JP4092043B2 - Automatic vehicle steering system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic vehicle steering apparatus for automatically parking a vehicle without depending on a steering operation of a driver.
[0002]
[Prior art]
Such automatic steering devices for vehicles are already known from Japanese Patent Application Laid-Open Nos. 4-55168 and 11-78936. These automatic vehicle steering devices use a steering actuator of a conventionally known electric power steering device, and control the steering actuator based on the relationship between the vehicle movement distance and the turning angle stored in advance. Parking and parallel parking are performed automatically.
[0003]
[Problems to be solved by the invention]
By the way, when a garage is placed by automatic steering control in a vehicle equipped with a conventional automatic steering device, the driver determines that the garage has finished before the automatic steering control is completely finished, stops the engine, and stops the vehicle. There is a possibility of leaving. In such a state, when the driver gets into the vehicle again, starts the engine and starts, the automatic steering device continues to execute the unfinished portion of the previous automatic steering control, so the driver expects it. It is conceivable that the automatic steering that is not performed gives a sense of incongruity.
[0004]
The present invention has been made in view of the above circumstances, and an object of the present invention is to reliably prevent the automatic steering that the driver does not expect when starting the vehicle.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, a movement trajectory setting means for storing or calculating a movement trajectory of a vehicle up to a target position, a steering actuator for turning wheels, An actuator control means for performing automatic steering control to the target position by controlling the driving of the steering actuator based on the movement locus set by the movement locus setting means while moving to the target position, and the driver performs the automatic steering control. and switch for optionally started or stopped, a detection means for detecting an operating state of the traveling drive source of the vehicle, said actuator control means, traveling drive source in the detecting means in the course of the automatic steering control when it is detected that a transition from the operating state to the inactive state, unfinished portion of the automatic steering control in the detection time Discontinue all without by the operation of the switch, the next time the travel drive source is in operation from the inoperative state that the unfinished portion of the automatic steering control is prevented from being resumed against the driver's intention An automatic vehicle steering device is proposed.
[0006]
According to the above configuration, if the driver changes the driving source from the operating state to the inactive state before the vehicle reaches the target position, that is, before the steering actuator control (that is, automatic steering control) is completely finished, The control of the steering actuator that has not been completed at that time (that is, the unfinished portion of the automatic steering control) is completely stopped without operating the switch . Therefore, the next time the driving source for driving is changed from the non-operating state to the operating state, the unfinished portion of the automatic steering control is prevented from being resumed against the driver's will and avoids the driver feeling uncomfortable. can do.
[0007]
The control unit 22 of the embodiment corresponds to the actuator control means of the present invention, the storage unit 23 of the embodiment corresponds to the movement trajectory setting means of the present invention, and the engine of the embodiment corresponds to the travel drive source of the present invention. correspondingly, the ignition switch S ₈ and the engine rotational speed detecting means S ₉ embodiment with the detection means of the present invention, the front wheels Wf in the embodiment corresponds to the wheel of the present invention.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0009]
1 to 4 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle equipped with a steering control device, FIG. 2 is an explanatory diagram of the operation of a back parking / left mode, and FIG. 3 is a mode selection. The figure which shows a switch and an automatic parking start switch, FIG. 4 is a flowchart explaining an effect | action.
[0010]
As shown in FIG. 1, the vehicle V includes a pair of front wheels Wf, Wf and a pair of rear wheels Wr, Wr. Steering wheel 1 and front wheels Wf, Wf as steering wheels rotate integrally with steering wheel 1, steering shaft 2, pinion 3 provided at the lower end of steering shaft 2, rack 4 meshing with pinion 3, and rack 4 Are connected by left and right tie rods 5, 5 provided at both ends, and left and right knuckles 6, 6 connected to tie rods 5, 5. A steering actuator 7 made of an electric motor is connected to the steering shaft 2 via a worm gear mechanism 8 in order to assist the operation of the steering wheel 1 by the driver or to perform automatic steering for garage entry, which will be described later.
[0011]
The steering control unit 21 is composed of a control unit 22 storage unit 23, the control unit 22, and the steering angle detecting means S ₁ for detecting the turning angle θ is the rotation angle of the steering wheel 1, steering Steering torque detection means S ₂ for detecting the steering torque T of the wheel 1, front wheel rotation angle detection means S ₃ and S ₃ for detecting the rotation angles of the left and right front wheels Wf, Wf, and the operation amount of the brake pedal 9 are detected. Brake operation amount detection means S ₄ and shift range detection means S ₅ for detecting the shift range (“D” range, “R” range, “N” range, “P” range, etc.) selected by the select lever 10 , an ignition switch S _8, signals from the engine speed detecting means S ₉ Metropolitan for detecting an engine speed Ne is input.
