JP2003331391A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device capable of reducing a driver's uneasiness when entering a curve and optimizing vehicle speed when entering the curve. <P>SOLUTION: Information provided from an information antenna is received when an own vehicle passes a reference point and enters an information providing section in a step S1. A curve shape data is acquired from the provided information in a step S2. Alarm conditions are changed according to a central angle of a curve in a step S3. Whether the alarm conditions set in the step S3 are established is determined in a step S4. If the alarm conditions are established in the step S4, an alarm with a display and voice is carried out. If the alarm conditions are not established in the step S4, return is performed without carrying out the alarm. In the step S3, a correction is made so that the larger the central angle of the curve is, the earlier the alarm timing is even if the curve radius is the same in alarming the driver at timing that allows slowing down to aptitudinal vehicle speed determined according to the curve radius when entering the curve. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a curve ahead of a traveling path of a vehicle, and when the vehicle enters a curve,
The present invention relates to a control device for a vehicle, which notifies the vehicle to decelerate to an appropriate vehicle speed determined by the curvature of a curve.

[0002]

2. Description of the Related Art Conventionally, there has been proposed a curve intrusion support system for informing a vehicle to enter a curve so that the vehicle decelerates to an appropriate vehicle speed determined by the curvature of the curve, for example, Japanese Patent Laid-Open No. 10-143794. The publication describes that whether or not a vehicle can pass a curve ahead at the current vehicle speed and deceleration control or warning is performed.

[0003]

However, even if the curve curvature is the same, the larger the central angle of the curve (that is, the longer the curve section), the more the driver tends to feel anxiety, and only the curve curvature. If you decide the appropriate vehicle speed when entering the curve with, the vehicle may enter the curve at a relatively high speed even if the center angle is large, so it is not possible to give a notification suitable for the psychological situation of the driver and the current driving environment. There is inconvenience.

The present invention has been made in view of the above problems, and an object thereof is to provide a vehicle control device capable of reducing driver's anxiety when entering a curve and optimizing the vehicle speed when entering a curve.

[0005]

In order to achieve the above object, a vehicle control device according to the present invention comprises a curve detecting means for detecting a curve ahead of a traveling path of the own vehicle, and the own vehicle entering the curve. In this case, an informing means for informing the vehicle to decelerate to an appropriate vehicle speed determined by the curvature of the curve, and a control means for accelerating the informing timing by the informing means as the central angle of the curve increases. .

Further, preferably, the control means corrects the appropriate vehicle speed such that the larger the central angle of the curve, the smaller the appropriate vehicle speed.

Preferably, the control means prohibits the advance of the notification timing when the central angle of the curve is equal to or larger than a predetermined value.

The vehicle control device according to the present invention comprises a curve detecting means for detecting a curve ahead of the traveling path of the own vehicle, and an appropriate vehicle speed determined by the curvature of the curve when the own vehicle enters the curve. And a control means for controlling the notification means so that the speed at the time of entering the curve decreases as the central angle of the curve increases.

Preferably, the control means controls the informing means so as to inform the proper vehicle speed when the curve enters, and the proper vehicle speed becomes smaller as the central angle of the curve becomes larger. to correct.

Further, preferably, the control means corrects so that the larger the central angle of the curve, the larger the gain of the notification by the notification means.

Further, preferably, when the central angle of the curve is equal to or larger than a predetermined value, the control means prohibits the control of the notifying means for reducing the speed at the time of entering the curve.

The vehicle control device of the present invention has a curve detecting means for detecting a curve ahead of the traveling path of the own vehicle, and an appropriate vehicle speed determined by the curvature of the curve when the own vehicle enters the curve. It is provided with an informing unit for informing the vehicle to decelerate, and a control unit for correcting the appropriate vehicle speed to decrease as the central angle of the curve increases.

Preferably, the control means prohibits the correction by the control means when the central angle of the curve is a predetermined value or more.

