JP2020152148A - Operation support device, and vehicle - Google Patents

Abstract

To provide an operation support device capable of attaining a more preferable automatic delivery function in terms of safety and consideration to other vehicles.SOLUTION: An operation support device includes: an input part 11 receiving input of sensor information from a sensor monitoring the surroundings of a vehicle 1; and a control part 12 deciding a movement path from a parking space to a prescribed position in a road area on the basis of surrounding information on the vehicle 1 and making the vehicle 1 travel along the movement path when delivering the vehicle 1 to the road area from the parking space. The control part 12 leaves an accelerator operation for the vehicle 1 to a user while automatically controlling a steering operation for the vehicle 1 in a section of at least a part of the movement path, and switches an automatic driving mode to a manual driving mode with advent of the steering operation performed by the user when travelling the vehicle 1 in the section.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a driving support device and a vehicle.

A driving support device that supports the driving operation of a vehicle and reduces the burden on the driver is known (see, for example, Patent Document 1).

JP-A-2010-186257

By the way, in this kind of driving support device, there is a request to support the driving operation at the time of leaving the vehicle. The driving operation at the time of leaving the vehicle requires fine steering operation, which is a heavy burden on the driver (hereinafter referred to as "user"), and the driving operation at the time of leaving the vehicle is automatically operated (hereinafter, "automatic leaving"). It would be useful if it could be supported by (also called).

However, in this type of driving support device, it is necessary to switch from the automatic driving mode to the manual driving mode at some timing after supporting the driving operation of the vehicle by automatic driving. At this time, if the automatic driving mode is not smoothly switched to the manual driving mode, the vehicle will be stopped at an inappropriate position, which may lead to a contact accident with another vehicle.

FIG. 1 is a diagram showing an example of an automatic warehousing operation by a driving support device according to a conventional technique. In FIG. 1, Ra is a parking space, Rb is a road area, Ca is a vehicle that executes automatic warehousing, Cb1 is another vehicle traveling on the road area Rb, and Cb2 and Cb3 are obstacles (here, other than parked). Vehicle), Pf indicates the delivery completion position, and the arrow indicates the movement route of the vehicle Ca at the time of automatic delivery.

Typically, as shown in FIG. 1, the driving support device according to the prior art moves the vehicle Ca from the parking space Ra to the delivery completion position Pf in the road area Rb, and then changes from the automatic driving mode to the manual driving mode. In order to change to, the operation of stopping the vehicle at the delivery completion position Pf is performed. However, such vehicle operation may be unpredictable for the other vehicle Cb1. Therefore, in the driving support device according to the prior art, when the vehicle Ca is stopped at the delivery completion position Pf, a collision with another vehicle Cb1 may be induced.

The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide a driving support device and a vehicle that can realize a more suitable automatic warehousing function in terms of safety and consideration for other vehicles. ..

The main disclosure that solves the above-mentioned problems is
It is a driving support device that supports driving when the vehicle leaves the garage.
An input unit that accepts input of sensor information from the sensor that monitors the surroundings of the vehicle,
When the vehicle is discharged from the parking space to the road area, the movement route from the parking space to a predetermined position in the road area is determined based on the surrounding information of the vehicle, and the movement route is determined so as to follow the movement route. The control unit that drives the vehicle and
With
The control unit
In at least a part of the section of the movement path, the steering operation for the vehicle is automatically controlled, the accelerator operation for the vehicle is entrusted to the user, and the vehicle is driven in the section. Switching from the automatic operation mode to the manual operation mode, triggered by the steering operation by the user.
It is a driving support device.

Also, in other aspects,
It is a vehicle equipped with the above-mentioned driving support device.

According to the driving support device according to the present disclosure, a more suitable automatic warehousing function can be realized in terms of safety and consideration for other vehicles.

