection portion,

the control device sets a chargeable area estimated to be reachable by the charging cable and sets the retracted position in the chargeable area when the connection sensor detects the connection of the charging cable.

5. The vehicle control system according to any one of claims 1 to 4,

the control device sets a parking area in which the vehicle can be parked according to a detection result of the external sensor, performs the vehicle control in an automatic parking mode in which the vehicle is moved to the parking area, and performs the vehicle control in the automatic parking mode after performing the vehicle control in the retreat mode.

6. The vehicle control system according to claim 5,

the control device executes the vehicle control in the automatic parking mode when a predetermined time has elapsed since the P-wave is detected and/or the earthquake speed emergency report is received after executing the vehicle control in the retreat mode.

7. The vehicle control system according to claim 5,

the vehicle control system has the seismic sensor capable of detecting S-waves of an earthquake,

the control device executes the vehicle control in the automatic parking mode when it is determined that the earthquake has subsided based on the detection signal of the earthquake sensor.

8. The vehicle control system according to claim 5,

the control device sets the parking position before the execution of the vehicle control in the retreat mode as the parking area of the automatic parking mode after the execution of the vehicle control in the retreat mode.

9. The vehicle control system according to claim 5,

the control device is configured to open and close a shutter provided in a passage for reaching the parking position by wireless communication, and to open the shutter before the vehicle control is executed in the retreat mode.

10. The vehicle control system according to claim 9,

the control device closes the shutter after executing the vehicle control in the automatic parking mode, which is executed after executing the vehicle control in the retreat mode.

11. The vehicle control system according to claim 1,

the vehicle control system also has a communication device capable of communicating with the outside,

the control device transmits, after executing the vehicle control in the retreat mode, status information including at least one of a state of parking of the vehicle and a state of surroundings of the vehicle to the outside from the communication device.