JP3861865B2 - Vehicle operation device - Google Patents

Description

  The present invention relates to a vehicle operating device that automatically operates a vehicle.

  2. Description of the Related Art Conventionally, a device that automatically operates a vehicle according to a set traveling speed and a distance between vehicles is known. In the conventional apparatus, throttle valve opening / closing control and transmission switching control are performed based on sensor information from a speed sensor that detects the traveling speed of the vehicle and a distance sensor that measures the distance between the vehicle and the vehicle ahead. Then, the vehicle is automatically operated so as to maintain the traveling speed and the inter-vehicle distance set by the user.

  However, the conventional apparatus cannot perform automatic operation in consideration of the traveling state of the vehicle traveling around the host vehicle. For example, if the vehicle changes from a highway to a general road, or enters another road due to a right turn or left turn, etc., the user must It has been necessary to select a new vehicle and change the set traveling speed and inter-vehicle distance according to the speed limit of the road.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle operation apparatus capable of performing automatic operation in consideration of the traveling state of a vehicle traveling around the host vehicle. To do.

  In order to achieve the above object, the vehicle operating device according to claim 1 is a vehicle operating device that causes the vehicle to travel according to a set speed, and causes the vehicle to travel according to the set speed on a road on which the host vehicle is traveling. The acquisition means for acquiring the set speed information in the specific vehicle, the set speed in the own vehicle, and the set speed based on the set speed information acquired by the acquisition means have a predetermined relationship. In some cases, the vehicle includes a changing means for changing a set speed of the own vehicle.

  As described above, the vehicle operating device of the present invention drives the vehicle according to the set speed, and the changing means has a predetermined relationship between the set speed in the own vehicle and the set speed based on the set speed information acquired by the acquiring means. If this is the case, the set speed of the own vehicle is changed. As a result, the vehicle operating device automatically sets the set speed of the host vehicle according to the set speed of the vehicle that uses the device that drives the vehicle according to the set speed while traveling on the road on which the host vehicle is traveling. Can be changed. In other words, automatic operation can be performed in consideration of the traveling state of a vehicle traveling around the host vehicle.

  The attribute data including at least a speed limit on the road on which the vehicle is traveling from the position detection unit that detects the current position of the vehicle and the vehicle position detected by the position detection unit. An attribute data acquisition means for acquiring the vehicle, and a determination means for determining whether or not the vehicle has changed to a road with a different speed limit based on the attribute data acquired by the attribute data acquisition means Preferably, the means changes the set speed when the determination by the determination means is made. Thereby, when the own vehicle changes to a road with a different speed limit, the changing means can surely change the set speed of the own vehicle.

  As described in claim 3, when a plurality of vehicles using a device that drives the vehicle according to the set speed is specified, the acquisition unit acquires set speed information of the plurality of specific vehicles, It is desirable that the determination means use an average value of a plurality of acquired set speed information as the set speed based on the set speed information. Thereby, even when there are a plurality of vehicles using the above-described device, the determination means can make a determination in consideration of the set speed of each vehicle.

  According to a fourth aspect of the present invention, when the deviation between the set speed of the own vehicle and the set speed based on the acquired set speed information is equal to or greater than a predetermined value, the changing means sets the set speed of the own vehicle as a predetermined relationship. It is desirable to change so as to approach the set speed based on the acquired set speed information. Thereby, the change means can change the setting speed of the own vehicle so that it can drive | work at the speed according to the setting speed of the specified some vehicle.

  As described in claim 5, it is desirable that the changing means only changes the direction in which the set speed of the host vehicle is reduced. Thereby, the set speed of the own vehicle can be surely reduced, which is preferable for safety.

  As described in claim 6, when the changing means changes the set speed, it is desirable to provide a confirmation means for confirming with the user whether the change is possible. Thus, the user can determine whether or not to change the set speed of the own vehicle.

  As described in claim 7, it is desirable to provide notifying means for notifying the user when the set speed is changed by the changing means. Thereby, the user can grasp | ascertain reliably that the setting speed of the own vehicle was changed.

