[go: up one dir, main page]

WO2014083822A1 - Dispositif de limitation d'accélération de véhicule et procédé de limitation d'accélération de véhicule - Google Patents

Dispositif de limitation d'accélération de véhicule et procédé de limitation d'accélération de véhicule Download PDF

Info

Publication number
WO2014083822A1
WO2014083822A1 PCT/JP2013/006880 JP2013006880W WO2014083822A1 WO 2014083822 A1 WO2014083822 A1 WO 2014083822A1 JP 2013006880 W JP2013006880 W JP 2013006880W WO 2014083822 A1 WO2014083822 A1 WO 2014083822A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration
acceleration suppression
parking frame
host vehicle
vehicle
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2013/006880
Other languages
English (en)
Japanese (ja)
Inventor
修 深田
早川　泰久
明 森本
大介 笈木
田中　大介
拓哉 井上
菅野　健
利通 後閑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP2014549815A priority Critical patent/JP6007991B2/ja
Publication of WO2014083822A1 publication Critical patent/WO2014083822A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18027—Drive off, accelerating from standstill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/80—Time limits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/18—Steering angle
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a technique for suppressing acceleration of the host vehicle in order to provide driving assistance during parking.
  • the current position of the vehicle (own vehicle) is a position that deviates from the road (such as a public road). Is detected.
  • there is an accelerator operation in the direction to increase the vehicle traveling speed and when it is determined that the vehicle traveling speed is greater than the predetermined value, the throttle is decelerated in the deceleration direction regardless of the driver's accelerator operation.
  • Patent Document 1 The technique described in Patent Document 1 described above is intended to prevent acceleration of a vehicle that is not intended by the driver even when an accelerator operation error occurs, so whether or not the accelerator operation is an operation error. Judgment is a challenge.
  • an erroneous operation of the accelerator occurs under the condition that the vehicle is off the road and the condition in which the accelerator operation is performed in a state in which a traveling speed of a predetermined value or more is detected. It is a condition for determining that there is a possibility.
  • control in the throttle deceleration direction is activated depending on the vehicle speed.
  • An object of the present invention is to provide a vehicle acceleration suppression device and a vehicle acceleration suppression method.
  • one aspect of the present invention suppresses acceleration of the host vehicle that is controlled according to the amount of operation of the driving force indicating operator that is operated by the driver to indicate the driving force.
  • the suppression of acceleration includes the line of the parking frame in the environment around the host vehicle, the turning state of the host vehicle is equal to or higher than a preset first acceleration suppression turning threshold, and the vehicle speed of the host vehicle is set to the first set in advance. Starts when the acceleration suppression vehicle speed threshold is exceeded.
  • a parking frame line when a parking frame line is included in the environment around the host vehicle, it is possible to start suppressing acceleration according to the turning state and the vehicle speed of the host vehicle. For this reason, even when the time from the normal travel to the start of the acceleration suppression control is short, it is possible to suppress the acceleration when the accelerator is erroneously operated.
  • FIG. 1 is a conceptual diagram illustrating a configuration of a vehicle including the vehicle acceleration suppression device of the present embodiment.
  • the host vehicle V includes wheels W (right front wheel WFR, left front wheel WFL, right rear wheel WRR, left rear wheel WRL), a brake device 2, a fluid pressure circuit 4, and a brake controller 6. Is provided.
  • the host vehicle V includes an engine 8 and an engine controller 12.
  • the brake device 2 is formed using, for example, a wheel cylinder and provided on each wheel W.
  • the brake device 2 is not limited to a device that applies a braking force with fluid pressure, and may be formed using an electric brake device or the like.
  • the fluid pressure circuit 4 is a circuit including piping connected to each brake device 2.
  • the brake controller 6 responds to the braking force command value generated by each brake device 2 via the fluid pressure circuit 4 based on the braking force command value received from the travel controller 10 that is the host controller. To control the value. That is, the brake controller 6 forms a deceleration control device. In addition, the description regarding the traveling control controller 10 is mentioned later. Therefore, the brake device 2, the fluid pressure circuit 4, and the brake controller 6 form a braking device that generates a braking force.
  • the engine 8 forms a drive source for the host vehicle V.
  • the engine controller 12 controls the torque (driving force) generated by the engine 8 based on the target throttle opening signal (acceleration command value) received from the travel controller 10. That is, the engine controller 12 forms an acceleration control device. A description regarding the target throttle opening signal will be given later. Therefore, the engine 8 and the engine controller 12 form a driving device that generates driving force.
  • the drive source of the own vehicle V is not limited to the engine 8, You may form using an electric motor.
  • the driving source of the host vehicle V may be formed by combining the engine 8 and the electric motor.
  • FIG. 2 is a block diagram illustrating a schematic configuration of the vehicle acceleration suppression device 1 of the present embodiment.
  • the vehicle acceleration suppression device 1 includes an ambient environment recognition sensor 14, a wheel speed sensor 16, a steering angle sensor 18, a shift position sensor 20, and a brake operation detection sensor 22.
  • the accelerator operation detection sensor 24 is provided.
  • the vehicle acceleration suppression device 1 includes a navigation device 26 and a travel control controller 10.
  • the ambient environment recognition sensor 14 captures an image around the host vehicle V, and based on each captured image, an information signal including individual images corresponding to a plurality of imaging directions (in the following description, “individual image signal”). May be written). Then, the generated individual image signal is output to the travel controller 10.
  • the surrounding environment recognition sensor 14 is formed using a front camera 14F, a right side camera 14SR, a left side camera 14SL, and a rear camera 14R
  • the front camera 14F is a camera that images the front of the host vehicle V in the vehicle front-rear direction
  • the right-side camera 14SR is a camera that images the right side of the host vehicle V
  • the left-side camera 14SL is a camera that images the left side of the host vehicle V
  • the rear camera 14R is a camera that images the rear side of the host vehicle V in the vehicle front-rear direction.
  • the wheel speed sensor 16 is formed using, for example, a pulse generator such as a rotary encoder that measures wheel speed pulses. Further, the wheel speed sensor 16 detects the rotational speed of each wheel W, and an information signal including the detected rotational speed (which may be referred to as “wheel speed signal” in the following description) is used as a travel controller. 10 is output.
  • the steering angle sensor 18 is provided in a steering column (not shown) that rotatably supports the steering wheel 28.
  • the steering angle sensor 18 detects a current steering angle that is a current rotation angle (a steering operation amount) of the steering wheel 28 that is a steering operator.
  • an information signal including the detected current steering angle (which may be described as “current steering angle signal” in the following description) is output to the travel controller 10.
  • the steering operator is not limited to the steering wheel 28 that is rotated by the driver, and may be, for example, a lever that is operated by the driver to tilt by hand. In this case, the lever tilt angle from the neutral position is output as an information signal corresponding to the current steering angle signal.
  • the shift position sensor 20 detects the current position of a member that changes the shift position (for example, “P”, “D”, “R”, etc.) of the host vehicle V, such as a shift knob or a shift lever. Then, an information signal including the detected current position (which may be described as a “shift position signal” in the following description) is output to the travel controller 10.
  • the brake operation detection sensor 22 detects the opening degree of the brake pedal 30 that is a braking force instruction operator. Then, an information signal including the detected opening of the brake pedal 30 (in the following description, may be described as “brake opening signal”) is output to the travel controller 10.
  • the braking force instruction operator is configured to be operable by the driver of the host vehicle V and to instruct the braking force of the host vehicle V by a change in the opening degree.
  • the braking force instruction operator is not limited to the brake pedal 30 that the driver steps on with his / her foot.
  • the accelerator operation detection sensor 24 detects the opening degree of the accelerator pedal 32 that is a driving force instruction operator. Then, an information signal including the detected opening of the accelerator pedal 32 (in the following description, it may be described as “accelerator opening signal”) is output to the travel controller 10.
  • the driving force instruction operator is configured to be operable by the driver of the host vehicle V and to instruct the driving force of the host vehicle V by changing the opening.
  • the driving force instruction operator is not limited to the accelerator pedal 32 that the driver steps on with his / her foot.
  • the driving force instruction operator may be a lever operated by the driver with his / her hand.
  • the navigation device 26 includes a GPS (Global Positioning System) receiver, a map database, an information presentation device having a display monitor, and the like, and performs route search, route guidance, and the like.
  • the navigation device 26 is based on the current position of the host vehicle V acquired using the GPS receiver and the road information stored in the map database, such as the type and width of the road on which the host vehicle V is traveling. Is possible to get.
  • the navigation device 26 uses an information signal (which may be referred to as “own vehicle position signal” in the following description) including the current position of the own vehicle V acquired using the GPS receiver, as the traveling control controller 10. Output to.
  • the navigation device 26 outputs an information signal including the type of road on which the vehicle V is traveling, the road width, etc. (in the following description, it may be described as “traveling road information signal”) to the travel control controller. 10 is output.
  • the information presenting device outputs an alarm or other presenting by voice or image in accordance with a control signal from the travel controller 10.
  • the information presentation apparatus includes, for example, a speaker that provides information to the driver by a buzzer sound or voice, and a display unit that provides information by displaying an image or text. Further, the display unit may divert the display monitor of the navigation device 26, for example.
  • the travel controller 10 is an electronic control unit that includes CPU peripheral components such as a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory).
  • the travel controller 10 also includes a parking driving support unit that performs driving support processing for parking.
  • the parking driving support unit functionally includes an ambient environment recognition information calculation unit 10A, a host vehicle vehicle speed calculation unit 10B, a steering angle calculation unit 10C, and a steering angular velocity calculation as shown in FIG.
  • the processing of unit 10D is provided.
  • the parking driving support unit functionally includes a shift position calculation unit 10E, a brake pedal operation information calculation unit 10F, an accelerator operation amount calculation unit 10G, an accelerator operation speed calculation unit 10H, and an acceleration suppression control content calculation unit 10I.
  • the parking driving support unit functionally includes processing of an acceleration suppression command value calculation unit 10J and a target throttle opening calculation unit 10K. These functions are composed of one or more programs.
  • the surrounding environment recognition information calculation unit 10 ⁇ / b> A forms an image (overhead image) around the host vehicle V viewed from above the host vehicle V based on the individual image signal received from the surrounding environment recognition sensor 14. Then, an information signal including the formed bird's-eye view image (may be described as “bird's-eye view image signal” in the following description) is output to the acceleration suppression control content calculation unit 10I.
  • the bird's-eye view image is formed by, for example, synthesizing images captured by the respective cameras (front camera 14F, right side camera 14SR, left side camera 14SL, and rear camera 14R).
  • the overhead image includes, for example, an image showing a road marking such as a line of a parking frame displayed on the road surface (may be described as “parking frame line” in the following description).
  • the own vehicle vehicle speed calculation unit 10 ⁇ / b> B calculates the speed (vehicle speed) of the own vehicle V from the rotation speed of the wheel W based on the wheel speed signal received from the wheel speed sensor 16. Then, an information signal including the calculated speed (in the following description, may be described as “vehicle speed calculation value signal”) is output to the acceleration suppression control content calculation unit 10I.
  • the steering angle calculation unit 10C calculates the operation amount (rotation angle) from the neutral position of the steering wheel 28 from the current rotation angle of the steering wheel 28 based on the current steering angle signal received from the steering angle sensor 18. . Then, an information signal including the calculated operation amount from the neutral position (in the following description, may be described as “steering angle signal”) is output to the acceleration suppression control content calculation unit 10I.
  • the steering angular velocity calculation unit 10D calculates the steering angular velocity of the steering wheel 28 by differentiating the current steering angle included in the current steering angle signal received from the steering angle sensor 18. Then, an information signal including the calculated steering angular velocity (may be described as “steering angular velocity signal” in the following description) is output to the acceleration suppression control content calculation unit 10I.
  • the shift position calculation unit 10E determines the current shift position based on the shift position signal received from the shift position sensor 20. Then, an information signal including the calculated current shift position (in the following description, may be described as “current shift position signal”) is output to the acceleration suppression control content calculation unit 10I.
  • the brake pedal operation information calculation unit 10F calculates the depression amount of the brake pedal 30 based on the state where the depression amount is “0” based on the brake opening signal received from the brake operation detection sensor 22. Then, an information signal including the calculated depression amount of the brake pedal 30 (in the following description, may be described as “braking side depression amount signal”) is output to the acceleration suppression control content calculation unit 10I.
