WO2013171970A1 - Dispositif d'assistance au déplacement pour un véhicule - Google Patents

Dispositif d'assistance au déplacement pour un véhicule Download PDF

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Publication number
WO2013171970A1
WO2013171970A1 PCT/JP2013/002517 JP2013002517W WO2013171970A1 WO 2013171970 A1 WO2013171970 A1 WO 2013171970A1 JP 2013002517 W JP2013002517 W JP 2013002517W WO 2013171970 A1 WO2013171970 A1 WO 2013171970A1
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WO
WIPO (PCT)
Prior art keywords
driver
vehicle
emotion
information
support control
Prior art date
Application number
PCT/JP2013/002517
Other languages
English (en)
Japanese (ja)
Inventor
橋本　隆志
雅夫 山根
渡辺　省吾
拓良 柳
則政 岸
Original Assignee
日産自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日産自動車株式会社 filed Critical 日産自動車株式会社
Priority to JP2014515478A priority Critical patent/JP5874822B2/ja
Publication of WO2013171970A1 publication Critical patent/WO2013171970A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/20—Indexing codes relating to the driver or the passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/20—Indexing codes relating to the driver or the passengers
    • B60Q2300/21—Manual control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/221—Physiology, e.g. weight, heartbeat, health or special needs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the present invention relates to a vehicle travel support device, and in particular, a database that can store map information and support control in association with each other is prepared for each vehicle or driver, and more accurate travel support can be performed by using the database. It is what I did.
  • the apparatus described in Patent Document 1 is an information providing apparatus for providing information that satisfies a user's preference that changes in accordance with a traveling purpose. Specifically, a travel history is created and accumulated from travel information including at least the position of the traveling vehicle, and a travel purpose of the user who travels the vehicle is estimated based on the accumulated travel history. Then, by referring to the correspondence relationship that associates the travel purpose with the attribute of the information that matches the travel purpose, information having an attribute corresponding to the estimated travel purpose is selected, and the selected information is selected by the user. It is to provide to.
  • the device described in Patent Document 1 is capable of providing information that can satisfy the user's preference that changes according to the purpose of travel by the above configuration.
  • the present invention was made paying attention to such an unsolved problem in the above-described conventional technology, and prepares a database that can store map information and support control in association with each vehicle or each driver, It is an object of the present invention to provide a vehicular driving support apparatus that can provide more appropriate driving support by using the database.
  • a vehicle travel support device associates map information with the content of support control and stores the map information in a map information storage unit, so The map information storage unit is searched according to the stop position and the parking position) to obtain the support control corresponding to the current position, and while executing the acquired support control, the driver's emotion is detected and executed.
  • the content of the assist control to be corrected was changed according to the detected emotion of the driver.
  • the driver's emotion is accurately reflected. It is possible to execute the support control.
  • FIG. 1 is a block diagram showing the overall configuration of a vehicular travel support apparatus 1 according to the first embodiment of the present invention. That is, the vehicle travel support apparatus 1 of the present embodiment includes a controller 10 that includes a vehicle-mounted microcomputer or the like.
  • the controller 10 includes necessary interface circuits, ROM, RAM and the like in addition to the microcomputer.
  • An external storage device 11 constituting the database DB is connected to the controller 10 so that input / output is possible.
  • the external storage device 11 for example, a large-capacity storage layer such as a hard disk device or a DVD device mounted on a known in-vehicle navigation device can be applied.
  • the vehicular driving support apparatus 1 has a microphone 12 disposed in the passenger compartment, particularly near the driver's seat (a position where the driver's voice can be picked up), and an audio signal SA detected by the microphone 12 is obtained. , And is supplied to the controller 10. Various signals are supplied to the controller 10 from a GPS (Global Positioning System) antenna 13, a vehicle speed sensor 14, and a foot brake switch 15.
  • GPS Global Positioning System
  • a GPS signal G necessary for calculating latitude and longitude is supplied to the controller 10.
  • the GPS antenna 13 may be newly provided for the vehicular driving support apparatus 1.
  • the signal of the GPS antenna 13 is directly transmitted to the controller 10.
  • the vehicle position information (latitude and longitude) already obtained by calculation in the in-vehicle navigation device may be supplied to the controller 10.
