JP2006201942A - Vehicle controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle controller capable of preventing malfunction of vehicle-mounted equipment operated based on a detection result of the state of a vehicle and/or the circumferential state of the vehicle. <P>SOLUTION: This vehicle controller comprises vehicle-mounted equipment operated based on detection results of the vehicle state and/or the vehicle circumferential state (e.g., a safety device such as an air bag device 30) and a memory 50 storing a spot according to input from a user instructing storage of an operation spot of the vehicle-mounted equipment through an input device 60. When it is recognized that the vehicle is located in the spot stored in the memory 50 by use of a navigation system 40, operation of the vehicle-mounted equipment is suppressed. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle control device that controls an in-vehicle device that operates based on a detection result of a situation of a vehicle and / or a situation around the vehicle.

2. Description of the Related Art Conventionally, there is known an obstacle warning system that performs warning by determining the possibility of collision based on a distance from an object on a traveling road (see, for example, Patent Document 1). The obstacle alarm system includes a sensor that detects a detection value for determining the occurrence of an alarm, and determines whether or not an alarm needs to be generated based on the detection value from the sensor.
JP 7-257301 A

  By the way, various devices are installed in the vehicle that detect a vehicle situation or a situation around the vehicle with a predetermined sensor and operate based on the detection result. For example, a safety device (an airbag device, a seat belt with a pretensioner) that operates when a danger such as a collision is predicted in advance using the sensor as described above and it is determined that a collision is imminent. Brake assist device, seat adjustment device, alarm device, bumper moving device, etc.). The above-mentioned obstacle alarm system of the prior art is one of them.

  However, the vehicle-mounted device may malfunction as a result of some misdetection / judgment. This is because such detection / judgment acts are based on some judgment criteria set assuming various situations (road surface conditions, atmosphere conditions around the vehicle, weather conditions, conditions of the vehicle itself in such situations, etc.). This is based on the fact that there may be very special situations that cannot be easily assumed. For this reason, it is extremely difficult to set in advance a robust determination criterion that covers all such extremely special situations and can cope with all situations.

  In this regard, similar concerns are inherent in the above-described prior art. In other words, in order to prevent accidental warnings, the predetermined warning criteria are changed according to the detection value of road conditions, etc., but the warning criteria and the method for changing the criteria are set appropriately. If not, as a result, there is a possibility that the alarm is erroneously performed even though the alarm is not in a situation.

  Therefore, an object of the present invention is to provide a vehicle control device that prevents malfunction of an in-vehicle device that operates based on a detection result of a vehicle situation and / or a situation around the vehicle.

In order to solve the above problems, according to one aspect of the present invention,
An in-vehicle device that operates based on the detection result of the situation of the vehicle and / or the situation around the vehicle;
In response to an input from a user instructing that the point where the in-vehicle device is operated should be stored, the storage unit stores the point,
A vehicle control device is provided that suppresses the operation of the in-vehicle device when the vehicle is located at a point stored in the storage means. At this time, the input from the user is accepted after the operation of the in-vehicle device.

  According to this aspect, at a point where a user who feels the operation of the in-vehicle device wants to suppress the operation, the operation of the in-vehicle device is suppressed even in a very special situation, and there is a risk of malfunction. Disappear. In addition, the suppression of the operation of the in-vehicle device refers to, for example, executing a program forcibly prohibiting the in-vehicle device from operating according to a detection value such as a road condition or the vehicle at a position where the vehicle does not malfunction. It is to cancel the operation of the in-vehicle device until it moves.

  Further, in this aspect, the storage means further stores the detection result at the time of operation of the in-vehicle device, and the suppression of the operation of the in-vehicle device is performed by storing the current value of the detection result in the storage means. It is preferably performed when the detection result is equal.

  Thereby, when the vehicle is located at the stored point and when the current value of the detection result at the time of operation of the on-vehicle device is equal to the stored value (past value), the operation of the on-vehicle device is suppressed. . In other words, even when the vehicle is located at a stored point, the operation of the in-vehicle device can be prevented from being suppressed if it is not equal to the detection result when the in-vehicle device is activated. For example, even if the vehicle travels the same place many times, malfunction may occur very rarely, so that it is possible to prevent the in-vehicle device from being suppressed more than necessary.

