JP6536808B2 - Vehicle start support device and vehicle start support method - Google Patents

Description

  The present invention relates to a vehicle start support device and a vehicle start support method.

  2. Description of the Related Art Conventionally, there has been known an information providing device for providing various information to an occupant from a monitor and a speaker disposed in a vehicle cabin of a vehicle (see Patent Document 1). According to Patent Document 1, when the relative distance with the preceding vehicle becomes long in the stopped state, the driver is displayed by displaying "the preceding vehicle is moving" on the monitor or outputting the same content from the speaker. It requires visual observation of the monitoring target.

Japanese Patent Application Publication No. 08-115499

  However, just displaying them on a monitor or outputting voice may make it difficult to understand what they mean or what the driver is asking for. Furthermore, it is possible that the driver does not notice the display on the monitor.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle start support device and a vehicle start support method capable of prompting the driver to perform a start operation.

The vehicle start support device according to an aspect of the present invention determines whether or not the vehicle in the stopped state can start, and when the vehicle can start, it operates the brake provided in the vehicle and drives the vehicle. The driver is urged to perform a start operation by controlling the torque generated by the motor and changing the posture of the vehicle body in the stopped state.

  According to the vehicle start support device and the vehicle start support method, since the driver intuitively knows that the vehicle can be started, it is possible to urge the driver to perform the start operation in an easy-to-understand manner.

FIG. 1 is a block diagram showing the entire configuration of a vehicle system including a vehicle start support device according to the embodiment. FIG. 2 is a front view showing an installation example of the camera 15, the ultrasonic sensor 16, the laser range finder (LRF) 17, and the millimeter wave radar 18. FIG. 3 is a flowchart showing a front part of a control procedure for prompting the vehicle in the stopped state to start (straight ahead). FIG. 4 is a flowchart showing the rear part following FIG. 3 and shows the case where the vehicle is a rear wheel drive vehicle. FIG. 5 is a flowchart showing the rear part following FIG. 3 and shows the case where the vehicle is a front wheel drive vehicle. FIG. 6 is a flow chart showing the former part of the control procedure for prompting the vehicle in the stopped state to start (turn to the left or right). FIG. 7 is a flowchart showing the latter part following FIG.

  Hereinafter, embodiments will be described based on the drawings. The same reference numerals are given to the same members and the description thereof will not be repeated.

  The configuration of a vehicle system including a vehicle start support device according to the embodiment will be described with reference to FIG. The vehicle start support device is a device that informs the driver of the vehicle in the stop state that the vehicle can start, and urges the start operation. The vehicle start support device notifies the driver that the vehicle can be started by changing the posture of the vehicle body in the stopped state.

  Specifically, the vehicle start support device determines from the situation around the vehicle whether or not the start determination circuit 52 determines whether the vehicle can start, and the start determination circuit 52 determines that the vehicle can start. And a posture control circuit 55 for prompting the start operation by changing the posture of the vehicle body of the vehicle in the stopped state.

  The start determination circuit 52 and the attitude control circuit 55 are included in the control unit 11. The control unit 11 includes, for example, a general-purpose microcontroller including a CPU, a memory 57, and an input / output unit, and executes a computer program installed in advance to execute a plurality of vehicle control systems including a vehicle start support device. Configure an information processing circuit. The control unit 11 may also be used as an electronic control unit (ECU) used for other control related to the vehicle.

  In addition to the start determination circuit 52 and the attitude control circuit 55, the plurality of information processing circuits configured by the control unit 11 include the surrounding situation detection circuit 51, the driving behavior detection circuit 53, the scene determination circuit 54, and the actuation. A control circuit 56 and a support timing learning circuit 58 are included.

