JP2007216790A - Steering angle control device and steering control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a steering control device capable of safely stopping a vehicle in stopping the vehicle and smoothly starting the vehicle in starting it next by using information of a periphery of the vehicle regardless of steering done by a driver in stopping the vehicle. <P>SOLUTION: This steering control device 1 is constituted by furnishing a steering angle control means 3 to automatically control at a specified steering angle through a steering mechanism driving means 8 to drive the steering mechanism in accordance with a steering state of the steering mechanism in stopping the vehicle, and the steering angle control means 2 automatically controls at the specified steering angle in accordance with an obstruction detected by an obstruction detecting means 4 to detect the obstruction in the periphery of the vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a steering angle control device and a steering control system for automatically controlling a predetermined steering angle based on a steering state of a steering mechanism when the vehicle is stopped.

  2. Description of the Related Art Conventionally, in a vehicle such as an automobile, a power steering device that controls a motor that drives a steering member of a steering mechanism in accordance with detection results of various sensors and applies steering torque by the motor to the steering member has been put into practical use. Yes.

  In Patent Document 1, in a vehicle such as an automobile equipped with such a power steering device, a motor is driven when the vehicle is parked, and the steering wheel and the steering wheel are at a position where the turning angle of the steering wheel is 0, A neutral position return command section is provided to generate a command signal for returning the steering to the neutral position when the vehicle is parked or stopped when the absolute value of the output signal from the sensor is below a predetermined value so that the steering wheel returns to the neutral position facing directly in front. The neutral position return command section is configured such that the return steering angular speed follows a predetermined target steering angular speed and gradually decreases toward 0 with the return of the steering angle.

  According to the power steering device described above, since the steering wheel and the steering are automatically returned to the neutral position when the vehicle is parked, the steering wheel is neutralized by consciously operating the steering when the vehicle driver parks. Even if the vehicle does not return to the position, the steering wheel can always start running straight when the vehicle starts running, and the driver can start the vehicle smoothly, especially starting from a narrow parking lot. In this case, it is described that it is possible to effectively prevent contact with other vehicles and surrounding obstacles due to an erroneous steering operation.

  Further, in Patent Document 2, when a vehicle is parked on a slope, the driver operates the steering to intentionally give a turning angle to the steered wheel so that the vehicle does not travel on the slope while parking. In addition, an electric power steering device is disclosed that maintains the turning angle as it is without automatically returning the steered wheel to the neutral position.

  However, in the technique described in Patent Document 2 described above, the steering wheel is automatically returned to the neutral position unless the driver intentionally gives a turning angle to the steering wheel. If the turning angle is not given, the parked vehicle cannot be prevented from moving.

  Therefore, in Patent Document 3, when the road surface inclination detecting means detects the inclination of the road surface above a predetermined inclination angle so that the movement due to insufficient braking of the parked vehicle can be reliably prevented when the vehicle is parked on a hill, There is disclosed a steering control device that controls a driving unit so that a steering mechanism is automatically steered to a predetermined steering angle at which a vehicle can be moved forward or backward in a roadside direction.

JP-A-1-293273 JP-A-6-92251 JP 2004-322855 A

  However, in any of the above-described techniques, when there is an obstacle such as another vehicle in front or rear at the start after the steering angle is automatically controlled, the steering operation is complicated for the driver to avoid the obstacle. There was a problem that the vehicle could not be started smoothly, and further improvement was desired.

  On the other hand, in recent years, it has become possible to acquire information about the surroundings of a vehicle using cameras, radars, sensors, and the like mounted on the vehicle, and the inventor of the present application utilizes the surrounding information of the vehicle obtained therefrom for steering control. I wondered if I could do it and reached the present invention.

  In view of the above-described problems, the object of the present invention is to stop the vehicle safely when the vehicle is stopped by using the information around the vehicle regardless of the steering performed by the driver when the vehicle is stopped, and at the next start. It is in providing a steering angle control device and a steering control system that can start smoothly.

  In order to achieve the above-mentioned object, the first characteristic configuration of the steering control system according to the present invention is based on a steering mechanism driving means for driving the steering mechanism based on a steering state of the steering mechanism when the vehicle is stopped. A steering control system comprising a steering angle control means for automatically controlling a steering angle, wherein the steering angle control means is an obstacle detected by an obstacle detection means for detecting an obstacle around the vehicle. The point is that automatic control is performed to a predetermined steering angle based on the above.

