JP2006007834A - Vehicular seat control device - Google Patents

Vehicular seat control device Download PDF

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JP2006007834A
JP2006007834A JP2004184145A JP2004184145A JP2006007834A JP 2006007834 A JP2006007834 A JP 2006007834A JP 2004184145 A JP2004184145 A JP 2004184145A JP 2004184145 A JP2004184145 A JP 2004184145A JP 2006007834 A JP2006007834 A JP 2006007834A
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seat
vehicle
curve
end point
information
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Kouji Aoki
甲次 青木
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Aisin Corp
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Aisin Seiki Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular seat control device for excellently securing the amenity of an occupant, by properly controlling an attitude of a seat in response to various modes of a road. <P>SOLUTION: In a vehicle 1 having a seat control means 7 for controlling the attitude of the seat of the vehicle 1 on the basis of a load by arithmetically operating the load applied to the occupant when traveling a curve; the vehicle comprises a detecting means 2 for detecting a steering state of the vehicle 1 and a traveling state of the vehicle 1, an information acquiring means 5 for acquiring position information and road information on the vehicle 1 from a navigation system, and an end point position arithmetically operating means 6 for arithmetically operating an end point position of the curve on the basis of the road information. The seat control means 7 controls the attitude of the seat by arithmetically operating a return schedule of the seat so that the seat becomes an ordinary state when the vehicle 1 travels in the end point position on the basis of the steering state, the traveling state, the position information and the road information. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、カーブ走行中に乗員にかかる負荷を演算し、前記負荷に基づいて車両のシートの姿勢制御を行うシート制御手段を備える車両用シート制御装置に関する。   The present invention relates to a vehicle seat control device including a seat control unit that calculates a load applied to an occupant during a curve run and controls the posture of a vehicle seat based on the load.

従来、例えば、右左折時やカーブ走行時にかかる遠心力や慣性力等に対し、快適な着座姿勢を確保するために、シートの傾斜やシートのサイドサポート部を調整することが提案されている。
この種の技術には、例えば、シートに着座した乗員に生じる遠心力等を相殺するように、ステアリング角速度またはヨーレイト等によって特定される車両の走行状態に応じてシートの姿勢制御を行う車両用シート制御装置がある（例えば、特許文献１参照）。
しかし、特許文献１の装置は、実際の道路情報を用いずに、ステアリング角速度等から算出した走行状態に基づいて道路情報を予想するため、鋭いＳ字カーブ等を走行する場合に、車両の走行状態に誤差が蓄積されて適切なシートの姿勢制御が行えなくなる虞があった。
これに対し、ナビゲーションシステムからの情報に基づいて、車両のシートのサイドサポートを動作させる車両用シート制御装置がある（例えば、特許文献２参照）。ここでは、カーブに進入する前に、カーブの曲率半径と車速とに応じたサイドサポート量を算出し、カーブに進入したときに、算出したサイドサポート量に応じてシートのサイドサポート部を制御する。 Conventionally, for example, it has been proposed to adjust the seat inclination and the side support portion of the seat in order to ensure a comfortable seating posture with respect to centrifugal force, inertial force, and the like applied when turning right or left or turning.
This type of technology includes, for example, a vehicle seat that controls the attitude of the seat according to the running state of the vehicle specified by the steering angular velocity or the yaw rate so as to cancel out centrifugal force or the like generated in an occupant seated on the seat. There exists a control apparatus (for example, refer patent document 1).
However, since the apparatus of Patent Document 1 predicts road information based on the running state calculated from the steering angular velocity or the like without using the actual road information, the vehicle travels when traveling on a sharp S-curve or the like. There is a possibility that errors in the state are accumulated and proper sheet posture control cannot be performed.
On the other hand, there is a vehicle seat control device that operates a side support of a vehicle seat based on information from a navigation system (see, for example, Patent Document 2). Here, before entering the curve, the side support amount corresponding to the curvature radius of the curve and the vehicle speed is calculated, and when entering the curve, the side support portion of the seat is controlled according to the calculated side support amount.

特開平０５−２６２１７１号公報Japanese Patent Laid-Open No. 05-262171 特開２００３−２０９４号公報Japanese Patent Laid-Open No. 2003-2094

しかしながら、特許文献２の装置では、直前のカーブのみを対象としているので、シートの傾斜を制御する場合には、例えば、連続したカーブや鋭いＳ字カーブ等を走行するとき、カーブの切返し時にシートの傾斜が残ってしまい、次のカーブ等への対応が間に合わず、乗員に不快感を与える虞があった。また、ナビゲーションシステムの位置情報の精度が良好でない場合には、誤動作する虞があった。   However, since the apparatus of Patent Document 2 targets only the immediately preceding curve, when controlling the inclination of the sheet, for example, when traveling on a continuous curve, a sharp S-curve, or the like, or at the time of turning the curve As a result, there is a risk that the passenger will not be able to respond to the next curve or the like, causing discomfort to the occupant. Further, when the accuracy of the position information of the navigation system is not good, there is a risk of malfunction.

