JP5187024B2 - VEHICLE DATA RECORDING DEVICE AND VEHICLE DATA RECORDING METHOD - Google Patents

Description

  The present invention relates to a vehicular data recording apparatus and a vehicular data recording method, and more particularly, to a vehicular data recording apparatus and a vehicular data recording method for recording information related to a running state of a vehicle.

  2. Description of the Related Art Conventionally, data recording devices such as event recorders and drive recorders have been proposed which record vehicle conditions and later record and analyze travel data relating to the vehicle's running state in order to analyze and diagnose the situation later. For example, in the vehicular data recording device, when the vehicle falls into some emergency state, the driving data recorded later in the vehicular data recording device is detected by detecting the emergency state of the vehicle and writing the driving data or the like in the storage means. It is intended to investigate the situation of a vehicle that has reached an emergency state or to make a diagnosis (diagnosis analysis).

  Here, Patent Document 1 records information including the lateral acceleration Gy when the lateral acceleration Gy of the vehicle is in a predetermined state, and yaw rate γ when the yaw rate γ of the vehicle is in a predetermined state. The storage capacity of the storage means is reduced by changing the information data to be recorded according to the situation of the vehicle when the recording of the information data becomes necessary, such as recording information including the information data in the storage means. The data recording device for vehicles which can reduce the time which records is described.

  Further, in Patent Document 2, in order to save the memory space as much as possible when recording the transition of the driving data of the vehicle, the transition of the detection information is within a time raster that is a predetermined multiple of the extraction time within the data reduction range. A method is described that reduces the amount of data to be recorded by processing and determining at least one characteristic change in the transition of the detection information within each raster step.

JP 2002-8081 A JP 2004-508622 A

  However, the conventional data recording apparatus has a problem that the situation before the vehicle enters some emergency state cannot be recorded while reducing the data capacity and the storage processing time. That is, for detailed analysis and diagnosis after the fact, not only the data after reaching the emergency state but also the data before reaching the emergency state is necessary. When the previous data is stored in advance, there is a problem that a necessary storage area becomes enormous and the storage processing time becomes enormous.

  In particular, in the vehicle data recording apparatus described in Patent Document 1, the recording data after the recording trigger can be changed according to the vehicle state quantity at the time when the emergency state is reached, that is, when the recording trigger is applied. Although it is effective in reducing the capacity, the acquisition data is switched by the vehicle state quantity at the time of the recording trigger, and the acquisition data is switched from the time before the emergency state before the recording trigger, that is, from the time of the pre-trigger. There was a problem that it was not easy. For example, if the acquisition data is switched based on the vehicle state quantity at the start of the pre-trigger, the acquisition data is determined regardless of the change in the vehicle state from the start of the pre-trigger to the time of the recording trigger. If this happens, there is a risk that necessary data cannot be obtained. In particular, in an emergency situation such as an accident, this tendency is more prominent because it is likely to be accompanied by a sudden change in the vehicle state.

  On the other hand, without switching at the time of pre-trigger, data is stored in a temporary storage area such as RAM in the least common multiple so that all data or various recording triggers from the start of pre-trigger to recording trigger can be supported. Although it is possible to write necessary data in the long-term recording area such as EEPROM from among the data temporarily stored according to the vehicle state quantity, if such a configuration is used, does the necessary temporary storage area become enormous? There arises a problem that the length of recording time and the variation of acquired data are limited due to the size of the storage area.

  Further, although the recording capacity of the acquired data itself can be reduced by the method described in Patent Document 2, it is not possible to shorten the data unit alone in order to save the data capacity for using the data recording apparatus for various purposes. Many of the capacity reduction effects are limited, and there are still problems such as limited acquired data and long storage processing time.

  The present invention has been made in view of the above, and is a vehicle data recording apparatus and vehicle data recording that can record a situation before the vehicle enters some emergency state while reducing the data capacity and storage processing time. It aims to provide a method.

  In order to achieve such an object, the vehicle data recording device of the present invention is a vehicle data recording device that includes at least a storage unit and a control unit, and records information related to the running state of the vehicle in the storage unit. The control unit includes a target route calculation unit that calculates a target route of a vehicle, a prediction unit that predicts a vehicle behavior that occurs on the target route calculated by the target route calculation unit, or a vehicle driving support control that operates. Memory information to be stored in the storage unit is determined from the information related to the vehicle behavior that is generated or the vehicle driving support control that is operated, which is predicted by the prediction unit. Storage object information determining means.

  According to the present invention, a target route of a vehicle is calculated, a vehicle behavior that occurs on the calculated target route or a vehicle driving support control that operates is predicted, a predicted vehicle behavior that occurs or a vehicle driving support that operates Since the storage target information to be stored in the storage unit is determined among the information related to the driving state of the vehicle corresponding to the control, the situation before the vehicle enters some emergency state while reducing the data capacity and the storage processing time Can be recorded.

