JP2009286172A - Vehicle controller and vehicle control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle controller and a vehicle control method for improving safety when it is detected that a vehicle travels in a wrong way. <P>SOLUTION: This vehicle controller 10 controlling an in-vehicle device 40 has: a wrong-way travel detection means 12 detecting a vehicle traveling in a wrong way; and a change means 14 changing an operation condition and/or a control amount of the in-vehicle device 40 when the wrong-way travel detection means 12 detects the vehicle traveling in a wrong way. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle control device and a vehicle control method that change an operating condition and / or a control amount of an in-vehicle device when it is detected that the vehicle is running backward.

2. Description of the Related Art Conventionally, a reverse running detection device that detects reverse running using a captured image of a camera that photographs the front of a vehicle and outputs an alarm is known (for example, see Patent Document 1). This reverse running detection apparatus detects a central separation band by performing image processing on an image captured by a camera. When the median strip is detected, the captured image of the camera is further processed to detect the road sign and its position and size. When the road sign on the right side is larger than the forward run time or when the road sign on the left side is smaller than the forward run time, a reverse running warning is output. Further, when the median strip is not detected, the reverse running detection device further detects the number of road lanes by further processing the captured image of the camera. When the lane on the right side of the host vehicle is less than the lane on the left side, a reverse running warning is output.
JP 2007-140883 A

  However, although the conventional reverse running detection device detects reverse running and outputs an alarm, safety cannot be improved when a collision avoidance operation by the driver is delayed.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device and a vehicle control method that improve safety when it is detected that the vehicle is running backward. And

In order to achieve the above object, the first invention provides:
Reverse running detection means for detecting that the vehicle is running backward,
When the reverse running detection means detects that the vehicle is running backward, the changing means for changing the operating condition and / or the control amount of the in-vehicle device,
It is a control device for vehicles provided with.

A second invention is a vehicle control device according to the first invention,
The change means changes an operation condition and / or a control amount of the in-vehicle device according to the vehicle speed when the reverse running detection means detects that the vehicle is running backward.

A third invention is a vehicle control device according to the first or second invention,
When the reverse running detection means detects that the vehicle is running backward, the vehicle further includes a limiting means for limiting the vehicle speed.

A fourth invention is a vehicle control device according to any one of the first to third inventions,
When the reverse running detection means detects that the vehicle is running backward, it further comprises display control means for controlling the display of a lamp that is visible from the outside of the vehicle.

A fifth invention is a vehicle control device according to any one of the first to fourth inventions,
The on-vehicle device is an airbag device and / or a travel support device that assists travel by determining the possibility of a collision.

The sixth invention is:
A reverse running detection step for detecting that the vehicle is running backward;
When it is detected by the reverse running detection step that the vehicle is running backward, a change step for changing the operating condition and / or control amount of the in-vehicle device;
A vehicle control method comprising:

  According to the present invention, it is possible to provide a vehicle control device and a vehicle control method that improve safety when it is detected that the vehicle is running backward.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a functional block diagram showing a first embodiment of an in-vehicle system related to a vehicle control device according to the present invention. The vehicle control device 10 changes the operating condition and / or the control amount of the in-vehicle device 40 when it is detected that the vehicle is running backward.

  The vehicle control device 10 is constituted by a microcomputer, and measures, for example, a CPU, a ROM that stores a control program, a readable / writable RAM that stores calculation results, a timer that measures time, and the number of times of processing such as calculation. Counter, input interface, and output interface.

  Further, the vehicle control device 10 stores programs corresponding to the reverse running detection means 12, the change means 14, the restriction means 16, and the display control means 18 in a recording medium such as a ROM, and executes processing of these programs on the CPU. To realize various means. Details of the various means 12 to 18 will be described later.

  The vehicle control device 10 includes a reverse running detection device 20, a brake device 30, a first traveling support device 40, a vehicle speed sensor 50, via an in-vehicle network such as CAN (Controller Area Network) and LIN (Local Interconnect Network). A lamp 60 visible from the outside is connected.

  The reverse running detection device 20 detects reverse running of the host vehicle and outputs an alarm. For example, the reverse running detection device 20 recognizes the position of the host vehicle on the map based on the reception information from the GPS satellite by the GPS (Global Positioning System) receiver and the map information in the map database. Detects entry into prohibited areas such as traffic and reverse running on the main road and service area.