The control device for a vehicle according to the present invention includes a curve detecting means for detecting a curve ahead of the traveling path of the own vehicle, and an appropriate vehicle speed corresponding to the central angle of the curve when the own vehicle enters the curve. It comprises a support means for performing driving support so as to decelerate to 1, and a control means for changing the support degree by the notification means according to the size of the central angle of the curve.

Further, preferably, the control means prohibits the change of the support degree by the control means when the central angle of the curve is equal to or larger than a predetermined value.

[0016]

As described above, according to the first aspect of the invention, the curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve, it is determined by the curvature of the curve. By notifying the vehicle to decelerate to an appropriate vehicle speed, and making the notification timing earlier as the central angle of the curve becomes larger, driver's anxiety at the time of entering the curve can be reduced and the vehicle speed at the time of entering the curve can be optimized.

According to the second aspect of the present invention, the larger the central angle of the curve, the smaller the appropriate vehicle speed, so that the vehicle speed can be decelerated to an appropriate vehicle speed according to the central angle of the curve. .

According to the third aspect of the present invention, when the central angle of the curve is equal to or larger than the predetermined value, it is possible to reduce the anxiety of the driver due to the notification by prohibiting the notification timing from being accelerated.

According to the fourth aspect of the present invention, a curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve, the driver is informed to decelerate to an appropriate vehicle speed determined by the curvature of the curve. At the same time, the larger the central angle of the curve, the lower the speed at the time of entering the curve by controlling the notification, so that the driver's anxiety at the time of entering the curve can be reduced and the vehicle speed at the time of entering the curve can be optimized.

According to the fifth aspect of the present invention, it is possible to control so that the proper vehicle speed is notified when the vehicle enters the curve, reduce the driver's anxiety when the vehicle enters the curve, and optimize the vehicle speed when the vehicle enters the curve.

According to the invention of claim 6, the larger the central angle of the curve is, the larger the notification gain is, so that the driver's anxiety at the time of entering the curve is reduced.
The vehicle speed when entering a curve can be optimized.

According to the seventh aspect of the invention, when the central angle of the curve is equal to or larger than a predetermined value, the annoyance to the driver due to the information is reduced by prohibiting the annunciation control that reduces the speed at the time of entering the curve. can do.

According to the invention of claim 8, a curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve, the driver is informed to decelerate to an appropriate vehicle speed determined by the curvature of the curve. In addition, the larger the central angle of the curve, the smaller the correct vehicle speed
The driver's anxiety when entering a curve can be reduced, and the vehicle speed when entering a curve can be optimized.

According to the invention of claim 9, when the central angle of the curve is equal to or larger than a predetermined value, the vehicle speed at the time of entering the curve can be optimized by prohibiting the correction.

According to the tenth aspect of the present invention, a curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve, the vehicle is driven so as to decelerate to an appropriate vehicle speed according to the central angle of the curve. In addition to providing assistance, the degree of assistance is changed according to the size of the center angle of the curve, so that the driver's anxiety when entering the curve can be reduced according to the center angle of the curve. The degree of intervention can be optimized.

According to the eleventh aspect of the present invention, when the central angle of the curve is equal to or greater than a predetermined value, by prohibiting the change of the degree of assistance, it is possible to reduce the anxiety of the driver due to the driving assistance.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiment described below is one example as a means for realizing the present invention, and the present invention can be applied to a modified or modified version of the following embodiment without departing from the spirit of the present invention. . [Curve Intrusion Support System] First, the overall configuration of the curve intrusion support system, which is the premise of the present embodiment, will be described.

As shown in FIG. 1, the curve intrusion support system applied to this embodiment has a road R which is a curve ahead of the vehicle V1 and which is ahead of the curve (for example, 30 m). The vehicle has a base point 11 installed on the road side of the host vehicle V1 on the traveling lane side, and an information antenna 13 installed on the road side of the road R on the road ahead of the base point 11 on the traveling lane side of the own vehicle V1.

