JPH0670839B2 - Driving guidance instruction method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a driving guidance instructing method, and in particular, it correctly guides driving even when a situation in which the actual moving direction of the vehicle is different from the moving direction of the vehicle due to the shift lever operation. Related to a driving guidance instruction method capable of performing.

<Prior Art> Data for indicating a basic driving travel locus is stored in a memory in advance, and a driving guidance instructing device for a vehicle that displays on a display a steering wheel correction rotation amount for performing driving that follows the basic travel locus. There is.

In such a driving guidance instructing device, a sensor for detecting a traveling locus of the vehicle is mounted on the vehicle, for example, a sensor for detecting a traveling distance is mounted at a position related to a wheel, and a steering wheel rotating direction and a steering wheel rotating angle are detected. A sensor is attached to the steering wheel, and a sensor that detects the traveling direction of the vehicle (referred to as the operation direction) by operating the shift lever is attached to the shift lever or the backlight so that a good driver can drive the vehicle to the desired location. In parallel with the driving, the steering wheel rotation angle and the traveling direction according to the traveling distance are read from each sensor and stored in a memory as a basic traveling locus.

FIG. 7 shows a basic traveling locus (0 → 1 → 2 → ・ ・ ・ ・ ・ → 19) when guiding the car CAR to the garage PRK (garage entry), and moves forward to the point 10, After that, a case is shown in which the vehicle is moved backward to complete garage entry.

FIG. 8 is an explanatory view of basic traveling locus data stored in the memory and corresponds to FIG. 7. Initial position 0 (7th
From the figure), one pulse is generated from the distance sensor each time the vehicle moves and reaches each of the points 1 to 19 (moves a predetermined distance), and the memory address is changed from A ₀ each time the pulse is generated.
A ₁ , A ₂ , ・ ・ ・ ・ A _{19 step} by step (Fig. 8), each point 0 to 19
The steering wheel rotation amount H _B and the data D _B (F: forward, R: backward) indicating the forward and backward operating directions of the shift lever are stored in the storage areas designated by the memory addresses A _{0 to} A ₁₉ , respectively, and “GO” data (“101”) indicating “with data” is stored in the storage area, and D _B = 0, H _B = 0 in the storage area designated by the next address A ₂₀ when the basic traveling locus registration is completed. , G
O = 000 is stored and basic travel locus data is generated in the memory.

In this way, when the basic traveling locus data is stored in the memory, when an amateur drives based on the basic traveling locus, the vehicle moves from the initial position 0 (called follow-up driving) and a pulse is generated from the distance sensor. Each time the memory address is stepped, the basic handle rotation angle H _B and the operation direction data D _B are read from the storage area designated by the address, and the operation direction (forward or backward movement of the shift lever) is determined by the operation direction data D _B. At the same time as displaying, the basic steering wheel rotation angle H _B is compared with the actual steering wheel rotation angle H _A, and the comparison result is transmitted to the driver through the display provided in the vehicle interior, and the driver is used to correct the steering wheel rotation. Then, the basic traveling locus approximates the actual traveling locus. Then, after that, the "GO" data is "00".
The same driving guidance is performed until it reaches 0 ", and the vehicle moves following the basic travel path.

Then, in parallel with the following operation process, the actual operation direction is compared with the basic operation direction read from the memory, and if they match, nothing is done, but if they are different, the operation direction switching point is passed. The driver gives a warning by stopping the car in a hurry and sounding a buzzer to move the shift lever backward.

<Problems to be Solved by the Invention> As described above, in the driving guidance instructing device that stores the basic traveling locus data in the memory and causes the operation to follow the basic traveling locus, the vehicle accurately travels according to the basic driving. It is necessary to store the trajectory data in the memory and to correctly call the traveling trajectory data from the memory in accordance with the follow-up operation.

However, when the traveling ground is flat, the basic traveling locus data can be accurately stored in the memory and the basic traveling locus data can be read from the memory without any problem. However, when traveling on an inclined slope or a place with a step, the vehicle may move naturally in the direction opposite to the traveling direction (operating direction) selected by operating the shift lever. In some cases, the trajectory data cannot be stored in the memory, or the basic travel trajectory data cannot be retrieved from the memory.

