JP2018079841A - Automatic operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation system capable of opening a rear gate by running the vehicle forward without requiring a driver to embark on the vehicle.SOLUTION: An automatic operation system, including an obstacle detection device, a vehicle control device capable of controlling a power source, power transmission device, a steering device and a brake device on the basis of a detection device of the obstacle detection device, further includes: a rear gate; a rear-gate open-close device capable of opening-closing the rear gate; a rear-gate open-close control device capable of controlling the rear-gate open-close device; and a reception device capable of receiving an instruction that includes opening of the rear gate. Further, the vehicle control device includes: an obstacle determination part for determining whether or not there is an obstacle in an opening area of the rear gate in the case of receiving the instruction for opening the rear gate; and an automatic advance control part for controlling the power source, power transmission device, steering device and brake device so that the vehicle advances by a given distance before opening the rear gate in the case of the obstacle determination part determining that there is an obstacle in the opening area of the rear gate.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an automatic driving system, and more particularly, to an automatic driving system for a vehicle including a rear gate at the rear of the vehicle.

  Patent Document 1 includes a back door provided at the rear of the vehicle, a back door driving unit that opens and closes the back door, a parking determination unit that determines whether or not the vehicle is parked, and a surrounding state of the vehicle. Based on the ambient state information acquisition means for acquiring the reflected ambient state information, the disembarkation intention information acquisition means for acquiring the disembarkation intention information reflecting the presence / absence of the disembarkation intention of the vehicle occupant, Backdoor drive so that the backdoor is opened based on the surrounding state information and the presence / absence of the intention to get off when it is determined that the vehicle is parked, and a get-off intention determining means for determining whether or not to get off There is disclosed a dismounting support device including back door drive control means for driving and controlling the means.

Further, in Patent Document 1, the ambient state information acquisition unit includes an obstacle identification unit that identifies the presence of an obstacle around the vehicle, and is based on the presence of an obstacle around the vehicle included in the ambient state information. Each vehicle door including the back door is provided with a dismountable determination means for determining whether or not the occupant can get off, and the back door drive control means is provided only when the back door is opened. It is disclosed that when it is determined that it is possible, the back door driving means is driven and controlled so that the back door is opened.
In the disembarkation support apparatus disclosed in Patent Document 1, when there are obstacles around the vehicle, the obstacle identifying means identifies the presence of the obstacle, and the disembarkability determining means determines that the disembarkation is impossible. The back door drive means does not control the drive so that the back door is opened.

JP 2010-76483 A

By the way, when loading the luggage from the rear gate at the parking position, if there is an obstacle in the open area of the rear gate and the rear gate cannot be opened, the vehicle is moved forward from the parking position, and the rear gate and the obstacle In general, there is an interval in between that allows the rear gate to be opened.
However, in order to load the vehicle from the parking position when loading the luggage from the rear gate at the parking position, it is inconvenient to get into the vehicle and advance the vehicle from the parking position before loading the luggage.
On the other hand, if the vehicle is parked with an interval that allows the rear gate to be opened between the rear gate and the obstacle, it is not preferable because it interferes with the parking of other vehicles and the passage of other vehicles.

  In view of the above-described circumstances, at least one embodiment of the present invention can be operated even when there is an obstacle in the open area of the rear gate and the rear gate cannot be opened when loading the luggage from the rear gate at the parking position. It is an object of the present invention to provide an automatic driving system capable of opening a rear gate by moving a vehicle forward without a person getting into the vehicle.

  (1) An automatic driving system according to at least one embodiment of the present invention includes an obstacle detection device capable of detecting an obstacle in a front region and a rear region of the vehicle, and the vehicle based on a detection result of the obstacle detection device An automatic driving system including a vehicle power source, a vehicle power transmission device, a vehicle steering device, and a vehicle control device capable of controlling the vehicle braking device, and is supported at the rear of the vehicle so as to be openable and closable. A vehicle control device comprising: a rear gate; a rear gate opening and closing device capable of opening and closing the rear gate; a rear gate opening and closing control device capable of controlling the rear gate opening and closing device; and a receiving device capable of receiving instructions including opening of the rear gate. An obstacle determination unit that determines whether there is an obstacle in the open area of the rear gate when the receiving device receives an instruction to open the rear gate; The power source, the power transmission device, and the steering device so that the vehicle moves forward by a predetermined distance before the rear gate is opened when the obstacle determination unit determines that there is an obstacle in the open area of the rear gate. And an automatic forward control unit for controlling the braking device.

