JP2010048240A - Driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support system capable of further reducing the occurrence of rushing-in accident of an obstacle positioned around a vehicle, even when the vehicle advances in the unintentional direction. <P>SOLUTION: A malfunction preventive ECU 30 sets a limit value of an engine speed based on a distance up to the obstacle detected by a parking support device 20 by using a corresponding map T stored and held in a memory 31 when the vehicle C travels. While, the malfunction preventive ECU 30 sets the limit value of the engine speed based on the distance up to the obstacle stored and held in the memory 31 by using the corresponding map T1 when the vehicle C starts. The malfunction preventive ECU 30 imparts indication of the effect of restraining driving force of the vehicle C more than driving force determined based on an actual engine speed in its determination to an engine control ECU 10 when determining that the actual engine speed is larger than the limit value of the preset engine speed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support system that supports driving of a vehicle.

  Conventionally, as a driving support system, for example, a technique described in Patent Document 1 is known. In the technique described in this document, a distance to an obstacle is repeatedly calculated using an ultrasonic sensor, and whether or not an obstacle exists is determined based on the calculated distance for each calculation. Then, when it is determined that there is an obstacle, the distance from that time until it is determined again that there is an obstacle is calculated based on the output from the vehicle speed sensor, and the distance between two obstacles around the vehicle Ask for. Thereby, it becomes possible to assist the driving of the vehicle by determining whether or not the parallel parking is possible based on the obtained distance between the two obstacles around the vehicle.

By the way, in recent years, there are many accidents where vehicles enter the building due to incorrect operation of the accelerator pedal and the brake pedal. In order to prevent such an erroneous operation of the pedal, the vehicle is provided with a buzzer that outputs, for example, “Peep” and a warning alerting the user when the shift lever is set in the reverse state.
Japanese Patent Laid-Open No. 2005-9992

  For example, when parking in a parking lot such as a convenience store, the user often performs forward parking. Therefore, when leaving the vehicle from the parking lot of such a store, the user naturally needs to set the shift lever in the retracted state.

  However, the user may put the shift lever in the forward movement state even in such a situation that should be in the backward movement state. In this case, in the prior art, a warning is not output by the buzzer, and the rush accident may occur.

  The present invention has been made in view of the above circumstances, and the purpose of the present invention is to prevent the occurrence of rush accidents on obstacles located around the vehicle even when the vehicle travels in an unintended direction. It is to provide a driving support system that can be reduced.

  In order to achieve such an object, according to the first aspect of the present invention, there is provided a driving support system for supporting driving of the vehicle, the driving force control device for controlling the driving force generated in the vehicle, and the ultrasonic sensor. An obstacle distance detecting means for detecting a distance to an obstacle located around the vehicle, and a driving force related value that is a value related to the driving force of the vehicle based on the distance to the obstacle detected by the obstacle distance detecting means When it is determined that the limit value setting means for setting the limit value of the value and the actual driving force related value is larger than the limit value set by the limit value setting means, the driving force of the vehicle is determined at the time of the determination. And a support control device that gives an instruction to the driving force control device to suppress the driving force from being determined based on an actual driving force related value.

  In such a configuration as the driving support system, the distance to the obstacle located around the vehicle is detected by the obstacle distance detecting means, and the obstacle detected by the obstacle distance detecting means by the limit value setting means. Based on the distance to the object, the limit value of the driving force related value is set. When the assist control device determines that the actual driving force related value is larger than the limit value, the driving force of the vehicle is set to be greater than the driving force determined based on the actual driving force related value at the time of the determination. An instruction to suppress is given to the driving force control device. The limit value means that even if a driving force corresponding to this limit value is actually generated in the vehicle, the driver notices that the vehicle travels in an unintended direction, depresses the brake pedal, and the vehicle It means the upper limit value that can stop without colliding. As a result, even when the vehicle travels in an unintended direction, it is possible to further reduce the occurrence of a rush accident to an obstacle located around the vehicle. Incidentally, there is a vehicle equipped with a parking support system using an ultrasonic sensor. In the case of such a vehicle, the ultrasonic sensor of the parking assistance system can be diverted to the driving assistance system according to the present invention.

  For example, as in the invention described in claim 2, the driving force related value is a throttle opening, and may be detected using a throttle opening sensor. Alternatively, for example, as in the third aspect of the invention, the driving force-related value is an amount of depression of an accelerator pedal, and may be detected using an accelerator position sensor. Incidentally, the amount of depression indicates the required value of the driver with respect to the driving force. Furthermore, for example, as in the invention described in claim 4, the driving force-related value may be an engine speed.