  The vehicle data recording apparatus according to the present invention is the vehicle data recording apparatus described above, wherein at least the prediction is performed when the generated vehicle behavior or the operated vehicle driving support control is predicted by the prediction unit. Storage target information for storing the storage target information corresponding to the vehicle behavior or the vehicle driving support control until the vehicle behavior actually occurs or the vehicle driving support control is activated after It further comprises storage means.

  According to the present invention, when the vehicle behavior to be generated or the vehicle driving support control to be activated is predicted, at least the prediction is performed until the vehicle behavior is actually generated or the vehicle driving support control is activated. Since the storage target information corresponding to the vehicle behavior or the vehicle driving support control is stored in the storage unit, the situation from when the vehicle is predicted until before the vehicle actually falls into some emergency state, the data capacity and the storage processing time are appropriately set You can record while reducing.

  The vehicle data recording device of the present invention is the vehicle data recording device described above, wherein when the predetermined vehicle behavior occurs or the predetermined vehicle driving support control is activated, the vehicle behavior or The storage target information corresponding to the vehicle driving support control is stored in the storage unit, and when the predicting means predicts the generated vehicle behavior or the operating vehicle driving support control, Storage target information for storing the storage target information corresponding to the vehicle behavior or the vehicle driving support control until the vehicle behavior actually occurs or the vehicle driving support is activated after the prediction is performed. Storage means.

  According to the present invention, when a predetermined vehicle behavior occurs or a predetermined vehicle driving support control is activated, the storage target information corresponding to the vehicle behavior or the vehicle driving support control is stored in the storage unit. When the vehicle behavior that occurs or the vehicle driving assistance control that operates is predicted, the vehicle behavior or the vehicle operation from when the prediction is made until the vehicle behavior actually occurs or the vehicle driving assistance is activated Since the storage target information corresponding to the vehicle driving support control is stored in the storage unit, the situation from the prediction until the vehicle actually falls into some emergency state, and the predetermined vehicle behavior or the operation of the predetermined vehicle driving support control Can be recorded while appropriately reducing the data capacity and storage processing time.

  The vehicular data recording method of the present invention is a vehicular data recording method that is executed in a vehicular data recording apparatus that includes at least a storage unit and a control unit, and that records information related to the running state of the vehicle in the storage unit. A target route calculation step for calculating a target route of the vehicle, a vehicle behavior that occurs on the target route calculated in the target route calculation step, or a vehicle driving support control that is operated, executed in the control unit. Predicting step for predicting, and storing information in the storage unit among the information on the running state of the vehicle corresponding to the generated vehicle behavior or the operating vehicle driving support control predicted in the predicting step. A storage object information determining step for determining the storage object information.

  According to the present invention, a target route of a vehicle is calculated, a vehicle behavior that occurs on the calculated target route or a vehicle driving support control that operates is predicted, a predicted vehicle behavior that occurs or a vehicle driving support that operates Since the storage target information to be stored in the storage unit is determined among the information related to the driving state of the vehicle corresponding to the control, the situation before the vehicle enters some emergency state while reducing the data capacity and the storage processing time Can be recorded.

  According to the present invention, it is possible to record the situation before the vehicle enters some emergency state while reducing the data capacity and the storage processing time.

  Embodiments of a vehicle data recording apparatus, a vehicle data recording method, and a program according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

[Outline of the present invention]
Hereinafter, the outline of the present invention will be described with reference to FIG. 1, and then the configuration and processing of the present invention will be described in detail. FIG. 1 is a flowchart showing the basic principle of the present invention.

  The present invention generally has the following basic features. That is, the vehicle data recording apparatus of the present invention is a data recording apparatus that includes at least a storage unit and a control unit, and records information on the running state of the vehicle in the storage unit.

  As shown in FIG. 1, first, the vehicle data recording apparatus of the present invention calculates a target route of the vehicle (step SA-1). Here, the calculation of the target route may be performed based on, for example, GPS (Global Positioning System) or based on a detection signal from an obstacle sensor or the like mounted on the vehicle.

  Then, the vehicle data recording apparatus of the present invention predicts vehicle behavior that occurs on the calculated target route or vehicle driving support control that operates (step SA-2). Here, “vehicle behavior status” refers to vehicle status such as lateral G, front / rear G, yaw rate, usage status of friction circle, and “vehicle driving support control” refers to ABS, VSC, traction control (TRC). ), Such as pre-crash safety, air bag, brake assist, etc., motion control and safety control for assisting vehicle driving. The vehicle behavior situation is not limited to the vehicle state quantity that can be detected by the sensor.

  Then, the vehicle data recording apparatus of the present invention determines storage target information to be stored in the storage unit among the information related to the predicted vehicle behavior or the vehicle driving support control to be operated and related to the running state of the vehicle. (Step SA-3).

  Here, in the vehicle data recording apparatus of the present invention, when the vehicle behavior to be generated or the vehicle driving support control to be operated is predicted, the vehicle behavior is actually generated or the vehicle driving support is performed after at least the prediction is performed. The storage target information corresponding to the vehicle behavior or the vehicle driving support control until the control is activated may be stored in the storage unit. Further, the vehicle data recording apparatus of the present invention provides the vehicle behavior or the vehicle driving assistance among the information relating to the running state of the vehicle when the predetermined vehicle behavior occurs or the predetermined vehicle driving assistance control is activated. The storage target information corresponding to the control may be stored in the storage unit. This is the end of the description of the outline of the present invention.