The scene determination circuit 54 determines the current scene of the vehicle from the map information including information on the road on which the vehicle can travel, the information on the current position of the vehicle, and the information indicating the planned travel route to the preset destination. . For example, a scene entering an intersection where a traffic signal is installed and a scene paused in front of the intersection are determined. The scene determination circuit 54 acquires map information including information on roads on which the vehicle can travel from the map database 12 and acquires information on the current position of the vehicle from the GPS 13. Furthermore, the scene determination circuit 54 acquires, from the navigation device 14, information indicating the planned travel route.
In order to obtain more detailed information on the current position of the vehicle, the scene determination circuit 54 may use SLAM (Simultaneous Localization And Mapping) to obtain a detailed position of the vehicle on the road. For example, the detailed position of the vehicle on the road can be obtained from the position information from the GPS 13, the map information of the map database 12, and the mapping information and the self position information acquired by the slum. Specifically, it is possible to obtain distance information in the vehicle width direction from the center line of the roadway or the curb to the host vehicle, and detailed position information for specifying the lane in which the vehicle travels.

  The surrounding condition detection circuit 51 detects a surrounding condition of the vehicle from detection results of various sensors that detect a person or an object around the vehicle. Specifically, pedestrians around the vehicle, bicycles, other vehicles, preceding vehicles ahead of the vehicle, oncoming vehicles and traffic lights, and white lines drawn on the road surface are detected. Examples of various sensors for detecting a person or an object around the vehicle include a camera 15 capable of capturing an image around the vehicle, an ultrasonic sensor 16, a laser range finder (LRF) 17, and a millimeter wave radar 18.

  For example, as shown in FIG. 2, the camera 15 is provided at the upper center of the front window, and can image the front of the vehicle through the front window. And a pair of LRF (17a, 17b) and millimeter wave radar 18 are respectively provided on the front fascia. FIG. 2 shows an example of mounting of a sensor for detecting the condition in front of the vehicle. In order to detect the side and the rear of the vehicle, a sensor may be further mounted.

  The driving behavior detection circuit 53 detects the driving behavior of the vehicle from the detection results of various sensors that detect the driving state of the vehicle. Specifically, right or left turn or straight ahead at an intersection, stop state, start, preparation for start is detected. As various sensors for detecting the driving state of the vehicle, for example, steering angle sensor 19, turn signal switch 20, inhibitor switch 21, brake pedal switch 22, parking brake (PKB) switch 23, wheel speed sensor 24, ignition (IGN) A switch 25 is included.

  The start determination circuit 52 determines whether the vehicle can be started from the situation around the vehicle detected by the surrounding condition detection circuit 51 when the vehicle is in the stop state. For example, there are no obstacles (pedestrians, bicycles, other cars) around the stopped vehicle, the distance to the preceding vehicle is extended, the color of the traffic light is green, or the distance to the oncoming vehicle If a predetermined condition, such as being separated by a safety distance or more, is satisfied, the start determination circuit 52 determines that the vehicle can be started.

  The start determination circuit 52 may determine the stop state of the vehicle from the detection result of the driving behavior detection circuit 53. Furthermore, it is possible to determine whether or not the vehicle can be started, in consideration of the traveling direction such as turning or straight going, which is determined from the information of the turn signal switch 20. For example, in the case of turning in a direction crossing the oncoming traffic lane at an intersection, the distance to the oncoming vehicle is determined. In addition, when you turn in a direction that does not straddle the oncoming traffic lane at an intersection, the vehicle is used based on the presence or absence of pedestrians and bicycles around the vehicle and the two-wheeled vehicle behind the vehicle to avoid involvement of pedestrians, bicycles and motorcycles. It can be determined whether it is possible to take off.

  When the start determination circuit 52 determines that the vehicle can be started, the posture control circuit 55 changes the posture of the vehicle body in the vertical direction without moving the vehicle. By changing the attitude of the vehicle body in the vertical direction while in the stopped state, it is possible to directly inform the driver that the vehicle can start.

  As specific control methods of the attitude of the vehicle body, the following three methods may be mentioned.

  As a first control method, the attitude control circuit 55 changes the attitude of the vehicle body of the vehicle in the stopped state by controlling the operation of the brake provided in the vehicle and the torque generated by the motor for driving the vehicle. Can. By applying torque in a state where the brake pressure is increased, a part of the vehicle body can be sunk or lifted up.

  As a second control method, the attitude control circuit 55 can change the attitude of the vehicle body in the stopped state by controlling the valve of the antilock brake system (ABS) provided in the vehicle. Since the wheels are locked because they are in the stopped state, by operating the ABS, the continuous locked state is suppressed, and the posture of the vehicle body is changed.