For example, if there is a garage in the middle of a slope and the vehicle is stopped in the middle of the slope, the car may naturally retract in a direction different from the operating direction depending on the operation of the brake or the clutch. Also, if there is a step, when the tire goes over the step when the tire goes over the step, it falls in front of the step due to the change in the accelerator amount and is in a direction different from the operation direction (forward direction). There are things that naturally proceed.
When such a natural movement does not occur when the basic travel locus data is created and occurs during the follow-up operation, the travel distance during the follow-up operation increases, and the increased address is incremented. The response to the above will be messed up and accurate driving guidance will not be possible.

Also, if natural movement occurs when the basic travel locus data is created, and if the natural movement does not occur during follow-up operation, the correspondence between the vehicle position and the memory address will also change and accurate driving guidance will not be possible. .

Furthermore, if the natural movement occurs at different points during the creation of the basic travel locus data and the follow-up operation, or if the movement distance differs even if the natural movement occurs at the same point, the correspondence between the vehicle position and the memory address will be the same. It will not be possible to get off and accurate driving guidance will not be possible.

From the above, an object of the present invention is to provide a driving guidance instructing method capable of correctly instructing a guided driving even if natural movement occurs during basic driving or following driving.

<Means for Solving Problems> FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention.

11 is a processor, 12 is a non-volatile memory (for example, RAM for battery backup), 13 is an operation panel, 14 is a steering wheel sensor that is mounted on the steering wheel column and detects the rotation angle of the steering wheel, and 15 is every time the vehicle moves a predetermined distance. A wheel sensor (distance sensor) that generates a pulse W and movement direction data S, 16 is an operation direction sensor that detects the traveling direction (operation direction) of the vehicle by the shift lever, 17 is a display driver,
18 is a buzzer and 19 is an indicator.

<Operation> A pulse W is generated each time the vehicle moves for a predetermined distance, and
Distance sensor that produces a signal S indicating the actual direction of travel of the vehicle
15 is provided, and when the actual traveling direction of the vehicle is different from the operating direction during the basic operation traveling and the following operation, the number of pulses W generated from the distance sensor 15 until they coincide with each other,
It is monitored whether or not the number of pulses W generated after the actual movement direction of the vehicle coincides with the operation direction becomes equal, and the address of the non-volatile memory 12 is determined based on the pulse W generated by the distance sensor 15 after the equalization. Stepping is performed, the basic traveling locus data is read from the memory, and a driving guidance instruction is given.

<Embodiment> FIG. 1 is a block diagram of a driving guidance instructing apparatus according to the present invention. 11 is a processor for performing processing for driving guidance instruction and other processing, 12 is (i) basic traveling locus data and ( ii) A non-volatile memory (for example, a battery backup RAM) that stores a correspondence table showing the relationship between the steering wheel correction rotation amount and an index (to be described later) to be turned on, and 13 is used to start / end registration of the basic travel locus. Operation according to the switches 13a, 13b and the basic travel path (following operation)
An operation panel equipped with an inductive driving start switch 13c for performing the operation, 14 is a steering wheel sensor mounted on the steering wheel column to detect the rotation angle of the steering wheel, and 15 is the rotation of the wheel for every predetermined rotation of the wheel (predetermined). A wheel sensor (distance sensor) that generates one distance pulse W and a signal S indicating the actual moving direction of the vehicle for each distance movement, 16 is the traveling direction of the vehicle by operating the shift lever by turning on / off the backlight. An operation direction sensor for detecting (operation direction), 17 is a display driver, 18 is a buzzer for instructing switching of the traveling direction, and 19 is a display for performing correction rotation amount display of the steering wheel, traveling direction display and the like.

As shown in FIG. 2 (a), the distance sensor 16 is arranged so as to be shifted in phase by π / 2 from the rotating body RB that rotates integrally with the wheel and has magnetized portions MS formed at a predetermined pitch in the circumferential direction. Then, the signals P _A and P _B (second
Pick-up unit PU such as Hall element that generates figure (b))
1, PU2 and 1 for each predetermined rotation of the wheel (for each predetermined movement of the car)
It is composed of individual pulses W and a circuit section CIR for generating the actual movement direction signal S at that time. When the phase of the pulse P _A is ahead of the phase of the pulse P _B , the moving direction of the vehicle is forward (S = “1”), and when the phase of P _B is ahead of the phase of pulse P _A. It is assumed that the vehicle is moving backward (S = "0").

