JP2015009599A - Running control device and running control method for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a running control device and a running control method for a vehicle which enable collision of a vehicle itself against another article due to sudden starting of the vehicle to be avoided more surely than conventional ones.SOLUTION: A control device 10 for a vehicle includes: a position measurement part 11 for measuring a present position of a vehicle; an area determination part 12 for determining whether the present position of the vehicle measured by the position measurement part 11 is within a prescribed area where a possibility of colliding with an article in association with a sudden depressing of an accelerator pedal 21 is higher than in a running road; and a running control part 14 which performs control so as to suppress a running of the vehicle when: the area determination part 12 determines that the vehicle is within the prescribed area when the vehicle is driven at a prescribed speed or slower or stopped; a control condition is met; and a change amount, per unit time, in a depression amount (depression amount information Dd) representing how the acceleration pedal 21 is depressed exceeds a threshold. This configuration makes it possible to avoid a collision of the vehicle itself with another article more surely than conventional ones.

Description

  The present invention relates to a vehicle travel control apparatus and a travel control method for controlling travel of a vehicle.

  Conventionally, an example of a technique related to a vehicle driving control device for the purpose of preventing sudden start or runaway of a vehicle due to a driver's operation error has been disclosed (see, for example, Patent Document 1). When the vehicle driving control device determines that the vehicle is not on the road by determining whether the vehicle has the sudden start prevention means and whether the matching position of the vehicle is on the road in the map data Has a situation determination means for executing the sudden start prevention means.

JP 2009-149258 A

  However, the technology for preventing sudden start of the vehicle is not limited to the case where it is determined that nothing is on the road, and even when the vehicle is on the road, it is caused by a driver's operation mistake. Since a sudden start can occur, it is required to reliably prevent such an undesirable situation from occurring.

  The present invention has been made in view of the above points, and avoids collision with an object other than the own vehicle in a place where it is sufficiently assumed that a serious accident will be caused by a sudden start of the vehicle. An object of the present invention is to provide a vehicle travel control device and a travel control method.

  According to a first aspect of the present invention, there is provided a vehicle travel control device (10) for controlling travel of a vehicle (100), a position measurement unit (11) for measuring a current position of the vehicle, Predetermined areas (A1, A2, A4, A5) where the current position of the vehicle measured by the position measuring unit is more likely to collide with an object when the accelerator pedal (21) is suddenly depressed. An area discriminating section (12) for discriminating whether or not the vehicle is within a predetermined speed; and the area discriminating section discriminating that the vehicle is located within the predetermined area while the vehicle is traveling at a predetermined speed or less or is stopped; When the amount of change (Δd) per unit time exceeds the threshold (Th) with respect to the depression amount (Dd) that satisfies the above condition and the accelerator pedal is depressed, control is performed so as to suppress the traveling of the vehicle. It characterized in that it has a row control unit (14).

  According to this configuration, when the vehicle is in the predetermined region, the control condition is satisfied, and the change amount of the stepping amount per unit time exceeds the threshold value, the travel control unit performs control so as to suppress the travel of the vehicle. I do. Since traveling of the vehicle is suppressed regardless of the reduction ratio or the like, collision with an object other than the own vehicle can be avoided more than in the past.

  According to a second aspect of the present invention, the predetermined region includes a railroad crossing (Rc) where a railroad track (Ra) and a road (Rd) intersect, and the control condition is that a breaker (204) provided for the railroad crossing is lowered. It is one or more of turning on the colored light (202) provided for the crossing and sounding the warning bell (201) provided for the crossing.

  According to this configuration, when the predetermined area includes a railroad crossing and satisfies a control condition (that is, a condition related to approaching or passing of a train such as descent of a breaker, lighting of a color lamp, ringing of a warning alarm, etc.), the traveling control unit Performs control so as to suppress travel of the vehicle. Since traveling of the vehicle is suppressed when the train approaches or passes, collision with the train can be avoided as compared with the conventional case.

  In a third aspect of the invention, the predetermined area includes an intersection (Rx) where roads (Rd) intersect, and the control condition is that the traffic light (300) provided at the intersection is lit in a predetermined color, The acoustic device (302, 303, 304) provided at the intersection is characterized in that it is one or more of making a guide sound.

  According to this configuration, when the predetermined area includes an intersection and the control condition (that is, lighting of a predetermined color, the condition of the acoustic device such as a guidance sound, etc. regarding the crossing of a pedestrian, a bicycle, etc.) is satisfied, Control is performed so as to suppress travel of the vehicle. Since traveling of the vehicle is suppressed when crossing a pedestrian or bicycle at an intersection, collision with the train can be avoided more than in the past.

  According to a fourth aspect of the invention, the predetermined area includes a parking space (Ps) where the vehicle can park and stop, and the control condition is a sound wave generated from a sound wave generator (401) provided in the parking lot (400). Based on the above, the vehicle stopped in the parking space is started toward one or more walls (402) or a fence provided on the periphery of the parking space.

  According to this configuration, when the predetermined area includes a parking space and satisfies a control condition (that is, a condition of traveling toward a wall, a fence, or the like based on sound waves), the traveling control unit is controlled to suppress the traveling of the vehicle. I do. Since the traveling of the vehicle toward the wall or the fence is suppressed, the collision with the wall or the fence can be avoided as compared with the conventional case. The same applies not only to walls and fences but also to objects provided in parking lots such as pillars, bars and trees.

  According to a fifth aspect of the present invention, in the vehicle travel control method for controlling the travel of the vehicle (100), a position measurement step (S11) for measuring a current position of the vehicle, and a current state of the vehicle measured by the position measurement step. A region determination step for determining whether or not the position is within a predetermined region (A1, A2, A4, A5) where the possibility of collision with an object with a sudden depression of the accelerator pedal (21) is higher than the travel path. (S14, S21, S31) and when the vehicle is traveling at a predetermined speed or less or stopped, the region determining step determines that the vehicle is located in the predetermined region, satisfies a control condition, and the accelerator pedal Travel control step for controlling the vehicle to be restrained when the amount of change (Δd) per unit time exceeds a threshold (Th) with respect to the stepping amount (Dd) for stepping on the vehicle S15, S22, S32) and characterized by having a.

