JP2020131972A - Drive support device for vehicle - Google Patents

Abstract

To provide a drive support device for a vehicle which can make a vehicle safely and easily retreat while avoiding a collision with an obstacle.SOLUTION: A retreat drive support device 1 for supporting the retreat traveling of a vehicle comprises: a steering amount detector 15 and a wheel speed sensor 16 for detecting information related to a forward traveling trajectory of the vehicle; a traveling trajectory storage part 21 for storing a vehicle speed and a steering amount related to the forward traveling trajectory; a rear monitoring device 11 for detecting an obstacle at the retreat traveling of the vehicle; and a control unit 20 for making the vehicle automatically retreat-travel in conformity with a forward traveling regulation up to a prescribed point on the forward traveling trajectory by performing the vehicle speed control and steering control of the vehicle, and regulating the automatic retreat traveling when the rear monitoring device 11 detects the obstacle during the automatic retreat traveling.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving support device that assists driving when the vehicle is traveling backward.

Various automatic driving control devices have been developed in order to reduce driver fatigue during steering, accelerator and driving when the vehicle is retracted. For example, Patent Document 1 discloses a driving support device that stores a traveling locus during forward traveling and automatically reverses traveling along the stored traveling locus. As a result, in the driving support device of Patent Document 1, for example, when an oncoming vehicle is encountered in a narrow road where the vehicle cannot pass each other, the own vehicle can be easily and safely retracted to the place where the vehicle can pass each other. It becomes possible to make it.

JP-A-2007-237930

However, there is a time lag between the forward running and the subsequent automatic backward running. That is, there is a possibility that the position of obstacles such as road conditions and other vehicles may change between the time of forward travel and the time of automatic reverse travel, and there is a possibility of colliding with these obstacles during automatic reverse travel. There is.
Therefore, an object of the present invention is to provide a vehicle driving support device capable of safely and easily reversing a vehicle while avoiding a collision with an obstacle.

In order to achieve the above object, the vehicle driving support device of the present invention is a vehicle driving support device that supports the backward traveling of the vehicle, and is a forward traveling information detection unit that detects information on the forward traveling locus of the vehicle. And the forward travel history storage unit that stores information about the forward travel locus detected by the forward travel information detection unit, and the vehicle speed control and steering control of the vehicle are executed to reach a predetermined point on the forward travel locus. A reverse travel control unit that automatically reverses the vehicle along the forward travel locus, an obstacle detection unit that detects an obstacle during the automatic reverse travel of the vehicle, and the obstacle detection unit during the automatic reverse travel. It is characterized in that it is provided with a reverse travel regulation unit that regulates the automatic reverse travel when the obstacle is detected by the unit.

As a result, the reverse travel control unit executes vehicle speed control and steering control so as to automatically drive the vehicle backward along the forward travel locus to a predetermined point on the forward travel locus stored in the forward travel history storage unit. Therefore, the vehicle can be easily returned to a predetermined point on the forward traveling locus. Further, since the automatic reverse travel is regulated when an obstacle is detected during the automatic reverse travel, it is possible to avoid contact between the vehicle and the obstacle during the automatic reverse travel.

Preferably, the reverse travel regulation unit may stop the vehicle when the obstacle detection unit detects the obstacle during the automatic reverse travel.
As a result, the vehicle is stopped when an obstacle is detected during the automatic reverse travel, so that contact between the vehicle and the obstacle during the automatic reverse travel can be reliably avoided.
Preferably, the reverse travel regulation unit may stop the automatic reverse travel when the accelerator operation, the brake operation, or the steering operation of the vehicle is performed during the automatic reverse travel.

As a result, the automatic reverse travel can be easily stopped by the driver of the vehicle performing an accelerator operation, a brake operation, or a steering operation during the automatic reverse travel.
Preferably, when the reverse travel regulation unit performs the accelerator operation or the brake operation of the vehicle during the automatic reverse travel, the accelerator operation or the brake operation is performed while continuing the steering control. It is preferable to execute the vehicle speed control of the vehicle based on the above.