  According to the above-described configuration, the steering angle is automatically controlled to the predetermined steering angle by the steering angle control unit based on the information about the obstacles around the vehicle acquired from the obstacle detection unit. Regardless of the driver's steering angle, for example, the steering angle can be controlled so that the vehicle is in a stable posture when the vehicle is stopped and can start smoothly when starting, thereby forcing the driver to bother Therefore, the operability can be improved.

  In the second characteristic configuration, the steering state detection means detects when the vehicle is stopped by the steering state detection means for detecting the steering state of the steering mechanism of the vehicle and the stop state determination means for determining the stop state of the vehicle. A steering angle control unit configured to automatically control a predetermined steering angle via a steering mechanism driving unit that drives the steering mechanism based on a steering state detected by the unit, The steering angle control means automatically controls to a predetermined steering angle based on the obstacle detected by the obstacle detection means for detecting obstacles around the vehicle.

  According to the above configuration, when the steering angle control means confirms that the vehicle has stopped by the stop state determination means and the steering state detection means detects the steering state of the steering mechanism, the steering state and obstacle detection are performed. The steering angle is automatically controlled to a predetermined steering angle via the steering mechanism driving means based on the vehicle peripheral information detected by the means, and as the predetermined steering angle at that time, for example, if there is an obstacle By setting the steering angle to avoid the obstacle and the steering angle at which the vehicle can start immediately without steering if there is no obstacle, the next start of the vehicle can be performed smoothly. become.

  In the third feature configuration, in addition to the first or second feature configuration described above, the steering angle control unit detects an obstacle detected by the obstacle detection unit and an inclination angle of a road surface. The point is to automatically control to a predetermined steering angle based on the inclination angle of the road surface detected by the means.

  According to the above-described configuration, the presence or absence of an obstacle detected by the obstacle detection means when the inclination of the road surface is detected by the inclination angle detection means and there is a possibility that the parked vehicle may start spontaneously due to the looseness of the brake or the like. Based on this, the steering angle is automatically controlled to either the steering angle at which the vehicle does not contact the obstacle or the steering angle at which the vehicle contacts. For example, if a curb is detected on the road side as an obstacle, it will come into contact with the curb when stopping and stop if there is an opening groove on the road side as an obstacle. If there is another vehicle in the tilt direction, the steering angle can be automatically controlled so that it does not come into contact with the vehicle when it starts. By setting the steering angle so that the vehicle can be started quickly without steering if there is no obstacle, the next start of the vehicle can be performed smoothly.

  In the fourth feature configuration, in addition to any one of the first to third feature configurations described above, the steering angle control means is detected by a weather information detection means for detecting weather information of a stop area of the vehicle. The steering angle is automatically controlled based on meteorological information.

  Further, by detecting the weather information of the stop area of the vehicle, the steering angle control means controls the steering angle so that the vehicle stops in a stable posture when there is a risk of slipping due to freezing, snow accumulation, rain, or the like. If the vehicle loses stability and slips, the steering angle can be automatically controlled so that the vehicle travels in a direction with less risk of causing damage to the vehicle.

  In the fifth feature configuration, in addition to any of the first to fourth feature configurations described above, the obstacle detection means is based on a GPS that detects the parking position of the vehicle and map information around the vehicle. The point is to detect obstacles.

  Furthermore, it is possible to detect, as obstacles, conditions around the vehicle stop position, such as road surface inclination, rivers, buildings, and walls located around the vehicle stop position information from the vehicle stop position information and surrounding map information acquired from GPS. Thus, the steering angle can be appropriately set based on the obstacle information.

  In the sixth feature configuration, in addition to any one of the first to fourth feature configurations described above, the steering angle control means avoids an obstacle detected by the obstacle detection means when the vehicle starts. This is because the steering angle is automatically controlled.

  By controlling the steering angle by the steering angle control means so that the vehicle avoids the obstacle, the vehicle does not come into contact with the obstacle even when the driver does not perform the steering operation at the next start of the vehicle. You can start smoothly.

  In the seventh feature configuration, in addition to any one of the first to fourth feature configurations described above, the steering angle control means contacts the obstacle detected by the obstacle detection means when the vehicle starts. The point is to automatically control the steering angle so as to hit.

  By controlling the steering angle by the steering angle control means so that the vehicle is in contact with the obstacle, when the stopped vehicle is started due to the loosening of the brake, etc., the vehicle is brought into contact with the obstacle, You will be able to avoid the danger of driving to a major accident.

