JP4825062B2 - Driving support device and program - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle by a driver.

  2. Description of the Related Art Conventionally, a power steering device that assists the steering of a steering by a driver by applying an assist torque (steering force) to the steering in a vehicle has been used.

In recent years, the assist torque by such a power steering device is increased with respect to the steering direction for avoiding the region where the obstacle exists, and the steering of the steering in the steering direction is made quick. Therefore, a technique for realizing the prompt avoidance of the obstacle has been proposed (see, for example, Patent Document 1).
JP-A-11-99955 (paragraphs 0022 to 0025, etc.)

  However, in the above-described technique, the assist torque in the steering direction for avoiding the obstacle is increased. However, the assist torque in the opposite steering direction, that is, the steering direction of the steering where the vehicle faces the obstacle is not changed. It is. Therefore, the steering of the steering with respect to the steering direction is realized with normal force adjustment, and as a result, the vehicle cannot be sufficiently prevented from moving toward the obstacle.

  This invention is made | formed in order to solve such a subject, The objective is to provide the technique for making it easy to avoid the contact with an obstruction.

In order to solve the above problem, in the driving support apparatus according to the first configuration , first, the area estimation means estimates a passing area through which the vehicle passes based on the traveling state of the vehicle. Further, the obstacle detection means detects an obstacle present in the peripheral area of the vehicle. Subsequently, when the obstacle detected by the obstacle detection means is located in the passing area, the direction specifying means avoids the obstacle based on the position of the obstacle in the passing area. The avoidance direction that is the traveling direction of the vehicle suitable for the vehicle is specified.

  Then, when the obstacle detected by the obstacle detecting means is located in the passing region, the torque changing means is a part of the assist torque provided to the steering by the power steering device in the vehicle. The assist torque for the steering direction opposite to the steering direction for setting the direction as the avoidance direction is changed to an assist torque smaller than the assist torque to be applied in the normal state.

  According to the driving assistance device configured as described above, the steering direction opposite to the steering direction for turning the traveling direction of the vehicle in the avoidance direction out of the assist torque applied to the steering by the power steering device, that is, the traveling direction is obstructed. The setting is changed so that the assist torque in the steering direction for turning to the object is smaller than in the normal state.

  As a result, the steering of the steering that turns the traveling direction of the vehicle toward the obstacle must be performed with a force larger than usual. Therefore, since steering of the vehicle that turns the traveling direction of the vehicle toward the obstacle is not performed quickly, it is possible to effectively prevent the vehicle from moving toward the obstacle. Contact can be easily avoided.

  The area estimation means described above is a means for estimating the passing area through which the vehicle passes based on the traveling state of the vehicle, and the specific configuration for estimating the passing area is not particularly limited. For example, the steering angle of the steering, the traveling direction of the vehicle, the vehicle speed, and the like are detected by various sensors, and an area through which the vehicle passes is specified based on one or more detection results, and this is estimated as the passing area. It is conceivable to configure as follows.

  Further, the above-described direction specifying means is means for specifying an avoidance direction suitable for avoiding the obstacle based on the position of the obstacle in the passage area, and is a specific for specifying the avoidance direction. The configuration is not particularly limited. For example, the passage area is divided into two equal parts on the basis of the line through which the center of the vehicle (center line along the front-rear direction) passes, and the avoidance direction is specified based on whether an obstacle exists in the left or right area. It can be considered to be a configuration.

  The torque changing means not only changes the assist torque for the corresponding steering direction to a smaller value than usual, but also increases the assist torque for the steering direction for turning the traveling direction of the vehicle in the avoidance direction. It may be configured to change the setting to a larger one.

For this purpose, as in the second configuration described below , the torque changing means is used for the steering direction for setting the traveling direction of the vehicle as the avoidance direction out of the assist torque applied to the steering by the power steering device. What is necessary is just to comprise so that an assist torque may be set to the assist torque larger than the assist torque which should be provided in a normal state.

  If comprised in this way, among the assist torque added to a steering wheel, the setting torque is changed so that the assist torque with respect to the steering direction for turning the traveling direction of the vehicle in the avoidance direction becomes larger than the assist torque in the normal state. .

  As a result, steering of the steering so that the traveling direction of the vehicle is directed to the avoidance direction can be performed with a smaller force than usual by increasing the assist torque. As a result, it is possible to quickly perform steering such that the traveling direction of the vehicle is directed to the avoidance direction, and obstacle avoidance can be realized at an early stage.

  Further, in this configuration, of the assist torque set and changed by the torque changing means, the assist torque in the steering direction for causing the vehicle to travel in the avoidance direction is any value as long as the assist torque is larger than the normal state. It may be.

  However, the steering amount required to avoid obstacles where the vehicle is located in the passing area varies depending on the positional relationship between the vehicle and the obstacle, the running state of the vehicle, etc., so the setting should be changed accordingly. It is desirable to be able to change the magnitude of the assist torque.

Therefore, in order to be able to change the magnitude of the assist torque that should be changed according to the positional relationship between the vehicle and the obstacle, for example, it can be configured as a driving support device according to the third configuration. Conceivable.

  In this driving support device, when the obstacle detected by the obstacle detecting means is located in the passing area estimated by the area estimating means, the steering amount calculating means has an obstacle in the passing area. Based on the position of the steering wheel, the steering amount necessary for avoiding the obstacle is calculated. Then, the torque changing means sets the assist torque for the steering direction for directing the traveling direction of the vehicle in the avoidance direction to an assist torque having a magnitude corresponding to the magnitude of the steering amount calculated by the steering amount calculating means. It is configured to change.

  If comprised in this way, the assist torque with respect to the steering direction of the steering for directing the advancing direction of a vehicle to an avoidance direction can be enlarged according to the steering amount of a steering required for a vehicle to avoid an obstruction. .

As a result, the steering of the vehicle in which the traveling direction of the vehicle is directed in the avoidance direction can be quickly performed with a small force as the amount of steering required increases.
If the amount of steering for turning the vehicle traveling direction in the avoidance direction is large, naturally, the time required for the steering also increases. Therefore, as the steering amount increases, the steering can be quickly performed with a small force. This is suitable for reliably avoiding an obstacle regardless of the steering amount.

Further, in order to be able to change the magnitude of the assist torque that should be changed according to the running state of the vehicle, for example, it may be configured as a driving support device according to a fourth configuration shown below. It is done.

  In this driving support device, when the obstacle detected by the obstacle detecting means is located in the passing area, the arrival time calculating means determines the position of the obstacle and the vehicle speed in the passing area. Based on this, the arrival time until the obstacle is reached is calculated. Then, the torque changing means sets the assist torque for the steering direction for directing the traveling direction of the vehicle in the avoidance direction to an assist torque having a magnitude corresponding to the shortness of the arrival time calculated by the arrival time calculation means. It is configured to change.

  If comprised in this way, the assist torque with respect to the steering direction of the steering for directing the advancing direction of a vehicle to an avoidance direction can be enlarged according to the short arrival time until a vehicle arrives at an obstruction.

  As a result, the steering of the steering so that the traveling direction of the vehicle is directed in the avoidance direction can be quickly performed with a smaller force as the arrival time until the vehicle reaches the obstacle is shortened.

  If the arrival time until the vehicle reaches the obstacle is short, naturally, the time during which the steering can be steered in order to turn the vehicle in the avoidance direction is shortened. The ability to steer is suitable for reliably avoiding an obstacle regardless of the arrival time.

  The arrival time calculation means in this configuration is a means for calculating the arrival time until the vehicle reaches the obstacle. For example, when the vehicle travels through the passing area at the current speed, the arrival time calculation means contacts the obstacle. The time required to do this is calculated.

  Further, the torque changing means described above changes the setting of the assist torque when the obstacle is located in the passage region. The setting change is performed when the obstacle is located in the passage region. After that, it may be configured to be continuously performed for a certain period of time.

For this purpose, after the torque detection means is in a state where the obstacle detected by the obstacle detection means is located in the passage area , such as the driving support device according to the fifth configuration. It is conceivable that the assist torque for the steering direction opposite to the steering direction for turning the traveling direction of the vehicle in the avoidance direction is changed until a predetermined time elapses.

If comprised in this way, after an obstacle will be in the state located in the passage area, a setting change can be continuously performed only for a fixed time.
In this configuration, the “certain time” during which the torque changing means changes the setting may be a predetermined time, or may be a time during which the obstacle is located in the passage area.