  • the accelerator operation amount calculation unit 10G calculates the depression amount of the accelerator pedal 32 with reference to the state where the depression amount is “0” based on the accelerator opening signal received from the accelerator operation detection sensor 24. Then, an information signal including the calculated depression amount of the accelerator pedal 32 (in the following description, may be described as a “driving-side depression amount signal”), an acceleration suppression control content calculation unit 10I, and an acceleration suppression command value calculation To the unit 10J and the target throttle opening calculation unit 10K.
  • the accelerator operation speed calculation unit 10H calculates the operation speed of the accelerator pedal 32 by differentiating the opening of the accelerator pedal 32 included in the accelerator opening signal received from the accelerator operation detection sensor 24. Then, an information signal including the calculated operation speed of the accelerator pedal 32 (in the following description, may be described as “accelerator operation speed signal”) is output to the acceleration suppression command value calculation unit 10J.
  • the acceleration suppression control content calculation unit 10I includes the above-described various information signals (overhead image signal, vehicle speed calculation value signal, steering angle signal, steering angular velocity signal, current shift position signal, braking side depression amount signal, driving side depression amount signal, Receives input of own vehicle position signal and travel road information signal. And based on the various information signals which received the input, the acceleration suppression operation condition judgment result mentioned later, acceleration suppression control start timing, and acceleration suppression control amount are calculated. Furthermore, an information signal including these calculated parameters is output to the acceleration suppression command value calculation unit 10J. The detailed configuration of the acceleration suppression control content calculation unit 10I and the processing performed by the acceleration suppression control content calculation unit 10I will be described later.
  • the acceleration suppression command value calculation unit 10J receives the input of the drive side depression amount signal and the accelerator operation speed signal, and the input of the acceleration suppression operation condition determination result signal, the acceleration suppression control start timing signal, and the acceleration suppression control amount signal described later. receive. And the acceleration suppression command value which is a command value for suppressing the acceleration command value according to the depression amount (driving force operation amount) of the accelerator pedal 32 is calculated. Further, an information signal including the calculated acceleration suppression command value (in the following description, may be described as “acceleration suppression command value signal”) is output to the target throttle opening calculation unit 10K. Further, the acceleration suppression command value calculation unit 10J calculates a normal acceleration command value, which is a command value used in normal acceleration control, according to the content of the received acceleration suppression operation condition determination result signal. Furthermore, an information signal including the calculated normal acceleration command value (in the following description, may be described as “normal acceleration command value signal”) is output to the target throttle opening calculation unit 10K. The processing performed by the acceleration suppression command value calculation unit 10J will be described later.
  • the target throttle opening calculation unit 10K receives a drive side depression amount signal and an acceleration suppression command value signal or a normal acceleration command value signal. Based on the depression amount of the accelerator pedal 32 and the acceleration suppression command value or the normal acceleration command value, a target throttle opening that is a throttle opening corresponding to the depression amount of the accelerator pedal 32 or the acceleration suppression command value is calculated. Further, an information signal including the calculated target throttle opening (in the following description, may be described as “target throttle opening signal”) is output to the engine controller 12. Further, when the acceleration suppression command value includes an acceleration suppression control start timing command value described later, the target throttle opening calculation unit 10K sends the target throttle opening signal to the engine controller 12 based on the acceleration suppression control start timing described later. Output. The processing performed by the target throttle opening calculation unit 10K will be described later.
  • FIG. 3 is a block diagram illustrating a configuration of the acceleration suppression control content calculation unit 10I.
  • the acceleration suppression control content calculation unit 10I includes an acceleration suppression operation condition determination block 34, a parking frame certainty factor calculation unit 36, a parking frame approach certainty factor calculation unit 38, and an overall certainty factor calculation unit. 40.
  • the acceleration suppression control content calculation unit 10I includes an acceleration suppression control start timing calculation unit 42 and an acceleration suppression control amount calculation unit 44.
  • the acceleration suppression operation condition determination block 34 includes a first acceleration suppression operation condition determination unit 34A and a second acceleration suppression operation condition determination unit 34B.
  • the first acceleration suppression operation condition determination unit 34A and the second acceleration suppression operation condition determination unit 34B each determine whether a condition for operating the acceleration suppression control is satisfied. Then, an information signal including the determination result (in the following description, it may be described as an “acceleration suppression operation condition determination result signal”) is converted into an acceleration suppression control start timing calculation unit 42 and an acceleration suppression control amount calculation unit 44. And the acceleration suppression command value calculation unit 10J.
  • the acceleration suppression control is a control for suppressing an acceleration command value for accelerating the host vehicle V in accordance with the depression amount of the accelerator pedal 32. A process in which the first acceleration suppression operation condition determination unit 34A and the second acceleration suppression operation condition determination unit 34B determine whether a condition for operating the acceleration suppression control is satisfied will be described later.
  • the parking frame certainty calculation unit 36 calculates a parking frame certainty factor indicating the degree of certainty that the parking frame exists in the traveling direction of the host vehicle V. Then, an information signal including the calculated parking frame certainty factor (in the following description, may be described as “parking frame certainty signal”) is output to the total certainty factor calculation unit 40.
  • the parking frame certainty calculation unit 36 calculates the parking frame certainty by referring to various information included in the bird's-eye view image signal, the vehicle speed calculation value signal, the current shift position signal, the own vehicle position signal, and the traveling road information signal. To do.
  • FIG. 4 for example, there are a plurality of patterns in the parking frame that the parking frame certainty factor calculation unit 36 calculates the certainty factor.
  • FIG. 4 is a figure which shows the pattern of the parking frame which the parking frame reliability calculation part 36 makes calculation object of parking frame reliability.
  • the parking frame approach reliability calculation unit 38 calculates a parking frame approach reliability that indicates the degree of confidence that the host vehicle V enters the parking frame. Then, an information signal including the calculated parking frame approach certainty factor (in the following description, may be described as a “parking frame approach certainty signal”) is output to the total confidence factor calculation unit 40.
  • the parking frame approach certainty factor calculation unit 38 calculates the parking frame approach certainty factor with reference to various information included in the overhead image signal, the vehicle speed calculation value signal, the current shift position signal, and the steering angle signal.
  • the process which the parking frame approach reliability calculation part 38 calculates a parking frame approach reliability is mentioned later.
  • the total certainty calculation unit 40 receives the input of the parking frame certainty signal and the parking frame approach certainty signal, and calculates the total certainty indicating the degree of comprehensive confidence between the parking frame certainty and the parking frame approach certainty. To do. Then, an information signal including the calculated total certainty factor (may be described as a “total certainty factor signal” in the following description) is output to the acceleration suppression control start timing calculation unit 42 and the acceleration suppression control amount calculation unit 44. To do. In addition, the process which the comprehensive reliability calculation part 40 calculates a comprehensive reliability is mentioned later.
  • the acceleration suppression control start timing calculation unit 42 calculates an acceleration suppression control start timing that is a timing for starting the acceleration suppression control.
  • an information signal including the calculated acceleration suppression control start timing (may be described as “acceleration suppression control start timing signal” in the following description) is output to the acceleration suppression command value calculation unit 10J.
  • the acceleration suppression control start timing calculation unit 42 receives various information including an acceleration suppression operation condition determination result signal, a comprehensive certainty signal, a braking side depression amount signal, a vehicle speed calculation value signal, a current shift position signal, and a steering angle signal. Referring to, acceleration acceleration control start timing is calculated. The process in which the acceleration suppression control start timing calculation unit 42 calculates the acceleration suppression control start timing will be described later.
  • the acceleration suppression control amount calculation unit 44 calculates an acceleration suppression control amount that is a control amount for suppressing the acceleration command value according to the depression amount of the accelerator pedal 32. Then, an information signal including the calculated acceleration suppression control amount (in the following description, may be described as “acceleration suppression control amount signal”) is output to the acceleration suppression command value calculation unit 10J.
  • the acceleration suppression control amount calculation unit 44 refers to various information included in the acceleration suppression operation condition determination result signal, the overall certainty signal, the braking side depression amount signal, the vehicle speed calculation value signal, the current shift position signal, and the steering angle signal. Then, the acceleration suppression control amount is calculated. The process in which the acceleration suppression control amount calculation unit 44 calculates the acceleration suppression control amount will be described later.
  • FIG. Processing performed by the acceleration suppression operation condition determination block 34 Referring to FIGS. 1 to 4, the conditions for the acceleration suppression operation condition determination block 34 to operate the acceleration suppression control (refer to the following description). The process of determining whether or not “acceleration suppression operation condition” may be established will be described. That is, a process in which the first acceleration suppression operation condition determination unit 34A and the second acceleration suppression operation condition determination unit 34B determine whether or not the acceleration suppression operation condition is satisfied will be described.
  • 1st acceleration suppression operation condition determination part performs the process demonstrated below for every preset sampling time (for example, 10 [msec]).
  • an image around the host vehicle V is acquired with reference to the bird's-eye view around the host vehicle V included in the bird's-eye view image signal received from the ambient environment recognition information calculation unit 10A.
  • the vehicle speed of the host vehicle V is acquired with reference to the vehicle speed calculation value signal received from the host vehicle speed calculation unit 10B.
  • the operation amount (rotation angle) from the neutral position of the steering wheel 28 is acquired with reference to the steering angle signal from the steering angle calculation unit 10C.
  • it is determined whether or not a parking frame line is included in the overhead image around the host vehicle V.
  • a parking frame line is included in the overhead image around the host vehicle V. Will be described.
  • condition X1 whether or not the line included in the acquired image is a parking frame line is determined using at least one of the following conditions (X1 to X3), for example.
  • Condition X1 The end shape of the line included in the acquired image is the end shape (for example, linear or U-shaped) of the line used as the parking frame line.
  • the state of the line included in the acquired image is suitable for the state of the line used as the parking frame line (for example, the degree of blur, the width of the line, the length of the line, the length of the line break).
  • the distance between the line included in the acquired image and the coordinate center of gravity of the host vehicle V is within a predetermined distance set in advance.
  • the predetermined distance is set to 1 to 2.5 [m]
  • the predetermined distance is set to 2.5 [m]
  • the predetermined distance is 1 [m]. It may be set.
  • the moving direction (forward, backward) of the host vehicle V is detected with reference to a current shift position signal, for example.
  • FIG. 5 is a diagram illustrating a process performed by the first acceleration suppression operation condition determination unit 34A and is a diagram illustrating an overhead image of the host vehicle V.
  • an area indicating an image captured by the front camera 14F is denoted by “PEF”
  • an area indicating an image captured by the rear camera 14R is denoted by “PER”.
  • a region indicating an image captured by the right-side camera 14SR is denoted by “PESR”
  • a region indicating an image captured by the left-side camera 14SL is denoted by “PESL”.
  • a preset first acceleration suppression vehicle speed threshold value it is determined whether or not the acquired vehicle speed is equal to or higher than a preset first acceleration suppression vehicle speed threshold value.
  • a case where the first acceleration suppression vehicle speed threshold is set to 30 [km / h] will be described.
  • lateral G acceleration in the lateral direction (vehicle width direction) of the vehicle body occurring in the host vehicle V (hereinafter referred to as "lateral G"). May be described).
  • lateral G acceleration in the lateral direction (vehicle width direction) of the vehicle body occurring in the host vehicle V.
  • lateral G a preset first acceleration suppression turning threshold value.
  • a case where the first acceleration suppression turning threshold is set to 0.3 [G] will be described.
  • the acceleration suppression operation condition determination result signal is used as information including a determination result that the acceleration suppression control operation condition is satisfied. Processing to generate as a signal is performed. Further, a process of outputting the generated acceleration suppression operation condition determination result signal to the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, and the acceleration suppression command value calculation unit 10J is performed.
  • the acceleration suppression operation condition determination result signal output by the first acceleration suppression operation condition determination unit 34A may be referred to as a “first acceleration suppression operation condition determination result signal”.