  The eighth characteristic configuration is that, in addition to any of the first to seventh characteristic configurations described above, the steering angle is automatically controlled based on the presence or absence of an occupant in the vehicle.

  According to the above-described configuration, it is possible to detect that the occupant has got off or got on, and the steering angle can be appropriately set according to the time of getting off or getting on.

  A first characteristic configuration of the steering angle control device according to the present invention is an obstacle detection means for detecting obstacles around the vehicle when the vehicle is determined to be stopped by a stop state determination means for determining a stop state of the vehicle. Based on the obstacle detected by the above, the steering mechanism driving means for driving the steering mechanism is automatically controlled to a predetermined steering angle.

  As described above, according to the present invention, regardless of the steering performed by the driver when the vehicle is stopped, the information around the vehicle is used, so that the vehicle can be stopped safely when the vehicle is stopped, and smoothly at the next start. A steering angle control device and a steering control system that can be started can be provided.

  Hereinafter, a steering control device according to the present invention will be described. As shown in FIG. 1, the vehicle steering mechanism includes a steering wheel 16 for steering the steering wheel 19, a steering shaft 17 for transmitting steering of the steering wheel 16 to the steering wheel 19, and a steering shaft 17. A rack and pinion type gear box 20 that converts rotational motion into linear motion, and a rack shaft 18 that is converted into linear motion by the gear box 20 and that pushes and pulls the knuckle through a tie rod to transmit the steering angle to the steered wheels 19. It is configured with.

  Although not described in detail, the gear box 20 accommodates an electric motor as a steering mechanism driving unit 8 that applies thrust to the rack shaft 18 via the pinion shaft, and is operated by controlling the driving of the electric motor. A steering control device that assists the steering operation by the driver and automatically steers the steering wheel 19 without the driver performing the steering operation is provided.

  The steering control system 1 includes a steering state detection unit 2 including a steering angle sensor that detects a steering state of a vehicle steering mechanism, that is, a steering angle, and a steering torque detection unit (not shown) including a torque sensor. The electric motor is driven and controlled based on the steering angle, steering torque, vehicle speed, and the like detected in response to the steering operation by the driver, thereby controlling the power steering to assist the steering force and stopping the vehicle Based on the steering state detected by the steering state detection unit 2 when the stop state is determined by the stop state determination unit that determines the state, the steering wheel 19 is moved to a predetermined state via the steering mechanism drive unit 8. A steering angle control means 3 is provided as a steering angle control device 3 that automatically controls the steering angle.

  The steering angle control device 3 includes an electronic control unit (generally referred to as “ECU”) including a microcomputer and a peripheral circuit such as a ROM storing a control program executed by the microcomputer. These are connected to a plurality of other ECUs such as an engine control ECU, a brake control ECU, and a transmission control ECU via a network bus for data communication.

  Unlike the other ECUs described above, the steering angle control device 3 is configured so that power is supplied from the battery even when the ignition switch is turned off, and the steering wheel 19 is automatically steered while the vehicle is stopped or parked. It is configured to be possible.

  As shown in FIG. 2, the steering angle control device 3 includes steering angle information detected by the steering state detection means 2, obstacles around the vehicle detected by the obstacle detection means 4 mounted on the vehicle. Object information, vehicle stop state information determined by the stop state determination means 5 mounted on the vehicle, road surface inclination angle information detected by the inclination angle detection means 6 mounted on the vehicle, and mounted on the vehicle The weather information of the stop area of the vehicle detected by the meteorological information detection means 7 is configured to be input via the network bus or a local communication path, and based on any or a combination of those information The steering wheel 19 is automatically controlled to a predetermined steering angle via the steering mechanism driving means 8.

  The stop state determining means 5 is a weight sensor that the ignition switch is turned off, the shift lever position is operated to the parking position, the side brake is in a braking state, and there is no driver in the driver's seat. Or when the door is switched from open to closed by the door courtesy switch, or the presence of the driver is confirmed by the weight sensor and the door is locked, or When the combination event is detected, it is determined that the vehicle has shifted from the running state to the stopped state.

  Further, the stop state determining means 5 indicates that the door is unlocked, the door is switched from open to closed by the door courtesy switch, the driver gets on the driver's seat by the weight sensor, and the ignition switch is turned on. When any one of the above events is detected, or when the combination event is detected, it is determined that it is a time when the vehicle shifts from the stopped state to the traveling state.