The display unit 19 has a symmetrical optical index pattern 19a in which the graduation portion is substantially a circle and a part of which is cut off below, and display units 19b and 19c indicating forward (FWD) and backward (REV) of the vehicle. . Each index of index pattern 19a SI ₀ , SR ₁ ~ SR ₁₀ , SL ₁ ~ SL ₁₀
Are made up of LEDs (light emitting diodes),
Only the index SI _{0 in the} upper center part is circular, and the other indices are rectangular. Indicator SI ₀ is green and indicators SR _{1 to} SR
₆ and SL _{1 to} SL ₆ are yellow and have indicators SR _{7 to} SR ₁₀ and SL _{7 to} SL _10.
Is displayed in red. Further, the index SI ₀ indicates the steering wheel correction rotation amount zero position, and the left correction rotation amount of the steering wheel is non-linearly indicated by the indexes SL _{1 to} SL ₁₀ arranged at equal intervals in the clockwise direction from the _zero index SI ₀ , and Similarly, the steering wheel right correction rotation amount is non-linearly indicated by the indexes SR _{1 to} SR ₁₀ arranged at equal intervals in the counterclockwise direction from the zero index SI ₀ . That is, when the correction rotation amount of the steering wheel is small, the change of the scale (handle correction amount) of each index is small, and when the correction rotation amount of the steering wheel is large, the scale of each index is large. ing.

FIG. 3 is a correspondence diagram between the index NO. And the steering wheel correction rotation amount. The index SI ₀ is NO. ₀ , the indexes SR _{1 to} SR ₁₀ are NO. 1 to NO. ₁₀ ,
The indexes SL _{1 to} SL ₁₀ are shown as NO.1 ′ to NO.10 ′.

FIG. 4 is a flowchart of the basic traveling locus registration processing, and FIG. 5 is a flowchart of the follow-up driving processing. 1st according to each flow chart
The overall operation of the figure will be described.

(A) Basic traveling locus registration processing When the basic traveling locus registration switch 13a (Fig. 1) is operated to enter the registration mode, the processor 11 initializes (step 101). For example, the flag F _{NG is set} to “0” (“0” → F _NG ) or the address indicated by the address pointer is set to the initial address A ₀ (A ₀ → A).

After that, a good driver drives and moves the automobile toward a desired place (for example, a garage). In parallel with such a basic operation, the processor 11 reads the outputs (the handle rotation amount H _B , the distance pulse W and the moving direction S, the operation direction D _B ) of the respective sensors 14 to 16 (step 102), and also from the distance sensor 15. It is checked whether the pulse W is generated (step 103).

If the pulse W is not generated, in other words, if the vehicle is not moving for the predetermined distance, step 102 is executed until the pulse is generated.
If the following processes are repeated and if they occur, it is checked whether the operation direction (F / R data) read from the operation direction sensor 16 and the actual movement direction output from the distance sensor 15 match (step 104).

If they match, it is considered that there is no natural movement (eg, backward movement on a slope or falling movement on a step), and then it is checked whether the flag F _NG is “0” (step 1
05). This flag F _NG is "1" when there is a natural movement.
Is set to and is reset to "0" when the car is returned to the start position of natural movement.

If there is no natural movement, F _NG = “0”, so the processor 11 reads from the sensors 14 and 16 (i) steering wheel rotation amount H _B and (ii) operation direction D _B (forward is F, backward) Stores R) and (iii) “GO” data (for example, “101”) indicating “there is data” in the storage area of the non-volatile memory 12 designated by the address pointer (step 106), and then A + 1 → A The address of the address pointer is incremented (step 107), and then the processing of step 102 and subsequent steps is repeated.

On the other hand, if natural movement occurs and the operation direction and the actual movement direction are different in step 104, the processor
It is checked whether F _NG = “1” (step 108).

