JP4552900B2 - Driving assistance device - Google Patents

Description

  In the present invention, when starting from a parked / stopped state, a shift operation is erroneously performed, and further, a brake / accelerator pedal is erroneously operated, and as a result, the vehicle stops over a wheel stopper or collides with a nearby building. The present invention relates to a driving support device that reliably prevents the driving assistance device.

When starting the car after releasing the parking / stopping state, the shift operation may be started in an unintended direction, or the vehicle may panic and mistakenly depress the brake pedal and the accelerator pedal and proceed further in that direction. There is.
If there is a wheel stop (protrusion installed to stop the car in a parking lot or the like) in the unintended direction, the engine output is increased so that the car resists the wheel stop. When you get over the wheel stop, you have a big momentum, and you will make a big advance in that direction.
In addition, when a building or other vehicle is present in the vicinity of the unintended direction described above, there is a risk of colliding with the building or other vehicle.

Japanese Patent Laid-Open No. 2000-264097 (Patent Document 1) discloses that when an obstacle exists in the traveling direction of a traveling vehicle and the amount of operation of the accelerator pedal is equal to or greater than a reference amount, torque applied to the drive wheels A control device that suppresses sudden start by reducing the above is described.
Japanese Patent Laid-Open No. 2000-136738 (Patent Document 2) describes a parking operation support apparatus that suppresses sudden start by, for example, reducing the upper limit of the valve opening of a throttle valve during parking or starting.
Japanese Patent Laid-Open No. 2000-264097. JP 2000-136738 A.

The device of Patent Document 1 does not assume a ring stopper. In addition, it is assumed that the vehicle is not fully parked or stopped and is traveling at a speed lower than the reference speed. For this reason, it is impossible to prevent the vehicle from starting in an unintended direction as a result of an erroneous operation in the parking / stopping state. In addition, it is impossible to prevent a sudden start that occurs as a result of the engine output increasing against the wheel stop from the parked state.
In the device of Patent Document 2, the control target such as the opening degree of the throttle valve is described, but it is not described when the control is performed. For this reason, for example, an optimum method for preventing the vehicle from starting in an unintended direction as a result of an erroneous operation at the start, or a sudden increase that occurs as a result of the engine output increasing against the wheel stop at the start. It is impossible to provide an optimal method for preventing the start. In other words, it is not possible to suppress the sudden start optimally according to circumstances.

  In the present invention, when releasing the parking and stopping state and starting the automobile, the shift operation is erroneously started in the direction of the wheel stop, as a result, overcoming the wheel stop and moving in a great momentum, or The purpose is to prevent a shift operation from accidentally colliding with an obstacle such as a building or another vehicle.

The present invention is configured as the following [1] to [ 5 ].
[1] Configuration 1:
A driving support device mounted on a vehicle having a function of controlling engine output based on operation amount information of an accelerator pedal,
A wheel stopper information acquisition means for acquiring information of a wheel stopper, which is an obstacle that can travel over the vehicle in the nearest travel direction;
Object information acquisition means for acquiring information of an object in the vicinity of the car traveling direction;
When the wheel stop information acquisition unit acquires wheel stop information and when the object information acquisition unit acquires object information, the operation amount control value holding that holds the operation amount control value corresponding to the wheel stop and the object is held. Means,
A start prohibition direction holding means for holding the direction in which the wheel stop is located as a start prohibition direction when the wheel stop information acquisition means acquires the information of the wheel stop;
When the shift position is set and the travel direction determined by the shift position matches the start prohibition direction held by the start prohibition direction holding means, the operation amount control held by the operation quantity control value holding means An operation amount information control means for adjusting an operation amount information based on a value to suppress an output of an engine which is a target device for performing a control function such as a start time suppression function ;
A driving support device comprising:

[ 2 ] Configuration 2 :
In configuration 1 ,
The information acquired by the object information acquisition means is information on buildings in the vicinity of the travelable direction,
A driving support device characterized by that.

