JP4957900B2 - Vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control system.

JP 2003-118523 A JP 2002-352395 A JP 2001-18717 A

  In an automobile, since a blind spot for a driver cannot be completely eliminated, there is a technique for notifying the existence of a vehicle hidden in a blind spot. In addition, in a car, since the driver cannot always check the back while traveling, there is a technique for notifying the vehicle when there is a vehicle approaching from the back. For example, Patent Documents 1 to 3 disclose techniques for notifying the approach of another vehicle to the host vehicle.

However, all of these techniques also all SANYO stops the warning informing watched vehicle with respect to the vehicle, if not notice the warning notification is not considered. In particular, when turning right or left at an intersection or the like, there is a possibility of involving a two-wheeled vehicle or a pedestrian.

  The subject of this invention is providing the vehicle control system which is easy to avoid the danger of the entrainment at the time of the left-right turn.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, a vehicle control system according to the present invention includes:
Identification information wireless receiving means for receiving wireless identification information transmitted from a target object to be involved that travels inside the lane of the host vehicle that is about to turn left or right at a right or left turn point on the road;
An entrainment target presence determination means for determining the presence of an entrainment attention object based on the reception state of the wireless identification information;
A right / left turn travel suppression means for suppressing the right / left turn travel of the host vehicle when it is determined that there is a target object to be involved when making a right / left turn;
Assuming that

  According to the configuration of the present invention described above, when the presence of an entrainment target object around the vehicle is specified by wireless communication, the vehicle is restricted from turning left or right, so it is easy to avoid the entrainment target object from being involved. Become.

  The right / left turn travel suppressing means may execute at least emergency acceleration / deceleration control for limiting acceleration of the host vehicle. Specifically, the right / left turn travel suppressing means can execute control for invalidating the acceleration operation performed on the host vehicle when it is determined that there is an object to be caught when the right / left turn is performed. Thereby, acceleration limitation can be performed more easily and reliably. Further, the right / left turn travel suppressing means may execute deceleration control for decelerating the host vehicle based on the presence determination of the entanglement target object. Thereby, it becomes easier to avoid the entrainment of the entrainment target object as compared with the configuration in which only the warning notification is made.

In addition, the vehicle is provided with a right / left turn related operation detecting means for detecting a right / left turn related operation related to its own right / left turn, and the entrainment caution target presence determining means is wirelessly connected from the side corresponding to the detected right / left turn related operation When the identification information is received, it can be determined that there is an entrainment target object. As a result, the emergency acceleration / deceleration control based on the driver's intention to turn left and right can be executed to effectively prevent entrainment. The right / left turn related operation detecting means can detect a turn-on operation of a winker provided in the host vehicle. Thereby, the emergency acceleration / deceleration control can be executed at an earlier stage. The right / left turn operation detecting means may be configured to detect the steering operation direction of the driver.

  Further, the current position detecting means for detecting the current position of the own vehicle, the road branch point specifying means for specifying the road branch point that is ahead of the current position in the traveling direction, and the current position of the own vehicle Road branch point approach determining means for determining whether or not the road branch point approaches within a predetermined distance range can be provided. At this time, the right / left turn travel suppression means determines that the current position of the host vehicle approaches a predetermined distance range with respect to the road branch point, and that the involvement attention object exists by the involvement attention object presence determination means. In this case, it is possible to prevent the vehicle from turning right or left. According to this configuration, it becomes easier to avoid the carrying of the object to be caught in the vehicle or the onboard vehicle when turning right or left at a road junction such as an intersection or a three-way intersection.

The vehicle control system according to the present invention includes a deceleration operation detection unit that detects a deceleration operation of the host vehicle, and a vehicle speed detection unit that detects a vehicle speed of the host vehicle, in addition to the above-described premise configuration, and suppresses right / left turn traveling suppression. The means determines whether the host vehicle has decelerated or the vehicle speed of the host vehicle is equal to or lower than a predetermined speed based on the detection value of the vehicle speed detection unit, and whether the other condition is satisfied when one of the conditions is not satisfied. It is possible to determine both by configuring so that the driver confirms the presence of a target object to be involved when turning right and left, and the driver performs his own vehicle deceleration operation with his / her own intention. If the left turn travel suppression means determines that the vehicle has decelerated, and that the vehicle speed of the host vehicle is less than or equal to a predetermined speed, it immediately prohibits the vehicle from turning right or left. It is characterized by In the case where the driver performs deceleration control with his / her own intention or the like, it is not necessary to suppress the right / left turn traveling. Therefore, in the above configuration, such useless control can be omitted.

  Prior to the suppression of the right / left turn travel by the right / left turn travel suppression means, the vehicle may be provided with warning means for warning the execution of the right / left turn travel suppression. Thereby, the driver does not erroneously recognize the suppression of the right / left turn traveling that has been executed as a failure. In addition, a synergistic effect with the alerting effect by the warning can be expected.

  By the way, the entrainment target object can include a person who possesses a portable communication device having identification information wireless transmission means for wirelessly transmitting its own wireless identification information. Thereby, it becomes easy to avoid the involvement of a vehicle occupant such as a pedestrian or a two-wheeled vehicle having the portable communication device.

  In this case, the vehicle can be provided with identification information request wireless transmission means for wirelessly transmitting an identification information request signal for requesting wireless transmission of wireless identification information to the object to be caught in. In this case, the portable communication device is provided with identification information request signal wireless reception means for wirelessly receiving the identification information request signal, and the identification information wireless transmission means is wirelessly identified based on wireless reception of the identification information request signal. Information can be transmitted wirelessly. According to this configuration, since the portable communication device outputs the wireless identification information only when requested from the own vehicle side, energy consumption accompanying wireless transmission of the wireless identification information on the entrainment target object side can be suppressed.

