JP2015081056A - Notification device for vehicle and information notification method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification device for a vehicle which can notify a driver of stop instruction information at appropriate timing in performing parking support.SOLUTION: A notification device for a vehicle comprises: acquisition means 40 which acquires vehicle speed information of the vehicle; notification means 30 which notifies a driver of information; determination means 40 which determines whether parking support is being executed for guiding the vehicle to a target parking position; and notification control means 40 which determines notification timing for notifying the driver of stop guidance information for instructing the driver to stop the vehicle on the basis of the vehicle speed information of the vehicle when the determination means 40 determines that the parking support is being executed.

Description

  The present invention relates to a vehicle notification device and an information notification method.

  Conventionally, when parking assistance for guiding the host vehicle to the target parking position has been executed, the stop instruction information for instructing the driver to stop the host vehicle at the timing when the host vehicle reaches the target parking position is A technique for notifying a person is known (for example, see Patent Document 1).

JP 2008-296791 A

  However, in the prior art, in order to notify the driver of stop instruction information when the host vehicle reaches the target parking position, the host vehicle actually stops after the driver performs a brake operation according to the stop instruction information. In the meantime, the host vehicle has traveled, and the host vehicle may have left the target parking position and stopped.

  The problem to be solved by the present invention is to provide a vehicle notification device that can notify stop instruction information at an appropriate timing when parking assistance is being executed.

  This invention solves the said subject by determining the alerting | reporting timing which alert | reports stop instruction information based on the vehicle speed information of the own vehicle, when parking assistance is performed.

  According to the present invention, it is possible to appropriately determine the notification timing for notifying the stop instruction information.

It is a block diagram which shows the parking assistance apparatus which concerns on this embodiment. It is a figure for demonstrating the alerting | reporting process of the parking assistance control which concerns on this embodiment. (A) is a figure which shows an example of the relationship between the vehicle speed of the own vehicle, and the alerting | reporting timing of stop instruction | indication information, (B) is an accelerator opening degree of the own vehicle and a brake pedal of the brake pedal in the scene shown to (A). It is a figure which shows an example of the relationship between the vehicle speed of the own vehicle and the alerting | reporting timing of stop instruction information when changing the amount of depression. It is a flowchart which shows the alerting | reporting process of the parking assistance control which concerns on this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, parking assistance that is mounted on the host vehicle and can perform parking support control that guides the host vehicle to the target parking position by automatically controlling the steering operation without the driver performing the steering operation. The present invention will be described with reference to an apparatus.

  FIG. 1 is a configuration diagram illustrating a parking assistance device 100 according to the present embodiment. As shown in FIG. 1, the parking assistance device 100 according to the present embodiment includes a vehicle controller 10, a parking control device 20, a steering device 21, a notification device 30, and a notification control device 40.

  The vehicle controller 10 acquires vehicle speed information of the host vehicle from a vehicle speed sensor (not shown). Further, the vehicle controller 10 acquires the accelerator opening from an accelerator opening sensor (not shown), and acquires the amount of depression of the brake pedal from a brake sensor (not shown). Then, the vehicle controller 10 transmits information including the vehicle speed of the host vehicle, the accelerator opening degree, and the depression amount of the brake pedal to the notification control device 40 as travel information of the host vehicle.

  The parking control device 20 includes a microcomputer composed of a CPU, a ROM, a RAM, and an I / O interface, and automatically controls the steering operation of the steering device 21 in accordance with a control program stored in the ROM. Parking support control for guiding the host vehicle to the target parking position is executed.

  For example, in the present embodiment, a parking assistance start button is displayed on the screen of the display (notification device 30) disposed on the instrument panel, and the driver passes through a touch panel included in the display (notification device 30). Then, when the parking support start button is pressed, the parking control device 20 is activated, and parking support control by the parking control device 20 is started.

  When parking support control is started, an image captured by the camera is displayed on the screen of the display (notification device 30). The driver refers to the video displayed on the screen of the display (notification device 30), and operates the touch panel included in the display (notification device 30) to set the target parking position in the parking control device 20. Can do.

  When the target parking position is set by the driver, the parking control device 20 calculates the positional relationship between the current vehicle position and the target parking position, and the target travel route for moving the host vehicle to the target parking position. Is calculated. Then, the parking control device 20 calculates the target steering angle at each position on the target travel route based on the target travel route and the current vehicle position, and drives the steering device 21 to achieve the target steering angle. A current value that needs to be supplied to a motor (not shown) is calculated as a current command value.

