JP6267901B2 - Automatic stopping device - Google Patents

Description

  The present invention relates to an automatic stopping device.

  As a technique related to a conventional automatic stop device, for example, a vehicle control system described in Patent Document 1 is known. This vehicle control system detects a preceding vehicle by a radar device or the like, and performs a braking for avoiding the collision when a collision with the preceding vehicle is predicted (so-called PCS [Pre-Crash-Safety]). Thus, the rear-end collision with the preceding vehicle is prevented.

JP 2005-31967 A

  Here, in the above-described conventional technology, it may be difficult to sufficiently cope with an abnormality such as when the driver becomes unable to drive during traveling. Therefore, in recent automatic stopping devices, it is required to improve safety when the driver is abnormal.

  Then, this invention makes it a subject to provide the automatic stop apparatus which can improve the safety | security at the time of abnormality of a driver.

  In order to solve the above-described problems, an automatic stop device according to the present invention is an automatic stop device that is mounted on a vehicle and automatically stops the vehicle, and includes a driver abnormality detection unit that detects abnormality of a driver in the vehicle, and the vehicle A main brake and a parking brake for braking the vehicle, a door engine for opening and closing a vehicle door, and a control unit for controlling the main brake, the parking brake and the door engine, and the control unit is a driver abnormality detection unit. When a driver abnormality is detected, the brake control that activates the main brake to stop the vehicle, the parking brake control that activates the parking brake after the vehicle is stopped by braking control, and the vehicle is stopped by the braking control. And then performing door control for controlling the door engine so that the door is opened or ready for opening. To.

  In this automatic stopping device, when the driver becomes unable to drive while the vehicle is running, when the driver's abnormality is detected, the vehicle is automatically stopped without collision by the braking control. After the vehicle stops, the parking brake is activated by the parking brake control to prevent the vehicle from running away, and the door is opened or can be opened by the door control so that the passenger can easily escape from the vehicle. It becomes possible. Therefore, according to the present invention, it is possible to improve the safety when the driver is abnormal.

  In addition, as a configuration that preferably exhibits the above-described effects, specifically, the control unit performs parking brake control by operating an air discharge valve of the parking brake, and operates a door opening valve in the door engine. Door control may be executed.

  Moreover, it is preferable that a control part performs door control, after performing parking brake control. In this case, the passenger can be evacuated to the outside of the vehicle while preventing the vehicle from running away.

In addition, a steering actuator for controlling the steering of the vehicle is provided. When the driver abnormality is detected by the driver abnormality detection unit, the control unit steers the vehicle so as not to deviate from the lane before stopping the vehicle by the braking control. It is preferable to execute steering control for controlling the actuator.
In this case, vehicle deviation prevention by steering control can be linked in response to an abnormality in the driver, and safety in the event of an abnormality in the driver can be further enhanced.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the automatic stop apparatus which can improve the safety | security at the time of abnormality of a driver.

It is a schematic block diagram which shows the automatic stop apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of the automatic stop apparatus of FIG.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  FIG. 1 is a schematic block diagram illustrating an automatic stopping apparatus according to an embodiment. As shown in FIG. 1, an automatic stop device 1 according to the present embodiment is mounted on a vehicle V and automatically stops the vehicle V. Here, an abnormality of a driver of the vehicle V is detected, and steering control is performed. In addition, the vehicle V is automatically stopped in combination with the braking control.

  Examples of the vehicle V to be applied include commercial vehicles such as buses. The vehicle V is not particularly limited, and may be any of a large vehicle, a medium vehicle, a normal passenger vehicle, a small vehicle, a light vehicle, and the like.

  The automatic stop device 1 includes a lane recognition unit 2, a driver state detection unit 3, and a travel information acquisition unit 4. The lane recognition unit 2 recognizes a lane in which the vehicle V travels, and includes a lane sensor such as a monocular camera. The driver state detection unit 3 detects a driver state (face orientation, heart rate, etc.), and includes, for example, an in-vehicle camera and a heart rate measuring device. The travel information acquisition unit 4 acquires travel information related to the travel state of the vehicle V such as the vehicle speed and the yaw rate, and includes a vehicle speed sensor, a yaw rate sensor, and the like.