  Further, the identification information request wireless transmission means can be provided in the own vehicle in a form having directivity so as to wirelessly transmit the identification information request signal in the blind direction to the driver of the own vehicle. As a result, it is possible to specify a target for entrainment such as a vehicle or a person lurking in a blind spot, and it is easy to avoid such entrainment.

  Polling signal output means for wirelessly outputting a polling signal for polling a portable smart key to an automobile; ID code receiving means for receiving an ID code transmitted from the smart key based on reception of the polling signal; A smart entry system is provided that includes a collating unit that collates the received ID code with a master code stored in itself, and a vehicle operation permission unit that permits vehicle operation determined in advance based on the collation result. May be. In this case, the portable communication device can also be used as a smart key. The number of various portable devices possessed by the user can be reduced by installing the function of the object to be caught in the smart key possessed by the user as a portable device. A portable communication device may also be used as a mobile phone.

  Further, the wireless identification information can be determined so as to be recognized separately from the ID code in the smart entry system. This eliminates confusion with the ID code of the smart entry system. In this case, in the automobile, the identification information request wireless transmission means can also be used as a polling signal output means for wirelessly outputting a polling signal, and the identification information wireless reception means can also be used as an ID code reception means. The identification information request signal wireless reception means is also used as a polling signal reception means for wirelessly receiving a polling signal, and the identification information wireless transmission means is also used as an ID code transmission means for transmitting an ID code based on wireless reception of the polling signal. be able to. According to this configuration, since the function of the present invention can be realized by using the configuration of the smart entry system, the function can be mounted on the vehicle at a low cost.

  On the other hand, the entrainment attention target object can include an entrainment attention target vehicle in which identification information wireless transmission means is assembled to the vehicle body. If the attention object is configured as a portable communication device, it can be forgotten at home, but if the attention object is a vehicle, by incorporating the identification information wireless transmission means into the vehicle, It is constantly recognized as an object of attention.

  In addition, the object to be caught in may be provided with an engine in the vehicle body and periodically wirelessly transmit its own wireless identification information based on the start of the engine. According to this configuration, the wireless identification information of the two-wheeled vehicle itself can be periodically wirelessly transmitted using the battery of the two-wheeled vehicle as a power source. In addition, since its own wireless identification information is constantly transmitted while the engine is starting, it is easy to avoid entrainment by the traveling vehicle, and on the other hand, it is excluded from the object of caution when the engine is stopped. In this case, the vehicle to be caught in may be configured by assembling an RFID tag having identification information wireless transmission means.

  Moreover, the entrainment attention object is both the entrainment attention object vehicle and the portable communication device holder, and can be determined in such a manner that the wireless identification information can be distinguished from each other. Thereby, it becomes easy to distinguish whether the object to be involved is a vehicle or a pedestrian, and it is possible to perform an involvement avoidance operation corresponding to that.

  Further, the identification information wireless reception means can be provided in the automobile in a form having directivity so as to wirelessly receive the wireless identification information from the blind direction with respect to the driver of the host vehicle. As a result, only the object to be caught in the direction that becomes the blind spot of the driver is detected, so that it is possible to identify the vehicle or person who is lurking in the blind spot, and it is easy to avoid such entrainment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram illustrating an example of a vehicle control system according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of the vehicle control system 1.

  The vehicle control system 1 shown in FIG. 1 is mainly composed of entrainment caution objects 10 and 30 and a vehicle 20. The entrainment target objects 10 and 30 are objects that carry or carry the transmitter 3 that wirelessly transmits its own wireless identification information (hereinafter abbreviated as identification information). In addition, the vehicle 20 includes the vehicle-mounted device 2. The vehicle-mounted device 2 wirelessly receives the identification information from the transmitter 3 of the entrainment attention object 10, 30, and the attention object around the own vehicle 20 based on the received identification information. While specifying the presence of the objects 10 and 30 and determining that the attention objects 10 and 30 are present, the right / left turn traveling of the host vehicle 20 can be suppressed. Thereby, it becomes easy to prevent the entanglement target objects 10 and 30 from being caught by the vehicle 20. However, this vehicle control system 1 does not play an active role for avoiding entrainment at the time of turning right or left of the vehicle, but plays an auxiliary role while assuming avoidance of entrainment by confirmation of the driver to the last. It is used as

  The transmitter 3 is carried or mounted on the entrainment caution object 10 or 30. For example, when the entrainment caution object is a vehicle 30 (such as a entanglement caution object vehicle) 30 such as a motorcycle, the transmitter 3 is assembled to the vehicle body. If the object to be caught in is a person, the object is assembled in the portable device 11 carried by the person. The portable device 11 in which the transmitter 3 is assembled is referred to as a portable communication device.

  As shown in FIG. 2, the transmitter 3 includes a reference transmitter 31, a frequency synthesizer 32, a control unit 33 that forms a spread code generation unit, a power amplifier 34, and an antenna 39. The control unit 33 that receives signal inputs from the reference transmitter 31 and the frequency synthesizer 32 is stored in an internal memory (storage unit such as a ROM or a non-volatile memory: identification information storage unit that stores wireless identification information for preventing entanglement) 330. Based on the identification information (identification code) thus generated, a baseband signal including the identification information is generated, the baseband signal is modulated based on a carrier wave of a predetermined frequency, and the modulated modulation signal is converted to the power amplifier 34. And a radio signal is transmitted from the antenna 39. Accordingly, the transmitter 3 functions as identification information wireless transmission means.