本発明は上記の問題に鑑みてなされたものであり、その目的は、連続するカーブや鋭いＳ字等、道路の様々な態様に適切に対応したシートの姿勢制御を実現し、乗員の快適性を良好に確保する車両用シート制御装置を提供する点にある。   The present invention has been made in view of the above problems, and its object is to realize seat posture control appropriately corresponding to various aspects of the road, such as continuous curves and sharp S-characters, and passenger comfort It is in the point which provides the vehicle seat control apparatus which ensures favorable.

この目的を達成するための本発明に係る車両用シート制御装置の特徴構成は、カーブ走行中に乗員にかかる負荷を演算し、前記負荷に基づいて車両のシートの姿勢制御を行うシート制御手段を備える車両において、前記車両の操舵状態及び前記車両の走行状態を検出する検出手段と、ナビゲーションシステムから前記車両の位置情報及び道路情報を取得する情報取得手段と、前記道路情報に基づいて、前記カーブの終点位置を演算する終点位置演算手段とを備え、前記シート制御手段が、前記操舵状態、前記走行状態、前記位置情報及び前記道路情報に基づいて、前記車両が前記終点位置を走行する際に前記シートが通常状態となるように前記シートの戻しスケジュールを演算し、前記シートの姿勢制御を行う点にある。
即ち、上記特徴構成によれば、車両がカーブの終点位置を通過するときに、シートを通常状態、即ち、シートの傾斜角が０度となるようにシートの姿勢制御を行うので、例えば、連続したカーブがある場合に、次のカーブへの対応遅れを確実に無くすことができる。また、カーブ区間の次に直線区間がある場合は、直線区間の走行開始時にシートの傾斜角が０度となっているので、乗員が不快な思いをするのを防止することができる。従って、連続したカーブや鋭いＳ字カーブ等、道路の様々な態様に全体的に対応し、対応遅れを確実に防止して、シートの姿勢制御を適切に行うことができる。 In order to achieve this object, the vehicle seat control device according to the present invention is characterized in that a seat control means for calculating a load applied to an occupant during curve traveling and controlling the posture of the vehicle seat based on the load. In the vehicle comprising: a detecting means for detecting a steering state of the vehicle and a traveling state of the vehicle; an information acquiring means for acquiring position information and road information of the vehicle from a navigation system; and the curve based on the road information. End point position calculating means for calculating the end point position of the vehicle, and when the vehicle travels the end point position based on the steering state, the traveling state, the position information, and the road information. The sheet return schedule is calculated so that the sheet is in a normal state, and the attitude of the sheet is controlled.
That is, according to the above-described feature configuration, when the vehicle passes the end point position of the curve, the seat posture is controlled so that the seat is in a normal state, that is, the seat inclination angle is 0 degree. When there is a curved curve, it is possible to reliably eliminate the delay in responding to the next curve. Further, when there is a straight section next to the curve section, the seat inclination angle is 0 degree at the start of traveling in the straight section, so that the passenger can be prevented from feeling uncomfortable. Therefore, it is possible to cope with various aspects of the road such as a continuous curve and a sharp S-curve as a whole, to reliably prevent a delay in correspondence, and to appropriately control the seat posture.

この目的を達成するための本発明に係る車両用シート制御装置の他の特徴構成は、前記終点位置演算手段は、前記道路情報から読取られるカーブ区間の終端位置より手前の所定の曲率半径以下の位置を前記カーブの終点位置とする点にある。
一般的に、カーブ区間の開始位置及び終端位置より中央部分に向けて曲率半径が次第に小さくなるから、ナビゲーションシステムから得た道路情報ではカーブとみなされるカーブ区間であっても、カーブ区間の開始位置及び終端位置の近傍の道路については、車両の乗員からみて略直線とみなすことができる。このため、所定の曲率半径以上の道路を直線として判定し、カーブ区間の終端位置から手前の所定の曲率半径以下となる位置をカーブの終点位置として設定することで、より適切にシートの姿勢制御を行うことができる。
更に、シートの制御は、車速等の走行状態や操舵状態等から遠心力等を演算して行うため、戻し動作タイミングの演算に誤差が生じる場合も考えられる。上記特徴構成によれば、カーブ区間の終端位置から一定量手前の位置をカーブの終点位置とするので、戻し動作タイミングの演算に誤差が生じた場合であっても、次のカーブや直線への対応遅れをより確実に防止することができる。 Another feature of the vehicle seat control device according to the present invention for achieving this object is that the end point position calculating means is equal to or less than a predetermined curvature radius before the end position of the curve section read from the road information. The position is at the end point of the curve.
In general, since the radius of curvature gradually decreases from the start position and end position of the curve section toward the center, even if the curve section is regarded as a curve in the road information obtained from the navigation system, the start position of the curve section The road in the vicinity of the terminal position can be regarded as a substantially straight line as viewed from the vehicle occupant. For this reason, a road with a predetermined radius of curvature or more is determined as a straight line, and a position that is equal to or smaller than the predetermined radius of curvature before the end position of the curve section is set as the end point position of the curve, so that the seat posture can be controlled more appropriately. It can be performed.
Further, since the seat control is performed by calculating the centrifugal force or the like from the traveling state such as the vehicle speed or the steering state, it may be considered that an error occurs in the calculation of the return operation timing. According to the above characteristic configuration, since a position a certain amount before the end position of the curve section is set as the end position of the curve, even if an error occurs in the calculation of the return operation timing, Response delay can be prevented more reliably.