The base point 11 is, for example, a magnetic nail embedded in a road surface, and as shown in FIG. 2B, unique identification information (hereinafter referred to as a base point ID) and a provision associated with this base point ID. The provided ID (described later) for identifying the information and the base point detector 71 (see FIG. 2) mounted on the host vehicle V1.
(See (a)), the base point detector 71 detects that the host vehicle V1 has passed the base point 11, and at the same time, the base point ID and the provided ID are acquired from the base point 11. The base point 11 is a reference position for measuring the travel distance of the host vehicle V1 from the base point 11 to the curve entrance. The travel distance from the base point 11 to the curve entrance is the information providing section A by the information antenna 13.
Will be the basis for identifying.

As shown in FIG. 2B, the information antenna 13 has unique identification information (hereinafter referred to as a provision ID) and a base point I associated with this provision ID, as in the above-mentioned base point 11.
It has D, and sends the information about the base point ID and the road shape (curve radius, distance to the curve, etc.) to the host vehicle V1 in the information providing section A together with this providing ID.
To do.

Further, the own vehicle V1 receives the information about the base point ID and the road shape (hereinafter, these information will be collectively referred to as “provided information”) through the information antenna 13 in the information provided section A, and the provided information is provided by itself. Presentation control for presenting on a display or the like in the vehicle V1 is performed.

This presentation includes the display of images and characters on the display, as well as the output of voice messages and warning sounds from the speaker. [Functional Block] FIG. 2A is a block diagram showing functions installed in the vehicle to realize the curve intrusion support system. The system controller 31 includes the vehicle speed sensor 3
2, the vehicle speed signal detected by 2, the GPS signal from the GPS antenna 54, the map information from the map database 55, and the acceleration signal detected by the acceleration sensor 57 are input.

The system controller 31 receives the base point ID and the provided ID from the base point detector 71 when passing through the base point 11, and the base point ID and the provided ID transmitted from the system base station 41 via the information antenna 13. Information regarding the road shape is input from the road-vehicle communication device 36 via the vehicle-mounted antenna 35. The base point detector 71 is, for example,
A magnetic nail sensor for detecting a magnetic nail.

In the system controller 31, first, it is determined whether the provision ID is an ID corresponding to the base point ID, and the provision information from the information antenna having the provision ID corresponding to the base point ID is displayed on a display device such as a car navigation display. Display at 37.

The system controller 31 also detects the distance from the travel distance of the host vehicle V1 after receiving the base point ID to the arrival of the curve of the host vehicle V1.

Further, the system controller 31 displays a display control signal for displaying the provided information on the display device 37.
To output the audio output signals to the speaker 38, respectively.

As will be described later, the display device 37 and the speaker 38 display provided information and an alarm when a curve is entered on a car navigation display or the like, and call a warning sound or a voice message to alert the driver. It is provided in.

The brake actuator 34 is provided to receive a braking control signal and execute automatic braking when the vehicle speed when entering a curve is equal to or higher than an appropriate vehicle speed and deceleration is required.

The notification control at the time of entering a curve will be described below. [First Embodiment (Alarm Timing Change)] FIG. 3 is a flowchart illustrating the notification control of the first embodiment.

In FIG. 3, in step S1, the information provided by the information antenna is received when the vehicle passes through the base point and enters the information providing section (Y in step S1).
ES).

In step S2, curve shape data (curve radius, distance to curve) is acquired from the provided information.

In step S3, the alarm condition is changed according to the curve center angle.

In step S4, it is determined whether or not the alarm condition set in step S3 is satisfied.

If the alarm condition is satisfied in step S4 (YES in step S4), an alarm by display and voice is executed.

If the alarm condition is not satisfied in step S4 (NO in step S4), the alarm is not issued and the process returns.

In the step S3, when the driver is warned at the timing when the vehicle can decelerate to an appropriate vehicle speed determined according to the curve radius when entering the curve, the warning timing increases as the curve central angle increases even if the curve radius is the same. Will be corrected so that

In the first embodiment, the alarm condition is set so that an alarm is issued when the following inequality is satisfied.