  According to this configuration, when the vehicle is in a predetermined region, the control condition is satisfied, and the amount of change in the stepping amount per unit time exceeds the threshold, control is performed so as to suppress the vehicle from traveling in the traveling control process. I do. Since traveling of the vehicle is suppressed regardless of the reduction ratio or the like, collision with an object other than the own vehicle can be avoided more than in the past.

  The meaning of terms is defined as follows. The “vehicle” may be any power source, number of wheels, vehicle body structure, etc. as long as it can travel. The “position measuring unit” is optional as long as it can measure the current position of the vehicle (including positioning). For example, a microphone, a camera, a distance measuring device, a GPS device, a car navigation, and the like may be included. The “object” is all objects except the vehicle of the own vehicle. For example, other vehicles, structures (including buildings), installations (signs, traffic lights, guardrails, walls, fences, etc.), animals (including humans), and the like are applicable. The “predetermined area” is arbitrary if it is an area that has a higher possibility of colliding with an object due to a sudden depression of the accelerator pedal than a travel path (that is, a roadway on which the vehicle can travel, including farm roads, forest roads, etc.). It is also arbitrary how the area is set. It is recommended to include places where it is sufficiently assumed that a sudden start of the vehicle will cause a serious accident, that is, level crossings, intersections, and parking spaces. “Suppression” includes not only deceleration but also stopping. “Lighting” includes blinking. The “intersection” is not limited to a location where roads intersect, but includes a location where a road and a pedestrian crossing intersect. The “power source” is arbitrary as long as it generates power for the vehicle, and includes, for example, an internal combustion engine, a rotating electrical machine, and the like. The “breaker” may be a control method, a blocking method (arm type, climbing type, gravity type) or the like. “Detection” is synonymous with detection.

It is a schematic diagram which shows the structural example of a traveling control apparatus. It is a schematic diagram (plan view) showing a configuration example of a vehicle. It is a flowchart figure which shows the 1st procedure example of a traveling control process. It is a schematic diagram in case a level crossing is included as a predetermined area. It is a flowchart figure which shows the 2nd procedure example of a traveling control process. It is a schematic diagram in case an intersection is included as a predetermined area. It is a schematic diagram in case an intersection is included as a predetermined area. It is a schematic diagram in case an intersection is included as a predetermined area. It is a flowchart figure which shows the 3rd procedure example of a traveling control process. It is a schematic diagram in case a parking space is included as a predetermined area. It is a schematic diagram in case a parking space is included as a predetermined area.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. Note that unless otherwise specified, “connecting” means electrically connecting. Each figure shows elements necessary for explaining the present invention, and does not necessarily show all actual elements. When referring to directions such as up, down, left and right, the description in the drawings is used as a reference. Alphanumeric continuous codes are abbreviated using the symbol “˜”. For example, “predetermined areas A1 to A5” means “predetermined areas A1, A2, A3, A4, A5”. “Information” includes signals and data.

[Embodiment 1]
The first embodiment is an example including a railroad crossing in a predetermined area, and will be described with reference to FIGS. Therefore, the object in this embodiment corresponds to a train (including a train or a locomotive) traveling on a railroad track, a railroad crossing safety facility, or the like. A travel control device 10 shown in FIG. 1 includes a position measurement unit 11, an area determination unit 12, an approach detection unit 13, a travel control unit 14, a recording unit 15, and the like.

  The position measuring unit 11 is arbitrary as long as the current position of the vehicle can be measured. In this embodiment, positioning (latitude, longitude, etc.) is performed including the GPS device 105 (see FIG. 2), and the current position can be measured with reference to a map recorded in the recording unit 15 or the like.

  The area discriminating unit 12 discriminates whether or not the vehicle is in a predetermined area where the possibility of collision with the train is higher than that of the travel path. As shown in FIG. 4, the predetermined area A1 or the predetermined area A2 is applied in this embodiment. The predetermined areas A1 and A2 are areas including a railroad crossing Rc where the railway line Ra (rail) and the road Rd intersect each other. The predetermined area A1 is an example in which the entire vehicle temporarily stopped before the stop line SL is set in consideration of the total length (length) of the vehicle. The predetermined area A2 is an example in which a part of the vehicle temporarily stopped before the stop line SL enters regardless of the total length of the vehicle. In short, there is a possibility of collision with the train when the accelerator pedal is depressed by mistake, and it is only necessary to set a region including the level crossing.

  Returning to FIG. 1, the approach detection unit 13 detects an object relatively approaching the vehicle. The detection method does not matter. For example, you may detect based on the sound information Dg (Information regarding a horn of a train, a running sound, etc.) detected with the microphone 26. FIG. You may detect based on the imaging information Dh (information regarding the train by image analysis) imaged with the camera 27. FIG. You may detect based on the distance information Di (information regarding correlation distance) detected with the distance measuring device 28. FIG. In addition, an object may be detected by a sonar or a radar. In addition, the approach detection part 13 may be provided as needed.

  The travel control unit 14 controls normal travel, and also performs control so as to suppress travel of the vehicle under travel suppression conditions (corresponding to control conditions). The travel suppression condition can be arbitrarily set. For example, one or more conditions among the following conditions are applicable. First, the vehicle is running or stopped at a predetermined speed or less. The predetermined speed may be arbitrarily set (including change), and may be set according to the predetermined areas A1 and A2. Second, it is determined by the area determination unit 12 that the vehicle is located within the predetermined areas A1 and A2. Thirdly, a control condition related to a railroad crossing (see step S14 shown in FIG. 3 described later) is satisfied. Fourth, the amount of change Δd per unit time exceeds the threshold Th with respect to the depression amount (depression amount information Dd) for depressing the accelerator pedal 21. The threshold value Th may be set to an arbitrary value. When the threshold value Th is set to 0, the threshold value Th will be exceeded only by being stepped on even if there is play. In addition, satisfy the conditions set appropriately in order to suppress travel as required.