本発明に係る車両用シート制御装置（以下、適宜「本発明装置」と略称する）の第一実施形態について、図面を基に説明する。
図１に示すように、本発明装置は、カーブ走行中に乗員にかかる負荷を演算し、負荷に基づいて車両１のシートの姿勢制御を行うシート制御手段としてのシート制御ＥＣＵ７を備える車両に適用され、車両１の操舵状態及び車両１の走行状態を検出する検出手段２と、ナビゲーションシステムから車両１の位置情報及び道路情報を取得する情報取得手段５と、道路情報に基づいて、カーブの終点位置を演算する終点位置演算手段６とを備えている。また、車両１のシートには、図示しないが、姿勢補助装置８として、シートを左右に傾斜させるリフタがシートの左右に設けられている。左右のリフタには夫々、リフタモータ８ａ及びシートの傾斜角を検出する傾斜角センサ８ｂが設置されている。更に、シートにはサイドサポート部が設置されており、リフタモータ８ａと連動して動作するように構成されている。 A first embodiment of a vehicle seat control device according to the present invention (hereinafter abbreviated as “the present device” as appropriate) will be described with reference to the drawings.
As shown in FIG. 1, the device of the present invention is applied to a vehicle including a seat control ECU 7 as a seat control unit that calculates a load applied to an occupant during curve traveling and controls the posture of the seat of the vehicle 1 based on the load. Detection means 2 for detecting the steering state of the vehicle 1 and the traveling state of the vehicle 1, information acquisition means 5 for acquiring the position information and road information of the vehicle 1 from the navigation system, and the end point of the curve based on the road information. And end point position calculation means 6 for calculating the position. In addition, although not shown, the seat of the vehicle 1 is provided with lifters that tilt the seat left and right as the posture assisting device 8 on the left and right sides of the seat. The left and right lifters are provided with a lifter motor 8a and a tilt angle sensor 8b for detecting the tilt angle of the seat. Further, a side support portion is installed on the seat, and is configured to operate in conjunction with the lifter motor 8a.

検出手段２は、車両１の操舵状態を検出する手段として、ステアリングの操舵角を検出するステアリングセンサ２ａを備え、車両１の走行状態を検出する手段として、車両１の車速を検出する速度センサ２ｂ、及び、車両１にかかる慣性力（遠心力）の変化率を検出する加速度センサ２ｃを備えている。   The detection means 2 includes a steering sensor 2a for detecting the steering angle of the steering as a means for detecting the steering state of the vehicle 1, and a speed sensor 2b for detecting the vehicle speed of the vehicle 1 as means for detecting the traveling state of the vehicle 1. , And an acceleration sensor 2c that detects the rate of change of inertial force (centrifugal force) applied to the vehicle 1.

情報取得手段５は、ナビゲーションシステムとして、ＧＰＳ３（Global Positioning System）を利用するカーナビゲーションシステム４（car navigation system、以下、適宜「カーナビ４」と略称する）から車両１の現在の位置情報及び道路情報を取得する。カーナビ４は、カーブ開始点から５０ｍ手前の位置を車両１が走行するときに、道路情報として、前方カーブの方向及びその曲率半径、連続カーブの有無、カーブ連続区間距離及びカーブ間距離等を出力する。尚、カーブが連続しているか否かは、カーブ間の直線距離に基づいて判断され、カーブ間の直線距離が所定の距離以下の場合は連続カーブであると判断し、所定の距離より長い場合には連続カーブではないと判断する。距離や曲率半径の算出は、道路の道幅の略中央部分を基準として算出する。   The information acquisition means 5 uses the current position information and road information of the vehicle 1 from a car navigation system 4 (hereinafter referred to as “car navigation 4” as appropriate) using a GPS 3 (Global Positioning System) as a navigation system. To get. When the vehicle 1 travels at a position 50 m before the curve start point, the car navigation 4 outputs, as road information, the direction of the forward curve and its radius of curvature, the presence or absence of a continuous curve, the curve continuous section distance, the distance between curves, etc. To do. Whether or not the curves are continuous is determined based on the straight line distance between the curves. If the straight line distance between the curves is equal to or less than the predetermined distance, the curve is determined to be a continuous curve and is longer than the predetermined distance. Is not a continuous curve. The distance and the radius of curvature are calculated based on the approximate center of the road width.

