JP5657410B2 - Vehicle travel control device - Google Patents

Description

  The present invention relates to a vehicle travel control device for preventing a vehicle from suddenly accelerating in a narrow space such as a parking lot due to an erroneous operation of an accelerator pedal.

  When the navigation system detects that the vehicle is located in a facility such as a gas station or a parking lot, the throttle pedal opening and the upper limit value of the fuel injection amount of the engine are regulated, so that the accelerator pedal is operated incorrectly. A technique for preventing sudden acceleration of the vehicle due to the above is known from Patent Document 1 below.

JP 2009-264352 A

  However, the above-mentioned conventional system is not only applicable to a vehicle that does not have a navigation system, but also, for example, cannot determine whether the vehicle is in the vicinity of the parking space in the parking lot. However, there is a problem that excessive rapid acceleration suppression control is performed in a wide area.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to make it possible to carry out sudden acceleration suppression control of a vehicle only in a region where it is really necessary.

In order to achieve the above object, according to the invention described in claim 1, a light projecting means for transmitting by light a signal indicating an acceleration suppression region for suppressing acceleration of the vehicle, and mounted on the vehicle. Light receiving means for receiving the signal from the light projecting means outside the vehicle, and determination means for determining whether or not the host vehicle is in the acceleration suppression region based on the signal received by the light receiving means; , when the vehicle is determined to be in the acceleration suppression region by the determining means, and a driving control means for inhibiting running control the acceleration of the vehicle, the light projecting means, the far side of the parking space are installed at the ends a signage to provide information to the occupant of the vehicle, the signage travel control device for a vehicle characterized that you transmit the signal by changing the flashing period of the photonic proposed Is done.

According to the second aspect of the present invention, the light projecting means for transmitting by light the signal indicating the acceleration suppression region for suppressing the acceleration of the vehicle, and the projection outside the vehicle mounted on the vehicle. A light receiving means for receiving the signal from the light means, a determination means for determining whether or not the own vehicle is in the acceleration suppression region based on the signal received by the light receiving means, and the own vehicle by the determination means. Travel control means for performing travel control to suppress acceleration of the host vehicle when the vehicle is determined to be in the acceleration suppression region, the light projecting means is provided in the host vehicle, and the host vehicle is parked. A vehicle travel control device is proposed in which the light projecting means transmits the signal to another vehicle when the vehicle is on.

According to the invention described in claim 3, in addition to the configuration of claim 1, when the determination means determines that the own vehicle is in the acceleration suppression region, the travel control means A travel control device for a vehicle is proposed in which the travel control is performed when the distance from the projector to the light projecting means is less than a predetermined distance.

According to the invention described in claim 4, in addition to the configuration of claim 1 or claim 3 , the travel control means is configured such that the distance from the own vehicle to the light projecting means is not less than a predetermined distance, and A travel control device is proposed in which the travel control is canceled when a state in which the accelerator pedal opening or the accelerator pedal opening speed of the host vehicle is less than a predetermined value continues for a predetermined time .

According to the invention described in or claim 5, in addition to the second aspect, wherein the light projecting means is a lamp body provided in a vehicle, the lamp body when the vehicle is parked A vehicle travel control device is proposed that blinks at a lower brightness than during travel.

  The front camera 11, stereo camera 13 and rear camera 15 of the embodiment correspond to the light receiving means of the present invention, and the LED headlight 14 and LED taillight 16 of the embodiment are the light projecting means or lamp body of the present invention. The digital LED signage 23 of the embodiment corresponds to the light projecting means or signage of the present invention.

According to the first and second aspects, when the light projecting means transmits a signal indicating that it is an acceleration suppression region that suppresses the acceleration of the vehicle by light, the light receiving means mounted on the vehicle is projected outside the vehicle. When the signal from the light means is received, the determination means determines whether or not the vehicle is in the acceleration suppression area based on the signal received by the light reception means, and the vehicle is determined to be in the acceleration suppression area In addition, since the traveling control means performs traveling control that suppresses acceleration of the host vehicle, it is possible to reliably prevent sudden acceleration of the vehicle only in a limited area such as the vicinity of a parking space where it is necessary to prevent sudden acceleration of the vehicle. This makes it possible to avoid excessive sudden acceleration suppression control.