  In this aspect, the in-vehicle device may be a safety device that operates when a vehicle collision is determined based on the detection result. In this way, it is possible to prevent the malfunction of the safety device that operates when the collision is predicted or when the actual collision is determined, and protects the occupant against the collision. The “collision determination” may be to determine whether or not an actual collision has occurred, or to determine (predict) whether or not there is a possibility of a collision.

  ADVANTAGE OF THE INVENTION According to this invention, the malfunctioning of the vehicle equipment which operate | moves based on the detection result of the condition of a vehicle and / or the condition around a vehicle can be prevented.

  The best mode for carrying out the present invention will be described below. FIG. 1 is a diagram showing a configuration example in the case where the vehicle control device of the present invention is applied to a pre-crash system (hereinafter referred to as “PCS”) 10.

  In FIG. 1, a PCSECU (Electric Control Unit) 11 of a PCS 10 mounted on a vehicle has an obstacle detection sensor 20, a vehicle speed sensor 21, an acceleration / deceleration as detection means for detecting the state of the vehicle and the state quantity of the surrounding environment. A sensor 22 is connected.

  Examples of the obstacle detection sensor 20 include a millimeter wave radar and a CCD camera. The millimeter wave radar detects the relative distance and relative speed between the obstacle and the vehicle (own vehicle). A signal corresponding to the detected value is input to the PCSECU 11. If it is embedded in a bumper or the like in front of the vehicle, a front obstacle can be detected. Similarly, in the case of a CCD camera, an image signal obtained by imaging an obstacle is input to the PCSECU 11.

  The vehicle speed sensor 21 detects the speed of the host vehicle. A pulse signal corresponding to the speed of the host vehicle is input from the vehicle speed sensor 21 to the PCSECU 11.

  The acceleration / deceleration sensor 22 detects the acceleration / deceleration of the host vehicle. A signal corresponding to the acceleration / deceleration of the host vehicle is input from the acceleration / deceleration sensor 22 to the PCSECU 11.

  The PCSECU 11 confirms an obstacle that may collide with the host vehicle based on a detection signal from the obstacle detection sensor 20, and performs a collision prediction determination. For example, as described above, when the millimeter wave radar is used, the relative speed and relative distance between the vehicle and the obstacle can be confirmed. Therefore, the PCSECU 11 may collide with the obstacle by referring to the vehicle speed detected by the vehicle speed sensor 21 and the acceleration / deceleration of the host vehicle detected by the acceleration / deceleration sensor 22. It is determined whether or not. If the possibility of a collision is high, it is predicted that there is a possibility of a collision.

  For example, the PCSECU 11 uses a determination criterion such as a collision determination map stored in advance in a ROM or the like in order to predict a collision. An example of this collision determination map is a map in which the horizontal axis is the relative speed and the vertical axis is the relative distance. The area on the map is divided into a collision avoidance area that is determined to have no possibility of colliding with a collision inevitable area that is determined to have a risk of collision with the obstacle. The PCSECU 11 confirms the relative speed and the relative distance detected by the millimeter wave radar, and determines a specific point on the collision determination map. Then, the PCSECU 11 performs the collision prediction determination depending on which region on the map the specific point belongs to.

  The collision determination map is created based on data obtained by, for example, a vehicle collision test or simulation. Further, a plurality of collision determination maps may exist depending on the speed of the own vehicle and the acceleration / deceleration of the own vehicle.

  Moreover, in FIG. 1, the contact detection sensor 25 which detects that the own vehicle actually contacted the obstacle which may collide is provided. As the contact detection sensor 25, for example, a touch sensor embedded in a bumper or a deceleration sensor (G sensor) that detects an impact generated in the vehicle can be used. The PCSECU 25 can determine the actual collision between the host vehicle and the obstacle by receiving the detection signal from such a sensor.