  According to the configuration of (1) above, when the obstacle determination unit determines that there is an obstacle in the open area of the rear gate, the automatic advance control unit causes the vehicle to advance by a predetermined distance before the rear gate is opened. Since the power source, the power transmission device, the steering device, and the braking device are controlled, the vehicle moves forward by a predetermined distance without the driver getting into the vehicle. As a result, when loading luggage from the rear gate at the parking position, even if there is an obstacle in the open area of the rear gate and the rear gate cannot be opened, the vehicle moves forward by a predetermined distance without getting into the vehicle. By doing so, the rear gate can be opened.

(2) In some embodiments, in the configuration of (1), the predetermined distance is equal to or greater than a distance at which the rear gate can be opened.
According to the configuration of (2) above, since the predetermined distance is equal to or greater than the distance at which the rear gate can be opened, the automatic forward control unit allows the vehicle to open the rear gate without the driver getting into the vehicle. Move forward more than that. This allows the rear gate to be opened without the driver getting into the vehicle even when there is an obstacle in the open area of the rear gate when loading the luggage from the rear gate at the parking position and the rear gate cannot be opened. The rear gate can be opened by moving forward by more than a distance.

(3) In some embodiments, in the configuration of the above (1) or (2), the vehicle control device is configured so that the vehicle stops after the vehicle has advanced by a predetermined distance. The vehicle further includes a stop control unit that controls the power transmission device, the steering device, and the braking device.
According to the configuration of (3) above, the stop control unit controls the power source, the power transmission device, the steering device, and the braking device so that the vehicle stops after the vehicle has advanced by a predetermined distance. The vehicle stops after moving forward by a distance. As a result, when the rear gate is closed and the driver gets into the vehicle, the vehicle can be started immediately.

(4) In some embodiments, in any one of the configurations (1) to (3), the vehicle control device turns on a headlamp or an emergency warning light when the vehicle moves forward a predetermined distance. Blinks.
According to the configuration of (4) above, the vehicle control device turns on the headlamp or blinks the emergency warning lamp when the vehicle moves forward a predetermined distance, so that it is possible to notify the vehicle forward.

(5) In some embodiments, in any one of the configurations (1) to (4), the vehicle control device outputs an output value of a wheel speed sensor as a control index of the power source and the braking device of the vehicle. Is used.
According to the configuration of (5) above, the vehicle control device uses the output value of the wheel speed sensor as the control index of the vehicle power source and the braking device, and thus maintains a safe speed without being affected by the ground gradient. be able to.

  According to at least one embodiment of the present invention, when loading a load from the rear gate at the parking position, the driver gets into the vehicle even if an obstacle exists in the open area of the rear gate and the rear gate cannot be opened and closed. The rear gate can be opened by advancing the vehicle without any problems.

It is a block diagram showing roughly the control composition of the automatic operation system concerning the embodiment of the present invention. It is a flowchart which shows roughly the control procedure of the automatic driving system shown in FIG. It is a flowchart which shows the control procedure in the rear gate open | release forward mode shown in FIG.

  Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.

FIG. 1 is a block diagram schematically showing a control configuration of an automatic driving system 1 according to an embodiment of the present invention.
As shown in FIG. 1, an automatic driving system 1 according to an embodiment of the present invention includes an obstacle detection device 3 and a vehicle control device 4.

  The obstacle detection device 3 can detect obstacles (including humans) in the front area and the rear area of the vehicle 2. The obstacle detection device 3 includes a camera 31 and a sonar 32, for example. The obstacle detection device 3 capable of detecting obstacles in the front area of the vehicle 2 is arranged toward the front of the vehicle 2 and can detect obstacles in a range (distance) necessary for traveling of the vehicle 2. . The obstacle detection device 3 capable of detecting obstacles in the rear area of the vehicle 2 is arranged toward the rear of the vehicle 2 and can detect obstacles at a necessary distance when the vehicle 2 moves backward.