  The automatic stopping device 1 includes a steering actuator 5, a parking brake 6, a door engine 7, and an HMI (Human Machine Interface) device 8. The steering actuator 5 is an actuator for controlling the steering of the vehicle V. For example, the steering actuator 5 transmits a driving force from a motor to a steering mechanism, and applies a steering torque to the steering mechanism.

  The parking brake (PKB) 6 is for braking the vehicle V. An electric parking brake can be used as the parking brake 6. The parking brake 6 has a PKB air discharge valve (air discharge valve) 6a provided in the brake chamber, and applies a desired braking force to the wheels by discharging air by the operation of the PKB air discharge valve 6a. .

  The door engine 7 is for opening and closing the door of the vehicle V. The door engine 7 includes a door opening valve 7a, and the door opening state is set to a door opening state or a door opening enabled state by the operation of the door opening valve 7a. The HMI device 8 issues a warning to the driver by at least one of sound, display, and bodily sensation.

  The automatic stop device 1 includes an automatic stop ECU (Electronic Control Unit, control unit) 10. This automatic stop ECU 10 is configured by a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory) (the same applies to the following ECUs).

  Each of the above-described elements 2 to 8 is connected to the automatic stop ECU 10 in a wired or wireless manner, and an engine control ECU 11, a brake control ECU 12, a body control ECU 13 and a TM control ECU 14 are connected in a wired or wireless manner. In addition, as connection of automatic stop ECU10, in-vehicle LAN circuits, such as CAN (Controller Area Network), can be utilized, for example.

  The engine control ECU 11 controls the engine of the vehicle V. The brake control ECU 12 controls the brake device of the vehicle V. The brake device is not particularly limited, and examples thereof include a hydraulic brake device and a regenerative brake device. The body control ECU 13 controls devices related to the body of the vehicle V (doors, blinkers, outside indicator lights, etc.). The TM control ECU 14 controls the transmission of the vehicle V.

  Such an automatic stop ECU 10 controls the steering actuator 5 so that the vehicle V does not deviate from the lane when a driver abnormality is detected, and the braking control that operates the emergency brake to stop the vehicle V. A parking brake control for operating the parking brake 6 after the vehicle V stops and a door control for making the door open or ready to open after the vehicle V stops (details will be described later).

  The emergency brake in the brake control includes a brake by operating the brake device by the brake control ECU 12. Further, the emergency brake may include an engine brake controlled by the engine control ECU 11 and the TM control ECU 14. For such braking control, a general standard PCS system can be used.

  Next, an example in which the vehicle V is automatically stopped by the above-described automatic stopping device 1 will be described with reference to the flowchart of FIG.

  FIG. 2 is a flowchart showing the operation of the automatic stopping device of FIG. As shown in FIG. 2, in the automatic stop device 1, the following automatic stop control is executed by the automatic stop ECU 10. That is, first, the possibility of a lane departure of the vehicle V is determined based on the lane information recognized by the lane recognition unit 2 and the travel information acquired by the travel information acquisition unit 4 (S1).

  If there is no possibility that the vehicle V departs from the lane (if OK in S1), the automatic stop control is turned OFF and the process returns to S1 (S50). On the other hand, when there is a possibility of lane departure of the vehicle V (in the case of NG in S1 above), it is determined whether or not there is a driver operation (S2). Here, the driver operation may be determined based on the control status of each of the ECUs 11 to 14, or may be determined based on an input from a separately provided sensor (such as a pedal sensor). Further, the driver operation may include, for example, an operation related to driving of the vehicle V and operations on various devices.

  Subsequently, when there is a driver operation, it is estimated whether the driver state is abnormal (NG) or normal (OK) based on the driver state detected by the driver state detection unit 3 (S3). When it is estimated that the driver state is OK, the process proceeds to S50, the automatic stop control is turned OFF, and the process returns to S1.

  On the other hand, if there is no driver operation in S2 or if the driver state is estimated to be NG in S3, it is determined that some abnormality has occurred in the driver (a driver abnormality is detected), and the vehicle V is in the lane A departure warning that there is a possibility of departure is issued from the HMI device 8 to the driver (S4).