  Incidentally, the longer the distance to the obstacle detected by the ultrasonic sensor, the easier it is for the vehicle to stop without colliding with the obstacle, so the limit value of the driving force-related value may be large. Conversely, the shorter the distance to the obstacle detected by the ultrasonic sensor, the more difficult it is for the vehicle to stop without colliding with the obstacle, so the limit value of the driving force related value must be small.

  And the setting method of the limit value of the said driving force related value is arbitrary. Therefore, the limit value setting means may calculate a limit value based on the distance to the obstacle by predetermining an arithmetic expression that captures the above tendency. Alternatively, for example, as in the invention described in claim 5, the storage holding means for storing and holding a correspondence map between the distance to the obstacle and the limit value of the driving force-related value, the limit value setting means includes: The limit value of the driving force related value may be set based on the distance to the obstacle detected by the obstacle distance detecting means, using the correspondence map stored and held in the memory holding means. .

  In addition, the propagation speed of the ultrasonic wave used in the ultrasonic sensor is very slow compared to the propagation speed of the radio wave used in, for example, a millimeter wave radar. Time is required. Therefore, if the vehicle is departed immediately after the ignition switch is turned on, there is a possibility that an rush accident to an obstacle located around the vehicle may occur.

  In that respect, in the configuration according to claim 5, as in the invention according to claim 6, the distance to the obstacle when the vehicle is stopped is stored and held, and the limit value setting means is It is preferable that a limit value of the driving force-related value is set based on a distance to the obstacle stored and stored in the means, and the support control device performs the determination and support when the vehicle departs.

  As a result, even if the vehicle departs immediately after the ignition switch is turned on, the limit value setting means can set the limit value immediately based on the distance to the obstacle that is stored and retained. The control device can immediately give an instruction to the driving force control device to suppress the driving force of the vehicle. As a result, it is possible to further reduce the occurrence of rush incidents on obstacles located around the vehicle.

  In the driving support system according to any one of claims 1 to 6, in the invention according to claim 7, the obstacle distance detecting means is configured such that a shift lever provided in the vehicle is set in a forward state. In this case, an ultrasonic sensor provided on the forward direction side of the vehicle detects a distance to an obstacle located on the forward direction side in the periphery of the vehicle, while a shift lever provided on the vehicle moves backward. When the state is set, the distance to the obstacle located on the backward direction side in the periphery of the vehicle is detected by the ultrasonic sensor provided on the backward direction side of the vehicle. As a result, only necessary detection can be performed without performing unnecessary detection of the distance to the obstacle.

  Hereinafter, an embodiment of a driving support system according to the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing the overall configuration of the driving support system 1 of the present embodiment, and FIG. 2 is a plan view schematically showing an example of an arrangement mode of ultrasonic sensors. First, the configuration and functions of the driving support system 1 will be described with reference to FIGS. 1 and 2.

  As shown in FIG. 1, the driving support system 1 is mounted on a vehicle C (not shown in FIG. 1) and includes an engine control ECU 10, a parking support device 20, a malfunction prevention ECU 30, and the like.

  Among these, the engine control ECU 10 detects the position of a shift lever that switches the gear position of an automatic transmission (not shown) mounted on the vehicle C, and the throttle opening detected using a throttle opening sensor (not shown) mounted on the vehicle C. The engine rotational speed calculated based on a detection signal of a crank position sensor (not shown) mounted on the vehicle C is fetched. Then, the engine control ECU 10 calculates the fuel injection amount to be injected into the combustion chamber of the in-vehicle engine based on the various pieces of information taken in, and injects the calculated fuel injection amount into the combustion chamber (fuel injection amount control). By such fuel injection amount control, the engine control ECU 10 controls the driving force generated by the vehicle.

  Further, when receiving an engine rotation speed suppression request signal from a malfunction prevention ECU 30 described later, the engine control ECU 10 reduces the fuel injection amount, for example, and suppresses the driving force of the vehicle C.

  Incidentally, the engine control ECU 10 corresponds to the driving force control device described in the claims, and the throttle opening and the engine rotation speed correspond to the driving force related values described in the claims.

  The parking assist device 20 is a so-called known back & clearance sonar system, and includes a parking assist ECU 21, a forward ultrasonic sensor 22, a reverse ultrasonic sensor 23, and the like.

  An example of the arrangement of the ultrasonic sensors 22 and 23 is shown in FIG. As shown in FIG. 2, for example, four forward-side ultrasonic sensors 22 are arranged on the bumper toward the forward side of the periphery of the vehicle C, and transmit and receive ultrasonic waves. Similarly, for example, four backward ultrasonic sensors 23 are disposed on the bumper toward the backward side of the periphery of the vehicle C, and transmit and receive ultrasonic waves.