  • the vehicle speed sensor 14 is composed of, for example, a wheel speed sensor provided on each wheel, and wheel speed signals VFL to VRR including pulse signals corresponding to the rotation speed of each wheel are supplied to the controller 10 from each wheel speed sensor. Is done. Based on the wheel speed signals VFL to VRR, the controller 10 obtains the vehicle speed V according to a calculation rule such as select high (selects a value with the highest vehicle speed), for example.
  • the foot brake switch 15 supplies the controller 10 with a foot brake operation signal BS that can distinguish whether or not the driver is operating a foot brake (not shown).
  • the controller 10 determines whether or not the driver is operating the foot brake based on the foot brake operation signal BS. Further, an automatic transmission control unit 20 and a display unit 21 are connected to the controller 10.
  • the automatic transmission control unit 20 is a device that controls the state of, for example, a belt-type continuously variable transmission, and controls the transmission gear ratio based on the driving state (depressed state of the accelerator, etc.).
  • the controller 10 causes the automatic transmission control unit 20 to execute the overdrive prohibition process for prohibiting the state of the transmission from shifting to overdrive as a result of the arithmetic processing described later.
  • an overdrive inhibition signal ODOFF is supplied.
  • the controller 10 displays a display control signal for displaying that the overdrive prohibition process is to be performed on the display unit 21 such as a display provided on the entire driver's seat, for example. Is output.
  • stored in the external storage device 11 is a map database which memorize
  • the node information Ni includes, for example, branching positions and merging positions (N1 to N3, N9 to N14) of roads such as intersections and T-shaped roads, and each straight road when a curved road is approximated by a plurality of straight lines.
  • This is information representing the position of the connecting part (N4 to N8) and the like, and has latitude and longitude information for representing these arbitrary positions on the map.
  • the link information Li is information representing a travel path connecting the node information N1 to N14, and is expressed by two nodes (nodes N8 and N9 in the case of the link L8) at both ends.
  • the link information Li is also stored as associated information such as the gradient of the traveling road, the speed limit, the width, the number of lanes, and the like in association with the link information Li.
  • the link information Li that can be determined to be a long downhill based on the gradient information is subjected to overdrive prohibition processing that prohibits the shift to overdrive as support control for the driver. Is stored as accompanying information.
  • the link information Li is an example of information representing the travel position of the vehicle
  • the overdrive prohibition process stored accompanying the link information Li is an example of support control associated with the position of the vehicle.
  • the controller 10 detects the travel position of the vehicle based on the GPS detection signal G supplied from the GPS antenna 13, searches the database DB based on the detected travel position, and extracts the link information Li. . Then, the controller 10 determines whether or not the foot brake operation signal BS is supplied from the foot brake switch 15, and when the foot brake operation signal BS is supplied, the foot brake operation signal BS is supplied. The history of being recorded is stored as accompanying information of link information Li corresponding to the travel position at that time.
  • the controller 10 detects the travel position of the vehicle based on the GPS detection signal G supplied from the GPS antenna 13, searches the database DB based on the detected travel position, and extracts the link information Li. .
  • the extracted link information Li includes at least an overdrive prohibition process as accompanying information and a case where a history that the foot brake operation signal BS is supplied is stored. When one of them is confirmed, overdrive prohibition processing is executed as support control.
  • the same traveling path may be a downhill or an uphill, so the vehicle travel position when determining whether it is a long downhill based on the gradient information is The traveling direction of the vehicle with respect to the link information Li is also taken into consideration.
  • the controller 10 first outputs a display control signal to the display unit 21 to display that the overdrive prohibition process is to be performed when executing the overdrive prohibition process. . Subsequently, the controller 10 supplies an overdrive inhibition signal ODOFF to the automatic transmission control unit 20. Furthermore, when the controller 10 executes the overdrive prohibition process, the controller 10 determines that the driver agrees to execute the overdrive prohibition process based on the audio signal SA supplied from the microphone 12. One of the three states is determined as to whether a sound that can be made, a sound that can be determined as disagreement, or none of the sound is emitted.
  • the controller 10 When the controller 10 confirms that the driver agrees to execute the overdrive prohibition process based on the audio signal SA when the overdrive prohibition process is executed (there is an OK input) ), It is determined that the driver has a good feeling to execute the current overdrive prohibition process at the current travel position, and the state of executing the overdrive prohibition process at that time is maintained. At the same time, the controller 10 issues a write instruction to the database DB so that information indicating the overdrive prohibition process execution OK is stored as the accompanying information of the link information Li at that time.