  As a third control method, the attitude control circuit 55 can change the attitude of the vehicle body of the vehicle in the stopped state by controlling the electronically controlled suspension of the vehicle.

  The actuation control circuit 56 controls various actuators provided in the vehicle based on an instruction from the attitude control circuit 55. Specifically, regarding the first control method, the actuation control circuit 56 controls the motor torque control unit 31, the brake control unit 32, the parking brake (PKB) control unit 33, and the brake pedal control unit 35. Regarding the third control method, the actuation control circuit 56 controls the suspension control unit 34.

  The motor torque control unit 31 controls the torque generated by the motor 36 that drives the vehicle. The brake control unit 32 controls the right front brake actuator 39 and the left front brake actuator 40 to independently adjust the brake pressure of the right front wheel and the left front wheel. The PKB control unit 33 controls the parking brake (PKB) actuator 37 to switch on / off the parking brake. The brake pedal control unit 35 controls the brake pedal actuator 38 to adjust the depression amount of the brake pedal. The suspension control unit 34 independently controls the front right suspension 41, the front left suspension 42, the rear right suspension 43, and the rear left suspension 44.

  The support timing learning circuit 58 learns a time (normal time) from when the start determination circuit 52 determines that the vehicle can start moving, to when the vehicle starts moving by the driver's driving operation. Since this normal time differs depending on the driver, by learning the normal time for each driver, it is possible to start the start support, that is, the posture change of the vehicle body at an appropriate timing.

  The memory 57 stores start support, that is, the position at which the attitude of the vehicle body has been changed, and the position on the map.

[Driving support when going straight (FF / FR)]
Next, a vehicle start support method using the vehicle start support device of FIG. 1 will be described. Here, a series of start support processing procedures by the control unit 11 from the recognition of the surrounding situation of the vehicle to the end of the posture change of the vehicle body will be described.

  In step S01, the driving behavior detection circuit 53 waits for the IGN switch 25 to be turned on. After the on state, the process proceeds to step S03, and the driving behavior detection circuit 53 waits for the vehicle to be in the stop state based on the detection value of the wheel speed sensor 24.

  If the vehicle is in the stopped state, the process proceeds to step S05, and the surrounding situation detection circuit 51 determines whether or not there is a preceding vehicle ahead of the vehicle. If there is a preceding vehicle, the process proceeds to step S07. If there is no preceding vehicle, the process proceeds to step S06.

  In step S06, the surrounding situation detection circuit 51 determines whether or not there is a traffic light, and if there is a traffic light, it is determined whether or not the color of the light is green. When the light color of the traffic light is green (YES in S06), the start determination circuit 52 determines that the start is possible, and proceeds to step S09. On the other hand, if there is no traffic light, or if the color of the traffic light is other than green, the process proceeds to step S13.

  On the other hand, in step S07, the surrounding situation detection circuit 51 determines whether the distance between the preceding vehicle and the vehicle in the stopped state is increasing, that is, whether or not the preceding vehicle has started. When the preceding vehicle has started, the start determination circuit 52 determines that the start is possible, and proceeds to step S09.

  In step S09, the driving behavior detection circuit 53 determines again from the detection value of the wheel speed sensor 24 whether or not the vehicle is in the stopped state. When the vehicle starts moving (NO in step S09), it can be determined that the driver has noticed the start of the preceding vehicle or the green light of the traffic light and has started the start operation by itself. Therefore, since it is not necessary to perform start support, the process proceeds to step S11, and the support timing learning circuit 58 starts the vehicle by the driver's driving operation after the start determination circuit 52 determines that the vehicle can be started. Learn the time until (usually time). Then, since it is not necessary to change the attitude of the vehicle body, the process proceeds to step S13 and the actuation control circuit 56 does not operate the actuator. The initial value of the normal time is, for example, 2 seconds.

  If the stopped state is maintained (YES in S09), the process proceeds to step S15, and the posture control circuit 55 determines whether or not the support timing time has elapsed since the start determination circuit 52 determines that the vehicle can be started. To judge. The support timing time is a time calculated based on the normal time learned by the support timing learning circuit 58, and is set to be longer than the normal time.