For the latter, for example, it is conceivable to configure like the driving support device according to the sixth configuration . In this driving support device, the torque changing unit is configured to stop the obstacle detected by the obstacle detecting unit after the obstacle detected by the obstacle detecting unit is located in the passing area. Or assist torque in a steering direction opposite to the steering direction for directing the traveling direction of the vehicle in the avoidance direction until the obstacle detected by the obstacle detection means is not located in the passing region. It is configured to change settings.

  With this configuration, the assist torque setting is changed by the torque changing means only when the obstacle is located in the passing region, that is, when the vehicle can contact the obstacle. Can be.

  Therefore, when the steering is steered from the state in which the setting is changed in this way and the obstacle is not located in the passing area, that is, when there is no possibility that the vehicle touches the obstacle, the setting change is finished and the steering is turned on. The applied assist torque can be returned to the normal assist torque.

By the way, the torque changing means described above may change the setting of the assist torque in combination with notification by voice, alarm sound, display, or the like in addition to the above.
For this purpose, as in the seventh configuration , when the obstacle detected by the obstacle detection means is in a state of being located in the passing area, an obstacle notification command for informing that effect. Preferably, the torque changing means is configured to change the setting of the assist torque after notification by the obstacle notification command means.

  By configuring in this way, it is possible to make the driver recognize that there is an obstacle and it is necessary to avoid it, and to notify the obstacle in advance that the assist torque setting will be changed accordingly. The driver can be made to recognize by the notification by the command means. Therefore, it is possible to prevent the driver from feeling uncomfortable due to sudden change in assist torque setting.

  Further, the obstacle notification command means described above performs notification when the obstacle is located in the passage area, but the notification is performed when the obstacle is located in the passage area. What is necessary is just to comprise so that it may be continuously performed only for a fixed time after becoming a state which exists.

For this purpose, when the obstacle detected command means is in a state where the obstacle detected by the obstacle detection means is located in the passage area, for example, as in the eighth configuration , It is good to comprise so that it may alert | report continuously until fixed time passes.

If comprised in this way, after an obstacle will be in the state located in a passage area, information can be continued only for a definite period of time.
In this configuration, the “predetermined time” that is notified by the obstacle notification command means may be a predetermined time, or may be a time during which the obstacle is located in the passage area.

For this latter case, for example, it can be considered to be configured like the driving support device according to the ninth configuration . In this driving support device, the obstacle notification command means is configured such that after the obstacle detected by the obstacle detection means is located in the passing area, the obstacle detection means The notification is continuously performed until no obstacle is detected or until the position of the obstacle detected by the obstacle detection means is not within the passing area.

  If comprised in this way, it can alert | report continuously only when the obstacle is located in the passage area, ie, when the vehicle is in a state where it can contact the obstacle. Therefore, when the steering is steered from the state in which the setting is changed in this way and the obstacle is not located in the passing region, that is, when there is no possibility that the vehicle comes into contact with the obstacle, the notification can be ended.

  Note that the notification by the obstacle notification command means described above may be realized by, for example, outputting a message indicating that an obstacle is located in the passage area to one or both of the speaker and the display unit. Conceivable. In these cases, since there is an obstacle, it is possible to make the driver visually or audibly recognize that avoidance is necessary and that the assist torque setting is changed.

A method of notifying the direction to be steered by a change in steering torque is also effective. For this purpose, for example, the driving support device according to the tenth configuration may be configured.
In this driving support apparatus, the obstacle notification command means superimposes torque in a predetermined pattern with respect to the steering direction for turning the traveling direction of the vehicle in the avoidance direction among the steering directions of the steering in the vehicle. By instructing the power steering device in the vehicle to the power, the notification is made through the power steering device.

If comprised in this way, a driver | operator can be made to recognize the direction which should be steered by the torque provided by a predetermined pattern.
In addition, the notification by the obstacle notification command means described above may be realized by simultaneously performing the output of the message by the output unit and the application of torque in a predetermined pattern by the power steering device. .

For this purpose, for example, as in the eleventh configuration , the obstacle notification command means is predetermined with respect to the steering direction for turning the traveling direction of the vehicle in the avoidance direction among the steering directions of the steering in the vehicle. By instructing the power steering device in the vehicle that torque should be applied in a superimposed manner, and outputting a message that the obstacle is in the passing region by the output unit, the power steering device and the output unit It is good to comprise so that it may alert | report via.

  If configured in this way, since there is an obstacle, it is necessary to avoid it, and the setting change of the assist torque is performed, the torque applied in a predetermined pattern, and the message output by the output unit , The driver can be made aware.

Further, whether or not to change the setting by the torque changing means described above may be determined in response to the operation of the driver.
As a concrete example, for example, an obstacle detected by the obstacle detecting means is provided, which includes a change determining means for determining whether to change the setting of the assist torque by the torque changing means in response to the driver's operation. However, when it is determined that the setting change of the assist torque should be changed by the change determination means, the torque changing means changes the setting of the assist torque. It is conceivable to adopt a configuration of performing.

With this configuration, the driver can select whether or not to change the setting by the torque changing means.
Further, in the configuration in which notification is performed via the power steering device as described above, for example, vehicle speed detection means for detecting the travel speed of the vehicle is provided, and the travel speed detected by the vehicle speed detection means is a predetermined threshold value. In the case of the above, the obstacle notification command means does not perform notification via the power steering device, and causes the output unit to output a message indicating that the obstacle is in the passing area, thereby causing the output unit to It is good to comprise so that it may alert | report via.

  In a state where the vehicle traveling speed is increased at a certain speed, even if a slight steering operation is performed, the traveling direction of the vehicle is greatly changed. Therefore, the torque at the time of notification through the power steering device as described above is used. There is a risk of unintentional changes in the traveling direction of the vehicle.

  Therefore, if a speed that is assumed to cause a large change in the traveling direction is set as the above-mentioned “predetermined threshold value”, the steering device can be used when the speed is higher than that. It is possible not to perform the notification through. Accordingly, it is possible to notify the driver that the obstacle is in the passing area by performing notification by the message while preventing an unintended change in the traveling direction of the vehicle. In the configuration in which notification is performed via the power steering device as described above, the “predetermined pattern torque” commanded by the obstacle notification command means to the power steering device causes the driver to recognize the above. However, it may be of any size as long as it does not hinder the steering of the steering by the driver. As a specific example, a pattern in which pulsed torque is repeatedly applied one or more times can be considered.

In addition, as described above, in the configuration in which notification is performed via the power steering device, notification by other methods may be used in combination.
As a specific configuration, for example, as in the twelfth configuration , after the notification through the power steering device is performed by the obstacle notification command means, the steering directs the traveling direction of the vehicle in the avoidance direction. Steering obstacle determination means for determining whether or not the vehicle has been steered in the steering direction for the obstacle, and the obstacle notification command means determines whether or not the steering determination is made until a predetermined period elapses after notification through the power steering device. If it is not determined by the means that the steering is steered in the corresponding steering direction, the output unit outputs a message indicating that the obstacle is in the passing area, thereby notifying through the output unit. It is done.

  If comprised in this way, after performing an alert | report via a power steering device, when the steering of appropriate steering is not performed even if a predetermined period passes, the alert | report by an output part can be performed. Thereby, even if the driver is not aware of the notification via the power steering device, the driver can recognize that the setting change of the assist torque is performed by the notification by the output unit.

  The output unit in this configuration is, for example, a speaker that outputs a message by voice, a display unit that displays a message by an image, and the obstacle notification command unit outputs a message to these. Will be commanded.

Further, as in the thirteenth configuration , the obstacle notification command means notifies the message that the obstacle is in the passing area and the steering direction for directing the traveling direction of the vehicle in the avoidance direction through the output means. A configuration is also conceivable in which the power steering device in the vehicle is instructed to superimpose torque in a predetermined pattern with respect to the steering direction for directing the traveling direction of the vehicle in the avoidance direction.

  If comprised in this way, the message that the obstacle is in the passing area and the steering direction for turning the traveling direction of the vehicle in the avoidance direction can be notified by the output means (output unit), and thereafter Notification can be performed via the power steering device.

Further, the obstacle notification command means described above is a message to that effect when the obstacle detected by the obstacle detection means is located in the passing area as in the fourteenth configuration. May be configured to be notified through the output unit by causing the output unit to output or display as a voice.