  • the controller 10 acquires information “performing the overdrive prohibition process is OK”. Therefore, for example, in the “overdrive prohibition process” in the initial state, even if the proposal is only displayed on the display unit 21, the overdrive prohibition process is actually executed after the next time.
  • the audio signal SA that can confirm that the user agrees to the execution of the assist control
  • the driver can freely select and store the audio signal SA at the time of vehicle purchase or the like. It is also possible to keep it. For example, words such as “Yoshi”, “Good”, “Jesus”, “Like”, “Ye”, “Eede”, “So Brown”, “OK”, etc. are candidates.
  • the controller 10 executes the overdrive prohibition process, based on the audio signal SA, it can be confirmed that the driver disagrees with the overdrive prohibition process being executed (NG input). (Yes), it is determined that the driver has a bad feeling in executing the current overdrive prohibition process at the current travel position, and the overdrive prohibition process at that time is stopped. At the same time, the controller 10 issues a write instruction to the database DB so that information indicating overdrive prohibition processing execution NG is stored as the accompanying information of the link information Li at that time.
  • the controller 10 acquires accompanying information (information that the overdrive prohibition process is not executed) opposite to that before that. Therefore, the overdrive prohibition process is not executed in the first place.
  • the audio signal SA that can be confirmed to be disagreement with respect to the execution of the support control
  • the driver can freely select and store the audio signal SA at the time of vehicle purchase or the like as in the case of consent. It is also possible to prepare in advance. For example, words meaning disagreement such as “No”, “No”, “Lie”, “Chigauchigao”, “NG”, etc. are candidates.
  • the controller 10 executes the overdrive prohibition process
  • the driver agrees or disagrees with the execution of the overdrive prohibition process based on the audio signal SA. If neither of them can be confirmed, the state where the overdrive prohibition process is executed is maintained, and the writing process to the database DB is not particularly performed.
  • FIG. 3 is a flowchart showing an outline of processing in the present embodiment.
  • this process is repeatedly executed as an interrupt process at predetermined time intervals after the ignition switch is turned on and power is supplied to the controller 10 and the like.
  • the latest various signals G, VFL to VRR, BS are read from the GPS antenna 13, the vehicle speed sensor 14, and the foot brake switch 15 in step S100, and the current vehicle state is determined based on the GPS signal G.
  • the position is grasped, the vehicle speed V is calculated based on the wheel speed signals VFL to VRR, and it is determined whether the driver is stepping on the foot brake based on the foot brake operation signal BS.
  • step S110 the database DB is searched based on the current position of the vehicle grasped in step S100, and the node Ni information or link Li information corresponding to the current position of the vehicle, and the node Ni information or link information Li. Accompanying information stored in association with. Then, the process proceeds to step S120, and whether or not the overdrive prohibition process is stored in the accompanying information read in step S110 as support control to be performed at the current vehicle travel position, and as past driving history. It is determined whether or not there is a record of operating the foot brake on this travel path.
  • step S120 when at least one of the case where the overdrive prohibition process is stored and the case where there is a record of operating the foot brake is determined, it is determined that the overdrive prohibition process is executed. Then, the process proceeds to step S130.
  • step S120 determines whether the overdrive prohibition process is unnecessary, and the determination in step S120 may be “NO”.
  • an accelerator pedal operation switch is separately provided and it can be determined from the state of the switch that the driver is depressing the accelerator pedal and actively accelerating, an overdrive prohibiting process in the process shown in FIG. It is also possible to leave all control to normal gear ratio control.
  • step S120 When the determination in step S120 is “YES”, the process proceeds to step S130, and the support control is executed. Specifically, a proposal to execute the overdrive prohibition process is displayed on the display unit 21. After the display is performed, the overdrive prohibition signal ODOFF is output to the automatic transmission control unit 20. Then, the driver learns from the information displayed on the display unit 21 that the overdrive prohibition process is executed, and can cancel the operation if the foot brake is operated for deceleration.
  • the gear ratio does not shift to overdrive while traveling on a long downhill, and the vehicle speed is prevented from being excessively increased.
  • the overdrive prohibition process is executed regardless of the driver's intention, some drivers may be pleased, but they may be dissatisfied with unnecessary control.