As a result, the vehicle speed can be easily changed by the driver operating the accelerator or the brake during automatic reverse driving. Further, since the steering control is continued, the automatic reverse traveling along the forward traveling locus can be easily continued.
Preferably, the reverse travel control unit includes an automatic transmission capable of switching the shift stage of the vehicle to at least a forward speed and a reverse speed, and a reverse travel control start instruction unit for instructing the start of the automatic reverse travel. When the reverse travel control start instruction unit instructs the start of the automatic reverse travel, the automatic reverse travel may be started by automatically switching the shift stage to the reverse gear.

As a result, when the reverse travel control start instruction unit instructs the start of automatic reverse travel, the transmission gear is automatically switched to the reverse gear, so that the transmission can be operated when the automatic reverse travel is started. It can be omitted.
Preferably, the reverse travel regulation unit includes a road width detection unit that detects the road width behind the vehicle, and the reverse travel regulation unit reaches a point where the vehicle has a road width equal to or larger than a predetermined value during the automatic reverse travel. In that case, it is advisable to end the automatic reverse running.

As a result, for example, when the vehicle retreats to a point having a road width that allows the vehicle to pass the oncoming vehicle, the automatic reversal traveling can be automatically terminated.
Preferably, a photographing unit that photographs the surroundings of the vehicle and a display unit that displays an image of the surroundings of the vehicle photographed by the photographing unit to the driver of the vehicle are provided, and the vehicle automatically reverses travels. At that time, it is preferable to display the image around the vehicle taken by the photographing unit on the display unit.

As a result, the image around the vehicle, particularly the image behind the vehicle, is displayed on the display unit when the vehicle is automatically moving backward, so that the driver can recognize obstacles around the vehicle. Therefore, when the driver recognizes an obstacle during the automatic reverse travel, the driver can stop the automatic reverse travel to avoid a collision with the obstacle.

Since the vehicle driving support device of the present invention executes vehicle speed control and steering control so as to automatically drive the vehicle backward along the forward travel locus to a predetermined point on the forward travel locus, the vehicle is driven forward. It can be easily returned to the above predetermined point. Therefore, for example, when an oncoming vehicle is encountered in a narrow road where vehicles cannot pass each other, the vehicle can be easily and safely retreated to a place where the vehicles can pass each other.

Furthermore, since automatic reverse travel is regulated when an obstacle is detected during automatic reverse travel, contact between the vehicle and obstacles during automatic reverse travel can be avoided, and automatic reverse travel can be avoided. It is possible to improve safety at times.

It is a block diagram of the reverse driving support device of one Embodiment of this invention. It is a flowchart which shows the automatic reverse traveling control procedure in the control unit of this embodiment.

Hereinafter, an embodiment of a vehicle driving support device that embodies the present invention will be described.
FIG. 1 is a configuration diagram of a reverse driving support device 1 (vehicle driving support device) according to an embodiment of the present invention. FIG. 2 is a flowchart showing an automatic reverse travel control procedure executed by the control unit 20.
The vehicle equipped with the reverse driving support device 1 of the present embodiment is an automobile equipped with a traveling drive device 5 such as an engine and a motor.

As shown in FIG. 1, the reverse driving support device 1 includes a vehicle traveling drive device 5, a transmission 6 (automatic transmission), a brake device 7, a steering device 8, a ambient photography camera 10 (photographing unit), and rear monitoring. Device 11 (obstacle detection unit), shift detector 12, accelerator operation detector 13, brake operation detector 14, steering amount detector 15 (forward driving information detection unit), wheel speed sensor 16 (forward driving information detection unit) A display device 17 (display unit), an automatic reverse ON / OFF switch 18 (reverse travel control start instruction unit), and a control unit 20 (reverse travel control unit, reverse travel regulation unit) are provided.

The ambient photography camera 10 is a camera that photographs the surroundings of the vehicle in order to display a so-called bird view image, and is provided, for example, toward the front, left and right sides, and rear of the vehicle.
The rear monitoring device 11 is a device that detects an obstacle or the like behind the vehicle, and is a radar, a camera, or the like provided in the vehicle. The rear monitoring device 11 may also be used as a rear-viewing camera in the surrounding-shooting camera 10.

The shift detector 12 detects the shift position of the shift lever of the vehicle, that is, the shift stage of the transmission 6.
The accelerator operation detector 13 detects the operation of the accelerator pedal of the vehicle.
The brake operation detector 14 detects the operation of the brake pedal of the vehicle.
The steering amount detector 15 detects the steering amount of the vehicle, that is, the steering angle of the steering device of the vehicle.