The figure which shows an example of the automatic delivery operation of the operation support device which concerns on a prior art The figure which shows the structure of the vehicle which concerns on one Embodiment The figure which shows the functional block of the driving support device which concerns on one Embodiment The figure explaining an example of the automatic warehousing operation by the operation support device which concerns on one Embodiment. A flowchart showing the operation of the driving support device according to the embodiment. The figure which shows the automatic warehousing operation by the operation support device which concerns on modification 1. The figure which shows the automatic warehousing operation by the driving support device which concerns on modification 2.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same function are designated by the same reference numerals, so that duplicate description will be omitted.

[Vehicle configuration]
First, an example of the configuration of the vehicle according to the embodiment will be described with reference to FIG. In the following, when the term "vehicle" is used, it means a vehicle equipped with a driving support device that executes automatic warehousing, and when it represents a vehicle different from the vehicle equipped with the driving support device, it is referred to as "another vehicle". Refer to.

FIG. 2 is a diagram showing a configuration of a vehicle 1 according to the present embodiment.

The vehicle 1 includes a driving support device 10, a vehicle driving device 20, a traveling state detection device 30, a surrounding object detection device 40, a driving operation detection device 50, and a speaker 60.

The vehicle drive device 20 is a means for realizing the drive, braking, and turning motion necessary for traveling of the vehicle 1, and controls, for example, a drive motor, a power transmission mechanism, a brake device, a steering device, and the like. It is configured to include an electronic control device. The vehicle drive device 20 generates power by a drive motor, for example, and transmits the power to the wheels via a power transmission mechanism (propeller shaft, differential gear, drive shaft, etc.) to drive the vehicle 1. The vehicle drive device 20 according to the present embodiment is configured so that the operation can be controlled by the driving support device 10.

The traveling state detection device 30 is various sensors that detect the traveling state of the vehicle 1 (hereinafter, referred to as "traveling state information"). The traveling state detection device 30 includes, for example, an acceleration sensor that detects the acceleration acting in the front-rear direction of the vehicle 1, a torque sensor that detects the torque acting on the power transmission mechanism between the wheels of the vehicle 1 and the engine, and an accelerator opening degree. It has an accelerator opening sensor for detecting the above, a steering angle sensor for detecting the steering angle of the steering device, a vehicle speed sensor for detecting the vehicle speed of the vehicle 1, a wheel speed sensor, and the like. The traveling state detection device 30 outputs the traveling state information of the vehicle 1 detected by itself to the driving support device 10.

The surrounding object detection device 40 is a sensor that detects the position of an object existing around the vehicle 1 (hereinafter, referred to as “surrounding information”), and includes, for example, an in-vehicle camera, an infrared sensor, a sonar, a radar, and the like. Consists of. Peripheral object detection devices 40 are arranged at corners at four corners of the vehicle 1 and at front, rear, left, and right positions so that objects in each direction around the vehicle 1 can be detected, for example. The surrounding object detection device 40 outputs the surrounding information of the vehicle 1 detected by itself to the driving support device 10.

The surrounding information of the vehicle 1 detected by the peripheral object detection device 40 is typically information on obstacles existing around the vehicle 1, and indicates an area in which the vehicle 1 can be driven.

The driving operation detection device 50 is various sensors for detecting an operation by a user (hereinafter, referred to as "operation information"), for example, an accelerator sensor for detecting an accelerator operation (for example, the amount of depression of the accelerator pedal), and a spare ring. It includes a sparing sensor and the like for detecting an operation (for example, the amount of rotation of the handle). The driving operation detection device 50 outputs the operation information detected by itself to the driving support device 10.

The speaker 60 is a notification means for transmitting necessary information to the user by voice. The speaker 60 outputs voice based on the command signal from the driving support device 10.

The driving support device 10 is an electronic control unit that controls each part of the vehicle 1. The driving support device 10 includes, for example, a vehicle driving device 20, a traveling state detection device 30, a surrounding object detection device 40, a driving operation detection device 50, and a speaker 60, and an in-vehicle network (for example, a communication network compliant with the CAN communication protocol). It is connected to each other via the above, and necessary data and control signals can be transmitted and received to each other.