If comprised in this way, it can alert | report by outputting or displaying the message for an alarm as a sound to the effect that the obstacle was located in the passage area.
Further, as described above, in the configuration in which the setting change is performed after the notification by the obstacle notification unit, for example, as in the fifteenth configuration , it is determined whether to change the assist torque setting by the torque change unit. A change determining means for changing the assist torque setting when the change determining means determines that the assist torque setting should be changed after notification by the obstacle notification command means. It is conceivable to adopt a configuration such as

  If comprised in this way, it can be determined by a change determination means whether the setting change by a torque change means is performed. Each change determination means described above is a means for determining whether or not to change the assist torque setting by the torque change means.

  More specifically, when a predetermined operation is performed on the operation unit, the fact that the operation has been performed indicates that the assist torque setting change by the torque changing means should or should not be performed. What is necessary is just to comprise so that it may determine.

  In addition, it is possible to accept such an operation at any timing. For example, it is conceivable that a notification is given by the obstacle notification command means. In this case, the obstacle notification means After the notification is performed, the driver can select whether or not to change the assist torque setting by the torque changing means.

  In addition, the assist torque setting change by the torque changing means described above may be configured to be performed regardless of the state of the vehicle when the obstacle is located in the passing region. You may comprise so that it may be performed only in the situation.

  As a situation suitable for the setting change of the assist torque, for example, a situation where the vehicle is traveling at a certain low speed can be considered. Such a situation is a situation where the traveling speed is lowered so as to pass through a narrow area or to avoid an obstacle on the road, and the friction between the wheel and the road is large because the traveling speed is low. A large force is required for steering. Therefore, to change the assist torque setting only when the vehicle is traveling at a certain low speed, at least when passing through a narrow area or avoiding obstacles on the road It can be said that it is suitable for assisting driving.

For this purpose, if the setting change of the assist torque by the torque changing unit is performed after the notification by the obstacle notification command unit, for example, the traveling speed of the vehicle is detected as in the sixteenth configuration. Vehicle speed detecting means, and when the traveling speed detected by the vehicle speed detecting means is less than or equal to a predetermined threshold value, notification by the obstacle notification command means and setting change of assist torque by the torque changing means are performed. On the other hand, when the traveling speed is larger than a predetermined threshold value, it is conceivable that only the notification by the obstacle notification command means is performed.

  If comprised in this way, the driving | operation in case the vehicle is drive | working at a certain low speed can be assisted. In addition, even when the vehicle is traveling at a certain low speed, since the notification by the obstacle notification command means is performed, the notification allows the driver to recognize that the obstacle is located in the passing area. It is possible to prompt appropriate driving to avoid obstacles.

Further, the assist torque setting change by the torque changing means may be performed only by the relationship with the traveling speed of the vehicle regardless of the notification by the obstacle notifying means.
For this purpose, for example, a vehicle speed detecting means for detecting the traveling speed of the vehicle is provided, and the torque changing means is used only when the traveling speed detected by the vehicle speed detecting means is equal to or less than a predetermined threshold value. The configuration may be configured to change the setting.

If comprised in this way, the driving | operation in case the vehicle is drive | working at a certain low speed can be assisted.
Further, in the configuration in which the assist torque setting is changed by the torque changing unit in relation to the vehicle traveling speed as described above, for example, a vehicle speed detecting unit that detects the vehicle traveling speed is provided as in the seventeenth configuration. When the traveling speed detected by the vehicle speed detecting means is equal to or higher than a predetermined threshold value, the obstacle notification command means does not notify the power steering device and the obstacle passes by the output unit. By outputting a message indicating that it is within the area, notification may be performed via the output unit.

  In a state where the vehicle traveling speed is increased at a certain speed, even if a slight steering operation is performed, the traveling direction of the vehicle is greatly changed. Therefore, the torque at the time of notification through the power steering device as described above is used. There is a risk of unintentional changes in the traveling direction of the vehicle. Therefore, if a speed that is assumed to cause a large change in the traveling direction is set as the above-mentioned “predetermined threshold value”, the steering device can be used when the speed is higher than that. It is possible not to perform the notification through. Accordingly, it is possible to notify the driver that the obstacle is in the passing area by performing notification by the message while preventing an unintended change in the traveling direction of the vehicle.

If comprised in this way, when the vehicle is drive | working at a certain high speed, it can alert | report via an output part.
The obstacle detection means described above is means for detecting the position of an obstacle present in the peripheral area of the vehicle, and the specific configuration thereof is not particularly limited. For example, in the case where a sensor composed of a plurality of sensor elements that outputs light, sound waves, or electromagnetic waves in respective predetermined directions and detects the reflected waves is provided, the following configuration is conceivable.

For example, as in an eighteenth configuration , a plurality of sensor elements that are provided around a vehicle and that output light, sound waves, or electromagnetic waves, respectively, and detect reflected waves from an object that exists in the output direction The obstacle detection means outputs light, sound wave or electromagnetic wave from the sensor element, and based on a time difference between output and detection when a reflected wave is detected by each sensor element. Configuration that calculates the distance to the obstacle and detects the position of the obstacle present in the peripheral area of the vehicle by calculating the direction in which the obstacle exists based on the phase difference between the sensor elements It is.

Further, as in the nineteenth configuration , a plurality of sensor elements that are provided around the vehicle and output light, sound waves, or electromagnetic waves, respectively, and detect reflected waves from an object existing in the output direction. The obstacle detection means outputs light, sound wave or electromagnetic wave from the sensor element, and based on a time difference between output and detection when a reflected wave is detected by each sensor element. Detects the position of an obstacle in the surrounding area of the vehicle by calculating the distance to the obstacle and calculating the direction in which the obstacle exists based on the difference in detection time of the reflected wave at the sensor element It is the structure of doing.

  Further, in order to detect the position of the obstacle by the obstacle detection means described above, a plurality of sensors capable of detecting the presence of the object in the specific area and the distance to the object are respectively determined by the specific areas of the sensors. It is conceivable to arrange so as to cover the required detection range around the vehicle.

Then, as in the twentieth configuration , the obstacle detection means is configured such that when any of the sensors detects the presence of an obstacle and the distance to the obstacle, the detection result and the sensor are arranged. What is necessary is just to comprise so that the position of the obstruction which exists in the peripheral region of a vehicle may be detected based on a position.

If comprised in this way, the position of an obstruction can be detected with the detection result and the position of each sensor.
In addition, the sensor element mentioned above should just be able to output light, a sound wave, or electromagnetic waves, and to detect the reflected wave, and the specific structure is not specifically limited. For example, it is conceivable to use a sensor element configured to output and detect an ultrasonic wave as in the twenty-first configuration . In this case, the position of an obstacle can be detected by the ultrasonic wave. .

  In addition, in order to detect the position of the obstacle by the obstacle detection means described above, a sensor in which two sensor elements are arranged horizontally with respect to the ground at intervals of half or less of the wavelength may be provided around the vehicle. Conceivable.

Then, the obstacle detection means outputs an ultrasonic wave from the sensor element as in the twenty-second configuration , and the obstacle is based on the time difference between the output and the detection when the reflected wave is detected by each sensor element. And the position of the obstacle present in the surrounding area of the vehicle is detected by calculating the direction in which the obstacle exists based on the phase difference between the sensor elements. That's fine.

If comprised in this way, the position of an obstruction can be detected based on the detection result of each sensor element in a sensor, and its phase difference.
Further, the obstacle detection means described above may be configured to identify an obstacle as follows if the vehicle is provided with an image photographing means for photographing an image around the vehicle. .

As in the twenty-third configuration , it generates a bird's-eye view image of a bird's-eye view of the vehicle from the sky based on an image photographed by an image photographing means for photographing an image around the vehicle, and based on the bird's-eye view image, the image The position of the obstacle contained in the is detected.

If comprised in this way, the position of an obstruction can be detected based on a bird's-eye view image.
A program according to the twenty-fourth configuration is a program for causing a computer system to execute processing procedures for causing all the means in any one of the first to twenty-third configurations to function.

The computer system controlled by such a program can constitute a part of the driving support apparatus in any one of the first to twenty-third configurations .
The above-described program is composed of an ordered sequence of instructions suitable for processing by a computer system, and is provided to a driving support device and a user who uses this through various recording media and communication lines. Is.

