JP2013209055A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device for supporting a driver when separating a wheel from a wheel stopper during parking.SOLUTION: When a rear wheel or a front wheel is brought into contact with a wheel stopper by a driver who parks a vehicle in a parking lot, the contact is detected by an acceleration sensor or the like (S8: YES), calculation on a gap between the wheel stopper and the wheel is started (S12), and an insufficient gap warning is started (S13). The insufficient gap warning may be given by sound "move away from the wheel stop", or a buzzer. When a driver positively separates the wheel from the wheel stop by selecting D or R gear position (S21: other than P, N) and when the gap reaches a predetermined value α or more (S22: YES), the gap distance calculation is stopped in S23 and the insufficient gap warning is stopped in S24.

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and more particularly, to a driving support device that supports driving in which a wheel (front wheel or rear wheel) is isolated from a wheel stopper and parked.

  When starting a parked vehicle, if the wheel is in contact with the wheel stop, the wheel in contact may get over the wheel stop when the vehicle is started in the wheel stop direction by mistake in the shift operation. is there. At this time, if the driver panics and further depresses the accelerator pedal, the vehicle may collide with a nearby building or another vehicle.

  Therefore, it has been proposed to suppress the engine output when the vehicle start direction determined by the shift position matches the start prohibition direction in which the wheel is in contact with the wheel stop (see, for example, Patent Document 1).

JP 2007-332837 A

  However, in the technique of Patent Document 1, it cannot be said that there is no case where the function does not function normally if the shift position is switched in a complicated manner at the time of parking or at the next start. For example, if you parked with the shift position set to R (reverse) and the rear wheel touched the wheel stop, the driver switched the shift position to D (drive) and released the rear wheel from the wheel stop. Actually, the rear wheel may be in contact with the wheel stopper. Also, when the rear wheel is in contact with the wheel stopper and the driver switches the shift position to D and then switches to R, it is clear whether the engine output is suppressed as described above. is not.

  On the other hand, if the wheel is parked away from the wheel stopper and the vehicle is started, even if the driver makes a mistake in the shift operation, the vehicle is shocked when the wheel comes into contact with the wheel stopper, The driver is more likely to correct the shift position before getting over the wheel stops. In addition, parking the wheels separately from the wheel stops can also cause other secondary effects such as preventing wear of the tires constituting the outer periphery of the wheels. Then, this invention was made | formed for the purpose of providing the driving assistance apparatus for assisting the driving | operating which isolates a wheel from a wheel stopper and parks.

  In the driving support device of the present invention made to achieve the above object, the wheel stop detection means detects that the front wheel or the rear wheel of the vehicle has come into contact with the wheel stop. When the wheel stop detection means detects that the front wheel or the rear wheel is in contact with the wheel stop, the driving support means is a driving support for isolating the contacted front wheel or rear wheel from the wheel stop. Execute.

For this reason, in this invention, the driving | operation which parks in the state which isolated the wheel from the wheel stopper becomes easy. And if the wheel is isolated from the wheel stopper and parked in this way, even if the driver makes a shift operation incorrectly when starting the vehicle, the driver notices the impact when the wheel contacts the wheel stopper, There is a higher possibility of correcting the shift position before the wheel has completely passed over the stop. Further, by parking the wheel separately from the wheel stopper, it is possible to prevent wear of the tire constituting the outer periphery of the wheel.

It is a block diagram showing the structure of the driving assistance device to which this invention is applied. It is a flowchart showing a part of process in the driving assistance device. It is a flowchart showing the continuation of the process.

[Configuration of the embodiment]
Next, embodiments of the present invention will be described with reference to the drawings. The driving support device of the present embodiment is mounted on a four-wheel vehicle (not shown), and is configured around an ECU 1 as shown in FIG. The ECU 1 is configured as a microcomputer including a CPU, a ROM, and a RAM (not shown), and also includes a nonvolatile memory 11. The non-volatile memory 11 stores a post-startup clearance securing flag or the like used in the processing described later so that it will not disappear even after the ignition is turned off. The ECU 1 is connected to the following acceleration sensor 3, vehicle speed sensor 4, shift position sensor 5, warning device 7, and driving force generator 8.