[Configuration of vehicle data recording apparatus]
Next, the configuration of the vehicle data recording apparatus will be described with reference to FIGS. FIG. 2 is a block diagram showing an example of the logical configuration of the vehicular data recording apparatus to which the present invention is applied, and conceptually shows only the portion related to the present invention in the configuration. In FIG. 2, the vehicle data recording apparatus 100 is generally connected to a motion control controller 24 that performs vehicle driving support control, and includes a control unit 102, an input / output control interface unit 108, and a storage unit 106. Is done.

  Here, the control unit 102 is a CPU or the like that comprehensively controls the entire vehicle data recording apparatus 100. The input / output control interface unit 108 is an interface connected to the motion control controller 24. The storage unit 106 is a device that stores various databases, files, tables, and the like. Each unit of the vehicular data recording apparatus 100 is communicably connected via an arbitrary communication path.

  Various databases and tables (storage target information file 106a and the like) stored in the storage unit 106 are storage means such as a fixed disk device. For example, the storage unit 106 stores various programs, tables, files, databases, and the like used for various processes. Here, the storage unit 106 may include a temporary storage area and a long-term storage area.

  Among the constituent elements of the storage unit 106, the storage target information file 106a is a storage target information storage unit that stores storage target information to be stored in the storage unit 106 among information related to the running state of the vehicle. For example, the storage target information file 106a stores the storage target information to be stored among the information related to the running state of the vehicle.

  In FIG. 2, the input / output control interface unit 108 controls data communication with the motion control controller 24 and the like.

  In FIG. 2, the control unit 102 has an internal memory for storing a control program such as an OS (Operating System), a program defining various processing procedures, and necessary data. And the control part 102 performs the information processing for performing various processes by these programs. The control unit 102 includes a target path calculation unit 102a, a prediction unit 102b, a storage target information determination unit 102c, and a storage target information storage unit 102d in terms of functional concept.

  Among these, the target route calculation unit 102a is target route calculation means for calculating the target route of the vehicle. Here, in the vehicular data recording device 100, the storage unit 106 stores map information and the like for the calculation of the target route by the target route calculation unit 102a, and the control unit 102 is a current location such as GPS (Global Positioning System). May be provided, and an obstacle sensor or the like for identifying the front of the vehicle may be provided.

  The prediction unit 102b is a prediction unit that predicts vehicle behavior that occurs on the target route calculated by the target route calculation unit 102a or vehicle driving support control that operates.

  The storage target information determination unit 102c is a storage target information determination unit that determines storage target information that is a storage target among information related to the running state of the vehicle. Here, the storage target information determination unit 102c receives the information on the vehicle behavior generated from the motion control control device 24 or the information on the vehicle driving support control to be operated, and generates the predetermined vehicle behavior or the predetermined vehicle driving support control. When there is an operation (at the time of a recording trigger), information related to the vehicle behavior or the vehicle running state related to the vehicle driving support control may be determined as the storage target information. On the other hand, the storage target information determination unit 102c responds to the vehicle behavior or the vehicle driving support control when the generated vehicle behavior predicted by the prediction unit 102b or the operating vehicle driving support control is predicted (during pre-triggering). The storage target information may be determined, and the storage target information may be the storage target information corresponding to the vehicle behavior or the vehicle driving support control. For example, the storage target information determination unit 102c may determine the storage target information based on the type of recording trigger predicted based on the prediction result of the prediction unit 102b.

  There are various configurations for the storage target information determination unit 102c as information to be stored among the information on the running state of the vehicle. For example, the operation of VSC (Vehicle Stability Control) of vehicle driving support control is predicted or In actual operation, the vehicle state quantity (yaw rate target, VSC control command, etc.) necessary for VSC calculation may be used. If vehicle operation support control brake assist is predicted or actually activated, brake assist is used. The vehicle state quantity (brake pedaling force, brake assist control command, etc.) necessary for the storage can be stored, and the information to be stored can be different information for each pre-trigger and recording trigger.

  The storage target information storage unit 102d is a storage target information storage unit that stores the storage target information determined by the storage target information determination unit 102c. Here, when the vehicle behavior generated by the prediction unit 102b or the operating vehicle driving support control is predicted, the storage target information storage unit 102d actually generates the vehicle behavior or the vehicle after at least the prediction is performed. The storage target information regarding the vehicle behavior or the vehicle drive support control until the drive support control is activated may be stored in the storage target information file 106a. That is, the storage target information storage unit 102d is configured such that a vehicle driving support control such as an airbag, VSC, or brake assist is predicted to operate as the vehicle driving support control, or a driving behavior such as high lateral G or high front / back G is used. Data such as vehicle state quantities and control calculation values are recorded for a certain period of time, assuming that a vehicle state quantity that is equal to or greater than the threshold is expected to occur. The storage target information storage unit 102d may store not only the storage target information but also various types of information related to the running state of the vehicle in the storage target information file 106a during normal driving, for example. Further, the storage target information storage unit 102d receives information on the vehicle behavior generated from the motion control control device 24 or information on the vehicle driving support control to be operated, and generates a predetermined vehicle behavior or operates a predetermined vehicle driving support control. If there is, the storage target information corresponding to the vehicle behavior or the vehicle driving support control may be stored in the storage target information file 106a. That is, the storage target information storage unit 102d is configured such that a vehicle driving support control such as an airbag, VSC, or brake assist is activated as the predetermined vehicle driving support control, or a high lateral G or a high front / back G is used as the predetermined driving behavior. When a vehicle state quantity equal to or greater than the threshold value is generated, data such as a vehicle state quantity and a control calculation value is recorded for a predetermined time.