  The obstacle detection means 4 includes other vehicles, walls, private houses, grooves, etc. existing in the vicinity of the vehicle based on the image by the imaging means 10 such as an in-vehicle camera and the posture information such as the mounting position of the imaging means and the camera angle. Image analysis means for recognizing the obstacle as an obstacle and analyzing the position and size of the recognized obstacle, the position of the obstacle present around the vehicle based on the detection signal from the radar means 11 such as an in-vehicle laser radar Signal processing means for analyzing size and the like, communication information analyzing means for detecting obstacles based on communication information by inter-vehicle communication means 12 communicating with other vehicles parked in the vicinity, stop position of the vehicle detected by GPS 13 One or more of map information analysis means for detecting the position of obstacles such as buildings, curbs, walls, etc. existing around the vehicle based on the information and the on-board map database Equipped and are configured.

  By adopting any one of the above-mentioned means or a combination thereof, it becomes possible to more accurately detect obstacles around the vehicle, and the steering angle control means can smoothly perform the next start of the vehicle. Automatically control to the appropriate steering angle so that it can be performed.

  For example, in the case where the GPS 13, the map information analyzing means, and the radar means 11 are provided, any one of the building, curb, wall, etc., where the obstacle recognized by the radar means 11 is grasped by the map information analyzing means. If it is neither, it is recognized as another vehicle that is a moving body. That is, detailed information on the obstacle is grasped by the cooperation of the plurality of obstacle detection means 4.

  The weather information detecting means 7 includes a receiving means for receiving weather information such as temperature, precipitation / snowfall probability, etc. via a satellite communication network, a cellular phone communication network, and other wireless communication media; and a vehicle from the received weather information. Weather information extracting means for extracting the weather information of the stop area. Based on the weather information extracted by the weather information extraction means, the steering angle control device 3 may cause the road surface to freeze or snow while the vehicle is parked or parked, or may be flooded on the road due to heavy rain. Judge whether there is a possibility.

  The inclination angle detecting means 6 detects the inclination angle of the road surface based on an output signal of an in-vehicle inclination angle sensor, and the steering angle control device 3 detects that the detected inclination angle is larger than a predetermined inclination angle. It is determined that there is a possibility that the vehicle that is stopped or parked may start moving. In addition to the tilt angle sensor, the tilt angle detecting means 6 can be composed of the GPS 13 and a map database. The vehicle position information detected by the GPS 13 and the gradient information stored in the map database are used. Based on this, it is possible to determine that there is a possibility that the parked or parked vehicle may start to move.

  The steering angle control device 3 drives and controls the electric motor based on the obstacle detected by the obstacle detection means 4 when the vehicle is stopped / parked or when the vehicle starts. Automatic control to the steering angle.

  Specifically, for example, by controlling the steering angle to zero so that a stable posture is achieved when the vehicle is parked / parked, and by controlling the steering angle so that the vehicle can start smoothly while avoiding obstacles when starting Driving operability is improved without forcing the driver to bother steering when stopping or starting. Here, the steering angle control device 3 obtains a target steering angle by calculating and deriving a steering angle that can avoid an obstacle when the steering wheel 19 is steered, or a steering angle that contacts the obstacle, The electric motor is driven and controlled to achieve the target steering angle.

  Furthermore, in the steering angle control device 3, according to the above-described configuration, a driver located outside the vehicle visually determines the posture of the front wheels and the surrounding situation, and remotely controls the steering angle control device 3 to an appropriate steering angle. For example, a short-range wireless communication means capable of communicating with the remote control device 15 operated by the driver is provided, and the steering angle is determined via the remote control device 15 by the driver who visually observes the attitude of the steering wheel 19 from outside the vehicle. Are configured to be remotely controlled.

In addition, a notification means 9 for notifying the driver of the control state of the steering angle by the steering angle control device 3 is provided, and the occupant prompts an appropriate steering operation at the start by grasping the state of the steering wheel of the vehicle. It is configured to be able to. The informing means 9 is constructed in a display device such as a car navigation system or a speaker mounted on the vehicle, and is configured to display the current steering angle on the screen as an image and to output a voice guidance if necessary. . In other words, since the occupant can know the state of the steering wheel of the vehicle by notifying the occupant of the state of the steering angle of the steered wheel, the subsequent appropriate steering operation is urged based on the grasped steering angle. Can do.