[ 3 ] Configuration 3 :
In Configuration 1 or Configuration 2 ,
It further has a camera that images the direction in which the vehicle can travel,
The object information acquisition means acquires information on a vehicle in the vicinity of a travelable direction from a captured image of the camera;
A driving support device characterized by that.
[ 4 ] Configuration 4 :
In any of Configuration 1 to Configuration 3 ,
An acceleration sensor for detecting acceleration applied to the vehicle;
The wheel stop information acquisition means acquires information on a wheel stop closest to the advancing direction based on a detection signal of the acceleration sensor.
A driving support device characterized by that.
[ 5 ] Configuration 5 :
A driving support device mounted on a vehicle having a function of controlling a sound output level from a vehicle-mounted sound output device based on sound volume control information to be output ,
A storage device holding a warning message; and
A wheel stop information acquisition means for acquiring information of a wheel stop, which is an obstacle that can travel over the vehicle in the nearest travel direction;
Object information acquisition means for acquiring information of an object in the vicinity of the car traveling direction;
A warning control value holding means for holding a warning control value corresponding to the wheel stopper and the object when the wheel stopper information acquiring means acquires the information of the wheel stopper and when the object information acquiring means acquires the information of the object ; ,
A start prohibition direction holding means for holding the direction in which the wheel stop is located as a start prohibition direction when the wheel stop information acquisition means acquires the information of the wheel stop;
When setting the shift position, if the advancing direction determined by the shift position matches the start prohibition direction held by the start prohibition direction holding means, a warning message is read from the storage device, and the warning control value A warning that controls the output level of a warning sound from a voice output device that is a target device that performs a control function such as a start time suppression function by adjusting the volume control information based on a warning control value held by a holding means Control means;
A driving support device comprising:

Configuration 1 is a driving support device mounted on a vehicle having a function of controlling engine output based on operation amount information of an accelerator pedal, and is a wheel that is an obstacle that can travel over the vehicle in the nearest traveling direction. Wheel stop information acquisition means for acquiring stop information, object information acquisition means for acquiring information on an object in the vicinity of the car traveling direction, and when the wheel stop information acquisition means acquires information on a wheel stop and the object When the information acquisition unit acquires object information, the operation amount control value holding unit that holds the operation amount control value corresponding to the wheel stopper and the object , and the wheel stop information acquisition unit acquires the information of the wheel stop Is a start prohibition direction holding means for holding the direction in which the wheel stop is located as a start prohibition direction, and the travel direction determined by the shift position and the start prohibition direction holding when the shift position is set. By when the start inhibition direction stage is held matches the adjusting the operation amount information based on the operation amount control value the manipulated variable control value holding means holds, starting at suppression such as control functions Since the driving support device has an operation amount information control unit that suppresses the output of the engine that is a target device for playing the vehicle, there is a wheel stop and an object in the traveling direction of the automobile, and the set shift position is the wheel stop. When the vehicle is in a shift position where the vehicle travels in the direction of starting prohibition, the engine output is suppressed based on the wheel stop and the operation amount control value corresponding to the object. It is possible to prevent advancing. Moreover , it can prevent colliding with an object.

The configuration 2 is a driving support device in which the information acquired by the object information acquisition unit in the configuration 1 is information on a building in the vicinity of the travelable direction. Therefore, a more specific configuration example of the configuration 1 can be given. effective.