  As described above, the PCSECU 11 that has predicted that the vehicle may collide or the PCSECU 11 that has determined that the vehicle has actually collided outputs an operation signal that activates the safety device.

  The safety device includes an airbag device 30 for inflating a cushion bag, a seat belt 31 with a pretensioner for loosening the seat belt, a brake assist device 32 for assisting the depression amount of the brake pedal, and a seat position at an appropriate position. Examples thereof include a seat adjustment device 33 that can be returned, an alarm device 34 that informs an occupant of a collision prediction result by audio information or visual information, and a bumper moving device 35 that adjusts a bumper position for shock mitigation. These safety devices are devices that can protect passengers against a collision by operating immediately when a collision is predicted or when an actual collision is determined.

  “Operation of the safety device” (that is, also referred to as “PCS operation” as a result) means that the seat belt 31 with the pretensioner is tightened (the motor that removes the slack of the seat belt is operated) or the like. It not only represents the action of the device actually acting on the occupant, but also includes a preparatory action in the safety device in preparation for a collision. For example, when a collision is predicted, a preparatory operation of lowering the ignition determination threshold of the airbag device 30 can be mentioned.

  However, in a special situation, it is judged that the collision is imminent even though the collision is not imminent, or it is judged that it is colliding even though it is not actually colliding. As a result, the safety device may malfunction. For example, when the seam of a bridge in a certain country travels at a certain speed, the contact detection sensor 25 erroneously detects it, or the millimeter wave radar raises the metal foil etc. in an environment where metal foil etc. flies around the vehicle. There is a case where the sensitivity is detected and erroneously detected, or the in-vehicle device malfunctions due to illegal radio waves. In such a case, the specific point on the collision determination map may enter the collision unavoidable region for a moment, and as a result, the safety device may malfunction, resulting in malfunction as the entire PCS.

  Therefore, the vehicle control device of the present invention includes a navigation system 40 as position information acquisition means for acquiring vehicle position information. The navigation system 40 can recognize the position of the vehicle based on information received from a GPS satellite by a GPS (Global Positioning System) receiver and map information in a map database.

  In addition, the vehicle control device of the present invention includes a memory 50 as storage means for storing a point where the safety device is operated. The memory 50 is an in-vehicle storage medium such as a hard disk included in the navigation system 40, a flash memory included in the PCSECU 11 or another ECU. Alternatively, it may be a storage medium outside the vehicle such as a map information transmission server of the navigation system 40 or a database server of a predetermined information management organization, and the stored information is transmitted / received via a communication line. Note that the memory 50 may store detection values at the time of activation of the safety device by the obstacle detection sensor 20, the vehicle speed sensor 21, the acceleration / deceleration sensor 22, the contact detection sensor 25, and the like, together with the point where the safety device is operated. . Moreover, the detected value by sensors other than these illustrated sensors at the time of the operation may be stored, or an internal variable of a CPU built in the ECU or the like may be stored.

  Further, an input device 60 for instructing the user to store information to be stored in the memory 50 is provided. The user gives an input instruction to store in the memory 50 the point where the safety device is operated, the detection value of the sensor described above, and the internal variable via the input device 60. Examples of the input device 60 include a touch panel display, a voice input device such as a microphone, and a setting button. Input from the user via the input device 60 can be accepted after the safety device is activated. Voice guidance or guidance display on the display may be performed so as to prompt the user to perform an input operation.

  Therefore, the user can arbitrarily select whether or not to store the above information in the memory 50. Further, by storing in the memory 50 information such as the point where the safety device has been operated via the input device 60, the current vehicle detected by the navigation system 40, the current vehicle detected by the sensor, etc. It is possible to compare the state with its stored information.

  Hereinafter, an operation example of the vehicle control device of the present invention in this embodiment will be described with reference to FIGS. FIG. 2 is an example of a flowchart showing a storing process in the memory 50 executed by the PCSECU 11.