  Hereinafter, the automatic control of the steering angle when the vehicle is stopped by the steering angle control device 3 will be described in detail based on the flowchart of FIG.

  When the vehicle stops, it is determined by the stop state determination means 5 whether or not the vehicle has shifted to the stop state (SA1). When it is determined that the vehicle is stopped (SA1 / Yes), the steering state detection means 2 detects the current state of the steering wheel 19 (SA2).

  Next, the obstacle detection means 4 detects an obstacle around the vehicle (SA3). When an obstacle is detected (SA3 / Yes), the inclination angle detection means 4 detects the inclination angle of the road surface on which the vehicle is stopped (SA4).

  When there is an obstacle around the vehicle and the vehicle is stopped on a substantially horizontal road surface (SA4), the steering angle of the steered wheels 19 detected by the steering state detecting means 2 will contact the obstacle at the next start. If the angle is likely to occur (SA5 / Yes), the steering angle control device 3 automatically turns the steering wheel 19 to a steering angle that does not contact an obstacle at the next start via the steering mechanism driving means 8. Control (SA6).

  Although there is an obstacle around the vehicle and the vehicle is stopped on a substantially horizontal road surface (SA4 / Yes), the steering angle of the steered wheels 19 detected by the steering state detecting means 2 is zero in a stable posture. However, when there is no possibility of coming into contact with an obstacle at the next start (SA5 / No), the steering wheel 19 is automatically controlled to a position where the turning angle of the steering wheel 19 becomes zero (SA8). .

  On the other hand, when there is no obstacle around the vehicle (SA3 / No) and the vehicle is stopped on a substantially horizontal road surface (SA7), the steering angle control device 3 performs the steering operation via the steering drive means 8. Automatic control to a position where the turning angle of the wheel 19 becomes zero (SA8).

  The operation of automatically controlling the steered wheels 19 when the vehicle stops on an inclined road surface where the vehicle is larger than a predetermined tilt angle using the steering control system 1 will be described based on the flowchart of FIG.

  When the vehicle stops, it is determined by the stop state determination means 5 whether or not the vehicle has shifted to the stop state (SB1). If it is determined that the vehicle has shifted to the stop state (SB1 / Yes), the steering state detection means 2 detects the current state of the steering wheel 19 of the vehicle (SB2).

  The obstacle detection means 4 detects an obstacle around the vehicle (SB3). When an obstacle is detected (SB3 / Yes), the inclination angle detecting means 6 detects the inclination angle of the position where the vehicle is stopped (SB4).

  If the detected obstacle is a curb on the roadside and the vehicle does not get scratched even if it touches the vehicle (SB5 / Yes), it will start spontaneously due to loose side brakes, etc. In preparation for this, the steering wheel 19 is automatically controlled in a direction in which the vehicle contacts an obstacle such as a curb (SB6).

  The detected obstacle is detected by the steering state detecting means 2 when it is another vehicle that may be damaged by contact with the vehicle, or a groove or cliff that may be removed (SB5 / No). When the steering angle of the steered wheel 19 is an angle at which the steering wheel 19 may come into contact with an obstacle or take off the wheel (SB7), the steering angle control device 3 sets the steering angle to avoid the obstacle at the time of self-starting. The steering wheel 19 is automatically controlled.

  When there is no obstacle around the vehicle (SB3 / No) and the vehicle is stopped on an inclined road surface (SB9), the steering angle control device 3 controls the steering wheel so that the vehicle does not travel along the inclined road surface when starting. A cut angle is given to 19 and the vehicle is automatically controlled to travel toward the road (SB10).

  An operation of automatically controlling the steered wheels 19 when the vehicle is stopped on the road surface on which the vehicle is frozen using the steering control system 1 will be described with reference to the flowchart of FIG.

  When the vehicle stops, it is determined by the stop state determination means 5 whether or not the vehicle is stopped (SC1). When it is determined that the vehicle is stopped (SC1 / Yes), the steering state detection means 2 detects the current state of the steering wheel 19 of the vehicle (SC2).

  The obstacle detection means 4 detects an obstacle around the vehicle (SC3). When an obstacle is detected (SC3 / Yes), the weather information detecting means 7 detects the weather information of the area where the vehicle is stopped (SC4).

  If there is an obstacle around the vehicle and the road surface in the stop area may freeze (SC4 / Yes), steering control is not performed to maintain a stable posture at the time of stop (SC5).