The configuration 3 further includes a camera that images a travelable direction of the automobile in the configuration 1 or the configuration 2 , and the object information acquisition unit acquires information on a vehicle in the vicinity of the travelable direction from a captured image of the camera. Since it is a driving support device, the configuration 1 to the configuration 2 can further provide a configuration example in which another vehicle is detected from the camera image.
The configuration 4 further includes an acceleration sensor that detects an acceleration applied to the vehicle according to any one of the configurations 1 to 3 , and the wheel stop information acquisition unit is a travelable direction based on a detection signal of the acceleration sensor. Since it is a driving support device that acquires information on the latest wheel stopper, the wheel stopper can be reliably detected when the tire comes into contact, and the effects of configurations 1 to 3 can be obtained.
Configuration 5 is a driving support device mounted on a vehicle having a function of controlling a sound output level from a vehicle-mounted sound output device based on sound volume control information of a sound to be output , and holds a warning message. Storage device, wheel stop information acquisition means for acquiring information on a wheel stop, which is an obstacle that can travel over the vehicle in the latest travel direction, and object information acquisition for information on an object in the vicinity of the vehicle travel direction And a warning control value that holds a warning control value corresponding to the wheel stopper and the object when the wheel stopper information acquisition means acquires the information of the wheel stopper and when the object information acquisition means acquires the information of the object. The holding means, the start prohibiting direction holding means for holding the direction in which the wheel stopper is located as the start prohibiting direction when the wheel stopper information acquiring means acquires the information of the wheel stopper, and the setting of the shift position. When the traveling direction determined by the shift position coincides with the start prohibition direction held by the start prohibition direction holding means, a warning message is read from the storage device and held by the warning control value holding means Warning control means for controlling the output level of the warning sound from the voice output device, which is a target device for performing a control function such as starting suppression, by adjusting the volume control information based on the warning control value a reason, it is chock and object proceedable direction of the automobile, the spokes and the object warning message if the set shift position is a shift position for advancing the car to start inhibition direction with sprag is output in the corresponding appropriate volume, so that the driver can be prevented operation results in advance with a large momentum over the snap ring in advance. In addition , driving that collides with an object can be prevented.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram illustrating a configuration of the driving support apparatus according to the embodiment. A control function such as restraining at the time of starting (a function for preventing the vehicle from getting over a wheel stop or colliding with a nearby building or vehicle when starting from a parked state) is performed by an ECU (Electronic Control Unit) 10 shown in FIG. It implement | achieves by performing the process shown in FIG.

  The ECU 10 includes a GPS receiver 21 that receives signals from GPS satellites, an accelerator pedal detector 22 that detects the amount of depression of an accelerator pedal, a gyro sensor 23, a vehicle speed sensor 24, a shift position sensor 25, an acceleration sensor 26, an automobile Respective information is input from the two cameras 27, the operation input device 32, and the like that image the front and rear (= travelable directions).

  The ECU 10 controls the output of the engine 31 by an engine (EG) control function. For example, by generating operation amount information corresponding to the depression amount of the accelerator pedal detected by the accelerator pedal detector 22 and outputting it to the engine 31, the output of the engine 31 becomes an output corresponding to the depression amount of the accelerator pedal. To control. In this driving support device, as will be described later, this operation amount information is appropriately adjusted by a control function such as suppression at the time of starting, and when starting, the car gets over the wheel stop and starts vigorously, or a nearby building And inconveniences such as collision with other vehicles.

  The ECU 10 controls the sound output to the speaker 33 by the sound control function. In this driving support device, the voice message and volume to be output are appropriately selected and adjusted by a control function such as suppression at the start, as will be described later. The driver is warned not to collide with the driver.

The ECU 10 also has a known car navigation function. That is, based on the information from the GPS receiver 21, the information in the map database of the auxiliary storage device (hard disk or the like) 15, the detection information from the gyro sensor 23, and the detection information from the vehicle speed sensor 24, Direction and function to obtain buildings around the car (peripheral situation detection function), and output appropriate information to the display 34 based on the obtained result, and further to the speaker 33 as required I have. In the present driving support device, a control function such as restraining at the time of starting is realized as will be described later by using the current position and the vehicle body direction obtained by the car navigation function and the building information existing around the car. In addition, you may comprise so that the function for exclusive use for control functions, such as suppression at the time of start of this driving assistance device, may be provided as said surrounding condition detection function, without utilizing the existing car navigation function.
In addition to the surrounding building information acquired as described above, information on other vehicles in the vicinity of the travelable direction is acquired based on the image information input from the camera 27, and this is also suppressed at the start of the driving support device. You may make it use with a control function. By doing so, not only a collision with a building but also a collision with another vehicle can be prevented.