  Here, in order to recognize the position of the host vehicle on the map with high accuracy, a vehicle speed sensor 50 for detecting the vehicle speed and a gyro sensor for detecting the traveling direction of the vehicle may be used together with the GPS receiver and the map database. That is, based on the vehicle speed detected by the vehicle speed sensor 50 and the gyro sensor and the traveling direction of the vehicle, the current position on the map of the host vehicle is obtained with high accuracy by autonomous navigation while accumulating the traveling distance and the traveling route according to the traveling direction. You may recognize it.

  Further, the reverse running detection device 20 recognizes a structure around the vehicle and its position and shape by performing image processing on a peripheral image taken around the vehicle taken by a camera outside the vehicle, and detects reverse running based on the recognition result. Also good. For example, there is a method of detecting reverse running by recognizing the front / back of a structure around the vehicle.

  The detection result by the reverse running detection device 20 is supplied to the vehicle control device 10 as an electrical signal. The vehicle control device 10 may be a part of the reverse running detection device 20, and in this case, the reverse running detection device 20 is controlled by the vehicle control device 10.

  The brake device 30 is, for example, a disc brake device, and includes a disc-shaped disc rotor that rotates together with wheels, and a pair of left and right friction pads that can contact and separate from the disc rotor. When the driver steps on the brake pedal, the pedaling force is converted into the hydraulic pressure of the brake fluid, and is converted into a movement of pressing the pair of left and right friction pads against the disc rotor via the brake fluid piping. The pair of left and right friction pads press and hold the disk rotor, thereby generating a braking force.

  The first travel assist device 40 assists travel by determining the possibility of a collision. For example, the first driving support device 40 is configured with a well-known pre-crash safety system (PSC), and when it is determined that the possibility of colliding with a preceding vehicle, an oncoming vehicle, a road obstacle, etc. has increased to a predetermined level or more. Output an alarm. In addition, after the warning, an assist force that assists the driver in braking operation is applied to increase the braking force. In addition, when a collision is unavoidable, an automatic brake is driven, the occupant is fixed to the seat by winding up a seat belt, or the damping force of the shock absorber is optimized to suppress the nose dive.

  Various functions of the first driving support device 40 are controlled by a microcomputer, which includes an object detection means 41, an alarm control means 43, an assist force control means 45, a braking force control means 47, and a seat belt tension control means. A program corresponding to 49 is stored in a recording medium such as a ROM, and the processing of these programs is executed by the CPU to realize various means.

  The object detection means 41 detects an object that exists in front of the traveling direction of the host vehicle. For example, the object detection means 41 detects an object existing ahead in the traveling direction of the host vehicle using a laser radar, a millimeter wave radar, or the like. When an object is detected, the object detection unit 41 measures a relative distance and a relative speed between the host vehicle and the detected object. Further, the object detection means 41 calculates the time (Time To Collision; TTC) from the relative distance and relative speed between the detected object and the host vehicle to the collision.

  The warning control means 43 outputs a warning to the driver of the host vehicle when the time TTC until the collision becomes a threshold value TTC1 (for example, 1.0 s) or less. For example, the alarm control means 43 may display visual information such as characters and / or charts on the display as an image, or may turn on or blink a dedicated indicator, or output audio information to a speaker. You may let them. Further, the alarm control means 43 may output an alarm by any combination thereof. This alerts the driver.

  The assist force control means 45 assists the brake operation by the driver when the time TTC until the collision becomes a threshold value TTC2 (for example, 1.0 s) or less. For example, the assist force control means 45 increases the brake hydraulic pressure by a predetermined value (for example, 0.2 G) by the hydraulic pump when detecting the brake pedal operation by the driver using a pedaling force switch, a master cylinder pressure sensor, or the like. Thereby, the braking force at the time of the brake operation by the driver is increased.

  The braking force control means 47 expresses the braking force independently of the brake operation by the driver when the time TTC until the collision becomes a threshold value TTC3 (for example, 0.5 s) or less. For example, the braking force control means 47 generates brake hydraulic pressure by a hydraulic pump. Thereby, when a collision is unavoidable, an automatic brake is driven.

  The seat belt tension control means 49 causes the seat belt to be wound up by a seat belt retractor that adjusts the tension (tension) of the seat belt when the time TTC until the collision becomes a threshold value TTC4 (for example, 0.5 s) or less. . Thereby, when a collision is unavoidable, an occupant is fixed to a seat.