  The acceleration sensor 3 is used for detecting acceleration applied to the vehicle and applying it to various controls. By analyzing the detection signal, the front wheel or the rear wheel (both not shown) of the vehicle abuts against the wheel stopper. It can also be detected. The vehicle speed sensor 4 detects the traveling speed of the vehicle. By combining the detection signal and the detection signal analysis result of the acceleration sensor 3, it is possible to further confirm that the front wheel or the rear wheel of the vehicle is in contact with the wheel stopper. It can be detected accurately. The shift position sensor 5 detects a position of a shift lever (not shown) (hereinafter referred to as a shift position), and in this embodiment, D (drive), R (reverse), N (neutral), P (parking). It is assumed that one of the shift positions is detected. That is, in this embodiment, for simplification of description, as a shift position, D that instructs power transmission in the forward direction to the driving wheel, R that instructs power transmission in the backward direction to the driving wheel, and power transmission to the driving wheel. It is assumed that N for instructing the release of P and P for instructing the fixing of the wheel are prepared.

  Various warning devices 7 can be applied as long as they give a warning by voice or display to the driver. In this embodiment, the warning device 7 emits a voice. The driving force generator 8 may be an internal combustion engine or an electric motor. When the driving force generator 8 is an internal combustion engine, the gear connection mode in the automatic transmission connected to the internal combustion engine changes according to the shift position. Although not shown in FIG. 1, the ECU 1 is also connected to a sensor that detects the operation state of the brake pedal of the vehicle.

  Further, as shown in FIG. 1, the processing in the ECU 1 can be broken down into three parts: a wheel stopper detecting unit 1A, a wheel stopper and wheel gap distance calculating unit 1B, and a gap securing support control unit 1C. As described above, the wheel stopper detection unit 1A detects that the wheel is in contact with the wheel stopper based on a detection signal from the acceleration sensor 3 or the like. The wheel stop / wheel gap distance calculation unit 1B integrates the traveling speed detected by the vehicle speed sensor 4 with time after the wheel stop detection unit 1A detects that the wheel is in contact with the wheel stop. The clearance distance between the wheel and the wheel is calculated. As will be described later, the clearance securing support control unit 1 </ b> C controls the warning device 7 to emit a sound or automatically control the driving force generation device 8, so that the wheel is isolated from the wheel stopper and parked. Support.

[Process of embodiment]
Hereinafter, the details of the processing of the ECU 1 will be described using the flowcharts of FIGS. 2 and 3 are repeatedly executed at predetermined time intervals after the ignition of the vehicle is turned on (meaning a power supply state capable of running in an electric vehicle or the like). As shown in FIG. 2, in this process, first, in S1 (S represents a step: the same applies hereinafter), it is determined whether or not there is a read history of the nonvolatile memory 11. Immediately after the ignition is turned on, since there is no read history of the nonvolatile memory 11 (S1: YES), the process proceeds to S2, and the post-startup clearance securing flag stored in the nonvolatile memory 11 is read. In subsequent S3, a read history of the nonvolatile memory 11 is stored in a predetermined area of the RAM as being present. In the post-startup clearance securing flag read in S2, the initial value at the time of vehicle shipment is set to “other than unsecured (that is, secured or unknown)”.

  In subsequent S5, it is determined whether or not the first-warning flag after startup stored in a predetermined area of the RAM is “not yet”. Immediately after the ignition is turned on, the flag is initially set to “not yet” (S5: YES), and the process proceeds to S6. In S6, it is determined whether or not the post-startup clearance securing flag is set to “unsecured”. As described above, since the initial value of this flag is “other than unsecured” (S6: NO), the process proceeds to S7.