The operation input device 32 is used for the driver to appropriately input an instruction such as inputting an instruction to the car navigation function.
The non-volatile memory 11 is used to retreat the “prohibition level” and “start prohibition direction” used by the control function such as start suppression, etc. when the ignition is off. In this apparatus, normally, the “prohibition level” and “start prohibition direction” are stored / updated in the memory (RAM) 12 and saved in the non-volatile memory 11 when the ignition is off, and also the non-volatile memory 11 when the ignition is on. However, the nonvolatile memory 11 may always be stored and updated.
In addition to the map database and warning message data described above, the auxiliary storage device (eg, hard disk) 15 holds an operation amount control value table (FIG. 5B) and programs for realizing various functions. . The operation amount control value table (FIG. 5 (b)) is a table used in a control function such as start-up suppression, as will be described later.
The memory (RAM) 12 is used for work of the ECU 10. For example, the current position, body direction, crossover building (a building on the extension line of the body direction and in the vicinity of the body; details will be described later), current speed, shift position, acceleration, etc. Used to hold the acquired value.

  A function of suppressing or preventing the start according to the presence of the wheel stop at the nearest position in the advancing direction, the building at the nearby position, or another vehicle will be described with reference to the flowcharts of FIGS.

Steps S01 to S15 are processes for suppressing the start or the like when the ignition is on. The ECU 10 starts processing when the ignition is turned on.
First, the “prohibition level” and “start prohibition direction” data saved in the nonvolatile memory 11 at the time of the previous ignition off are read (S01). The “prohibition level” is a value that defines the degree to suppress the start, and takes a value of 1, 2, 3, or 0 as will be described later. “Prohibition level = 0” is a case where there is no reason for prohibition. In addition, the “start prohibition direction” is a direction in which a wheel stop is present at the nearest position and / or a direction in which a building or other vehicle is present in the vicinity position. The nearest position is several tens of centimeters or less, and includes the case where the tire is in contact with the wheel stopper. Further, the vicinity position is a few meters or less, and in this example, refers to a range of 4 meters or less from the front end or the rear end of the vehicle body. The “prohibition level PL” and the “start prohibition direction” will be described in detail later with reference to steps S29 and S35.

In step S03, a warning flag at start-up is checked.
The start-up warning flag is a flag that is set to 1 when a control function such as suppression at start is performed when the ignition is turned on, in other words, when control such as start suppression by level (S11) is performed ( (See S13). Alternatively, this flag is set to 1 when it is determined that it is not necessary to perform a control function such as starting suppression when the ignition is on (NO in S09) (see S13).

  Initially, a warning flag at start-up = 0 (NO in S03). For this reason, the shift position detected by the shift position sensor 25 is acquired and stored in the current memory area in the memory 12 (S05). The shift position information held in the current memory area in the memory 12 is moved to the previous memory area in the memory 12 (S05). As described above, in order to hold the previous shift position information and the current shift position information, if the shift position changes between the acquisition of the previous shift position information and the acquisition of the current shift position information, the change Can be detected.

  In step S07, it is checked whether or not the shift position is set to drive (D) or rear (R). That is, it is checked whether or not the shift position is set to forward or backward. When the shift position information of the previous memory area is non-D and the shift position information of the current memory area is D, it can be determined that the shift position is set to the D position. If the shift position information of the previous memory area is non-R and the shift position information of the current memory area is R, it can be determined that the shift is set to the R position.

  If the shift position is set to D (forward) or R (reverse) (YES in S07), the set shift position (D or R) matches the “start prohibited direction” acquired in step S01. It is checked whether or not (S09).

  As a result of the check, if the set shift position matches the “start prohibited direction” (YES in S09), control such as level-specific start suppression (S11; FIG. 5A) is executed. This level-specific start suppression control (S11) is a process of suppressing start and outputting a warning message according to the “prohibition level” acquired in step S01. In the case of “prohibited level = 0”, in other words, when data indicating forward or backward is not set in the “start prohibited direction”, the start is not suppressed and a warning message is not output. Details of the level-specific start suppression control (S11) will be described later together with step S41, which is the same control.