  • the first acceleration suppression operation condition determination unit 34A measures the time elapsed from the output of the acceleration suppression operation condition determination result signal including the determination result that the acceleration suppression control operation condition is satisfied, and acquires the vehicle speed. Then, based on the measured time and the acquired vehicle speed, the movement distance of the host vehicle V from the time when the acceleration suppression operation condition determination result signal including the determination result that the acceleration suppression control operation condition is satisfied is detected is detected. Next, it is determined whether or not the detected movement distance is equal to or greater than a preset movement distance threshold. And if the detected moving distance becomes more than a moving distance threshold value, the process which produces
  • generated acceleration suppression operation condition judgment result signal to the acceleration suppression control start timing calculating part 42, the acceleration suppression control amount calculating part 44, and the acceleration suppression command value calculating part 10J is performed.
  • the movement distance threshold is set to 5 [m] as an example.
  • FIG. 6 is a flowchart illustrating processing in which the second acceleration suppression operation condition determination unit 34B determines whether or not the acceleration suppression operation condition is satisfied.
  • the second acceleration suppression operation condition determination unit 34B performs the process described below every preset sampling time (for example, 10 [msec]).
  • the second acceleration suppression operation condition determination unit 34B starts processing (START)
  • step S100 processing for acquiring an image around the host vehicle V (“self” shown in the figure).
  • Car surrounding image acquisition process ") If the process which acquires the image around the own vehicle V is performed in step S100, the process which the 2nd acceleration suppression operation condition judgment part 34B performs will transfer to step S102.
  • the surrounding image of the own vehicle V is acquired with reference to an overhead image around the own vehicle V included in the overhead image signal received from the surrounding environment recognition information calculation unit 10A.
  • step S102 based on the image acquired in step S100, a process for determining the presence / absence of a parking frame ("parking frame presence / absence determination process" shown in the figure) is performed.
  • the process for determining the presence or absence of a parking frame is, for example, whether or not there is a white line (parking frame line) or the like that identifies the parking frame within a distance or area (area) set in advance with reference to the host vehicle V. Judge whether or not.
  • various well-known systems such as a process which recognizes a parking frame line from the image acquired by step S100, various well-known systems, such as edge detection, are used, for example.
  • FIG. 7 is a schematic diagram schematically illustrating a parking frame line recognition method based on edge detection.
  • FIG. 7A when the parking frame lines Lm and Ln are detected, scanning in the horizontal direction is performed in the area indicating the captured image.
  • scanning an image for example, a monochrome image obtained by binarizing a captured image is used.
  • FIG. 7A shows a captured image. Since the parking frame line is displayed in white or the like that is sufficiently brighter than the road surface, the brightness is higher than that of the road surface.
  • FIG. 7B is a graph showing the luminance change of the pixels in the image when scanning from the left to the right.
  • FIG. 7C is the same as FIG. 7A.
  • the plus edge is indicated by a symbol “E + ”
  • the plus edge is indicated by a thick solid line with a symbol “E + ”.
  • a negative edge at which the brightness sharply decreases is detected at the boundary portion where the parking frame line changes to the road surface.
  • the minus edge is indicated by a sign “E ⁇ ”
  • the minus edge is indicated by a thick dotted line with a sign “E ⁇ ”.
  • the parking frame line is detected by detecting a pair of adjacent edges in the order of plus edge (E + ) and minus edge (E ⁇ ) in the scanning direction. Judge that it exists.
  • step S102 determines whether there is no parking frame (“No" shown in the figure)
  • step S104 a process for acquiring the vehicle speed of the host vehicle V ("own vehicle speed information acquisition process" shown in the figure) is performed with reference to the vehicle speed calculation value signal received from the host vehicle speed calculation unit 10B. If the process which acquires the vehicle speed of the own vehicle V is performed in step S104, the process which the 2nd acceleration suppression operation condition judgment part 34B performs will transfer to step S106.
  • step S106 based on the vehicle speed acquired in step S104, it is determined whether or not a condition that the vehicle speed of the host vehicle V is less than a preset threshold vehicle speed is satisfied ("own vehicle vehicle speed shown in the figure”). "Condition judgment process”).
  • the threshold vehicle speed is set to 15 [km / h]
  • the threshold vehicle speed is not limited to 15 [km / h], and may be changed according to the specifications of the host vehicle V such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels. If it is determined in step S106 that the condition that the vehicle speed of the host vehicle V is less than the threshold vehicle speed is satisfied ("Yes" shown in the figure), the process performed by the second acceleration suppression operation condition determination unit 34B is as follows: The process proceeds to S108.
  • step S106 if it is determined in step S106 that the condition that the vehicle speed of the host vehicle V is less than the threshold vehicle speed is not satisfied ("No" shown in the drawing), the process performed by the second acceleration suppression operation condition determination unit 34B is as follows. The process proceeds to step S120.
  • step S108 referring to the brake-side depression amount signal received from the brake pedal operation information calculation unit 10F, a process of obtaining information on the depression amount (operation amount) of the brake pedal 30 ("brake pedal shown in the drawing" Operation amount information acquisition processing ”) is performed. If the process which acquires the information of the depression amount (operation amount) of the brake pedal 30 is performed in step S108, the process which the 2nd acceleration suppression operation condition judgment part 34B performs will transfer to step S110. In step S110, based on the depression amount of the brake pedal 30 acquired in step S108, a process for determining whether or not the brake pedal 30 is operated (“brake pedal operation determination process” shown in the figure) is performed.
  • step S110 If it is determined in step S110 that the brake pedal 30 has not been operated ("No” shown in the figure), the processing performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S112. On the other hand, when it is determined in step S110 that the brake pedal 30 is operated (“Yes” shown in the drawing), the processing performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S120.
  • step S112 With reference to the drive side depression amount signal received from the accelerator operation amount calculation unit 10G, information on the depression amount (operation amount) of the accelerator pedal 32 is acquired ("accelerator pedal operation shown in the figure"). Quantity information acquisition processing ”). If the process which acquires the information of the depression amount (operation amount) of the accelerator pedal 32 is performed in step S112, the process which the 2nd acceleration suppression operation condition judgment part 34B performs will transfer to step S114.
  • step S114 a process for determining whether or not a condition that the depression amount (operation amount) of the accelerator pedal 32 is equal to or larger than a preset threshold accelerator operation amount is satisfied ("accelerator pedal operation determination process" shown in the figure). )I do.
  • the process of step S114 is performed based on the depression amount of the accelerator pedal 32 acquired in step S112.
  • the threshold accelerator operation amount is set to an operation amount corresponding to 3% of the opening of the accelerator pedal 32.
  • the threshold accelerator operation amount is not limited to the operation amount corresponding to 3% of the opening degree of the accelerator pedal 32. It may be changed.
  • step S114 when it is determined that the condition that the depression amount (operation amount) of the accelerator pedal 32 is equal to or greater than the threshold accelerator operation amount ("Yes" shown in the drawing), the second acceleration suppression operation condition determination unit The process performed by 34B proceeds to step S116.
  • step S114 processing for acquiring information for determining whether or not the host vehicle V enters the parking frame ("parking frame entry determination information acquisition processing" shown in the figure) is performed.
  • parking frame entry determination information acquisition processing processing for acquiring information for determining whether or not the host vehicle V enters the parking frame.
  • the process performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S118.
  • step S116 the rotation angle (steering angle) of the steering wheel 28 is acquired with reference to the steering angle signal received from the steering angle calculation unit 10C.
  • the angle ⁇ between the host vehicle V and the parking frame L0, the host vehicle V, and The distance D with the parking frame L0 is acquired.
  • the angle ⁇ is an absolute value of an intersection angle between the straight line X and the line on the frame line L1 and the parking frame L0 side.
  • FIG. 8 is a figure explaining the distance D of the own vehicle V, the parking frame L0, and the own vehicle V and the parking frame L0.
  • the straight line X is a straight line in the front-rear direction of the host vehicle V that passes through the center of the host vehicle V (a straight line extending in the traveling direction). It is a frame line of the parking frame L0 part which becomes parallel or substantially parallel to the front-back direction.
  • the line on the parking frame L0 side is a line on the parking frame L0 side that is an extension of L1.
  • the distance D is a distance between the center point PF of the front end face of the host vehicle V and the center point PP of the entrance L2 of the parking frame L0 as shown in FIG.
  • the distance D is a negative value after the front end surface of the host vehicle V passes through the entrance L2 of the parking frame L0.
  • the distance D may be set to zero after the front end surface of the host vehicle V passes through the entrance L2 of the parking frame L0.
  • the position on the own vehicle V side for specifying the distance D is not limited to the center point PF, and may be, for example, a position set in advance in the own vehicle V and a preset position in the entrance L2.
  • the distance D is a distance between a position set in advance in the host vehicle V and a position set in advance at the entrance L2.
  • step S116 as information for determining whether or not the host vehicle V enters the parking frame L0, the steering angle, the angle ⁇ between the host vehicle V and the parking frame L0, the host vehicle V and the parking The distance D of the frame L0 is acquired.
  • step S118 based on the information acquired in step S116, a process for determining whether or not the host vehicle V enters the parking frame ("parking frame entry determining process" shown in the figure) is performed. If it is determined in step S118 that the host vehicle V does not enter the parking frame ("No" shown in the figure), the processing performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S120. On the other hand, if it is determined in step S118 that the host vehicle V enters the parking frame (“Yes” shown in the figure), the processing performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S122.
  • step S118 for example, when all of the following three conditions (A1 to A3) are satisfied, it is determined that the host vehicle V enters the parking frame.
  • Condition A1 The elapsed time after the steering angle detected in step S116 is equal to or greater than a preset steering angle value (eg, 45 [deg]) is within a preset setup time (eg, 20 [sec]). is there.
  • the angle ⁇ between the host vehicle V and the parking frame L0 is a preset angle (for example, 40 [deg]) or less.
  • Condition A3 The distance D between the host vehicle V and the parking frame L0 is equal to or less than a preset set distance (for example, 3 [m]).
  • step S120 an acceleration suppression operation condition determination result signal is generated as an information signal including a determination result that the acceleration suppression control operation condition is not satisfied ("acceleration suppression operation condition not satisfied" shown in the drawing).
  • the process performed by the second acceleration suppression operation condition determination unit 34B proceeds to step S124. .
  • step S122 a process of generating an acceleration suppression operation condition determination result signal as an information signal including a determination result that the acceleration suppression control operation condition is satisfied ("acceleration suppression operation condition satisfaction" shown in the figure) is performed. If the process which produces
  • step S124 a process of outputting the acceleration suppression operation condition determination result signal generated in step S120 or step S122 to the acceleration suppression command value calculation unit 10J ("acceleration suppression operation condition determination result output" shown in the drawing) is performed.
  • step S124 If the process which outputs an acceleration suppression operation condition judgment result signal to the acceleration suppression command value calculating part 10J is performed in step S124, the process which the 2nd acceleration suppression operation condition judgment part 34B performs will return to the process of step S100 (RETURN). To do.
  • the acceleration suppression operation condition determination result signal output by the second acceleration suppression operation condition determination unit 34B may be described as a “second acceleration suppression operation condition determination result signal”.
  • FIG. 9 is a flowchart illustrating a process in which the parking frame certainty calculation unit 36 calculates the parking frame certainty.
  • the parking frame reliability calculation part 36 performs the process demonstrated below for every preset sampling time (for example, 10 [msec]).
  • a process of calculating (setting) the level of the parking frame certainty as the lowest value (level 0). (“Level 0" shown in the figure) is performed. If the process which calculates parking frame reliability as the level 0 is performed in step S200, the process which the parking frame reliability calculation part 36 performs will transfer to step S202.
  • step S202 processing for acquiring an overhead image around the host vehicle V included in the overhead image signal received from the ambient environment recognition information calculation unit 10A ("acquisition of surrounding images" shown in the figure) is performed. If the process which acquires the bird's-eye view image around the own vehicle V is performed in step S202, the process which the parking frame reliability calculation part 36 performs will transfer to step S204.
  • step S204 the process ("determination element extraction” shown in a figure) which extracts the determination element used in order to calculate parking frame reliability is performed from the bird's-eye view image acquired by step S202. If the process which extracts the determination element from a bird's-eye view image is performed in step S204, the process which the parking frame reliability calculation part 36 performs will transfer to step S206.
  • the determination element is a line (white line, etc.) marked on the road surface such as a parking frame line, and the state satisfies, for example, all of the following three conditions (B1 to B3) Then, the line is extracted as a determination element.
  • Condition B1 If the marked line on the road surface has a broken part, the broken part is a part where the marked line is faint (for example, a part having a lower clarity than the line and a higher clarity than the road surface). ).