  First, in step 100, after it is predicted that the vehicle may collide, or after it is determined that the vehicle has actually collided, the safety device is activated. When the safety device operates, the PCSECU 11 acquires the current location of the vehicle from the navigation system 40, and stores the acquired current location as temporary storage data in the memory 50 (step 110). At the same time, the PCSECU 11 stores the current vehicle state such as the detected value of the sensor or the internal variable as temporary storage data in the memory 50 (step 120).

  In step 130, the PCSECU 11 determines whether or not the input operation of the storage instruction via the input device 60 is within a predetermined time (for example, 1 minute) after the safety device is activated. If there is an input operation, the process proceeds to step 140, and if not, the process proceeds to step 150.

  If it is determined in step 130 that there is an input operation for storing instructions, the PCSECU 11 stores the temporary storage data in steps 110 and 120 in the memory 50 as the main storage data (step 140). If it is determined in step 130 that there is no storage instruction input operation, the PCSECU 11 discards the temporary storage data in the memory 50 in steps 110 and 120 (step 150).

  Therefore, when the user who feels the operation of the safety device recognizes the operation as a malfunction, the stored data such as “malfunction occurrence point” and “malfunction vehicle state” are stored in the memory 50 by the input operation of the storage instruction. Remembered.

  Next, the point that the operation determination of the safety device is performed based on the above stored data will be described. FIG. 3 is an example of a flowchart showing an operation determination process of the safety device executed by the PCSECU 11 based on the main storage data.

  The PCSECU 11 performs collision prediction based on the determination criteria such as the above-described collision determination map (step 200). The PCSECU 11 that has determined that there is no risk of collision or that there is no actual collision does not activate the safety device (step 230). If it is determined that there is a possibility of collision or an actual collision, the process proceeds to step 210.

  The PCSECU 11 that has determined that there is a possibility of a collision or an actual collision acquires the current position of the vehicle from the navigation system 40. In step 210, if the current point of the vehicle corresponds to the “malfunction occurrence point” stored in the memory 50, the process proceeds to step 220, and if not, the process proceeds to step 240. In step 220, if the current vehicle state detected by the sensor or the like corresponds to the “malfunction vehicle state” stored in the memory 50, the process proceeds to step 230. If not, the process proceeds to step 240. .

  When the process proceeds to step 230, countermeasures for preventing malfunctions built in the PCSECU 11 in advance are executed. That is, the safety device is not operated or the operation is suppressed. For example, until a safety device executes a program that forcibly prohibits operation so that it does not operate according to detected values such as road conditions, vehicle conditions, and vehicle surroundings, or until the vehicle moves to a vehicle position that does not malfunction It is to cancel the operation of the safety device. At this time, measures are taken to prevent the safety device from malfunctioning, and it is not intended to actively reduce the safety function of the vehicle.

  When the process proceeds to step 240, the PCSECU 11 outputs an operation signal for normally operating the safety device, assuming that the determination result that there is a possibility of a collision or an actual collision is not an erroneous determination.

  As described above, at a point where the user who feels the operation of the safety device wants to suppress or stop the operation, the operation of the safety device is suppressed even if the situation of the vehicle or the situation around the vehicle is extremely special. Or stop, and there is no risk of malfunction. That is, by storing “malfunction occurrence point” and “malfunction vehicle status”, when the current location of the vehicle corresponds to “malfunction occurrence location” or the current vehicle status is “malfunction vehicle status” When this is true, the PCSECU 11 forcibly disables the operation of the safety device or suppresses the operation.

  In addition, as for embodiment of the vehicle control apparatus of this invention, the form as shown by FIGS. 4-7 can be considered, for example. 4 and 5 show the case where the memory 50 is mounted on the vehicle, and FIGS. 6 and 7 show the case where the memory 50 is outside the vehicle.

  In FIG. 4, the PCSECU 11 acquires the current location of the vehicle from the navigation system 40. Then, the existing “malfunction occurrence point” and “malfunction vehicle state” are read from the memory 50 of the PCSECU 11 and the like, and new “malfunction occurrence point” and “malfunction vehicle state” are stored.