図２は、カーナビ４から出力される道路情報のデータファイルの一例であり、２バイト（１６ｂｉｔ）のデータ長を持つ。ｂｉｔ１５は連続カーブの有無を示すフィールドであり、目前のカーブに続いてすぐにカーブが存在しない場合は０、カーブが存在する場合は１が設定される。ｂｉｔ１４及びｂｉｔ１３は、目前カーブの情報を示すフィールドであり、直線区間を走行中は００、右カーブでは０１、左カーブでは１０が設定される。ｂｉｔ１２乃至ｂｉｔ８は目前カーブの曲率半径を示すフィールドであり、目前カーブの曲率半径を５ｂｉｔで量子化した値が設定される。詳細には、曲率半径が０ｍであれば０００００、曲率半径が１０００ｍ以上のときは１１１１１が設定される。ｂｉｔ７乃至ｂｉｔ４は、カーブ連続区間距離を示すフィールドであり、図３（ａ）に示すように、連続したカーブの総距離を４ｂｉｔで量子化した値が設定される。詳細には、０ｍであれば０００００、５００ｍ以上であれば１１１１が設定される。ｂｉｔ３乃至ｂｉｔ０は、カーブ間距離を示すフィールドであり、図３（ｂ）に示すように、カーブとカーブの間の直線区間の距離を４ｂｉｔで量子化した値が設定される。詳細には、０ｍであれば００００、５００ｍ以上であれば１１１１が設定される。   FIG. 2 is an example of a road information data file output from the car navigation system 4 and has a data length of 2 bytes (16 bits). Bit 15 is a field indicating the presence or absence of a continuous curve, and is set to 0 when there is no curve immediately following the current curve, and is set to 1 when there is a curve. Bit 14 and bit 13 are fields indicating information on the current curve, and are set to 00 when traveling in a straight section, 01 for the right curve, and 10 for the left curve. Bits 12 to 8 are fields indicating the radius of curvature of the current curve, and a value obtained by quantizing the radius of curvature of the current curve with 5 bits is set. Specifically, 00000 is set when the curvature radius is 0 m, and 11111 is set when the curvature radius is 1000 m or more. Bits 7 to 4 are fields indicating the curve continuous section distance, and as shown in FIG. 3A, a value obtained by quantizing the total distance of the continuous curves by 4 bits is set. Specifically, 00000 is set for 0 m, and 1111 is set for 500 m or more. Bit 3 to bit 0 are fields indicating the distance between curves, and as shown in FIG. 3B, a value obtained by quantizing the distance of the straight section between the curves with 4 bits is set. Specifically, 0000 is set for 0 m, and 1111 is set for 500 m or more.

終点位置演算手段６は、カーナビ４から道路情報を取得し、カーブの終点位置を算出する。本実施形態では、カーブの終点位置の算出は、図４に示すように、道路情報から読取られるカーブ区間の終端位置ＸＥの近傍では曲率半径が大きく直線とみなせることから、カーブ区間の終端位置ＸＥの手前、所定の曲率半径となる位置をカーブの終点位置Ｘ２とする。   The end point position calculating means 6 acquires road information from the car navigation 4 and calculates the end point position of the curve. In the present embodiment, as shown in FIG. 4, the end point position of the curve section is calculated because the curvature radius is large and can be regarded as a straight line in the vicinity of the end position XE of the curve section read from the road information. A position having a predetermined radius of curvature is defined as an end point position X2 of the curve.

詳細には、先ず、情報取得手段５から、図４に示す目前のカーブの開始位置ＸＳ、終端位置ＸＥを取得する。終点位置Ｘ２は、終端位置ＸＥの近傍から順にカーブ区間内の各地点における曲率半径を算出し、この曲率半径が所定範囲内の値となる位置をカーブの終点位置Ｘ２とする。   Specifically, first, the start position XS and the end position XE of the current curve shown in FIG. As the end point position X2, the radius of curvature at each point in the curve section is calculated in order from the vicinity of the end point position XE, and the position where the radius of curvature is within a predetermined range is defined as the end point position X2 of the curve.

シート制御ＥＣＵ７は、検出手段２から出力される操舵状態及び走行状態、情報取得手段５から出力される位置情報及び道路情報、及び、終点位置演算手段６から出力される終点位置Ｘ２に基づいて、車両１の乗員にかかる横Ｇが最大になる位置でシートの傾斜角が最大となるようにシートを動作させると共に、車両１が終点位置Ｘ２を走行する際にシートが通常状態となるようにシートの戻しスケジュールを演算し、この戻しスケジュールに基づいてシートの姿勢制御を行う。   The seat control ECU 7 is based on the steering state and traveling state output from the detection unit 2, the position information and road information output from the information acquisition unit 5, and the end point position X2 output from the end point calculation unit 6. The seat is operated so that the inclination angle of the seat is maximized at the position where the lateral G applied to the occupant of the vehicle 1 is maximized, and the seat is in a normal state when the vehicle 1 travels at the end point position X2. The return schedule is calculated, and the seat posture is controlled based on the return schedule.