  If the support timing time has elapsed, the process proceeds to step S17 of FIG. 4, and if the support timing time has not elapsed, the process proceeds to step S13. In step S17, the driving behavior detection circuit 53 classifies the stop state into one of the following three.

Stop condition (1): Only brake pedal operation (shift position is drive range)
Stop state (2): Only parking brake operation Stop state (3): Brake pedal operation and parking brake operation

  If it is classified into the stop state (1), the process proceeds to step S19, and the posture control circuit 55 applies the brake pressure of the left and right front wheels. That is, the brake pressure is further increased with respect to the brake pressure by the brake pedal operation. Thereafter, the process proceeds to step S25. On the other hand, if it is classified into the stop state (2) or the stop state (3), the process proceeds to step S21, and the posture control circuit 55 applies the brake pressure of the left and right front wheels. Then, the process proceeds to step S23, and the posture control circuit 55 releases the parking brake. Thereafter, the process proceeds to step S25.

  In step S25, the posture control circuit 55 calculates the additional amount of torque generated by the motor. Here, the brake pressure and the torque amount to be added are calculated so that the posture of the vehicle body can be changed while the vehicle is maintained in the stop state. The posture control circuit 55 calculates the additional brake pressure and the torque addition amount so that the total value of the brake pressure by the brake operation and the additional brake pressure does not fall below the torque addition amount. At step S27, the posture control circuit 55 controls the motor to generate the calculated torque. In this way, when the vehicle in the stopped state can be started, by applying the brake and the motor torque, it is possible to change the posture of the vehicle body in the stopped state.

  FIG. 4 shows a flowchart in the case where the vehicle is a rear wheel drive vehicle (FR). If the vehicle is a rear-wheel drive vehicle, increase the brake pressure on the left and right front wheels and release the parking brake to brake the rear wheels. Then, the torque is transmitted to the rear wheels by the motor generating the torque. Thus, the posture control circuit 55 can sink the rear portion of the vehicle body relative to the front portion of the vehicle body, so that it is possible to directly transmit the driver's operation to start the vehicle. Therefore, since the driver intuitively understands that the vehicle can be started, the driver can be urged to perform the start operation in an easy-to-understand manner.

  After step S29, the end procedure of the attitude change of the vehicle body is performed. In step S29, it is determined whether it is in the stop state (1). If it is the stop state (1), the process proceeds to step S31, and it is determined whether the margin of the brake pedal has decreased. If the margin of the brake pedal has decreased (YES in S31), the process proceeds to step S39, and the procedure for ending the change in posture of the vehicle for promoting the start operation is advanced. When the vehicle is stopped by the operation of the brake pedal, it is possible to determine that the driver has started preparation for the start when the brake pedal that has been stepped on starts to be loosened, thus ending the change in attitude of the vehicle body for prompting the start operation. It is desirable to do. As a result, it is possible to suppress unnecessary control of the attitude of the vehicle body, which hinders the start operation, by changing the attitude of the vehicle body to prompt the start operation only when necessary. If the brake pedal is not turned off (NO in S31), since the stop state is maintained, the process returns to step S29.

  If it is not in the stopped state (1) (NO in S29), the process proceeds to step S33, and it is determined whether or not it is in the stopped state (2). If it is the stop state (2), the process proceeds to step S35, and it is determined whether the brake pedal is turned on. If the brake pedal is turned on (YES in S35), the process proceeds to step S39, and the procedure for ending the change in the posture of the vehicle for prompting the start operation is advanced. When the vehicle is stopped by the operation of the parking brake without operating the brake pedal, it can be determined that the driver has started the preparation for start by the start of the operation of the brake pedal. Therefore, immediately after the start of the operation of the brake pedal, it is possible to end the change in the posture of the vehicle body for prompting the start operation.

  If it is not the stop state (2) (NO in S33), it can be determined that the stop state (3), so the process proceeds to step S37, and it is determined whether the brake pedal is turned on. When the brake pedal is turned on (YES in S37), the process proceeds to step S39, and the procedure for ending the change in the posture of the vehicle for urging the start operation is advanced. On the other hand, if the brake pedal is not turned on (NO in S37), it is determined that the shift range is in the parking (P) range or the neutral (N) range or the parking brake is in operation. move on.