  • step S140 the audio signal SA is acquired from the microphone 12, and it is determined whether there is an OK input, an NG input, or no input from the audio signal. If there is an OK input, the determination in step S150 is “YES”, and the flow proceeds to step S160. If there is an NG input, the determination in step S170 becomes “YES” after the determination in step S160 becomes “NO”, and the process proceeds to step S180. In other cases, the determination in step S170 is “NO”, and the current processing in FIG. 3 ends. In addition, also when the determination of step S120 is "NO", this process of this FIG. 3 is complete
  • step S150 determines whether the driver has a good feeling to execute the current overdrive prohibition process at the current travel position. Therefore, the state where the overdrive prohibition process at that time is executed is maintained. Further, in step S160, the controller 10 issues a write instruction to the database DB so that information indicating overdrive prohibition processing execution OK is stored as the accompanying information of the link information Li at that time.
  • step S160 the current process of FIG. 3 ends.
  • step S170 determines whether the driver is disagreeing with the display indicating that the overdrive prohibition process is to be executed or the execution of the process. 10 stops the overdrive prohibition process in step S180, and instructs the database DB to write so that information indicating the overdrive prohibition process execution NG is stored as the accompanying information of the link information Li at that time. Do.
  • step S190 the overdrive prohibition process as the support control written along with the link information Li at that time is rewritten to the content that it will not be implemented in the future.
  • the overdrive prohibition process it is conceivable to delete the overdrive prohibition process from the accompanying information.
  • the overdrive prohibition process since there is a possibility that the overdrive prohibition process may be restored in the future, it is desirable to leave the information itself and rewrite only the status.
  • step S190 When the process of step S190 is completed, the current process of FIG. 3 is terminated. 3 is repeatedly executed, the same link information Li and its accompanying information may be acquired in step S110. In this case, the controller 10 prohibits overdrive as opposed to the previous time. Since the accompanying information that the process is not executed is acquired, the overdrive prohibition process is not executed in the first place. This means that it reflects the driver's feelings immediately before, and the driver is likely to be satisfied.
  • the external storage device 11 corresponds to the map information storage unit
  • the GPS antenna 13 and the processing of step S110 correspond to the position detection unit
  • the automatic transmission control unit 20 and steps S130 and S160 include Corresponding to the support control execution unit, the process of the microphone 12 and steps S140, S150, and S170 corresponds to the emotion detection unit, and the processes of steps S180 and S190 correspond to the support control correction unit. Further, the processes in steps S160 and S180 correspond to the storage processing unit, and the process in step S190 corresponds to the stored content correction unit.
  • Map information and support control are associated and stored in the database DB, the current position of the vehicle is detected based on the output of the GPS antenna, and the database DB is searched according to the detected current position of the vehicle. While acquiring the assist control corresponding to the current position and executing the acquired assist control, the driver's emotion is detected, and the content of the assist control to be executed is corrected according to the detected driver's emotion. I did it. For this reason, support control that accurately reflects the driver's emotions can be immediately implemented without waiting for a period necessary for learning control.
  • the detected driver's emotion is stored in the database DB in association with the current position of the vehicle. For this reason, the emotion shown by the driver can be utilized for the next and subsequent support control.
  • the content of the support control stored in the database DB is corrected based on the detected emotion of the driver. For this reason, it becomes possible to reverse the content of the support control that will be performed after the next time according to the driver's request.
  • the driver's emotion when the assist control is executed is detected. For this reason, the driver's emotion can be detected more accurately.
  • the database DB stores map information including node information Ni representing an arbitrary position and link information Li representing a connection relationship between the node information Ni reports, and the contents of the support control are stored in the node information Ni or the link.
  • the information is stored in association with Li. For this reason, it is possible to easily store information relating to support control or the feeling of the driver during driving in association with the map information.
  • the overdrive prohibition process when executed, the overdrive prohibition process is performed after the display unit 21 displays that the overdrive prohibition process is performed.
  • the present invention is not limited to this. However, both may be performed at the same time, or the information providing process for displaying on the display unit 21 may not be performed.
  • time, season, weather, and the like are detected as accompanying information, and the driver's emotion is stored in the database DB together with the accompanying information such as the time, and thereafter Even when the link information Li is the same, when the driver's emotion is stored and the accompanying information such as time, season, weather, etc. is coincident, overdrive prohibition processing is performed or not performed depending on the emotion It is good. For example, some drivers may wish to prohibit overdrive during nighttime or rainy weather, even if they do not wish to perform overdrive prohibition even when driving on long downhills during the day or on fine weather.
  • FIG. 4 and 5 are diagrams showing a second embodiment of the present invention
  • FIG. 4 is a block diagram showing an overall configuration of the vehicle travel support apparatus 1 in the second embodiment.