  • Condition B2 The width of the line marked on the road surface is equal to or larger than a preset setting width (for example, 10 [cm]).
  • the setting width is not limited to 10 [cm], and may be changed according to, for example, traffic regulations of a region (country or the like) in which the host vehicle V is traveling.
  • Condition B3 The length of the line marked on the road surface is greater than or equal to a preset set line length (for example, 2.5 [m]).
  • the set marking line length is not limited to 2.5 [m], and may be changed according to traffic regulations or the like of the area (country or the like) in which the host vehicle V is traveling.
  • step S206 a process of determining whether or not the determination element extracted in step S204 conforms to the conditions of the line forming the parking frame line (“parking frame condition conformance?” Shown in the figure) is performed.
  • step S206 when it is determined that the determination element extracted in step S204 does not conform to the conditions of the line forming the parking frame line ("No" shown in the drawing), the parking frame certainty calculation unit 36 performs it. The process proceeds to step S200.
  • the parking frame certainty calculation unit 36 proceeds to step S208.
  • the process performed by step S206 is performed with reference to the overhead image signal received from 10 A of surrounding environment recognition information calculating parts, for example.
  • FIG. 10 is a figure which shows the content of the process which the parking frame reliability calculation part 36 performs.
  • a region indicating an image captured by the front camera 14 ⁇ / b> F in the overhead view image is denoted by a symbol “PE”.
  • PE a region indicating an image captured by the front camera 14 ⁇ / b> F in the overhead view image.
  • step S206 first, two adjacent lines displayed on the same screen are identified as one set from the lines marked on the road surface that is the determination element extracted in step S204 (in the following description). , Sometimes referred to as “pairing”). When three or more lines are displayed on the same screen, two or more pairs are specified by two adjacent lines for the three or more lines.
  • the determination element extracted in step S204 is the line that forms the parking frame line. Judge that the condition is met.
  • Condition C1 As shown in FIG. 10 (a), the width WL between two paired lines (indicated by the symbols “La” and “Lb” in the figure) is a preset pairing width (for example, 2.5 [m]) or less.
  • the set pairing width is not limited to 2.5 [m], and may be changed, for example, according to traffic regulations or the like of the area (country or the like) in which the host vehicle V is traveling.
  • the angle (degree of parallelism) formed by the line La and the line Lb is within a preset angle (for example, 3 [°]).
  • the set angle is not limited to 3 [°], and may be changed according to, for example, the recognition ability of the surrounding environment recognition sensor 14.
  • a reference line (a line extending in the vertical direction of the region PE) is indicated by a dotted line with a reference “CLc”, and a central axis of the line La is indicated by a reference “CLa”.
  • the central axis of the line Lb is indicated by a broken line with the sign “CLb”.
  • the inclination angle of the central axis line CLa with respect to the reference line CLc is indicated by a symbol “ ⁇ a”
  • the inclination angle of the central axis line CLb with respect to the reference line CLc is indicated by a reference symbol “ ⁇ b”. Therefore, if the conditional expression of
  • Condition C3 As shown in FIG. 10C, a straight line connecting the end of the line La on the own vehicle V side (the lower end in the drawing) and the end of the line Lb on the own vehicle V side, and the own vehicle
  • the angle ⁇ formed with the line L closer to V is equal to or larger than a preset setting deviation angle (for example, 45 [°]).
  • the setting deviation angle is not limited to 45 [°], and may be changed according to, for example, the recognition ability of the surrounding environment recognition sensor 14.
  • ) of the difference between the width W0 of the line La and the width W1 of the line Lb is a preset line width (for example, 10 [cm]).
  • the set line width is not limited to 10 [cm], and may be changed according to, for example, the recognition ability of the surrounding environment recognition sensor 14.
  • step S208 a process for determining whether or not the process in step S206 is continuously verified from the start of the process in step S206 until the moving distance of the host vehicle V reaches the preset moving distance (see FIG. "Continuous verification fit?") Shown in the inside.
  • the set moving distance is set in the range of 1 to 2.5 [m], for example, according to the specifications of the host vehicle V.
  • the processing performed in step S208 is performed with reference to, for example, an overhead image signal received from the surrounding environment recognition information calculation unit 10A and a vehicle speed calculation value signal received from the host vehicle vehicle speed calculation unit 10B.
  • step S208 If it is determined in step S208 that the processing in step S206 is not continuously collated ("No" shown in the figure), the processing performed by the parking frame certainty calculation unit 36 proceeds to step S210. On the other hand, if it is determined in step S208 that the processing in step S206 is continuously collated (“Yes” shown in the figure), the processing performed by the parking frame certainty calculation unit 36 proceeds to step S212.
  • the process performed in step S208 for example, as shown in FIG. 11, the movement distance of the host vehicle V is set according to the state in which the process in step S206 is collated and the state in which the process in step S206 is not collated. Operate virtually.
  • FIG. 11 is a figure which shows the content of the process which the parking frame reliability calculation part 36 performs.
  • step S206 when the state in which the process in step S ⁇ b> 206 is collated is “ON”, the virtual travel distance increases. On the other hand, if the state checked in step S206 is “OFF”, the virtual travel distance decreases.
  • the slope (increase gain) when the virtual travel distance increases is set larger than the slope (decrease gain) when the virtual travel distance decreases. That is, if the “verification state” is “ON” and the “OFF” state is the same time, the virtual travel distance increases. Then, when the virtual travel distance reaches the set travel distance without returning to the initial value (shown as “0 [m]” in the figure), it is determined that the processing in step S206 is continuously verified.
  • step S210 processing ("level 1" shown in the figure) is performed to calculate the level of parking frame certainty as a level (level 1) that is one step higher than the lowest value (level 0). If the process which calculates parking frame reliability as level 1 is performed in step S210, the process which the parking frame reliability calculation part 36 performs will be complete
  • step S212 the end points located on the same side with respect to the host vehicle V (the end point on the near side or the end point on the far side) with respect to the lines La and Lb that are continuously collated in the process of step S206. Is detected.
  • step S212 a process of determining whether or not the end points located on the same side face each other along the direction of the width WL (“approaching near and far end point?” Shown in the figure) is performed.
  • the process performed in step S212 is performed with reference to, for example, an overhead image signal received from the surrounding environment recognition information calculation unit 10A and a vehicle speed calculation value signal received from the host vehicle vehicle speed calculation unit 10B.
  • step S212 when it is determined that the end points located on the same side do not face each other along the direction of the width WL ("No" shown in the drawing), the process performed by the parking frame certainty calculation unit 36 is as follows. Control goes to step S214. On the other hand, when it is determined in step S212 that the end points located on the same side are facing each other along the direction of the width WL (“Yes” shown in the drawing), the parking frame certainty calculation unit 36 performs processing. Proceeds to step S216. In step S214, a process (“level 2" shown in the figure) is performed to calculate the level of parking frame certainty as a level (level 2) that is two levels higher than the lowest value (level 0). If the process which calculates parking frame reliability as level 2 is performed in step S214, the process which the parking frame reliability calculation part 36 performs will be complete
  • step S216 in the process of step S212, the end points located on the other side are further detected with respect to the lines La and Lb that are determined that the end points located on the same side face each other along the direction of the width WL.
  • step S212 when an end point on the side closer to the lines La and Lb (one side) is detected, an end point on the side farther from the lines La and Lb (the other side) is detected in step S216.
  • step S216 To detect.
  • a process of determining whether or not the end points located on the other side face each other along the direction of the width WL (“end-to-end end point matching?” Shown in the figure) is performed.
  • the process performed in step S216 is performed with reference to, for example, an overhead image signal received from the surrounding environment recognition information calculation unit 10A and a vehicle speed calculation value signal received from the host vehicle vehicle speed calculation unit 10B.
  • Intersection points are not processed (recognized) as end points. This is because when detecting an end point, the end point is detected by performing a horizontal scan in a region indicating a captured image. Further, for example, the area indicated by the white frame in FIG. 4 (p) indicates an object on the road such as a pillar, and therefore the end point of this object is not detected.
  • step S216 when it is determined that the end points located on the other side do not face each other along the direction of the width WL ("No" shown in the drawing), the process performed by the parking frame certainty calculation unit 36 is performed. The process proceeds to step S218.
  • step S216 when it is determined that the end points located on the other side face each other along the direction of the width WL ("Yes” shown in the figure), the parking frame certainty calculation unit 36 performs the operation. The process proceeds to step S220.
  • step S220 a process (“level 4" shown in the figure) is performed to calculate the level of parking frame certainty as a level (level 4) that is four levels higher than the lowest value (level 0). If the process which calculates parking frame reliability as level 4 is performed in step S220, the process which the parking frame reliability calculation part 36 performs will be complete
  • the parking frame certainty factor is a parking frame that is likely to be marked on a public road, in particular, when the pattern shown in FIG. 4A is specified, or other than the pattern shown in FIG. 4A If the parking frame cannot be specified, it may be restricted as follows according to the width of the parking frame. Specifically, for example, if the width of the parking frame is 2.6 [m] or less, the certainty of the parking frame is maintained at the initially calculated level, but the width of the parking frame exceeds 2.6 [m]. If so, the parking frame certainty factor is limited so that it is not calculated as level 3 or higher. Thereby, it is set as the structure which the double-sided broken line marked on the public road is hard to be detected as a parking frame line.
  • FIG. 12 is a flowchart showing a process in which the parking frame approach certainty calculator 38 calculates the parking frame approach certainty factor.
  • the parking frame approach reliability calculation part 38 performs the process demonstrated below for every preset sampling time (for example, 10 [msec]).
  • FIG. 12 when the parking frame approach certainty calculation unit 38 starts processing (START), first, in step S300, a process of detecting a deviation amount between the predicted rear wheel trajectory of the host vehicle V and the parking frame. (“Shift amount detection" shown in the figure) is performed.
  • step S300 If the process which detects the deviation
  • the unit of deviation detected in step S300 is [cm].
  • the width of a parking frame is 2.5 [m] is demonstrated as an example.
  • the predicted rear wheel trajectory TR of the host vehicle V is calculated, and the intersection of the calculated predicted rear wheel trajectory TR and the entrance L2 of the parking frame L0.
  • TP is calculated.
  • a distance Lfl between the left frame line L1l of the parking frame L0 and the intersection TP and a distance Lfr between the right frame line L1r of the parking frame L0 and the intersection TP are calculated, and the distance Lfl and the distance Lfr are compared.
  • the longer one of the distance Lfl and the distance Lfr is detected as a deviation amount between the predicted rear wheel trajectory TR of the host vehicle V and the parking frame L0.
  • FIG. 13 is a diagram showing the contents of processing for detecting the amount of deviation between the predicted rear wheel trajectory TR of the host vehicle V and the parking frame L0.
  • the center point PR in the vehicle width direction of the right rear wheel WRR and the left rear wheel WRL of the host vehicle V is used as the reference point of the host vehicle V.
  • the virtual movement path of the center point PR is calculated using the images taken by the front camera 14F and the left camera 14SL in the overhead view image, the vehicle speed of the host vehicle V, and the rotation angle (steering angle) of the steering wheel 28.
  • a predicted rear wheel trajectory TR is calculated.
  • step S302 for example, processing for detecting parallelism between the straight line X and the length direction (for example, the depth direction) of the parking frame L0 using an image captured by the front camera 14F among the overhead images (shown in the figure). “Parallelity detection”). If the process which detects the parallelism of the straight line X and the length direction of the parking frame L0 is performed in step S302, the process which the parking frame approach reliability calculation part 38 performs will transfer to step S304.
  • the parallelism detected in step S302 is detected as an angle ⁇ ap formed by the center line Y and the straight line X of the parking frame L0 as shown in FIG.
  • step S302 when the host vehicle V moves to the parking frame L0 while moving backward, for example, using the image captured by the rear camera 14R in the overhead view image, the straight line X and the length direction of the parking frame L0 are used. Processing to detect parallelism is performed.
  • the moving direction (forward, backward) of the host vehicle V is detected with reference to a current shift position signal, for example.