Embodiments of the present invention will be described below with reference to the drawings.
(1) Overall Configuration The driving support device 1 is a device mounted on a vehicle, and performs a well-known process (assist torque application process) for applying assist torque to the steering 110 via the power steering apparatus 100. Electronic control unit (hereinafter referred to as “ECU”) 10, user interface (U / I) 20, object sensor 200 for detecting the presence or absence of an object present around the vehicle, and a state for detecting the running state of the vehicle The sensor 300 and the vehicle-mounted camera 400 that captures an image around the vehicle are included.

  Among these, ECU10 is comprised so that the assist torque change process mentioned later other than the assist torque provision process mentioned above may be performed according to the program memorize | stored in the built-in memory.

  The user interface 20 includes an operation unit 22 operated by a user including a driver, a display unit 24 that displays various information, a microphone that inputs sound, a speaker that outputs sound, and a buzzer that outputs a warning sound. The audio processing unit 26 and the like are configured as part of a known navigation device or audio device in the present embodiment.

  A plurality of object sensors 200 are arranged in front of the vehicle at intervals (see FIG. 2). Each of the object sensors 200 emits an ultrasonic wave and reflects a reflected wave from an object existing in the emitted direction. It is configured to detect.

  The state sensor 300 is, for example, a vehicle speed sensor that detects the traveling speed of the vehicle, a steering sensor that detects the steering angle of the steering, a shift position sensor that detects the switching state (shift position) of the transmission.

In the present embodiment, the presence / absence of an object and the traveling state of the vehicle are directly acquired from the object sensor 200 and the state sensor 300. The traveling state is obtained via a network (CAN). You may comprise so that it may acquire indirectly.
(2) Assist torque change process The process procedure of the assist torque change process executed by the ECU 10 will be described below. This assist torque changing process is partly different depending on the type of program (programs 1 to 8) stored in the memory of the ECU 10, and will be sequentially described for each type of program.

The assist torque changing process is started in parallel when the assist torque applying process is started, and is repeatedly executed while the assist torque applying process is being performed.
(2-1) Program 1
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 1 is demonstrated based on FIG.

  When the assist torque changing process is started, first, based on the detection result from the state sensor 300 (vehicle speed sensor), the traveling speed of the vehicle is checked (s110), and the traveling speed is set to a predetermined threshold ( For example, it will be in a standby state until it becomes less than 20 km / h) (s110: NO).

  Thereafter, when the traveling speed becomes less than the predetermined threshold (s110: YES), the position of an obstacle existing around the vehicle is detected based on the detection result from each sensor (s120). Here, each object sensor 200 emits an ultrasonic wave and receives the reflected wave. Thereafter, the distance to the obstacle is specified based on the time difference until each object sensor 200 receives the reflected wave, and the direction in which the obstacle exists is determined based on the phase difference of the sensor elements constituting each object sensor 200. Thus, the position of the obstacle is detected for each object sensor 200.

Here, for example, assuming that a straight reflected wave is received from the front of the object sensor 200 as a reference (angle 0 °), the direction in which the obstacle exists is expressed by the equation “θ = sin ⁻¹ (Δφ × λ / 2πd). ) ”In the direction of angle θ °. In this equation, “λ” is the wavelength of the emitted ultrasonic wave, “d” is the distance between the sensor elements A and B constituting the object sensor 200 (see FIG. 4), and “Δφ” is received by each of the sensor elements A and B. Is the phase difference of the reflected wave.

  Next, based on the detection result from the state sensor 300, a passing area through which the vehicle passes is estimated (s130). Here, based on the steering angle detected by the steering sensor and the traveling speed detected by the vehicle speed sensor, the vehicle passes when the vehicle has traveled for a predetermined time (for example, 10 seconds) while maintaining the current steering angle. This area is specified, and this is estimated as the passing area.

  Next, it is checked whether or not the position of the obstacle detected in s120 is within the passing area estimated in s130 (s140), and when it is determined that it is in the passing area (s140: YES). The notification by the message that there is an obstacle in the passing area is started (s142). Here, the user interface 20 is instructed to notify the above, and the user interface 20 receiving this instruction displays the message to the effect on the display unit 24 and the speaker of the message to the effect. By performing either one or both of the outputs by the (voice processing unit 26) (or the output by the buzzer of the alarm sound indicating the above), the notification by the message is started.

  Next, the traveling direction of the vehicle (hereinafter referred to as “avoidance direction”) suitable for avoiding the obstacle in the passing area estimated in s130 is specified (s150). In this s150, among the areas when the passing area is divided into left and right halves along the traveling direction of the vehicle, the area where the obstacle is not located (right or left area; if both are crossed, it is randomly determined) The direction in which the vehicle can pass without contacting the obstacle is specified as the avoidance direction.

  Next, among the assist torques to be applied to the steering 110 for the power steering apparatus 100, the assist torque for a predetermined steering direction should be changed to an assist torque that is smaller than the assist torque to be applied in a normal state. A command is issued (s160). Here, of the steering directions (left or right) of the steering 110, the steering direction opposite to the steering direction (hereinafter referred to as “avoidance steering direction”) for directing the traveling direction of the vehicle to the avoidance direction specified in s150. It is commanded that the assist torque for (hereinafter referred to as “non-avoidance steering direction”) should be changed to a setting smaller than that to be applied in a normal state.

  After receiving this command, the power steering apparatus 100 applies an assist torque smaller than that in the normal state in the non-avoidance steering direction until the next setting change is commanded. Specifically, the power steering apparatus 100 changes the data table referred to when determining the assist torque to be applied to the steering to a data table set so that the assist torque to be applied is smaller than usual. Thereby, the setting change of the assist torque is realized.

  In addition, when it is determined in s140 described above that the position of the obstacle is not in the passing region (s140: NO), the notification started in s142 is ended (s162). Here, the user interface 20 is instructed to end the notification, and the user interface 20 that has received this instruction displays a message on the display unit 24 and outputs a message (or alarm sound) from the audio processing unit 26. Is terminated, the notification started in s142 is terminated.

  Next, the power steering apparatus 100 is instructed to re-set the assist torque to be applied to the steering 110 to the assist torque to be applied in a normal state (s170). Here, the power steering apparatus 100 is instructed to return the assist torque to be applied to the steering 110 to the one to be applied in the normal state. The power steering device 100 that has received this command returns the assist torque to be applied to the steering 110 to that in the normal state if the setting change of the assist torque is commanded in s160 described above.

Thus, after finishing s160 or s170, the process returns to s110.
In this assist torque changing process, for example, when the assist torque for the left steering direction in the steering 110 is changed to a value smaller than that to be applied in the normal state in s160, the left steering direction is The difference between the torque required for changing the traveling direction of the vehicle (turning the tire) and the assist torque is larger than that in the right steering direction (see (4) in FIG. 5A). As a result, the steering of the steering 110 in the left steering direction on the side where the obstacle exists is immediately in a state requiring a larger force than usual (see FIG. 5B).

Further, for example, when an obstacle appears in the passing area in the process of turning the vehicle to the right (steering in the right direction) from a state where there is no obstacle in the traffic area, the steering 110 is turned to the right During the steering in the steering direction, the setting change is performed through s120 to s160 from the state in which the setting change by s160 is not performed until immediately before. In this case, the assist torque with respect to the right steering direction in the steering 110 is changed to a value that is smaller than the normal assist torque in s160 until the obstacle appearing in the passing area is removed from the passing area. Then, the difference between the torque required to change the traveling direction of the vehicle and the assist torque becomes large (see (4) in FIG. 6A), and the steering of the steering 110 in the range where the obstacle exists. Immediately enters a state requiring a larger force than usual (see FIG. 6B).
(2-2) Program 2
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 2 is demonstrated based on FIG.

  In this assist torque changing process, similar to program 1, after s110 to s150 are performed, steering of the steering 110 necessary to prevent the vehicle from touching an obstacle at the position detected in s120. A quantity is calculated (s210). Here, the virtual passing area of the vehicle when the virtual steering amount is set is calculated, and the virtual obstacle is detected until the obstacle detected in s120 is not located in the virtual passing area. The calculation of the virtual passing area is repeated while changing (increasing) the steering amount. As a result, the virtual steering amount when the virtual passing area is finally calculated is calculated as the steering amount of the steering 110 that is necessary to avoid contact with the obstacle.