  As described in claim 8, it is desirable to provide notifying means for notifying the user of a vehicle that uses the device for driving the vehicle according to the set speed specified by the acquiring means. Thereby, the user can grasp | ascertain whether the setting speed of the own vehicle is changed based on the setting speed of which vehicle.

  According to a ninth aspect of the present invention, it is desirable that the notifying means displays an image of a vehicle using a device for driving the vehicle according to the set speed specified by the acquiring means and notifies the user. Thereby, the user can immediately discriminate the vehicle using the above-described device from the displayed image.

  According to a tenth aspect of the present invention, there is provided speed limit information acquisition means for acquiring speed limit information of a road on which the own vehicle is traveling, and the acquisition means is configured to control the vehicle according to the set speed on the road on which the own vehicle is traveling When the vehicle using the device to travel cannot be specified, it is desirable that the changing unit changes the set speed based on the speed limit of the road on which the vehicle is traveling. Thereby, when the vehicle using the above-mentioned apparatus cannot be specified, the changing means can surely change the set speed based on the speed limit of the road on which the vehicle is traveling.

  FIG. 1 is a block diagram showing an overall configuration of a vehicle operating device according to an embodiment of the present invention. The vehicle operating device 1 is mounted on a vehicle and operates the vehicle according to a preset traveling speed.

  As shown in FIG. 1, the radar 2 is, for example, a millimeter wave transmitter / receiver, and transmits a millimeter wave having a predetermined frequency around the vehicle and receives a reflected wave reflected by the millimeter wave hitting another vehicle. Based on the phase difference or attenuation level between the transmitted millimeter wave and the received reflected wave, the position of one or more vehicles traveling on the road on which the vehicle is traveling is detected. Regarding the position detection described above, ultrasonic waves or lasers may be transmitted and detected based on the reflected waves.

  The vehicle-to-vehicle communication device 31 is, for example, a wireless communication device, and uses a vehicle-to-vehicle communication antenna 32 to communicate with a communicable vehicle among one or a plurality of vehicles traveling on the road on which the vehicle is traveling. . Then, the latitude, longitude, and altitude of the point where the vehicle is traveling are acquired as other vehicle position information. The other vehicle position information is detected by the position detection device mounted on the vehicle.

  In addition, among the vehicles described above, an ACC flag indicating whether the vehicle is running using the ACC device is received for a vehicle equipped with a device (hereinafter referred to as an ACC device) that runs the vehicle according to the set speed. To do. This ACC flag is a flag that is set to 1 when a vehicle equipped with an ACC device is traveling using the device. Furthermore, the set speed set in the said apparatus is received from the vehicle which is drive | working using an ACC apparatus.

  The map data input device 41 is composed of, for example, a hard disk, and stores map information including road information, building information, address information of each area, zip code information, and the like as map data. The map data input device 41 stores map image data for displaying a map image.

  In particular, in the present embodiment, the map data described above includes speed limit data indicating the speed limit of each road, road type data indicating whether each road is a general road, or a high standard road such as an expressway, etc. Attribute data consisting of These data may be stored in a CD-ROM, DVD-ROM, or the like.

  The GPS antenna 42 receives a GPS signal for position measurement transmitted from a GPS satellite (not shown) that is an artificial satellite.

  The display 43 is a small liquid crystal display, for example, and performs various navigation displays. For various navigation displays, an in-vehicle head-up display or the like may be used.

  The navigation ECU 44 calculates the latitude, longitude, and altitude of the point where the vehicle is traveling from the GPS signal received by the GPS antenna 42, and executes various navigation operations. Specifically, map image data around the vehicle position is read from the map data input device 41, and a map image on which a mark indicating the vehicle position is superimposed is generated and output to the display 43.

  In particular, in the present embodiment, the navigation ECU 44 generates an image that displays one or a plurality of vehicles that are traveling on a road on which the vehicle is traveling, based on other vehicle information acquired from the periphery detection device 5 described later. . In this case, (1) a vehicle that cannot communicate with the host vehicle, (2) a vehicle that is not equipped with an ACC device, or is traveling without using an ACC device, and (3) an ACC device is used. A color-coded image of the vehicle that is running is generated. And it outputs to the display 43 with the above-mentioned map image, these are arranged side by side and displayed simultaneously (refer FIG. 2).