  Thereafter, a steering control start button is displayed on the screen of the display (notification device 30), and the parking control device 20 is pressed by the driver pressing the steering control start button via a touch panel provided in the display (notification device 30). The calculated current command value is supplied to the drive motor of the steering device 21. Thereby, in the drive motor, the current of the current command value calculated by the parking control device 20 is converted into the steering torque and transmitted to the steering device 21 as the steering force. As a result, the steering operation of the steering device 21 is automatically performed so that the host vehicle moves along the target travel route, and the host vehicle can be moved to the target parking position.

  In the present embodiment, the parking control device 20 periodically transmits the operation state of the parking control device 20 to the notification control device 40. For example, the parking control device 20 transmits information indicating whether or not the parking support control is being executed to the notification control device 40 as the operation state of the parking control device 20. Accordingly, the notification control device 40 can determine whether or not parking assist control is being executed by the parking control device 20.

  The notification device 30 is a device such as a display or a speaker disposed on the instrument panel, and notifies the driver of notification information related to a parking operation in accordance with the control of the notification control device 40. The notification information notified by the notification device 30 includes stop instruction information for instructing the driver to stop the host vehicle in parking support control such as “Please stop the vehicle”. Note that the stop instruction information according to the present embodiment is instruction information indicating that the own vehicle should be stopped immediately. For example, the instruction information indicating that the own vehicle should be stopped after how many seconds (or how many meters ahead). is not.

  The notification control device 40 includes a microcomputer including a CPU, a ROM, a RAM, and an I / O interface, and controls notification processing of notification information by the notification device 30 according to a control program stored in the ROM.

  In the present embodiment, the notification control device 40 first determines whether or not parking assistance control is being executed based on the operation state of the parking control device 20 received from the parking control device 20. Then, when it is determined that the parking support control is being executed, the notification control device 40 notifies the stop instruction information for instructing the driver to stop the host vehicle based on the travel information received from the vehicle controller 10. The notification timing to be notified to 30 is determined.

  Specifically, the notification control device 40 first starts from when the driver depresses the brake pedal based on the vehicle speed of the own vehicle, the accelerator opening, and the depression amount of the brake pedal, until the own vehicle stops. The distance traveled by the host vehicle is calculated as the braking distance.

  Furthermore, the notification control device 40 calculates the distance that the host vehicle travels as the idle travel distance from when the notification information is notified to the driver until the driver steps on the brake pedal according to the notification information. For example, the notification control device 40 stores in advance a general driver's free running distance measured by an experiment or the like in a ROM, and automatically stores the general driver's free running distance stored in the ROM. It can be set as the structure calculated | required as the free running distance of the driver | operator of a vehicle. Alternatively, the notification control device 40 may store a history of the free running distance of the driver of the host vehicle, and calculate the free running distance for each driver based on the history of the free running distance of the driver. Good.

  And the alerting | reporting control apparatus 40 calculates the sum total of the calculated idling distance and braking distance as a stop distance of the own vehicle. Furthermore, the notification control device 40 notifies the stop instruction information of the timing at which the driver can stop at the target parking position when the driver stops the host vehicle according to the notification information based on the calculated stop distance. The notification timing is determined. For example, the notification control device 40 can determine the timing at which the distance from the host vehicle to the target parking position becomes the stop distance as the notification timing for notifying the stop instruction information.

  Here, FIG. 2 is a figure for demonstrating the alerting | reporting process of the parking assistance control which concerns on this embodiment. 2A shows a conventional parking assistance control notification process, and FIG. 2B shows a parking assistance control notification process according to the present embodiment. As shown in FIG. 2A, in the conventional parking assist control notification process, the timing at which the host vehicle reaches the vicinity of the target parking position (p1 shown in FIG. 2A) regardless of the traveling information of the host vehicle. The stop instruction information was reported. Therefore, conventionally, when the vehicle speed of the host vehicle is high, when the accelerator opening is large, or when the depression amount of the brake pedal is small, the stop distance of the host vehicle becomes large, as shown in FIG. In some cases, the host vehicle stops at a position (p3 shown in FIG. 2A) that greatly exceeds the target parking position (p2 shown in FIG. 2A).