  • symbol is attached
  • the headlight continuous lighting process means that the driver turns on the autolight switch 16 to turn on the autolight function (a function to automatically turn on the headlight when the surroundings of the vehicle become dark).
  • the autolight function is ignored and the headlight is continuously turned on. That is, when driving in the daytime and turning on the auto light function, when driving through a section where a short tunnel continues like a mountainous area, the headlight is repeatedly turned on and off repeatedly at short intervals. It will be. In this case, although the purpose of the auto light function is achieved, there is a problem that the headlight bulb is likely to be deteriorated.
  • the controller 10 confirms that information indicating the content of “section where the short tunnel continues” is stored as accompanying information in the current link information Li.
  • the headlight controller 22 that controls the headlight state is While driving on the road corresponding to the current link information Li, a light control signal LC for continuously lighting the headlight is output.
  • the controller 10 outputs a display control signal for displaying on the display unit 21 that the headlight continuous lighting process is to be performed.
  • the controller 10 executes the headlight continuous lighting process, based on the audio signal SA, the controller 10 can confirm that the driver agrees to execute the headlight continuous lighting process ( OK input), the driver determines that he / she has a good feeling that the current headlight continuous lighting process is executed at the current travel position, and the state of executing the headlight continuous lighting process at that time is determined. maintain. At the same time, the controller 10 issues a write instruction to the database DB so that the information indicating the headlight continuous lighting process execution OK is stored as the accompanying information of the link information Li at that time.
  • the controller 10 acquires the information that “the headlight continuous lighting process is OK”. Therefore, for example, the “headlight continuous lighting process” in the initial state means that the headlight continuous lighting process is actually executed after the next time even if the proposal is merely displayed on the display unit 21. become.
  • the controller 10 executes the headlight continuous lighting process, based on the audio signal SA, the driver can confirm that the driver disagrees with the headlight continuous lighting process being executed ( If there is an NG input), the driver determines that he / she has a bad feeling in executing the current headlight continuous lighting process at the current travel position, and stops the headlight continuous lighting process at that time. At the same time, the controller 10 issues a write instruction to the database DB so that information indicating the headlight continuous lighting process execution NG is stored as the accompanying information of the link information Li at that time.
  • the controller 10 acquires the accompanying information (information that the headlight continuous lighting process is not executed) opposite to that before that. Therefore, the headlight continuous lighting process is not executed in the first place.
  • the controller 10 executes the headlight continuous lighting process
  • the driver agrees that the headlight continuous lighting process is executed based on the audio signal SA. If neither of them can be confirmed, the state in which the headlight continuous lighting process is executed is maintained, and the writing process to the database DB is not particularly performed. Note that the sound as shown in the first embodiment can be applied to the sound signal SA that can confirm that the headlight continuous lighting process is executed.
  • FIG. 5 is a flowchart showing an outline of processing executed in the second embodiment. Steps having the same processing contents as those of the first embodiment shown in FIG.
  • step S200 when the process proceeds from step S110 to step S200, it is determined whether or not the headlight continuous lighting process is stored in the accompanying information read in step S110 as support control to be performed at the current travel position of the vehicle. to decide. That is, in step S200, when it is confirmed that the headlight continuous lighting process is stored, it is determined that the headlight continuous lighting process is executed, and the process proceeds to step S210.
  • step S210 a proposal to execute the headlight continuous lighting process is displayed on the display unit 21 and a light control signal LC for executing the headlight continuous lighting process is output to the headlight control unit 22. Then, the driver knows that the overdrive prohibition process is executed from the information displayed on the display unit 21, and cancels the operation when changing the position of the light switch from the auto light to the light lighting position. Is also possible.
  • step S140 is performed similarly to the said 1st Embodiment, if determination of step S150 will be "YES", it will transfer to step S220 and the controller 10 will perform this headlight continuous lighting process this time. This means that the driver has confirmed that he / she has a good feeling to execute at the running position, and thus the state of executing the headlight continuous lighting process at that time is maintained.
  • step S220 the controller 10 issues a write instruction to the database DB so that information indicating the headlight continuous lighting process execution OK is stored as the accompanying information of the link information Li at that time. For this reason, after that, when the controller 10 travels on the travel path corresponding to the same link information Li, the controller 10 obtains information that “it is OK to execute the headlight continuous lighting process”. Therefore, for example, the “headlight continuous lighting process” in the initial state means that the headlight continuous lighting process is actually executed after the next time even if the proposal is merely displayed on the display unit 21. become.