  Then, after this s210, the power steering apparatus 100 is commanded to change the assist torque (s160). Here, as in the first program, the power steering apparatus 100 is instructed to change the assist torque in the non-avoidance steering direction to a small value. In addition, in this s160, the fact that the assist torque for the avoidance steering direction should be set to a value that is greater than or equal to the assist torque that should be applied in a normal state and that corresponds to the steering amount calculated in s210. Commands are given to the steering device 100.

  After receiving this command, the power steering apparatus 100 applies an assist torque smaller than normal in the non-avoidance steering direction until the next setting change is commanded. Thus, an assist torque larger than usual is applied. At this time, the assist torque with respect to the avoidance steering direction becomes larger as the steering amount calculated in s210 is larger, and the steering of the steering 110 with respect to the steering direction can be quickly realized with less force (FIG. 8A). ), (B)).

In addition, here, the assist torque applied to the non-avoidance steering direction is made smaller than that of the program 1 described above, and accordingly, when a large steering amount is required for the avoidance steering direction, an error occurs. You may make it difficult to steer in a non-avoidance steering direction.
(2-3) Program 3
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 3 is demonstrated based on FIG.

  In this assist torque changing process, the arrival time until the vehicle reaches the obstacle at the position detected in s120 after s110 to s150 is calculated as in the program 1 (s220). . Here, when the vehicle travels in the passing area estimated in s130 at the traveling speed detected by the vehicle speed sensor at the present time, the vehicle reaches the position of the obstacle detected in s120 (contacts the obstacle). Time) is calculated.

  After this s220, the power steering apparatus 100 is instructed to change the assist torque setting (s160). Here, as in the first program, the power steering apparatus 100 is instructed to change the assist torque in the non-avoidance steering direction to a small value. In addition, in s160, the assist torque in the avoidance steering direction should be set to a value that is greater than or equal to the assist torque that should be applied in a normal state and that corresponds to the short arrival time calculated in s220. The power steering apparatus 100 is instructed.

  After receiving this command, the power steering apparatus 100 applies an assist torque smaller than normal in the non-avoidance steering direction until the next setting change is commanded. Thus, an assist torque larger than usual is applied. At this time, the assist torque in the avoidance steering direction becomes larger as the arrival time calculated in s220 is shorter, and the steering of the steering 110 in the steering direction can be quickly realized with less force (FIG. 8A). ), (B)).

In addition, here, the assist torque applied to the non-avoidance steering direction is reduced according to the arrival time, so that when quick steering is necessary in the avoidance steering direction, the non-avoidance steering is erroneously performed. It may be difficult to steer in the direction.
(2-4) Program 4
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 4 is demonstrated based on FIG.

  In this assist torque changing process, as in the case of the program 1, after s110 to s140 are performed, when it is determined “YES” in s140, s150 is performed and then s142 is performed. If it is determined “NO” in s140, the process proceeds to s170 without performing s162.

  In s142, the power steering apparatus 100 is instructed to apply torque in a predetermined pattern in a superimposed manner, and the power steering apparatus 100 having received this instruction applies torque according to the predetermined pattern to the steering 110. This realizes notification to the driver that there is an obstacle in the passing area.

At this time, the torque applied to the steering 110 is a torque with respect to a steering direction (avoidance steering direction) for setting the traveling direction of the vehicle to the avoidance direction specified in s150. It is applied over a certain period of time (for example, 0.5 seconds) with a size that does not hinder steering. As a specific example, as shown in FIG. 11, a pulsed torque is applied once (see FIG. 11 (a)), and a pulsed torque is repeatedly applied two or more times (see FIG. 11 (b)). ), And the torque pattern. In addition, when repeatedly applying the pulsed torque two or more times, the magnitude of each torque is gradually increased (see FIG. 11 (c)), or the application time is changed (FIG. 11 ( d) See)).
(2-5) Program 5
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 5 is demonstrated based on FIG.

  In this assist torque changing process, as in program 4, after s110 to s142 are performed, a notification of the steering direction by steering is performed in s142 until a predetermined time (for example, 1 second) elapses. Next, it is checked whether or not the steering 110 has been steered (s230). Here, based on the detection result from the steering sensor, it is checked whether or not the steering 110 is steered in the steering direction (the avoidance steering direction) for setting the traveling direction of the vehicle to the avoidance direction specified in s150. .

  When it is determined in this s230 that the steering 110 is not steered (s230: NO), a notification that there is an obstacle in the passing area and steering is necessary is started (s144), and then Then, the process returns to s142, and notification by torque is performed again. In s144, notification via the user interface 20 is started, as in s142 of FIG.

Further, when it is determined in s230 described above that the steering 110 has been steered (s230: YES), after the notification started in s144 is completed (s240), as in s162 of FIG. The process proceeds to s160. In s240, if notification is not started in s144, no processing is performed.
(2-6) Program 6
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 6 is demonstrated based on FIG.

  In this assist torque changing process, as in the case of the program 1, after s110 to s142 are performed, it is checked whether or not the setting change of the assist torque is permitted (s250). In the present embodiment, whether or not to change the setting of the assist torque in the assist torque changing process is set in advance by the operation unit 22 of the user interface 20, and the contents can be stored in the memory of the ECU 10. It is configured. Therefore, in s250, it is checked whether or not the assist torque setting change is permitted based on the setting contents stored in the memory.

If it is determined in s250 that the setting change of the assist torque is not permitted (s250: NO), the process returns to s110.
On the other hand, if it is determined in s250 that the assist torque setting change is permitted (s250: YES), the process proceeds to s150.
(2-7) Program 7
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 7 is demonstrated based on FIG.

  In this assist torque changing process, s110 to s142 are performed as in the first program. At this time, in s142, not only the notification that there is an obstacle in the passing area, but also the notification that the setting change of the assist torque should be specified is performed.

  After this notification is given, the driver can perform an operation for selecting whether to permit or not change the setting of the assist torque using the operation unit 22 of the user interface 20.

  After the notification in s142 is performed in this way, the operation unit 22 of the user interface 20 is in a standby state until an operation for selecting whether to change the setting of the assist torque is performed or not. s260: NO).

  Thereafter, when an operation for selecting whether to change the setting of the assist torque or not is performed (s260: YES), the content selected by the operation is checked (s270).

If it is determined in s270 that an operation not permitting setting change of assist torque is performed (s270: NO), the process proceeds to s110.
On the other hand, if the operation to permit the setting change of the assist torque is performed in s270 (s270: YES), the process proceeds to s150.
(2-8) Program 8
Below, the process sequence of the assist torque change process which ECU10 performs according to the program 8 is demonstrated based on FIG.

In this assist torque changing process, s120 to s142 similar to the program are performed without performing s110 in the first program.
Then, after the notification by s142, the traveling speed of the vehicle is checked (s280), and if the traveling speed is not less than the predetermined threshold (s280: NO), the process returns to s120. If it is less than the threshold value (s280: YES), the process proceeds to s150.
(3) Operation and Effect According to the driving support device 1 configured as described above, the vehicle traveling direction is determined from the assist torque applied to the steering 110 when an obstacle is located in the passing region. The setting is changed so that the assist torque in the steering direction for turning to the non-avoidance steering direction becomes smaller than the normal state (s160 in the assist torque changing process).

  As a result, the steering of the steering 110 that turns the traveling direction of the vehicle toward the obstacle is in a state that must be performed with a force larger than usual as compared with the case where the setting change is not performed. Therefore, steering of the steering 110 that turns the traveling direction of the vehicle toward the obstacle is not performed promptly, so that the vehicle can be effectively prevented from moving toward the obstacle. As a result, it is possible to easily avoid contact with an obstacle.

  In the configuration in which the assist torque changing process (FIGS. 7 and 9) is executed by the programs 2 and 3, the assist torque in the avoidance steering direction among the assist torques added to the steering 110 is in a normal state. The setting is changed so as to be larger than the assist torque (s160 in FIGS. 7 and 9). As a result, steering of the steering 110 that turns the vehicle in the avoidance direction is performed with a smaller force than usual due to an increase in assist torque. As a result, the steering 110 can be quickly steered so that the traveling direction of the vehicle is directed in the avoidance direction, and obstacle avoidance can be realized at an early stage. In this case, the assist torque in the non-avoidance steering direction is changed so as to be smaller than normal. Thereby, when it is necessary to avoid quickly, it is difficult to steer in the non-avoidance steering direction, and contact with an obstacle can be avoided.