  The vehicle speed sensor 50 detects the vehicle speed V of the host vehicle, and includes, for example, a gear-shaped magnetic rotating body that rotates together with the wheels, and a voltage generating coil installed on the vehicle body side. Every time the teeth protruding from the outer peripheral surface of the magnetic rotating body at equal intervals pass in the vicinity of the voltage generating coil, a magnetic flux change occurs in the voltage generating coil, and a pulsed vehicle speed signal corresponding to the magnetic flux change is generated. Is output. This vehicle speed signal is supplied to the vehicle control device 10.

  Next, various means 12 to 18 included in the vehicle control device 10 will be described.

  The reverse running detection means 12 is a means for detecting that the vehicle is running backward. For example, the reverse running detection means 12 detects that the vehicle is running backward based on the output signal from the reverse running detection device 20.

  The changing unit 14 is a unit that changes the operating condition and / or the control amount of the in-vehicle device 40 when the reverse running detection unit 12 detects that the vehicle is running backward. The change of the operating condition and / or the control amount is realized by, for example, supplying a program corresponding to the changing means 14 to the microcomputer of the first travel support device 40 via the in-vehicle network.

  For example, the change means 14 detects that the vehicle is running backward by the reverse running detection means 12, the alarm control means 43, the assist force control means 45, the braking force control means 47, and the seat belt tension control means 49. , Or any combination of these operating conditions.

  These operating conditions are changed to the safe side from the initial values registered in advance in the in-vehicle device 40. That is, the threshold values TTC1 to TTC4 are changed so as to be longer than the initial value. For example, TTC1 and 2 are changed from 1.0 s (initial value) to 2.0 s, and TTC3 and 4 are changed from 0.5 s (initial value) to 1.0 s. Thereby, the various functions which the 1st driving assistance device 40 has at the time of reverse running can be operated comparatively early before a collision. Therefore, safety during reverse running can be improved.

  The changing means 14 may change the assist force, which is the control amount of the assist force control means 45, when the reverse running detection means 12 detects that the vehicle is running backward. This control amount is changed to the safe side from the initial value registered in advance in the in-vehicle device 40. That is, when the brake hydraulic pressure is increased as the assist force, the brake hydraulic pressure increase amount is changed to be larger than the initial value. For example, the amount of increase in the brake hydraulic pressure is changed from 0.2 G (initial value) to 0.3 G. Thereby, the braking force at the time of the brake operation by the driver is further increased, and the collision at the time of reverse running can be avoided and alleviated. Therefore, safety during reverse running can be improved.

  Further, the change means 14 detects the operating condition of the in-vehicle device 40 according to the vehicle speed calculated based on the vehicle speed signal from the vehicle speed sensor 50 when the reverse running detection means 12 detects that the vehicle is running backward. And / or the control amount may be changed. Here, the operating condition and / or the control amount is changed to the safe side as the vehicle speed V increases. That is, the threshold values TTC1 to TTC1 are changed so as to increase as the vehicle speed increases, and the pressure increase amount of the brake hydraulic pressure is changed so as to increase as the vehicle speed V increases. Since the vehicle speed V indicates an impact at the time of a collision, the impact at the time of reverse running collision can be predicted to appropriately express various functions of the first travel support device 40. Thereby, the safety | security at the time of reverse running can be improved.

  Limiting means 16 is means for limiting the vehicle speed when reverse running detection means 12 detects that the vehicle is running backward. For example, the limiting means 16 calculates the vehicle speed V based on the vehicle speed signal from the vehicle speed sensor 50, and when the vehicle speed V is equal to or higher than a predetermined value V1 (for example, 50 km / h), it is independent of the driving operation by the driver. Then, the host vehicle is decelerated by limiting the engine output or expressing the braking force.

  As a method for limiting the engine output, there are a method of cutting fuel, a method of limiting the opening of the engine throttle, and the like. In addition, as a method of expressing the braking force, there is a method of generating brake hydraulic pressure by a hydraulic pump.

  In this way, by limiting the vehicle speed when the vehicle is traveling backward, it is possible to reduce the relative speed with the object to be collided and alleviate the impact during the backward traveling collision. Thereby, the safety | security at the time of reverse running can be improved.

  The display control means 18 is a means for controlling the display of the lamp 60 visible from the outside of the vehicle when the reverse running detection means 12 detects that the vehicle is running backward. For example, the display control means 18 may turn on or blink the headlamp 62 provided at the front of the vehicle, or may blink the hazard lamps 64 provided at the front and rear of the vehicle. Thereby, the driver's vision of the vehicle ahead can be stimulated to call attention. Therefore, safety during reverse running can be improved.