  When there is an obstacle around the vehicle and there is no risk of freezing on the road surface in the stop area (SC5 / No), the steering angle of the steered wheels 19 detected by the steering state detecting means 2 is obstructed at the next start. When the angle is likely to contact an object (SC6 / Yes), the steering wheel 19 is automatically controlled to a steering angle that does not contact the obstacle at the next start (SC7).

  When the steering angle of the steered wheel 19 detected by the steering state detecting means 2 is an angle that does not cause contact with an obstacle at the next start (SC6 / No), the turning angle of the steered wheel 19 becomes zero. Automatic control to the posture (SC9).

  When there is no obstacle around the vehicle (SC3 / No) and there is a possibility that the road surface in the stop area may freeze (SC8 / Yes), the steering control is not performed to maintain the stable posture at the stop (SC5).

  If there is no obstacle around the vehicle (SC3 / No) and there is no risk of freezing of the road surface in the stop area (SC8 / No), the steering is performed so that the vehicle can start smoothly through the steering drive means 8. Automatic control is performed to a position where the turning angle of the wheel 19 becomes zero (SC9).

  Next, the operation of automatically controlling the steered wheels 19 by the steering control system 1 when the vehicle shifts to the running state from when the vehicle is stopped on a substantially horizontal road surface will be described based on the flowchart of FIG. In this flowchart, when the vehicle starts, it is determined whether or not the steering angle that is steering-controlled when the vehicle is stopped is appropriate, and is automatically controlled to an appropriate steering angle. For example, this is provided for a case where an obstacle such as another vehicle that has existed at the time of stopping has already disappeared at the time of departure.

  When an occupant gets into the vehicle and the stop state determination means 5 determines that the vehicle is to be shifted to the running state (SSA1 / Yes), the steering state detection means 2 determines the current state of the steering wheel 19 of the vehicle. Detect (SSA2).

  The obstacle detection means 4 detects an obstacle around the vehicle (SSA3). When an obstacle is detected (SSA3 / Yes), the inclination angle detection means 6 detects the inclination angle of the road surface on which the vehicle is stopped (SSA4).

  When there is an obstacle around the vehicle and the vehicle is stopped on a substantially horizontal road surface (SSA4), the steering angle of the steered wheels 19 detected by the steering state detecting means 2 is contacted with the obstacle at the next start. In the case of an angle that is likely to occur (SSA5 / Yes), the steering angle control device 3 automatically controls the steering wheel 19 to a steering angle that does not contact an obstacle when starting (SSA6).

  Obstacles are detected around the vehicle, and the vehicle is stopped on a substantially horizontal road surface (SSA4 / Yes). Even if the steering angle of the steered wheels 19 detected by the steering state detecting means 2 is returned to zero, the obstacles If it is not in contact with (SSA5 / No), the steering angle control device 3 automatically controls the steering wheel 19 to a position where the turning angle of the steering wheel 19 becomes zero (SSA8). Here, the turning angle does not need to be zero, and it is possible to contribute to a smooth start by controlling the steering angle to a predetermined small steering angle that does not cause contact with an obstacle.

  When there is no obstacle around the vehicle (SSA3 / No) and the vehicle is stopped on a flat road surface (SSA7), the steering angle control device 3 has a zero turning angle of the steering wheel 19 for smooth start. Is automatically controlled (SSA8).

  In other words, the steering angle control device 3 determines whether the vehicle has shifted from the running state to the stopped state or when the vehicle has shifted from the stopped state to the traveling state. The steering angle is automatically controlled so that the vehicle is in a stable posture, or the surrounding vehicle is not harmed by unintentional starting, and further the vehicle is not damaged, and the vehicle shifts to the running state. In some cases, the steering angle is automatically controlled so that the driver can start smoothly without touching an obstacle without a large steering operation by the driver.

  In the above-described embodiment, the steering angle control device 3 includes a plurality of pieces of information such as obstacle information by the obstacle detection means 4, road surface inclination angle information by the inclination angle detection means 6, and weather information by the weather information detection means 7. In the above description, the steering angle is automatically controlled. However, it is determined whether the steering angle control device 3 is when the vehicle transitions from the traveling state to the stopped state or when the vehicle transitions from the stopped state to the traveling state. It is preferable that the determination reference and the target steering angle to be controlled are made different based on this.