  • the process of step S220 is executed, the current process of FIG. 5 ends.
  • step S170 determines whether the driver is likely to disagree with the display indicating that the headlight continuous lighting process is to be performed or the execution of the process.
  • step S230 the controller 10 stops the headlight continuous lighting process, and stores information indicating the headlight continuous lighting process execution NG as the accompanying information of the link information Li at that time with respect to the database DB. Write instructions.
  • step S240 the headlight continuous lighting process as support control written along with the link information Li at that time will not be performed in the future. Instead, the headlight continuous lighting process is proposed. Rewrite to the content of. In other words, for the driver who thought that the headlight continuous lighting process is unnecessary in the section where the short tunnel is continuous, conversely, by proposing the headlight continuous lighting process, It is trying to recommend as support control.
  • step S240 the current processing in FIG. 5 ends. However, since the processing in FIG. 5 is repeatedly executed, the same link information Li and its accompanying information may be acquired in step S110.
  • step S240 When the process of step S240 is executed in the previous process of FIG. 5, the controller 10 acquires the accompanying information that the headlight continuous turn-off process is executed unlike the previous process. If the driver agrees on the continuous light extinction process, the determination in step S150 is “YES” and the process proceeds to step S220.
  • step S240 the information is rewritten to the accompanying information that the headlight continuous turn-off process is performed NG. Therefore, thereafter, neither the headlight continuous turn-off process nor the headlight continuous lighting process is performed, and normal autolight control is executed.
  • the headlight control unit 22 and steps S210 and S220 correspond to the support control execution unit
  • the processes of steps S230 and S240 correspond to the support control correction unit
  • the processes of steps S220 and S230 are Corresponding to the storage processing unit
  • the process of step S240 corresponds to the storage content correction unit.
  • the headlight continuous lighting process may or may not be performed when accompanying information such as time, season, and weather coincides with when the driver's emotion is stored. For example, some drivers may wish to turn on the headlights continuously in the early morning or in the rain, but may wish to turn off the headlights during the day when the weather is fine. When driving on a running road, it is possible to reflect the driver's emotions more accurately if the headlight continuous lighting process or the headlight continuous lighting process is performed in the same manner as when feelings are stored. .
  • FIG. 6 and 7 are diagrams showing a third embodiment of the present invention
  • FIG. 6 is a block diagram showing an overall configuration of the vehicle travel support apparatus 1 in the third embodiment.
  • symbol is attached
  • the idling stop control is a control that can contribute to fuel efficiency improvement by automatically stopping the engine when the vehicle stops at a red light at an intersection, for example.
  • the controller 10 stores information representing the contents of “intersection with traffic signal” and “trouble of the pedestrian crossing” as accompanying information in the current node information Ni.
  • the idling stop control as the assist control is performed. Therefore, an idling stop signal NIS is output to the engine control unit 23.
  • the controller 10 outputs a display control signal for causing the display unit 21 to display that the idling stop control is to be performed.
  • the node information Ni corresponding to an intersection or T-junction with a traffic signal stores that idling stop control is performed as accompanying information indicating support control. It means that there is.
  • the controller 10 executes idling stop control, based on the audio signal SA, the controller 10 can confirm that the driver agrees to execute idling stop control at that time (OK input). (Yes), it is determined that the driver has a good feeling to execute the current idling stop control at the current stop position, and the state of executing the idling stop control at that time is maintained. At the same time, the controller 10 issues a write instruction to the database DB so that the information indicating the idling stop control execution OK is stored as the accompanying information of the node information Ni at that time.
  • the controller 10 After that, when the controller 10 stops at, for example, an intersection corresponding to the same node information Ni, the controller 10 acquires information “performing idling stop control is OK”. Therefore, for example, in the “idling stop control” in the initial state, even when the proposal is simply displayed on the display unit 21, the idling stop control is actually executed after the next time.
  • the controller 10 executes the idling stop control, based on the audio signal SA, the driver can confirm that the driver disagrees with the idling stop control being executed (with NG input). In this case, it is determined that the driver has bad feelings in executing the current idling stop control at the current stop position, and the idling stop control at that time is stopped. At the same time, the controller 10 issues a write instruction to the database DB so that information indicating idling stop control execution NG is stored as accompanying information of the node information Ni at that time.