  The above is an example of the logical configuration of the vehicle data recording apparatus 100. The data storage device 100 may be mounted inside the motion control device 24. Here, an example of a physical configuration when the vehicle data recording apparatus 100 is mounted on a vehicle will be described with reference to FIGS. 3 and 4. FIG. 3 is a diagram illustrating an example of a physical configuration of a vehicle on which the vehicular data recording device 100 is mounted, and FIG. 4 is a diagram illustrating an example of a physical configuration of the vehicular data recording device 100.

  In FIG. 3, the right front wheel 10FR, the left front wheel 10FL, the right rear wheel 10RR, and the left rear wheel 10RL of the vehicle are provided with wheel cylinders 18FR, 18FL, 18RR, and 18RL, respectively. Each wheel cylinder is configured to control the braking force of each wheel by controlling the braking pressure of the wheel cylinder by the hydraulic circuit 16 of the braking device 14. Although not shown, the hydraulic circuit 16 includes an oil reservoir, an oil pump, various valve devices, and the like, and the braking pressure of each wheel cylinder is normally driven by a depression operation of the brake pedal 20 by a driver and is constant. Under the conditions, it is controlled by the motion control controller 24 in accordance with the pressure in the master cylinder 22 and the like.

  Wheel speed sensors 28FR, 28FL, 28RR, and 28RL for detecting the wheel speed Vi (i = fr, fl, rr, rl) of each wheel are provided at positions close to the wheels 10FR to 10RL, respectively. The wheel speed sensors 28FR, 28FL, 28RR, 28RL are constituted by, for example, a known rotational speed detection sensor that outputs a pulse corresponding to the rotational speed of the wheel. In addition, the vehicle includes a longitudinal acceleration sensor 30 that detects the longitudinal acceleration Gx of the vehicle body, a lateral acceleration sensor 32 that detects the lateral acceleration Gy, a steering angle sensor 34 that detects the steering angle θ, and a yaw rate sensor that detects the yaw rate γ. 36 is provided. For example, the yaw rate sensor 36 detects a rotational angular velocity around an axis that passes through the center of gravity of the vehicle and extends in the vertical vertical direction of the vehicle. Further, the steering angle sensor 34 calculates the steering angle θ of the steering wheel based on the pulse signal of the encoder, for example, with an encoder or the like attached to the rotating shaft (for example, steering shaft) of the steering wheel. Signals detected by these sensors are input to the motion control controller 24 and transmitted to the vehicle data recording device 100 as information related to vehicle behavior via the motion control controller 24. In addition, the combination of the above-described sensors is an example, and the above-described part of the sensors may not be included, or sensors other than the above (accelerator position sensor, throttle position sensor, etc.) may be provided.

  The motion control controller 24 performs vehicle driving support control such as an airbag, VSC, and brake assist based on input signals from the sensors. For example, as VSC vehicle driving support control, the motion control controller 24 indicates the degree of spin state of the vehicle by means known in the art based on input values such as lateral acceleration Gy and yaw rate γ. The spin state amount SV is calculated, and when the spin state amount SV is equal to or greater than the reference value, the braking force corresponding to the spin state amount SV is applied to the turning outer front wheel to reduce the spin state of the vehicle. Further, the motion control controller 24 calculates a drift-out state quantity DV indicating the degree of the drift-out state of the vehicle, and when the drift-out state quantity DV is greater than or equal to a reference value, the drift-out state quantity is applied to the left and right rear wheels. A braking force according to DV is applied to reduce the drift-out state of the vehicle. Further, the motion control control device 24 calculates a rollover state quantity RV indicating the degree of risk of rollover of the vehicle, and when the rollover state quantity RV is equal to or greater than a reference value, the rollover state quantity is applied to the turning outer front wheel. A braking force corresponding to RV is applied to suppress rollover of the vehicle.

  Further, the motion control control device 24 controls the hydraulic circuit 16 so that each wheel does not exceed a predetermined slip rate based on the traveling speed of the vehicle and the wheel speed pulse, and each wheel has a predetermined slip when starting. Known vehicle driving, such as traction control (TRC), which reduces and adjusts the driving force from the engine so as not to exceed the rate, and brake assist, which determines the emergency brake based on the speed and amount of depression of the brake pedal and controls the braking force Support control may be performed.