  The control performed by the travel control unit 14 corresponds to deceleration, stop, and the like. Specifically, for example, one or more controls among the following controls are applicable. First, power information Ca is transmitted to the power source 30 to suppress power. The power source 30 corresponds to one or both of the internal combustion engine 31 (engine) and the rotating electrical machine 32. The rotating electrical machine 32 corresponds to, for example, a motor generator, a motor, a generator, or the like. Secondly, braking information Cb is transmitted to the braking device 33 to actively perform braking (braking). Thirdly, a whistle that transmits the alarm information Cc to the alarm 34 (horn), a sound (particularly voice) that transmits the acoustic information Cd to the speaker 35, and the lamp information Ce to the lamps 36 The warning is given to the surroundings of the vehicle by one or more of the lighting performed in the above. The lamps 36 correspond to one or more lamps among a head lamp, a brake lamp, a hazard lamp (direction indicator), a back lamp, and the like. In addition, an occupant may be warned with a display (including lighting) that uses characters, images, and the like on the console, instrument panel, car navigation, and the like.

  The recording unit 15 may be provided as necessary, and is configured to be able to record with any one or more of the position measurement unit 11, the region determination unit 12, the approach detection unit 13, and the travel control unit 14. Specifically, information transmitted from various sensors included in the vehicle is recorded, the above-described map is recorded, and temporary information is recorded for processing. The recording medium includes one or more of a flash memory (including SSD), a hard disk, an optical disk (including a magneto-optical disk, etc.), a flexible disk, and a RAM. It is desirable to use a non-volatile memory that can retain recorded contents even after the power is turned off. You may use together the memory with which ECU (Electronic Control Unit; refer FIG. 2) mentioned later is equipped. Examples of the various sensors include stepping amount sensors 22 and 24, a speed sensor 25 (also referred to as a vehicle speed sensor), a microphone 26, a camera 27, a distance measuring device 28, and the like. The depression amount sensor 22 detects the depression amount (stroke amount) of the accelerator pedal 21. The depression amount sensor 24 detects the depression amount (stroke amount) of the brake pedal 23. The distance measuring device 28 is optional as long as it can measure the distance to the object. For example, sonar, radar, or the like may be used, or analysis of imaging information Dh detected by the camera 27 may be substituted.

  Next, a configuration example of the vehicle will be described with reference to FIG. The vehicle 100 shown in FIG. 2 corresponds to a reciprocating engine vehicle, a hybrid vehicle, an electric vehicle, or the like. The vehicle 100 includes a stepping amount sensor 22, 24, a speed sensor 25, a microphone 26, a camera 27, a distance measuring device 28, a braking device 33, a sound alarm 34, a speaker 35, lights 36, an approach sensor 101 (an approach detection unit 13). ECU 102, 104, 106, GPS device 105 (corresponding to position measuring unit 11), and the like. Many elements are not shown for the sake of space. For example, the lights 36 are merely lamps (including LEDs) corresponding to brake lamps, hazard lamps, and back lamps provided on the rear side of the vehicle 100. As a matter of course, a headlamp, a hazard lamp, and the like are provided on the front side of the vehicle 100, and these lamps are also included in the lights 36. Further, the arrangement of each element is merely an example, and may be arranged anywhere in the vehicle 100 as long as it does not violate the law.

  In the configuration example of FIG. 2, a plurality of ECUs 102, 104, and 106 are applied as control devices to perform distributed processing according to control purposes. The ECU 104 manages (controls) the entire ECU and manages various sensors. The ECU 102 is included in the power source 30 and manages driving of the internal combustion engine 31 and the rotating electrical machine 32. The ECU 106 manages the braking of the braking device 33 based on the braking information Cb transmitted from the ECU 104. Although not shown, an ECU that manages one or more power sources (secondary battery, fuel cell, solar cell, etc.), an ECU that manages an air bag, a seat belt, etc. for passenger protection may be included.

  A procedure example of the travel control process executed by the travel control device 10 will be described with reference to FIGS. 3 and 4. 3 corresponds to the position measurement unit 11, step S14 corresponds to the region determination unit 12, and steps S13 to S19 correspond to the travel control unit 14.

  First, a normal travel control process for controlling normal travel in the vehicle 100 is executed [step S10]. That is, with respect to normal traveling, all control from start to stop is performed.

  The current position of the vehicle 100 that changes with normal travel is measured [step S11]. In this embodiment, positioning (latitude, longitude, etc.) is performed by the GPS device 105, and the current position is measured with reference to a map recorded in the recording unit 15 or the like. The current position is sufficient if the relationship with the predetermined areas A1 and A2 including the railroad crossing (discrimination in step S14 described later) becomes clear. Therefore, as long as the current position of the vehicle 100 can be measured, the measurement may be performed by another measurement method. In order to accurately grasp the current position in the predetermined areas A1 and A2, it is desirable to measure the current position with an accuracy (for example, 1.5 m or less or 3.0 m or less) shorter than the total length of the vehicle 100.

  In preparation for the determination in step S14, which will be described later, the traveling direction of the vehicle 100 is detected [step S12], and it is determined whether or not a crossing Rc (see FIG. 3) exists in the detected traveling direction [step S13]. If there is no level crossing Rc in the traveling direction of the vehicle 100 (NO in step S13), the control related to normal traveling is repeated (steps S10 to S13).

