JP2013149179A - Vehicle start support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle start support device capable of properly performing start support from parallel parking or road side parking.SOLUTION: A vehicle start support device includes: a vehicle rear side monitoring section 111 for monitoring on an own vehicle rear side by obtaining information on an object approaching the own vehicle rear side from a sensor 20; a driving operation detection section 112 for detecting on/off of an ignition 30, an angle of a steering wheel 40, on/off of a direction indicator 50 and on/off of a brake 60; an object information calculation section 121 for calculating information on the object on the own vehicle rear side on the basis of the information acquired in the vehicle rear side monitoring section 111 to specify a caution object; object information storage section 122 for storing information on the object to be the caution object; a risk determination section 123 for determining a collision risk between the own vehicle and the caution object; information providing section 131 for outputting the alarm propriety to a speaker 70 for voice output and a screen 80 for alarm display which are installed in the own vehicle on the basis of the collision risk; and a vehicle control section 132 for controlling reaction force of an accelerator pedal 90 on the basis of the collision risk.

Description

  The present invention relates to a vehicle start assisting device that avoids a collision between an object approaching from the vehicle rear side when the vehicle starts from parallel parking or roadside parking.

  Conventionally, obstacles around the vehicle are detected at the time of start of the vehicle, the contact possibility level with the obstacle is judged, and the driver is alerted before or after the start of the vehicle according to the contact possibility level. There is a known device that suppresses start by providing information to be achieved and driving the brake and throttle actuators when the contact possibility level is high (see, for example, Patent Document 1).

JP 2002-269697 A

  By the way, in the above-described conventional invention, when the vehicle operation state is the start start state in the forward direction, the contact possibility level with the obstacles around the rear is compared with the contact possibility level with the obstacles around the front. It is set low. Therefore, for example, when starting forward from a state of parallel parking or roadside parking, even if there is a vehicle approaching from the rear, the contact possibility level is set low, and the vehicle starts appropriately There was a possibility that it could not be suppressed.

  Further, the above-described conventional invention detects an obstacle around the vehicle and determines a contact possibility level with the obstacle, and does not include a means for detecting a vehicle approaching from a distance. In particular, when starting forward from a state of parallel parking or roadside parking, it is not possible to alert the presence of a vehicle approaching from a distance, and with a vehicle approaching from a distance There was a risk that it would be difficult to reliably avoid the collision.

  In view of the above, an object of the present invention is to provide a vehicle start support device that can appropriately perform start support from parallel parking or roadside parking.

  According to a first aspect of the present invention for solving the above-described problem, a vehicle start support device acquires information on an object approaching at least the rear side of the host vehicle from a moving object detection unit installed in the vehicle and The vehicle rear side monitoring means for performing side monitoring, the driving operation detection means for detecting at least ignition on / off and brake on / off, and the object based on information acquired by the vehicle rear side monitoring means The object information calculation means for calculating the presence / absence of the vehicle, the relative relationship between the vehicle and the object, the arrival time of the object to the vehicle, and identifying the object with the shortest arrival time as a warning target; Based on information stored in the object information storage unit, object information storage unit that stores information on the object of the warning target specified in the object information calculation unit, the host vehicle and the warning target A risk determining means for determining a collision risk with an object; and an information providing means for outputting the necessity of warning to an alarm means installed in the host vehicle based on the collision risk determined by the risk determining means; Vehicle control means for controlling the reaction force of the accelerator pedal based on the information determined by the risk determination means.

  Further, a vehicle start support device according to a second invention for solving the above-described problem is the vehicle start support device according to the first invention, wherein the risk determination means is configured to send the object to be watched to the host vehicle. If the arrival time of the vehicle exceeds a preset first predetermined time, it is determined that the collision risk is low, and the arrival time of the object to be alerted to the vehicle is within the first predetermined time and set in advance. When the second predetermined time is exceeded, it is determined that the collision risk is in progress, and when the arrival time of the object to be alerted to the host vehicle is within the second predetermined time, it is determined that the collision risk is high. Features.

  A vehicle start support device according to a third aspect of the present invention for solving the above-described problem is the vehicle start support device according to the second aspect of the present invention, wherein the information providing means is A warning-free command is output to the warning means, and when the collision risk is medium and when the collision risk is high, a warning is given to the warning means for a preset third predetermined time. It is characterized by outputting a command as follows.