  In S7, a wheel stop detection process for determining whether or not the wheel is in contact with the wheel stop is executed based on a detection signal from the acceleration sensor 3 or the like. In S8, the wheel contact with the wheel stop is detected by the detection process. Is detected (whether there is a wheel stop detection event) or not. When the vehicle starts from a clear road or is traveling on a general road, a negative determination is made in S8, and the process proceeds to S9. In S9, it is determined whether or not the calculation is being performed by the clearance distance calculation process. However, this calculation is a process started in S12 described later, and is not being calculated immediately after the ignition is turned on (S9). : NO), the process is temporarily terminated.

  The next time this process is executed, since there is a non-volatile memory read history (S1: NO), the process directly moves from S1 to S5. Thus, after the ignition is turned on, while the vehicle is running normally without the wheels coming into contact with the wheel stops, every time this process is executed, S1, S5, S6, S7, S8, S9. Processing is executed sequentially.

  When the driver attempts to park the vehicle in the parking lot, the rear wheel or the front wheel is brought into contact with the wheel stopper, which is detected via the acceleration sensor 3 or the like (S8: YES), and the process proceeds from S8 to S11. . In S11, N stored in the predetermined area of the RAM and no brake OFF history are set, and in the subsequent S12, the calculation of the gap distance is started, and further, in 13 a gap unsecured warning is started. This gap unsecured warning may be issued with a voice saying “Please move away from the ring stop” or simply beep repeatedly.

  When the clearance distance calculation is started in S12, an affirmative determination is made in S9 following S13, and the process proceeds to S21 to determine the shift position. Here, the following three ways are considered as the driver's response when the gap not secured warning is given. First, when the wheel is in contact with the wheel stopper and the shift position is set to R, the shift position is switched to D, and the wheel is locked to the wheel to move forward and set the shift position to D. When contacted, the shift position is switched to R, and the wheel is actively released. Secondly, by switching the shift position to N, it is possible to use a force that causes the wheel on the wheel stopper to slide down, and so forth to move the wheel away from the wheel stopper. Thirdly, it is also possible to ignore the gap not yet secured warning, switch the shift position to P, turn off the ignition, and get off.

Therefore, in the present embodiment, the process during the gap not yet secured warning is switched as follows based on the shift position determined in S21. First, when the shift position is D or R (S21: other than P and N), it is determined in S22 whether or not the gap distance is equal to or greater than a predetermined distance α. Here, the predetermined distance α means that even if the driver makes a shift operation incorrectly when starting the vehicle, the driver notices the impact when the wheel comes in contact with the wheel stopper, and the wheel completely gets over the wheel stopper. The distance is sufficient to correct the shift position before. Specifically, the predetermined distance α is, for example, 1
It can be 0 cm.

  If the gap distance is less than the predetermined distance α (S22: NO), the process ends as it is and the gap not yet secured warning is continued. On the other hand, when the driver actively removes the wheel from the wheel stop as described above and the gap distance becomes equal to or greater than the predetermined distance α (S22: YES), the gap distance calculation is stopped in S23, and the gap not secured warning is issued in S24. Is stopped. Further, in S25, the post-startup gap securing flag is set to “other than unsecured” and written in the nonvolatile memory 11, and the process is temporarily terminated. Then, in the next process, since the clearance distance calculation is stopped (S23), the process makes a negative determination in S9 and does not shift to S21. For this reason, even when the shift position is set to P after the gap distance is secured to be equal to or greater than the processing distance α, the setting of the post-startup gap securing flag does not change regardless of the shift position change (see S42 described later).

  On the other hand, when the shift position is switched to N during the gap not yet secured warning (S21: N), the process proceeds to S31, and the gap distance is less than the predetermined distance β (for example, 2 cm) smaller than the predetermined distance α. It is determined whether or not. If the gap distance is less than the predetermined distance β (S31: NO), it is determined in S32 whether N and the brake OFF history is absent. When the process proceeds to this step for the first time, N is set at S11 and no brake OFF history is set (S32: YES), and at S33, it is determined whether or not the brake pedal is OFF. If the brake pedal is ON (S33: NO), the process proceeds to the above-described S22. If the brake pedal is OFF (33: YES), N and a brake OFF history are set in S34. Then, the process proceeds to S35.