  If there is a level crossing Rc in the traveling direction of the vehicle 100 (YES in step S13), it is determined whether or not the current position of the vehicle 100 is located within the predetermined areas A1 and A2 [step S14]. If it is the current position of the vehicle 100 indicated by a solid line in FIG. 4, it is located within the predetermined areas A1 and A2, and if it is the current position of the vehicle 100 also indicated by a two-dot chain line, it is located outside the predetermined areas A1 and A2. In order to improve accuracy, steps S12 to S14 may be detected or determined based on the current position on the map. Returning to FIG. 3, if the current position of the vehicle 100 is not located within the predetermined areas A1 and A2 (NO in step S14), the control related to normal traveling is repeated (steps S10 to S14).

  If the current position of the vehicle 100 is located within the predetermined areas A1 and A2 (YES in step S14), it is determined whether or not the control condition regarding the level crossing Rc is satisfied [step S15]. The control conditions can be arbitrarily set. For example, one or more conditions among the following conditions are applicable. First, the breaker 204 (gate arm) provided for the railroad crossing Rc is lowered. Second, the color light 202 (flashing light) provided for the railroad crossing Rc is turned on. Third, the alarm 201 (alarm) for the railroad crossing Rc sounds. Fourth, the sound information Dg transmitted from the microphone 26 includes sounds related to the train (alarm sound of the alarm bell 201, train running sound, horn, etc.). Fifth, the train image is recognized based on the imaging information Dh transmitted from the camera 27. Sixth, distance information Di with the train transmitted from the distance measuring device 28 is a predetermined distance (for example, 100 m or less). Seventh, the speed information Df transmitted from the speed sensor 25 is not 0 [Km / h] (that is, traveling). In addition, the conditions for detecting the approach and passage of trains must be met as necessary. If the control condition related to the level crossing Rc is not satisfied (NO in step S15), the control related to normal traveling is repeated (steps S10 to S15).

  As long as the control condition regarding the railroad crossing Rc is satisfied (YES in step S15), it is possible that the vehicle 100 travels (particularly forward) may collide with the train, so steps S15 to S17 are repeatedly executed. That is, there is a possibility that an occupant (mainly a driver) depresses the accelerator pedal 21 for some reason, and control is performed so that the vehicle 100 does not travel even if the accelerator pedal 21 is depressed by mistake.

  In the control example of FIG. 3, the change amount Δd per unit time is obtained based on the step amount information Dd transmitted from the step amount sensor 22, and when the change amount Δd per unit time exceeds the threshold Th (YES in step S16). ), Control is performed to suppress travel of the vehicle 100 [step S17]. As a specific example of step S <b> 17, power information Ca is transmitted to the power source 30 to suppress power, or braking information Cb is transmitted to the braking device 33 to actively perform braking (braking). As the depression amount of the accelerator pedal 21 based on the depression amount information Dd increases, the operation amount of the braking device 33 may be increased. In parallel, the alarm information Cc is transmitted to the alarm device 34 (horn) to output a horn, the acoustic information Cd is transmitted to the speaker 35 to output sound (particularly sound), and the lights 36 are lit. The information Ce may be transmitted to light up, or may be displayed (including lighting) with characters, images, etc. on the console, instrument panel, car navigation, and the like.

  After the vehicle 100 is temporarily stopped at the position indicated by the solid line in FIG. 4, there may be a case where the control condition regarding the crossing Rc is satisfied in step S15 of FIG. In step S17 in this case, control may be performed so that the vehicle 100 does not move in the forward direction. For example, regardless of the driver's operation, control that transmits the braking information Cb to the braking device 33 and sets the wheels in a locked state is applicable. The operation of the driver corresponds to, for example, an operation of stepping on the accelerator pedal 21 by mistake, or a case where the operation of pressing the brake pedal 23 is not performed when the driver unexpectedly enters the level crossing Rc. Further, when the level crossing Rc is on a slope or the like and the speed information Df transmitted from the speed sensor 25 is not 0 [Km / h], the control for transmitting the braking information Cb to the braking device 33 and actively braking is applicable. To do.

  If NO in any of steps S13, S14, and S15, and vehicle 100 accidentally pauses at level crossing Rc (predetermined area A3 indicated by the one-dot chain line shown in FIG. 4) due to traffic congestion, accident, or the like (in step S19) YES), control such as escaping from the level crossing Rc is performed [step S18], and the routine returns to step S10 to perform normal traveling control. The relationship between the predetermined area A3 and the predetermined areas A1 and A2 may be arbitrarily set. A3 = A1, A2 may be sufficient, and A3 ≠ A1, A2 may be sufficient.

  In step S18, an arbitrary control for escaping from the crossing Rc can be set. For example, when it is difficult to escape from the railroad crossing Rc due to wheel removal or the like, a notification is given. For example, the alarm information 34 is transmitted to the alarm 34 (horn) to emit a horn, the alarm 36 is transmitted to the lighting 36, and the external lighting (railway company, police station, fire station) Etc.) or an emergency signal is transmitted via a communication device capable of communicating with the device.

  According to the first embodiment described above, the following effects can be obtained.

  (1) In the vehicle travel control device 10, the position measurement unit 11 that measures the current position of the vehicle 100, and the current position of the vehicle 100 measured by the position measurement unit 11 is accompanied by a sudden depression of the accelerator pedal 21. An area discriminating unit 12 that discriminates whether or not the vehicle 100 is in a predetermined area A1 or A2 that is more likely to collide with an object than the travel path, and the area discriminating unit 12 while the vehicle 100 is traveling or stopped at a predetermined speed or less. When it is determined that the vehicle 100 is in the predetermined areas A1 and A2, the control condition is satisfied, and the change amount Δd per unit time with respect to the depression amount (depression amount information Dd) for depressing the accelerator pedal 21 exceeds the threshold Th The travel control unit 14 performs control so as to suppress travel of the vehicle 100 (see FIGS. 1 to 4). According to this configuration, when the vehicle 100 is in the predetermined areas A1 and A2, satisfies the control condition, and the change amount Δd per unit time of the stepping amount (stepping amount information Dd) exceeds the threshold Th, the vehicle travels. The control unit 14 performs control so as to suppress travel of the vehicle 100. Since traveling of the vehicle 100 is suppressed regardless of the reduction ratio or the like, a collision with an object other than the own vehicle can be avoided more than in the past.