If the distance pulse W is the one generated first by natural movement, F _NG = “0”, and therefore “NO” in step 108, whereby the processor 11 contents of the memory address (address pointer). A is set to A _NG, and the memory address A _NG when the natural movement occurs is stored (step 1
09). Then, the processor 11 sets "1" → F _NG (step 110), decrements the address A of the address pointer by A-1 → A (step 111), and thereafter repeats the processing from step 102 onward. On the other hand, step 108
In the case, if the distance pulse W is not the first pulse generated by the natural movement, then F _NG = “1”, so the processor 11
Decrements the contents of the address pointer in step 111, and thereafter repeats the processing from step 102.

From the above, for example, when the content of the address pointer APN is Ai, as shown in FIG. 6, if natural movement occurs and three distance pulses W are generated, the address A indicated by the address pointer becomes i _-3. .

In such a state, when the vehicle notices that the vehicle is moving naturally and stops the natural movement, and then performs an accelerator operation to move the vehicle in the operating direction, the vehicle advances in the operating direction and moves away from the distance sensor 15. The pulse W and the moving direction data S are output. As a result, “YES” is obtained in steps 103 and 104, and the processor makes the determination in step 105.

The flag F _NG = “1” is set at the time when the movement of the vehicle is stopped due to the natural movement and then the distance pulse W is generated for the first time when the vehicle moves in the operation direction. Therefore, the determination in step 105 is “NO”. Become. As a result, the processor 11 checks whether the address A indicated by the address pointer matches the address A _NG when the natural movement occurs (step 112), and if they do not match, increments the address by A + 1 → A (step 113) and subsequent steps. Repeat the processing from 102 onward. After that, steps 102 → 103 → 104 → until A = A _NG
The process of 105 → 112 → 113 is continued. The number of distance pulses W generated by the natural movement (3 in the example of FIG. 6).
And the number of distance pulses W generated after the moving direction of the vehicle coincides with the operating direction becomes A = A _NG (A = A _NG = Ai in the example of FIG. 6).

If A = A _NG and then a pulse is generated by further moving in the operation direction, “YES” is determined in step 112. As a result, the processor 11 _{changes from} “0” to F _NG (step 114) and performs the processing from step 106 onward to detect the sensor 14,1.
(I) Handle rotation amount H _B read from 6 and (ii)
The operation direction D _B and (iii) “GO” data indicating “there is data” are stored in the memory area of the memory 12 designated by the address pointer, and the address is incremented, and thereafter, the processing from step 102 onward is repeated.

After that, the above registration processing is performed, and when the registration end switch 13b is finally pressed, the basic traveling locus registration processing is ended.

(B) Follow-up operation processing In the state where the basic travel locus is registered in the nonvolatile memory 12 by the above operation, the vehicle is moved to the initial position,
Then, the follow-up operation start switch 13c is operated to start the follow-up operation and start the follow-up operation.

When the follow-up operation is activated, the processor 11 initializes various values (for example, the address is initialized to A ₀ , the flag F _NG is initialized to “0”), and the hand cell sensor 14 at the initial position 0 of the vehicle and The output of the operation direction sensor 16 is read and the current handle rotation amount H _A and the operation direction (forward / reverse)
D _A (step 201).

Then, the processor 11 reads the basic handle rotation amount H _B indicated by the initial address AP ₀ , the operation direction D _B , and the GO data from the nonvolatile memory 12 (step 202).

After that, the processor 11 checks whether the distance pulse W is generated from the distance sensor 15 (step 203).

If the distance pulse has not been generated, in other words, if the vehicle has not moved the predetermined distance since the last pulse W was generated, the result in step 203 is "NO". Therefore, the processor checks whether the basic operation direction D _B is the forward direction (F) (step 204), and if it is the forward direction, the display driver 17
To turn on the “FWD” part 19b of the display unit 19 (step 20
5) If the vehicle is moving backward, similarly, the "REV" portion 19b of the display 19 is turned on (step 206).

The processor then checks if the actual handle rotation amount H _A is equal to the basic handle rotation amount H _B (step 20
7) If they are not equal, the index SI ₀ indicating the corrected rotation amount of zero in the index pattern 19a on the display 19 is turned on (step 2
08).