  When the shift lever is set to the forward movement state, the parking assist ECU 21 determines whether there is an obstacle located on the forward side of the surroundings of the vehicle C based on the transmission / reception of the ultrasonic waves by the forward movement ultrasonic sensor 22 and Detect the approximate distance to the obstacle. Similarly, when the shift lever is set in the reverse state, the parking assist ECU 21 detects an obstacle located on the reverse side of the periphery of the vehicle C based on transmission / reception of ultrasonic waves by the reverse side ultrasonic sensor 23. Detect presence / absence and approximate distance to this obstacle. Therefore, the parking assistance device 20 (specifically, the parking assistance ECU 21) corresponds to the obstacle distance detection means described in the claims.

  Then, the parking assist ECU 21 determines whether there is an obstacle located around the vehicle C and the approximate distance to the obstacle by an alarm by a buzzer, voice guidance by a speaker, graphic display on a display device, etc. (both shown) (Omitted) warns the user of vehicle C. Further, the parking assist ECU 21 outputs to the malfunction prevention ECU 30 described later the presence / absence of an obstacle located around the vehicle C and the approximate distance to the obstacle.

  Moreover, in the parking assistance apparatus 20, the detection range which is a range which can detect an obstruction normally with the ultrasonic sensors 22 and 23 is set with a margin. That is, it is actually possible to detect an obstacle located in a wider range than the set warning range. However, in the present embodiment, such a warning range is set broadly to an actual detectable range.

  In addition, since such parking assistance apparatus 20 is well-known, the further detailed description here is omitted.

  Similarly to the engine control ECU 10, the malfunction prevention ECU 30 determines the position information of the shift lever, the throttle opening detected using the throttle opening sensor, the engine speed calculated based on the detection signal of the crank position sensor, and the like. In addition to repeatedly taking in every time, the distance from the parking assist ECU 21 to the obstacle is also taken in every predetermined time.

  As shown in FIG. 1, the malfunction prevention ECU 30 has a memory (memory holding means) 31 made of, for example, a flash memory, for example, and the memory 31 stores and holds the correspondence map T1 shown in FIG. ing. As shown in FIG. 3, the longer the distance to the obstacle detected by the parking assistance device 20, the greater the limit value of the engine speed. Incidentally, the distance to the obstacle and the limit value of the engine rotation speed are associated with each other because the vehicle C can easily stop without colliding with the obstacle. On the other hand, the shorter the distance to the obstacle detected by the parking assistance device 20, the smaller the limit value of the engine speed. Incidentally, the distance to the obstacle and the limit value of the engine rotation speed are associated with each other because it is difficult for the vehicle C to stop without colliding with the obstacle.

  Further, the limit value of the engine rotation speed means that even when a driving force corresponding to this limit value is actually generated in the vehicle C, the driver notices that the vehicle C proceeds in an unintended direction, and the brake pedal is It means an upper limit value that allows the vehicle C to stop without stepping on and colliding with an obstacle. Therefore, the region below the limit value of the engine speed indicated by the curve in FIG. 3 is a safety region in which it is easy for the vehicle C to stop without colliding with an obstacle. The region above the limit value of the engine speed indicated by the curve is a dangerous region where it is difficult for the vehicle C to stop without colliding with an obstacle. When the vehicle C stops, the distance to the obstacle detected by the parking assist device 20 is stored and held in the memory 31 of the malfunction prevention ECU 30.

  When the vehicle C is traveling, the malfunction prevention ECU 30 uses the correspondence map T1 stored and held in the memory 31 to set a limit value of the engine speed based on the distance to the obstacle detected by the parking assistance device 20. To do. On the other hand, when the vehicle C departs, the malfunction prevention ECU 30 uses the correspondence map T1 stored and held in the memory 31 and based on the distance to the obstacle that is also stored and stored in the memory 31, Set the value. When the malfunction prevention ECU 30 determines that the actual engine speed is greater than the set limit value of the engine speed, the malfunction prevention ECU 30 determines the driving force of the vehicle C based on the actual engine speed at the time of the determination. The engine control ECU 10 is instructed to suppress the driving force from being determined.

  The malfunction prevention ECU 30 corresponds to the support control device and the limit value setting means described in the claims, and the memory 31 corresponds to the memory holding means described in the claims.

  The operation of the driving support system 1 configured as described above will be described with reference to FIGS. 4 and 5. FIG. 4 is a schematic diagram for explaining an operation example when the vehicle C stops at a parking lot of a store such as a convenience store, for example. FIG. 5 is a timing chart for explaining such an operation example. is there.