  In FIG. 5, the PCSECU 11 acquires the current location of the vehicle from the navigation system 40 as in FIG. 4. Then, the existing “malfunction occurrence point” and “malfunction vehicle state” are read from the memory 50 in the navigation system 40 and new “malfunction occurrence point” and “malfunction vehicle state” are stored.

  In FIG. 6, the PCSECU 11 acquires the current location of the vehicle from the navigation system 40 as in FIG. 4. Then, the existing “malfunction occurrence point” and “malfunction vehicle state” are read from the memory 50 in the database server of the predetermined information management organization via the Internet, a wireless communication line, etc. The “operation occurrence point” and “malfunction vehicle state” are stored.

  In FIG. 7, the PCSECU 11 acquires the current location of the vehicle from the navigation system 40 as in FIG. 4. Then, the existing “malfunction occurrence point” and “malfunction vehicle state” are read from the memory 50 in the map information transmission server of the navigation system 40 via the navigation system 40, and a new “malfunction occurrence point” is read. "" Malfunctioning vehicle state "is stored. On the other hand, the navigation system 40 receives the existing “malfunction occurrence point” and “malfunction vehicle state” together with the map information with the memory 50 in the map information transmission server via the Internet or a wireless communication line. Then, the “malfunction occurrence point” and “malfunction vehicle state” newly set by the PCSECU 11 are transmitted.

  In the case of FIGS. 6 and 7 using the memory 50 outside the vehicle, it is possible to centrally manage the malfunction information by acquiring “malfunction occurrence point” and “malfunction vehicle state” from a plurality of vehicles. As a result, a database of vehicle points and vehicle states where the safety device malfunctions can be easily constructed.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, even if the vehicle point or vehicle state where the safety device malfunctions is shared using inter-vehicle communication that communicates between vehicles, as in the case of FIGS. 6 and 7 using the memory 50 outside the vehicle, A database can be easily constructed.

  Moreover, it is not limited to the case of the PCS described in detail above, and it is possible to prevent malfunction of in-vehicle devices of other systems. By memorizing the location where the road heater is installed as the “malfunction occurrence point”, it is possible to prevent malfunction of an ABS (Antilock Brake System) device that prevents the wheels from being locked. Similarly, by memorizing a place where the road bank angle (cant) is large, it is possible to prevent malfunction of a vehicle stability control (VSC) device that stabilizes the turning behavior of the vehicle, and resonance occurs near a certain frequency. By storing the location of such a special road surface, it is possible to prevent malfunction of the tire pressure sensor or the like.

It is the figure which showed one structural example at the time of applying the control apparatus for vehicles of this invention to PCS10. It is an example of the flowchart which showed the memory | storage process to the memory 50 which PCSECU11 performs. 3 is an example of a flowchart showing a safety device operation determination process executed by the PCSECU 11 based on the main storage data in the memory 50; It is a figure showing the 1st example of an embodiment of the control device for vehicles of the present invention. It is a figure which shows the 2nd Example of the control apparatus for vehicles of this invention. It is a figure which shows the 3rd Embodiment of the control apparatus for vehicles of this invention. It is a figure which shows the example of 4th Embodiment of the control apparatus for vehicles of this invention.

Explanation of symbols

10 PCS (pre-crash system)
11 PCSECU
40 navigation system 50 memory 60 input device

Claims (4)

An in-vehicle device that operates based on the detection result of the situation of the vehicle and / or the situation around the vehicle;
In response to an input from a user instructing that the point where the in-vehicle device is operated should be stored, the storage unit stores the point,
A vehicle control device that suppresses the operation of the in-vehicle device when the vehicle is located at a point stored in the storage means.   The vehicle control device according to claim 1, wherein an input from the user is received after the vehicle-mounted device is activated. The storage means further stores the detection result during operation of the in-vehicle device,
2. The vehicle control device according to claim 1, wherein the suppression of the operation of the in-vehicle device is performed when a current value of the detection result is equal to the detection result stored in the storage unit.   The vehicle control device according to claim 1, wherein the in-vehicle device is a safety device that operates when a collision of the vehicle is determined based on the detection result.

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