  (2) The predetermined areas A1 and A2 include a railroad crossing Rc where the railroad track Ra and the road Rd intersect, and the control conditions are that the breaker 204 provided for the railroad crossing Rc is lowered, and the color lamp 202 provided for the railroad crossing Rc is lit. That is, one or more of the alarm bells 201 provided for the railroad crossing Rc ring (see FIGS. 3 and 4). According to this configuration, the predetermined areas A1 and A2 include the railroad crossing Rc, and control conditions relating to the railroad crossing Rc (that is, the approaching and passing of the train such as the lowering of the breaker 204, the lighting of the color lamp 202, the ringing of the warning bell 201, etc.) If the above condition) is satisfied, the traveling control unit 14 performs control so as to suppress the traveling of the vehicle 100. Since traveling of the vehicle 100 is suppressed when the train approaches or passes, collision with the train can be avoided as compared with the conventional case.

  (5) It has the approach detection part 13 which detects the object which approaches the vehicle 100 relatively, and it was set as the control condition that the approach detection part 13 detects an object (refer FIG. 1). According to this configuration, the approach detection unit 13 detects that an object is relatively close to the vehicle 100, and the travel control unit 14 performs control to suppress travel of the vehicle 100. Since traveling of the vehicle 100 is suppressed when the object approaches, collision with the object can be avoided more than in the past.

  (6) The traveling control unit 14 is configured to suppress the operation of the power source 30 that causes the vehicle 100 to travel (see step S17 in FIGS. 1 and 3). According to this configuration, the traveling control unit 14 suppresses the operation of the power source 30, so that the traveling of the vehicle 100 can be more reliably suppressed.

  (7) The traveling control unit 14 is configured to operate the braking device 33 that brakes the traveling of the vehicle 100 (see step S17 in FIGS. 1 and 3). According to this configuration, the traveling control unit 14 operates the braking device 33, so that traveling of the vehicle 100 can be more reliably suppressed.

  (8) The travel control unit 14 is configured to increase the operation of the braking device 33 as the depression amount (depression amount information Dd) of the accelerator pedal 21 increases (see step S17 in FIGS. 1 and 3). According to this configuration, since the braking force is changed according to the depression amount of the accelerator pedal 21, the traveling of the vehicle 100 can be further reliably suppressed.

  (9) The traveling control unit 14 is configured to perform one or more of suppressing the traveling of the vehicle 100, ringing the alarm 34 provided in the vehicle 100, and lighting the lights 36 provided in the vehicle 100. (See step S17 in FIGS. 1 and 3). According to this configuration, it is possible to warn the surroundings by the alarm device 34, the lights 36, or the like.

  (10) The traveling control unit 14 includes at least one of the sound information Dg detected by the microphone 26, the imaging information Dh imaged by the camera 27, and the distance information Di detected by the distance measuring device 28 that measures the distance to the object. Based on the information, it is configured to determine whether or not the control condition is satisfied (see step S15 in FIGS. 1 and 3). According to this configuration, since it is determined whether or not the control condition is satisfied based on information that can be reliably acquired, traveling of the vehicle 100 can be more reliably suppressed.

  (11) The position measurement unit 11 includes a GPS device 105 that can measure the current position of the vehicle 100 (see FIGS. 1 and 2). Instead of (or in addition to) the GPS device 105, the current position of the vehicle 100 may be measured by car navigation. According to these configurations, since the current position of the vehicle 100 can be accurately measured, it can also be accurately determined whether or not the vehicle 100 is within the predetermined areas A1 and A2. Therefore, traveling of the vehicle 100 can be more reliably suppressed, and a collision with an object can be more reliably avoided.

  (12) In the vehicle travel control method, a position measurement step (see step S11 in FIG. 3) for measuring the current position of the vehicle 100, and the current position of the vehicle 100 measured by the position measurement step is An area determination step (see step S14 in FIG. 3) for determining whether or not the vehicle 100 is in a predetermined area A1, A2 that is more likely to collide with an object due to a sudden depression, and the vehicle 100 is predetermined It is determined that the vehicle 100 is within the predetermined areas A1 and A2 during traveling or stopping at a speed lower than the speed, satisfies the control condition, and the amount of depression of the accelerator pedal 21 (depression amount information Dd) is a unit. When the amount of change Δd per time exceeds the threshold Th, a travel control step (steps S15 to S in FIG. 3) is performed to control the vehicle 100 so as to suppress travel. 7 was a reference) and a configuration. According to this configuration, similarly to the above (1), the traveling of the vehicle 100 is suppressed regardless of the reduction ratio or the like, so that a collision with an object other than the own vehicle can be avoided as compared with the conventional case.

[Embodiment 2]
The second embodiment is an example including an intersection in a predetermined area, and will be described with reference to FIGS. Therefore, the object in this embodiment corresponds to a vehicle passing through an intersection, a person crossing a crosswalk at the intersection, an animal such as a pet, and a bicycle. For simplicity of illustration and description, unless otherwise specified, the same elements as those used in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  The travel control process shown in FIG. 5 is executed by the travel control apparatus 10 instead of the travel control process shown in FIG. FIG. 3 differs from FIG. 3 in that steps S20 to S22 are executed instead of steps S13 to S15, and steps S18 and S19, which are processes specific to railroad crossings, are eliminated. Below, step S20-S22 corresponded to the traveling control part 14 is demonstrated easily.