  In step S39, the application of the motor torque is first canceled in order to end the change in posture of the vehicle body. Thus, the attitude change of the vehicle body ends. At step S41, the brake pressure applied at S19 and S21 is also released. Thus, the procedure for ending the change in posture of the vehicle for prompting the start operation is completed.

  Thereafter, if the IGN switch 25 is not in the OFF state (NO in S43), the process returns to step S03 in FIG. If the IGN switch 25 is in the off state (YES in S43), the series of start support processing procedures of FIGS.

  Next, with reference to FIG. 5, a series of start support processing procedures when the vehicle is a front wheel drive vehicle (FF) will be described. In the case of a front wheel drive vehicle, the process proceeds along the flowchart of FIG. 5 instead of FIG. 4, but the flowchart of FIG. 3 is common to the front wheel drive vehicle and the rear wheel drive vehicle.

  In the case of a front wheel drive vehicle, the torque is transmitted to the front wheels by the motor generating the torque in a state where the parking brake is operated. Thus, the posture control circuit 55 can sink the rear portion of the vehicle body relative to the front portion of the vehicle body, so that it is possible to directly transmit the driver's operation to start the vehicle. Therefore, since the driver intuitively understands that the vehicle can be started, the driver can be urged to perform the start operation in an easy-to-understand manner.

  If the support timing time has elapsed, the process proceeds to step S17 in FIG. 5, and the driving behavior detection circuit 53 classifies the stop state into one of the three stop states described above.

  If the vehicle is classified into the stop state (1), since the vehicle is stopped only by the operation of the brake pedal, the process proceeds to step S51, and the posture control circuit 55 operates the parking brake. Thereafter, the process proceeds to step S25. On the other hand, if it is classified into the stop state (3), the process proceeds to step S21, and the posture control circuit 55 applies the brake pressure of the left and right front wheels. However, unlike rear-wheel drive vehicles, the parking brake is not released. Thereafter, the process proceeds to step S25.

  Thereafter, steps S25 to S39 are performed in the same manner as the rear wheel drive vehicle (FIG. 4). When the brake pedal is turned on in the stop state (3) (YES in S37), the brake pressure applied to the left and right front wheels is released before the process proceeds to step S39. Also, after step S39, in step S55, the operation of the parking brake is stopped.

[Driving support when turning left and right]
Next, with reference to FIG. 6 and FIG. 7, a control procedure for prompting the vehicle in the stopped state to start (right-left turn) will be described. In steps S01 and S03 of FIG. 6, the driving behavior detection circuit 53 confirms that the IGN switch 25 is turned on and the vehicle is in the stopped state from the detection value of the wheel speed sensor 24.

  Proceeding to step S101, the driving behavior detection circuit 53 determines whether the turn signal switch 20 is in the on state. If it is in the on state (YES in S101), it is predicted that the vehicle will turn to the left or right, so the process proceeds to step S103. If it is in the off state (NO in S101), the process returns to step S03.

  In step S103, the ambient condition detection circuit 51 monitors the color of the traffic light from the image captured by the camera 15. In step S105, the surrounding condition detection circuit 51 determines whether the light color is green. If it is green (YES in S105), the process proceeds to step S107, and if it is not green (NO in S105), the process returns to step S03.

  In step S107, the surrounding condition detection circuit 51 monitors an obstacle existing around the vehicle based on detection results of various sensors (15 to 18) that detect a person or an object around the vehicle. At this time, the turning direction determined from the information of the turn signal switch 20 is considered. In step S109, the surrounding condition detection circuit 51 determines whether there is an obstacle such as a pedestrian, a bicycle, or another vehicle around the vehicle.

  If there is an obstacle (YES in S109), the vehicle can not start, so the process returns to step S03. If there is no obstacle (NO in S109), the process proceeds to step S111, and the surrounding condition detection circuit 51 monitors an oncoming vehicle in front of the vehicle based on the detection results of the various sensors (15 to 18). In step S113, it is determined whether the distance to the oncoming vehicle is equal to or greater than the safety distance. If it is the safe distance or more (YES in S113), the process proceeds to step S115. If the safety distance is not over (NO in S113), the process returns to step S03.