For the shift detector 12, the accelerator operation detector 13, the brake operation detector 14, and the steering amount detector 15, each operation amount may be input from a control unit (not shown) of the vehicle instead.
The wheel speed sensor 16 detects the rotation speed of the wheels for calculating the traveling speed (vehicle speed) of the vehicle. The wheel speed sensor 16 may also be used by inputting the vehicle speed from the vehicle control unit instead.

The display device 17 is a display device that displays a surrounding image of the vehicle taken by the ambient photography camera 10 as a bird view image, and is a position that can be visually recognized from the driver's seat of the vehicle, such as a display device of a vehicle navigation system. It is located in.
The automatic reverse ON / OFF switch 18 is a switch that operates the start and end of the automatic reverse travel control, and is arranged at a position that can be operated by the driver, such as an operation panel of a vehicle.

The control unit 20 is composed of an input / output device (not shown), a storage device (ROM, RAM, etc.) used for storing control programs, control maps, etc., a central processing unit (CPU), a timer counter, and the like. The control unit 20 includes operation information, photographed images, and detection information from the automatic reverse ON / OFF switch 18, the ambient photography camera 10, and the rear monitoring device 11, and the vehicle shift detector 12, accelerator operation detector 13, and brake operation detection. Each detection information detected from the device 14, the steering amount detector 15, and the wheel speed sensor 16 is input to control the operation of the vehicle traveling drive device 5, the transmission 6, the brake device 7, and the steering device 8 to automatically control the vehicle. It has a function of executing automatic reverse running. The traveling drive device 5, the transmission 6, the brake device 7, and the steering device 8 may be controlled from the control unit 20 via a vehicle control unit (not shown).

The control unit 20 includes a travel locus storage unit 21 (forward travel history storage unit) that stores a forward travel locus, and a road width detection unit 22 that detects the road width at the position of the vehicle.
The traveling locus storage unit 21 stores a forward traveling locus of a predetermined section (a predetermined time (for example, several tens of minutes) or a predetermined distance (for example, several kilometers) before to the present). The forward travel locus is calculated from, for example, vehicle speed, steering angle, and other forward travel loci input to the control unit 20. Further, this forward traveling locus is sequentially rewritten when the vehicle is traveling. The vehicle may be provided with a travel locus storage start switch, and the forward travel locus may be stored from the time when the travel locus storage start switch is operated. Further, the travel locus storage unit 21 maintains the memory of the forward travel locus of the immediately preceding predetermined section even when the vehicle is stopped or the power is turned off.

The road width detection unit 22 detects the road width at the current position of the vehicle or at a position slightly behind the current position from the image input from the ambient photography camera 10. Regarding the road width, other than the captured image, the information may be used if the road width information can be obtained by a navigation system or the like.
Next, the control content of the automatic reverse travel control executed by the control unit 20 will be described with reference to FIG.

The automatic reverse travel control is started by turning on the automatic reverse ON / OFF switch 18. If the brake is operated during this control, the automatic reverse travel control is interrupted and the brake device 7 is operated.
First, in step S10, it is determined whether or not the condition that the shift stage of the transmission 6 of the vehicle can shift to the R range (reverse stage) for reverse travel is satisfied. The condition for shifting to the R range is, for example, a case where the traveling speed of the vehicle is 0 or the output rotation speed of the traveling driving device 5 such as a motor is equal to or less than a threshold value.

If the R range shiftable condition is satisfied, the process proceeds to step S20. If the R range shiftable condition is not satisfied, this routine is terminated.
In step S20, the transmission 6 of the vehicle is operated and controlled so that the shift stage is in the R range. Then, the process proceeds to step S30.
In step S30, the current surrounding image of the vehicle taken by the ambient photography camera 10 is displayed on the display device 17 as a bird view image. Then, the process proceeds to step S40.

In step S40, the road width detection unit 22 detects the road width at the current position of the vehicle or at a position slightly behind the current position from the image of the surrounding camera 10 or the like. Then, the process proceeds to step S50.
In step S50, the rear monitoring device 11 detects the presence of an obstacle at the vehicle's destination (reverse destination) position. Then, the process proceeds to step S60.