  In addition, when the power source of the transmitter 3 in the present embodiment is assembled to the portable device 11, the built-in power source (battery or the like) of the portable device is used and is assembled to a vehicle equipped with an engine. In this case, the on-vehicle battery of the vehicle is used as a power source. When the transmitter 3 is assembled in a portable device, the transmitter 3 periodically wirelessly transmits its identification information in a power-on state (for example, a state in which a power switch is turned on) or in an engine start state in a vehicle equipped with an engine. send.

  The vehicle-mounted device 1 shown in FIG. 1 is assembled to the vehicle 20. Specifically, as shown in FIG. 2, the vehicle-mounted device 1 has a configuration in which a signal detection unit 22, a stop function control unit 23, and a warning function control unit 24 are connected to a main control unit 21. Has been. The various control units 21, 23, and 24 are configured as well-known microcomputers connected to a storage device such as a CPU, ROM, RAM, and other nonvolatile memory or a hard disk drive (HDD), and the CPU is stored in the ROM or the storage device. Various functions are executed by executing the program. The memory 210 shown in FIG. 2 includes the above-described ROM, RAM, and other storage devices such as a nonvolatile memory and a hard disk drive (HDD).

  The signal detector 22 demodulates the radio signal received by the antenna 29 provided on both the left and right sides of the vehicle 20 to restore the identification information (identification code), and receives this from either the left or right side of the vehicle. It is transmitted to the main control unit 21 in a form that can be identified. The signal detection unit 22 functions as an identification information wireless reception unit together with the antenna 29.

  The main control unit 21 performs authentication processing by comparing the received identification information with the master information stored in the internal memory (master identification information storage unit) 210. Then, in a situation where the result is authentication acceptance and the vehicle 20 makes a right or left turn, instruction information (warning instruction information) for warning the presence is transmitted to the warning function control unit 24 and emergency acceleration / deceleration control is performed. Instruction information (emergency acceleration / deceleration control instruction information) for executing (right / left turn suppression control) is transmitted to the stop function control unit 23. These processes are performed in such a manner that the CPU executes an emergency acceleration / deceleration control program stored in the ROM or other storage device, thereby functioning as an entrainment caution target presence determination unit and a right / left turn travel suppression unit of the present invention. .

  The stop function control unit 23 is connected to the engine ECU 231, the brake control system 232, and the accelerator control system 233. Further, a brake-by-wire mechanism 232a is connected to the brake control system 232, and so-called brake-by-wire engine control is performed. That is, the sensor detects the amount of depression of the brake pedal, and controls the brake device according to the detected amount. Similarly, an accelerator-by-wire mechanism 233a is connected to the accelerator control system 233 of this embodiment, and so-called accelerator-by-wire engine control is performed. That is, the sensor detects the amount of depression of the accelerator pedal, and control is performed to change the opening of the throttle valve according to the detected amount. The emergency acceleration / deceleration control (right / left turn suppression control) can be easily realized by electronically controlling these accelerators and brakes.

  The warning function control unit 24 is connected to the warning sound generator 241 and the display device 242. When warning instruction information is received from the main control unit 21, a warning sound is output from the warning sound generator 241 and a warning is displayed on the display device 242. The warning sound generator 241 may be configured as a buzzer, but may be configured as a voice output unit that outputs a warning by voice. In this case, the voice output unit 273 of the navigation device 27 to be described later can also be used. The display device 242 can also be used as a display device (display) 272 of the navigation device 27 described later. The display device 242 in the present embodiment is configured by a known color liquid crystal display, and includes a dot matrix LCD (Liquid Crystal Display) and a driver circuit (not shown) for performing LCD display control. The driver circuit uses, for example, an active matrix drive system in which a transistor is attached to each pixel so that the target pixel can be reliably turned on and off, and display commands and display screen data sent from the control circuit of the navigation device Display based on. Further, as the display device 330, an organic EL (ElectroLuminescence) display or a plasma display may be used.

  In addition, the main control unit 21 includes a steering angle detector 25, a direction indicator (turn signal: blinker) 26, a navigation device 27, and a vehicle speed sensor 28 in order to acquire information used for executing the right / left turn suppression control program. Also, a release operation unit 211 for temporarily canceling emergency acceleration / deceleration control and returning to the normal control state is connected. The release operation unit 211 can be provided, for example, on a steering wheel (steering). This makes it easier to cancel the emergency acceleration / deceleration control when turning right or left.

  The steering angle detector 25 is a so-called steering angle sensor (steering angle detection means) that is provided on the steering shaft of the steering handle and detects the steering angle of the steering handle. The steering angle detector 25 includes a known angle detection unit such as a rotary encoder or a resolver, and the detected information is transmitted to the main control unit 21.

  The direction indicator 26 is configured as a turn signal control device (blinker control device), and mainly includes a turn signal operation switch, a flasher control circuit, a turn signal (R) for turning right, a turn signal (L) for turning left, and the like. It has a known configuration connected to the control circuit. The turn signal operation switch for performing the blinking driving operation of the turn signal for right turn (R) or the turn signal for left turn (L) is configured as a lever switch, for example. The operation state of the turn signal operation switch is input to the flasher control circuit, and on the basis of the operation state, the blinking drive of the right turn signal (R) or the left turn signal (L) is controlled.

  The navigation device 27 stores a vehicle position detector 271 including a known geomagnetic sensor, gyroscope, distance sensor, GPS receiver, and the like, a navigation program for executing route guidance, map data, and other various data. And a data storage device (HDD) 274, a display device (display device) 272, an audio output device (audio output unit) 273, an input operation unit 275, a control circuit 270, and the like.