シート制御ＥＣＵ７による戻しスケジュールの演算、及び、シートの姿勢制御について、図５を基に説明する。ここでの戻しスケジュールは、シートの傾斜を通常状態に向けて動作させる開始位置若しくは開始時間である。尚、ここでは、シートの作動速度は一定として説明する。本実施形態では、車両１がカーブ開始位置ＸＳの３ｍ手前の位置を走行するときに、姿勢補助装置８のリフタモータ８ａの動作を開始し、シートの傾斜角θ２が目標傾斜角θ１と等しくなったときにリフタモータ８ａの動作を停止する。目標傾斜角θ１は、遠心力Ｆ、車両１が目前カーブの終点位置Ｘ２に到達するまでの到達時間ｔ１及びシートを水平位置まで戻すのにかかる時間ｔ２に応じて算出される。   The calculation of the return schedule and the seat posture control by the seat control ECU 7 will be described with reference to FIG. The return schedule here is a start position or a start time at which the seat is moved toward the normal state. Here, it is assumed that the seat operating speed is constant. In this embodiment, when the vehicle 1 travels a position 3 m before the curve start position XS, the operation of the lifter motor 8a of the posture assisting device 8 is started, and the seat inclination angle θ2 becomes equal to the target inclination angle θ1. Sometimes the operation of the lifter motor 8a is stopped. The target inclination angle θ1 is calculated according to the centrifugal force F, the arrival time t1 until the vehicle 1 reaches the end point position X2 of the current curve, and the time t2 required to return the seat to the horizontal position.

ここで、本実施形態のシート制御ＥＣＵ７は、遠心力Ｆの算出を行うための演算部７ａ乃至７ｇ、到達時間ｔ１を演算するための演算部７ｈ、時間ｔ２を演算するための演算部７ｉ、目標傾斜角θ１を算出する演算部７ｊ乃至７ｌ、及び、シートの作動方向を決定する作動方向決定部７ｍを備えている。   Here, the seat control ECU 7 of the present embodiment includes calculation units 7a to 7g for calculating the centrifugal force F, a calculation unit 7h for calculating the arrival time t1, a calculation unit 7i for calculating the time t2. Calculation units 7j to 7l for calculating the target inclination angle θ1 and an operation direction determination unit 7m for determining the operation direction of the seat are provided.

演算部７ａは、ステアリングセンサ２ａからの出力に基づいて、操舵角Ｃｓｔを算出し、操舵角Ｃｓｔからカーブ予測半径ｒの算出を行う。演算部７ｂは、速度センサ２ｂからの出力に基づいて、車両１の現在の速度ｖを求め、速度の二乗ｖ２を算出する。演算部７ｃは、横Ｇαを算出する。横Ｇαは、α＝ｖ２／ｒで求められる。演算部７ｄは、横Ｇαに重み付けを行った値βを演算部７ｅに出力する。演算部７ｅは、値βに加速度センサ２ｃからの出力を加算する。演算部７ｆは、加速度センサ２ｃからの出力に基づいて、横Ｇの変化率Δαを算出する。演算部７ｇは、演算部７ｅからの出力と演算部７ｆで算出した変化率Δαとを加算して、遠心力Ｆを算出する。 The computing unit 7a calculates the steering angle Cst based on the output from the steering sensor 2a, and calculates the predicted curve radius r from the steering angle Cst. Calculating portion 7b, based on the output from the speed sensor 2b, obtained from the current speed v of the vehicle 1, calculates the square v 2 speed. The calculation unit 7c calculates the lateral Gα. The lateral Gα is obtained by α = v 2 / r. The calculation unit 7d outputs a value β obtained by weighting the lateral Gα to the calculation unit 7e. The computing unit 7e adds the output from the acceleration sensor 2c to the value β. The computing unit 7f calculates the change rate Δα of the lateral G based on the output from the acceleration sensor 2c. The computing unit 7g calculates the centrifugal force F by adding the output from the computing unit 7e and the change rate Δα calculated by the computing unit 7f.

演算部７ｈは、情報取得手段５から車両１の現在の位置情報と道路情報とを取得すると共に、終点位置演算手段６から目前のカーブの終点位置Ｘ２を取得する。そして、車両１の現在位置Ｘ０から終点位置Ｘ２までの距離ｄｉｓを求め、車両１の到達時間ｔ１を算出する。到達時間ｔ１は、ｄｉｓ／ｖで定義される。演算部７ｉは、シートの傾斜角を検出する傾斜角センサ８ｂから現在のシートの傾斜角θ２を取得し、シートを水平位置まで戻すのにかかる時間ｔ２を算出する。時間ｔ２は、θ２×ｔｕで求められ、ｔｕはシートを１度作動させるのにかかる時間である。   The calculation unit 7h acquires the current position information and road information of the vehicle 1 from the information acquisition unit 5, and acquires the end point position X2 of the current curve from the end point position calculation unit 6. Then, the distance dis from the current position X0 of the vehicle 1 to the end point position X2 is obtained, and the arrival time t1 of the vehicle 1 is calculated. The arrival time t1 is defined by dis / v. The calculation unit 7i acquires the current sheet inclination angle θ2 from the inclination angle sensor 8b that detects the sheet inclination angle, and calculates the time t2 required to return the sheet to the horizontal position. The time t2 is obtained by θ2 × tu, and tu is the time taken to operate the seat once.