The vehicle control device 4 can control the power source 51 of the vehicle 2, the power transmission device 52 of the vehicle 2, the steering device 53 of the vehicle 2, and the braking device 54 of the vehicle 2 based on the detection result of the obstacle detection device 3. .
The vehicle control device 4 includes, for example, an input / output device (I / O port), a storage device (ROM, RAM, nonvolatile RAM, etc.), a central processing unit (CPU), and a timer.

  The power source 51 of the vehicle 2 is an engine 511, for example. The engine 511 can be directly controlled by the vehicle control device 4, but is usually controlled via an engine control unit (ECU) 61. The power transmission device 52 of the vehicle 2 is for transmitting the power generated by the power source 51 of the vehicle 2 to the drive wheels, and includes a transmission 521, for example. The transmission 521 can be directly controlled by the vehicle control device 4, but is normally controlled via the transmission control unit 62. The steering device 53 of the vehicle 2 is for driving the vehicle 2 in an arbitrary direction, and includes, for example, a steering pump 531. The steering pump 531 can be directly controlled by the vehicle control device 4, but is controlled via the steering control unit 63 in this embodiment. The braking device 54 of the vehicle 2 is for decelerating the traveling vehicle 2, and is constituted by, for example, a foot brake 541 and a parking brake 542. The foot brake 541 and the parking brake 542 can be directly controlled by the vehicle control device 4, but in this embodiment, are controlled via the brake control unit 64.

  As shown in FIG. 1, the automatic driving system 1 according to this embodiment further includes a rear gate opening / closing device 7. The rear gate opening and closing device 7 is for opening and closing the rear gate 21 supported to be opened and closed at the rear portion of the vehicle 2, and includes, for example, a door lock 71 and an electric rear gate actuator 72. The door lock 71 and the electric rear gate actuator 72 can be directly controlled by the vehicle control device 4, but are usually controlled by a door / gate control unit (rear gate opening / closing control device) 73. The rear gate 21 is opened by driving (opening driving) the electric rear gate actuator 72 after the door lock 71 is switched from locked to unlocked. The rear gate 21 is closed by driving the electric rear gate actuator 72 (closing drive) and then switching the door lock 71 from unlocked to locked.

  As shown in FIG. 1, the automatic driving system 1 according to the present embodiment further includes a receiving device 8. The receiving device 8 is for receiving an instruction including opening of the rear gate 21, and is connected to the vehicle control device 4. When receiving an instruction including opening of the rear gate 21, the instruction is input to the vehicle control device 4. Is configured to do. The receiving device 8 is configured by a remote controller key controller 81, for example. The remote controller key controller 81 can receive an instruction including opening the rear gate 21 from the remote controller key 82.

As shown in FIG. 1, the vehicle control device 4 includes an obstacle determination unit 41 and an automatic forward control unit 42.
The obstacle determination unit 41 determines whether there is an obstacle in the open area of the rear gate 21 when the receiving device 8 receives an instruction to open the rear gate 21. The obstacle determination unit 41 determines, for example, by comparing the distance behind the vehicle at which the rear gate 21 can be opened and the distance to the obstacle behind the vehicle 2 detected by the obstacle detection device 3. Therefore, for example, when the distance to the obstacle behind the vehicle 2 detected by the obstacle detection device 3 is shorter than the distance behind the vehicle at which the rear gate 21 can be opened, there is an obstacle in the opening area of the rear gate 21. Judge that there is.

  When the obstacle determination unit 41 determines that there is an obstacle in the open area of the rear gate 21, the automatic forward control unit 42 causes the power source 51, the power to move the vehicle 2 forward by a predetermined distance before the rear gate 21 is opened. The transmission device 52, the steering device 53, and the braking device 54 are controlled. The predetermined distance is, for example, not less than a distance that enables the rear gate 21 to be opened, and is, for example, 2 meters. Control of the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 includes, for example, starting the engine 511, holding the steering in a neutral position, shifting the shift position from the P range to the D range, and the parking brake 542. It is release of.