  A vehicle start support device according to a fourth aspect of the present invention for solving the above problem is the vehicle start support device according to the third aspect of the present invention, wherein the vehicle control means is The accelerator pedal reaction force is controlled to be lighter than a normal value for a preset fourth predetermined time, and when the collision risk is medium, the accelerator pedal reaction force is controlled to a normal value, When the risk of collision is large, the reaction force of the accelerator pedal is controlled so as to become heavier than a normal value while the warning means performs warning.

  According to the vehicle start support device according to the first aspect described above, information on an object approaching at least the rear side of the host vehicle is acquired from the moving object detection means installed in the vehicle, and the rear side of the host vehicle is monitored. Vehicle rear side monitoring means, driving operation detection means for detecting at least ignition on / off and brake on / off, presence / absence of object based on information acquired by vehicle rear side monitoring means, The object information calculating means for calculating the relative relationship with the object, the arrival time of the object to the own vehicle, and specifying the object with the shortest arrival time as the warning target, and the information of the warning target object specified by at least the object information calculating means An object information storage means for storing the risk, a risk determination means for determining a collision risk between the vehicle and the object to be warned based on the information stored in the object information storage means, and a risk determination means Based on the determined collision risk, information providing means for outputting the necessity of alarm to the alarm means installed in the own vehicle, and controlling the reaction force of the accelerator pedal based on the information judged by the risk judgment means Vehicle control means to perform appropriate warning and start support based on the risk of collision with an object approaching the rear side of the vehicle when starting forward from a state of parallel parking or roadside parking. be able to.

  Moreover, according to the vehicle start support device according to the second invention described above, in the vehicle start support device according to the first invention, the risk determination means presets the arrival time of the object to be alerted to the own vehicle. When the first predetermined time is exceeded, it is determined that the collision risk is low, and the arrival time of the object to be alerted to the vehicle is within the first predetermined time and exceeds the preset second predetermined time Is judged to be in a collision risk, and if the arrival time of the object to be watched is within the second predetermined time, it is determined that the collision risk is large. Therefore, the effect of the vehicle start support device according to the first invention is improved. In addition, the risk of collision with an object approaching the rear side of the host vehicle can be set appropriately.

  Further, according to the vehicle start support device according to the third invention described above, in the vehicle start support device according to the second invention, when the information providing means has a small collision risk, there is no warning to the alarm means. If the collision risk is medium, and if the collision risk is large, the command is output so that the alarm is issued for a preset third predetermined time. The driver can be appropriately notified of the risk of collision with an object approaching the rear side of the vehicle.

  Further, according to the vehicle start support device according to the fourth invention described above, in the vehicle start support device according to the third invention, the vehicle control means applies the reaction force of the accelerator pedal in advance when the collision risk is small. During the fourth predetermined time to be set, control is performed so that it is lighter than the normal value. When the collision risk is medium, the reaction force of the accelerator pedal is controlled to the normal value, and when the collision risk is large, the accelerator pedal is controlled. Because the reaction force is controlled so that it becomes heavier than the normal value while the warning means is warning, the vehicle's start support is appropriately provided according to the risk of collision with an object approaching the rear side of the vehicle. It can be carried out.

It is a block diagram which shows the structure of the vehicle start assistance apparatus which concerns on the Example of this invention. It is a flowchart which shows the flow of the process by the vehicle start assistance apparatus based on the Example of this invention.

  Hereinafter, the vehicle start assistance device according to the present invention will be described in detail with reference to the drawings.

An embodiment of a vehicle start support device according to the present invention will be described with reference to FIGS.
As shown in FIG. 1, in this embodiment, the vehicle start support device 10 includes an input unit 11, a calculation unit 12, and an output unit 13 and is mounted on the vehicle 1.

  The input unit 11 includes a vehicle rear side monitoring unit 111 as a vehicle rear side monitoring unit and a driving operation detection unit 112 as a driving operation detection unit. The vehicle rear side monitoring unit 111 monitors the presence / absence of an object approaching at least from the rear side of the host vehicle using the sensor 20 installed in the vehicle. The driving operation detection unit 112 detects operations such as ON / OFF of the ignition (IG) 30, an operation angle (handle angle) of the handle 40, ON / OFF of the direction indicator 50, and ON / OFF of the brake 60.