  • step S304 processing for calculating the turning radius of the host vehicle V ("turning radius calculation” shown in the figure) is performed using the vehicle speed of the host vehicle V and the rotation angle (steering angle) of the steering wheel 28. If the process which calculates the turning radius of the own vehicle V is performed in step S304, the process which the parking frame approach reliability calculation part 38 performs will transfer to step S306. In step S306, it is determined whether or not the parallelism ( ⁇ ap) detected in step S302 is less than a preset parallelism threshold (for example, 15 [°]) (“parallelism ⁇ parallel” shown in the figure). Degree threshold? ").
  • a preset parallelism threshold for example, 15 [°]
  • step S306 If it is determined in step S306 that the parallelism ( ⁇ ap) detected in step S302 is equal to or greater than the parallelism threshold (“No” in the figure), the process performed by the parking frame approach certainty calculator 38 is performed in step S308. Migrate to
  • step S306 determines whether or not the parallelism ( ⁇ ap) detected in step S302 is less than the parallelism threshold (“Yes” shown in the figure).
  • step S308 it is determined whether or not the turning radius detected in step S304 is greater than or equal to a preset turning radius threshold (for example, 100 [R]) ("turning radius ⁇ turning radius threshold?"")I do. If it is determined in step S308 that the turning radius detected in step S304 is less than the turning radius threshold value ("No" shown in the figure), the processing performed by the parking frame approach certainty calculation unit 38 proceeds to step S312. .
  • a preset turning radius threshold for example, 100 [R]
  • step S310 a process for determining whether or not the amount of deviation detected in step S300 is greater than or equal to a preset first threshold (for example, 75 [cm]) (“deviation amount ⁇ first threshold? ”)I do.
  • the first threshold value is not limited to 75 [cm], and may be changed according to the specifications of the host vehicle V, for example. If it is determined in step S310 that the amount of deviation detected in step S300 is greater than or equal to the first threshold ("Yes" shown in the figure), the processing performed by the parking frame approach certainty calculator 38 proceeds to step S314. .
  • step S310 determines whether or not the amount of deviation detected in step S300 is less than the first threshold (“No" shown in the figure).
  • step S316 a process for determining whether or not the deviation amount detected in step S300 is greater than or equal to a preset second threshold (for example, 150 [cm]) (“deviation amount ⁇ second threshold? ")I do.
  • the second threshold value is larger than the first threshold value described above.
  • the second threshold value is not limited to 150 [cm], and may be changed according to the specifications of the host vehicle V, for example.
  • step S312 when it is determined that the amount of deviation detected in step S300 is greater than or equal to the second threshold ("Yes" shown in the figure), the process performed by the parking frame approach certainty calculator 38 proceeds to step S318. .
  • step S312 determines whether the amount of deviation detected in step S300 is less than the second threshold ("No" shown in the figure). If it is determined in step S312 that the amount of deviation detected in step S300 is less than the second threshold ("No" shown in the figure), the process performed by the parking frame approach certainty calculator 38 proceeds to step S314. Transition.
  • the structure of the own vehicle V is a structure provided with the apparatus (parking assistance apparatus) which assists steering operation to the parking frame L0 with respect to a driver
  • operator for example, if a parking assistance apparatus is an ON state, it will park. It is good also as a structure which becomes easy to raise the level of frame approach reliability.
  • a parking assistance device for example, in order to perform parking, a device that displays a monitor of surrounding conditions with a bird's-eye view image, etc., or a target parking on a screen in order to guide a course for parking There is a device for setting the position. These devices are used by operating a switch for switching a screen in order to display a surrounding situation as a bird's-eye view image or a screen switching switch for setting a target parking position on the screen. And if these switches are operated, it will be set as the structure which a parking assistance apparatus will be in an ON state.
  • the parking assist device is in the ON state even when the parking frame approach certainty factor is calculated as “level 0” in the process of step S318.
  • the parking frame approach reliability is corrected to “low level”.
  • the parking frame approach reliability is set to “high level”. It is the structure correct
  • a level at which the parking frame approach reliability is set in advance (for example, “level high”) It is good also as a structure calculated as.
  • the overall certainty calculation unit 40 receives the input of the parking frame certainty signal and the parking frame approach certainty signal, and receives the parking frame certainty included in the parking frame certainty signal and the parking frame entering certainty included in the parking frame approach certainty signal.
  • the degree is adapted to the comprehensive certainty calculation map shown in FIG.
  • the total certainty factor is calculated.
  • FIG. 14 is a diagram showing a comprehensive certainty calculation map. Further, in FIG.
  • the parking frame certainty factor is denoted as “frame certainty factor”, and the parking frame approach certainty factor is denoted as “entry certainty factor”. 14 is a map used when the host vehicle V travels forward. As an example of the process of calculating the total certainty factor by the total certainty factor calculation unit 40, the case where the parking frame certainty factor is “level 3” and the parking frame approach certainty factor is “high level” is shown in FIG. Thus, the total certainty factor is calculated as “high”.
  • the total confidence factor calculation unit 40 when the total confidence factor calculation unit 40 performs a process of calculating the total confidence factor, the calculated total confidence factor is stored in a storage unit in which data is not erased even when the ignition switch is turned off.
  • the storage unit from which data is not erased even when the ignition switch is turned off is, for example, a ROM or the like. Therefore, in the present embodiment, when the ignition switch is turned off after completion of parking of the host vehicle V, and the ignition switch is turned on when the host vehicle V restarts, the total certainty factor calculated immediately before is stored. . For this reason, it becomes possible to start the control based on the total certainty calculated immediately before the ignition switch is turned on when the host vehicle V restarts.
  • the acceleration suppression control start timing calculation unit 42 refers to the received acceleration suppression operation condition determination result signal, and whether the received acceleration suppression operation condition determination result signal is the first acceleration suppression operation condition determination result signal. It is determined whether it is a second acceleration suppression operation condition determination result signal. Furthermore, it is determined whether or not the acceleration suppression operation condition determination result signal that has received the input includes a determination result that satisfies the acceleration suppression control operation condition.
  • the received acceleration suppression operation condition determination result signal is a first acceleration suppression operation condition determination result signal including a determination result that the acceleration suppression control operation condition is satisfied, for example, the following processing is performed.
  • the acceleration suppression control start timing calculation unit 42 sets the acceleration suppression control start timing to a timing when the opening degree of the accelerator pedal 32 increases and reaches “85%”.
  • the opening degree of the accelerator pedal 32 is set to 100% when the accelerator pedal 32 is depressed (operated) to the maximum value.
  • the above “85%” is an example, and may be changed according to the specifications of the host vehicle V such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels.
  • the acceleration suppression control start timing is set to the above timing and the input of the first acceleration suppression operation condition determination result signal including the determination result that the acceleration suppression control operation condition is not satisfied is received, the acceleration suppression control start timing is set.
  • the normal acceleration command value is set.
  • the received acceleration suppression operation condition determination result signal is a second acceleration suppression operation condition determination result signal including a determination result that the acceleration suppression control operation condition is satisfied, for example, processing described below is performed.
  • the acceleration suppression control start timing calculation unit 42 adapts the total certainty included in the received comprehensive certainty signal to the acceleration suppression condition calculation map shown in FIG.
  • the suppression control start timing is calculated.
  • the process is stopped.
  • FIG. 15 is a diagram showing an acceleration suppression condition calculation map.
  • the acceleration suppression control start timing is indicated as “suppression control start timing (accelerator opening)” in the “acceleration suppression condition” column.
  • the acceleration suppression control start timing is increased by increasing the opening of the accelerator pedal 32 as shown in FIG. Then, the timing is set to reach “50%”.
  • the acceleration suppression control start timing shown in FIG. 15 is an example, and may be changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels.
  • the acceleration suppression control start timing set by receiving the input of the second acceleration suppression operation condition determination result signal is higher than the acceleration suppression control start timing set by receiving the input of the first acceleration suppression operation condition determination result signal. The timing when the degree of suppression of the acceleration command value is high.
  • the acceleration suppression control amount calculation unit 44 refers to the input acceleration suppression operation condition determination result signal, and determines whether the received acceleration suppression operation condition determination result signal is the first acceleration suppression operation condition determination result signal. It is determined whether it is a two-acceleration suppression operation condition determination result signal. Furthermore, it is determined whether or not the acceleration suppression operation condition determination result signal that has received the input includes a determination result that satisfies the acceleration suppression control operation condition.
  • the received acceleration suppression operation condition determination result signal is a first acceleration suppression operation condition determination result signal including a determination result that the acceleration suppression control operation condition is satisfied, for example, the following processing is performed.
  • the acceleration suppression control amount calculation unit 44 sets the acceleration suppression control amount to a control amount that is suppressed to the throttle opening at which the actual opening degree of the accelerator pedal 32 is suppressed to 90%.
  • the above “90%” is an example, and may be changed according to the specifications of the host vehicle V such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels. And, in the state where the acceleration suppression control amount is set to the above control amount, when receiving the first acceleration suppression operation condition determination result signal including the determination result that the acceleration suppression control operation condition is not satisfied, the acceleration suppression control amount is Set the value according to the normal acceleration command value.
  • the acceleration suppression control amount calculation unit 44 adapts the total certainty included in the received comprehensive certainty signal to the acceleration suppression condition calculation map shown in FIG. Calculate the control amount.
  • the process is stopped. In FIG. 15, the acceleration suppression control amount is indicated as “suppression amount” in the “acceleration suppression condition” column.
  • the acceleration suppression control amount is set to the actual opening degree of the accelerator pedal 32 as shown in FIG.
  • the control amount is set to be suppressed to the “medium” level throttle opening.
  • the throttle opening at the “medium” level is the throttle opening at which the actual opening degree of the accelerator pedal 32 is suppressed to 25%.
  • the throttle opening at the “small” level is the throttle opening at which the actual opening of the accelerator pedal 32 is suppressed to 50%
  • the throttle opening at the “large” level is the opening of the actual accelerator pedal 32.
  • the throttle opening is such that the degree is suppressed to 10%.
  • the vehicle V 15 is an example, and may be changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels.
  • the acceleration suppression control amount that is set by receiving the second acceleration suppression operation condition determination result signal is greater than the acceleration suppression control amount that is set by receiving the first acceleration suppression operation condition determination result signal.
  • the control amount has a high degree of value suppression.
  • the acceleration suppression control amount calculation unit 44 sets the presence / absence of control for outputting a warning sound by adapting the total certainty factor to the acceleration suppression condition calculation map.
  • a warning sound for example, character information on the content that activates the acceleration suppression control and visual information such as a symbol and light emission may be displayed on a display monitor included in the navigation device 26.
  • FIG. 16 is a flowchart showing processing performed by the acceleration suppression command value calculation unit 10J.
  • the acceleration suppression command value calculation unit 10J performs the processing described below for each preset sampling time (for example, 10 [msec]).
  • the acceleration suppression command value calculation unit 10J starts processing (START)
  • step S400 the acceleration suppression operation condition determination result signal received from the acceleration suppression control content calculation unit 10I is displayed.
  • step S400 the acceleration suppression operation condition determination result signal received from the acceleration suppression control content calculation unit 10I is displayed.
  • the process (“acceleration suppression operation condition judgment result acquisition process” shown in the figure) which acquires an acceleration suppression operation condition judgment result is performed. If the process which acquires an acceleration suppression operation condition judgment result is performed in step S400, the process which the acceleration suppression command value calculating part 10J performs will transfer to step S402.
  • step S402 in addition to the acceleration suppression operation condition determination result acquired in step S400, processing for acquiring information for calculating the acceleration suppression command value ("acceleration suppression command value calculation information acquisition processing" shown in the figure) is performed. . If the process which acquires the information for calculating an acceleration suppression command value in step S402 is performed, the process which the acceleration suppression command value calculating part 10J performs will transfer to step S404.
  • the information for calculating the acceleration suppression command value is, for example, information included in the acceleration suppression control start timing signal, the acceleration suppression control amount signal, the drive side depression amount signal, and the accelerator operation speed signal described above.
  • step S404 a process of determining whether or not the acceleration suppression operation condition determination result acquired in step S400 is a determination result that the acceleration suppression control operation condition is satisfied (“acceleration suppression control operation condition satisfied?” Shown in the figure). Do.
  • step S404 If it is determined in step S404 that the acceleration suppression control operation condition is satisfied ("Yes” shown in the figure), the processing performed by the acceleration suppression command value calculation unit 10J proceeds to step S406. On the other hand, if it is determined in step S404 that the acceleration suppression control operation condition is not satisfied ("No" shown in the figure), the processing performed by the acceleration suppression command value calculation unit 10J proceeds to step S408.