  The various controls by the various means 14, 16, and 18 may be canceled when the reverse running detection means 12 detects that the vehicle is running backward after it is detected that the vehicle is running backward. Thereby, the vehicle-mounted apparatus 40 can be returned to the original state at the time of forward running, and can be operated appropriately.

  Here, an example of processing executed by various units of the vehicle control device 10 will be described with reference to the flowchart of FIG. The vehicle control device 10 starts the processing after S101 in response to a switch operation such as an ignition switch operation of the engine by the user, for example.

  First, the vehicle control device 10 detects that the host vehicle is running backward by the reverse running detection means 12 (step S101), and does not detect that the host vehicle is running backward (step S101). NO), since the host vehicle is running forward, it is continuously detected that the host vehicle is running backward.

  When it is detected that the host vehicle is running backward (step S101, YES), the vehicle control device 10 changes the operating condition and / or control amount of the in-vehicle device 40 by the changing means 14 (step S102). ).

  Subsequently, the vehicle control device 10 restricts the vehicle speed V by the restricting means 16 (step S103), and controls the display of the lamp 60 visible from the outside by the display control means 18 (step S104).

  Subsequently, the vehicle control device 10 detects that the host vehicle is running backward by the reverse running detection means 12 (step S105), and detects that the host vehicle is running backward (step S105). (S105, YES), it is continuously detected that the host vehicle is running backward.

  If it is not detected that the host vehicle is running backward (step S105, NO), the host vehicle is running forward, so the control by the various means 14, 16, 18 is released (step S106). And it returns to step S101 and performs the process after step S101.

  FIG. 3 is a functional block diagram showing a second embodiment of the in-vehicle system related to the vehicle control device according to the present invention. The vehicle control device 110 changes the operating condition and / or the control amount of the in-vehicle device 140 when it is detected that the vehicle is running backward. Hereinafter, although each structure of the control apparatus 110 for vehicles is demonstrated, about the structure same as FIG. 1, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The vehicle control device 110 is configured by a microcomputer as in the first embodiment. The vehicle control device 110 stores programs corresponding to the reverse running detection means 12, the change means 114, the restriction means 16, and the display control means 18 in a recording medium such as a ROM, and executes the processing of these programs on the CPU. To realize various means. Details of the changing means 114 will be described later. A reverse running detection device 20, a brake device 30, an airbag device 140, a vehicle speed sensor 50, and a lamp 60 visible from the outside are connected to the vehicle control device 110 via an in-vehicle network.

  The air bag device 140 deploys the air bag when it detects an impact on the vehicle body to protect the vehicle occupant. The airbag device 140 may be an airbag device that operates at the time of a frontal collision such as a driver airbag or a passenger airbag, or an airbag that operates at a side collision such as a side airbag or a curtain airbag. It may be a device.

  The airbag device 140 is controlled by a microcomputer. The microcomputer detects the deceleration G of the vehicle body in the vehicle front-rear direction and / or the left-right direction using an acceleration sensor. Then, when the integral value IG of the deceleration G is equal to or greater than the threshold value IG1, the microcomputer inflates the airbag by igniting the gas generating agent with an ignition device or supplying gas from a high-pressure gas cylinder. . The gas in the airbag is released to the outside or moved inside to absorb and mitigate the impact on the occupant.

  Next, the changing means 114 included in the vehicle control device 110 will be described.

  The change means 114 is a means for changing the operating condition of the in-vehicle device 140 when the reverse running detection means 12 detects that the vehicle is running backward. The change of the operating condition is realized, for example, by supplying a program corresponding to the changing unit 114 to the microcomputer of the airbag device 140 via the in-vehicle network.

  The operating condition of the airbag device 140 is changed to the safe side from the initial value registered in advance in the airbag device 140. That is, the threshold value IG1 is changed to be smaller than the initial value. Thus, the occupant protection function of the airbag device 140 can be activated relatively early at the time of a collision at the time of a frontal collision at the time of reverse running and at the time of a side collision in the process of interrupting the reverse running and shifting to the forward running. it can. Therefore, safety can be improved when it is detected that the vehicle is running backward.

  Further, when the reverse running detection unit 12 detects that the vehicle is running backward, the changing unit 114 operates the operating condition of the in-vehicle device 140 according to the vehicle speed calculated based on the vehicle speed signal from the vehicle speed sensor 50. May be changed. Here, the operating condition is changed to the safe side as the vehicle speed V increases. That is, the threshold value IG1 is changed so as to decrease as the vehicle speed increases. Since the vehicle speed V indicates the impact at the time of the collision, the passenger protection function of the airbag device 140 can be appropriately expressed in consideration of the impact at the time of the collision. Thereby, safety can be improved when it is detected that the vehicle is running backward.