  In contrast, in the present embodiment, the stop distance of the host vehicle is calculated based on the vehicle speed of the host vehicle, the accelerator opening, and the amount of depression of the brake pedal, and the stop instruction information is calculated based on the stop distance of the host vehicle. The notification timing is determined. As a result, as shown in FIG. 2B, the timing at which the host vehicle can stop at the target parking position can be determined as the notification timing of the stop instruction information in consideration of the stop distance of the host vehicle. . As a result, for example, as shown in FIG. 2B, the stop instruction information is notified at the stop instruction information notification timing (p11 shown in FIG. 2B), so that the vicinity of the target parking position (FIG. It becomes possible to stop the host vehicle at p12) shown in 2 (B).

  Here, FIG. 3 (A) is a diagram showing an example of the relationship between the vehicle speed of the host vehicle and the notification timing of the stop instruction information, and FIG. 3 (B) is a diagram of the situation shown in FIG. It is a figure which shows an example of the relationship between the vehicle speed of the own vehicle, and the alerting | reporting timing of stop instruction information when changing the accelerator opening of a vehicle, and the depression amount of a brake pedal. In FIG. 3B, the relationship between the speed of the host vehicle shown in FIG. 3A and the notification timing of the stop instruction information is indicated by a broken line.

  As shown in FIG. 3A, the notification control device 40 increases the stop timing as the vehicle speed of the host vehicle increases, so that the notification timing of the stop instruction information is advanced. Further, L1 shown in FIG. 3 (B) is the vehicle speed of the host vehicle when the accelerator opening is increased or the brake pedal depression amount is reduced compared to the scene example shown in FIG. 3 (A). An example of the relationship with the notification timing of stop instruction information is shown. As indicated by L1 in FIG. 3B, the notification control device 40 determines that the stop distance increases as the accelerator opening degree increases and the brake pedal depression amount decreases, and the stop instruction information notification timing is determined. The notification timing of the stop instruction information is determined so as to be faster.

  Further, L2 shown in FIG. 3 (B) is the vehicle speed of the host vehicle when the accelerator opening is reduced or the amount of depression of the brake pedal is increased compared to the scene example shown in FIG. 3 (A). An example of the relationship with the notification timing of stop instruction information is shown. As indicated by L2 in FIG. 3 (B), the notification control device 40 instructs the stop so that the notification timing of the stop instruction information is delayed as the accelerator opening is decreased and the brake pedal depression amount is increased. Information notification timing is determined.

  Thus, in this embodiment, as shown in FIG. 3 (B), the notification control device 40 is configured such that, even when the vehicle speed of the host vehicle is the same speed V1, as the accelerator opening increases, As the amount of depression becomes smaller, the notification timing of the stop instruction information is advanced, and as the accelerator opening becomes smaller or the amount of depression of the brake pedal becomes larger, the notification timing of the stop instruction information is delayed.

  Next, a notification process for parking support control according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing a notification process of parking support control according to the present embodiment. Note that the notification process of the parking assistance control shown in FIG.

  First, in step S101, it is determined whether parking support control is being executed. For example, in the present embodiment, the information indicating whether or not the parking support control is being executed is periodically transmitted from the parking control device 20 to the notification control device 40 at regular intervals. When information indicating that the parking support control is being executed is acquired from the control device 20, it can be determined that the parking support control is being executed. When it is determined that the parking support control is being executed, the process proceeds to step S102, and when it is determined that the parking support control is not being executed, the process waits at step S101.

  In step S102, the travel information of the host vehicle is acquired. Specifically, the notification control device 40 acquires information including the vehicle speed of the host vehicle, the accelerator opening degree, and the depression amount of the brake pedal from the vehicle controller 10 as travel information of the host vehicle.

  In step S103, based on the travel information acquired in step S102, in the parking assistance control, determination of the notification timing of stop instruction information for instructing the driver to stop the host vehicle is performed. Specifically, as shown in FIGS. 3A and 3B, the notification control device 40 stops the vehicle as the vehicle speed of the host vehicle increases, the accelerator opening increases, the brake pedal depression amount decreases. It is determined that the stop distance traveled by the host vehicle from when the instruction information is notified to the driver until the host vehicle actually stops, and the notification timing of the stop instruction information is advanced. Thereby, as shown in FIG. 2B, the notification control device 40 stops the timing at which the notification information is notified at the position (p11) where the distance from the target parking position (p12) is equal to the stop distance. It can be determined as the notification timing of the instruction information.

  In step S104, it is determined whether or not the notification timing of the stop instruction information determined in step S103 has come. If the stop timing information notification timing determined in step S103 is not reached, the system waits in step S104 until the stop instruction information notification timing, and the stop instruction information notification timing determined in step S103. If this is the case, the process proceeds to step S105, and in step S105, stop instruction information is notified.