  As shown in FIGS. 4 and 5, for example, it is assumed that the user advances the vehicle C to the parking area of the parking lot adjacent to the store B, and stops the vehicle C at time t1. At this time, the malfunction prevention ECU 30 stores the distance to the obstacle detected by the parking assistance device 20 in the memory 31 from the time t1 when the vehicle C stops to the time t2 when a predetermined time elapses. Incidentally, when the vehicle C travels before the time t1, the malfunction prevention ECU 30 uses the correspondence map T1 stored and held in the memory 31 to determine the engine based on the distance to the obstacle detected by the parking assistance device 20. The limit value of the rotation speed is set.

  In addition, it is assumed that the user who has left the vehicle C and has completed the request at the store B returns to the vehicle C and departs the vehicle C at time t3, for example. At this time, since the obstacles cannot be detected by the ultrasonic sensors 22 and 23 from the time t3 when the vehicle C departs until the time t4 when a predetermined time elapses, the malfunction prevention ECU 30 stores the correspondence map stored in the memory 31. Using T1, the limit value of the engine speed is set based on the distance to the obstacle that is also stored in the memory 31.

  When the malfunction prevention ECU 30 determines that the actual engine rotation speed is greater than the limit value, the malfunction prevention ECU 30 gives an engine rotation speed suppression request to the engine control ECU 10. When the engine control ECU 10 receives the engine rotation speed suppression request, For example, the driving force of the vehicle C is suppressed by reducing the fuel injection amount.

  In the embodiment described above, the malfunction prevention ECU 30 uses the correspondence map T1 stored and held in the memory 31 when the vehicle C is traveling, based on the distance to the obstacle detected by the parking assistance device 20. Set the engine speed limit value. On the other hand, when the vehicle C departs, the malfunction prevention ECU 30 uses the correspondence map T1 stored and held in the memory 31 and based on the distance to the obstacle that is also stored and stored in the memory 31 to limit the engine rotation speed. Set the value. Then, when the malfunction prevention ECU 30 determines that the actual engine speed is larger than the set limit value of the engine speed, the malfunction prevention ECU 30 determines the driving force of the vehicle C from the driving force determined based on the actual engine speed. Is also given to the engine control ECU 10. As a result, even when the vehicle C travels in an unintended direction, it is possible to further reduce the occurrence of a rush accident to an obstacle located around the vehicle C.

  Moreover, in the said embodiment, the ultrasonic sensors 22 and 23 which comprise the parking assistance apparatus 20 mounted in the vehicle C were diverted to the ultrasonic sensors 22 and 23 of a parking assistance system. Thereby, simplification of the structure as the whole driving assistance system can be attained.

  The driving support system 1 according to the present invention is not limited to the configuration exemplified in the above embodiment, and can be implemented with various modifications without departing from the spirit of the present invention. is there. In other words, for example, the following embodiment can be implemented by appropriately changing the above embodiment.

  In the above embodiment, the parking assist ECU 21 is positioned on the forward side of the periphery of the vehicle C based on transmission / reception of ultrasonic waves by the forward-side ultrasonic sensor 22 when the shift lever is set to the forward state. While detecting the presence / absence of an obstacle and the approximate distance to the obstacle, when the shift lever is set in the reverse state, the surroundings of the vehicle C are determined based on the transmission / reception of ultrasonic waves by the reverse side ultrasonic sensor 23. The presence / absence of an obstacle located on the reverse side and the approximate distance to the obstacle are detected, but the present invention is not limited to this. Regardless of the set position of the shift lever, based on the transmission / reception of ultrasonic waves by both the forward-side ultrasonic sensor 22 and the backward-side ultrasonic sensor 23, the presence or absence of obstacles around the vehicle C and the approximate distance to this obstacle The distance may be detected.

  In the above-described embodiment, for example, a flash memory is used as the memory holding unit. However, the present invention is not limited to this, and a hard disk drive device or the like may be used. In short, the distance to the obstacle when the vehicle C is stopped can be stored and retained, and if the correspondence map between the distance to the obstacle and the limit value of the engine speed can be retained and retained Means are arbitrary.

  In the above embodiment, the malfunction prevention ECU 30 stores and holds the distance to the obstacle when the vehicle C is stopped in the memory holding means, and the distance to the obstacle that is stored and held when the vehicle C starts. However, the present invention is not limited to this. If the vehicle does not depart immediately after the ignition switch is turned on, that is, if it departs after waiting until the distance to the obstruction can be detected by the ultrasonic sensor, the obstruction when the vehicle C stops It is not necessary to memorize and hold the distance.