  The control by the changing means 114 may be canceled when it is detected that the vehicle is running backward after the reverse running detection means 12 detects that the vehicle is running backward. Thereby, the vehicle-mounted apparatus 140 can be returned to the original state at the time of normal running, and can be operated appropriately.

  Note that the processing executed by the various means of the vehicle control device 110 is substantially the same as the flowchart of FIG.

  FIG. 4 is a functional block diagram showing a third embodiment of the in-vehicle system related to the vehicle control apparatus according to the present invention. The vehicle control device 210 changes the operating condition of the in-vehicle device 240 when it is detected that the vehicle is running backward. Hereinafter, although each structure of the control apparatus 210 for vehicles is demonstrated, about the structure same as FIG. 1, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  The vehicle control device 210 is constituted by a microcomputer as in the first embodiment. The vehicle control device 210 stores programs corresponding to the reverse running detection means 12, the changing means 214, the limiting means 16, and the display control means 18 in a recording medium such as a ROM, and executes the processing of these programs on the CPU. To realize various means. Details of the changing means 214 will be described later. The reverse control device 20, the brake device 30, the second travel support device 240, the vehicle speed sensor 50, and the lamp 60 visible from the outside are connected to the vehicle control device 210 via an in-vehicle network.

  The second traveling support device 240 is a device that assists traveling by determining the possibility of a collision, and is configured with a well-known rear pre-crash safety system. An alarm is output when judged. If rear-end collision is unavoidable, the headrest is moved to an appropriate position to reduce whiplash failure when the rear-end collision occurs.

  Various functions of the driving support device 140 are controlled by a microcomputer, and the microcomputer stores programs corresponding to the following vehicle detection means 241, the alarm control means 43, and the headrest position control means 245 in a recording medium such as a ROM. The CPU executes the processing of these programs to realize various means.

  The following vehicle detection means 241 detects the following vehicle existing behind the traveling direction of the host vehicle. For example, the following vehicle detection unit 241 detects a following vehicle that exists behind the traveling direction of the host vehicle using a laser radar, a millimeter wave radar, or the like. When the subsequent vehicle is detected, the subsequent vehicle detection unit 241 measures the relative distance and the relative speed between the own vehicle and the detected subsequent vehicle. The subsequent vehicle detection means 241 calculates a time TTC from the relative distance and relative speed between the detected object and the host vehicle to the collision.

  The headrest position control means 245 detects the position of the occupant's head with a sensor in the headrest when the time TTC until the collision becomes a threshold value TTC5 (for example, 0.5 s) or less, and electrically operates via the gear mechanism. The headrest is moved to an appropriate position by the motor. Thereby, the whiplash failure at the time of rear-end collision can be reduced.

  Next, the changing means 214 included in the vehicle control device 210 will be described.

  The changing unit 214 is a unit that changes the operating condition of the in-vehicle device 240 when the reverse running detection unit 12 detects that the vehicle is running backward. The change of the operating condition is realized, for example, by supplying a program corresponding to the changing unit 214 to the microcomputer of the second driving support device 240 via the in-vehicle network.

  For example, when the reverse running detection means 12 detects that the vehicle is running backward, the changing means 214 changes the operating conditions of the alarm control means 43, the headrest position control means 245, or any combination thereof. .

  These operating conditions are changed to the safe side from the initial values registered in advance in the in-vehicle device 240. That is, the threshold value TTC5 is changed to be longer than the initial value. For example, TTC5 is changed from 0.5 s (initial value) to 1.0 s.

  Immediately after stopping reverse running and shifting to normal running, the vehicle speed is not sufficient, so there is a high possibility of a rear-end collision. In such a case, safety can be improved by operating various functions of the second driving support device 240 relatively early before the collision.

  The control by the changing means 214 is calculated based on the vehicle speed signal from the vehicle speed sensor 50 after detecting that the vehicle is running backward after the reverse running detection means 12 detects that the vehicle is running backward. When the vehicle speed V to be applied is equal to or higher than a predetermined value V2 (for example, 30 km / h), the vehicle speed V may be canceled. As a result, when the possibility of a rear-end collision with the following vehicle becomes low, the in-vehicle device 240 can be returned to the original state and appropriately operated.

  Here, an example of processing executed by various units of the vehicle control device 210 will be described with reference to the flowchart of FIG. The vehicle control device 210 starts the processing from S201 onward in response to a switch operation such as an ignition switch operation of the engine by the user.