  In this way, the motion control control device 24 works in cooperation with the braking device 14 to apply a braking force to a predetermined wheel when there is a possibility that the behavior of the vehicle when traveling becomes unstable. Is configured as a control device that performs vehicle driving support control in order to improve the stability during driving, and information related to the vehicle driving support control is transmitted to the vehicle data recording device 100. Here, the motion control means including various vehicle driving support controls included in the motion control control device 24 is not limited to the above-described one, and may be configured by any known means in the technical field. Further, the motion control control device 24 may include a microcomputer and a drive circuit similar to the microcomputer 52 described below.

  As shown in FIG. 4, the vehicle data recording apparatus 100 has, as an example, a general configuration in which a CPU 42, a ROM 44, a RAM 46, and an input / output port device 48 are connected to each other via a bidirectional common bus 50. And an external recording device 54 such as an EEPROM which is a nonvolatile memory as an external recording device.

  That is, the CPU 42 and the like correspond to the control unit 102 in the logical configuration of FIG. 2, and when the CPU 42 reads a program and the like stored in the ROM 44 and the like, the target path calculation unit 102a, the prediction unit 102b, the storage target information determination unit 102c, and the storage It functions as various control means such as the target information storage unit 102d. The input / output port device 48 functions as the input / output control interface unit 108. Further, the ROM 44, the RAM 46, and the external recording device 54 correspond to the storage unit 106 in FIG. 2, and are stored by storing information (including storage target information) on the running state of the vehicle in the RAM 46 and the external recording device 54. It functions as various storage means such as the target information file 106a. In the present embodiment, the case where the ROM 44 provides a temporary storage area and the external recording device 54 provides a long-term storage area may be described as an example. In the configuration of the apparatus, the temporary storage area and the long-term storage area do not necessarily have to be distinguished, and any storage means may store information (including storage target information) regarding the running state of the vehicle. .

  Here, in the present embodiment, the storage target information among various state quantities detected by the wheel speed sensors 28FR to 28RL, the longitudinal acceleration sensor 30, the lateral acceleration sensor 32, the steering angle sensor 34, the yaw rate sensor 36, and the like is The data is stored in the RAM 46 or the external recording device 54 under the control of the microcomputer 52 that functions as the storage target information storage unit 102d of the vehicle data recording device 100.

  For example, as will be described in detail later, the vehicular data recording apparatus 100 predicts the vehicle behavior to be generated or the vehicle driving support control to be operated from the storage target information to be stored among the vehicle state quantities detected by the sensors. A predetermined number of cycles (for example, the number of cycles from the prediction to the actual generation or operation) is stored in the RAM 46 and / or the vehicle state quantity detected by each sensor, etc. The storage target information to be stored is determined according to the actually generated vehicle behavior or the activated vehicle driving support control, and a predetermined cycle (for example, several cycles after the actual generation or operation) is determined. The information is recorded in the external recording device 54 together with the storage target information temporarily stored in the RAM 46. Further, for example, the vehicle data recording apparatus 100 may always hold the latest data for a predetermined time in the temporary storage area of the RAM 46 at the time of pre-trigger, and store the data in the long-term recording area of the external recording apparatus 54 after the recording trigger. .

  The above is the description of an example of the physical configuration in this embodiment. As shown in FIG. 4, the wheel speed sensors 28FR to 28RL, the longitudinal acceleration sensor 30, the lateral acceleration sensor 32, the steering angle sensor 34, the yaw rate sensor 36, the motion control controller 24, the microcomputer 52, and the external recording device 54 For example, electric power is supplied from the power source 56 via the switch 58, and the switch 58 is driven in conjunction with an ignition switch (not shown).

[Processing of vehicle data recording apparatus 100]
Next, an example of processing of the vehicle data recording apparatus 100 according to the present embodiment configured as described above will be described in detail with reference to FIGS. 5 and 6 below. FIG. 5 is a flowchart showing an example of processing within one sampling time of the vehicle data recording apparatus 100.

  First, the storage target information determination unit 102c determines whether data is currently recorded in the long-term storage area of the storage target information file 106a such as the external recording device 54 by the storage target information storage unit 102d (step SB). -1).

  When data recording is not performed (step SB-1, No), the storage target information determination unit 102c receives information on the vehicle behavior generated from the motion control control device 24 or the vehicle driving support control to be operated, It is determined whether or not a recording trigger is established (step SB-2). In the present embodiment, for simplicity of explanation, the following two triggers will be described. That is, the first recording trigger is that the vehicle driving support control VSC (vehicle skid prevention control) is being controlled, and the second recording trigger is being controlled by the vehicle driving support control brake assist. It is to be.