  With this configuration, in the navigation device 27, when the navigation program 274 a is activated by the CPU of the control circuit 8, a menu screen (not shown) is displayed on the display 272. When the route guidance process is selected from the menu screen by the operation of the operation input unit 274c by the user (for example, the operation of the touch panel, the operation of the remote control terminal, or the voice input from the microphone), for example, the following process To implement. That is, first, the user searches for and sets a destination. When the destination is set, the current position of the vehicle 20 is obtained by the own vehicle position detector 271, and a process for obtaining an optimum guide route from the current position to the destination is performed. Of course, the departure point can be set to a point other than the current position. Then, an appropriate route is guided to the user by outputting voice route guidance from the voice output unit 273 while displaying the guidance route superimposed on the road map on the display 272.

  The vehicle speed sensor 23 includes a rotation detection unit such as a well-known rotary encoder. For example, the vehicle speed sensor 23 is installed in the vicinity of the wheel mounting unit, detects the rotation of the wheel, and transmits it to the main control unit 21 and the navigation device 27 as a pulse signal. . In the control circuit 270 of the navigation device 27, the number of rotations of the wheels is converted into the speed of the vehicle 20 to calculate the expected arrival time from the current position of the vehicle 20 to a predetermined place, or for each travel section of the vehicle 20 Processing such as calculating an average vehicle speed is performed.

  Next, an emergency acceleration / deceleration control program executed by the main control unit 21 will be described. The emergency acceleration / deceleration control program is executed when the engine of the vehicle 20 is started. The engine start is determined based on reception of an ignition (IG) ON signal from the engine ECU 231. Hereinafter, the flow of the process will be described with reference to the flowchart shown in FIG.

  First, in S1, the approach of the own vehicle 20 to the intersection is detected by communication with the navigation device 27 (current position detection means, road branch point identification means, and road branch point approach determination means). Specifically, information related to the current position of the host vehicle 20 detected by the host vehicle position detector 271 of the navigation device 27 (current position information) is acquired, and a navigation program being executed in the navigation device 27 Based on the acquired current position information and approach road branch point information obtained by acquiring information (road road branch point information) relating to a road branch point that is specified by 274a and is ahead of the current position in the traveling direction. Thus, the determination is made by determining whether or not the current position of the host vehicle 20 has approached the approaching road branch point within a predetermined distance range (for example, 300 m). In addition, the approach determination to this road junction may be made by the navigation device 27, and in that case, only the determination result is acquired by communication. If it is not determined that the intersection has been approached to the predetermined distance, the process returns to S1, while if it is determined that the intersection has been approached to the predetermined distance, the process proceeds to S2.

  In S2, a right / left turn related operation related to a right / left turn of the host vehicle 20 is detected (right / left turn related operation detecting means). In the present embodiment, the turn indicator 26 detects whether a turn signal lighting operation on either the right or left and steering wheel steering are performed. More specifically, the lighting operation information (or lighting state information) of any turn signal of the right or left turn is acquired by the direction indicator 26, and further, the detection result of the steering angle detector 25 is acquired, Obtain the steering angle (angle from the neutral position). Then, based on the acquired information, the process proceeds to S3 when the steering handle is steered more than a predetermined angle to the turn signal side in the lighting state. Otherwise, the process returns to S1.

  In S3, the presence / absence of reception of the identification information is determined, and the presence determination of the entrainment attention objects 10 and 30 is performed based on the reception state of the identification information (involvement attention object presence determination means). Specifically, the main control unit 21 receives the identification information included in the received signal of the antenna 29 from the signal detection unit 22, and compares the identification information with the master information stored in the internal memory 210 to perform authentication processing. To do. However, the identification information used for the authentication process is only received from the side corresponding to the left / right turn related operation detected in S2. That is, only the signal received from the antenna 29 on the side corresponding to the turn signal lighting operation and the steering of the steering wheel detected in S2 is used for the authentication process. And when the identification information corresponds with master information, it determines with the entrainment attention object 10 and 30 which carries or mounts the transmitter 3 existing, and progresses to S4, and emergency acceleration / deceleration control (right / left turn suppression control) Execute. On the other hand, if the identification information does not match the master information, the process proceeds to S10 without executing the emergency acceleration / deceleration control (right / left turn suppression control).

  In S4, prior to emergency acceleration / deceleration control to be described later, the main control unit 21 transmits warning instruction information to the warning function control unit 24 so as to warn the execution of the emergency acceleration / deceleration control. In the warning function control unit 24, a predetermined warning is output by the warning sound generator 241 and the display device 242. In the present embodiment, it is output by voice and a screen display that there is an entrainment target object 10, 30 that owns or mounts the transmitter 3, and that forced deceleration is started for that purpose. The warning sound generator 241 and the display device 242 and the warning function control unit 24 constitute the warning means of the present invention.

Subsequently, in S5, the deceleration of the host vehicle 20 is determined. Specifically, based on the detection value of the vehicle speed sensor 23 (for example, when the detection value of the vehicle speed sensor 23 is reduced by a predetermined value or more), it is determined that the vehicle is decelerating. Alternatively, a detection result of a sensor that detects the depression amount of the brake pedal of the brake-by-wire 233a may be acquired, and it may be determined that deceleration has occurred when a depression amount of the brake pedal that is equal to or greater than a predetermined value is detected. If it is determined that the vehicle has decelerated, the process proceeds to S11 without executing emergency acceleration / deceleration control (right / left turn suppression control). If it is not determined that the vehicle has decelerated within a predetermined time, the process proceeds to S6.