  The calculation unit 12 includes an object information calculation unit 121 as an object information calculation unit, an object information storage unit 122 as an object information storage unit, and a risk determination unit 123 as a risk determination unit. The object information calculation unit 121 calculates a relative position and a relative speed between at least the host vehicle and each object approaching from the rear side of the host vehicle based on the information acquired by the vehicle rear side monitoring unit 111, and determines an object to be warned. Identify. The object information storage unit 122 stores information of each object approaching from the rear side of the host vehicle calculated by the object information calculation unit 121 (relative position and relative speed in this embodiment). The risk determination unit 123 determines whether the vehicle and the alert target are based on the operation angle of the handle 40 detected by the driving operation detection unit 112, the operation of the direction indicator 50, and the like, and information on each object stored in the object information storage unit 122. A collision risk is specified, and it is determined whether or not it is necessary to provide information to the driver of the collision risk and to perform pedal control.

  The output unit 13 includes an information providing unit 131 as an information providing unit and a vehicle control unit 132 as a vehicle control unit. Based on the content determined by the risk determination unit 123, the information providing unit 131 provides information on whether or not a warning or transmission is possible to the audio output speaker 70 and the alarm display screen 80. The vehicle control unit 132 supports the start of the vehicle by controlling the reaction force of the accelerator pedal 90 based on the collision risk specified by the risk determination unit 123.

  Hereinafter, the flow of the vehicle start support process by the vehicle start support device according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 2, in the present embodiment, the vehicle start assist device 10 first monitors the state of the ignition 30 in the driving operation detection unit 112 (step P1). If the ignition 30 is on (YES), the vehicle rear side monitoring unit 111 uses the sensor 20 to monitor the presence / absence of an object approaching at least from the rear side of the host vehicle, and approaches from the rear side of the vehicle. Information on the object to be acquired is acquired (step P2). On the other hand, if the ignition 30 is in an off state (NO), the process returns to step P1, and monitoring of the state of the ignition 30 is continued until the driving operation detecting unit 112 turns on the ignition 30.

  Subsequent to step P2, the driver's intention to start is determined by the driving operation detection unit 112 from information such as the angle of the handle 40, on / off of the direction indicator 50, and on / off of the brake 60 (step P3) . As a result of the determination, if it is determined that the driver is about to start (YES), the process proceeds to step P4. On the other hand, when it is determined that the driver is not going to start (NO), the process returns to Step P2.

  In step P4, the vehicle rear side monitoring unit 111 determines whether or not an object exists at least on the rear side of the host vehicle based on information input from the sensor 20. As a result of the determination, if it is determined that there is an object behind the host vehicle (YES), the object information calculation unit 121 calculates the number of objects, the relative distance between the host vehicle and each object, and the relative speed (step P5). ). Thereby, the information of the object approaching the own vehicle is obtained. On the other hand, if it is determined that there is no object on the rear side of the vehicle (NO), the process proceeds to step P14 described later.

Subsequent to Step P5, the time until each object detected by the vehicle rear side monitoring unit 111 in the object information calculation unit 121 reaches the host vehicle (TTC: Time To Collision; hereinafter referred to as “arrival time”). T _TTC is calculated (step P6), and the object having the shortest arrival time T _TTC among the objects is specified as a warning target (step P7). Thereafter, the object information storage unit 122 stores and updates the information of each object. Perform (Step P8).

Following Step P8, whether or not T _TTC ≦ T ₁ (for example, T ₁ = 4 seconds) is satisfied with _respect to the first predetermined time T ₁ set in advance by the risk determination unit 123 as the warning target arrival time T _TTC. Is determined (step P9). As a result of the determination, if the arrival time T _TTC of the alert target satisfies T _TTC ≦ T ₁ (YES), it is determined that the collision risk is “large” or “medium”, and is set in the information providing unit 131 in advance. ( ₃ ) A command is output so as to issue an alarm for a predetermined time T ₃ (for example, T ₃ = T ₁ ). As a result, an alarm is issued from the audio output speaker 70, and an alarm is displayed on the alarm display screen 80, prompting the driver to delay the vehicle start (step P10). On the other hand, as a result of the determination, when the arrival time T _TTC of the alert target is T _TTC > T ₁ (NO), it is determined that the collision risk is “small”, and the process proceeds to step P14 described later.

The first predetermined time T ₁ is a time when it is recognized that there is a possibility of collision between the own vehicle and the object to be alerted when the vehicle is started as it is, and the third predetermined time T ₃ is an object to be alerted to the own vehicle. The time is such that the driver can be informed that the vehicle is approaching.