In particular, according to the configuration of claim 1 , the light projecting means is a signage that is installed at the back end of the parking space and provides information to the vehicle occupant, and the signage changes the blinking period of the light. Thus, since the signal is transmitted, the facility cost can be reduced by utilizing the existing signage as a light projecting means for vehicle control.

In particular, according to the configuration of the second aspect, the light projecting means is provided in the own vehicle, and when the own vehicle is parked, the light projecting means transmits a signal to the other vehicle. It is possible to reliably prevent the vehicle from accelerating and crashing.

  According to the third aspect of the present invention, when the determination means determines that the own vehicle is in the acceleration suppression region, the travel control means travels when the distance from the own vehicle to the light projection means is less than the predetermined distance. Since the control is performed, it is possible to prevent the travel control from being performed more frequently than necessary.

According to the fourth aspect of the present invention, the travel control means is such that the distance from the own vehicle to the light projecting means is equal to or greater than a predetermined distance, and the accelerator pedal opening or the accelerator pedal opening speed of the own vehicle is less than a predetermined value. Since the travel control is canceled when the state continues for a predetermined time, it is possible to prevent the vehicle from suddenly accelerating due to the sudden release of the travel control at the moment the vehicle is separated from the light projecting means by a predetermined distance or more. Can do .

According to or the fifth aspect, since the light emitting means is a light body of a vehicle, reduce costs by utilizing an existing fixture, such as a head lamp or tail light as light projecting means can do. Moreover, when the host vehicle is parked, the lamp blinks with a lower brightness than when traveling, so that the power consumption of the lamp can be minimized.

The perspective view from the front of the vehicle provided with the traveling control apparatus. The perspective view from the back of the vehicle provided with the traveling control apparatus. The front view of an instrument panel. The perspective view of a parking lot. The system block diagram by the side of a parking lot . The system block diagram by the side of a vehicle . The flowchart explaining an effect | action.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 to 3, an automobile equipped with the travel control device of the present embodiment includes a front camera 11 that is provided in the front part of the vehicle body and images an object ahead of the host vehicle, and left and right ends of the room mirror 12. A pair of stereo cameras 13 and 13 for measuring an object in front of the vehicle, left and right LED headlights 14 and 14 using LEDs as light sources, and an image of an object behind the vehicle provided at the rear of the vehicle body A rear camera 15 and left and right LED taillights 16 and 16 each having an LED as a light source. The instrument panel 17 disposed in the front part of the passenger compartment is provided with an external view display monitor 18, which is also used as a monitor for a navigation system or an AV system, an alarm lamp 19, and an alarm speaker 20. The alarm speaker 20 can also be used as an AV system speaker.

  FIG. 4 shows a parking lot at a convenience store, which is an example of a place where the travel control of the present embodiment is executed. Digital LED signage 23 ... is provided toward the parking space 22 ... at the end on the back side of the plurality of parking spaces 22 ... partitioned by white lines 21 .... The digital LED signage 23 is an electronic signboard that displays characters and images on a display using LEDs, and gives various notifications and instructions (parking display) to the driver who uses the parking lot, or shopping at a convenience store. It is used to perform various advertisements and advertisements (advertisement display) for customers. The digital LED signage 23 of the present embodiment emits a signal by blinking the LED at a predetermined frequency that cannot be recognized by human eyes, and the signals are a front camera 11 and a stereo camera 13 provided on the vehicle side. , 13 or the rear camera 15. The digital LED signage 23 is provided with a collision detection sensor including an acceleration sensor in order to detect that a vehicle has collided with the digital LED signage 23. The convenience store building is provided with a parking lot monitoring camera 24 for capturing an image of the parking lot.