  In step S20, it is determined whether or not an intersection Rx (see FIG. 6) exists in the traveling direction detected in step S12. A predetermined area A4 shown in FIG. 6 corresponds to the predetermined area A2 (see FIG. 4) in the first embodiment. Although not shown, an area corresponding to the predetermined area A1 in the first embodiment may be applied. In short, there is a possibility of colliding with an object when the accelerator pedal is depressed by mistake, and it is only necessary to set an area including the intersection Rx. If the intersection Rx does not exist in the traveling direction of the vehicle 100 (NO in step S20), the control related to normal traveling is repeated (steps S10 to S12, S20).

  If there is an intersection Rx in the traveling direction of the vehicle 100 (YES in step S20), it is determined in step S21 whether or not the current position of the vehicle 100 is located within a predetermined area A4 (see FIG. 6). If the current position of the vehicle 100 is not located within the predetermined area A4 (NO in step S21), the control related to normal traveling is repeated (steps S10 to S12, S20, S21). For example, since the vehicle 100 indicated by a two-dot chain line in FIG. 6 is located outside the predetermined area A4, control related to normal traveling is performed.

  On the other hand, vehicle 100 shown by a solid line in FIG. 6 is temporarily stopped before stop line SL, and the current position of vehicle 100 is located within predetermined area A4 (YES in step S21). In this case, it is determined whether or not the control condition regarding the intersection Rx is satisfied [step S22]. The control conditions can be arbitrarily set. For example, one or more conditions among the following conditions are applicable.

  First, the traffic light at the intersection Rx is lit in a predetermined color. The predetermined color varies depending on the traveling direction of the vehicle 100. If the vehicle 100 shown by a solid line in FIG. 6 goes straight, yellow or red corresponds to the traffic light 300 on the upper side of the drawing. As shown in FIG. 7, if the vehicle 100 turns left and is located in front of the pedestrian crossing 301 within the intersection Rx, red or the like corresponds to the traffic light 300 on the left side of the drawing. As shown in FIG. 8, if the vehicle 100 turns right and is located in front of the pedestrian crossing 301 within the intersection Rx, red or the like corresponds to the traffic light 300 on the right side of the drawing.

  Second, the microphone 26 picks up the guidance sound produced by the acoustic device 302 provided at the intersection Rx, and the sound information Dg transmitted from the microphone 26 includes the guidance sound. If it is the position of the vehicle 100 shown as a continuous line in FIG. If it is the position of the vehicle 100 shown in FIG. 7, it is the guidance sound which the acoustic apparatus 303 on the left side of the drawing produces. If it is the position of the vehicle 100 shown in FIG. 8, it is the induced sound which the acoustic apparatus 303 on the right side of the drawing produces. Usually, the sound that is emitted by the acoustic device 302 and the acoustic devices 303 and 304 is different.

  Third, recognizing an object based on the imaging information Dh transmitted from the camera 27. Fourth, distance information Di from the object transmitted from the distance measuring device 28 is a predetermined distance (for example, 2 m or less). In addition, the condition for detecting the approach of an object must be satisfied as necessary.

  If the control condition related to the intersection Rx is not satisfied (NO in step S22), the control related to normal traveling is repeated (steps S10 to S12, S20 to S22). On the other hand, as long as the control condition regarding the intersection Rx is satisfied (YES in step S22), it is possible that the vehicle 100 travels (especially forward) may collide with an object, so steps S15 to S17 are performed as in the first embodiment. Repeatedly. That is, there is a possibility that an occupant (mainly a driver) depresses the accelerator pedal 21 for some reason, and control is performed so that the vehicle 100 does not travel (particularly suddenly start) even if the accelerator pedal 21 is depressed by mistake.

  In addition, when it is located in the vehicle 100 shown by the solid line in FIG. 6 and the pedestrian can cross the pedestrian with the pedestrian separation type traffic signal, control irrelevant to the operation of the driver may be performed. For example, in the pedestrian-only display method and the scramble method, entry into the intersection Rx is prohibited, and therefore control corresponding to transmitting the braking information Cb to the braking device 33 to lock the wheels is applicable.

  According to the second embodiment described above, the following effects can be obtained. In addition, since the structure of the traveling control apparatus 10 and the vehicle 100 is the same as that of Embodiment 1, the effect similar to Embodiment 1 can be acquired except (2).

  (3) The predetermined area A4 includes an intersection Rx where the roads Rd intersect each other, and the control conditions are that the traffic light 300 provided at the intersection Rx is lit in a predetermined color, and the acoustic devices 302, 303, 304 provided at the intersection Rx. It is set as the structure which is one or more in producing a guidance sound (refer FIGS. 5-8). According to this configuration, the predetermined area A4 includes the intersection Rx, and control conditions (that is, conditions regarding lighting of a predetermined color, crossing of pedestrians, bicycles, etc. such as guidance sounds of the sound devices 302, 303, and 304) are set. When satisfied, the traveling control unit 14 performs control so as to suppress the traveling of the vehicle 100. Since traveling of the vehicle 100 is suppressed when crossing a pedestrian or a bicycle at the intersection Rx, a collision with the train can be avoided as compared with the conventional case.

[Embodiment 3]
The third embodiment is an example including a parking space in a predetermined area, and will be described with reference to FIGS. 9 to 11. Therefore, the object in this form corresponds to a wall or a fence provided in the vicinity of the parking space. For simplicity of illustration and description, unless otherwise specified, the same elements as those used in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted.

  The travel control process shown in FIG. 9 is executed by the travel control apparatus 10 instead of the travel control process shown in FIG. FIG. 3 differs from FIG. 3 in that steps S30 to S32 are executed instead of steps S13 to S15, and steps S18 and S19, which are processes specific to railroad crossings, are eliminated. Below, step S30-S32 equivalent to the traveling control part 14 is demonstrated easily. However, the object will be described on behalf of the wall.