  • step S406 based on the information for calculating the acceleration suppression command value acquired in step S402, a process of calculating an acceleration suppression command value that is an acceleration command value for performing acceleration suppression control ("Acceleration suppression command shown in the figure"). Control command value calculation "). If the process which calculates an acceleration suppression command value is performed in step S406, the process which the acceleration suppression command value calculating part 10J performs will transfer to step S410.
  • the depression amount of the accelerator pedal 32 included in the drive side depression amount signal and the acceleration suppression control amount included in the acceleration suppression control amount signal are referred to.
  • an acceleration suppression control amount command value is calculated that sets the throttle opening to a degree of suppression (see FIG. 15) corresponding to the acceleration suppression control amount with respect to the actual accelerator pedal 32 opening.
  • the depression amount of the accelerator pedal 32 included in the driving side depression amount signal and the acceleration suppression control start timing included in the acceleration suppression control start timing signal are referred to.
  • the acceleration suppression control start timing command value which makes the acceleration suppression control start timing the timing (refer FIG. 15) according to the opening degree of the actual accelerator pedal 32 is calculated.
  • the command value including the acceleration suppression control amount command value and the acceleration suppression control start timing command value calculated as described above is calculated as the acceleration suppression command value.
  • driving force control without acceleration suppression control that is, processing for calculating a normal acceleration command value that is an acceleration command value used in normal acceleration control ("command value calculation for normal acceleration control" shown in the figure). I do.
  • the process which calculates a normal acceleration command value is performed in step S408, the process which the acceleration suppression command value calculating part 10J performs will transfer to step S412.
  • the command value for calculating the throttle opening based on the depression amount of the accelerator pedal 32 included in the drive side depression amount signal is calculated as the normal acceleration command value.
  • step S410 an acceleration suppression command value signal including the acceleration suppression command value calculated in step S406 is output to the target throttle opening calculation unit 10K ("acceleration suppression command value output" shown in the figure). If the process which outputs an acceleration suppression command value signal is performed in step S410, the process which the acceleration suppression command value calculating part 10J performs will be complete
  • FIG. 17 is a flowchart showing processing performed by the target throttle opening calculation unit 10K.
  • the target throttle opening calculation unit 10K performs the process described below for each preset sampling time (for example, 10 [msec]).
  • the target throttle opening calculation unit 10K starts processing (START)
  • step S500 the drive side depression amount signal received from the accelerator operation amount calculation unit 10G is referred to.
  • step S500 the drive side depression amount signal received from the accelerator operation amount calculation unit 10G is referred to.
  • the process (“accelerator operation amount acquisition process” shown in a figure) which acquires the depression amount (operation amount) of the accelerator pedal 32 which the drive side depression amount signal contains is performed. If the process which acquires the depression amount (operation amount) of the accelerator pedal 32 is performed in step S500, the process which the target throttle opening calculating part 10K performs will transfer to step S502.
  • step S502 an acceleration suppression command value (see step S406) or a normal acceleration command value (see step S408) is acquired based on the information signal received from the acceleration suppression command value calculation unit 10J (see “ Command value acquisition processing ”). If the process which acquires an acceleration suppression command value or a normal acceleration command value is performed in step S502, the process which the target throttle opening calculating part 10K performs will transfer to step S504. In step S504, calculation of the target throttle opening (“target throttle opening calculation" shown in the figure) is performed based on the depression amount of the accelerator pedal 32 acquired in step S500 and the command value acquired in step S502. When the target throttle opening is calculated in step S504, the processing performed by the target throttle opening calculation unit 10K proceeds to step S506.
  • step S504 when the command value acquired in step S502 is a normal acceleration command value (when the acceleration suppression operation condition is not established), the throttle opening corresponding to the depression amount of the accelerator pedal 32 is set as follows. Calculated as the target throttle opening.
  • the command value acquired in step S502 is the acceleration suppression command value (when the acceleration suppression operation condition is satisfied)
  • the throttle opening corresponding to the acceleration suppression control amount command value is set as the target throttle opening.
  • the target throttle opening is calculated using, for example, the following equation (1).
  • ⁇ * ⁇ 1 ⁇ (1)
  • the target throttle opening is indicated by “ ⁇ * ”
  • the throttle opening corresponding to the depression amount of the accelerator pedal 32 is indicated by “ ⁇ 1”
  • the acceleration suppression control amount is indicated by “ ⁇ ”.
  • step S506 a target throttle opening signal including the target throttle opening ⁇ * calculated in step S504 is output to the engine controller 12 (“target throttle opening output” shown in the figure).
  • target throttle opening output shown in the figure.
  • the process performed by the target throttle opening calculation unit 10K ends (END).
  • the command value acquired in step S502 is an acceleration suppression command value
  • the opening (depression amount) of the accelerator pedal 32 reaches the opening corresponding to the acceleration suppression control start timing.
  • the target throttle opening signal is output.
  • the acceleration suppression control start timing is set to a timing at which the degree of suppression of the acceleration command value is lower than the acceleration suppression control start timing that is set by receiving the second acceleration suppression operation condition determination result signal.
  • the acceleration suppression control amount calculation unit 44 sets the acceleration suppression control amount to the control amount described above. That is, the acceleration suppression control amount is set to a control amount having a lower degree of suppression of the acceleration command value than the acceleration suppression control amount that is set in response to the input of the second acceleration suppression operation condition determination result signal.
  • the acceleration suppression control operation condition by the process performed by the first acceleration suppression operation condition determination unit 34A is satisfied, the acceleration suppression control with a low degree of suppression felt by the driver is performed.
  • the parking frame certainty calculation unit 36 calculates the parking frame certainty factor
  • the parking frame approach certainty calculating unit 38 calculates the parking frame approach certainty factor.
  • the comprehensive reliability calculation part 40 calculates the comprehensive reliability based on a parking frame reliability and a parking frame approach reliability.
  • the acceleration suppression control start timing calculation unit 42 calculates the acceleration suppression control start timing based on the total reliability calculated by the total reliability calculation unit 40
  • the acceleration suppression control amount calculation unit 44 calculates an acceleration suppression control amount.
  • the acceleration suppression command value calculation unit 10J When it is determined that the acceleration suppression control operation condition is established by the process performed by the second acceleration suppression operation condition determination unit 34B, the acceleration suppression command value calculation unit 10J outputs an acceleration suppression command value signal to the target throttle opening calculation unit 10K. To do. Further, the target throttle opening calculation unit 10K outputs a target throttle opening signal to the engine controller 12.
  • the throttle opening corresponding to the depression amount of the accelerator pedal 32 is set. Then, the opening is controlled according to the acceleration suppression control amount command value.
  • the start timing for suppressing the throttle opening according to the depression amount of the accelerator pedal 32 is set as the timing according to the acceleration suppression control start timing command value.
  • the acceleration suppression control with a low suppression degree felt by the driver has already been performed. It becomes.
  • the throttle opening is set to the acceleration suppression control amount command value from the time when the acceleration suppression control based on the total certainty is started, compared to the case where the acceleration suppression control with a low degree of suppression felt by the driver is not performed. It is possible to shorten the time lag until the corresponding opening is reached.
  • the acceleration suppression amount (the degree of throttle opening suppression) is small when the overall confidence level is low, it is possible to reduce the reduction in drivability, and when the overall confidence level is high, the acceleration suppression amount is large. Therefore, the acceleration suppression effect of the host vehicle V can be increased.
  • the present embodiment it is possible to suppress a decrease in drivability in the parking lot before entering the parking frame L0 at the time of parking, and at the time when the accelerator pedal 32 is erroneously operated. It becomes possible to suppress the acceleration of the vehicle V. Moreover, in this embodiment, the acceleration of the host vehicle V is suppressed and the safety is improved by increasing the acceleration suppression control amount as the total certainty factor is higher. Further, the lower the overall certainty, the later the acceleration suppression control start timing is delayed, and the drivability is suppressed from decreasing. This makes it possible to improve safety and suppress deterioration of drivability under the following conditions.
  • the host vehicle V standing by in the vicinity of the parking frame L0 for parallel parking on the side of the traveling road it is necessary to allow a certain degree of acceleration. Even under the following conditions, it is necessary to allow a certain amount of acceleration. This is because there are other vehicles on both sides (left and right parking frames) of the parking frame L0 where the host vehicle V is parked, and the host vehicle V is placed in a slight space on the opposite side (side away from each parking frame) from the front side. Let it enter. Thereafter, the host vehicle V is entered from the rear side into the parking frame L0 where the host vehicle V is parked, and parking is performed.
  • acceleration suppression control start timing and the acceleration suppression control amount By controlling the acceleration suppression control start timing and the acceleration suppression control amount based on the total certainty for these situations, it is possible to suppress the acceleration of the host vehicle V and improve safety. In addition, it is possible to allow acceleration of the host vehicle V and suppress a reduction in drivability.
  • the acceleration suppression control amount is calculated to be smaller than when the parking frame certainty factor is high.
  • the acceleration suppression control amount is calculated to be smaller than when the parking frame certainty factor is high.
  • the current position of the host vehicle V is It is determined that the position is not on a public road, and the parking frame certainty is calculated as a low level. This is because the lines marked on public roads are often regularly maintained by public agencies, etc., so if the edges are blurred or the period is blurred and unclear This is because it can be estimated.
  • the acceleration suppression command value calculation unit 10J and the target throttle opening calculation unit 10K described above correspond to an acceleration control unit.
  • the ambient environment recognition information calculation unit 10A described above corresponds to the ambient environment recognition unit.
  • the host vehicle speed calculation unit 10B, the steering angle calculation unit 10C, the steering angular speed calculation unit 10D, the brake pedal operation information calculation unit 10F, the accelerator operation amount calculation unit 10G, and the accelerator operation speed calculation unit 10H described above are included in the host vehicle running state.
  • the steering angle sensor 18 and the steering angle calculation unit 10C described above correspond to the host vehicle turning state detection unit.
  • the wheel speed sensor 16 and the vehicle speed calculation unit 10B described above correspond to a vehicle speed detection unit.
  • the first acceleration suppression operation condition determination unit 34A described above corresponds to the own vehicle movement distance detection unit.
  • acceleration suppression operation condition determination block 34 the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K described above are the first acceleration suppression. And the second acceleration suppression unit.
  • the vehicle acceleration suppression method implemented by the operation of the vehicle acceleration suppression device 1 of the present embodiment is the acceleration command value corresponding to the operation amount of the accelerator pedal 32 when three preset conditions are satisfied. It is a method of starting suppression.
  • the three conditions set in advance are a condition in which a line of a parking frame is included in the environment around the host vehicle, a condition in which the turning state of the host vehicle V is equal to or greater than the first acceleration suppression turning threshold, and the host vehicle V This is a condition in which the vehicle speed is equal to or higher than the first acceleration suppression vehicle speed threshold.
  • the movement distance from the time when the suppression of the acceleration command value of the host vehicle V is started is set in advance. This is a method of stopping the suppression of the acceleration command value when the moving distance threshold is exceeded.
  • the acceleration suppression operation condition determination block 34, the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K are used to operate the accelerator pedal 32. Start suppression of the acceleration command value according to the amount.
  • the suppression of the acceleration command value includes a parking frame line in the overhead image around the host vehicle V, the turning state of the host vehicle V is equal to or greater than the first acceleration suppression turn threshold, and the vehicle speed of the host vehicle V is the first. Starts when the acceleration suppression vehicle speed threshold is exceeded.
  • the acceleration suppression operation condition determination block 34, the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K suppress the acceleration command value.
  • the suppression of the acceleration command value is stopped when the movement distance from the time when the suppression of the acceleration command value of the host vehicle V is started is equal to or greater than the movement distance threshold. For this reason, in a state where acceleration suppression control is not preferable, such as a state where the vehicle leaves the parking lot, suppression of the acceleration command value can be stopped. As a result, it becomes possible to suppress the drivability drop of the host vehicle V during traveling.
  • the parking frame certainty calculating unit 36 calculates the parking frame certainty
  • the parking frame approach certainty calculating unit 38 calculates the parking frame entering certainty
  • the total certainty calculating unit 40 calculates the total certainty.
  • the acceleration command value is suppressed with a suppression degree higher than the suppression degree according to the first acceleration suppression operation condition determination result signal based on the overall reliability calculated by the overall reliability calculation unit 40.