  The vehicle position may be detected based on a detection signal from another sensor such as a steering sensor.

  The periphery detection device 5 identifies a vehicle that is a transmission source of the other vehicle position information acquired by the inter-vehicle communication device 3 through communication. Specifically, the position of the vehicle or vehicles detected by the radar 2 is compared with the other vehicle position information described above, and the one with the highest degree of coincidence with this is specified as the transmission source vehicle. For the specified vehicle, the position of the other vehicle detected by the radar 2 is replaced with the other vehicle position information acquired by the inter-vehicle communication device 3 through communication, and the inter-vehicle communication device 3 together with the other vehicle position information described above. The acquired ACC flag and set speed are collected and other vehicle information is generated. Moreover, regarding the vehicle that does not match the other vehicle position information among the one or a plurality of vehicles detected by the radar 2, the detected position of each vehicle is used as the other vehicle information of the vehicle as it is. For vehicles that have not been detected by the radar 2, the other vehicle position information acquired by communication by the inter-vehicle communication device 3 is directly used as the other vehicle information of the vehicle. The generated other vehicle information of each vehicle is transmitted to the navigation ECU 44.

  In particular, in the present embodiment, the periphery detection device 5 acquires the road type data of the road on which the vehicle is traveling from the navigation ECU 44 at regular intervals. And when it turns out that the own vehicle entered the general road from the high-standard road, among the vehicle or vehicles that are acquired by the inter-vehicle communication device 3 and are traveling on the road on which the own vehicle is traveling, An average value (hereinafter referred to as an average speed) of a set speed of a vehicle traveling using the ACC device is calculated. Further, the calculated average speed is subtracted from the set speed of the speed control device 6 described later, and when the subtraction result is larger than a predetermined value, the speed control device 6 is instructed to change the set speed. The calculated average speed is output to the speed control device 6 as a new set speed.

  The speed control device 6 operates the throttle valve 7 and the transmission 8 so that the traveling speed of the host vehicle becomes equal to the set speed, and performs engine control of the host vehicle (not shown).

  In particular, in the present embodiment, when the speed control device 6 is instructed to change the set speed from the periphery detection device 5, the speed control device 6 starts an internal counter and monitors the operation of the ACC lever 9 for a predetermined time. When the ACC lever 9 is operated within a predetermined time, the set speed is changed to a new set speed output from the peripheral detection device 5 assuming that the change of the set speed is permitted. At that time, a speed change notification is transmitted to the navigation ECU 44 and the content indicating that the set speed has been changed is displayed on the display 43. If the ACC lever 9 is not operated within a predetermined time, the set speed is not changed.

  FIG. 3 is a flowchart relating to a process in which the vehicle operating device of the present embodiment notifies the user of a vehicle traveling on a road on which the vehicle is traveling. The processing of this flowchart is executed at regular time intervals.

  In step 301, the periphery detection device 5 acquires the positions of one or more vehicles traveling on the road on which the vehicle is traveling, detected by the radar 2. In step 302, the other vehicle position information received by the inter-vehicle communication device 31 is acquired. In step 303, the vehicle position is acquired from the navigation ECU 44.

  In step 304, the position of the vehicle or vehicles detected in step 301 is compared with the other vehicle position information acquired in step 302, and the one with the highest degree of coincidence with this is transmitted from the other vehicle position information. Is identified as a vehicle. And the other vehicle information of each vehicle detected at step 301 is produced | generated.

  In step 305, the other vehicle information generated in step 304 is transmitted to the navigation ECU 44. Thereby, the user can grasp the vehicle running using the ACC device from the image displayed on the display 43. In addition, it can be confirmed that the set speed of the host vehicle is changed according to the set speed of the ACC device used by the vehicle.

  FIG. 4 is a flowchart regarding processing for determining whether or not the vehicle operating device of the present embodiment changes the set speed of the own vehicle. The process of this flowchart is executed at regular intervals independently of the process of the flowchart of FIG. 3 described above.