As shown in FIG. 6 , for example, an ECU of an electronic stability control (ESC) is used as the vehicle-side control device Uc that performs the sudden acceleration suppression control. The vehicle-side electronic control unit Uc determines whether or not the host vehicle is in the acceleration suppression region, and when the determination unit M1 determines that the host vehicle is in the acceleration suppression region. Traveling control means M2 for performing traveling control for suppressing acceleration of the front camera 11, the stereo cameras 13, 13, the LED headlights 14, 14, the rear camera 15, the LED taillight 16, 16, in addition to the external view display monitor 18, the alarm lamp 19, and the alarm speaker 20, a vehicle speed sensor 31 that detects a vehicle speed from a wheel speed, an accelerator pedal opening sensor 32 that detects an accelerator pedal opening, and an external environment Auto headlight phototransistor 3 for automatically turning on or off the LED headlights 14 and 14 according to the brightness of An automatic wiper raindrop pressure sensor 34 for automatically operating the wiper during rain, a brake master pressure sensor 35 for detecting the brake fluid pressure generated by the master cylinder, and an A / T shift for detecting the shift position of the automatic transmission. A position sensor 36, an engine speed sensor 37 for detecting the engine speed, an audio controller 38 for controlling the volume of the audio device, a power window controller 39 for controlling opening / closing of the power window, and brake fluid supplied to the wheel cylinder A brake fluid pressure modulator 40 that controls the pressure and an engine / A / T control ECU 41 that controls the output of the engine and the shift of the automatic transmission are connected.

  When the own vehicle approaches the parking space 22 in the parking lot of the convenience store, the digital LED signage 23 is identified from the image captured by the front camera 11 or the rear camera 15. Since the digital LED signage 23 emits light modulated at a predetermined frequency, only the digital LED signage 23 can be identified from other objects in the image. When the signal from the digital LED signage 23 is detected in this way, the determination means M1 of the vehicle-side control device Uc determines that the host vehicle has entered the acceleration suppression region.

When the digital LED signage 23 in the image of the front camera 11 or the rear camera 15 is specified, the position of the digital LED signage 23 in the image of the stereo cameras 13 and 13 corresponding to the position of the digital LED signage 23 is determined. By specifying, the distance from the stereo cameras 13 and 13 to the digital LED signage 23 is calculated. Ranging method on the object or by the stereo camera 13, 13 is well known. In the embodiment, the stereo cameras 13 and 13 are provided at the front part of the vehicle body.

  When the distance of the closest digital LED signage 23... Among the plurality of measured digital LED signage 23... Is less than a threshold D (for example, 3 m), the traveling control means M2 of the vehicle-side control device Uc suppresses sudden acceleration. Execute control. That is, when a sudden acceleration of the vehicle is detected based on the vehicle speed detected by the vehicle speed sensor 31 and the accelerator pedal opening detected by the accelerator pedal opening sensor 32, the brake hydraulic pressure modulator 40 is activated to automatically make the vehicle By braking or assisting the brake operation by the driver, it is possible to suppress sudden acceleration of the host vehicle and prevent the vehicle from getting over the parking space 22. At this time, in addition to the brake control described above, the engine / A / T control ECU 41 may suppress the rapid acceleration by reducing the engine output by reducing the fuel injection amount of the engine or closing the throttle valve. good.

  When the rapid acceleration suppression control is started, the alarm lamp 19 and the alarm speaker 20 are activated to notify the driver of this. At the same time, the audio controller 38 reduces the volume of the audio device, and the power window controller 39 opens the door glass, so that the driver can easily hear the sound inside the vehicle and the sound outside the vehicle, and the situation can be accurately judged. It becomes possible.

  When the host vehicle is stopped, the LED headlights 14 and 14 and the LED taillights 16 and 16 blink at a lower brightness than that during normal driving, thereby sending a signal to other vehicles located nearby. The other vehicle that has received the signal by the front camera 11, the stereo camera 13, 13 or the rear camera 15 performs the above-described rapid acceleration suppression control when the distance is less than a threshold D (for example, 3 m). Can be prevented from coming into contact with the vehicle.

  When the LED headlights 14 and 14 and the LED taillights 16 and 16 of the own vehicle are blinked, the LED headlights 14 and 14 and the LED taillights 16 and 16 are detected according to the darkness of the external environment detected by the auto headlight phototransistor 33. This signal can be reliably detected by the front camera 11, the stereo cameras 13, 13 or the rear camera 15 of the other vehicle.