The vehicle control device 4 further includes a stop control unit 43.
The stop control unit 43 controls the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 so that the vehicle stops after the vehicle has advanced a predetermined distance. Control of the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 includes, for example, braking by the foot brake 541, shifting of the shift position from the D position to the P position, and the operation of the parking brake 542.

FIG. 2 is a flowchart schematically showing a control procedure of the automatic driving system 1 shown in FIG. FIG. 3 is a flowchart showing a control procedure in the rear gate opening forward mode shown in FIG.
As shown in FIG. 2, in the automatic driving system 1 shown in FIG. 1, when opening of the rear gate 21 is instructed by the remote control key 82 at the parking position of the vehicle 2, the receiving device 8 receives an instruction to open the rear gate 21. . When the receiving device 8 receives an instruction to open the rear gate 21, the instruction (an instruction to open the rear gate 21) is input to the vehicle control device 4 (step S1). Then, the vehicle control device 4 determines whether or not an obstacle is detected in the open area of the rear gate 21 by the obstacle determination unit 41 (step S2). When an obstacle is detected in the open area of the rear gate 21 (step S2: Yes), the process proceeds to the rear gate open forward mode (step S3). Thus, the vehicle control device 4 causes the automatic advance control unit 42 to set the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 so that the vehicle 2 moves forward by a predetermined distance before the rear gate 21 is opened. Control.

As shown in FIG. 3, when the vehicle control device 4 shifts to the rear gate opening forward mode (step S3), the vehicle control device 4 starts forward processing. In the forward process, for example, the engine 511 is started (step S31), and the shift position is changed from the P (parking) position to the D (drive) position (step S32).
Next, the vehicle control device 4 releases the parking brake 542 on condition that the obstacle detection device 3 does not detect an obstacle in the front area (step S33). Thereby, the vehicle 2 moves forward (step S34). When the vehicle 2 moves forward by a predetermined distance (step S34), the vehicle control device 4 ends the forward movement process.

And the vehicle control apparatus 4 will start a stop process in the stop control part 43, if advancing process is complete | finished. In the stop processing, for example, after the foot brake 541 is applied and the vehicle 2 is stopped (step S35), the shift position is changed from the D position to the P position and the parking brake 542 is applied (step S36, step S37). As a result, the vehicle stops and the stop processing ends.
And the vehicle control apparatus 4 will complete | finish a rear gate open | release forward mode, if a stop process is complete | finished in the stop control part 43. FIG. Then, it is confirmed that there are no obstacles in the open area of the rear gate 21, and the rear gate is opened (step S4).

  On the other hand, when no obstacle is detected in the open area of the rear gate 21 (step S2: No), the rear gate 21 is opened as it is (step S4).

  According to the embodiment described above, when the obstacle determination unit 41 determines that there is an obstacle in the open area of the rear gate 21, the vehicle 2 moves forward by a predetermined distance before the rear gate 21 is opened. Thus, since the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 are controlled, the vehicle 2 moves forward by a predetermined distance without getting into the vehicle 2. As a result, when a load is loaded from the rear gate 21 at the parking position, even if there is an obstacle in the open area of the rear gate 21 and the rear gate 21 cannot be opened, the driver 2 does not get into the vehicle 2 The rear gate 21 can be opened by advancing.

  Further, since the predetermined distance is equal to or greater than the distance at which the rear gate 21 can be opened, the automatic forward control unit 42 advances the vehicle 2 by a distance greater than the distance at which the rear gate 21 can be opened without getting into the vehicle 2 by the driver. . As a result, when a load is loaded from the rear gate 21 at the parking position, even if there is an obstacle in the open area of the rear gate 21 and the rear gate 21 cannot be opened, the driver 2 does not get into the vehicle 2 The rear gate 21 can be opened by advancing the distance more than the distance at which the rear gate 21 can be opened.

  Furthermore, the stop control unit 43 controls the power source 51, the power transmission device 52, the steering device 53, and the braking device 54 so that the vehicle 2 stops after the vehicle 2 has advanced by a predetermined distance. The vehicle 2 stops after moving forward by a distance. Thereby, if the rear gate 21 is closed and the driver gets into the vehicle 2, the driving of the vehicle 2 can be started immediately.