However, if H _A ≠ H _B , the corrected rotation amount H is calculated by the following formula H = H _B −H _A , and the index corresponding to the corrected rotation amount H is stored in the non-volatile memory 12. All indexes from 0 to H obtained from the index table are turned on (step 209). That is, if H is positive, the indicators SR _{1 to} SRi on the left side of FIG. ₁ are lit to indicate the right steering wheel correction rotation amount,
If H is negative, the indicators SL _{1 to} SLi on the right side are turned on to indicate the left steering wheel correction rotation amount. As a result, when the handle is rotated in a direction in which the handle correction rotation amount decreases, for example, when the handles are rotated counterclockwise while the indicators SL ₁ to SL ₅ are lit as shown in FIG. As the rotation amount decreases, the indicator gradually turns off in the order of SL ₅ → SL ₄ → SL ₃ → SL ₂ → SL _1, and finally the corrected rotation amount becomes zero and only the indicator SI ₀ lights up.

After that, steps 201 to 209 until the distance pulse W is generated.
The process of is repeated. Then, if the distance pulse W is generated during the above processing, "YES" is determined in step 203.
As a result, the processor 11 causes the operation direction data D _B (F / R data) read from the operation direction sensor 16 and the distance sensor
It is checked whether the actual movement directions output from 15 match (step 210).

If they match, it is considered that no natural movement has occurred, and then it is checked whether the flag F _NG is "0" (step 211). The flag F _NG is set to "1" when there is a natural movement, and is reset to "0" when the vehicle is returned to the start position of the natural movement.

If no natural movement has occurred, the address of the address pointer is incremented by A + 1 → A (step 212), and the processes of steps 201 to 208 are repeated until the next distance pulse W is generated. As a result, the current operating direction and the steering wheel correction rotation amount are displayed on the display device 19.

On the other hand, if the distance pulse W is generated by the natural movement, the operation direction and the actual movement direction are different from each other in step 210, and the result is “NO”. This causes the processor to
_{It is} checked whether _NG = "1" (step 213).

If the distance pulse W is the one generated first by natural movement, F _NG = “0”, and therefore “NO” in step 213, which causes the processor 11 to read the contents of the memory address (address pointer). A is set to A _NG, and the memory address A _NG when the natural movement occurs is stored (step 2
14). Then, the processor 11 sets “1” → F _NG (step 215) and sets the reference traveling data to be compared with the actual traveling data as the actual traveling data when the natural movement occurs (operation direction D _A , steering wheel rotation amount). H _A ) (step 216). In addition, normally, the reference traveling data to be compared with the actual traveling data is the basic traveling data (operation direction D _B , steering wheel rotation amount H _B ) read from the nonvolatile memory 12.

Thereafter, the processor 11 decrements the address A of the address pointer by A-1 → A (step 21
7) After that, the processing from step 201 onward is repeated. When the flag F _NG = “1”, the reference travel data is the actual travel data when the natural movement occurs as described above, and therefore, the steering wheel rotation amount is secured at the start of the natural movement by the processing of step 204 and subsequent steps. Thus, the steering wheel correction rotation amount is displayed and guided. In other words, if the vehicle moves backward by natural movement, the vehicle is lowered in the same direction as when natural movement was disclosed, and the vehicle is prevented from heading in other directions midway.

On the other hand, in step 213, if the distance pulse W is not the first pulse generated by natural movement, the result is “YES” in that step, and the processor immediately proceeds to step 217.
Decrement the contents of the address pointer at
After that, the processes after step 201 are repeated.

In such a state, when the vehicle notices that the vehicle is moving naturally and stops the natural movement, and then performs an accelerator operation to move the vehicle in the operating direction, the vehicle follows the backward trajectory in the operating direction in the opposite direction. Distance pulse W from the distance sensor 15
And the moving direction data S are output. As a result, “YES” is obtained in steps 203 and 210, and the processor makes the determination in step 211.

When the movement of the vehicle stops due to natural movement and then the distance pulse W is generated in the operation direction for the first time, the flag F _NG = “1” is set. Therefore, the determination in step 211 is “NO”. Become. Thus, the processor 11 checks whether the address A indicated by the address pointer matches the address A _NG when the natural movement occurs (step 218), and if not, increments the address by A + 1 → A (step 212) and thereafter. The processing from step 201 onward is repeated. After that, step 201 → 202 → 203 until A = A _NG
→ 210 → 211 → 218 → 212 processing is continued. Then, when the number of distance pulses W generated by natural movement becomes equal to the number of distance pulses W generated after the moving direction of the vehicle coincides with the operation direction, A = A _NG .