  • the suppression of the acceleration command value according to the first acceleration suppression operation condition determination result signal is stopped.
  • the total certainty factor calculated by the total certainty factor calculation unit 40 is low, the degree of suppression of the acceleration command value is made lower than when the total certainty factor is high.
  • the degree of suppression of the acceleration command value can be controlled according to the certainty degree that the own vehicle V enters the parking frame L0. It becomes possible. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated. In addition to this, it is possible to shorten the time lag from when the acceleration suppression control based on the total certainty is started until the throttle opening reaches an opening corresponding to the acceleration suppression control amount command value.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K change the acceleration suppression control start timing to change the degree of suppression of the acceleration command value. .
  • the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K change the acceleration suppression control amount to change the suppression degree of the acceleration command value.
  • the degree of suppression of the acceleration command value can be changed by changing the amount of throttle opening suppression according to the amount of depression of the accelerator pedal 32.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K delay the acceleration suppression control start timing to lower the degree of suppression of the acceleration command value. .
  • the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K decrease the acceleration suppression control amount to lower the degree of suppression of the acceleration command value.
  • the degree of suppression of the acceleration command value can be controlled by controlling the amount of throttle opening suppression according to the amount of depression of the accelerator pedal 32.
  • the parking frame line is included in the environment around the host vehicle, the turning state of the host vehicle V is equal to or greater than the first acceleration suppression turning threshold, and the vehicle speed of the host vehicle V is When the first acceleration suppression vehicle speed threshold is exceeded, suppression of the acceleration command value is started. For this reason, when the parking frame is included in the bird's-eye view image around the host vehicle V, it is possible to start suppressing the acceleration command value according to the turning state and the vehicle speed of the host vehicle V. As a result, even when the time from normal travel to the start of acceleration suppression control is short, it is possible to suppress acceleration when the accelerator pedal 32 is erroneously operated.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated based on the total reliability calculated by the total reliability calculation unit 40.
  • the present invention is not limited to this.
  • the acceleration suppression control start timing and the acceleration suppression control amount may be calculated based only on the parking frame reliability calculated by the parking frame reliability calculation unit 36.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated by adapting the parking frame certainty to, for example, an acceleration suppression condition calculation map shown in FIG.
  • FIG. 18 is a diagram illustrating a modification of the present embodiment.
  • the degree of suppression of the acceleration command value can be controlled according to the degree of certainty that the parking frame L0 exists in the traveling direction of the host vehicle V. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated based on the total reliability calculated by the total reliability calculation unit 40, but the present invention is not limited to this. That is, the acceleration suppression control start timing and the acceleration suppression control amount may be calculated based only on the parking frame approach reliability calculated by the parking frame approach reliability calculation unit 38. In this case, the acceleration suppression control start timing and the acceleration suppression control amount are calculated by adapting the parking frame approach reliability to, for example, an acceleration suppression condition calculation map shown in FIG. FIG. 19 is a diagram illustrating a modification of the present embodiment. In this case, the degree of suppression of the acceleration command value can be controlled according to the degree of certainty that the host vehicle V enters the parking frame L0. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the configuration of the parking frame certainty calculation unit 36 is calculated based on the bird's-eye view image (environment) around the host vehicle V and the vehicle speed (running state) of the host vehicle V.
  • the configuration of the parking frame certainty calculation unit 36 is not limited to this. That is, the configuration of the parking frame certainty calculation unit 36 is added to the current position of the host vehicle V included in the host vehicle position signal and the host vehicle included in the traveling road information signal in addition to the overhead view image and the vehicle speed around the host vehicle V. It is good also as a structure which calculates parking frame reliability using the classification (road classification) of the road which V drive
  • the parking frame certainty factor is calculated as “level 0”.
  • the parking frame certainty level is set. 3 or 4 is calculated (see step S212).
  • the process of calculating the parking frame certainty level as level 3 or level 4 is not limited to this. That is, the shape of the end point of the line L is not marked on the public road, for example, when it is U-shaped (see FIGS. 4 (g) to (k), (m), (n)). If this is recognized, the parking frame certainty may be calculated as level 3 or level 4.
  • the configuration of the parking frame certainty calculation unit 36 is calculated based on the bird's-eye view image (environment) around the host vehicle V and the vehicle speed (running state) of the host vehicle V.
  • the configuration of the parking frame certainty calculation unit 36 is not limited to this. That is, if the configuration of the host vehicle V is, for example, a configuration that includes a device (parking support device) that assists the driver in steering to the parking frame L0, and the parking support device is in the ON state, parking is performed. It is good also as a structure which becomes easy to raise the level of frame reliability.
  • the configuration in which the level of the parking frame certainty is likely to increase is, for example, a configuration in which the above-described set movement distance is set to a shorter distance than usual.
  • a parking assistance apparatus for example, in order to perform parking, an apparatus that monitors and displays the surrounding situation with a bird's-eye view image, etc., or a parking position that is a target on the screen to guide a course for parking
  • These devices are used by operating a switch for switching a screen in order to display a surrounding situation as a bird's-eye view image or a screen switching switch for setting a target parking position on the screen. And when these switches are operated and a parking assistance apparatus will be in an ON state, it is good also as a structure which makes it easy to detect a parking frame and becomes easy to raise the level of parking frame reliability.
  • step S206 there is a method of correcting the set value so that the above-described conditions C1 to C4 in step S206 are easily established.
  • step S206 there is a method of setting a short set movement distance used when it is determined that the continuous collation state has reached the set movement distance.
  • the parking frame reliability is detected as a preset level (for example, “level 4”) regardless of the actual detection status of the parking frame. A method may be used.
  • the acceleration suppression control amount and the acceleration suppression control start timing are changed based on the total certainty factor to change the suppression degree of the acceleration command value.
  • the present invention is not limited to this. That is, according to the total certainty factor, only the acceleration suppression control start timing or only the acceleration suppression control amount may be changed to change the suppression degree of the acceleration command value. In this case, for example, as the total certainty factor is higher, the acceleration suppression control amount may be set larger, and the suppression degree of the acceleration command value may be increased without changing the acceleration suppression control start timing.
  • the vehicle speed of the host vehicle V is detected using the wheel speed sensor 16 and the host vehicle vehicle speed calculation unit 10B.
  • the present invention is not limited to this. You may detect the vehicle speed of the own vehicle V using the calculating part 10G.
  • the turning state of the host vehicle V is detected using the steering angle sensor 18 and the steering angle calculation unit 10C.
  • the present invention is not limited to this. That is, for example, the host vehicle V includes a lateral acceleration sensor that detects acceleration in the lateral direction (vehicle width direction) of the vehicle body, and detects the turning state of the host vehicle V based on the acceleration detected by the lateral acceleration sensor. May be.
  • the present invention when the preset three conditions are satisfied, the suppression of the acceleration command value according to the operation amount of the accelerator pedal 32 is started.
  • the present invention is not limited to this. That is, for example, when an operation state of a direction indicator (blinker) included in the host vehicle V is detected, the acceleration command value may not be suppressed.
  • the present invention when three preset conditions are satisfied, suppression of the acceleration command value according to the operation amount of the accelerator pedal 32 is started.
  • the present invention is not limited to this. That is, for example, when the host vehicle V includes a selection switch for selecting whether to execute or not execute the acceleration suppression control by the process performed by the first acceleration suppression operation condition determination unit 34A, and the non-execution is selected by the selection switch. The acceleration command value may not be suppressed.
  • the total certainty factor is calculated.
  • the present invention is not limited to this. That is, for example, the total certainty factor may be calculated according to the number of lines L detected when the above-described condition B is satisfied.
  • the number of lines L detected when the condition B is satisfied is adapted to the comprehensive certainty factor calculation map shown in FIG.
  • FIG. 20 is a figure which shows the comprehensive reliability calculation map used in the modification of this embodiment. Further, in FIG. 20, as in FIG. 14, the parking frame certainty factor is indicated as “frame certainty factor”, and the parking frame approach certainty factor is indicated as “entry certainty factor”.
  • the parking frame approach certainty is “low level” and the parking frame certainty is calculated as “level 1” and when calculated as “level 2 to 4”
  • the total certainty factor is calculated according to the type of the line L detected when the condition B is satisfied.
  • the type of the line L detected when the condition B is satisfied is a single line In the same manner as in the case of “level 0”, it is calculated as the total certainty that the acceleration suppression control is not performed.
  • the parking frame approach reliability is “low level” and the parking frame reliability is calculated as “level 1”
  • the type of the line L detected when the condition B is satisfied is a double line. Calculates the total confidence as “very low”.
  • the type of the line L detected when the condition B is satisfied is a single line. Calculates the total confidence as “very low”. Further, when the parking frame approach reliability is “low level” and the parking frame reliability is calculated as “level 2 to 4”, the type of the line L detected when the condition B is satisfied is a double line. In this case, the total certainty factor is calculated as “extremely high”.
  • the total certainty factor is calculated using the total certainty factor calculation map shown in FIG. 20, for example, the calculated total certainty factor is adapted to the acceleration suppression condition calculation map shown in FIG. The control start timing is calculated.
  • acceleration suppression control start timing is indicated as “suppression control start timing (accelerator opening)” in the “acceleration suppression condition” column.
  • the acceleration suppression control start timing is set to the opening of the accelerator pedal 32. Time measurement starts when the degree increases to reach “80%”. In addition, the time when the measurement time when the opening degree of the accelerator pedal 32 is “80%” or more reaches “0.25 [sec]” is set as the acceleration suppression control start timing. That is, when the total certainty factor is “very low”, the acceleration is started from the time when the measurement time when the opening degree of the accelerator pedal 32 is “80%” or more reaches “0.25 [sec]”. Start suppression control.
  • the acceleration suppression control amount when the total certainty factor is “extremely low” is set to a control amount that is suppressed to the throttle opening of the “small” level.
  • the acceleration suppression control amount is indicated as “suppression amount” in the “acceleration suppression condition” column.
  • the acceleration suppression control start timing starts measuring time when the accelerator pedal 32 opening degree reaches “50%”.
  • the time when the measurement time when the opening of the accelerator pedal 32 is “50%” or more reaches “0.65 [sec]” is set as the acceleration suppression control start timing. That is, when the total certainty factor is “extremely high”, the acceleration is started from the time when the measurement time when the opening degree of the accelerator pedal 32 is “50%” or more reaches “0.65 [sec]”. Start suppression control.
  • the acceleration suppression control amount when the total certainty factor is “extremely high” is set to a control amount that is suppressed to the throttle opening of the “large” level.
  • FIG. 22 is a diagram illustrating the relationship between the acceleration suppression control start timing and the holding time.
  • the acceleration suppression control start timing is indicated as “accelerator opening [%]” on the horizontal axis
  • the holding time is indicated as “holding time [sec]” on the vertical axis.
  • acceleration suppression control is started at the point PH when the measurement time when the accelerator opening is “50%” or more reaches “0.65 [sec]”.
  • a line that continuously indicates a control threshold value that is a setting reference for the acceleration suppression control start timing is indicated by a solid line.
  • the type of the line L detected when the condition B is satisfied may change.
  • the type of the line L detected when the condition B is satisfied changes from a single line to a double line in a situation where the parking frame certainty factor is calculated as “level 2 to 4”.
  • the time point PL shown in FIG. 22 is set as the acceleration suppression control start timing until the accelerator opening reaches 80%. Does not start the measurement of the holding time. However, if the overall confidence changes from “extremely low” to “extremely high”, even if the accelerator opening has already reached 50%, the overall confidence will change from “extremely low” to “extremely high”. The measurement of the holding time will be started. And in FIG. 22, acceleration suppression control will be started from the time SP which the relationship between measurement time and accelerator opening overlaps with the line which shows a control threshold continuously. In FIG. 22, the change in the accelerator opening with the passage of time is indicated by a broken line.
  • the time to start acceleration suppression control will be delayed compared to the case where the overall confidence level was calculated as “extremely high” from the beginning. It becomes. For this reason, for example, when the host vehicle V traveling in a parking lot having a configuration in which a plurality of parking frames are arranged, such as tower parking, travels on an uphill slope when moving from a lower-level parking lot to an upper-level parking lot. In such a situation, it is possible to suppress a decrease in drivability.