  Further, in the configuration in which the assist torque changing process (FIG. 7) is executed by the program 2 described above, the assist torque in the steering direction for turning the traveling direction of the vehicle in the avoidance direction is necessary for the vehicle to avoid the obstacle. It can be increased according to the steering amount of the steering 110. In the non-avoidance steering direction, the assist torque can be reduced according to the steering amount.

  As a result, the steering of the steering 110 that directs the traveling direction of the vehicle in the avoidance direction can be quickly performed with a smaller force as the amount of steering required increases. Further, by making the assist torque smaller also in the non-contact direction, it is possible to make the steering more difficult in the non-avoidance direction.

  If the amount of steering for turning in the traveling direction of the vehicle is large, naturally, the time required for the steering also increases. Therefore, as the amount of steering increases, the steering 110 can be quickly steered with a small force. It is suitable for realizing obstacle avoidance at an early stage regardless of the steering amount.

  Further, in the configuration in which the assist torque changing process (FIG. 9) is executed by the program 3, the assist torque for the steering direction for turning the traveling direction of the vehicle in the avoidance direction is the arrival time until the vehicle reaches the obstacle. It can be increased according to the shortness of. In the non-avoidance steering direction, the assist torque can be reduced according to the short arrival time.

  As a result, the steering of the steering 110 that directs the traveling direction of the vehicle in the avoidance direction can be quickly performed with a smaller force as the arrival time until the vehicle reaches the obstacle is shortened. Further, by making the assist torque smaller also in the non-contact direction, it is possible to make the steering more difficult in the non-avoidance direction.

  If the arrival time until the vehicle reaches the obstacle is short, naturally, the time during which the steering 110 can be steered to turn the vehicle in the avoidance direction is shortened. Thus, the shorter the arrival time, the quicker the steering is performed. The ability to steer 110 is suitable for early avoidance of obstacles regardless of the arrival time.

  Further, in the above embodiment, the assist torque setting is changed from when an obstacle appears in the passing area until the obstacle is not in the passing area while the assist torque changing process is repeatedly executed. During the period, the state is continuously performed (assist torque changing process s160, s170).

  This indicates that the setting change of the assist torque is performed only when the obstacle is located in the passing area, that is, when the vehicle can come into contact with the obstacle. Therefore, when the setting is changed in this manner, the steering 110 is steered, and when the obstacle is not located in the passing region, that is, when there is no possibility that the vehicle touches the obstacle, the setting change is finished, and the steering The assist torque applied to 110 can be returned to the normal assist torque.

  In the above embodiment, when the condition that the obstacle is located in the passage region is satisfied, the fact is notified and the assist torque setting is changed (the assist torque changing process). s142). Accordingly, since it is possible to make the driver recognize that the setting change of the assist torque is performed in advance by the notification, it is possible to prevent the driver from feeling uncomfortable due to the sudden setting change of the assist torque. it can.

  Further, in the above-described embodiment, the notification by the message performed prior to the setting change of the assist torque is performed after the obstacle appears in the passing area while the assist torque changing process is repeatedly executed. During the period until it is not in the state, the state is continuously performed (same processing s142, s162).

  This indicates that the notification is performed only when the obstacle is located in the passing region, that is, when the vehicle can come into contact with the obstacle. Therefore, when the notification is started in this manner, the steering 110 is steered, and when the obstacle is not located in the passing area, that is, when there is no possibility that the vehicle contacts the obstacle, the notification can be ended.

  In the configuration in which the assist torque changing process (FIG. 10) is executed by the program No. 4, the power steering is performed by superimposing torque in a predetermined pattern with respect to the avoidance steering direction among the steering directions of the steering 110. The driver is notified via the device 100 that there is an obstacle in the passing area. Accordingly, it is possible to make the driver recognize that the steering is necessary because there is an obstacle in the passing area by the torque applied in a predetermined pattern.

  Further, in the configuration in which the assist torque changing process (FIG. 12) is executed by the program # 5, after the notification through the power steering device 100, the steering 110 can be properly operated even after a predetermined time has elapsed. When not performed (“NO” in s230 of FIG. 12), notification by a message is performed (s144 of FIG. 12). Thus, even when the driver does not notice the notification via the power steering device 100, the driver is visually and audibly notified that the setting change of the assist torque is performed by the notification by the message. Can be recognized. In addition, this makes it possible to alleviate discomfort for passengers by preventing unnecessary auditory notification.

  Further, in the configuration in which the assist torque changing process (FIG. 13) is executed by the program # 6, the driver can select in advance whether or not to change the assist torque setting using the operation unit 22 of the user interface 20. (Fig. S250).

  In the configuration in which the assist torque changing process (FIG. 14) is executed by the program No. 7, the driver determines whether to change the assist torque setting after notifying that there is an obstacle in the passing area. 20 operation units 22 can be selected (s260 and s270 in the figure).

In the above embodiment, the assist torque setting is changed when the traveling speed of the vehicle is less than the predetermined threshold (“YES” in s110 of the assist torque changing process).
This is intended to support driving when the vehicle is traveling at a certain low speed. When the vehicle is traveling at a certain low speed, it can be said that the vehicle travels through a narrow area or the traveling speed is lowered to avoid obstacles on the road. The friction between the vehicle and the road is large, and a large force is required for steering the steering 110. Such a situation can be said to be a situation suitable for setting change of the assist torque.

  Therefore, in the above embodiment in which the setting change of the assist torque is performed only when the vehicle is traveling at a certain low speed, it is possible to pass through a narrow area or avoid an obstacle on the road. Driving can be supported appropriately.

  Further, in the configuration in which the assist torque changing process (FIG. 15) is executed by the program No. 8, notification is made that there is an obstacle in the passing area regardless of the traveling speed of the vehicle. Therefore, even when the vehicle is traveling at a certain low speed, the notification allows the driver to recognize that the obstacle is located in the passing area, and prompts the driver to drive appropriately to avoid the obstacle. be able to.

In the above embodiment, the position of the obstacle can be detected using ultrasonic waves based on the time difference and the phase difference at which the reflected waves are received by each object sensor 200.
(4) Modifications The embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment, and can take various forms as long as they belong to the technical scope of the present invention. Needless to say.

  For example, in the above-described embodiment, the object sensor 200 described above is illustrated as having a configuration in which the object sensor 200 is disposed in front of the vehicle with a space therebetween. However, these object sensors 200 may be arranged not only in front of the vehicle but also at the rear or side of the vehicle with a space therebetween.

  Moreover, in the said embodiment, what has become the structure by which the object sensor 200 mentioned above is arrange | positioned at intervals is illustrated. However, the arrangement of the plurality of object sensors 200 may be any arrangement.

  Moreover, in the said embodiment, the object sensor 200 illustrated what was comprised by the several sensor element which can output and detect an ultrasonic wave, respectively. However, as the sensor element in the object sensor 200, a sensor element that can output and detect sound waves other than ultrasonic waves, light, or electromagnetic waves may be employed.

  In the above embodiment, the assist torque setting may be changed immediately without notification when a condition that an obstacle is located in the passage region is satisfied. In this case, the process may be shifted to s160 without performing s142 of the assist torque changing process.

  Moreover, in the said embodiment, what was comprised so that the alerting | reporting by the message performed prior to the setting change of assist torque might be performed continuously until it became a state which an obstacle does not exist in a passage area was illustrated. . However, the notification by this message may be configured to be continuously performed over a predetermined time. For this purpose, in the assist torque changing process, the notification started in s142 may be started after a predetermined time has elapsed, and s162 may not be performed.

  Further, in the above embodiment, the configuration in which the assist torque changing process (FIG. 10) is executed by the program No. 4 is configured so that the notification via the steering 110 is performed simultaneously with the notification (voice and alarm) by the message. May be. For this purpose, in s142 of FIG. 10, the power steering apparatus 100 is instructed to superimpose torque, and the user interface 20 is instructed to output a message. What is necessary is just to comprise.

  If comprised in this way, it can be made to recognize a driver | operator that the setting change of assist torque is performed by the torque given superimposed by a predetermined pattern, and the message output by an output part.