As shown in FIG. 5 , in addition to the digital LED signage 23... And the parking lot monitoring camera 24, the parking lot side and convenience store side control devices Up include an in-store monitor 51, an alarm buzzer 52, a police / fire department The communication means 53, the contract security service communication means 54, the chain store head office communication means 55, the in-store camera 56, the emergency call switch 57, the switchboard 58, and the backup power source 59 are connected.

The control device Up on the parking lot side and the convenience store side controls modulation signal transmission such as switching between advertisement display and parking display of the digital LED signage 23... And changing the lighting brightness of the digital LED signage 23 according to the brightness of the parking lot. , A collision detection sensor provided in the digital LED signage 23... Detects a vehicle collision with the digital LED signage 23.

  In response to an emergency at the time of collision detection, an image of the parking lot captured by the parking lot monitoring camera 24 is displayed on the in-store monitor 51 to activate the alarm buzzer 52, and the police / fire fighting communication means 53, contract security service communication means 54 In addition, the accident is reported to the police, the fire department, the security company, the convenience store headquarters, etc. via the chain store head office communication means 55.

  Next, the operation of the control device Uc on the vehicle side will be described more specifically based on the flowchart of FIG.

  First, if the shift position detected by the A / T shift position sensor 36 at step S1 is the forward range, the front camera 11 is operated at step S2, and the forward range is not the forward range at step S1 but the reverse range at step S3. In step S4, the rear camera 15 is activated. In the next step S5, when the digital LED signage 23 (or the sudden acceleration suppression signal of the LED headlights 14 and 14 or the LED taillights 16 and 16 of other vehicles is detected from the image of the front camera 11 or the rear camera 15, stereo is detected in step S6. The distance of the digital LED signage 23 is detected from the images of the cameras 13 and 13. If the distance of the closest digital LED signage 23 is less than the threshold value D in the subsequent step S7, the rapid acceleration suppression control flag is turned on in step S8. Start sudden acceleration suppression control.

  That is, in step S9, if the accelerator pedal opening detected by the accelerator pedal opening sensor 32 is not less than the threshold θ1, or if the accelerator pedal opening speed obtained by time differentiation of the accelerator pedal opening is not less than the threshold θ′1. In step S11, it is determined that the vehicle has accelerated suddenly, and sudden acceleration suppression control by automatic braking or brake assist is executed. Even if the answer to step S9 is NO, if the vehicle speed detected by the vehicle speed sensor 31 in step S10 is greater than or equal to the threshold value V1, or if the vehicle acceleration obtained by time differentiation of the vehicle speed is greater than or equal to the threshold value V'1, In step S11, it is determined that the host vehicle has suddenly accelerated, and sudden acceleration suppression control by automatic braking or brake assist is executed.

  If the distance of the nearest digital LED signage 23 is equal to or greater than the threshold value D in step S7 and the rapid acceleration suppression control flag is ON in step S12, that is, the parking space 22 ... When the distance from the accelerator pedal opening is exceeded, the accelerator pedal opening detected by the accelerator pedal opening sensor 32 in step S13 is less than the threshold θ2, and the accelerator pedal opening speed obtained by time differentiation of the accelerator pedal opening is less than the threshold θ′2. If, in step S14, it is determined by the timer that the state has continued for time t1 or more, it is determined in step S15 that there is no risk of the vehicle suddenly accelerating. After canceling the acceleration suppression control, in step S16, the digital LED signage 23. Stop the distance. If the accelerator pedal opening is equal to or greater than the threshold value θ2 in step S13 or the accelerator pedal opening speed is equal to or greater than the threshold value θ′2, the rapid acceleration suppression control is continued without being canceled.

  Even if the distance from the vehicle to the digital LED signage 23... Exceeds the predetermined distance D during execution of the rapid acceleration suppression control by the steps S12 to S16, the accelerator pedal opening degree and the accelerator pedal opening speed of the vehicle are maintained. Since the rapid acceleration suppression control is not canceled until the state where both of them are less than the threshold values θ2, θ′2 continues for a predetermined time, the rapid acceleration suppression control suddenly occurs at the moment when the own vehicle is separated from the digital LED signage 23 by a predetermined distance D or more. It is possible to prevent the vehicle from suddenly accelerating after being released.