  In the above embodiment, the malfunction prevention ECU 30 stores and holds the correspondence map T1 (see FIG. 3) between the distance to the obstacle and the limit value of the engine rotation speed in the memory holding means. Absent. In addition, for example, the malfunction prevention ECU 30 stores and holds a correspondence map T2 (see FIG. 6) between the distance to the obstacle and the limit value of the throttle opening in the memory holding means, and uses this correspondence map T2. A limit value of the throttle opening may be set based on the distance to the obstacle. Alternatively, the malfunction prevention ECU 30 stores and holds a correspondence map (not shown) between the distance to the obstacle and the limit value of the depression amount of the accelerator pedal in the memory holding means, and using this correspondence map, A limit value for the amount of depression of the accelerator pedal may be set based on the distance. Incidentally, the engine speed, the throttle opening, and the accelerator pedal depression amount correspond to the driving force-related values described in the claims.

  Further, the malfunction prevention ECU 30 predetermines an arithmetic expression that captures the tendency appearing in the correspondence maps T1 and T2, and calculates the limit value of these driving force-related values by calculation using the arithmetic expression based on the distance to the obstacle. May be.

  In the above-described embodiment, the parking assist ECU 21 and the malfunction prevention ECU 30 are configured as separate bodies, but may be configured as an integral unit. That is, the processing executed by the malfunction prevention ECU 30 may be executed by the parking assistance ECU 21 configuring the existing parking assistance device 20.

The block diagram which shows the whole structure about one Embodiment of the driving assistance system which concerns on this invention. The top view which shows typically an example of the arrangement | positioning aspect of an ultrasonic sensor about this Embodiment. The figure which shows an example of the correspondence map of the distance to an obstruction, and the limit value of rotational speed about this Embodiment. Explanatory drawing for demonstrating operation | movement of this Embodiment. 6 is a timing chart for explaining the operation of this embodiment. The figure which shows an example of the correspondence map with the distance to an obstruction, and the limit value of an accelerator opening about the modification of this Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 10 ... Engine control ECU (driving force control apparatus), 20 ... Parking assistance apparatus, 21 ... Parking assistance ECU (obstacle distance detection means), 22 ... (forward side) ultrasonic sensor, 23 ... ( Reverse side) Ultrasonic sensor, 30 ... Malfunction prevention ECU (support control device, limit value setting means), 31 ... Memory (memory holding means), B ... Building, C ... Vehicle, T1, T2 ... Correspondence map.

Claims (7)

A driving support system for supporting driving of a vehicle,
A driving force control device for controlling the driving force generated in the vehicle;
Obstacle distance detection means for detecting a distance to an obstacle located around the vehicle by an ultrasonic sensor;
Limit value setting means for setting a limit value of a driving force related value that is a value related to the driving force of the vehicle based on the distance to the obstacle detected by the obstacle distance detecting means;
When it is determined that the actual driving force related value is larger than the limit value set by the limit value setting means, the vehicle driving force is determined by the driving force determined based on the actual driving force related value at the time of the determination. And a support control device that gives an instruction to the control to the driving force control device.   The driving support system according to claim 1, wherein the driving force related value is a throttle opening, and is detected using a throttle opening sensor.   The driving support system according to claim 1, wherein the driving force-related value is a depression amount of an accelerator pedal, and is detected using an accelerator position sensor.   The driving support system according to claim 1, wherein the driving force related value is an engine rotation speed. In the driving support system according to any one of claims 1 to 4,
Storage holding means for storing and holding a correspondence map between the distance to the obstacle and the limit value of the driving force related value;
The limit value setting means uses the correspondence map stored and held in the memory holding means, and based on the distance to the obstacle detected by the obstacle distance detection means, the limit value of the driving force related value Driving support system characterized by setting In the driving support system according to any one of claims 1 to 5,
Storing the distance to the obstacle when the vehicle is stopped,
The limit value setting means sets the limit value of the driving force related value based on the distance to the obstacle stored and held in the storage holding means,
The driving control system is characterized in that the support control device performs the determination and support when the vehicle departs. In the driving support system according to any one of claims 1 to 6,
When the shift lever provided in the vehicle is set in the forward movement state, the obstacle distance detection means moves forward in the periphery of the vehicle by an ultrasonic sensor provided in the forward direction side of the vehicle. While detecting the distance to the obstacle located on the direction side, when the shift lever provided in the vehicle is set in the reverse state, the ultrasonic sensor provided on the reverse direction side of the vehicle, A driving support system for detecting a distance to an obstacle located on the reverse direction side in the periphery of the vehicle.

Images