By executing the start suppression control by level (S11), the "start suppression control function" at the time of "ignition on" is performed. Henceforth, the "start suppression control function" at the "on ignition" is There is no need. Therefore, the “start-up warning flag” is set to “1” (S13). In preparation for the next parking, the “prohibition level PL” is reset to “0” and the “start prohibition direction” is reset to 0 (S15). The “prohibition level PL” and the “start prohibition direction” will be described in detail later with reference to steps S29 and S35.
On the other hand, when it is determined in the step S09 that "the set shift position does not match the start prohibition direction" (NO in S09), the control function such as "startup suppression etc.""Is no longer necessary, so the" start-up warning flag "is set to" 1 "(S13). In preparation for the next parking, the “prohibition level PL” is reset to “0” and the “start prohibition direction” is reset to 0 (S15).

  Steps S <b> 21 to S <b> 43 are processes that are executed in order to suppress the start or the like at times other than the initial shift operation when the ignition is turned on. In other words, the process is executed when “start-up warning flag = 1” (YES in S21).

In steps S23 to S25, predetermined vehicle information is acquired and updated.
As vehicle information, for example, current position information, vehicle body direction information, crossed building information that is a building located within a predetermined distance (eg, 4 m) on an extension line of the vehicle body direction (= near position), current speed information, shift Position information, wheel stop shock information, and the like can be given. Furthermore, crossed vehicle information that is another vehicle existing within a predetermined distance (eg, 4 m) on the extension line of the vehicle body direction (= near position) may be added.

  The current position information can be acquired from a known car navigation function. The car navigation function is based on input information from a GPS receiver 21 that receives GPS satellite signals, information acquired from a map database in the hard disk 15 (or a DVD drive), input information from a gyro sensor 23, and the like. Thus, the current position, the vehicle body direction, the building information around the current position, and the like are obtained and output to the display 34 and the speaker 33 as appropriate. In the apparatus of this example, current position information is acquired from this car navigation function.

The vehicle body direction information can be obtained based on the detection signal of the gyro sensor 23.
Crossed building information can be obtained based on building information held in a map database and current position information acquired from a car navigation function. Note that it may be obtained based on a detection result of a known millimeter wave radar or an image captured by the in-vehicle camera 27.
The current speed information can be obtained from the detection signal of the vehicle speed sensor 24.
The shift position information can be obtained from the detection signal of the shift position sensor 25.
The ring stop shock information can be obtained based on a detection signal (a value or a change rate of the detection signal) of the acceleration sensor (G sensor) 26. In addition, when the map database also has information on the stop position, it may be obtained from the map database.
The crossing vehicle information can be obtained based on an image captured by the in-vehicle camera 27.

  Each vehicle information acquired in step S23 is stored in the current memory area in the memory 12 (S25). Each vehicle information held in the current memory area in the memory 12 is moved to the previous memory area in the memory 12 (S25). As described above, in order to hold the vehicle information acquired last time and the vehicle information acquired this time, if there is information changed between the previous acquisition and the current acquisition, the information can be detected. it can.

  In steps S27 to S35, the vehicle information held in the current memory area and the previous memory area in the memory 12 in steps S23 to S25 is checked, and a “prohibition level” and a “start prohibition direction” are set as appropriate.

In step S27, it is checked whether or not a wheel stopper shock, which is a shock applied when the tire comes into contact with the wheel stopper of the parking lot, is detected. Here, when the detected value of the acceleration sensor 26 exceeds a predetermined value, it is determined that the “ring stop shock” has occurred. If a wheel stop shock is detected (YES in S27), “PL + 2” is substituted into a variable PL representing the prohibition level (S29). Further, the direction (front or rear) where the “ring stop” exists is set in the variable “start prohibition direction” (S29). The direction in which the “ring stop” is present can be obtained from the direction of the acceleration detected by the acceleration sensor 26.
In this example, the wheel stop is detected based on the detection signal of the acceleration sensor. However, when the map database has the position of the wheel stop of the parking lot, the information may be used.