  When the storage target information determination unit 102c determines that the recording trigger is not established (No at Step SB-2), the target route calculation unit 102a calculates and sets the target route of the vehicle (Step SB-3). . For example, the target route calculation unit 102a may set the center between the boundary lines at both ends of the traveling lane as the target route. Further, the target route calculation unit 102a may set a target route according to the shape of the traveling lane and other surrounding conditions (see Japanese Patent Application Laid-Open No. 2008-59366). Further, the target route calculation unit 102a may calculate the target route by an optimization method with the road width condition as a constraint condition (Fujioka, et al. “Theoretical Study on Optimal Time Cornering Method-Fourth Report State Quantity Inequality Introduction of Road Conditions Using Constraints- "Automotive Technology Society Proceedings Vol.24 No.3, July 1993), tire generation force obtained in the calculation process is used for the prediction process by the prediction unit 102b later. You may comprise.

  Then, the prediction unit 102b predicts the vehicle behavior that occurs on the target route calculated by the target route calculation unit 102a or the vehicle driving support control that operates, and predicts the type of recording trigger that will occur in the future (step SB- 4). Here, the prediction unit 102b may set the pre-trigger time as 3 seconds, and the target is set every predetermined time (for example, 100 milliseconds) in the time from the present to the future of the pre-trigger time (for example, 3 seconds). The lateral G on the route is calculated, and whether or not the VSC of the vehicle driving support control is likely to operate is determined depending on whether or not the lateral G exceeds a limit value by the friction coefficient μ. For example, the prediction unit 102b performs calculation as in the following calculation method example A or calculation method example B, and executes prediction processing.

[Calculation method example A]
FIG. 6 is a schematic diagram for explaining a calculation method example A. Here, it is assumed that the three target trajectory coordinates every 100 milliseconds are (x1, y1), (x2, y2), (x3, y3) in time order as shown in FIG. At this time, the turning radius R at the middle coordinate (x2, y2) is the radius of a circle with a radius R passing through three points including the front and rear and the center coordinate being (xc, yc). It can be obtained by solving with xc, yc, R.
(X1-xc) ^ 2 + (y1-yc) ^ 2 = R ^ 2
(X2-xc) ^ 2 + (y2-yc) ^ 2 = R ^ 2
(X3-xc) ^ 2 + (y3-yc) ^ 2 = R ^ 2

  Then, using the obtained radius R, the assumed lateral G (Gy) at the coordinates (x2, y2) is assumed to be the same as the current vehicle speed V0 and the vehicle speed is changed, and a steady circular turn is made. As a thing, it can obtain | require as follows (Here, a yaw rate is set to (gamma)). That is, an equation of Gy = V0 ^ 2 / R is obtained from an equation of Gy = γ × V0 and γ = V0 / R, and an assumed lateral G (Gy) can be obtained from this equation.

[Calculation method example B]
As described above, when the target route calculation unit 102a obtains the target route and the tire generation force by the optimization calculation (for example, Fujioka, et al. “Theoretical study on the optimal time cornering method-4th report, using state quantity inequality constraints) Introducing the road conditions that were present-"Automotive Technology Society Proceedings Vol.24 No.3, July 1993), from the tire generating force of the four wheels total at each point, the component Fy in the lateral direction with respect to the traveling direction, For example, the lateral G (Gy) at each point is calculated from the value of Fy using the following equation (where M is the vehicle weight, g is the gravitational acceleration, and the unit of Gy is G).
Gy = Fy / M / g

[Common to calculation method examples A and B]
Then, when the road surface friction coefficient μ is known using Gy obtained in the calculation method example A or B, a certain μ margin k (for example, 0.1) is considered,
| Gy |> μ-k (Gy is in G)
Judgment is made based on the truth of. In addition, when the road surface friction coefficient μ is unknown, it is assumed that it is high μ, and a constant value C (for example, 0.5) is used.
｜ Gy ｜ ＞ C
The determination may be made based on the true or false.

  The prediction unit 102b predicts the operation of the VSC among the types of recording triggers when the above condition becomes true even once in the time from the present to the future for a pre-trigger time (for example, 3 seconds). In the above-described example, an example of processing when the operation of the VSC is mainly foreseen has been described. However, the present invention is not limited to this, and the case where the operation of the vehicle driving support control such as a brake assist is foreseeable is similarly known. The type of recording trigger can be foreseen by obtaining the vehicle state quantity at the pre-trigger time using a physical equation or the like.

Returning to FIG. 5 again, the storage target information determination unit 102c predicts the type of recording trigger to be predicted when the generated vehicle behavior predicted by the prediction unit 102b or the operating vehicle driving support control is predicted (during pre-triggering). To be stored (pre-trigger recording data) is determined (step SB-5). Here, when the VSC operation is predicted by the prediction unit 102b, the storage target information determination unit 102c may use pre-trigger recording data as the VSC recording pattern. On the other hand, if the VSC operation is not predicted, the storage target information determination unit 102c May be used as a brake assist recording pattern. For example, the following storage target information may be used as the VSC recording pattern and the brake assist recording pattern.
(VSC recording pattern)
1) Symbol indicating a VSC recording pattern (1)
2) Vehicle speed 3) Yaw rate 4) Steering angle 5) Lateral G
6) Target yaw rate 7) Wheel speed of each wheel (brake assist recording pattern)
1) Symbol indicating brake brake recording pattern (2)
2) Vehicle speed 3) Brake pedal force 4) Master cylinder pressure 5) Front and rear G
6) Target deceleration 7) Wheel speed of each wheel

  Then, the storage target information storage unit 102d stores the storage target information at the time of pre-trigger (pre-trigger recording data) in the temporary storage area of the storage target information file 106a (step SB-6). In the present embodiment, the temporary storage area requires an area for storing data corresponding to the pre-trigger time (for example, 3 seconds) divided by the sampling time (for example, 100 milliseconds). According to the above, 30 times of data are stored. Here, the latest data at the time of this sampling may be overwritten and stored in the oldest storage data area. When the storage target information storage unit 102d finishes storing data at the time of the current sampling, the processing for one sampling is completed.