The driving support device 10 controls the vehicle driving device 20 so that the driving state of the vehicle 1 is optimized while referring to the sensor information from the driving state detection device 30 and the driving operation detection device 50 (for example, the steering angle). , Deceleration, acceleration, transmission of vehicle speed command values, etc.). The driving support device 10 according to the present embodiment controls the vehicle driving device 20 based on the traveling state information of the vehicle 1, the surrounding information of the vehicle 1, and the operation information of the vehicle 1, and automatically drives the vehicle 1. It is configured to obtain (details below).

The operation support device 10 includes, for example, a CPU (Central Processing Unit) 10a, a ROM (Read Only Memory) 10b, a RAM (Random Access Memory) 10c, an input port (not shown), an output port (not shown), and the like. Consists of including. The function of the driving support device 10 is realized, for example, by the CPU 10a referring to a control program and various data stored in the ROM 10b and the RAM 10c.

The ROM 10b also stores vehicle information necessary for automatically driving the vehicle 1, such as the size of the vehicle 1 and the minimum turning radius of the vehicle 1.

[Driving support device configuration]
Next, the configuration of the driving support device 10 according to the present embodiment will be described with reference to FIGS. 3 to 4. In addition, here, only the configuration for the driving support device 10 according to the present embodiment for automatically leaving the vehicle 1 will be described.

FIG. 3 is a diagram showing a functional block of the driving support device 10 according to the present embodiment. The arrows in FIG. 3 represent signal transmission paths.

The driving support device 10 according to the present embodiment includes an input unit 11 and a control unit 12.

The input unit 11 includes a first input unit 11a, a second input unit 11b, and a third input unit 11c.

The first input unit 11a receives the input of the user's operation information from the driving operation detection device 50, and outputs the input operation information to the driving control unit 12c. The second input unit 11b receives input of information related to the traveling state of the vehicle 1 from the traveling state detection device 30, and inputs the input information related to the traveling state to the own vehicle position calculation unit 12a, the movement route determination unit 12b, and Output to the travel control unit 12c. The third input unit 11c receives the input of the surrounding information of the vehicle 1 from the surrounding object detection device 40, and outputs the input surrounding information to the own vehicle position calculation unit 12a, the movement route determination unit 12b, and the travel control unit 12c. To do.

The control unit 12 includes a vehicle position calculation unit 12a, a movement route determination unit 12b, a travel control unit 12c, and a notification unit 12d.

The own vehicle position calculation unit 12a determines the current position of the vehicle 1 as a relative position between the vehicle 1 and the surrounding objects based on the surrounding information of the vehicle 1 (for example, information indicating the existence position of an object around the vehicle 1). Is calculated. Further, the own vehicle position calculation unit 12a integrates the movement amount of the vehicle 1 based on the traveling state information of the vehicle 1 (for example, the steering angle of the vehicle 1, the vehicle speed, etc.), and sets the relative position from a certain point. Calculate the current position of vehicle 1.

When the vehicle 1 is automatically delivered, the movement route determination unit 12b determines a movement route for the vehicle 1 to be delivered from the parking space to the road area based on the current position of the vehicle 1 and the surrounding information of the vehicle 1. Here, the road area is an area in which a vehicle travels, and may be an area other than a public road, a private road, or a parking space in a parking lot.

For example, the movement route determination unit 12b can move the vehicle 1 based on the current position of the vehicle 1, the surrounding information of the vehicle 1, and the vehicle information (for example, the size of the vehicle 1 and the minimum turning radius of the vehicle 1). Recognize the range and set the delivery completion position to end the automatic delivery at an appropriate position in the road area. Then, the movement route determination unit 12b sets a plurality of movement route candidates for reaching the warehousing completion position from the initial position in the parking space within the range in which the vehicle 1 can move, and each of the plurality of movement route candidates. Calculate the cost (typically travel time). Then, the movement route determination unit 12b determines the movement route candidate having the lowest cost among the plurality of movement route candidates as the movement route at the time of automatic delivery.