  In particular, in this configuration, it is desirable to synchronize the torque applied in a superimposed manner with a predetermined pattern and the message output by the output unit. Here, a case where notification by a message is realized by outputting a warning sound will be described as an example. As shown in FIG. 16, the timing at which torque is applied and the timing at which a warning sound is output should be matched. What is necessary is just to comprise so that a command may be made.

  Moreover, in the said embodiment, the structure which performs operation with respect to the operation part 22 of the user interface 20 was illustrated as a structure for a driver | operator to select whether the setting change of assist torque is performed. However, it is desirable that an operation unit for selecting whether or not to change the setting of the assist torque is arranged at a position where the driver can easily operate, other than the operation unit 22. For example, such another operation unit 28 can be arranged on the steering 110 as shown in FIG.

  With this configuration, the driver can make a selection as to whether or not to change the setting of the assist torque without greatly changing the posture, so to look aside to make that selection, It is possible to prevent the driving from being neglected.

  Moreover, in the said embodiment, what was comprised so that the position of an obstruction was detected with the time difference and phase difference of the reflected wave detected by the object sensor 200 mentioned above was illustrated. However, as a configuration for detecting the position of an obstacle by the object sensor 200, the following configuration may be considered.

  That is, each of the object sensors 200 can detect the presence of an obstacle in a specific area and a distance to the obstacle, and these are arranged so as to cover a required detection range around the vehicle by the specific area of each sensor. The configuration is such that the position of the obstacle is detected based on the position where the object sensor 200 that detects the presence of the obstacle and the distance to the obstacle is provided and the detection result thereof.

If comprised in this way, the position of an obstruction can be detected with the detection result and the position of each object sensor 200.
In the above embodiment, in s120 of the assist torque changing process, the distance to the obstacle is specified based on the time difference until the object sensor 200 detects the reflected wave, and the obstacle exists based on the phase difference. An example is shown in which the direction is specified.

  However, in this s120, the distance to the obstacle and the direction in which the obstacle exists may be specified based on the time difference until the object sensor 200 detects the reflected wave.

In this case, for example, with reference to two adjacent sensor elements A and B (see FIG. 4) and the case where a straight reflected wave is received from the front of the sensor element as a reference (angle 0 °), there is an obstacle. The direction to perform is specified as the direction of the angle θ ° represented by the expression “θ = sin ⁻¹ (Δt × C / d)”. In this equation, “Δt” is the time difference, “C” is the ultrasonic wave propagation speed, and “d” is the distance between the sensor elements A and B constituting the object sensor 200.

  Further, in the above embodiment, in order to specify the distance to the obstacle, as shown in FIG. 18, two sensor elements A and B are arranged horizontally with respect to the ground at an interval equal to or less than half the wavelength λ. (See FIG. 18) The object sensor 200 may be provided around the vehicle, and the distance to the obstacle and the direction in which the obstacle exists may be specified by the following method.

It outputs ultrasonic waves from the sensor elements A and B, calculates the distance to the obstacle based on the time difference between the output and detection when the reflected wave is detected by the respective sensor elements A and B, and By calculating the direction θ where the obstacle exists based on the phase difference Δφ between the sensor elements A and B by the formula “θ = sin ⁻¹ (Δφ / π)”, the obstacle present in the peripheral area of the vehicle It is a method of detecting the position of. Note that θ in this equation is an angle when the reference (angle 0 °) is a case where a reflected wave is received straight from the front of the sensor elements A and B (see FIG. 4).

  Moreover, in order to detect an obstacle by s120 of the assist torque changing process, the following configuration can be adopted in addition to the above-described configuration. It detects the position of an obstacle included in this image by converting the image taken by the in-vehicle camera 400 into a bird's eye view image of the bird's eye view from above and performing known image processing on the bird's eye view image. It is the structure of doing.

  Moreover, when detecting the position of an obstacle based on the image photographed by the vehicle-mounted camera 400 in this way, in addition to detecting the obstacle based on the bird's eye view image, the obstacle is detected by the following configuration. Can be considered. This is because a plurality of in-vehicle cameras 400 are arranged at intervals, and based on images captured by these, three-dimensional information is generated based on well-known three-dimensional measurement (so-called stereo vision). The position of the obstacle is detected from the above.

  Moreover, in the said embodiment, after an obstacle appears in a passage area, until it becomes a state which the obstacle does not exist in a passage area, what was constituted so that an assist torque may be changed continuously is illustrated. did. However, after the obstacle appears in the passing area, the assist torque may be changed for a certain time.

  For this purpose, for example, in the assist torque changing process, in step s160, the power steering apparatus 100 is instructed to change the setting of the assist torque for a certain period of time, and thereafter, the process is performed in step s110 without performing step s170. What is necessary is just to comprise so that it may return.

With this configuration, for example, when an obstacle appears in the passing area in the process of turning the traveling direction of the vehicle to the right, the steering 110 is steered in the right steering direction (non-avoidance steering direction). On the way, the assist torque is changed over a predetermined time in s160. At this time, for the steering 110, when an obstacle appears in the passing area, the difference from the torque required to change the traveling direction of the vehicle for a certain time becomes large (( 4)). As a result, the steering 110 is temporarily steered in the non-avoidance steering direction (see FIG. 19B).
(5) Correspondence with the Present Invention In the embodiment described above, the in-vehicle camera 400 is an image photographing unit in the present invention, and the user interface 20 is an output unit in the present invention.

  Further, s130 of the assist torque changing process is an area estimating unit in the present invention, the process s120 is an obstacle detecting unit in the present invention, and the process s150 is a direction specifying unit in the present invention, and the processes s160 and s170. Is the torque changing means in the present invention, the process s210 is the steering amount calculating means in the present invention, the process s220 is the arrival time calculating means in the present invention, and the processes s142, s144, s162, and s240 are the present invention. The process s230 is an operation determining means in the present invention, the processes s260 and s270 are change determining means in the present invention, and the process s110 is a vehicle speed detecting means in the present invention.

Block diagram showing the overall configuration of the driving support device The figure which shows the attachment state of a several sensor element Flowchart showing assist torque changing process (program 1) The figure which shows a mode that a reflected wave is received by a sensor element Graph showing the relationship (a) between the steering angle of the steering and the torque, and the relationship (b) between the steering angle of the steering and the torque required for steering (in the case of the program 1; 1/2) Graph showing the relationship (a) between the steering angle of the steering and the torque, and the relationship (b) between the steering angle of the steering and the torque necessary for steering (in the case of the program 1; 2/2) Flowchart showing assist torque changing process (program 2) Graph showing the relationship between the steering angle of the steering and the torque (a), and the relationship between the steering angle of the steering and the torque necessary for steering (b) (in the case of the program 2) Flowchart showing assist torque changing process (program 3) Flowchart showing assist torque changing process (program 4) The figure which shows the pattern of the torque given to steering in a superimposed manner Flowchart showing assist torque changing process (program 5) Flowchart showing assist torque changing process (program 6) Flowchart showing assist torque changing process (program 7) Flowchart showing assist torque changing process (program 8) The figure which shows the pattern of the torque to superimpose on steering, and the pattern of the warning sound for alerting | reporting The figure which shows the state by which the operation part was provided in the steering in another embodiment. The figure which shows the state of a sensor and sensor element in another embodiment. The graph which shows the relationship (a) of the steering angle and torque of a steering in another embodiment, and the relationship (b) of the steering angle of a steering and the torque required for steering

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 20 ... User interface, 22 ... Operation part, 24 ... Display part, 26 ... Audio | voice processing part, 100 ... Power steering apparatus, 110 ... Steering, 200 ... Object sensor, 300 ... State sensor, 400 ... In-vehicle camera.