In S6, based on the detection value of the vehicle speed sensor 28 of the host vehicle 20, it is determined whether or not the vehicle speed of the host vehicle 20 is below a predetermined speed. This is because, when the deceleration is determined based on the amount of depression of the brake pedal, when the vehicle is originally traveling at a low speed, the vehicle may stop even if the amount of depression of the brake pedal more than a predetermined amount is not present. The vehicle speed may be set to zero (that is, the vehicle is stopped) as the predetermined speed, but a slow speed (10 km / h) or the like may be set as a speed at which the vehicle can safely turn left and right while checking the surroundings. . In this embodiment, if it is determined in S6 that the vehicle speed of the host vehicle 20 is below the predetermined speed, the process proceeds to S11 , it is determined that there is no deceleration operation in S5, and the host vehicle 20 is checked in S6. If the vehicle speed is determined to exceed the predetermined speed, the process proceeds to S7 and S8.

  In S7 and S8, the main control unit 21 transmits emergency acceleration / deceleration control instruction information) to the stop function control unit 23 so that at least emergency acceleration / deceleration control for limiting acceleration of the host vehicle 20 is executed. In response to this, the stop function control unit 23 does not reflect the depression amount of the accelerator pedal received from the accelerator-by-wire mechanism 233a in the opening / closing control of the throttle valve, that is, the acceleration operation invalidation control for invalidating the acceleration operation for depressing the accelerator pedal. Execute. At the same time, automatic deceleration control for operating the brake device is executed regardless of the depression operation of the brake-by-wire mechanism 232a to the brake pedal. These controls are continuously executed until a predetermined emergency acceleration / deceleration control cancellation condition is satisfied (S9). The emergency acceleration / deceleration control cancellation condition is predetermined when the identification information from the side corresponding to the right / left turn related operation has not been detected for a predetermined period, or when the host vehicle is stopped (or the host vehicle speed is lower than the slow speed). That the time has elapsed, that a predetermined time has elapsed since the identification code was detected in S3, that the absolute position of the object to which the identification code is transmitted does not change for a predetermined time (that is, that the identification code transmission target has not moved), The relative positional relationship between the vehicle and the identification code transmission target does not change for a predetermined time (that is, the identification code transmission target is moving in conjunction with the own vehicle (for example, when there is an identification code transmission target in the own vehicle) )), The release operation unit 211 being operated, and the like, so that one of the conditions can be determined in advance. Note that the emergency acceleration / deceleration control cancellation condition may be set not only by one but also by a plurality. In that case, it is good also as emergency acceleration / deceleration control cancellation | release conditions that all of these multiple conditions are satisfy | filled, and it is good also as emergency acceleration / deceleration control cancellation | release conditions that either of multiple conditions is satisfy | filled. Moreover, you may determine in the form which combines several conditions. In the present embodiment, a certain period of time has elapsed while the host vehicle is stopped, and no identification information has been detected during that period (the combination type condition described above), and a certain period of time has also elapsed when the host vehicle is stopped. In addition, the emergency acceleration / deceleration control cancellation condition is defined as satisfying any of the conditions that the relative position with respect to the object to which the identification code is transmitted does not change for a certain period of time (the combination type condition described above). ing. When the emergency acceleration / deceleration control cancellation condition is satisfied, the process proceeds to S10, where the acceleration operation invalidation control and the automatic deceleration control are canceled, and the process proceeds to S11.

In S11, it is determined whether the right / left turn of the vehicle 20 has ended. This is determined based on the end of blinking of the turn signal or the return to the neutral range of the steering wheel (a predetermined steering angle range with the neutral position as a reference (or center)). When the right / left turn of the vehicle 20 continues, the process returns to S3, and when the right / left turn ends , the process proceeds to S12. In S12, normal control by the accelerator-by-wire mechanism 233a and the brake-by-wire mechanism 232a is restored. Then, the process proceeds to S13, and if the engine is not stopped, the process returns to S1. If the engine is stopped (ignition OFF), the program is terminated.

  According to the emergency acceleration / deceleration control program, as shown in FIG. 3, there are entanglement objects 10 and 30 that move inside the lane of the vehicle 20 that is about to turn left and right at a road junction 100 such as a three-way or an intersection. In this case, and when the driver does not perform a deceleration operation, emergency acceleration / deceleration control (right / left turn suppression control) is executed, so that the occurrence of entrainment can be prevented.

  In this embodiment, the function of the transmitter 3 can be provided in the mobile phone. Moreover, it can be set as the transmitter 3 RFID tag.

  Further, when the release operation unit 211 is operated during the execution of the emergency acceleration / deceleration control (right / left turn suppression control), the emergency acceleration / deceleration control is temporarily released. Thereby, the automatic deceleration control is stopped and the accelerator operation is validated. That is, acceleration by an accelerator operation is possible. For example, when it is determined that the driver can safely turn left and right while detecting the entrainment objects 10 and 30, the release operation unit 211 may be operated. The temporary release of the emergency acceleration / deceleration control is terminated based on the completion of the right / left turn, and the emergency acceleration / deceleration control program is executed again after the termination.

  As mentioned above, although one Embodiment of this invention was described, these are only illustrations to the last, and this invention is not limited to these, A various change is possible unless it deviates from the meaning of a claim. is there.

  For example, using the navigation device 27, the traveling lane of the host vehicle 20 is determined. When the host vehicle is located in the leftmost lane in the case of a left turn and in the rightmost lane in the case of a right turn, The emergency acceleration control may be executed.

  In addition, the entrainment attention object is both the entrainment attention object vehicle 30 and the holder 10 of the portable communication device 11, and the identification information of the received identification information is determined in such a manner that the identification information can be distinguished from each other ( In S3) of FIG. 4, this may be distinguished and identified, and a warning corresponding to the target object to be caught may be given in the warning output (S4 of FIG. 4). Thereby, it becomes easy to distinguish whether the object to be involved is a vehicle or a pedestrian, and it is possible to prompt the driver to perform the involvement avoidance operation accordingly.