Further, the movement route determination unit 12b sets a point in the movement route after determining the movement route at the time of automatic warehousing, at a point before the vehicle 1 completely advances to the road area, to temporarily stop the vehicle 1. To do. The point at which the vehicle 1 is temporarily stopped is the point at which the automatic driving mode described later is changed (hereinafter, also referred to as a "mode change point"). The movement route determining unit 12b distinguishes between the parking space and the road area, for example, based on the surrounding information of the vehicle 1 (for example, the shape of the movable range).

When the vehicle 1 is automatically delivered, the travel control unit 12c receives the current position of the vehicle 1 input from the own vehicle position calculation unit 12a, the travel state information of the vehicle 1 input from the travel state detection device 30, and the driving operation. The vehicle so as to automatically (that is, autonomously) move the vehicle 1 along the movement route determined by the movement route determination unit 12b while referring to the user's operation information input from the detection device 50. Controls the drive device 20.

Here, the travel control unit 12c automatically controls the steering operation of the vehicle 1 while entrusting the accelerator operation of the vehicle 1 to the user in the first automatic driving mode in which both the accelerator operation and the steering operation of the vehicle 1 are automatically controlled. It has a second automatic driving mode, and at the time of automatic warehousing, the driving mode for controlling the vehicle 1 is gradually changed from the first automatic driving mode to the second automatic driving mode and then to the manual driving mode. To do. As a result, the switching from the automatic operation to the manual operation is smoothly executed while minimizing the driving load on the user.

Typically, in the first automatic driving mode, the driving support device 10 automatically executes all the operations of the vehicle driving device 20. On the other hand, in the second automatic driving mode, only the accelerator operation of the vehicle driving device 20 is executed based on the depression operation of the accelerator pedal performed by the user, and the other operations are automatically executed by the driving support device 10. Is what you do.

FIG. 4 is a diagram illustrating an example of an automatic warehousing operation by the operation support device 10 according to the present embodiment. In FIG. 4, Ra represents a parking space, Rb represents a road area, Cb1 represents another vehicle traveling on the road area Rb, and Cb2 and Cb3 represent obstacles around the vehicle 1 (here, another parked vehicle).

FIG. 4 shows a mode in which vehicles 1 parallel parked in the parking space Ra are automatically discharged to the road area Rb. In FIG. 4, the point P0 represents the initial position, the points P1 and P2 represent the intermediate position in the movement route, the point P3 represents the delivery completion position, and the thick arrow indicates the movement route of the vehicle at the time of automatic delivery. Here, the point P2 is the mode change point.

When the automatic warehousing is started, first, the traveling control unit 12c is the first in the initial section (point P0 to point P1 and point P1 to point P2) between the initial position P0 and the intermediate position P2 in the movement route. In the automatic driving mode, the vehicle 1 is driven so as to automatically control both the steering operation and the accelerator operation. Here, the travel control unit 12c causes the vehicle 1 to travel backward at the points P0 to P1, turns back at the point P1, and then advances the vehicle 1 to the point P2.

Next, the travel control unit 12c temporarily stops the vehicle 1 at the intermediate position P2, and changes the automatic driving mode from the first automatic driving mode to the second automatic driving mode. Then, in the final section (points P2 to P3) between the intermediate position P2 and the delivery completion position P3 in the movement route, the travel control unit 12c informs the user about the accelerator operation in the second automatic operation mode. While entrusting it, the vehicle 1 is driven so as to automatically control the steering operation.

Then, the traveling control unit 12c switches from the automatic driving mode (second automatic driving mode) to the manual driving mode when the steering operation is performed by the user while the vehicle 1 is running in the final section. ..

This makes it possible to smoothly change from the automatic driving mode to the manual driving mode while moving the vehicle 1 in the road region Rb without stopping the vehicle 1 at the delivery completion position P3 of the road region Rb. There is.

The mode change point (intermediate position) is typically a position in the movement route that does not require turning back movement, and the vehicle 1 enters the road area Rb side by a predetermined distance from the parking space Ra. (For example, a point where only the front part of the vehicle 1 has entered the road area Rb) is set. As a result, in the area where safety is ensured, the driving operation by the user is completely omitted, and after entering the road area Rb, the automatic driving mode is smoothly changed to the manual driving mode. Is possible.