  As described above, according to the present embodiment, the acceleration suppression area is set by transmitting a signal by light in a specific direction from the digital LED signage 23... Therefore, it is possible to set only in a limited region, and it is possible to prevent excessive rapid acceleration suppression control from being performed, and to minimize a decrease in drivability.

  The LED headlights 14 and 14, the LED taillights 16 and 16 and the digital LED signage 23 can be used by using existing ones and changing the blinking period of the light to transmit signals. Can be reduced to a minimum, and the equipment cost can be reduced as compared with the case where a special lamp is provided.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, the light projecting means of the present invention is not limited to the digital LED signage 23 of the embodiment, and may be a mirror provided instead of the digital LED signage 23. Because the light from the LED headlight 14 or the LED taillight 16 provided in the own vehicle is reflected by the mirror and received by the front camera 11, the stereo cameras 13, 13 or the rear camera 15 of the own vehicle, This is because the sudden acceleration suppression control is performed without any trouble.

Further, the light projecting means of the present invention is not limited to the one using an LED, and may be one using plasma or liquid crystal.

  Moreover, the vehicle travel control apparatus of the present invention can be used in any place such as a gas station other than a parking lot.

11 Front camera (light receiving means)
13 Stereo camera (light receiving means)
14 LED headlight (light projection means, lamp)
15 Rear camera (light receiving means)
16 LED taillight (lighting means, lamp)
23 Digital LED signage (lighting means, signage)
M1 determination means M2 travel control means

Claims (5)

A light projecting means ( 23) for transmitting a signal indicating that it is an acceleration suppression region for suppressing acceleration of the vehicle by light;
And light receiving means (11, 13, 15) for receiving the signals from the mounted on a vehicle outside of the light projecting means of the vehicle (2 3),
Determination means (M1) for determining whether or not the host vehicle is in the acceleration suppression region based on the signal received by the light receiving means (11, 13, 15);
A traveling control means (M2) for performing traveling control for suppressing acceleration of the own vehicle when the determining means (M1) determines that the own vehicle is in the acceleration suppression region ;
The light projecting means (23) is a signage that is installed at the back end of the parking space (22) and provides information to a vehicle occupant, and the signage changes the blinking period of the light. travel control device for a vehicle characterized that you transmit signals. A light projecting means (14, 16) for transmitting a signal indicating that it is an acceleration suppression region for suppressing acceleration of the vehicle by light;
A light receiving means (11, 13, 15) mounted on a vehicle for receiving the signal from the light projecting means (14, 16) outside the vehicle;
Determination means (M1) for determining whether or not the host vehicle is in the acceleration suppression region based on the signal received by the light receiving means (11, 13, 15);
A traveling control means (M2) for performing traveling control for suppressing acceleration of the own vehicle when the determining means (M1) determines that the own vehicle is in the acceleration suppression region;
The light projecting means (14, 16) is provided in a host vehicle, and the light projecting means (14, 16) transmits the signal to another vehicle when the host vehicle is parked. be that vehicles of the travel control device. When said by determining means (M1) is the vehicle is determined to be in the acceleration suppression region, said running control means (M2), the distance from the vehicle to said light emitting means (2 3) is less than the predetermined distance The vehicle travel control apparatus according to claim 1, wherein the travel control is performed in the case of. The running control means (M2) is the state where the distance from the vehicle to said light emitting means (2 3) is a predetermined distance or more, and the accelerator pedal opening or the accelerator pedal opening speed of the own vehicle is less than a predetermined value The travel control device for a vehicle according to claim 1 or 3 , wherein the travel control is canceled when the vehicle travels for a predetermined time . Before Kitoko means (14, 16) is a lamp body provided in a vehicle, wherein the lamp body blinks at a lower intensity than during traveling when the vehicle is parked, wherein Item 3. The vehicle travel control device according to Item 2 .

Images