[0012]
As is clear from FIG. 3, the mode selection switch S ₆ and the automatic parking start switch S ₇ operated by the driver are connected to the control unit 22. Mode selecting switch S ₆ is operated to select later-described four types of parking mode, i.e. reverse parking / right mode, reverse parking / left mode, one of the parallel parking / right mode and parallel parking / left mode 4 buttons are provided. Automatic parking start switch S ₇ is operated to start automatic parking according to any of the mode selected by the mode selection switch S _6.
[0013]
In the storage unit 23, the data of the four types of parking modes, that is, the relationship of the reference turning angle θref with respect to the movement distance X of the vehicle V is stored in advance as a table. The moving distance X of the vehicle V is obtained by multiplying the known circumference of the front wheel Wf by the rotation angle of the front wheel Wf detected by the front wheel rotation angle detection means S ₃ and S ₃ . For calculating the movement distance X, the high select value, low select value, or average value of the outputs of the pair of left and right front wheel rotation angle detecting means S ₃ and S ₃ is used.
[0014]
Based on the signals from the detection means S _{1 to} S ₅ , S ₉ and the switches S ₆ , S ₇ , S ₈ and the parking mode data stored in the storage unit 23, the control unit 22 controls the steering. The operation of the actuator 7 and the operation of the operation stage teaching device 11 including a liquid crystal monitor, a speaker, a lamp, a chime, a buzzer and the like are controlled.
[0015]
Next, the operation of the embodiment of the present invention having the above-described configuration will be described.
[0016]
The normal time when not used to automatically parking (when the mode selecting switch S ₆ is not operated), the steering control apparatus 21 functions as a general power steering control unit. Specifically, when the driver operates the steering wheel 1 to turn the vehicle V, the steering torque detection means S ₂ detects the steering torque T input to the steering wheel 1, and the control unit 22 determines the steering torque T. Based on this, the driving of the steering actuator 7 is controlled. As a result, the left and right front wheels Wf and Wf are steered by the driving force of the steering actuator 7, and the driver's steering operation is assisted.
[0017]
Next, the content of the automatic steering control will be described by taking the back parking / left mode (a mode in which the vehicle is parked while backing to the parking position on the left side of the vehicle V) as an example.
[0018]
First, as shown in FIG. 2 (A), the vehicle V is moved to the vicinity of the garage to be parked by the driver's own steering operation, and is determined in advance with the left side of the vehicle body as close as possible to the garage entrance line. The vehicle V is stopped at a position (start position {circle around (1)}) where the reference (for example, a mark or side mirror provided inside the door) coincides with the center line of the garage. Then, ON the automatic parking start switch S ₇ with to select the back parking / left mode by operating the mode selection switch S ₆ Then, the automatic steering control is started. While the automatic steering control is being performed, the operation stage teaching device 11 switches the current position of the own vehicle, surrounding obstacles, the parking position, the predicted movement trajectory of the own vehicle from the start position to the target position, and switching from forward to reverse. The turn-back position and the like are displayed, and various instructions and warnings such as operation of the select lever 10 at the turn-back position are given to the driver by sound from the speaker.
[0019]
The automatic steering control, the driver based on data alone without operating the steering wheel 1, reverse parking / left mode selected by the mode selection switch S ₆ is creeping vehicle V loosen the brake pedal 9 The front wheels Wf, Wf are automatically steered. That is, while the vehicle V moves forward from the start position {circle over (1)} to the turning position {circle around (2)}, the front wheels Wf and Wf are automatically steered to the right, while the vehicle V moves backward from the turning position {circle around (2)} to the target position {circle around (3)}. The front wheels Wf, Wf are automatically steered to the left.
[0020]
As apparent from FIG. 2 (B), during automatic steering, the control unit 22 reads the back parking / left mode reference turning angle θref read from the storage unit 23 and the turning angle detection means S _1. The deviation E (= θref−θ) is calculated on the basis of the turning angle θ input from, and the operation of the steering actuator 7 is controlled so that the deviation E becomes zero. At this time, since the data of the reference turning angle θref is set corresponding to the moving distance X of the vehicle V, the vehicle V always moves on the moving locus even if there is a slight fluctuation in the vehicle speed of the creep travel. It will be.
[0021]
Since the automatic steering control is performed while the driver steps on the brake pedal 9 and the vehicle creeps, the vehicle V can be stopped by quickly depressing the brake pedal 9 when the driver finds an obstacle. .