In step S31, it is checked whether or not the shift position is put in the P (parking) position. That is, it is checked whether the parking / stopping state is set. If the previous shift position of the memory area is non-P and the shift position of the current memory area is P, it can be determined that the shift position is set to the P position.
If the parking / stopping state is set (YES in S31), the presence / absence of the above-described crossing building is further checked (S33). That is, it is checked whether there is a building on the extension line of the vehicle body direction and within a predetermined distance (eg, 4 m) (S33). As a result, if there is a crossing building (YES in S33), “PL + 1” is substituted for the variable PL indicating the prohibition level, and the direction “forward crossing” is present in the variable “start prohibition direction” (forward or backward). ) Is set (S35).
In the case where the crossing vehicle information is also acquired, in step S33, the presence or absence of at least one of the crossing building or the crossing vehicle is checked.

  In steps S37 to S43, the vehicle information held in the current memory area and the previous memory area in the memory 12 in steps S23 to S25 is checked, and the “prohibition level” held in the memory 12 in steps S29 and / or S35. With reference to the data of “PL” and “start prohibition direction”, the “control function such as start suppression” is performed as necessary.

  First, in step S37, it is checked whether or not the shift position is set to drive (D) or rear (R). That is, it is checked whether or not the shift position is set to forward or backward. This checking method is the same as that in step S07.

  As a result, if it is determined that the shift position is entered in either D (forward) or R (reverse) (YES in S37), then the set shift position (D or R) is It is checked whether or not it matches the data set in the variable “start prohibition direction” in S29 or S35 (S39).

  As a result, when the set shift position matches the data of “start prohibition direction” set in step S29 or S35 (YES in S39), control by starting control by level (S41; FIG. 5A) Execute. This level-specific start suppression control (S41) is a process of suppressing start and outputting a warning message according to the “prohibition level” acquired in step S29 and / or S35.

By executing the start control by level (S41), the “control function at start” is performed at that time, so the “prohibition level PL” is reset to “0” in preparation for the next parking stop At the same time, the "start prohibition direction" is reset to 0 (S43).
If it is determined in step S39 that “the set shift position does not match the start prohibition direction” (NO in S39), similarly, in preparation for the next parking stop, The “prohibition level PL” is reset to “0” and the “start prohibition direction” is reset to 0 (S43).

Here, the level-specific start suppression control (S11 / S41) will be described with reference to FIG.
In the start suppression control according to level, the data of “prohibition level” is checked (S61), and the operation amount control value corresponding to the current prohibition level (the multiplication value of the accelerator pedal operation amount) is controlled. The value is obtained from the value table (FIG. 5B) and passed to the engine control function, and the warning control value (the volume level of the warning sound) corresponding to the current prohibition level is stored in the control value table (FIG. 5). 5 (b)) and pass to the voice control function. As a result, the engine control function multiplies the operation amount information input from the accelerator pedal detector 22 corresponding to the amount of depression of the accelerator pedal by the accelerator pedal depression amount acquired as described above (operation amount control value). Is output to the engine 31 as operation amount information corresponding to the amount of depression of the accelerator pedal. Also, the voice control function displays the warning message selected according to the current prohibition level, the current start prohibition direction, and the current shift position from the examples shown in FIG. Are output to the loudspeaker 33. For example, if the current prohibition level is 1, the current start prohibition direction is forward, and the current shift position is the D position, the message “Please put in the back” is displayed at the volume level 6. 33.

  The forbidden level = 3 (S63) is a case where there is a stop and a crossing building or the like, as can be seen from steps S29 and S35. In this case, the operation amount control value (the value multiplied by the accelerator pedal depression amount) is “0”, and the warning control value (the volume level of the warning sound) is 10 (see FIG. 5B). The engine control function controls the output of the engine 31 by using, as the operation amount information, a value obtained by multiplying the operation amount information input from the accelerator pedal detector 22 by “0” according to the depression amount of the accelerator pedal. In this case, the output of the engine 31 is “0”. The voice control function changes the warning message (see FIG. 5C) whose content is determined by the current prohibition level (= 3), the current shift position, and the current start prohibition direction to the current prohibition level (= 3). Corresponding volume level 10 (a volume level predetermined as a maximum volume in the case of a warning message; it does not necessarily have to be the maximum capacity of the speaker 33, and may be appropriately determined as a volume suitable for a serious warning) And output from the speaker 33.