The control of steps S30, S40, and S50 continues from the start of execution in each step until the automatic reverse traveling is completed in step S130 described later, or until the vehicle power is turned off (hereinafter). Execute (in parallel with the processing of).
In step S60, automatic reverse travel is started. If the automatic reverse running has already been started and the automatic backward running is being executed, the automatic backward running is continued. In the automatic reverse travel, the travel drive device 5, the steering device 8, and the brake device 7 are operated and controlled so as to reversely trace the forward travel locus of the predetermined section up to the present stored in the travel locus storage unit 21. The vehicle speed during the automatic reverse travel may be constant at a predetermined speed (for example, about several km / h), or may be set to several% to several tens of% of the vehicle speed during the forward travel. Then, the process proceeds to step S70. The control for executing the automatic reverse travel of this step by the control unit 20 corresponds to the reverse travel control unit of the present invention.

In step S70, it is determined whether or not all the forward traveling loci stored in the traveling locus storage unit 21 have been automatically retracted, and when the automatic backward traveling is completed, the process proceeds to step S130. If the automatic reverse running is not completed, the process proceeds to step S80.
In step S80, it is determined whether or not the road width detected in step S50 is equal to or greater than a predetermined value. This predetermined value may be set to a road width so that the own vehicle and the oncoming vehicle can pass each other. If the road width is equal to or greater than a predetermined value, the process proceeds to step S130. If the road width is less than a predetermined value, the process proceeds to step S90.

In step S90, it is determined whether or not the automatic retreat ON / OFF switch 18 is turned off and the automatic retreat running is stopped (control manual OFF). When the automatic reverse running is stopped, the process proceeds to step S130. If the automatic reverse running is not stopped, the process proceeds to step S100.
In step S100, it is determined whether or not there is an accelerator or steering operation intervention, and if there is an accelerator or steering operation intervention, that is, when the accelerator operation is detected by the accelerator operation detector 13, or the steering amount detector 15 If steering is detected by, the process proceeds to step S130. If there is no intervention of the accelerator or steering operation, that is, if the accelerator operation is not detected by the accelerator operation detector 13 or if the steering amount detector 15 does not detect steering, the process proceeds to step S110.

In step S110, it is determined in step S60 whether or not the presence of an obstacle is detected at the traveling destination position of the vehicle, and if the obstacle is present, the process proceeds to step S120. If there are no obstacles, the process returns to step S60.
In step S120, the traveling drive by the traveling driving device 5 is stopped, the braking device 7 is operated, and the vehicle is automatically stopped. Then, the process returns to step S90.

Step S130 ends the automatic reverse travel. Then, this routine is terminated.
As described above, in the reverse driving support device 1 of the present embodiment, when the vehicle is traveling forward, the vehicle speed and steering angle are stored in the traveling locus storage unit 21 as information on the forward traveling locus, and the automatic reverse ON / OFF switch 18 is turned on. When this is done, vehicle speed control and steering control of the vehicle are executed so that the vehicle automatically moves backward along the forward traveling locus stored in the traveling locus storage unit 21. Therefore, for example, when an oncoming vehicle is encountered in a narrow road where vehicles cannot pass each other, the vehicle is moved by operating the automatic reverse ON / OFF switch 18 to execute this automatic reverse travel. It can be easily returned to a predetermined point on the forward traveling locus. As a result, if there is a place where the vehicle can pass each other up to a predetermined point, the vehicle can be easily and safely retracted to the place where the passing is possible.

In addition, since automatic reverse travel is regulated when an obstacle is detected during automatic reverse travel, contact between the vehicle and obstacles during automatic reverse travel can be avoided, and automatic reverse travel can be avoided. It is possible to improve safety at times.
Further, if any of the accelerator operation, the brake operation, and the steering operation of the vehicle is performed during the automatic reverse driving, the automatic reverse driving is terminated, so that the driver of the vehicle is one of these. By performing the operation, the automatic reverse running can be easily stopped. In addition, if the driver performs any of the accelerator operation, brake operation, and steering operation in order to avoid obstacles during automatic reverse driving, the automatic reverse driving is stopped and the operation is performed. The vehicle can be driven and steered accordingly, and the collision avoidance performance of the vehicle during automatic reverse travel can be improved.