  By the way, in the said embodiment, the entrainment prevention specialized for the road junction is made, but it is applied not only to a road junction but also when moving the own vehicle to the parking lot etc. of a roadside, for example. Can be configured. Further, the emergency acceleration / deceleration control (right / left turn suppression control) may be only one of acceleration operation invalidation control and automatic deceleration control. Further, the left / right turn related operation used for the trigger for executing the identification information authentication process may be only one of detection of turn signal lighting operation and detection of steering wheel as in the above embodiment. For example, by using only the detection of the turn signal lighting operation that is performed before turning right or left as a trigger for executing the authentication processing of identification information, emergency acceleration / deceleration is started somewhat before the turning point Control (right / left turn suppression control) can be executed. On the contrary, by using only the detection of the steering wheel as a trigger for executing the identification information authentication process, the emergency acceleration / deceleration control (right / left turn suppression control) can be surely executed when a right / left turn is made. it can.

  Specifically, the emergency acceleration / deceleration control program can be processed as shown in FIG. First, in the emergency acceleration / deceleration control program of FIG. 5, processing related to intersection approach detection is omitted. First, in S101, right / left turn-related operation detection is performed only by turning on a turn signal, and in S102, a turn signal is detected. Presence determination object 3 is determined based on the identification information received from the side corresponding to the lighting operation. When the entrainment attention object 3 is present, the process proceeds to S103 and S104, and the emergency acceleration / deceleration control described above is executed until the release condition described above is satisfied. If the identification information is not detected, the emergency acceleration / deceleration control is canceled in S106, and the process proceeds to S107. The subsequent processing of S107 to S109 is the same as the processing of S10 to S12 in FIG. In S101, the left / right turn-related operation only for steering the steering is detected, and in S102, the presence determination of the entanglement target object 3 based on the identification information received from the side corresponding to the steering direction of the steering wheel is performed. Good. In the process shown in FIG. 5, the warning process in S4 in FIG. 4, the presence / absence determination process in S5, and the vehicle speed determination in S6 are also omitted.

  In addition, as shown in FIG. 6, the antenna 39 constituting a part of the identification information wireless receiving means has a directivity so that the identification information is wirelessly received from the blind direction to the driver of the host vehicle 20. 20 can be provided. As a result, only the object to be caught in the direction that becomes the blind spot of the driver is detected, so that it is possible to identify the vehicle or person who is lurking in the blind spot, and it is easy to avoid such entrainment. In the case of FIG. 6, each antenna 39 has directivity so as to wirelessly receive the identification information from the corresponding hatched area. These hatched hatching areas are areas including the blind spots of the drivers appearing on the vehicle 20 in FIG.

  Moreover, as shown in FIG. 7, the own vehicle 20 shall be equipped with the well-known smart entry system 4, and the smart key 5 of the smart entry system 4 functions in the same manner as the portable device 11 in which the transmitter is assembled. It may be configured as follows.

  The smart entry system 4 of the host vehicle 20 includes a polling signal output means for wirelessly outputting a polling signal for polling the portable smart key 5, and an ID code transmitted from the smart key based on the reception of the polling signal. ID code receiving means for receiving, collating means for collating the received ID code with the master code stored in itself, and vehicle operation permitting means for permitting a predetermined vehicle operation based on the collation result. It can be prepared.

  In FIG. 7, the polling signal output means provided in the host vehicle 20 is an LF transmission antenna 49a, 49b, 49c, 49d and a well-known LF transmission unit 41 that sends signals from them. The modulation unit 42 modulates the LF carrier signal with the baseband signal reflecting the key ID and the like, and periodically and repeatedly transmits the polling signal from the LF transmission unit 41. The ID code receiving means provided in the host vehicle 20 is an RF receiving antenna 48 and a well-known RF receiving unit 43 that receives a signal through the RF receiving antenna 48. The RF receiver 43 receives the polling response radio wave from the smart key 5, the demodulator 44 extracts the baseband signal including the authentication ID (ID code), and the controller 40 performs authentication processing of the authentication ID. In addition, only when the result is authentication acceptance, function control processing such as door unlocking and immobilizer unlocking is performed.

  On the other hand, in FIG. 7, the polling signal receiving means for wirelessly receiving the polling signal provided in the smart key 5 is an LF receiving antenna 59 and a well-known LF receiving unit 51 for receiving a signal via the antenna. The polling signal is received by the LF receiver 51, the baseband signal is extracted by the demodulator 52, and the content is analyzed by the controller 50. As a result of the analysis, if it is confirmed that the polling is performed on the device itself, the modulation unit 54 modulates the RF carrier signal with the baseband signal reflecting its own authentication ID (ID code), and the response from the RF transmission unit 53 Radio waves are transmitted to the car 20 side. The ID code transmitting means that transmits the ID code based on the wireless reception of the polling signal provided in the smart key 5 is the RF transmitting antenna 58 and the RF transmitting unit 53.

  In this embodiment (FIG. 7), the identification information for detecting the object to be caught is determined to be recognized separately from the ID code in the smart entry system. In the host vehicle 20, the identification information request wireless transmission means is also used as a polling signal output means, and the identification information wireless reception means is also used as an ID code reception means. On the other hand, in the portable communication device, the identification information request signal wireless reception means is also used as the polling signal reception means, and the identification information wireless transmission means is also used as the ID code transmission means.

  The emergency acceleration / deceleration control program in this embodiment (FIG. 7) can be a process as shown in FIG. 8, for example. This emergency acceleration / deceleration control program is also executed when the engine of the vehicle 20 is started (ignition (IG) is turned on). Hereinafter, the flow of the process will be described with reference to the flowchart shown in FIG.