  The period during which the engine control function to which the multiplication value (operation amount control value) for the accelerator pedal depression amount is passed using the multiplication value (operation amount control value) continues to suppress the multiplication value (operation amount control value). It is assumed that a sufficient time is set in advance for the driver to notice the erroneous operation and switch to the normal operation, for example, “5 seconds” from the time of the input of). When canceling the suppression of the engine output, it may be canceled so as to gradually return from “0” to “1.0 (= state without suppression)”.

The forbidden level = 2 (S65) is a case where there is a wheel stop but no crossing building as can be seen from NO in steps S29 and S33. In this case, the operation amount control value (the value multiplied by the accelerator pedal depression amount) is “0.2”, and the volume level of the warning sound is 8 (see FIG. 5B). The engine control function uses, as the operation amount information, a value obtained by multiplying the operation amount information input from the accelerator pedal detector 22 according to the amount of depression of the accelerator pedal by the operation amount control value “0.2” of the prohibition level 2. Thus, the output of the engine 31 is controlled. That is, the output of the engine 31 is suppressed to “0.2 times” a value determined according to the amount of depression of the accelerator pedal. It is the same as described above that the suppression duration time or when the suppression is released, it may be gradually returned from “0.2” to “1.0 (= no suppression state)”.
The voice control function also displays a warning message (see FIG. 5C) whose contents are determined by the current prohibition level (= 2), the current shift position, and the current start prohibition direction, and the current prohibition level (= 2). ) Is output from the speaker 33 at a volume level 8 (80% of the volume level 10).

The forbidden level = 1 (S67) is a case where there is no wheel stop but there is a crossing building as can be seen from NO and S35 in step S27. In this case, the operation amount control value (the value multiplied by the accelerator pedal depression amount) is “0.4”, and the volume level of the warning sound is 6 (see FIG. 5B). The engine control function uses, as the operation amount information, a value obtained by multiplying the operation amount information input from the accelerator pedal detector 22 according to the amount of depression of the accelerator pedal by the operation amount control value “0.4” of the prohibition level 1. Thus, the output of the engine 31 is controlled. That is, the output of the engine 31 is suppressed to “0.4 times” a value determined according to the amount of depression of the accelerator pedal. It is the same as described above that the suppression duration time or when the suppression is released, the value may be gradually returned from “0.4” to “1.0 (= no suppression state)”.
The voice control function also displays a warning message (see FIG. 5C) whose contents are determined by the current prohibition level (= 1), the current shift position, and the current start prohibition direction, and the current prohibition level (= 1). ) Is output from the speaker 33 at a volume level 6 (60% of the volume level 10).

The prohibition level = 0 is a case where NO in step S27 and NO in step S33. That is, there is no ring stop and there is no crossing building. For this reason, neither engine output suppression nor warning message output is performed.
In the above, the operation amount control values (multiplication value for the accelerator pedal depression amount) and the volume level of the prohibition levels 3, 2, 1 are determined as in the operation amount control value table of FIG. 5B. It is only an example to facilitate understanding. Needless to say, an optimal value may be appropriately set for preventing the wheel stopper from getting over and preventing a collision with a crossing building or the like.
In the above, the warning control value (warning sound volume level) is controlled according to the prohibition level, and the content of the warning message is selected according to the prohibition level, the current shift position, and the current start prohibition direction. However, it may be possible to control only the warning control value (the volume level of the warning sound) by fixing the warning message content to a common message (for example, “engine output is being suppressed due to incorrect shift position”). On the contrary, the volume level may be fixed to a volume level sufficient for warning, and only the content of the warning message may be appropriately selected according to the prohibition level, the current shift position, and the current start prohibition direction.
In the above, the prohibition level when there is only a wheel stopper is set to “2”, and it is controlled as the prohibition level “1” when there is only a crossing building. If the engine output increases and the wheel stopper is overcome, the momentum will be too strong, so that it will be surely prevented from overcoming the wheel stopper.