  • the idling stop control will be executed and the time required to enter the garage will be longer. Therefore, it is not preferable for the driver. Therefore, it is determined that the idling stop control is unpopular based on the emotion of the driver at that time, and the idling stop control is not executed even if the vehicle stops at the same intersection in the future.
  • the controller 10 acquires accompanying information (information that the idling stop control is not executed) opposite to that before that. In the first place, idling stop control is not executed. Further, when the controller 10 executes the idling stop control, the driver agrees or disagrees that the idling stop control is executed based on the audio signal SA. If the confirmation cannot be made, the state in which the idling stop control is executed is maintained, and the writing process to the database DB is not particularly performed. Note that the sound as shown in the first embodiment can be applied to the sound signal SA that can be confirmed to agree or disagree with the execution of the idling stop control.
  • FIG. 7 is a flowchart showing an outline of processing executed in the third embodiment. Steps having the same processing contents as those of the first embodiment shown in FIG.
  • the vehicle speed V obtained based on the wheel speed signals VFL to VRR read in step S100 is 0 (the vehicle is stopped), and the stop position is reached. It is determined whether or not idling stop control is stored in the accompanying information of the corresponding node information Ni as assistance control to be performed at the current stop position of the vehicle.
  • step S300 determines whether the idling stop control is to be executed. If the determination in step S300 is “YES”, it is determined that the idling stop control is to be executed, and the process proceeds to step S310.
  • step S310 a proposal for executing the idling stop control is displayed on the display unit 21 and an idling stop signal NIS for executing the idling stop control is output to the engine control unit 23.
  • step S140 is performed similarly to the said 1st Embodiment, if determination of step S150 will be "YES", it will transfer to step S320 and the controller 10 will perform this idling stop control this time stop position. This means that the driver has confirmed that he / she has a good feeling to execute in step S1, so that the idling stop control at that time is maintained.
  • step S320 the controller 10 issues a write instruction to the database DB so that information indicating idling stop control execution OK is stored as the accompanying information of the node information Ni at that time. For this reason, after that, when the controller 10 stops at the intersection corresponding to the same node information Ni, the controller 10 acquires information that “the idling stop control is OK”. Therefore, for example, in the “idling stop control” in the initial state, even when the proposal is simply displayed on the display unit 21, the idling stop control is actually executed after the next time.
  • the process of step S320 is executed, the current process of FIG. 7 ends.
  • step S170 determines whether the driver 10 is more likely to disagree with respect to the display indicating that the idling stop control is to be performed or the execution of the process. Stops the idling stop control in step S330 and instructs the database DB to write so that the information indicating the idling stop control execution NG is stored as the accompanying information of the node information Ni at that time.
  • step S340 When the processing in step S340 is completed, the current processing in FIG. 7 ends. However, since the processing in FIG. 7 is repeatedly executed, the same node information Ni and accompanying information may be acquired in step S110. Then, when the process of step S340 is executed in the previous process of FIG. 7, the controller 10 acquires the accompanying information that the idling stop control is not executed unlike the previous process, and the idling stop control is performed. If the driver agrees, the determination in step S150 is “YES” and the process proceeds to step S320.
  • the engine control unit 23 and steps S310 and S320 correspond to the support control execution unit
  • the processes of steps S330 and S340 correspond to the support control correction unit
  • the processes of steps S320 and S330 are stored.
  • the process of step S340 corresponds to the stored content correction unit.
  • Idling stop control when the vehicle is stopped is implemented as support control. For this reason, there exists an effect that it can contribute to the improvement of a fuel consumption, responding to a driver's demand for idling stop control.
  • the time is detected as accompanying information
  • the emotion of the driver is stored in the database DB together with the time, and thereafter, the same link information Li is obtained.
  • the idling stop control may or may not be performed when the time coincides with when the driver's emotion is stored. For example, even if there is a garage near the intersection, for example, during the daytime hours, even if it stops at that intersection, it simply passes, and if it stops at the intersection after sunset, the garage is put in Therefore, it is possible to more accurately reflect the driver's emotions by selecting the execution of the idling stop control as the support control in consideration of the time information.
  • the driver's emotion (OK input, NG input) is determined based on the audio signal SA issued by the driver.
  • the present invention is not limited to this, and an operation that can be operated by the driver. It is also possible to detect a will input and emotion from the driver based on the operation state of the device.
  • a vibration sensor is provided on the handle itself, and when the handle is struck strongly, the driver judges that he / she has the will to reject the proposed assistance or judges that he / she has bad emotions. You may do it.