  In step S30, it is determined whether or not the wall 402 (see FIGS. 10 and 11) exists in the traveling direction (forward direction or backward direction) detected in step S12. The wall 402 may be of any type such as an outer wall or an inner wall. The predetermined area A5 shown in FIGS. 10 and 11 corresponds to the predetermined area A1 (see FIG. 4) in the first embodiment. Although not shown, a region corresponding to the predetermined region A2 in the first embodiment may be applied. In short, there is a possibility of colliding with the wall 402 of the parking lot 400 when the accelerator pedal is depressed by mistake, and it is only necessary to set an area including the wall 402. Therefore, the wall 402 may be one or more. If the wall 402 does not exist in the traveling direction of the vehicle 100 (NO in step S30), the control related to normal traveling is repeated (steps S10 to S12, S30).

  If the wall 402 exists in the traveling direction of the vehicle 100 (YES in step S30), it is determined in step S31 whether or not the current position of the vehicle 100 is located within the predetermined area A5 (see FIG. 10). If the current position of the vehicle 100 is not located within the predetermined area A5 (NO in step S31), the control related to normal traveling is repeated (steps S10 to S12, S30, S31).

  On the other hand, the vehicle 100 shown in FIG. 10 is located in the parking space Ps in the forward direction, and the vehicle 100 shown in FIG. 11 is located in the parking space Ps in the backward direction, so that the current position of the vehicle 100 is within the predetermined area A5. Is located (YES in step S31). In this case, it is determined whether or not the control condition regarding the parking lot 400 is satisfied [step S32]. The control conditions can be arbitrarily set. For example, one or more conditions among the following conditions are applicable.

  First, the vehicle 100 parked in the parking space Ps starts toward the wall 402. For example, in the case of the vehicle 100 shown in FIG. 10, the vehicle starts in the forward direction, and in the case of the vehicle 100 shown in FIG. 11, the vehicle starts in the backward direction. It may be a condition that the shift lever is shifted in a direction toward the wall 402. Second, a sound wave (including ultrasonic waves) generated from a sound wave generator 401 provided on the wall 402 is picked up by the microphone 26, and the vehicle 100 moves toward the wall 402 based on sound information Dg transmitted from the microphone 26. Start off. Third, an electromagnetic wave (including radio waves and infrared rays) generated from an electromagnetic wave generator (not shown) provided on the wall 402 is detected by an electromagnetic wave sensor (not shown) provided in the vehicle 100, and the signal of the electromagnetic wave is detected. Based on this, the vehicle 100 starts toward the wall 402. Fourth, the wall 402 is image-recognized based on the imaging information Dh transmitted from the camera 27, and the vehicle 100 starts toward the wall 402. Fifth, distance information Di with the wall 402 transmitted from the distance measuring device 28 is a predetermined distance (for example, several tens of cm or less). In addition, the condition for detecting the relative approach with the wall 402 is satisfied if necessary.

  If the control condition regarding the wall 402 is not satisfied (NO in step S32), the control related to normal traveling is repeated (steps S10 to S12, S30 to S32). On the other hand, as long as the control condition regarding the wall 402 is satisfied (YES in step S32), it is possible that the vehicle 100 travels (particularly forward) may collide with the wall 402. S17 is repeatedly executed. That is, there is a possibility that an occupant (especially a driver) depresses the accelerator pedal 21 for some reason, and control is performed so that the vehicle 100 does not travel (particularly suddenly start) even if the accelerator pedal 21 is depressed by mistake.

  In the above-described example, the object is described as the wall 402. However, an object provided in the parking lot 400 such as a fence (fence), a pillar, a bar (pole), a tree, or the like can be similarly processed. The parking lot 400 (parking) can be applied to a flat parking lot, a three-dimensional parking lot, an underground parking lot, an in-building parking lot, a garage, etc., regardless of the type.

  According to Embodiment 3 described above, the following effects can be obtained. In addition, since the structure of the traveling control apparatus 10 and the vehicle 100 is the same as that of Embodiment 1, the effect similar to Embodiment 1 can be acquired except (2).

  (4) The predetermined area A5 includes a parking space Ps in which the vehicle 100 can park and stop, and the control condition is stopped in the parking space Ps based on sound waves generated from the sound wave generator 401 provided in the parking lot 400. The vehicle 100 is configured to start toward one or more walls 402 or a fence provided near the parking space Ps (see FIGS. 9 to 11). According to this configuration, when the predetermined area A5 includes the parking space Ps and satisfies the control condition (that is, the condition of traveling toward the wall 402, the fence, or the like), the traveling control unit 14 suppresses the traveling of the vehicle 100. Take control. Since traveling of the vehicle 100 toward the wall 402, the fence, and the like is suppressed, a collision with the wall 402, the fence, etc. can be avoided as compared with the conventional case.

[Other Embodiments]
Although the form for implementing this invention was demonstrated according to Embodiment 1-3 in the above, this invention is not limited to the said form at all. In other words, various forms can be implemented without departing from the scope of the present invention. For example, the following forms may be realized.

  The first embodiment described above applies to the predetermined areas A1 and A2 including the railroad crossing Rc (see FIG. 4), and the second embodiment applies to the predetermined area A4 including the intersection Rx (see FIGS. 6 to 8). In the third embodiment, the present invention is applied to the predetermined area A5 including the parking space Ps (see FIGS. 10 and 11). It may replace with this form and may apply to other predetermined fields including the place where vehicle 100 may collide with an object. The other predetermined area corresponds to a non-linear road such as an L-shape or S-shape. Even in the other predetermined region, the traveling of the vehicle 100 is suppressed, so that the same effect as in the first to third embodiments can be obtained.