  In step S115, the driving behavior detection circuit 53 determines again from the detection value of the wheel speed sensor 24 whether or not the vehicle is in the stopped state. When the vehicle starts moving (NO in step S115), it can be determined that the driver has noticed the green light of the traffic light and has started its own start operation. Therefore, since it is not necessary to perform start support, the process proceeds to step S11, and the support timing learning circuit 58 learns the normal time. Then, since it is not necessary to change the attitude of the vehicle body, the process proceeds to step S13 and the actuation control circuit 56 does not operate the actuator.

  When the stopped state is maintained (YES in S115), the process proceeds to step S15, and the posture control circuit 55 determines whether the support timing time has elapsed since the start determination circuit 52 determines that the vehicle can be started. To judge. If the support timing time has elapsed, the process proceeds to step S17 of FIG. 7, and if the support timing time has not elapsed, the process proceeds to step S13.

  Regardless of the classification results of the stop states (1) to (3), the process proceeds to step S117, and the posture control circuit 55 applies the brake pressure of only the front wheel on the bending side. That is, in the case of a right turn, only the brake pressure of the right front wheel is added, and in the case of a left turn, only the brake pressure of the left front wheel is added. Thereafter, the process proceeds to steps S25 and S27, and in the same manner as in FIGS. 4 and 5, the posture control circuit 55 controls the motor to generate the calculated torque. In this way, when the vehicle in the stopped state can start, the posture of the vehicle body can be changed by applying the brake and the motor torque.

  Specifically, a part of the vehicle body on which the vehicle travels can be sunk in comparison with other parts that are not the vehicle travel side. When making a right turn, the right front portion can be sunk relative to the left front portion. When turning left, the left front part can be sunk relative to the right front part. In this manner, the driver can be notified directly of the direction in which the vehicle bends by changing the sunk position on the left and right. Therefore, since the driver intuitively understands the direction in which the vehicle travels, it is possible to convey the direction in which the vehicle travels to the driver in an easy-to-understand manner.

  After step S29, as in the case of FIGS. 4 and 5, the end procedure of the attitude change of the vehicle body is performed. Steps S29 to S39 are performed to end the change in posture of the vehicle body. Thereafter, in step S53, the application of the front wheel brake pressure is released, and in step S55, the operation of the parking brake is released.

  Thereafter, if the IGN switch 25 is not in the off state (NO in S43), the process returns to step S03 in FIG. If the IGN switch 25 is in the off state (YES in S43), the series of start support processing procedures of FIGS.

  As described above, according to the embodiment, the following effects can be obtained.

  When it is determined that the vehicle can be started (S07, YES in S113), the posture control circuit 55 changes the posture of the vehicle body of the vehicle in the stopped state. This allows the driver to be notified directly of the action that the vehicle is about to take off. Therefore, since the driver intuitively understands that the vehicle can be started, the driver can be urged to perform the start operation in an easy-to-understand manner.

  The attitude control circuit 55 can change the attitude of the vehicle body of the vehicle in the stopped state by controlling the operation of the brake provided in the vehicle and the torque generated by the motor for driving the vehicle. Thus, the driver can be notified directly of the action that the vehicle is about to take off.

  The attitude control circuit 55 can change the attitude of the vehicle body in the stopped state by controlling the valve of the antilock brake system. Thus, the driver can be notified directly of the action that the vehicle is about to take off.

  The attitude control circuit 55 can change the attitude of the vehicle body of the vehicle in the stopped state by controlling the electronically controlled suspension. Thus, the driver can be notified directly of the action that the vehicle is about to take off.

  The posture control circuit 55 can directly convey to the driver the action that the vehicle is about to start by sinking the rear of the vehicle body relative to the front of the vehicle body. Therefore, since the driver intuitively understands that the vehicle can be started, the driver can be urged to perform the start operation in an easy-to-understand manner.