  In step 401, the periphery detection device 5 acquires the road type data of the road on which the vehicle is traveling from the navigation ECU 44, and determines whether the vehicle has entered the general road from the high-standard road. This is because when the own vehicle changes to a road with a different speed limit, it is necessary to change the set speed of the own vehicle. If it is determined that the vehicle has entered the general road from the high standard road, the process proceeds to step 402. If not, the process ends.

  In step 402, the ACC flag acquired from all vehicles with which the inter-vehicle communication device 31 can communicate is checked, and it is determined whether there is at least one ACC flag set to 1, that is, using the ACC device. It is determined whether there is at least one vehicle. If there is a vehicle traveling using the ACC device, the process proceeds to step 403. If there is no vehicle traveling using the ACC device, or if there is no vehicle traveling on the road on which the vehicle is traveling, the process proceeds to step 408.

  In step 403, it is determined whether or not there are a plurality of ACC flags set to 1, that is, whether or not there are a plurality of vehicles traveling using the ACC device. If there are a plurality of ACC flags set to 1, the process proceeds to step 404. Otherwise, go to step 405.

  In step 404, an average speed (average value) of set speeds received by the inter-vehicle communication device 31 from a plurality of vehicles is calculated. As a result, even when there are a plurality of vehicles using the ACC device, it is possible to determine whether or not to change the set speed described later in consideration of the set speed of each vehicle. On the other hand, in step 405, the set speed received from the single vehicle by the inter-vehicle communication device 31 is set as the average speed as it is.

  In step 406, the set speed is read from the speed controller 6, and the average speed calculated in step 404 or step 405 is subtracted. Then, it is determined whether or not the subtraction result is a predetermined value or more. If the subtraction result is equal to or greater than the predetermined value, the process proceeds to step 407. If not, the process ends.

  In step 407, the speed controller 6 is instructed to change the set speed, and the average speed calculated in step 404 or step 405 is output to the speed controller 6 as a new set speed. As a result, the set speed of the host vehicle can be reliably reduced in accordance with the traveling speed of the other vehicle, which is preferable for safety.

  On the other hand, in step 408, the speed control device 6 is instructed to change the set speed, and speed limit data of the road on which the vehicle is traveling is acquired from the navigation ECU 44, and this is used as a new set speed. Output to 6. Thus, even when there is no vehicle using the ACC device or when there is no vehicle traveling on the road on which the vehicle is traveling, it is based on the speed limit of the road on which the vehicle is traveling. The set speed can be changed reliably.

  FIG. 5 is a flowchart relating to processing for changing the set speed of the speed control device 6 in the vehicle operating device of the present embodiment. The processing of this flowchart is executed every time the periphery detection device 5 instructs the speed control device 6 to change the set speed.

  In step 501, the speed control device 6 starts an internal counter. In step 502, it is determined whether or not the ACC lever 9 has been operated, that is, whether or not the user has permitted a change in the set speed. As a result, the user can determine whether or not to change the set speed. If the ACC lever 9 has been operated, the process proceeds to step 503. If the ACC lever 9 has not been operated, the process proceeds to step 504.

  In step 503, the set speed of the host vehicle is changed to a new set speed output from the periphery detection device 5. Then, a speed change notification is transmitted to the navigation ECU 44, the content indicating that the set speed has been changed is displayed on the display 43, and the process ends. Thereby, the user can grasp | ascertain reliably that the setting speed of the own vehicle was changed.

  On the other hand, in step 504, the internal counter value is incremented by one. In step 505, it is determined whether or not the value of the internal counter is equal to or greater than a predetermined value. If the value of the internal counter is equal to or greater than the predetermined value, the process ends without changing the set speed. If not, the process returns to step 502 and the above determination is repeated.

  As described above, in the vehicle operating device of the present embodiment, the road type of the road on which the host vehicle is traveling is monitored at regular intervals. When it turns out that the own vehicle has entered the general road from the high-standard road, the set speed of the vehicle using the ACC device among the vehicles traveling on the road is acquired, and the speed control device is accordingly obtained Change the setting speed of 6. Thus, even if the user himself does not change the set speed, the set speed of the own vehicle is automatically changed according to the set speed of the ACC device mounted on the vehicle traveling around the own vehicle. In other words, automatic operation can be performed in consideration of the traveling state of a vehicle traveling around the host vehicle.