  Note that, in the processing step SB-2, if the storage target information determination unit 102c determines that a recording trigger is established (step SB-2, Yes), the type of recording trigger (for example, VSC generation, brake assist generation, etc.) Based on the above, storage target information (recording data) at the time of recording trigger is determined (step SB-7). In the present embodiment, if the foreseeable recording trigger and the type of the generated recording trigger are the same, the storage target information (record data) at the time of the recording trigger is also the same as the storage target information (pre-trigger recording data) at the time of the pre-trigger. (Refer to the VSC recording pattern and the brake assist recording pattern described above in step SB-5).

  When recording data is determined by the storage target information determination unit 102c (step SB-7), or in the processing step SB-1, data recording is performed in the long-term storage area by the storage target information storage unit 102d. When it is determined that the storage target information is stored (step SB-1, Yes), the storage target information storage unit 102d records the recording data determined by the storage target information determination unit 102c in the long-term storage area of the storage target information file 106a ( Step SB-8).

  Then, the storage target information storage unit 102d determines whether or not the current time exceeds the recording time (post-trigger time: for example, 5 seconds) from the occurrence of the recording trigger (step SB-9).

  If the current time does not exceed the recording time (step SB-9, No), the vehicular data recording device 100 ends the processing for one sampling time. On the other hand, when the current time exceeds the recording time (step SB-9, Yes), the storage target information storage unit 102d uses the pre-trigger recording data stored in the temporary storage area of the storage target information file 106a as the storage target information. Recording is performed in the long-term storage area of the file 106a (step SB-10).

  Above, description of an example of the process of this data recording device 100 for vehicles is finished.

[Other embodiments]
Although the embodiments of the present invention have been described so far, the present invention is not limited to the above-described embodiments, but can be applied to various different embodiments within the scope of the technical idea described in the claims. It may be implemented.

  For example, in the present embodiment, the case where the vehicle data recording device 100 is mounted on a four-wheeled vehicle has been described. However, the vehicle to which the present invention is applied is not limited to this and is mounted on a two-wheeled vehicle or the like. May be.

  In the present embodiment, the configuration for determining the occurrence of a pre-trigger and a recording trigger in relation to the vehicle driving support control by the motion control control device 24 has been described. When there is a control in which the vehicle driving support control is not performed by the device 24, a pre-trigger or a recording trigger may be determined based on prediction or generation of a predetermined vehicle behavior that the vehicle driving support control should be activated. Further, the vehicle may be configured not to include the motion control controller 24, and the vehicle behavior generated by the vehicle data recording device 100 connected to each sensor is predicted or actually measured, and the pre-trigger or the recording trigger is detected. The determination may be made.

  Further, the case where the vehicle data recording device 100 and the motion control control device 24 perform processing in a stand-alone form has been described as an example. However, the vehicle data recording device 100 and the motion control control device 24 include a plurality of housings. In addition, the vehicle data recording device 100 and the motion control control device 24 may be configured in the same casing. Furthermore, any control means of the vehicle data recording device 100 may be provided. The motion control control device 24 may be configured, and any control means of the motion control control device 24 may be configured in the vehicle data recording device 100.

  In addition, among the processes described in the embodiment, all or part of the processes described as being automatically performed can be performed manually, or the processes described as being performed manually can be performed. All or a part can be automatically performed by a known method.

  In addition, the processing procedures, control procedures, specific names, information including parameters such as registration data for each processing, and database configuration shown in the above documents and drawings may be arbitrarily changed unless otherwise specified. Can do.

  In addition, regarding the vehicle data recording apparatus 100, each illustrated component is functionally conceptual and does not necessarily need to be physically configured as illustrated.

  For example, all or some of the processing functions provided in each device of the vehicle data recording device 100, particularly the processing functions performed by the control unit 102, are performed by a CPU (Central Processing Unit) and the CPU. It may be realized by a program to be interpreted and executed as hardware by wired logic. The program is recorded on a recording medium described later, and is mechanically read by the vehicle data recording apparatus 100 as necessary. In other words, the storage unit 106 such as ROM or HD stores a computer program for performing various processes by giving instructions to the CPU in cooperation with an OS (Operating System). This computer program is executed by being loaded into the RAM, and constitutes a control unit in cooperation with the CPU.

  The computer program may be stored in a program storage device connected to the vehicle data recording device 100 via an arbitrary communication path, and may be downloaded in whole or in part as necessary. Is also possible.