However, the setting standard of the mode change point may be appropriately changed according to the mode of automatic warehousing of the vehicle 1 and the environment around the vehicle 1. Further, at the mode change point, the travel control unit 12c does not necessarily have to completely stop the vehicle 1, and may reduce the vehicle speed of the vehicle 1 to a predetermined speed or less.

The notification unit 12d uses the speaker 60 to urge the user to perform a predetermined operation during automatic delivery. For example, when the vehicle 1 is traveling in the final section and the steering angle of the vehicle 1 is equal to or less than a threshold value (for example, 5 ° or less), the notification unit 12d causes the user to perform a steering operation. It is possible to switch from the automatic operation mode to the manual operation mode without causing the user to feel any difficulty.

Further, the notification unit 12d notifies the user to operate the accelerator when the vehicle is temporarily stopped at the mode change point.

[Operation of driving support device]
Next, an example of the operation of the operation support device 10 according to the present embodiment at the time of automatic delivery will be described with reference to FIG.

FIG. 5 is a flowchart showing the operation of the driving support device 10 according to the present embodiment.

The flowchart of FIG. 5 is, for example, a process in which the driving support device 10 executes the processes in order according to a computer program. The process of this flowchart is, for example, a process executed when the user issues an automatic warehousing execution command to the vehicle 1 by using an operation button or the like provided in the driver's seat.

In step S1, the driving support device 10 first determines a movement route for unloading the vehicle 1 from the parking space Ra to the road area Rb based on the current position of the vehicle 1 and the surrounding information of the vehicle 1. At this time, the driving support device 10 also determines the delivery completion position and the mode change point as well as the movement route.

In step S2, the driving support device 10 controls the vehicle driving device 20 to start the leaving movement of the vehicle 1. At this time, the driving support device 10 drives the vehicle 1 in the first automatic driving mode.

Although the description of the operation contents such as the accelerator operation, the steering operation, and the shift operation for the vehicle 1 by the driving support device 10 will be omitted here, the driving support device 10 is the own vehicle position of the vehicle 1 and the vehicle 1. The vehicle 1 is moved along the movement path by performing an accelerator operation, a steering operation, a shift operation, and the like while detecting the traveling state of the vehicle. The mode of this driving operation is the same as the known automatic driving operation.

In step S3, the driving support device 10 moves the vehicle 1 along the movement route determined in step S1, and the vehicle 1 moves back and forth in the movement route based on the sequentially calculated current position of the vehicle 1. Waiting to proceed to a position where there is no (S3: NO). Then, when the vehicle 1 has advanced to a position in the movement path where there is no turning back movement (S3: YES), the driving support device 10 proceeds with the process in step S4.

In step S4, the driving support device 10 moves the vehicle 1 along the movement route determined in step S1, and the mode change point in the movement route of the vehicle 1 based on the sequentially calculated current position of the vehicle 1. Wait to reach (S4: NO). Then, when the vehicle 1 reaches the mode change point in the movement route (S4: YES), the driving support device 10 proceeds to the process in step S5.

In step S5, the driving support device 10 controls the vehicle driving device 20 to suspend the vehicle 1 at the mode change point. In the movement route, the section before the mode change point corresponds to the above-mentioned initial section, and the section after this mode change point corresponds to the above-mentioned final section.

In step S6, the driving support device 10 confirms the safety state of the rear side of the vehicle 1 in the road area based on the surrounding information of the vehicle 1, and transfers the accelerator operation to the driver side by using the speaker 60. Notify that. At this time, when it is detected that another vehicle is approaching the rear side of the vehicle 1 in the road area, the driving support device 10 also notifies the fact by using the speaker 60.

In step S7, the driving support device 10 waits for the accelerator operation by the user to be performed based on the operation information from the driving operation detection device 50 (S7: NO). Then, when the accelerator operation is performed by the user (S7: YES), the driving support device 10 proceeds to the process in step S8.