  Subsequently, after a departure warning is issued, the presence / absence of a driver operation is determined again in the same manner as in S2 (S5). When there is a driver operation, it is estimated whether the driver state is abnormal or normal based on the driver state detected by the driver state detection unit 3 (S6). When it is estimated that the driver state is OK, the process proceeds to S50, the automatic stop control is turned OFF, and the process returns to S1.

  On the other hand, in the case where there is no driver operation or the driver state is estimated to be NG despite the departure warning being issued, a driver abnormality is detected, for example, based on lane information and driving information Each process related to the steering control is executed. That is, a lateral deviation which is a deviation in the vehicle width direction of the vehicle V with respect to the reference position of the lane is calculated, a target yaw rate for avoiding the lane departure of the vehicle V is set, and a target steering angle corresponding to the target yaw rate is set. (S7 to S9). Then, steering control is executed by the steering actuator 5 so that the steering angle of the vehicle V becomes the target steering angle, and an alarm is issued to the driver by the HMI device 8 (S10).

  Subsequently, similarly to S2, the presence / absence of a driver operation is determined again (S11). If there is a driver operation, it is estimated whether the driver state is abnormal or normal based on the driver state detected by the driver state detection unit 3 (S12). When it is estimated that the driver state is OK, the process proceeds to S50, the automatic stop control is turned OFF, and the process returns to S1.

  On the other hand, if there is no driver operation or the driver state is estimated to be NG even though steering control has been executed and an alarm has been issued, a driver abnormality is detected and stronger than that alarm. An alarm is issued to the driver by the HMI device 8 (S13). In addition, it is preferable to use the alarm by a sound and a bodily sensation as a strong alarm here.

  After the strong warning is issued, the presence / absence of an operation by the driver is determined again in the same manner as in S2 (S14). When there is a driver operation, it is estimated whether the driver state is abnormal or normal based on the driver state detected by the driver state detection unit 3 (S15). When it is estimated that the driver state is OK, the process proceeds to S50, the automatic stop control is turned OFF, and the process returns to S1.

  On the other hand, when there is no driver operation even though a strong warning is issued, or when the driver state is estimated to be NG, a driver abnormality is detected and the vehicle exterior indicator lamp is activated (lighted) by the body control ECU 13 The driver abnormality is notified around the vehicle V (S16). Then, the braking control is executed and the emergency brake is operated, whereby the vehicle V is decelerated and stopped (S17).

  After the vehicle V is stopped by the braking control, the parking brake control is executed, and the parking brake 6 is operated so that the vehicle V does not escape. Specifically, the PKB air discharge valve 6a is operated in the parking brake 6 to discharge air, thereby applying braking force to the wheels and preventing the vehicle V from running away (S18).

  Finally, after the parking brake 6 is actuated by the parking brake control, the door control is executed, and the door engine 7 is controlled so that the door of the vehicle V is in the door open state or the door openable state. Specifically, when the door opening valve 7a of the door engine 7 is operated, the door is automatically opened to be opened, or the door can be opened so that the door can be opened by a passenger or the like. (S19).

  As described above, in the automatic stopping device 1 of the present embodiment, when the driver becomes incapable of driving due to, for example, health (dangerous state) while the vehicle V is traveling, the driver's abnormality is detected and automatically controlled by braking control. Thus, the vehicle V is stopped without colliding (S14, S15, S17). After the vehicle stops, the parking brake 6 is activated by the parking brake control, and the vehicle V is prevented from running away (S18). At the same time, the door engine 7 is controlled by the door control, and the door is opened or can be opened, so that the passenger can easily escape from the vehicle (S19). Therefore, according to the present embodiment, it is possible to improve the safety when the driver is abnormal.

  In the present embodiment, as described above, the door control is executed after the parking brake control is executed. Thereby, a passenger can be evacuated out of the vehicle in a state in which the vehicle V is prevented from running away.