L <(V ² -Vt ² ) / 2α + V (T _R + T _M ), where L: deceleration completion target point from the vehicle position (for example,
Distance to the entrance of the steady circle (including the entrance of the relaxation curve and the middle), V: Own vehicle speed, Vt: Appropriate vehicle speed, α: Average deceleration when reacting to alarm, T _R : Reaction time of driver to alarm , T _M : A term for adjusting the alarm timing according to the central angle of the curve (T _M ≧ 0) The appropriate vehicle speed can be set by applying any one of the following methods (1) to (3).

(1) Referring to a table of minimum curve radii for predetermined design speeds as illustrated in FIG. 4,
Using this specified value, the design speed is calculated from the radius of the curve to obtain the proper speed.

(2) Use the speed limit.

(3) The proper speed Vt is obtained from the following equation. However, R: radius of curve, a: lateral acceleration when traveling safely on a curve. (Change of alarm timing) The alarm timing is changed as shown in (1) and (2) below.

(1) The central angle of the curve steady circle is θ °.

When 0 <θ ≦ A T _M = θT _max / A When A <θ T _M = T _max (2) When 0 <θ ≦ A T _M = 0 A <θ T _M = T _max Here, A is a threshold value, and as shown in FIG.
When the lane width is W, it is calculated by the following formula.

However, A = 2cos ^-1 (1-W / 2R) Further, in FIG. 5, when R-Rcos θ / 2> W / 2, the steady circle entrance cannot see the exit.

According to the above embodiment, the vehicle is instructed to decelerate to an appropriate vehicle speed determined by the curvature of the curve ahead of the traveling path, and the larger the central angle of the curve,
By making the notification timing earlier, it is possible to reduce driver's anxiety when entering a curve and to optimize the vehicle speed when entering a curve.

Further, by correcting so that the proper vehicle speed becomes smaller as the central angle of the curve becomes larger, it is possible to promote deceleration to an appropriate vehicle speed according to the central angle of the curve.

When the central angle of the curve is equal to or larger than a predetermined value, it is possible to reduce the anxiety of the driver due to the notification by prohibiting early notification timing. [Second Embodiment (Change of Appropriate Vehicle Speed)] FIG. 6 is a flowchart illustrating the alarm control of the second embodiment.

In FIG. 6, in step S11, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information providing section (step S11).
Then YES).

In step S12, curve shape data (curve radius, distance to curve) is acquired from the provided information.

In step S13, an appropriate vehicle speed is set by the same method as in the first embodiment.

In step S14, the proper vehicle speed calculated in step S13 is changed according to the curve center angle.

In step S15, an appropriate vehicle speed is displayed and an audible alarm is issued. <Change of Appropriate Vehicle Speed> As one of the changes of the warning condition in step S13, when the driver warns the driver at a timing at which the vehicle can be decelerated to an appropriate vehicle speed that is determined according to the curve radius when entering the curve, the same curve radius is used. Even if there is a correction, the larger the central angle of the curve, the smaller the appropriate vehicle speed.

In the second embodiment, the alarm condition is set so that an alarm is issued when the following inequality is satisfied.

L <(V ² −Vt ² ) / 2α + V · T _R where L: deceleration completion target point from the vehicle position (for example,
Distance to steady circle entrance), V: Own vehicle speed, Vt: Proper vehicle speed (for example, the design speed of the road is known from the curve radius, so the target speed is the design speed of this road), α: Reacted to the warning the average deceleration when, T _R: the following reaction time the appropriate vehicle speed of the driver for the alarm (1) is changed as shown in (2).

(1) The central angle of the curve steady circle is θ °, as shown in FIG.
Let Vt0 be the appropriate vehicle speed obtained from the table and Vtmax be the maximum changeable value.

When 0 <θ ≦ A, Vt = Vt0-Vtmax · θ / A When A <θ, Vt = Vt0-T _max (2) The proper vehicle speed obtained from the table in FIG. 4 is one rank lower than Vt0 and Vt0. The value is Vt1.

When 0 <θ ≦ A, Vt = Vt0 When A <θ, Vt = Vt1 Here, A is a threshold value obtained similarly to the first embodiment.