  As mentioned above, in this embodiment, when parking assistance control is performed, the notification timing which alert | reports stop instruction information based on the vehicle speed information of the own vehicle is determined. Specifically, it is determined that the stop distance of the host vehicle increases as the vehicle speed of the host vehicle increases, and the notification timing of the stop instruction information is advanced. As a result, as shown in FIG. 2 (A), the timing for notifying the stop instruction information has been delayed, and the host vehicle may have stopped far beyond the target parking position. Thus, in the present embodiment, the host vehicle can be appropriately stopped near the target parking position.

  In the present embodiment, in addition to the vehicle speed information of the host vehicle, the notification timing of the stop instruction information is determined based on the accelerator opening and the depression amount of the brake pedal. Specifically, the greater the accelerator opening, the smaller the brake pedal depression amount, the greater the stop distance of the host vehicle, so that the stop timing information notification timing is advanced. Thereby, in this embodiment, stop instruction information can be notified at a more appropriate timing.

  Furthermore, in this embodiment, the instruction information indicating that the own vehicle should be stopped by notifying the instruction information indicating that the own vehicle should be stopped immediately as the stop instruction information. Compared with the case where the vehicle is informed as stop instruction information, the driver can intuitively perform the brake operation according to the stop instruction information, and the driver can perform the target parking only by performing the brake operation according to the stop instruction information. The vehicle can be appropriately stopped near the position.

  The embodiment described above is described for facilitating understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, in the above-described embodiment, the configuration for determining the notification timing for notifying the stop instruction information is exemplified. However, the present invention is not limited to this configuration. For example, the notification position for notifying the stop instruction information may be determined. . For example, on the target travel route to the target parking position based on the traveling information of the host vehicle, a notification position for reporting stop instruction information is determined, and when the host vehicle moves to the determined notification position, a stop instruction is issued. It is good also as a structure which alert | reports information.

  Further, in the above-described embodiment, the stop instruction information has been described by exemplifying the configuration in which the display and sound such as “Please stop the vehicle” are notified from the notification device 30 that is a display or a speaker. For example, the driver may be notified of the stop instruction information by turning on a warning lamp that warns that the host vehicle is stopped. Further, the vehicle stop instruction information may be notified to the driver by vibrating a seat on which the driver is seated or by vibrating a handle held by the driver.

  Furthermore, in the above-described embodiment, in the parking support control, the configuration in which the driver moves the host vehicle to the target parking position by operating the accelerator pedal or the brake pedal is not limited to this configuration. The driver may automatically move the host vehicle to the target parking position without operating the accelerator pedal or the brake pedal. Also in this case, the notification timing of the stop instruction information can be made earlier as the required driving force required for the engine or the motor is larger or as the required braking force is smaller.

  The notification control device 40 of the above-described embodiment corresponds to the acquisition unit, the determination unit, and the notification control unit of the present invention, and the notification device 30 corresponds to the notification unit of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Parking assistance apparatus 10 ... Vehicle controller 20 ... Parking control apparatus 21 ... Steering apparatus 30 ... Notification apparatus 40 ... Notification control apparatus

Claims (6)

Acquisition means for acquiring vehicle speed information of the host vehicle;
An informing means for informing the driver of information;
A determination means for determining whether or not parking assistance for guiding the host vehicle to the target parking position is being executed;
When it is determined by the determination means that the parking support is being executed, a notification timing for notifying a driver of stop instruction information for instructing to stop the own vehicle is determined based on the vehicle speed information of the own vehicle. A vehicle notification device. The vehicle alarm device according to claim 1,
The vehicle notification device, wherein the notification control means makes the notification timing of the stop instruction information earlier as the vehicle speed of the host vehicle is higher. The vehicle alarm device according to claim 1 or 2,
The notification control means determines the notification timing of the stop instruction information based on at least one of requested driving force information and requested braking force information for the own vehicle in addition to the vehicle speed information of the own vehicle. An informing device for vehicles. The vehicle alarm device according to claim 3,
The vehicle notification device characterized in that the notification control means makes the notification timing of the stop instruction information earlier as the required driving force is larger or as the required braking force is smaller. In the vehicle alarm device according to any one of claims 1 to 4,
The vehicle notification apparatus, wherein the stop instruction information is instruction information indicating that the host vehicle should stop immediately.   When parking assistance for guiding the host vehicle to the target parking position is being executed, the notification timing of stop instruction information for instructing the driver to stop the host vehicle is determined based on the vehicle speed information of the host vehicle. And an information notification method.

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