  Next, a modification of this embodiment will be described.

  The present modification is different from the above-described embodiment in that the speed limit of the road on which the host vehicle is traveling is monitored and the set speed of the host vehicle is changed when this is changed.

  FIG. 6 is a flowchart relating to a process of determining whether or not the vehicle operating device in the present modification changes the set speed of the own vehicle. The process of this flowchart replaces the step of determining whether or not the own vehicle has entered the general road from the high-standard road in the process of the flowchart of FIG. 4 described above, and the speed limit of the road on which the own vehicle is traveling There is provided a step of determining whether or not has changed.

  Further, instead of the step of determining whether or not the result of subtracting the average value of the set speeds of the ACC devices mounted on other vehicles from the set speed of the own vehicle is a predetermined value or more, the set speed of the own vehicle And a step of determining whether or not the deviation from the average speed is equal to or greater than a predetermined value.

  In other words, the processes other than step 601 and step 606 are the same as those in the flowchart of FIG. Note that the processing of this flowchart is executed at regular intervals, similarly to the processing of the flowchart of FIG. 4 described above.

  In step 601, the periphery detection device 5 acquires speed limit data of the road on which the host vehicle is traveling from the navigation ECU 44, and determines whether or not the speed limit of the road on which the host vehicle is traveling has changed. If it is determined that the speed limit of the road on which the vehicle is traveling has changed, the process proceeds to step 602. If not, the process ends.

  In step 606, the set speed is read from the speed control device 6, a deviation from the average speed calculated in step 604 or step 605 is calculated, and it is determined whether or not the deviation is a predetermined value or more. If the deviation is equal to or greater than the predetermined value, the process proceeds to step 607. If not, the process ends.

  Thus, in the vehicle operating device of this modification, the speed limit of the road on which the host vehicle is traveling is monitored at regular intervals. When the speed limit changes, the set speed of the speed control device 6 is changed according to the speed limit after the change. As a result, for example, even when the vehicle enters another road or the speed limit of the travel road changes as the vehicle travels, the set speed of the vehicle is changed based on the changed speed limit. can do. Therefore, it is not necessary for the user himself to change the set speed, which is more convenient.

  In the above-described embodiment, when the own vehicle enters from a high standard road to a general road, the set speed of the own vehicle is changed. However, when the own vehicle enters from a general road to a high-standard road, the set speed of the own vehicle may be changed. In this case, the set speed of the speed control device 6 is subtracted from the calculated average speed, and when the subtraction result is equal to or greater than a predetermined value, the set speed of the speed control device 6 is changed. Of course, these may be used in combination.

  Furthermore, in the above-described embodiment and modification, the set speed of the host vehicle is changed according to the set speed of the ACC device mounted on the vehicle traveling on the road on which the host vehicle is traveling. However, the speed of each vehicle traveling on the road on which the vehicle is traveling may be calculated using a laser speedometer, and the set speed of the vehicle may be changed according to the average speed. Thereby, the set speed of the own vehicle can be changed in consideration of even the traveling speed of the vehicle not equipped with the ACC device.

  In the above-described embodiment, whether or not to change the set speed of the own vehicle is determined based on the road type of the road on which the own vehicle is traveling. In the above-described modification, it is determined whether to change the set speed of the own vehicle based on the speed limit of the road on which the own vehicle is traveling. However, these may be used in combination.

  In the above-described embodiment and modification, the speed limit of the road on which the host vehicle is traveling is stored in the map data input device 41 as speed limit data. However, the speed limit data may be acquired from the outside using the Internet or the like. In this case, the detected vehicle position is transmitted to the management center or the like, and the speed limit of the road on which the vehicle is traveling is received from the center.