According to the above embodiment, the curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve,
Notifying that the vehicle should decelerate to an appropriate vehicle speed determined by the curvature of the curve, the greater the central angle of the curve,
By controlling the notification so as to reduce the speed at the time of entering the curve, the driver's anxiety at the time of entering the curve can be reduced and the vehicle speed at the time of entering the curve can be optimized.

Further, it is possible to control so as to notify the proper vehicle speed when entering the curve, reduce driver's anxiety when entering the curve, and optimize the vehicle speed when entering the curve.

Further, the larger the central angle of the curve, the larger the notification gain, so that the driver's anxiety when the vehicle enters the curve can be reduced and the vehicle speed when the vehicle enters the curve can be optimized.

Further, when the central angle of the curve is equal to or larger than a predetermined value, it is possible to reduce the anxiety of the driver due to the notification by prohibiting the notification control that reduces the speed at the time of entering the curve. [Third Embodiment] FIG. 7 is a flow chart for explaining the alarm control of the third embodiment.

In FIG. 7, in step S21, the information provided from the information antenna is received when the host vehicle passes the base point and enters the information providing section (step S21).
Then YES).

In step S22, curve shape data (curve radius, distance to curve) is acquired from the provided information.

In step S23, the support level at which the system intervenes is changed according to the curve center angle.

In step S24, the alarm gain is changed according to the curve center angle.

In step S25, the support at the support level and the alarm gain is executed.

In step S23, information is provided when the curve center angle is small, and as the curve center angle becomes larger, information provision and alerting, information provision and warning, and information provision and automatic deceleration are supported. Change the level.

In step S24, the higher the central angle of the curve, the more dangerous the sound quality of the alarm sound (volume increase, frequency increase, sound time rate (duration / cycle)). Increase, etc.).

According to the above embodiment, the curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve,
Driving assistance is provided to reduce the vehicle speed to an appropriate speed according to the center angle of the curve, and the degree of assistance is changed according to the size of the center angle of the curve, so It is possible to optimize the degree of intervention of driving assistance when entering a curve so as to reduce driver's anxiety.

Further, when the central angle of the curve is equal to or larger than a predetermined value, it is possible to reduce the anxiety of the driver due to the driving assistance by prohibiting the change of the assistance degree. [Fourth Embodiment] FIG. 8 is a flow chart for explaining the alarm control of the fourth embodiment.

In FIG. 8, in step S31, the information provided from the information antenna is received when the own vehicle passes through the base point and enters the information providing section (step S31).
Then YES).

In step S32, curve shape data (curve radius, distance to curve) is acquired from the provided information.

In step S33, the control condition is changed according to the curve center angle.

In step S34, it is determined whether or not the control condition set in step S33 is satisfied.

If the control condition is satisfied in step S34 (YES in step S34), automatic deceleration is executed in step S35.

If the alarm condition is not satisfied in step S34 (NO in step S34), the automatic deceleration is not performed and the process returns.

In step S33, when executing the automatic deceleration control for decelerating to the proper vehicle speed determined according to the radius of the curve when entering the curve, the proper vehicle speed becomes higher as the center angle of the curve becomes larger even if the radius is the same. If the central angle of the curve is larger than a predetermined value, the change is prohibited.

In the fourth embodiment, the support condition is set so that the automatic deceleration is executed when the following inequality is satisfied.

L <(V ² −Vt ² ) / 2α _C + V · T _C However, L: deceleration completion target point from the own vehicle position (for example,
Distance to the steady circle entrance), V: own vehicle speed, Vt: proper vehicle speed, α _C : average deceleration during automatic deceleration, T _C : reaction time of automatic deceleration control. The appropriate vehicle speed is the second embodiment described above. Is modified using a method similar to.

According to the above embodiment, the curve ahead of the traveling path of the host vehicle is detected, and when the host vehicle enters the curve,
Depending on the center angle of the curve, the driving assistance is provided to automatically reduce the vehicle speed according to the center angle of the curve, and the vehicle speed is changed according to the size of the center angle of the curve. It is possible to optimize the degree of intervention of driving assistance when entering a curve so as to reduce driver's anxiety when entering a curve.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a curve intrusion support system which is a premise of the present embodiment.