演算部７ｊは、演算部７ｇから遠心力Ｆ、演算部７ｈから到達時間ｔ１、及び、演算部７ｉから時間ｔ２を取得し、シートの目標傾斜角θ１を算出する。ｔ１＞ｔ２の場合、つまり、車両１の現在の位置がシートの戻し位置Ｘ１の手前である場合には、車両１にかかる横Ｇに対応してシートを傾斜させるために、マップ７ｋに基づいて目標傾斜角θ１を求める。ここで、マップ７ｋは、遠心力Ｆとシートの目標傾斜角θ１との対応関係を示しており、例えば、１Ｇのときの遠心力Ｆに対応するシートの傾斜角は、最大量である５度に設定される。ｔ１≦ｔ２の場合、つまり、車両１の現在の位置がシートの戻し位置Ｘ１より終点位置Ｘ２側である場合には、シートの戻し動作を行うために、演算部７ｌによって０度に設定される。   The calculation unit 7j acquires the centrifugal force F from the calculation unit 7g, the arrival time t1 from the calculation unit 7h, and the time t2 from the calculation unit 7i, and calculates the target inclination angle θ1 of the seat. In the case of t1> t2, that is, when the current position of the vehicle 1 is in front of the seat return position X1, in order to incline the seat corresponding to the lateral G applied to the vehicle 1, based on the map 7k A target inclination angle θ1 is obtained. Here, the map 7k shows the correspondence between the centrifugal force F and the target inclination angle θ1 of the seat. For example, the inclination angle of the seat corresponding to the centrifugal force F at 1G is 5 degrees which is the maximum amount. Set to In the case of t1 ≦ t2, that is, when the current position of the vehicle 1 is closer to the end point position X2 than the seat return position X1, it is set to 0 degree by the arithmetic unit 7l in order to perform the seat return operation. .

作動方向決定部７ｍは、目標傾斜角θ１と現在のシートの傾斜角θ２とを比較し、目標傾斜角θ１と傾斜角θ２とが等しくない場合に、傾斜角θ２を目標傾斜角θ１に近付けるように、リフタモータ８ａを作動させる。   The operating direction determination unit 7m compares the target inclination angle θ1 with the current seat inclination angle θ2, and brings the inclination angle θ2 closer to the target inclination angle θ1 when the target inclination angle θ1 and the inclination angle θ2 are not equal. Then, the lifter motor 8a is operated.

図６は、本発明装置によるシートの傾きと、ステアリングの操舵角及び車速に基づく従来技術によるシートの傾きとを時系列的に表している。
ここで、カーブ進入直後及びカーブ出口付近において、本発明装置と従来技術とでシートの動作が異なっている。これば、従来の操舵角及び車速に基づく制御の場合、カーブ進入直後のシートの目標傾斜角をカーブの直前の道路が直線である場合とカーブである場合とについて区別せず平均化して算出するために、理想的なシートの動作に対しずれが生じるからである。また、操舵角及び車速から演算される横Ｇに対し目標傾斜角を設定する場合には、車両の速度が速いときや、連続したカーブ及び鋭いＳ字カーブを走行するときには、次のカーブや直線への対応が間に合わない場合も考えられるが、本発明装置の場合、終点位置Ｘ２を走行する際にシートが通常の状態になっているので、対応遅れが生じるのを防止することができる。 FIG. 6 shows, in a time-series manner, the seat inclination according to the device of the present invention and the seat inclination according to the prior art based on the steering angle and the vehicle speed.
Here, immediately after entering the curve and in the vicinity of the curve exit, the operation of the seat is different between the device of the present invention and the prior art. In this case, in the case of control based on the conventional steering angle and vehicle speed, the target inclination angle of the seat immediately after entering the curve is calculated by averaging without distinguishing between the case where the road immediately before the curve is a straight line and the case where it is a curve. This is because there is a deviation from the ideal sheet operation. When the target inclination angle is set for the lateral G calculated from the steering angle and the vehicle speed, the following curve or straight line is used when the vehicle speed is high, or when traveling on a continuous curve or a sharp S-curve. Although it is conceivable that the response to the time is not in time, in the case of the apparatus of the present invention, since the seat is in a normal state when traveling at the end point position X2, it is possible to prevent a response delay from occurring.