If A = A _NG and then a pulse is generated by further moving in the operation direction, “YES” is determined in step 218. As a result, the processor 11 sets “0” → F _NG (step 219) and reads the basic travel data to be compared with the travel data from the memory 12 as the basic travel data (operation direction).
D _B and handle rotation amount H _B ) (step 220).

As a result, the state before the occurrence of the natural movement occurs, and thereafter, the address is incremented in step 212 and the processing of step 201 and thereafter is repeated.

Then, when the memory data indicating the basic traveling locus is completed, the follow-up operation processing is completed.

In the above-mentioned basic travel locus registration operation processing and follow-up operation processing, the memory address at the start of natural movement is set to A
_It is stored as _NG , the address is decremented by the natural movement, the address is incremented by the movement in the operation direction after the stop, and when A = A _NG , it is judged that it has returned to the position before the start of the natural movement. However, when a counter is provided and the distance pulse W generated by natural movement is counted up, and the distance pulse W generated by movement in the operation direction after the natural movement is stopped is counted down and the content of the counter becomes zero. You may make it judge that it returned to the position before the start of natural movement.

<Advantages of the Invention> According to the present invention, when the actual traveling direction of the vehicle is different from the operating direction during the basic operation traveling and the follow-up operation, respectively, the number of distance pulses generated from different to coincidence with , Monitors whether the number of distance pulses generated after the moving direction of the vehicle coincides with the operation direction becomes equal, and when the number becomes equal, the memory address is stepped based on the pulse generated by the distance sensor Since it is configured to store the basic travel data from the memory or to store the basic travel data from the memory, even if natural movement occurs on a slope or a step road, error data will be mixed into the basic travel trajectory data at the time of registration, or memory will be stored at the time of follow-up operation. It is possible to correctly instruct the guidance operation without advancing the address and reading the error data because the traveling position and the memory address cannot be associated with each other.

Also, during guided driving, when the driver stops following the guidance instruction because the speed is too fast and the vehicle is suddenly braked and stopped, the vehicle sways back and forth. Even if the error occurs, the address does not advance and the induced operation error can be reduced. Furthermore, even if the brake is applied and stopped, if the operating direction is switched with the shift lever, the engine torque transmission to the wheels will change and the car will sway slightly back and forth. Therefore, the induced operation error can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention, FIG. 2 is an explanatory diagram of a distance sensor, FIG. 3 is a correspondence table of a steering wheel correction rotation amount and a lighting index, and a fourth table. FIG. 5 is a flow chart of the registration process of the basic travel locus, FIG. 5 is a flow diagram of the follow-up driving process, FIG. 6 is an explanatory diagram of the registration process of the basic travel locus when natural movement occurs, and FIGS. FIG. 7 is an explanatory diagram of the background of the invention, FIG. 7 is an explanatory diagram of a basic traveling locus, and FIG. 8 is a basic traveling locus data configuration diagram. 11 …… Processor, 12 …… Nonvolatile memory 14 …… Handle sensor, 15 …… Distance sensor, 16 …… Operating direction sensor, 18 …… Display

Claims (1)

[Claims] 1. During follow-up operation, basic steering wheel rotation amount and traveling direction data are read from a storage area designated by a memory address that is stepped each time the vehicle moves a predetermined distance, and the shift lever is based on the traveling direction data. In addition to instructing the forward and reverse operation directions by, the driving guidance instructing method that displays the steering wheel correction rotation amount for performing the operation that follows the basic travel path from the basic steering wheel rotation amount and the actual steering wheel rotation amount. Provided with an operation direction detection sensor that detects the forward and backward operation directions of the vehicle by lever operation, and a distance sensor that generates a pulse each time the vehicle moves a predetermined distance and generates a signal that indicates the actual moving direction of the vehicle. If the actual movement direction of the car and the forward / reverse operation direction by operating the shift lever are different, the above-mentioned patterns generated from the different to the matching Monitor whether the number of pulses and the number of pulses generated after the actual movement direction of the vehicle coincides with the operation direction are equal, and based on the pulse generated from the distance sensor after the equalization, the memory address A method for instructing driving guidance, which comprises stepping.