FIG. 2A is a block diagram showing functions installed in a vehicle for realizing a curve intrusion support system,
(B) is a figure which shows the data structure of the information transmitted from a base point and an information antenna.

FIG. 3 is a flowchart illustrating notification control according to the first embodiment.

FIG. 4 is a diagram showing a table of minimum curve radii with respect to a predetermined design speed.

FIG. 5 is a diagram illustrating a method of changing an alarm timing.

FIG. 6 is a flowchart illustrating an alarm control according to a second embodiment.

FIG. 7 is a flowchart illustrating an alarm control according to a third embodiment.

FIG. 8 is a flowchart illustrating an alarm control according to a fourth embodiment.

[Explanation of symbols] 11 base points 13 Information antenna 31 system controller 32 vehicle speed sensor 35 In-vehicle antenna 36 Road-to-vehicle communication device 37 Display 38 speakers 41 system base station

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masaki Chiba             3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda             Within the corporation (72) Inventor Hitoshi Tamai             3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Prefecture Mazda             Within the corporation F-term (reference) 5H180 AA01 CC17 FF05 FF13 FF25                       FF27 FF32 LL07 LL08 LL15

Claims (11)

[Claims] 1. A curve detecting means for detecting a curve ahead of the traveling path of the host vehicle, and a notification for notifying that the host vehicle decelerates to an appropriate vehicle speed determined by the curvature of the curve when the host vehicle enters the curve. A control device for a vehicle, comprising: means and a control means for accelerating the notification timing of the notification means as the central angle of the curve increases. 2. The control device for a vehicle according to claim 1, wherein the control means corrects the appropriate vehicle speed such that the larger the central angle of the curve, the smaller the appropriate vehicle speed. 3. The vehicle control device according to claim 1, wherein the control means prohibits the advance of the notification timing when the central angle of the curve is equal to or larger than a predetermined value. 4. A curve detecting means for detecting a curve ahead of the traveling path of the vehicle, and a notification for notifying the vehicle to decelerate to an appropriate vehicle speed determined by the curvature of the curve when the vehicle enters the curve. A control device for a vehicle, comprising: a control means and a control means for controlling the informing means so as to reduce the speed at the time of entering the curve as the central angle of the curve increases. 5. The control means controls the informing means so as to inform the proper vehicle speed when the curve enters, and corrects the proper vehicle speed as the central angle of the curve increases. 5. The method according to claim 4, wherein
The control device for a vehicle according to item 1. 6. The vehicle control device according to claim 4, wherein the control means corrects the gain of the notification by the notification means to increase as the central angle of the curve increases. 7. The control means prohibits the control of the notification means such that the speed at the time of entering the curve is reduced when the central angle of the curve is equal to or more than a predetermined value. The vehicle control device described. 8. A curve detecting means for detecting a curve ahead of the traveling path of the vehicle, and a notification for notifying the vehicle to decelerate to an appropriate vehicle speed determined by the curvature of the curve when the vehicle enters the curve. A control device for a vehicle, comprising: means and a control means for correcting such that the appropriate vehicle speed becomes smaller as the central angle of the curve becomes larger. 9. The vehicle control apparatus according to claim 8, wherein the control means prohibits the correction by the control means when the central angle of the curve is equal to or larger than a predetermined value. 10. A curve detection means for detecting a curve ahead of the traveling path of the host vehicle, and when the host vehicle enters the curve, driving assistance is provided to reduce the vehicle speed to an appropriate vehicle speed according to the central angle of the curve. A control device for a vehicle, comprising: a support unit that performs the operation, and a control unit that changes a degree of support provided by the support unit according to a size of a central angle of the curve. 11. The vehicle control device according to claim 10, wherein the control means prohibits the change of the degree of support by the control means when the central angle of the curve is equal to or larger than a predetermined value.