Claims (22)

Area estimation means for estimating a passing area through which the vehicle passes based on the running state of the vehicle;
Obstacle detection means for detecting obstacles present in the surrounding area of the vehicle;
When the obstacle detected by the obstacle detection means is located in the passing area, the vehicle travels to avoid the obstacle based on the position of the obstacle in the passing area. Direction specifying means for specifying an avoidance direction which is a direction;
When the obstacle detected by the obstacle detection means is located in the passing region, the traveling direction of the vehicle is set as the avoidance direction in the assist torque applied to the steering by the power steering device in the vehicle. Torque changing means for setting and changing the assist torque for the steering direction opposite to the steering direction to an assist torque smaller than the assist torque to be applied in a normal state ,
further,
Steering determination means for determining whether or not the vehicle has been steered in a steering direction for directing the traveling direction in the avoidance direction;
After the obstacle detected by the obstacle detecting means is in a state of being located in the passing area, it is determined by the steering determining means that the obstacle is not steered in the steering direction for turning in the avoidance direction. There are obstacle notification command means for notifying that the obstacle is located in the passage area, and
The torque change means changes the setting of the assist torque after the notification by the obstacle notification command means is performed . The torque changing means is more than the assist torque that should be applied in a normal state, in the steering state, for assisting the steering direction of the vehicle in the avoidance direction, among the assist torque that the power steering device applies to the steering. The driving support device according to claim 1, wherein the setting is changed to a large assist torque. When the obstacle detected by the obstacle detecting means is located in the passing area estimated by the area estimating means, the obstacle is avoided based on the position of the obstacle in the passing area. Steering amount calculation means for calculating the steering amount of the steering necessary for
The torque changing means changes the setting of the assist torque in the steering direction for directing the traveling direction of the vehicle in the avoidance direction to a larger value as the steering amount calculated by the steering amount calculating means is larger. The driving support device according to claim 2. When the obstacle detected by the obstacle detecting means is located in the passing area, the arrival until the obstacle is reached based on the position of the obstacle in the passing area and the speed of the vehicle. It has arrival time calculation means to calculate time,
The torque changing means changes the setting of the assist torque for the steering direction for directing the traveling direction of the vehicle in the avoidance direction to a larger value as the arrival time calculated by the arrival time calculation means is shorter. The driving support device according to claim 2. The torque changing means directs the traveling direction of the vehicle in the avoidance direction until a certain time elapses after the obstacle detected by the obstacle detection means is in the state of being in the passing area. The driving assistance device according to any one of claims 1 to 4, wherein an assist torque for a steering direction opposite to the steering direction is set and changed. The torque changing means is configured such that, after the obstacle detected by the obstacle detecting means is in a state of being located in the passing area, until the obstacle is no longer detected by the obstacle detecting means, or the obstacle Changing the assist torque for the steering direction opposite to the steering direction for directing the traveling direction of the vehicle in the avoidance direction until the obstacle detected by the object detection means is not located in the passing region. The driving support apparatus according to claim 5, wherein the driving support apparatus is characterized. The obstacle notification command means is configured such that after the obstacle detected by the obstacle detection means is in a state where it is located in the passage area, no obstacle is detected by the obstacle detection means. or, until the position of the detected obstacle by the obstacle detection means in a state not in the passage region, characterized in that intends continuously line the notification in accordance with the judgment result of the steering judging means The driving support device according to claim 1 . The obstacle notification command means indicates that the torque should be superimposed and applied in a predetermined pattern with respect to the steering direction for turning the traveling direction of the vehicle to the avoidance direction among the steering directions of the steering in the vehicle. The driving assistance device according to any one of claims 1 to 7 , wherein a notification is given through the power steering device by giving a command to the power steering device. The obstacle notification command means indicates that the torque should be superimposed and applied in a predetermined pattern with respect to the steering direction for turning the traveling direction of the vehicle to the avoidance direction among the steering directions of the steering in the vehicle. with commands the power steering device in, by the obstacle to output a message indicating that in the passage region by the output unit, and performs notification through a power steering device and an output unit according to claim 1 The driving support device according to any one of 7 to 7 . When the obstacle detected by the obstacle detection means is located in the passing area, the obstacle notification command means determines the traveling direction of the vehicle among the steering directions of the steering in the vehicle. After informing the power steering device in the vehicle that the torque should be applied in a superposed manner in a predetermined pattern with respect to the steering direction for turning to the avoidance direction, after notifying through the power steering device, If the steering determination means does not determine that the steering is steered in the corresponding steering direction by the time the predetermined period has elapsed, the output unit outputs a message indicating that the obstacle is in the passing area, thereby outputting the output. driving support apparatus according to 7 claims 1, wherein the performing the notification through the part. The obstacle notification command means notifies the message that the obstacle is in the passing region and the steering direction for directing the traveling direction of the vehicle in the avoidance direction through the output means, and then changes the traveling direction of the vehicle to the avoidance direction. The driving support according to any one of claims 1 to 7 , wherein a command to superimpose torque in a predetermined pattern is given to a power steering device in a vehicle with respect to a steering direction for the vehicle. apparatus. The obstacle notification command means causes the output unit to output a message to that effect when the obstacle detected by the obstacle detection means is in a state of being located in the passage area, or The driving support apparatus according to any one of claims 1 to 7 , wherein notification is performed via the output unit by displaying the information. When an operation for selecting to permit the setting change of the assist torque is performed on the operation unit, it is determined to change the setting of the assist torque by the torque changing unit, while the setting change of the assist torque is performed. A change determining means for determining not to change the setting of the assist torque by the torque changing means when an operation for selecting not to permit is performed ;
The torque changing means changes the assist torque setting when the change determining means determines that the assist torque setting should be changed after the obstacle notification command means is notified. driving support apparatus according to claim 1 1 2, characterized in that it is configured to. Vehicle speed detection means for detecting the traveling speed of the vehicle,
When the traveling speed detected by the vehicle speed detecting means is equal to or less than a predetermined threshold, the notification by the obstacle notification command means and the setting change of the assist torque by the torque changing means are performed. If the speed is greater than a predetermined threshold value, the driving support apparatus according to claim 1, wherein 1 to 3 that only notification by the obstacle notification command means is configured to be so carried out . Vehicle speed detection means for detecting the traveling speed of the vehicle,
When the traveling speed detected by the vehicle speed detecting means is equal to or higher than a predetermined threshold, the obstacle notification command means does not notify the power steering device, and the obstacle is passed through the output section. by outputting a message that is within, the driving support apparatus according to any one of doing broadcast via the output unit from claim 1, wherein the 1 4. Provided around the vehicle, each having a sensor comprising a plurality of sensor elements that output light, sound waves or electromagnetic waves and detect reflected waves from an object existing in the output direction,
The obstacle detection means outputs light, a sound wave or an electromagnetic wave from the sensor element, and calculates a distance to the obstacle based on a time difference between output and detection when a reflected wave is detected by each sensor element. in addition, by calculating the direction in which an obstacle is present based on the phase difference between the sensor element, according to claim 1 from 1 to 5, characterized in that to detect the position of the obstacle existing in the peripheral area of the vehicle The driving support device according to any one of the above. Provided around the vehicle, each having a sensor comprising a plurality of sensor elements that output light, sound waves or electromagnetic waves and detect reflected waves from an object existing in the output direction,
The obstacle detection means outputs light, a sound wave or an electromagnetic wave from the sensor element, and calculates a distance to the obstacle based on a time difference between output and detection when a reflected wave is detected by each sensor element. The position of the obstacle existing in the surrounding area of the vehicle is detected by calculating a direction in which the obstacle exists based on a time difference in detection of the reflected wave by the sensor element. driving support apparatus according to any one of 1 to 1 5. A plurality of sensors provided around the vehicle and capable of detecting the presence of an object in a specific area and the distance to the object each cover a required detection range around the vehicle by the specific area of each sensor. Are arranged so that
The obstacle detection means, when any of the sensors detects the presence of an obstacle and the distance to the obstacle, based on the detection result and the position where the sensor is arranged, driving support apparatus according to claim 1, characterized in that to detect the position of the obstacle 1 5 to. The sensor element respectively, the driving support apparatus according to any one of claims 1 to 6, characterized in that it is configured to output and detect ultrasound 18. A sensor in which two sensor elements are arranged horizontally with respect to the ground at intervals of less than half the wavelength is provided around the vehicle,
The obstacle detection means outputs an ultrasonic wave from the sensor element, calculates a distance to the obstacle based on a time difference between output and detection when a reflected wave is detected by each sensor element, and by calculating the direction in which an obstacle is present based on the phase difference between the sensor elements, any one of claims 1, characterized in that to detect the position of the obstacle existing in the peripheral region of the vehicle 1 5 The driving support device according to 1. The obstacle detection unit generates a bird's-eye view image of a bird's-eye view of the vehicle from above based on an image captured by an image capturing unit that captures an image around the vehicle, and is included in the image based on the bird's-eye view image. driving support apparatus according to any one of claims 1, characterized in that to detect the position of the obstacle 1 5. The program for making a computer system perform the process sequence for functioning as all the means in any one of Claim 1 to 21.