[0022]
The above-described automatic steering control is stopped when the driver turns off the mode selection switch S ₆ , but in addition, when the driver releases his foot from the brake pedal 9 or when the driver operates the steering wheel 1. Canceled and returns to normal power steering control. Since automatic steering control is performed while creeping the vehicle V, the vehicle V may repeatedly move and stop on the movement trajectory. Since the reference turning angle θref is set as a function of the moving distance X of the vehicle V, the reference turning angle θref is held at a constant value when the vehicle V stops. Therefore, the control of the steering actuator 7 is temporarily interrupted while the vehicle V is stopped, and the control of the steering actuator 7 is resumed when the vehicle V resumes movement.
[0023]
Before the vehicle V reaches the target position ▲ 3 ▼, ie OFF driver ends up determining that the garage has been completed, the ignition switch S ₈ to the vehicle V is stopped before the automatic steering control is completely finished There is a case. When ON again the ignition switch S ₈ in order to put the garage of the vehicle V from this state, when the unfinished portion of the automatic steering control of the last is continuously executed, the driver is performed automatic steering of unexpected End up. Therefore, when the engine before the automatic steering control is terminated completely stopped in this embodiment, it stops automatic steering control at that time, even then ON the ignition switch S ₈ of the last automatic steering control The unfinished part is not executed. Thus, when ON the ignition switch S _8, the automatic steering control is started drivers unexpected can be reliably prevented from being uncomfortable.
[0024]
The above operation will be further described based on the flowchart of FIG. Ignition switch S ₈ are turned ON at step S1, and the engine speed Ne is a predetermined value detected by the engine speed detecting means S ₉ in step S2 (e.g., 500 rpm) when the engine is operating above, step Automatic steering control is executed in S3. On the other hand, when the ignition switch S ₈ is turned OFF at step S1, or be in the ignition switch S ₈ is ON at step S1, if the engine is in operation by engine stall or the like in the step S2, the automatic in step S4 Steering control is stopped.
[0025]
Figure 4 omit Step S2 of the flow chart of determining the operation / stop of the engine on the basis of only the ON / OFF of the ignition switch S ₈ is also possible, of the engine rotational speed detecting means S ₉ In this way No signal is required. Since ON / OFF signal of the ignition switch S ₈ reflects the will to will and stops moving the vehicle V driver, we are particularly effective for controlling the execution / stop of the automatic steering control by using this.
[0026]
Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.
[0027]
For example, in the embodiment, the movement locus of the vehicle V to the target position is stored in the storage unit 23 in advance, but the movement locus can be calculated from the current position and the target position of the vehicle V. The present invention can also be applied to a vehicle using a motor as a driving source for traveling. In a vehicle using an engine as a driving source for driving, the operation / stop of the engine can be detected by a power generation voltage of the alternator. In a vehicle using a motor as a driving source for driving, the motor is turned on / off. It can be detected by current or terminal voltage.
[0028]
【The invention's effect】
As described above, according to the first aspect of the present invention, before the vehicle reaches the target position, that is, before the control of the steering actuator (that is, automatic steering control) is completely completed, the driver turns on the driving source for driving. When the operation state is changed to the non-operation state, all the unfinished portions of the automatic steering control at that time are stopped without being operated by the switch . Therefore, the next time the driving source for driving is changed from the non-operating state to the operating state, the unfinished portion of the automatic steering control is prevented from being resumed against the driver's will, and the driver feels uncomfortable. It can be avoided.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a vehicle equipped with a steering control device. FIG. 2 is a diagram illustrating the operation of a back parking / left mode. FIG. 3 is a diagram illustrating a mode selection switch and an automatic parking start switch. Flowchart [Explanation of symbols]
7 Steering actuator 22 Control unit (actuator control means)
23 storage unit (movement trajectory setting means)
S ₈ Ignition switch (detection means)
S ₉ Engine speed detection means (detection means)
V Vehicle Wf Front wheel (wheel)

Claims (1)

A movement locus setting means (23) for storing or calculating a movement locus of the vehicle (V) to the target position;
A steering actuator (7) for steering the wheel (Wf);
An actuator that performs automatic steering control to the target position by controlling the drive of the steering actuator (7) based on the movement locus set by the movement locus setting means (23) while the vehicle (V) moves to the target position. Control means (22);
Switches (S ₆ , S ₇ ) for arbitrarily starting or stopping the automatic steering control ;
And a vehicle detection means for detecting an operating state of the traveling drive source _{(V) (S 8, S} 9),
Said actuator control means (22), when the the traveling drive source in the detecting means in the course of the automatic steering control (S _8, S ₉₎ detects that the transition to an inoperative state from the operating state, the detection At this time, all the unfinished portions of the automatic steering control are canceled without the operation of the switches (S ₆ , S ₇ ) , and the automatic steering control is next performed when the driving source for travel is changed from the inoperative state to the activated state. An unsteered portion of the vehicle is prevented from being resumed against the driver's intention .

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