In steps S51 to S55, when the ignition is turned off (YES in S51), the start-up warning flag is reset to 0 in preparation for the next ignition on (S53), and is held in the memory 12 at that time. This is a process of saving the prohibition level and the start prohibition direction (see S29 and S35) in the nonvolatile memory 11 (S55).
Thus, when the ignition is turned on next time, the prohibition level and the start prohibition direction corresponding to the surrounding environment of the vehicle are acquired (S01), and the start is suppressed when the shift is made in the start prohibition direction. Control (S05-S11) becomes possible.

The block diagram which shows the structure of the driving assistance device of embodiment. FIG. 3 is a part of a flowchart showing a process executed by the ECU 10 of the driving support apparatus of FIG. FIG. 3 is a part of a flowchart showing a process executed by the ECU 10 of the driving support apparatus of FIG. FIG. 3 is a part of a flowchart showing a process executed by the ECU 10 of the driving support apparatus of FIG. (A) is the remaining part of the flowchart showing the process executed by the ECU 10 of the driving support apparatus in FIG. (B) is explanatory drawing which illustrates an operation amount control value table. (C) is explanatory drawing which illustrates warning message data.

Explanation of symbols

10 ECU (Electronic Control Unit)
11 Nonvolatile memory 12 Memory 15 Auxiliary storage device (hard disk)
21 GPS receiver 22 Accelerator pedal detector 23 Gyro sensor 24 Vehicle speed sensor 25 Shift position sensor 26 Acceleration sensor (G sensor)
27 Camera 31 Engine 33 Speaker 34 Display

Claims (5)

A driving support device mounted on a vehicle having a function of controlling engine output based on operation amount information of an accelerator pedal,
A wheel stopper information acquisition means for acquiring information of a wheel stopper, which is an obstacle that can travel over the vehicle in the nearest travel direction;
Object information acquisition means for acquiring information of an object in the vicinity of the car traveling direction;
When the wheel stop information acquisition unit acquires wheel stop information and when the object information acquisition unit acquires object information, the operation amount control value holding that holds the operation amount control value corresponding to the wheel stop and the object is held. Means,
A start prohibition direction holding means for holding the direction in which the wheel stop is located as a start prohibition direction when the wheel stop information acquisition means acquires the information of the wheel stop;
When the shift position is set and the travel direction determined by the shift position matches the start prohibition direction held by the start prohibition direction holding means, the operation amount control held by the operation quantity control value holding means An operation amount information control means for adjusting an operation amount information based on a value to suppress an output of an engine which is a target device for performing a control function such as a start time suppression function ;
A driving support device comprising: In claim 1 ,
The information acquired by the object information acquisition means is information on buildings in the vicinity of the travelable direction,
A driving support device characterized by that. In claim 1 or claim 2 ,
It further has a camera that images the direction in which the vehicle can travel,
The object information acquisition means acquires information on a vehicle in the vicinity of a travelable direction from a captured image of the camera;
A driving support device characterized by that. In any one of Claims 1-3 ,
An acceleration sensor for detecting acceleration applied to the vehicle;
The wheel stop information acquisition means acquires information on a wheel stop closest to the advancing direction based on a detection signal of the acceleration sensor.
A driving support device characterized by that. A driving support device installed in a vehicle having a function of controlling a sound output level from a vehicle-mounted sound output device based on sound volume control information to be output ,
A storage device holding a warning message; and
A wheel stopper information acquisition means for acquiring information of a wheel stopper, which is an obstacle that can travel over the vehicle in the nearest travel direction;
Object information acquisition means for acquiring information of an object in the vicinity of the car traveling direction;
A warning control value holding means for holding a warning control value corresponding to the wheel stopper and the object when the wheel stopper information acquiring means acquires the information of the wheel stopper and when the object information acquiring means acquires the object information ; ,
A start prohibition direction holding means for holding the direction in which the wheel stop is located as a start prohibition direction when the wheel stop information acquisition means acquires the information of the wheel stop;
When setting the shift position, if the advancing direction determined by the shift position matches the start prohibition direction held by the start prohibition direction holding means, a warning message is read from the storage device, and the warning control value A warning that controls the output level of a warning sound from a sound output device that is a target device that performs a control function such as suppression at start by adjusting the volume control information based on a warning control value held by a holding means Control means;
A driving support device comprising:

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