次に、本発明にかかる車両用シート制御装置の別実施形態について説明する。上記第一実施形態では、カーブの終点位置Ｘ２までの到達時間ｔ１とシートの戻し動作にかかる時間ｔ２に基づいて、戻しスケジュールを設定したが、本実施形態では、シートの戻し位置を戻しスケジュールとして設定する。
詳細には、例えば、曲率半径が２０ｍの右カーブを走行する場合、最大傾斜角を３度に設定し、シートの戻し位置Ｘ１をカーブの終点位置Ｘ２の手前５ｍの位置に設定する。また、曲率半径２０ｍの左カーブであって、カーブ間距離２０ｍをおいて右カーブが連続している場合、次のカーブへの対応のために、最大傾斜角を１度に設定し、シートの戻し位置Ｘ１をカーブの終点位置Ｘ２の手前１０ｍの位置に設定する。 Next, another embodiment of the vehicle seat control device according to the present invention will be described. In the first embodiment, the return schedule is set based on the arrival time t1 to the end point position X2 of the curve and the time t2 required for the return operation of the sheet. However, in this embodiment, the return position of the sheet is set as the return schedule. Set.
Specifically, for example, when traveling on a right curve with a radius of curvature of 20 m, the maximum inclination angle is set to 3 degrees, and the seat return position X1 is set to a position 5 m before the end point position X2 of the curve. Also, if the curve is a left curve with a radius of curvature of 20m and the right curve is continuous with a distance of 20m between the curves, the maximum inclination angle is set to 1 degree to accommodate the next curve. The return position X1 is set to a position 10 m before the end point position X2 of the curve.

尚、上記実施形態では、シートの戻し動作を、戻し位置Ｘ１、若しくは、シートを通常状態に戻すのにかかる時間を算出して行う構成としたが、シートの作動速度を任意に調節可能なシートの場合には、シートの作動速度を横Ｇ等に基づいて設定し、これに対応させて戻し位置Ｘ１若しくはシートを通常状態に戻すのにかかる時間を算出する構成とするのも好ましい実施態様である。例えば、緩いカーブ等の場合には、シートの作動速度を遅く設定し、鋭いＳ字カーブを高速で走行する等の場合には、シートの作動速度を早く設定する。これによって、車両１の走行状態により適切に対応してシートの姿勢制御を行うことができ、車両１の快適性を向上させることができる。   In the above-described embodiment, the seat returning operation is performed by calculating the return position X1 or the time required to return the seat to the normal state. However, the seat is capable of arbitrarily adjusting the operating speed of the seat. In this case, it is also a preferable embodiment that the operation speed of the seat is set based on the lateral G or the like, and the time required to return the return position X1 or the seat to the normal state is calculated corresponding to this. is there. For example, in the case of a gentle curve or the like, the seat operating speed is set to be slow, and in the case of traveling on a sharp S-curve at high speed, the seat operating speed is set to be fast. As a result, the seat posture can be controlled appropriately in accordance with the traveling state of the vehicle 1, and the comfort of the vehicle 1 can be improved.

本発明にかかる車両用シート制御装置の構成図1 is a configuration diagram of a vehicle seat control device according to the present invention. ナビゲーションシステムから出力される道路情報の一例An example of road information output from the navigation system ナビゲーションシステムから出力されるの道路情報の一例An example of road information output from the navigation system 本発明にかかる車両用シート制御装置による制御例Example of control by vehicle seat control apparatus according to the present invention 本発明によるシート制御ＥＣＵの構成図Configuration diagram of seat control ECU according to the present invention 本発明にかかる車両用シート制御装置によるシートの動きと、従来技術によるシートの動きとを示す比較図The comparison figure which shows the movement of the seat by the vehicle seat control device concerning the present invention, and the movement of the seat by the prior art

符号の説明Explanation of symbols

１ 車両
２ 検出手段
４ カーナビゲーションシステム
５ 情報取得手段
６ 終点位置演算手段
７ シート制御手段 DESCRIPTION OF SYMBOLS 1 Vehicle 2 Detection means 4 Car navigation system 5 Information acquisition means 6 End point position calculation means 7 Seat control means

Claims (2)