  First, S21 and S22 are the same as S1 and S2 in FIG. In S23, an identification information request for requesting wireless transmission of identification information from the LF transmission antenna 49 on the side corresponding to the left / right turn-related operation detected in S22 to the smart key 5 held in the attention object 3 A signal is wirelessly transmitted (identification information request wireless transmission means). The identification information in this case is different from the ID code in the smart entry system 4, and the control unit 40 of the smart entry system 4 acquires the identification information for detecting the target object to be caught from the main control unit 21 and modulates it. The unit 42 modulates the LF carrier signal with the baseband signal including the identification information for detecting the attention object, and transmits it from the LF transmission unit 41 as an identification information request signal (a polling signal for detecting the attention object). For example, in FIG. 10, when the side corresponding to the right / left turn related operation is the left turn side, the identification information request signal is transmitted from the LF transmission antennas 49b, 49c on the left side of the vehicle, and conversely, the side corresponding to the right / left turn related operation is If the vehicle is on the right turn side, identification information request signals are transmitted from the LF transmission antennas 49a and 49d on the right side of the vehicle.

  At this time, the LF transmission antennas 49a and 49d constituting the identification information request wireless transmission means each transmit the identification information request signal to the driver of the host vehicle 20 in a blind direction so as to be wirelessly transmitted to the vehicle 20 respectively. Is provided. Specifically, as shown in FIG. 10, the LF transmission antenna 49a has directivity in the blind spot in the front right of the vehicle, the LF transmission antenna 49b has directivity in the blind spot in the front left of the vehicle, and the LF transmission antenna. 49c has directivity in the blind spot on the left rear side of the vehicle, and the LF transmission antenna 49d is provided on the vehicle 20 in a form having directivity in the blind spot on the right rear side of the vehicle. For this reason, identification information for detecting the target object can be received only from the target object 10 or 30 involved in the blind spot, and the one corresponding to the right-left turn related operation among them.

  In S24, as described above, the presence / absence of reception of a response signal with respect to the identification information request signal transmitted with a limited range is determined, and the presence determination of the target objects 10 and 30 to be involved is determined based on the reception state of the response signal. Perform (entrainment attention target presence determination means). Specifically, the main control unit 21 acquires identification information included in the response signal from the antenna 49 from the control unit 40 of the smart entry system 4, and the identification information is stored in the internal memory 210 with the master information. Verification is performed after verification. The identification information used for the authentication process is only the information received from the antenna on the side corresponding to the right / left turn related operation in S23. And when the identification information corresponds with master information, it determines with the entrainment attention object 10 and 30 which carries or carries the transmitter 3 existing, and progresses to S25, and emergency acceleration / deceleration control (right / left turn suppression control) Execute. On the other hand, if the identification information does not match the master information, the process proceeds to S31 without executing the emergency acceleration / deceleration control (right / left turn suppression control). The subsequent processes for S25 to S34 are the same as the processes of S4 to S13 in FIG.

  Further, the processing of FIG. 8 may also be applied to right and left turns of the host vehicle that are not limited to road junctions, and emergency acceleration / deceleration control (right / left turn suppression control) may be applied to acceleration operation invalidation control and Only one of the automatic deceleration controls may be used. Further, the left / right turn-related operation used for determining the application of the identification information to the authentication process is performed in either the turn signal lighting operation or the steering direction of the steering wheel, in particular, only the turn signal lighting operation, as in the above embodiment. May be used for determination of application of identification information to authentication processing. These can be realized by changing the processing contents of the emergency acceleration / deceleration control program shown in FIG. 8 to the processing contents shown in FIG.

  As shown in FIG. 11, the vehicle 20 receives and demodulates (restores) radio signals transmitted from both the portable communication device 11 in which the transmitter 3 is assembled and the smart key 5. The vehicle 20 may be configured so as to execute the emergency acceleration / deceleration control (right / left turn suppression control) based on the identification information for detecting the entrainment target object included in the radio signals. In this case, when the vehicle 30 to be caught in is equipped with a system for starting the engine with the same smart key as that of the vehicle 20, the identification information request wireless transmission means similar to the smart key 5 is used for the smart key. It is good.

The schematic diagram which shows the communication relationship in the vehicle control system which is 1st embodiment of this invention. 1 is a block diagram showing the overall configuration of a vehicle control system that is a first embodiment of the present invention. The schematic diagram of the vehicle control system which is 1st embodiment of this invention. The flowchart for demonstrating the 1st Example of emergency acceleration / deceleration control (right / left turn suppression control) in 1st embodiment of this invention. The flowchart for demonstrating the 2nd Example of emergency acceleration / deceleration control (right / left turn suppression control) in 1st embodiment of this invention. The schematic diagram of the vehicle control system which is 2nd embodiment of this invention. The block diagram which shows the whole structure of the vehicle control system which is 3rd embodiment of this invention. The flowchart for demonstrating the 1st Example of emergency acceleration / deceleration control (right / left turn suppression control) in 3rd embodiment of this invention. The flowchart for demonstrating the 2nd Example of emergency acceleration / deceleration control (right / left turn suppression control) in 3rd embodiment of this invention. The schematic diagram of the vehicle control system which is 3rd embodiment of this invention. The schematic diagram of the vehicle control system which is 4th embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle control system 10, 30 Entrainment attention object 11 Portable machine 20 Vehicle 21 Main control part 24 Warning function control part 241 Warning sound generator 242 Display device 23 Stop function control part 231 Engine ECU
232 Brake control system 232a Brake-by-wire mechanism 233 Accelerator control system 233a Accelerator-by-wire mechanism 25 Steering angle detector 26 Direction indicator (turn signal: blinker)
27 navigation device 271 own vehicle position detector 28 vehicle speed sensor 3 transmitter (identification information wireless transmission means)
4 Smart Entry System 40 Smart Entry System Control Unit 5 Smart Key 50 Smart Key Control Unit