Subsequently to Step P10, with respect to the second predetermined time T ₂ to the arrival time T _TTC vigilance interest in the risk determination unit 123 is set in _{advance, T TTC ≦ T 2 (T} 2 <T 1, for example, T ₂ = 2 seconds ) Is satisfied (step P11). As a result of the determination, when the arrival time T _TTC of the alert target satisfies T _TTC ≦ T ₂ (YES), it is determined that the collision risk is “high”, and a command to perform pedal control is output to the vehicle control unit 132 (Step P12). As a result, the reaction force of the accelerator pedal 90 is controlled to be F _MAX (F _MAX > F _BASE ) until the alarm is terminated in the vehicle control unit 132, and it is necessary to operate the pedal with a force stronger than usual. The start of the vehicle is suppressed. On the other hand, as a result of the determination, if the arrival time T _TTC of the watch target is T _TTC > T ₂ , that is, if the reach time T _TTC of the watch target is T ₂ <T _TTC ≦ T ₁ (NO), the collision risk is “ The process proceeds to step P13 while the accelerator pedal reaction force is maintained at F _BASE .

The second predetermined time T ₂ is a time when it is recognized that there is a very high possibility that the vehicle and the object to be warned will collide when the vehicle is started as it is.

In Step P13, the vehicle rear side monitoring unit 111 determines whether or not there is no object behind the host vehicle. If there is no object approaching from the rear side of the vehicle as a result of the determination (YES), the risk determination unit 123 determines that the collision risk is “low” and instructs the vehicle control unit 132 to perform pedal control. Output (step P14). Thus, the reaction force of the accelerator pedal 90 is controlled to be F _MIN (F _MIN <F _BASE ) for a fourth predetermined time T ₄ (for example, T ₄ = 3 seconds) preset in the vehicle control unit 132. The pedal can be operated with a weaker force than usual, and the vehicle can be smoothly accelerated when starting. On the other hand, if there is an object approaching from the rear side of the vehicle (YES), the process returns to step 5 described above.

Note that the fourth predetermined time T ₄ is a time that allows smooth acceleration when the vehicle starts.

  With the above processing, the vehicle start support by the vehicle start support device according to the present embodiment is performed.

  In short, the vehicle start support device according to the present embodiment starts monitoring the rear side of the vehicle by the sensor 20 when the ignition 30 is turned on (steps P1 to P3).

Then, if there are objects behind the vehicle, calculate the number of objects, the relative distance and relative speed between the vehicle and each object, and based on the calculated relative distance and relative speed, An object having the shortest arrival time T _TTC until reaching the host vehicle is set as a warning target (steps P4 to P8).

Subsequently, when the driver's intention to start is detected from information such as the brake 60 being turned off or the direction indicator 50 being turned on, the risk of collision with the warning target is determined from the arrival time T _TTC of the warning target. If the collision risk is high, a warning is output for a certain period of time or the reaction force of the accelerator pedal is increased to urge the advance of the start (steps P9 to P12).

  Further, when there is no object behind the host vehicle, it is determined that the risk of collision is low, and the reaction force of the accelerator pedal is reduced for a certain period of time so that acceleration at the start can be smoothly performed (steps P13 to P14). ).

Here, Table 1 shows the relationship between the arrival time _TTTC of the alert target, the collision risk, the warning, and the reaction force control of the accelerator pedal.

As shown in Table 1, in the vehicle start support device according to the present embodiment, there is no warning during normal traveling and the reaction force of the accelerator pedal 90 is set to F _BASE (normal value). On the other hand, when the vehicle is intended to start, the presence / absence of an alarm is determined according to the arrival time _TTTC of the alarm target as described above, and the reaction force of the accelerator pedal is controlled.

The accelerator pedal reaction force is such that it is difficult to operate the pedal unless F _MAX is depressed more than usual, F _BASE is the same level as during normal driving, and F _MIN can be operated with less force than usual. Level.

In other words, when the collision risk is “high”, it is possible to suppress the start by setting the reaction force of the accelerator pedal to F _MAX , and when the collision risk is “small”, the reaction force of the accelerator pedal is set to F _MIN . By doing so, it is possible to smoothly accelerate when starting.

  The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the start support device that supports the start of the vehicle according to the collision risk with the object approaching from the rear side of the own vehicle is shown. However, the vehicle start support device according to the present invention is Simultaneously equipped with a device for determining the risk of collision with objects existing in front of the vehicle and the side of the vehicle, or determining the risk of collision with objects existing in front of the vehicle and the side of the vehicle in the start-up support device Needless to say, it is possible to simultaneously provide an arithmetic unit that performs the above operation.