Further, in the present embodiment, when the automatic reverse ON / OFF switch is turned ON, if the R range shiftable condition is satisfied, the transmission is automatically switched to the R range, and automatic reverse travel is performed. Since it is carried out, it is possible to omit the shifting operation of the transmission when starting the automatic reverse traveling.
In addition, the road width behind the vehicle is detected during automatic reverse travel, and when the vehicle reaches a point with a road width equal to or greater than a predetermined value, the automatic reverse travel ends. When the vehicle retreats to a point where it can pass the vehicle, the automatic reversal running can be automatically terminated.

Further, since the image around the vehicle, particularly the image behind the vehicle, is displayed on the display unit during the automatic reverse driving, the driver can easily recognize the obstacle behind the vehicle during the automatic reverse driving. Therefore, when the driver recognizes an obstacle during the automatic reverse travel, the driver can stop the automatic reverse travel and suppress a collision with the obstacle. As a result, the collision avoidance performance can be further improved during automatic reverse travel.

The present invention is not limited to the above embodiment.
For example, in the above embodiment, when the accelerator operation or the brake operation is executed during the automatic reverse travel, the automatic reverse travel is terminated, but the vehicle speed control is performed based on the accelerator operation or the brake operation while continuing the steering control. You may do it.
This makes it possible to change the vehicle speed while continuing steering control during automatic reverse travel. Therefore, it is possible to enable automatic reverse travel at a speed desired by the driver and improve the usability of automatic reverse travel control.

The present invention can be widely applied to automobiles capable of vehicle speed control and steering control.

1 Reverse driving support device (vehicle driving support device)
6 Transmission (automatic transmission)
10 Surrounding camera (shooting section)
11 Rear monitoring device (obstacle detection unit)
15 Steering amount detector (forward travel information detector)
16 Wheel speed sensor (forward travel information detector)
17 Display device (display unit)
18 Automatic reverse ON / OFF switch (backward running control start indicator)
20 Control unit (reverse travel control unit, reverse travel regulation unit)
21 Travel locus storage unit (forward travel history storage unit)
22 Road width detector

Claims (7)

It is a driving support device for vehicles that supports the backward running of vehicles.
A forward travel information detection unit that detects information on the forward travel trajectory of the vehicle, and
A forward travel history storage unit that stores information about the forward travel locus detected by the forward travel information detection unit, and a forward travel history storage unit.
A reverse travel control unit that controls the vehicle speed and steering to automatically drive the vehicle backward along the forward travel locus to a predetermined point on the forward travel locus.
An obstacle detection unit that detects an obstacle during the automatic reverse travel of the vehicle,
When the obstacle is detected by the obstacle detection unit during the automatic reverse travel, the reverse travel regulation unit that regulates the automatic reverse travel and the reverse travel regulation unit.
A driving support device for vehicles, which is characterized by being equipped with. The vehicle according to claim 1, wherein the reverse travel regulation unit stops the vehicle when the obstacle detection unit detects the obstacle during the automatic reverse travel. Driving support device. The backward traveling regulation unit is characterized in that, when the accelerator operation, the braking operation or the steering operation of the vehicle is performed during the automatic reverse traveling, the automatic reverse traveling is stopped. The vehicle driving support device according to 1 or 2. When the accelerator operation or the brake operation of the vehicle is performed during the automatic reverse driving, the reverse travel regulation unit is based on the accelerator operation or the brake operation while continuing the steering control. The vehicle driving support device according to claim 1 or 2, wherein the vehicle speed control of the vehicle is performed. An automatic transmission that can switch the transmission stage of the vehicle to at least the forward speed and the reverse speed.
A backward running control start instruction unit for instructing the start of the automatic backward running is provided.
When the reverse travel control start instruction unit instructs the start of the automatic reverse travel, the reverse travel control unit automatically switches the shift stage to the reverse stage and starts the automatic reverse travel. The vehicle driving support device according to any one of claims 1 to 4. A road width detecting unit for detecting the road width behind the vehicle is provided.
From claim 1, the reverse travel regulation unit terminates the automatic reverse travel when the vehicle reaches a point having a road width equal to or larger than a predetermined value during the automatic reverse travel. The vehicle driving support device according to any one of 5. A photography unit that photographs the surroundings of the vehicle,
A display unit for displaying an image of the surroundings of the vehicle taken by the photographing unit to the driver of the vehicle is provided.
The vehicle driving according to any one of claims 1 to 6, wherein an image of the surroundings of the vehicle taken by the photographing unit is displayed on the display unit during the automatic reverse traveling. Support device.

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