In step S8, the driving support device 10 controls the vehicle driving device 20 to release the brake, change the driving mode from the first automatic driving to the second automatic driving mode, and restart the running of the vehicle 1. .. At this time, the driving support device 10 entrusts the accelerator operation to the user and automatically controls the steering operation.

In step S9, the driving support device 10 advances the vehicle 1 along the movement path determined in step S2, and the steering angle is equal to or less than the threshold value (for example, 5) based on the traveling state information from the traveling state detecting device 30. (S9: NO). Then, when the steering angle becomes equal to or less than the threshold value (S9: YES), the driving support device 10 proceeds to the process in step S10.

In this step S9, the state in which the steering angle is equal to or less than the threshold value means that the vehicle 1 has advanced to the road region and the vehicle 1 has been substantially straight.

In step S10, the driving support device 10 notifies the user to perform the steering operation by using the speaker 60.

In step S11, whether the driving support device 10 has executed the steering operation based on the operation information from the driving operation detection device 50 (that is, whether the user has rotated the steering wheel provided on the vehicle 1). Whether or not) is determined. Then, when the user has not performed the steering operation (S11: NO), the driving support device 10 proceeds to the process in step S12. On the other hand, when the user performs the steering operation (S11: YES), the driving support device 10 proceeds to step S14.

In step S12, the driving support device 10 moves the vehicle 1 along the movement route determined in step S1 and has the vehicle 1 reached the delivery completion position based on the sequentially calculated current position of the vehicle 1. Judge whether or not. Then, when the vehicle 1 reaches the delivery completion position (S12: YES), the driving support device 10 proceeds with the process in step S13. On the other hand, when the vehicle 1 has not reached the delivery completion position (S12: NO), the driving support device 10 returns to step S11 and waits for the user to perform the steering operation.

In step S13, the driving support device 10 controls the vehicle driving device 20 to stop the vehicle 1.

In step S14, the driving support device 10 changes from the second automatic driving mode to the manual driving mode, and all operations on the vehicle driving device 20 are performed by various user operations (for example, operations on the accelerator pedal and operations on the steering wheel). Etc.).

[effect]
As described above, the driving support device 10 according to the present embodiment automatically controls the steering operation for the vehicle 1 in at least a part of the section (for example, the final section) in the movement route at the time of automatic delivery. The accelerator operation for the vehicle 1 is entrusted to the user, and the automatic driving mode is switched to the manual driving mode triggered by the steering operation performed by the user while the vehicle 1 is running in the section.

Therefore, according to the driving support device 10 according to the present embodiment, after the vehicle 1 is discharged from the parking space to the road area, the automatic driving mode is switched to the manual driving mode without stopping the vehicle in the road area. Is possible.

Further, the driving support device 10 according to the present embodiment has a first automatic driving mode in which both the accelerator operation and the steering operation of the vehicle 1 are automatically controlled, and the steering operation of the vehicle 1 while entrusting the accelerator operation of the vehicle 1 to the user. It has a second automatic driving mode that automatically controls the vehicle, and at the time of automatic delivery, the driving mode that controls the vehicle 1 is changed from the first automatic driving mode to the second automatic driving mode and then to the manual driving mode. Change in stages. This makes it possible to smoothly switch from automatic driving to manual driving while minimizing the driving burden on the user.

Further, the driving support device 10 according to the present embodiment is configured to allow the user to perform a steering operation when the steering angle of the vehicle 1 becomes equal to or less than a threshold value while the vehicle 1 is traveling in the final section. It is supposed to be. As a result, it is possible to switch from the automatic operation mode to the manual operation mode without making the user feel any difficulty.

(Modification example 1)
The driving support device 10 according to the above embodiment can be applied to other than the automatic warehousing operation when the vehicle 1 parallel parked is warehousing.

FIG. 6 is a diagram showing an automatic warehousing operation by the operation support device 10 according to the first modification.