  When the shift position is switched to N (S21: N) and the brake pedal is turned off (S33: NO), the vehicle is moved away from the wheel stop using the force that the wheel on the wheel stop slides. It is presumed that the driver intended. However, in that case, there is a possibility that the wheel is not sufficiently separated from the wheel stopper only by the force with which the wheel slides down. Therefore, in S35, the driving force generator 8 is controlled to apply a driving force for a predetermined time in the vehicle traveling direction when the brake pedal is turned off, that is, in the direction in which the wheels have slipped, and the process is temporarily terminated. Then, in the next process, whether the gap distance is equal to or greater than the predetermined distance β by the process of S35 (S31: NO), or if not, N and the brake OFF history are set (S32: NO). ), The process proceeds to S22 described above.

  At this time, if the gap distance is equal to or greater than the predetermined value α by the process of S35 (S22: YES), as described above, the gap distance calculation is stopped (S23), the gap unsecured warning is stopped (S24), The process of setting the post-startup gap securing flag = “other than unsecured” (S25) is sequentially executed. On the other hand, if the gap distance is less than the predetermined value α (S22: NO), the gap not secured warning or the like is not stopped, and the driver normally secures the gap by switching the shift position to D or R. Here, the reason why the predetermined distance β is set smaller than the predetermined distance α is as follows. In other words, it is ideal that the predetermined distance α can be secured only by the force that the wheel slides down, and the vehicle is moved by the process of S35 only when the vehicle hardly moves by the force that the wheel slides down (S31: YES). This is to assist. In addition, the process of S35 is good also as what determines the said predetermined time with reference to the acceleration etc. when the gradient of a parking position, a wheel slips down, etc., in order to ensure safety | security further. Further, when the parking position is steep, or when the vehicle traveling direction when the brake pedal is OFF cannot be specified, the process of S35 may be prohibited.

On the other hand, if the driver ignores the gap not yet secured warning and switches the shift position to P (S21: P), the process proceeds to S41, and after the gap not secured warning is stopped, after the start in S42 The gap securing flag is set to “unsecured” and written to the nonvolatile memory 11, and the process is temporarily terminated. If the ignition is turned off as it is and the ignition is turned on at the next start, an affirmative determination is made in S6 described above, and it is determined in S51 whether or not the shift position is other than P. When the shift position is P (S51: NO), there is no concern that the wheel gets over the wheel stopper, so the process proceeds to S7 as it is.

  On the other hand, if the shift position is other than P (S51: YES), a post-startup clearance not secured warning is issued in S52. This warning may be a process of giving a single warning that “the ring is touching” by voice, or a process of sounding a buzzer for a predetermined time. In subsequent S53, the initial warning flag after startup is set to “completed”, and in S54, the post-startup clearance securing flag is set to “other than unsecured” and written to the nonvolatile memory 11, and the process proceeds to S7 described above. To do. Then, in the next process, a negative determination is made in S5, and the process directly shifts from S5 to S7. By the processing of S51 to S54, when starting the vehicle, the driver pays attention to the shift operation, and the wheel can be prevented from getting over the wheel stopper by mistake in the shift operation.

  Thus, in this embodiment, the driving | operating which parks in the state which isolate | separated the wheel from the wheel stopper becomes easy. If the wheel is parked at a predetermined distance α or more from the wheel stopper in this way, even if the driver makes a mistake in the shift operation when starting the vehicle, the driver will be shocked when the wheel comes into contact with the wheel stopper. The possibility of noticing and correcting the shift position increases. Further, by parking the wheel separately from the wheel stopper, it is possible to prevent wear of the tire constituting the outer periphery of the wheel.