  • a dedicated input pad is provided near the driver's seat (for example, immediately behind the shift lever), and NG input is applied when the pad is struck, and OK input is applied when tapped. It is also possible to adopt a configuration in which it is determined that.
  • the device for emotion detection may be a relatively inexpensive device called a microphone, but the driver's current emotion may be easily grasped by the passenger, If the configuration is determined based on vibration or the like, there is no such concern, and thus it is suitable for a vehicle on which a passenger such as a taxi may ride.
  • the database DB is described as being provided for each vehicle.
  • the present invention is not limited to this, and a configuration may be provided for each driver. That is, even if the database DB is provided for each vehicle, if the driver of the vehicle is fixed to one person, it can be considered that it is substantially provided for each driver, but the same
  • a database DB is prepared in a USB memory for each driver to drive the vehicle, and the USB memory is stored in the vehicle compartment when driving is started. It is possible to insert the USB memory into a predetermined position so that the controller 10 can read it, and after the operation is finished, the USB memory may be removed and the driver may have it.
  • the database DB for each driver is stored in an external server, the database DB is downloaded via the Internet when starting operation, and the database DB is again transferred to the external server via the Internet after the operation is completed. You may make it hold

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Abstract

L'invention concerne un dispositif d'assistance au déplacement pour un véhicule qui associe des informations de carte et une commande d'assistance, prépare une base de données pouvant être stockée pour chaque véhicule ou chaque conducteur, et utilise ladite base de données pour parvenir à une assistance au déplacement précise. Un dispositif de commande (10) détecte la position de déplacement d'un véhicule en fonction d'un signal de détection GPS (G) qui est fourni à partir d'une antenne GPS (13), recherche une base de données (DB) sur la base de la position de déplacement détectée, lit les contenus d'une commande d'assistance qui correspond à la position de déplacement ou à la position arrêtée du véhicule, et réalise une commande d'assistance. Lorsqu'une commande d'assistance a été exécutée, le dispositif de commande (10) détermine, sur la base d'un signal audio (SA) fourni à partir d'un microphone (12), si un conducteur émet l'une de trois attitudes par rapport à l'exécution de la commande d'assistance, à savoir si le conducteur émet un son qui peut être déterminé comme exprimant un accord, si le conducteur émet un son qui peut être déterminé comme exprimant un désaccord, ou si le conducteur n'émet aucun de ces sons. En fonction du résultat de détermination, le dispositif de commande (10) corrige les contenus de la commande d'assistance et écrase les contenus de la base de données (DB).
PCT/JP2013/002517 2012-05-18 2013-04-12 Dispositif d'assistance au déplacement pour un véhicule WO2013171970A1 (fr)

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JP2015194118A (ja) * 2014-03-31 2015-11-05 株式会社デンソー アイドルストップ制御装置
GB2529997A (en) * 2014-05-01 2016-03-16 Jaguar Land Rover Ltd Communication system and related method
CN106233356A (zh) * 2014-04-25 2016-12-14 日产自动车株式会社 信息呈现装置以及信息呈现方法
JPWO2015166721A1 (ja) * 2014-05-02 2017-04-20 エイディシーテクノロジー株式会社 車両制御装置
JP2017109708A (ja) * 2015-12-18 2017-06-22 三菱自動車工業株式会社 車両走行支援装置
JP2019100834A (ja) * 2017-12-01 2019-06-24 クラリオン株式会社 車載器およびジャイロ中点検出方法
JP2021046154A (ja) * 2019-09-20 2021-03-25 株式会社Ｓｕｂａｒｕ 車両制御計画生成装置及び車両の制御装置

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JP7006041B2 (ja) * 2017-09-06 2022-01-24 株式会社デンソー 車両制御装置

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JP2015194118A (ja) * 2014-03-31 2015-11-05 株式会社デンソー アイドルストップ制御装置
CN106233356A (zh) * 2014-04-25 2016-12-14 日产自动车株式会社 信息呈现装置以及信息呈现方法
CN106233356B (zh) * 2014-04-25 2018-11-13 日产自动车株式会社 信息呈现装置以及信息呈现方法
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JP2019100834A (ja) * 2017-12-01 2019-06-24 クラリオン株式会社 車載器およびジャイロ中点検出方法
JP2021046154A (ja) * 2019-09-20 2021-03-25 株式会社Ｓｕｂａｒｕ 車両制御計画生成装置及び車両の制御装置
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