  First, the vehicle control device 210 detects that the host vehicle is running backward by the reverse running detection means 12 (step S201), and does not detect that the host vehicle is running backward (step S201). NO), since the host vehicle is running forward, it is continuously detected that the host vehicle is running backward.

  When it is detected that the host vehicle is running backward (step S201, YES), the vehicle control device 210 changes the operating condition of the in-vehicle device 240 by the changing unit 214 (step S202).

  Subsequently, the vehicle control device 210 restricts the vehicle speed V by the restricting means 16 (step S203), and controls the display of the lamp 60 visible from the outside by the display control means 18 (step S204).

  Subsequently, the vehicle control device 210 detects that the host vehicle is running backward by the reverse running detection means 12 (step S205), and detects that the host vehicle is running backward (step S205). S205, YES), continuously detecting that the host vehicle is running backward.

  If it is not detected that the host vehicle is traveling backward (NO in step S205), it is determined whether or not the vehicle speed V is equal to or higher than a predetermined value V2 because the host vehicle is traveling forward (step S206). When the vehicle speed V is less than the predetermined value V2 (step S206, NO), it is continuously determined whether or not the vehicle speed V is equal to or higher than the predetermined value V2.

  When the vehicle speed V is equal to or higher than the predetermined value V2 (step S206, YES), the control by the changing unit 214 is canceled (step S204). And it returns to step S201 and performs the process after step S201.

  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, the vehicular control device 10 of the first embodiment is connected to the first travel support device 40, but is limited to the number of in-vehicle devices whose operating conditions and / or control amounts are changed by the changing means 14. For example, it may be connected to the airbag device 140 of the second embodiment and the second travel support device 240 of the third embodiment. In this case, when it is detected that the vehicle control device 10 is running backward, the vehicular control device 10 determines the operating conditions and / or control amounts of the first travel support device 40, the airbag device 140, and the second travel support device 240. Change.

  Moreover, although the vehicle control device 10 of the first embodiment is connected to the first travel support device 40, as long as the operating condition and / or the control amount of the first travel support device 40 can be changed. The configuration of the in-vehicle system is not limited. For example, the vehicle control device 10 may be a part of the first travel support device 40. In this case, various functions of the first travel support device 40 are controlled by the vehicle control device 10. Similarly, the vehicle control device 110 of the second embodiment may be a part of the airbag device 140. Further, the vehicle control device 210 of the third embodiment may be a part of the second travel support device 240.

1 is a functional block diagram illustrating a first embodiment of an in-vehicle system related to a vehicle control device according to the present invention. 4 is a flowchart illustrating an example of processing executed by various units of the vehicle control device 10; It is a functional block diagram which shows 2nd Example of the vehicle-mounted system relevant to the control apparatus for vehicles which concerns on this invention. It is a functional block diagram which shows 3rd Example of the vehicle-mounted system relevant to the control apparatus for vehicles which concerns on this invention. 5 is a flowchart illustrating an example of processing executed by various units of the vehicle control device 210.

Explanation of symbols

10, 110, 210 Vehicle control device 12 Reverse running detection means 14, 114, 214 Changing means 16 Limiting means 18 Display control means 40, 140, 240 In-vehicle device (first travel support device, airbag device, second travel support) apparatus)
60 lamp 62 headlamp 64 hazard lamp

Claims (6)

Reverse running detection means for detecting that the vehicle is running backward,
When the reverse running detection means detects that the vehicle is running backward, the changing means for changing the operating condition and / or the control amount of the in-vehicle device,
A vehicle control device comprising:   2. The vehicle control according to claim 1, wherein the changing unit changes an operation condition and / or a control amount of the in-vehicle device according to a vehicle speed when the reverse running detection unit detects that the vehicle is running backward. apparatus.   The vehicle control device according to claim 1, further comprising a limiting unit that limits a vehicle speed when the reverse running detection unit detects that the vehicle is running backward.   The display control means which controls the display of the lamp | ramp which can be visually recognized from the exterior of a vehicle, when the reverse running detection means detects that the vehicle is running backwards. Vehicle control device.   5. The vehicle control device according to claim 1, wherein the in-vehicle device is an airbag device and / or a travel support device that assists travel by determining a possibility of a collision. A reverse running detection step for detecting that the vehicle is running backward;
When it is detected by the reverse running detection step that the vehicle is running backward, a change step for changing the operating condition and / or control amount of the in-vehicle device;
A vehicle control method comprising:

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