  In the above-described embodiment, an example in which the collision risk is divided into three stages of “large”, “medium”, and “small” is shown. However, the collision risk level is set in more detail, and an alarm is set according to each collision risk. The presence or absence of an accelerator pedal and the presence or absence of control of an accelerator pedal may be set.

In the above-described embodiment, the example in which the reaction force of the accelerator pedal is controlled to be smaller F _MIN compared to the normal value F _BASE when the collision risk is “low” is shown. If is small, the reaction force of the accelerator pedal may be kept at the normal value F _BASE .

  In the above-described embodiment, the driving operation detection unit 112 detects the on / off of the ignition 30, the operation angle of the handle 40, the on / off of the direction indicator 50, and the on / off of the brake 60. Although shown, the driving operation detection unit 112 may be configured to detect at least on / off of the ignition 30 and on / off of the brake 60.

  Further, when determining the driver's intention to start in the above-described step P3, it is specified by the operation of the direction indicator 50 whether to start rightward or leftward, and in the above-described step P4, the direction of starting is determined. Accordingly, the object information calculation unit 121 may detect only an object existing on the right rear side of the own vehicle, or may detect only an object existing on the left rear side of the own vehicle.

  According to the vehicle start support device according to the above-described embodiment, when the vehicle starts moving forward from parallel parking or roadside parking, the relative distance and the relative speed between the own vehicle and the object existing behind the own vehicle are taken into consideration. Thus, it is possible to accurately determine the collision risk and to provide appropriate information to the driver. Further, by controlling the reaction force of the accelerator pedal according to the collision risk, it is possible to reliably avoid a collision with an object approaching from the rear side of the host vehicle.

  The present invention is suitable for application to a vehicle start support device that supports forward start of a vehicle in parallel parking or roadside parking.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Vehicle start assistance apparatus 11 Input part 12 Calculation part 13 Output part 20 Sensor 30 Ignition 40 Handle 50 Direction indicator 60 Brake 70 Voice output speaker 80 Alarm display screen 90 Accelerator pedal 111 Vehicle rear side monitoring part 112 Driving Operation detection unit 121 Object information calculation unit 122 Object information storage unit 123 Risk determination unit 131 Information provision unit 132 Vehicle control unit

Claims (4)

Vehicle rear side monitoring means for acquiring information on an object approaching at least the rear side of the host vehicle from moving object detection means installed in the vehicle and monitoring the rear side of the host vehicle;
Driving operation detection means for detecting at least ignition on / off and brake on / off;
Based on the information acquired in the vehicle rear side monitoring means, the presence or absence of the object, the relative relationship between the vehicle and the object, the arrival time of the object to the vehicle is calculated, and the arrival time is the shortest. Object information calculation means for identifying an object as a warning object;
Collision between the vehicle and the object to be alerted based on information stored in the object information storage means and object information storage means for storing information on the object to be alerted identified at least by the object information calculation means A risk judging means for judging the risk;
Based on the collision risk determined by the risk determination means, information providing means for outputting the necessity of alarm for the alarm means installed in the own vehicle;
A vehicle start support device comprising: vehicle control means for controlling a reaction force of an accelerator pedal based on information determined by the risk determination means. The risk determination means is
If the arrival time of the object to be alerted to the vehicle exceeds a preset first predetermined time, it is determined that the collision risk is small,
When the arrival time of the object to be alerted to the host vehicle is within the first predetermined time and exceeds a preset second predetermined time, it is determined that there is a collision risk,
2. The vehicle start assist device according to claim 1, wherein when the arrival time of the object to be warned is within the second predetermined time, it is determined that the collision risk is high. The information providing means is
If the collision risk is small, output a warning-free command to the warning means,
A command is output so as to issue an alarm for a preset third predetermined time to the alarm means when the collision risk is medium and when the collision risk is large. The vehicle start support device according to 2. The vehicle control means is
When the collision risk is small, the vehicle is accelerated by starting to control the accelerator pedal reaction force to be lighter than a normal value for a fourth predetermined time set in advance,
When the collision risk is medium, the reaction force of the accelerator pedal is controlled to a normal value,
When the collision risk is large, the reaction force of the accelerator pedal is controlled so as to become heavier than a normal value while the warning means is giving a warning, thereby suppressing the start of the vehicle. Item 4. The vehicle start support device according to Item 3.

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