  In the above-described embodiment and modification, the traveling speed of each vehicle traveling on the road on which the host vehicle is traveling and the set speed of the ACC device mounted on each vehicle are transmitted and received by inter-vehicle communication. . However, these may be transmitted and received from the outside using the Internet or the like. In this case, each vehicle transmits the traveling speed and the set speed of the ACC device to the management center or the like, and the own vehicle receives these data from the center.

It is a block diagram which shows the whole structure of the vehicle operation apparatus in one Embodiment of this invention. In the vehicle operating device of this embodiment, it is a figure which shows an example which displayed on the display the vehicle which is drive | working the road where the own vehicle is drive | working. It is a flowchart regarding the process which the vehicle operating apparatus of this embodiment notifies a user of the vehicle which is drive | working the road where the own vehicle is drive | working. It is a flowchart regarding the process which determines whether the vehicle operating apparatus of this embodiment changes the setting speed of the own vehicle. In the vehicle operating device of this embodiment, it is a flowchart regarding the process which changes the setting speed of a speed control apparatus. It is a flowchart regarding the process which determines whether the vehicle operating apparatus in this modification changes the setting speed of the own vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle operation apparatus 2 ... Radar 31 ... Inter-vehicle communication apparatus 32 ... Inter-vehicle communication antenna 41 ... Map data input device 42 ... GPS antenna 43 ... Display 44 ... Navigation ECU
5 ... Peripheral detector 6 ... Speed controller 7 ... Throttle valve 8 ... Transmission 9 ... ACC lever

Claims (10)

A vehicle operating device that drives a vehicle according to a set speed,
In the road on which the host vehicle is traveling, an acquisition unit that identifies a vehicle that uses a device that causes the vehicle to travel according to a set speed, and acquires set speed information in the specific vehicle;
A vehicle comprising: changing means for changing the set speed of the own vehicle when the set speed in the own vehicle and the set speed based on the set speed information acquired by the acquiring means have a predetermined relationship. Navigation device. Position detecting means for detecting a current position of the vehicle;
Attribute data acquisition means for acquiring attribute data including at least a speed limit with respect to a road on which the vehicle is traveling, from the vehicle position detected by the position detection means;
Based on the attribute data acquired by the attribute data acquisition means, comprising a determination means for determining whether or not the vehicle has changed to a road with a different speed limit,
The vehicle operating device according to claim 1, wherein the changing unit changes the set speed when a transfer determination is made by the determining unit. When a plurality of vehicles using a device that drives the vehicle according to the set speed is specified, the acquisition unit acquires set speed information of the plurality of specific vehicles, and the determination unit includes the setting The vehicle operating device according to claim 1, wherein an average value of a plurality of acquired set speed information is used as the set speed based on the speed information. When the deviation between the set speed of the own vehicle and the set speed based on the acquired set speed information is a predetermined value or more as the predetermined relationship, the changing means sets the set speed of the own vehicle as the acquired setting. The vehicle operating device according to any one of claims 1 to 3, wherein the vehicle operating device is changed so as to approach a set speed based on the speed information. The vehicle operating device according to claim 1, wherein the changing unit changes only in a direction in which a set speed of the own vehicle is reduced. 6. The vehicle operating device according to claim 1, further comprising confirmation means for confirming with a user whether or not the change speed is changed by the change means. The vehicle operating device according to any one of claims 1, 2, and 4 to 6, further comprising a notification unit that notifies a user when a setting speed is changed by the changing unit. 2. The vehicle operating device according to claim 1, further comprising a notification unit that notifies a user of a vehicle that uses the device that drives the vehicle according to the set speed specified by the acquisition unit. 9. The vehicle operation according to claim 8, wherein the notifying unit displays a vehicle image using a device that drives the vehicle according to the set speed specified by the acquiring unit, and notifies the user of the image. apparatus. Provide speed limit information acquisition means for acquiring speed limit information of the road on which the host vehicle is traveling,
When the acquisition unit cannot identify a vehicle that uses a device that causes the vehicle to travel according to the set speed on the road on which the host vehicle is traveling, the changing unit is configured to determine whether the host vehicle is traveling. The vehicle operating device according to claim 1, wherein the set speed is changed based on a speed limit of the road.

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