  In the present embodiment, as described above, the steering control for controlling the steering actuator 5 is executed so that the vehicle V does not depart from the lane before the vehicle V is stopped by the braking control. In other words, vehicle departure prevention by steering control using a lane departure prevention system can be linked with braking control, and safety when the driver is abnormal can be further enhanced.

  In this embodiment, as described above, when shifting to each control (control system), the presence / absence of a driver operation is determined (S2, S5, S11, S14), and the driver state is estimated. (S3, S6, S12, S15 above). As a result, in detecting the abnormality of the driver, it is possible to consider not only the presence / absence of the driver operation, but also the determination whether the driver operation is performed in a normal state even when the driver operation is performed.

  Further, in the present embodiment, as described above, when the driver does not perform a normal operation even when a strong warning is issued (no in S14 and NG in S15), the outside indicator lamp is turned on. Abnormality can be notified to surrounding vehicles.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments. The present invention can be modified without departing from the scope described in the claims or applied to other embodiments. May be.

  For example, in the above-described embodiment, automatic lane change control may be executed. Specifically, before the emergency brake is operated and the vehicle V is stopped (for example, between S16 and S17), The traveling of the vehicle V may be controlled so as to move to the left lane. In this case, it is possible to suppress the road traffic from being hindered when the vehicle V is automatically stopped.

  In the embodiment described above, at least one of the driver state detection unit 3 that detects the driver state and each of the ECUs 11 to 14 that detects the driver operation constitutes a driver abnormality detection unit. Further, the brake control ECU 12 (or in addition to this, the engine control ECU 11 and the TM control ECU 14) for operating the emergency brake constitutes the main brake.

  DESCRIPTION OF SYMBOLS 1 ... Automatic stop device, 3 ... Driver state detection part (driver abnormality detection part), 5 ... Steering actuator, 6 ... Parking brake, 6a ... PKB air discharge valve (air discharge valve), 7 ... Door engine, 7a ... Door opening Valve 10, automatic stop ECU (control unit) 11 engine control ECU (main brake, driver abnormality detection unit) 12 brake control ECU (main brake, driver abnormality detection unit) 13 body control ECU (driver abnormality) Detection unit), 14 ... TM control ECU (main brake, driver abnormality detection unit), V ... vehicle.

Claims (4)

An automatic stopping device that is mounted on a vehicle and automatically stops the vehicle,
A driver abnormality detector for detecting an abnormality of the driver in the vehicle;
A main brake and a parking brake for braking the vehicle;
A door engine for opening and closing the door of the vehicle;
A steering actuator for controlling steering of the vehicle ,
A control unit for controlling the main brake, the parking brake , the door engine and the steering actuator ;
With
The controller is
Based on the lane information of the lane in which the vehicle travels and the travel information related to the travel state of the vehicle, it is determined whether there is a possibility of lane departure of the vehicle,
When there is a possibility of departure from the lane,
Steering control for determining whether or not the driver abnormality is detected by the driver abnormality detecting unit and controlling the steering actuator so that the vehicle does not deviate from the lane when the driver abnormality detecting unit detects the driver abnormality. Run
After executing the steering control, it is determined whether the driver abnormality is detected by the driver abnormality detection unit, and when the driver abnormality is detected by the driver abnormality detection unit, the main brake is operated to Execute braking control to stop the vehicle ,
After the vehicle is stopped by the braking control, a parking brake control for operating the parking brake is executed,
After stopping the vehicle in the brake control, the door performs a control door system for controlling the door engine so that the door opening state or door open state, that the automatic stop device according to claim. The controller is
Performing the parking brake control by operating an air discharge valve of the parking brake;
The automatic stop device according to claim 1, wherein the door control is executed by operating a door opening valve in the door engine.   The automatic stop device according to claim 1, wherein the control unit executes the door control after executing the parking brake control. Before SL control section further controls the HMI device,
The controller is
Along with the execution of the steering control, an alarm is issued to the driver by the HMI device,
After executing the steering control and before executing the braking control, it is determined whether or not the driver abnormality detection unit has detected the driver abnormality, and when the driver abnormality detection unit detects the driver abnormality, The automatic stop device according to any one of claims 1 to 3, wherein a stronger warning than the warning is issued to the driver by the HMI device.

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