カーブ走行中に乗員にかかる負荷を演算し、前記負荷に基づいて車両のシートの姿勢制御を行うシート制御手段を備える車両において、
前記車両の操舵状態及び前記車両の走行状態を検出する検出手段と、
ナビゲーションシステムから前記車両の位置情報及び道路情報を取得する情報取得手段と、
前記道路情報に基づいて、前記カーブの終点位置を演算する終点位置演算手段とを備え、
前記シート制御手段が、前記操舵状態、前記走行状態、前記位置情報及び前記道路情報に基づいて、前記車両が前記終点位置を走行する際に前記シートが通常状態となるように前記シートの戻しスケジュールを演算し、前記シートの姿勢制御を行う車両用シート制御装置。 In a vehicle including a seat control unit that calculates a load applied to an occupant during a curve run and controls the posture of the vehicle seat based on the load,
Detecting means for detecting a steering state of the vehicle and a running state of the vehicle;
Information acquisition means for acquiring position information and road information of the vehicle from a navigation system;
An end point position calculating means for calculating an end point position of the curve based on the road information;
Based on the steering state, the traveling state, the position information, and the road information, the seat control unit is configured to return the seat so that the seat is in a normal state when the vehicle travels the end position. A vehicle seat control device that calculates the position and controls the posture of the seat. 前記終点位置演算手段は、前記道路情報から読取られるカーブ区間の終端位置より手前の所定の曲率半径以下の位置を前記カーブの終点位置とする請求項１に記載の車両用シート制御装置。   2. The vehicle seat control device according to claim 1, wherein the end point position calculating unit sets a position equal to or less than a predetermined radius of curvature before the end position of the curve section read from the road information as the end point position of the curve.
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JP2010173372A (en) * 2009-01-27 2010-08-12 Aisin Aw Co Ltd Seat control device, method, and program
JP2010184560A (en) * 2009-02-12 2010-08-26 Advics Co Ltd Vehicular seat control device
DE102009049195A1 (en) 2009-10-13 2011-04-21 Daimler Ag Method for driving-dynamic adaptation of adjustment of passenger in motor vehicle, involves determining time point for activation of belt system under consideration of information, where activation is made depending on steering angle
CN102050038A (en) * 2009-10-30 2011-05-11 福特有限公司 Method and device for dynamic adaptation of body support for person seated in adaptive vehicle seat
DE102009056990A1 (en) 2009-12-04 2011-06-16 Daimler Ag Method for driving dynamic adaptation of a passenger fixation by activation of a passenger fixation unit, involves determining time for activation by considering road characteristic data, navigation system and current vehicle data
DE102010053352A1 (en) 2010-12-03 2012-06-06 Daimler Ag Method for driving dynamics adaptation of passenger fixation, involves determining time point for activation corresponding to current vehicle data, and performing determination of curve beginning and curve progression
DE102011009466A1 (en) 2011-01-26 2012-07-26 Daimler Ag Method for dynamic driving support of vehicle occupant in vehicle seat of vehicle, involves controlling and adjusting of unit for dynamic driving support of vehicle occupant in vehicle seat corresponding to fork type of fork
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WO2022090074A1 (en) * 2020-10-28 2022-05-05 Mercedes-Benz Group AG Method for the dynamic fixation of an occupant buckled to a vehicle seat by a seat belt
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US8078364B2 (en) 2007-12-21 2011-12-13 Toyota Jidosha Kabushiki Kaisha Vehicle seat apparatus
DE102008055554A1 (en) 2007-12-21 2009-07-30 The University Of Tokyo Vehicle seat device
JP2010173372A (en) * 2009-01-27 2010-08-12 Aisin Aw Co Ltd Seat control device, method, and program
JP2010184560A (en) * 2009-02-12 2010-08-26 Advics Co Ltd Vehicular seat control device
DE102009049195A1 (en) 2009-10-13 2011-04-21 Daimler Ag Method for driving-dynamic adaptation of adjustment of passenger in motor vehicle, involves determining time point for activation of belt system under consideration of information, where activation is made depending on steering angle
CN102050038A (en) * 2009-10-30 2011-05-11 福特有限公司 Method and device for dynamic adaptation of body support for person seated in adaptive vehicle seat
DE102009056990A1 (en) 2009-12-04 2011-06-16 Daimler Ag Method for driving dynamic adaptation of a passenger fixation by activation of a passenger fixation unit, involves determining time for activation by considering road characteristic data, navigation system and current vehicle data
DE102010053352A1 (en) 2010-12-03 2012-06-06 Daimler Ag Method for driving dynamics adaptation of passenger fixation, involves determining time point for activation corresponding to current vehicle data, and performing determination of curve beginning and curve progression
DE102011009466A1 (en) 2011-01-26 2012-07-26 Daimler Ag Method for dynamic driving support of vehicle occupant in vehicle seat of vehicle, involves controlling and adjusting of unit for dynamic driving support of vehicle occupant in vehicle seat corresponding to fork type of fork
JP2019064320A (en) * 2017-09-28 2019-04-25 株式会社Ｓｕｂａｒｕ Seat control device for vehicle
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WO2022090074A1 (en) * 2020-10-28 2022-05-05 Mercedes-Benz Group AG Method for the dynamic fixation of an occupant buckled to a vehicle seat by a seat belt
CN114454889A (en) * 2022-04-14 2022-05-10 新石器慧通（北京）科技有限公司 Driving road condition feedback method and device for remote driving and unmanned vehicle
CN115303135A (en) * 2022-07-14 2022-11-08 岚图汽车科技有限公司 Method and system for safely adjusting main driving seat
CN115303135B (en) * 2022-07-14 2024-01-09 岚图汽车科技有限公司 Method and system for safely adjusting main driving seat

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