  The posture control circuit 55 allows the driver to move in the direction in which the vehicle is about to start by sinking a part of the vehicle body on the side on which the vehicle travels compared to the other portions on which the vehicle does not travel. Directly to you. Therefore, since the driver intuitively understands the direction in which the vehicle travels, it is possible to convey the direction in which the vehicle travels to the driver in an easy-to-understand manner.

  When the vehicle is stopped by the operation of the brake pedal, it can be determined that the driver has started preparation for the start by decreasing the margin of the brake pedal (YES in S31), so the posture of the vehicle body for promoting the start operation. You can end the change. It is possible to suppress unnecessary control of the attitude of the vehicle body that interferes with the start operation, by implementing the attitude change of the vehicle body to urge the start operation only when necessary.

  When the vehicle is stopped by the operation of the parking brake without operating the brake pedal, it can be determined that the driver has started the preparation for start by the start of operation of the brake pedal (YES in S35 and S37). Changes in the attitude of the vehicle to urge It is possible to suppress unnecessary control of the attitude of the vehicle body that interferes with the start operation, by implementing the attitude change of the vehicle body to urge the start operation only when necessary.

  Although the contents of the present invention have been described above according to the embodiments, the present invention is not limited to these descriptions, and it is obvious to those skilled in the art that various modifications and improvements are possible.

  Although the start support processing procedure shown in FIGS. 4 to 7 shows the case where the posture of the vehicle body is changed by the addition of the motor torque and the brake pressure, it can be similarly realized by the suspension control and the ABS valve control. It is.

  In addition, the vehicle start support device according to the embodiment is also applicable to the running condition of Turn ON Red and four-way stop. "Turn on red" indicates a traffic rule that can turn in a direction that does not straddle the oncoming lane even if the color of the traffic light at the intersection is red. "Four way stop" indicates a traffic rule that has a stop sign on all roads entering an intersection and can pass through the intersection in the order of stopping. Also in these road conditions, when the stopped state of the vehicle is confirmed, the vehicle start support device determines the possibility of starting from the situation around the vehicle and changes the posture of the vehicle body when the vehicle can be started, The driver can be urged to perform a start operation.

  In addition, although the state of the brake pedal switch 22 is used as the determination criterion of the end of the posture change of the vehicle body, the present invention is not limited to this. For example, the brake pressure may be set to a reference value to determine the on / off state. Alternatively, regardless of the state of the brake pedal and the brake pressure, when the vehicle moves, for example, by about 5 cm, the vehicle is not in the stopped state, and therefore, the change in posture of the vehicle body may be ended.

  The posture change of the vehicle body may be repeated. By performing, for example, two or three consecutive sinking operations before the start operation is performed, the start operation is promoted.

11 Control unit (vehicle start support device)
52 Start determination circuit 55 Attitude control circuit 36 Motor

Claims (4)

A vehicle start support device for urging a driver of a vehicle in a stopped state to perform a start operation,
A start determination circuit that determines whether or not the vehicle can start from the situation around the vehicle;
When the start determination circuit determines that the vehicle can start , the control of the operation of the brake provided in the vehicle and the torque generated by the motor for driving the vehicle is controlled to keep the stopped state of the vehicle. A posture control circuit which promotes the start operation by changing the posture of the vehicle body;
A vehicle start support device comprising: When the posture of the vehicle body is changed in a state where the vehicle is stopped by operating the brake pedal by the driver, the posture control circuit is configured to reduce the size of the vehicle body if the margin of the brake pedal decreases. The vehicle start support device according to claim 1, wherein the attitude change is ended . The posture control circuit operates the brake pedal when the posture of the vehicle body is changed in a state where the vehicle is stopped by operating the parking brake without the driver operating the brake pedal. 2. The vehicle start support device according to claim 1 , wherein the attitude change of the vehicle body is ended after the start of the vehicle movement. From the situation around the vehicle, it is judged whether the vehicle in the stop state can start.
When it is determined that the vehicle can be started, the operation of the brake provided in the vehicle and the torque generated by the motor for driving the vehicle are controlled to change the posture of the vehicle body of the vehicle while the stopped state is maintained. And a driver's driver of the vehicle is urged to perform a start operation.

Images