In the first modification, the warehousing operation when the vehicle 1 is turned forward and the vehicle 1 is automatically parked from the parallel parked state is shown. In FIG. 6, the point P10 represents the initial position, the point P12 represents the delivery completion position, and the thick line arrows (points P10 to P11 and points P11 to P12) represent the movement route of the vehicle 1 at the time of automatic delivery. .. In this modification 1, the point P11 is the mode change point.

Also in this modification 1, the driving support device 10 first determines the delivery completion position P12 based on the current position of the vehicle 1 and the surrounding information of the vehicle 1, and also determines the movement route from the current position P10 to the delivery completion position P12. To determine. Then, the driving support device 10 sets the mode change point at the position P11 in the movement path, which does not require the subsequent turning back movement. Here, since the driving support device 10 has no choice but to extend most of the vehicle 1 to the road region Rb when the vehicle 1 is turned back and moved, the position P11 where the vehicle 1 is turned back is set as the mode change point. It is set.

Next, the driving support device 10 drives the vehicle 1 in the first automatic driving mode from the initial position P10 to the intermediate position P11 (here, the turning point) along the previously determined movement path. Then, the driving support device 10 temporarily stops the vehicle 1 at the intermediate position P11, then switches from the first automatic driving mode to the second automatic driving mode, and follows the previously determined movement route to the vehicle 1. To run. Then, the driving support device 10 then performs a steering operation by the user in the final section (that is, between the mode change point P11 and the delivery completion position P12) in the previously determined movement route. As an opportunity, the second automatic operation mode is switched to the manual operation mode.

As described above, by the vehicle control of the driving support device 10 according to the present modification 1, even when the vehicle 1 is automatically discharged from the state of being parallel parked with the vehicle 1 facing backward, the vehicle 1 is placed at the delivery completion position P12 in the road area Rb. It is possible to switch from the automatic operation mode to the manual operation mode without stopping at.

(Modification 2)
FIG. 7 is a diagram showing an automatic warehousing operation by the operation support device 10 according to the second modification.

In the second modification, the warehousing operation when the vehicle 1 is turned backward and the vehicle is automatically unloaded from the parallel parked state is shown. In FIG. 7, the point P20 represents the initial position, the point P22 represents the delivery completion position, and the thick line arrows (points P20 to P21 and points P21 to P22) represent the movement route of the vehicle at the time of automatic delivery. In this modification 2, the point P21 is the mode change point.

Also in the second modification, the driving support device 10 first determines the delivery completion position P22 based on the current position of the vehicle 1 and the surrounding information of the vehicle 1, and also determines the movement route from the current position P20 to the delivery completion position P22. To determine. Then, the driving support device 10 sets the mode change point at the position P21 in the movement path, which does not require the subsequent turning back movement. Here, the driving support device 10 sets the point P21 where the vehicle 1 is slightly advanced from the parking space and only the front portion of the vehicle 1 enters the road area Rb as the mode change point.

Next, the driving support device 10 drives the vehicle 1 in the first automatic driving mode from the initial position P20 to the intermediate position P21 along the previously determined movement path. Then, the driving support device 10 temporarily stops the vehicle 1 at the intermediate position P21, then switches from the first automatic driving mode to the second automatic driving mode, and follows the previously determined movement route to the vehicle 1. To run. Then, the driving support device 10 then performs a steering operation by the user in the final section (that is, between the mode change point P21 and the delivery completion position P22) in the previously determined movement route. As an opportunity, the second automatic operation mode is switched to the manual operation mode.

As described above, by the vehicle control of the driving support device 10 according to the present embodiment, even when the vehicle 1 is turned forward and the vehicle is automatically parked in parallel, the vehicle 1 is placed at the delivery completion position P22 in the road area Rb. It is possible to switch from the automatic operation mode to the manual operation mode without stopping the vehicle.

(Other embodiments)
The present invention is not limited to the above embodiment, and various modifications can be considered.