  Furthermore, in this embodiment, since the mode of driving assistance is changed according to the state of the shift operation by the driver, it is possible to suppress the driver from feeling uncomfortable. Note that when the vehicle is moved in a direction in which at least one of the front wheel or the rear wheel is driven and the abutting front wheel or rear wheel is separated from the wheel stop as in S35, the wheel is surely connected regardless of the driver's intention. The ring stopper can be isolated. On the other hand, when an alarm is generated as in the processes of S13 to S22, safety can be further ensured regardless of the gradient of the parking position. In addition, the driving assistance is continued until the wheel is separated from the wheel stop by a predetermined distance α or more unless the driver ignores the gap not secured warning and switches the shift position to P (S22), so that the above-mentioned effect is reliably obtained. be able to.

[Other Embodiments]
In the above-described embodiment, the processing of the wheel stop detection unit 1A, the acceleration sensor 3, and S7 is used as the wheel stop detection unit, the warning device 7, the wheel stop and wheel gap distance calculation unit 1B, the gap securing support control unit 1C, The processing of S13 and S35 corresponds to the driving support means, and the processing of the warning device 7 and S52 corresponds to the warning means.

  The present invention is not limited to the above-described embodiment, and can be implemented in various forms without departing from the gist of the present invention. For example, the generation of an alarm as an example of driving support means and the generation of an alarm as an alarm means are not limited to voice, and may be performed by display on a display or vibration of a driver's seat. Various modifications can be considered for the configuration of the wheel stopper detecting means. For example, when the vehicle is parked in the back, the distance to the wheel stop may be calculated from the image of the back monitor and the distance that the vehicle is backed. However, when the wheel stopper detecting means is configured using the acceleration sensor 3 as described above, the manufacturing cost can be further reduced because the camera and the image analysis process are not necessary.

  Moreover, in the said embodiment, in order to simplify description, only P, N, D, and R were considered as a shift position, However, L and 2 may be included in shift positions other than P and N in S21. Furthermore, “other than P and N” in S21 may be set to “other than P”, and the process may proceed from S21 to S22 even if the shift position is N, and S31 to S35 may be omitted.

DESCRIPTION OF SYMBOLS 1 ... ECU 1A ... Wheel stop detection part 1B ... Gap distance calculation part 3 ... Acceleration sensor 4 ... Vehicle speed sensor 5 ... Shift position sensor 7 ... Warning device 8 ... Driving force generator 11 ... Non-volatile memory

Claims (7)

A driving support device that is provided in a vehicle having front wheels and rear wheels and supports driving of the vehicle,
Wheel stopper detecting means (1A, 3, S7) for detecting that the front wheel or the rear wheel is in contact with the wheel stopper;
When the wheel stop detection unit detects that the front wheel or the rear wheel is in contact with the wheel stop, the driving support unit performs driving support for isolating the contacted front wheel or rear wheel from the wheel stop. (1B, 1C, 7, S13, S35),
A driving support apparatus comprising:   The driving support apparatus according to claim 1, wherein the driving support mode executed by the driving support unit changes according to a state of the shift operation.   The driving support by the driving support means (1B, 1C, 7, S13) is executed until the abutting front wheel or rear wheel is separated from the wheel stopper by a predetermined distance. Driving assistance device.   The driving support device according to any one of claims 1 to 3, wherein the driving support by the driving support means (1B, 1C, 7, S13) is control for generating an alarm.   Driving assistance by the driving assistance means (1B, 1C, S35) is to drive at least one of the front wheels or the rear wheels and move the vehicle in a direction in which the abutting front wheels or rear wheels are separated from the wheel stops. The driving support device according to any one of claims 1 to 3, wherein the driving support device is a control to be performed. Warning means (7, S52) for generating an alarm when the ignition is forcibly turned off before the driving assistance of the driving assistance means (1B, 1C, 7, S13) is completed, and then when the ignition is turned on )
The driving support apparatus according to claim 3, further comprising:   The driving support apparatus according to claim 6, wherein the warning unit generates a warning for a predetermined time.

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