  In the first embodiment described above, the present invention is applied to a train traveling on the railway track Ra as an object (see FIG. 4), and in the second embodiment, the object is applied to other vehicles, humans, pets, bicycles, etc. (FIGS. 6 to 6). In the third embodiment, the object is applied to a wall 402, a fence, or the like (see FIGS. 10 and 11). It may replace with this form and may apply to other objects with which vehicle 100 may collide. Other objects include, for example, structures (including buildings), installations on roads Rd (signs, guardrails, etc.) excluding traffic lights 300, trees (including row trees), and the like. Even with other objects, the traveling of the vehicle 100 is suppressed, so that the same effect as in the first to third embodiments can be obtained.

  In the above-described first to third embodiments, as a control for suppressing the travel of the vehicle 100, the braking information Cb is transmitted to the braking device 33 to actively perform braking (FIGS. 1, 3 and 5). (See step S17 in FIG. 9). In addition to this form, it is preferable to control the seat belt so as to reduce the shock to the passenger due to the sudden stop of the vehicle 100 due to braking. In this way, it is possible to eliminate or minimize the influence on the passenger (body) due to the reaction of the sudden stop.

  In the above-described first to third embodiments, the vehicle 100 includes a plurality of ECUs 102, 104, and 106 as control devices (see FIG. 2). Instead of this form, the vehicle 100 may include only one ECU, one computer, and the like. Since only the difference between the distributed processing and the centralized processing is performed, the same effect as the first to third embodiments can be obtained.

  In Embodiments 1-3 described above, the present invention is applied to a four-wheeled vehicle (passenger car) as the vehicle 100 (see FIG. 2). Instead of this form, the present invention may be applied to four-wheeled vehicles (for example, freight vehicles and special work vehicles) other than passenger cars, two-wheeled vehicles (motorcycles), multi-wheeled vehicles (for example, towed vehicles), and the like. Even if it is applied to any of the automobiles, the running is suppressed, so the same effect as in the first to third embodiments can be obtained.

DESCRIPTION OF SYMBOLS 10 Traveling control apparatus 11 Position measurement part 12 Area | region discrimination | determination part 14 Traveling control part 21 Accelerator pedal 100 Vehicle A1, A2, A3, A4, A5 Predetermined area | region Dd Depression amount information Th threshold value

Claims (12)

In the vehicle travel control device (10) for controlling the travel of the vehicle (100),
A position measuring unit (11) for measuring a current position of the vehicle;
Predetermined areas (A1, A2, A4, A5) where the current position of the vehicle measured by the position measuring unit is more likely to collide with an object when the accelerator pedal (21) is suddenly depressed. An area discriminating section (12) for discriminating whether or not it is within,
When the vehicle is traveling at or below a predetermined speed or stopped, the region determination unit determines that the vehicle is located in the predetermined region, satisfies a control condition, and is a unit for a depression amount (Dd) for depressing the accelerator pedal When the amount of change per hour (Δd) exceeds a threshold value (Th), a travel control unit (14) that performs control to suppress travel of the vehicle;
A vehicle travel control device comprising: The predetermined area includes a railroad crossing (Rc) where a railroad track (Ra) and a road (Rd) intersect,
The control condition is one or more of the following: the circuit breaker (204) for the level crossing is lowered, the color light (202) for the level crossing is turned on, and the alarm (201) for the level crossing is sounded. The vehicle travel control device according to claim 1, wherein the vehicle travel control device is provided. The predetermined area includes an intersection (Rx) where roads (Rd) intersect each other,
The control condition is at least one of the fact that the traffic light (300) provided at the intersection is lit in a predetermined color and the acoustic device (302, 303, 304) provided at the intersection emits a guidance sound. The travel control device for a vehicle according to claim 1 or 2. The predetermined area includes a parking space (Ps) where the vehicle can park and stop,
The control condition is based on sound waves generated from a sound wave generator (401) provided in a parking lot (400), and the vehicle that has stopped in the parking space is provided in the vicinity of the parking space. The vehicle travel control device according to any one of claims 1 to 3, wherein the vehicle travels toward a wall (402) or a fence. An approach detection unit (13) for detecting the object relatively approaching the vehicle;
5. The vehicle travel control apparatus according to claim 1, wherein the control condition is that the approach detection unit detects the object. 6.   The vehicle travel control device according to any one of claims 1 to 5, wherein the travel control unit suppresses an operation of a power source (30) that causes the vehicle to travel.   The vehicle travel control device according to any one of claims 1 to 6, wherein the travel control unit activates a braking device (33) for braking the travel of the vehicle.   The vehicle travel control device according to claim 7, wherein the travel control unit increases the operation of the braking device as the stepping amount increases.   The travel control unit suppresses travel of the vehicle, and performs at least one of sounding an alarm (34) provided in the vehicle and lighting lights (36) provided in the vehicle. The vehicle travel control apparatus according to any one of claims 1 to 8, wherein   The travel control unit includes sound information (Dg) detected by a microphone (26), imaging information (Dh) captured by a camera (27), and a distance detected by a distance measuring device (28) that measures a distance from the object. The vehicle travel control apparatus according to any one of claims 1 to 9, wherein whether or not the control condition is satisfied is determined based on one or more pieces of information (Di).   The travel control device for a vehicle according to any one of claims 1 to 10, wherein the position measuring unit includes a GPS device (105) or a car navigation system. In the vehicle travel control method for controlling the travel of the vehicle (100),
A position measuring step (S11) for measuring the current position of the vehicle;
Predetermined areas (A1, A2, A4, A5) where the current position of the vehicle measured in the position measuring step is more likely to collide with an object when the accelerator pedal (21) is suddenly depressed. A region discriminating step (S14, S21, S31) for discriminating whether or not it is within
When the vehicle is traveling at or below a predetermined speed or stopped, the region determining step determines that the vehicle is located in the predetermined region, satisfies the control condition, and is a unit for the depression amount (Dd) for depressing the accelerator pedal. When the amount of change per hour (Δd) exceeds a threshold value (Th), a travel control step (S15, S22, S32) for performing control to suppress travel of the vehicle;
A vehicle travel control method comprising:

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