  For example, when a vehicle transitions from a running state to a stopped state, priority should be given to ensuring safety when stopping rather than avoiding obstacles when starting, so that accidents will not occur due to self-starting due to loose side brakes on inclined road surfaces. Set the steering angle, set it to a stable posture when there is a possibility of freezing etc. due to weather information on a horizontal road surface (usually a steering angle is preferably zero), and then avoid obstacles It is preferable to control the steering angle so that the vehicle can start smoothly.

  Also, for example, when the vehicle transitions from a stopped state to a traveling state, when it is determined that the vehicle is frozen based on weather information, control is performed so that the steering angle becomes zero for stable start with the highest priority. When there is no weather restriction such as, it is preferable to control the steering angle so as to avoid an obstacle at the start even on an inclined road surface.

  Further, in addition to the above-described automatic steering angle control, the remote operation signal from the remote operation device 15 operated by the driver, for example, the steering angle can be set to either the left or right side so that the intention of the driver getting off the vehicle can be reflected. Further convenience can be improved by receiving the direction indication signal indicating whether to change the direction or not, and remotely controlling the steered wheel 19 from the outside of the vehicle based on the signal. .

  Further, when it is determined that the temperature is decreasing according to weather information, or when it is determined that the capacity of the battery is decreasing by the current detection means, the steering angle control device is used to avoid battery exhaustion. It is preferable to provide a prohibiting means for prohibiting the steering control by.

Steric mechanism explanatory drawing in the present invention Steering control system explanatory diagram in the present invention Flow chart of steering control on a flat road surface when the vehicle is stopped Flow chart of steering control on the slope road surface when the vehicle is stopped Flow chart of steering control on frozen road surface when vehicle is stopped Flow chart of steering control on a flat road surface when the vehicle departs

Explanation of symbols

1: Steering control system 2: Steering state detection means
3: Steering angle control device 4: Obstacle detection means 5: Stop state determination means 6: Inclination angle detection means 7: Weather information detection means 8: Steering mechanism drive means 9: Notification means 10: Projection means 11: Radar means
12: Vehicle-to-vehicle communication means 13: GPS
14: Peripheral map information 15: Remote control device 16: Steering wheel 17: Steering shaft 18: Rack shaft 19: Steering wheel

Claims (9)

A steering control system comprising steering angle control means for automatically controlling to a predetermined steering angle via a steering mechanism driving means for driving the steering mechanism based on the steering state of the steering mechanism when the vehicle is stopped. ,
The steering angle control means is a steering control system that automatically controls to a predetermined steering angle based on an obstacle detected by an obstacle detection means for detecting an obstacle around the vehicle. The steering state detected by the steering state detecting means when the vehicle is determined to be stopped by the steering state detecting means for detecting the steering state of the steering mechanism of the vehicle and the stop state determining means for determining the stop state of the vehicle. And a steering angle control unit configured to automatically control the steering mechanism to a predetermined steering angle via a steering mechanism driving unit that drives the steering mechanism,
The steering angle control means is a steering control system for automatically controlling to a predetermined steering angle based on an obstacle detected by an obstacle detection means for detecting an obstacle around the vehicle.   The steering angle control means automatically controls to a predetermined steering angle based on an obstacle detected by the obstacle detection means and an inclination angle of the road surface detected by an inclination angle detection means for detecting an inclination angle of the road surface. Item 3. The steering control system according to Item 1 or 2.   The steering control system according to any one of claims 1 to 3, wherein the steering angle control means automatically controls the steering angle based on weather information detected by weather information detection means for detecting weather information of a stop area of the vehicle. .   The steering control system according to any one of claims 1 to 4, wherein the obstacle detection means detects an obstacle based on a GPS that detects a parking position of the vehicle and map information around the vehicle.   The steering control system according to any one of claims 1 to 4, wherein the steering angle control means automatically controls the steering angle so as to avoid an obstacle detected by the obstacle detection means when the vehicle starts.   The steering control system according to any one of claims 1 to 4, wherein the steering angle control means automatically controls the steering angle so as to contact an obstacle detected by the obstacle detection means when the vehicle starts.   The steering control system according to any one of claims 1 to 7, wherein the steering angle control means automatically controls the steering angle based on the presence or absence of an occupant in the vehicle.   The steering mechanism is driven based on the obstacle detected by the obstacle detection means for detecting obstacles around the vehicle when the vehicle is determined to be stopped by the stop state determination means for determining the stop state of the vehicle. A steering angle control device that automatically controls a predetermined steering angle via a steering mechanism driving means.

Images