In the above embodiment, as an example of the driving control unit 12c of the driving support device 10, in the second automatic driving mode, the steering operation for the vehicle 1 is automatically controlled, and the accelerator operation for the vehicle 1 is entrusted to the user. At this time, the travel control unit 12c may control the vehicle drive device 20 so as to reflect the operation amount of the accelerator operation by the user as it is, but in order to suppress an excessive increase in speed, the accelerator operation of the user is performed. The vehicle 1 may be driven at a constant speed based on the accelerator operation of the user without referring to the operation amount.

Further, in the final section (points P2 to P3) between the intermediate position P2 and the delivery completion position P3 in the movement path, the travel control unit 12c is used by the user until the steering angle of the vehicle 1 becomes equal to or less than the threshold value. The steering operation may be prohibited.

Further, the traveling control unit 12c may control the vehicle 1 in the second automatic driving mode from the initial position without using the first automatic driving mode at the time of automatic delivery.

Further, in the above embodiment, as an example of the notification unit 12d of the driving support device 10, the mode of notifying the user with the speaker 60 is shown. However, as a means for the notification unit 12d to notify the user, a display on an indicator or the like may be used instead of the speaker 60.

Further, in the above embodiment, as an example of the driving support device 10, an aspect of detecting the position of the own vehicle based on the surrounding information of the vehicle 1 acquired from the surrounding object detection device 40 is shown. However, the driving support device 10 may detect the position of the own vehicle by the GPS receiver provided in the vehicle 1.

Further, in the above embodiment, as an example of the driving support device 10, the control unit 12 is described as being realized by one computer, but it is needless to say that it may be realized by a plurality of computers. Further, the programs and data read by the computer, the data written by the computer, and the like may be distributed and stored in a plurality of computers.

Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of claims. The techniques described in the claims include various modifications and modifications of the specific examples illustrated above.

According to the driving support device according to the present disclosure, a more suitable automatic warehousing function can be realized in terms of safety and consideration for other vehicles.

1 Vehicle 10 Driving support device 11 Input unit 11a 1st input unit 11b 2nd input unit 11c 3rd input unit 12 Control unit 12a Own vehicle position calculation unit 12b Movement route determination unit 12c Travel control unit 12d Notification unit 20 Vehicle drive device 30 Driving state detection device 40 Surrounding object detection device 50 Driving operation detection device 60 Speaker
Ra parking space Rb road area

Claims (6)

It is a driving support device that supports driving when the vehicle leaves the garage.
An input unit that accepts input of sensor information from the sensor that monitors the surroundings of the vehicle,
When the vehicle is discharged from the parking space to the road area, the movement route from the parking space to a predetermined position in the road area is determined based on the surrounding information of the vehicle, and the movement route is determined so as to follow the movement route. The control unit that drives the vehicle and
With
The control unit
In at least a part of the section of the movement path, the steering operation for the vehicle is automatically controlled, the accelerator operation for the vehicle is entrusted to the user, and the vehicle is driven in the section. Switching from the automatic operation mode to the manual operation mode, triggered by the steering operation by the user.
Driving support device. The control unit notifies the user to perform the steering operation when the steering angle of the vehicle becomes equal to or less than a threshold value while the vehicle is traveling in the section.
The driving support device according to claim 1. The control unit has a first automatic operation mode that automatically controls both the steering operation and the accelerator operation, and a second automatic operation mode that automatically controls the steering operation and entrusts the accelerator operation to the user. Have and
In the first section from the initial position to the intermediate position in the movement path, the vehicle is driven in the first automatic driving mode.
In the second section from the intermediate position to the predetermined position in the movement path, the vehicle is driven in the second automatic driving mode.
The automatic driving mode is switched to the manual driving mode, triggered by the steering operation by the user performed while the vehicle is running in the second section.
The driving support device according to claim 1 or 2. The control unit suspends the vehicle at the intermediate position and notifies the user to perform the accelerator operation.
The driving support device according to claim 3. The intermediate position is a position in the movement route that does not require subsequent turning back movement, and is a position where the vehicle has entered the road area side by a predetermined distance from the parking space.
The driving support device according to claim 3 or 4. A vehicle including the driving support device according to any one of claims 1 to 5.

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