In the above-described embodiment, the vehicle control device 4 may turn on the headlight (headlight) or blink the hazard lamp (emergency warning light) when the vehicle 2 moves forward a predetermined distance.
In this way, since the vehicle control device 4 turns on the headlight or blinks the hazard lamp when the vehicle 2 moves forward a predetermined distance, it can inform the surroundings of the vehicle 2 moving forward.

In the above-described embodiment, the vehicle control device 4 may end the series of controls by closing the rear gate 21 after opening.
In this way, the vehicle control device 4 ends the series of controls by closing the rear gate 21 after opening, so that the driver can get into the vehicle 2 at a position where the vehicle 2 has advanced.

In the above-described embodiment, the vehicle control device 4 may use the output value of the wheel side sensor 9 as a control index of the power source 51 of the vehicle 2 and the braking device 54 of the vehicle 2.
In this way, since the vehicle control device 4 uses the output value of the wheel side sensor as a control index of the power source 51 of the vehicle 2 and the braking device 54 of the vehicle 2, a safe speed can be obtained without being influenced by the gradient of the ground. Can be maintained.

The present invention is not limited to the above-described embodiments, and includes forms obtained by modifying the above-described embodiments and forms obtained by appropriately combining these forms.
For example, the automatic advance permission switch 11 may be arranged in the driver's seat and the rear gate opening advance mode may be executed only when the automatic advance permission switch 11 is on.
Further, the monitor 12 may be arranged in the driver's seat so that the open area of the rear gate 21 is displayed.

DESCRIPTION OF SYMBOLS 1 Automatic driving system 2 Vehicle 21 Rear gate 3 Obstacle detection apparatus 4 Vehicle control apparatus 41 Obstacle determination part 42 Automatic advance control part 43 Stop control part 51 Power source 511 Engine 52 Power transmission apparatus 521 Transmission 53 Steering apparatus 531 Steering pump 54 Braking Device 541 Foot brake 542 Parking brake 61 Engine control unit (ECU)
62 Transmission control unit 63 Steering control unit 64 Brake control unit 7 Rear gate opening / closing device 71 Door lock 72 Electric rear gate actuator 73 Door / gate control unit (rear gate opening / closing control device)
8 Receiving device 81 Remote control key controller 82 Remote control key

Claims (5)

An obstacle detection device capable of detecting obstacles in the front and rear areas of the vehicle;
An automatic driving system comprising: a vehicle power source, a vehicle power transmission device, a vehicle steering device, and a vehicle control device capable of controlling the vehicle braking device based on a detection result of the obstacle detection device. And
A rear gate supported to be opened and closed at the rear of the vehicle;
A rear gate opening and closing device capable of opening and closing the rear gate;
A rear gate opening / closing control device capable of controlling the rear gate opening / closing device;
A receiving device capable of receiving an instruction including opening the rear gate,
The vehicle control device includes:
An obstacle determination unit that determines the presence or absence of an obstacle in the open area of the rear gate when the receiving device receives an instruction to open the rear gate;
When the obstacle determination unit determines that there is an obstacle in the open area of the rear gate, the power source, the power transmission device, the steering so that the vehicle moves forward by a predetermined distance before the rear gate is opened. An automatic driving system comprising: a device and an automatic forward control unit that controls the braking device.   2. The automatic driving system according to claim 1, wherein the predetermined distance is equal to or greater than a distance at which the rear gate can be opened. The vehicle control device includes:
The vehicle further includes a stop control unit that controls the power source, the power transmission device, the steering device, and the braking device so that the vehicle stops after the vehicle has advanced a predetermined distance. Or the automatic driving | operation system of 2.   The automatic driving system according to any one of claims 1 to 3, wherein the vehicle control device lights a headlamp or blinks an emergency warning lamp when the vehicle moves forward a predetermined distance.   The automatic driving system according to any one of claims 1 to 4, wherein the vehicle control device uses an output value of a wheel speed sensor as a control index for a power source and a braking device of the vehicle.

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