Claims (16)

Identification information wireless receiving means for receiving wireless identification information transmitted from a target object to be involved that travels inside the lane of the host vehicle that is about to turn left or right at a right or left turn point on the road;
An entrainment caution target presence determining means for determining the presence of the entrainment attention target based on the reception state of the wireless identification information;
A right / left turn travel restraining means for restraining the right / left turn travel of the host vehicle when it is determined that the target object to be caught is present at the time of the right / left turn;
A deceleration operation detecting means for detecting a deceleration operation of the host vehicle;
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
With
The right / left turn travel suppression means is based on a detection value of the vehicle speed detection means, whether the host vehicle decelerates or the vehicle speed of the host vehicle is equal to or lower than a predetermined speed when one of the conditions is not satisfied. By determining whether the other condition is satisfied, both can be determined, and the driver confirms the presence of the target object to be caught when the vehicle turns right and left. When the right / left turn travel suppressing means determines that the vehicle has decelerated and that the vehicle speed of the host vehicle is equal to or lower than a predetermined speed in accordance with the deceleration operation. A vehicle control system that immediately prohibits the vehicle from turning right or left.   2. The vehicle according to claim 1, wherein the right / left turn travel suppression unit executes control to invalidate an acceleration operation performed on the own vehicle when it is determined that the target object to be involved is present at the time of the right / left turn. Control system.   3. The vehicle according to claim 1, wherein the right / left turn travel suppression unit executes deceleration control for decelerating the host vehicle when it is determined that the target object to be caught is present at the time of the right / left turn. Control system. A right / left turn related operation detecting means for detecting a right / left turn related operation related to the right / left turn of the own vehicle;
4. The entrainment attention object presence determining means determines that the entrainment attention object exists when receiving the wireless identification information from a side corresponding to the detected right / left turn related operation. The vehicle control system according to any one of claims. 5. The vehicle control system according to claim 4, wherein the right / left turn related operation detecting means detects a turn-on operation of a turn signal provided in the own vehicle. The host vehicle includes a current position detecting unit that detects the current position of the host vehicle, a road branch point specifying unit that specifies a road branch point that is ahead of the current position in the traveling direction, and a current position of the host vehicle. Road branch point approach determining means for determining whether or not the vehicle has approached a predetermined distance range with respect to the road branch point,
The right / left turn travel suppression means is configured such that the current position of the host vehicle approaches within a predetermined distance range with respect to the road branch point, and the entrainment attention target exists by the entrainment attention target presence determination means. The vehicle control system according to any one of claims 1 to 5, which suppresses the right / left turn traveling of the host vehicle when the determination is made. 7. The vehicle according to any one of claims 1 to 6 , wherein the host vehicle is provided with warning means for warning that the right / left turn traveling is suppressed prior to the suppression of the right / left turn traveling by the right / left turn traveling suppressing means. The vehicle control system according to claim 1. The vehicle according to any one of claims 1 to 7 , wherein the target object to be caught includes a person having a portable communication device having identification information wireless transmission means for wirelessly transmitting its own wireless identification information. Control system. The host vehicle includes an identification information request wireless transmission unit that wirelessly transmits an identification information request signal for requesting wireless transmission of the wireless identification information to the target object to be caught.
The portable communication device includes an identification information request signal wireless reception unit that wirelessly receives the identification information request signal, and the identification information wireless transmission unit performs the wireless identification information based on wireless reception of the identification information request signal. The vehicle control system according to claim 8 , wherein the vehicle is transmitted wirelessly. The identification information request wirelessly transmitting means according to claim wherein the identification information request signal, the plurality disposed on the free-vehicle in a form having a directivity such that radio can transmit the blind direction to the driver of the vehicle 9. The vehicle control system according to 9 . The host vehicle wirelessly outputs a polling signal for polling a portable smart key, and an ID code for receiving an ID code transmitted from the smart key based on reception of the polling signal Smart entry system comprising: receiving means; collating means for collating the received ID code with a master code stored therein; and vehicle operation permitting means for permitting a predetermined vehicle operation based on the collation result. Is provided,
The vehicle control system according to claim 9 or 10 , wherein the portable communication device is also used as the smart key. The wireless identification information is determined to be recognized separately from the ID code in the smart entry system,
In the host vehicle, a wireless transmission unit of the identification information request wireless transmission unit is also used as the polling signal output unit, and the identification information wireless reception unit is also used as the ID code reception unit.
In the portable communication device, the identification information request signal wireless reception means is also used as a polling signal reception means for wirelessly receiving the polling signal, and the identification information wireless transmission means is configured to receive the ID based on the wireless reception of the polling signal. 12. The vehicle control system according to claim 11, which is also used as an ID code transmission means for transmitting a code. The vehicle control system according to claim 8 , wherein the entrainment attention object includes an entrainment attention target vehicle in which the identification information wireless transmission means is assembled to a vehicle body. 14. The vehicle control system according to claim 13, wherein the entrainment caution target vehicle is provided with an engine in a vehicle body, and periodically transmits the wireless identification information of itself based on starting of the engine. The vehicle control system according to claim 13 or 14 , wherein an RFID tag having the identification information wireless transmission means is assembled to the entanglement target vehicle. The identification information radio receiving means, the radio identification information, claims 1 to claim thus provided a plurality of blind direction to said car in a form having a directivity such that radio coverage to the driver of the vehicle The vehicle control system according to any one of 15 .

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