  The program according to the present invention can also be stored in a computer-readable recording medium. Here, the “recording medium” refers to any “portable physical medium” such as a flexible disk, a magneto-optical disk, a ROM, an EPROM, an EEPROM, a CD-ROM, an MO, and a DVD, or a LAN, WAN, or Internet. It includes a “communication medium” that holds the program in a short period of time, such as a communication line or a carrier wave when the program is transmitted via a network represented by

  The “program” is a data processing method described in an arbitrary language or description method, and may be in any format such as source code or binary code. The “program” is not necessarily limited to a single configuration, but is distributed in the form of a plurality of modules and libraries, or in cooperation with a separate program represented by an OS (Operating System). Including those that achieve the function. Note that a well-known configuration and procedure can be used for a specific configuration for reading a recording medium, a reading procedure, an installation procedure after reading, and the like in each device described in the embodiment.

  Various databases and the like (storage target information file 106a and the like) stored in the storage unit 106 are storage means such as a memory device such as a RAM and a ROM, a fixed disk device such as a hard disk, a flexible disk, and an optical disk. Stores various programs, tables, databases, web page files, etc. used to provide websites.

  The vehicle data recording apparatus 100 is connected to an information processing apparatus such as a known personal computer or workstation, and software (including a program, data, etc.) that implements the method of the present invention is installed in the information processing apparatus. May be realized.

  Furthermore, the specific form of distribution / integration of the devices is not limited to that shown in the figure, and all or a part of them may be functional or physical in arbitrary units according to various additions or according to functional loads. Can be distributed and integrated.

  As described above in detail, according to the present invention, a vehicle data recording apparatus, a vehicle, which can record a situation before the vehicle falls into some emergency state while reducing data capacity and storage processing time. Data recording method and program can be provided.

It is a flowchart which shows the basic principle of this invention. It is a block diagram which shows an example of the logic structure of this data recording device for vehicles with which this invention is applied. It is a figure which shows an example of the physical structure of the vehicle by which this data recording device for vehicles 100 is mounted. It is a figure which shows an example of the physical structure of the data recording device for vehicles 100. 5 is a flowchart showing an example of processing within one sampling time of the vehicle data recording apparatus 100. It is a schematic diagram for explaining a calculation method example A.

Explanation of symbols

100 Vehicle data recording device
102 Control unit
102a Target route calculation unit
102b Prediction unit
102c Storage target information determination unit
102d Storage target information storage unit
106 Storage unit
106a Storage target information file
108 Input / output control interface unit 10FR to 10RL Wheel 14 Braking device 16 Hydraulic circuit 20 Brake pedal 22 Master cylinder 18FR to 18RL Wheel cylinder 24 Control device for motion control 28FR to 28RL Wheel speed sensor 30 Longitudinal acceleration sensor 32 Lateral acceleration sensor 34 Steering angle Sensor 36 Yaw rate sensor 42 CPU
44 ROM
46 RAM
48 I / O port device 50 Common bus 52 Microcomputer 54 External recording device 56 Power supply 58 Switch

Claims (2)

A vehicle data recording device comprising at least a storage unit and a control unit, and recording information relating to a running state of the vehicle in the storage unit,
The controller is
Target route calculating means for calculating the target route of the vehicle;
Prediction means for predicting vehicle behavior that occurs on the target route calculated by the target route calculation means or vehicle driving support control that operates;
Memory information to be stored in the storage unit is determined from the information related to the vehicle behavior that is generated or the vehicle driving support control that is operated, which is predicted by the prediction unit. Storage object information determining means;
When the prediction means predicts the vehicle behavior to be generated or the vehicle driving support control to be operated, the vehicle behavior is actually generated or the vehicle driving support is activated after the prediction is performed. The storage object information corresponding to the vehicle behavior or the vehicle driving support control is stored in the storage unit, and when the predetermined vehicle behavior occurs or the vehicle driving support control is activated, the vehicle Storage target information storage means for storing the storage target information corresponding to the behavior or the vehicle driving support control in the storage unit;
A vehicle data recording device comprising: A vehicle data recording method that is executed in a vehicle data recording device that includes at least a storage unit and a control unit, and records information on a running state of the vehicle in the storage unit,
Executed in the control unit,
A target route calculating step for calculating a target route of the vehicle;
A predicting step of predicting vehicle behavior occurring on the target route calculated in the target route calculating step or operating vehicle driving support control;
The storage target information to be stored in the storage unit is determined from the information related to the running state of the vehicle corresponding to the generated vehicle behavior or the activated vehicle driving support control predicted in the prediction step. Storing target information determining step,
In the prediction step, when the generated vehicle behavior or the operated vehicle driving support control is predicted, until the predicted vehicle behavior is actually generated or the vehicle driving support is activated The storage object information corresponding to the vehicle behavior or the vehicle driving support control is stored in the storage unit, and when the predetermined vehicle behavior occurs or the predetermined vehicle driving support control is activated, A storage target information storage step of storing the storage target information corresponding to the vehicle behavior or the vehicle driving support control in the storage unit;
A data recording method for a vehicle, comprising:

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