  • the parking frame certainty factor is calculated as “level 0” by delaying the timing at which the acceleration suppression control is started, compared with the case where the total certainty factor is calculated as “extremely high” from the beginning.
  • the time when the vehicle travels on a high climb slope is defined as the time when acceleration suppression control is started.
  • the parking frame certainty factor is calculated as “level 2 to 4”
  • the type of the line L detected when the condition B is satisfied is a single line
  • the parking frame approach certainty factor is “level”
  • the parking frame approach reliability changes from “low level” to “high level”
  • the overall reliability changes from “very low” to “very high”.
  • the type of the line L detected when the condition B is satisfied changes from a single line to a double line
  • the overall confidence is accelerated as compared with the case where the total certainty is calculated as “extremely high” from the beginning.
  • the time for starting the suppression control will be delayed. For this reason, for example, in the situation where the own vehicle V that made a left turn at an intersection overtakes another vehicle that is already parked after the left turn, and then enters and parks in a parking frame arranged at the end of the road It becomes possible to suppress a decrease in property.
  • the overall confidence is calculated as "very high” from the beginning even if the overall confidence changes from "very low” to "very high”.
  • the time for starting the acceleration suppression control is delayed as compared with the case where it has been. As a result, it is more likely to decelerate on public roads by delaying the timing at which acceleration suppression control is started than when the total certainty was calculated as “extremely high” from the beginning.
  • the time at which acceleration suppression control is started is the time at which acceleration suppression control is started.
  • the acceleration command value is controlled to suppress the acceleration of the host vehicle V according to the depression amount (driving force operation amount) of the accelerator pedal 32.
  • the present invention is not limited to this. That is, for example, the throttle opening corresponding to the depression amount (driving force operation amount) of the accelerator pedal 32 is set as the target throttle opening, and further, the braking force is generated by the braking device described above, and the driving force operation amount is determined. The acceleration of the host vehicle V may be suppressed.
  • the parking frame certainty factor is calculated as level 0, which is the lowest value, and a level (levels 1 to 4) that is higher than the lowest value.
  • the present invention is not limited to this. In other words, the parking frame certainty factor may be calculated as only two levels: a level that is the lowest value (for example, “level 0”) and a level that is higher than the lowest value (for example, “level 100”).
  • the parking frame approach reliability is calculated as “level 0” as the lowest value, “level low” as a level higher than level 0, and “level high” as a level higher than level low.
  • the parking frame approach reliability level is not limited to this. That is, the parking frame approach reliability may be calculated as only two levels: a level that is the lowest value (for example, “level 0”) and a level that is higher than the lowest value (for example, “level 100”).
  • the parking frame certainty calculated as one of the five levels and the parking frame approach certainty calculated as any of the three levels in the present embodiment there are four levels.
  • Level (“very low”, “low”, “high”, “very high”).
  • the overall confidence level is not limited to this.
  • the total certainty factor may be calculated as only two levels: a level that is the lowest value (for example, “level 0”) and a level that is higher than the lowest value (for example, “level 100”).
  • the total certainty factor is calculated as the lowest level.
  • the parking frame certainty factor and the parking frame approach certainty factor are calculated as a level higher than the minimum value
  • the total certainty factor is calculated as a level higher than the minimum value.
  • the present embodiment a second embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
  • the configuration of the vehicle acceleration suppression device 1 of the present embodiment will be described with reference to FIGS. 1 to 22 and FIGS. 23 and 24.
  • the vehicle acceleration suppression device 1 of the present embodiment is the same as the first embodiment except for the processing performed by the acceleration suppression control content calculation unit 10I, and therefore, except for the processing performed by the acceleration suppression control content calculation unit 10I. The description may be omitted.
  • the parking frame certainty factor calculation unit 36 of the present embodiment first determines whether the traveling direction of the host vehicle V is forward or backward, and is set according to the determination result. Set the travel distance. Then, based on the set travel distance set in accordance with the traveling direction of the host vehicle V, the process in step S206 continues from the start of the process in step S206 until the travel distance of the host vehicle V becomes the set travel distance. To determine whether to collate.
  • the process of setting the set movement distance according to the traveling direction of the host vehicle V is performed with reference to the current shift position signal received from the shift position calculation unit 10E, for example.
  • the set moving distance is set to 2.5 [m], and it is determined that the traveling direction of the host vehicle V is backward. Then, the case where a set movement distance is set to 1 [m] is demonstrated.
  • the set travel distance is an example, and may be changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels.
  • the parking frame certainty calculation unit 36 of the present embodiment first determines whether the traveling direction of the host vehicle V is forward or backward in the process of step S212 described above. And when the advancing direction of the own vehicle V is forward, like the first embodiment described above, if it is determined that the end points located on the same side face each other along the direction of the width WL, The processing performed by the frame certainty calculation unit 36 is shifted to step S216.
  • step S216 when the traveling direction of the host vehicle V is backward, one end point shape of the lines La and Lb is, for example, U-shaped (FIGS. 4 (g) to (k), (m), (n) If it is recognized that the parking frame certainty factor calculation unit 36 performs, the process proceeds to step S216. That is, when the traveling direction of the host vehicle V is backward, when the end point shape of the lines La and Lb is recognized as a shape that is not marked on the public road, the parking frame certainty calculation unit 36 The processing to be performed is shifted to step S216. Therefore, in the present embodiment, in the process of step S212, when the traveling direction of the host vehicle V is forward, the level of the parking frame certainty is “level 3” than when the traveling direction of the host vehicle V is backward. It becomes difficult to calculate as.
  • the overall certainty calculation unit 40 of the present embodiment receives the parking frame certainty signal and the parking frame approach certainty signal, receives the parking frame certainty factor included in the parking frame certainty signal, and the parking frame approach certainty signal.
  • the parking frame approach reliability included in is adapted to the comprehensive reliability calculation map shown in FIG. Then, based on the parking frame certainty factor and the parking frame approach certainty factor, the total certainty factor is calculated.
  • FIG. 23 is a diagram showing an overall certainty calculation map used in this embodiment.
  • the parking frame certainty factor is indicated as “frame certainty factor” and the parking frame approach certainty factor is indicated as “entry certainty factor”, as in FIG.
  • the comprehensive certainty calculation map used by the comprehensive certainty calculation unit 40 of the present embodiment is different from the comprehensive certainty calculation map used by the comprehensive certainty calculation unit 40 of the first embodiment described above.
  • the total confidence level is changed according to the direction determination result.
  • the total certainty when it is determined that the traveling direction of the host vehicle V is forward is indicated as “low level in forward” and “high in forward” in the “entry certainty” column.
  • the total certainty when it is determined that the traveling direction of the host vehicle V is backward is “reverse level high” and “reverse level high” in the “entry certainty” column. It shows.
  • the overall certainty factor calculation unit 40 uses the total certainty factor when the traveling direction of the host vehicle V is determined to be backward as the traveling direction of the host vehicle V advances. It is calculated as a level that is equal to or greater than the total certainty when it is determined that
  • the total certainty factor is calculated as “low”.
  • the parking frame certainty factor is “level 2” and the parking frame approach certainty factor is “high level when retreating”
  • the total certainty factor is calculated as “high” as shown in FIG.
  • the total confidence factor calculation unit 40 of the present embodiment calculates the total confidence factor
  • the total confidence factor calculation unit 40 of the present embodiment calculates the total confidence factor
  • the host vehicle V moves backward after the parking frame certainty factor is calculated as “level 1” while the host vehicle V is moving forward, and is moving within a predetermined distance (for example, 2.5 [m]). Apply again when moving forward.
  • FIG. 24 is a diagram showing an acceleration suppression condition calculation map for reverse operation. Also, in FIG. 24, as in FIG. 15, in the “acceleration suppression condition” column, the acceleration suppression control start timing is indicated as “suppression control start timing (accelerator opening)”.
  • the acceleration with respect to the overall certainty factor is compared with the acceleration suppression condition calculation map of the first embodiment described above.
  • the acceleration suppression control start timing shown in FIG. 24 is an example, and may be changed according to the specifications of the host vehicle V and the like, similar to the acceleration suppression control start timing shown in FIG.
  • the acceleration suppression control amount calculation unit 44 of the present embodiment determines that the traveling direction of the host vehicle V is backward, the overall certainty factor included in the comprehensive certainty factor signal is shown for reverse use shown in FIG. Adapt to the acceleration suppression condition calculation map. Then, an acceleration suppression control amount is calculated based on the total certainty factor. In FIG. 24, as in FIG. 15, in the “acceleration suppression condition” column, the acceleration suppression control amount is indicated as “suppression amount”.
  • the acceleration suppression with respect to the overall certainty factor is compared with the acceleration suppression condition calculation map of the first embodiment described above. Set a large control amount. Therefore, in the reverse acceleration suppression condition calculation map used by the acceleration suppression control amount calculation unit 44 of the present embodiment, when the traveling direction of the host vehicle V is backward, the traveling direction of the host vehicle V is forward. However, the degree of suppression of the acceleration command value is increased.
  • the acceleration suppression control amount is set to the actual accelerator pedal 32 as shown in FIG. Is set to a control amount that is suppressed to the throttle opening at the “medium” level.
  • the acceleration suppression control amount shown in FIG. 24 is an example, and may be changed according to the specifications of the host vehicle V and the like, similar to the acceleration suppression control amount shown in FIG.
  • the acceleration suppression control start timing is set earlier than when the traveling direction of the host vehicle V is backward, and acceleration is performed. Set a large suppression control amount. For this reason, in this embodiment, when the traveling direction of the host vehicle V is backward, the degree of suppression of the acceleration command value is higher than when the traveling direction of the host vehicle V is forward.
  • the acceleration suppression command value calculation unit 10J When it is determined that the host vehicle V enters the parking frame L0 and the acceleration suppression control operation condition is satisfied, the acceleration suppression command value calculation unit 10J outputs an acceleration suppression command value signal to the target throttle opening calculation unit 10K. To do. Further, the target throttle opening calculation unit 10K outputs a target throttle opening signal to the engine controller 12.
  • the parking frame certainty calculation unit 36 calculates the parking frame certainty factor, when the traveling direction of the host vehicle V is forward, the traveling direction of the host vehicle V is backward. However, it is difficult to raise the level of confidence in the parking frame.
  • the acceleration suppression control operation condition when the traveling direction of the host vehicle V is backward, the degree of suppression of the acceleration command value is higher than when the traveling direction of the host vehicle V is forward.
  • the traveling direction of the host vehicle V when the traveling direction of the host vehicle V is forward, parking is performed more than when the traveling direction of the host vehicle V is backward. The level of frame confidence is made difficult to increase.
  • the acceleration suppression control start timing calculation unit 42 calculates the acceleration suppression control start timing, when the traveling direction of the host vehicle V is forward, the traveling direction of the host vehicle V is backward. Rather than raising the level of confidence in the parking frame. For this reason, when the acceleration suppression control operation condition is satisfied, when the traveling direction of the host vehicle V is backward, the degree of suppression of the acceleration command value is higher than when the traveling direction of the host vehicle V is forward.
  • the acceleration suppression control amount calculation unit 44 calculates the acceleration suppression control amount
  • the traveling direction of the host vehicle V is forward
  • the traveling direction of the host vehicle V is backward than when the traveling direction is backward.
  • the acceleration suppression control operation condition is satisfied
  • the traveling direction of the host vehicle V is backward
  • the degree of suppression of the acceleration command value is higher than when the traveling direction of the host vehicle V is forward.
  • the shift position sensor 20 and the shift position calculation unit 10E described above correspond to the own vehicle traveling direction detection unit.
  • the acceleration command according to the operation amount of the accelerator pedal 32 is compared to when the traveling direction is backward. It is a method of suppressing the value with a low suppression degree.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K move forward when the traveling direction of the host vehicle V is backward.
  • the degree of suppression of the acceleration command value is increased compared to the case where
  • the acceleration command value is larger than in a backward movement in which the driver is less likely to visually recognize the traveling direction than during the forward traveling. It is possible to reduce the decrease in drivability and reduce the drivability. Further, when the traveling direction of the host vehicle V is a backward movement in which the driver is less likely to visually recognize the traveling direction than when the vehicle is traveling forward, the acceleration command value is larger than when the driver is traveling forward in which the traveling direction is easily visible. It is possible to increase the degree of suppression and increase the acceleration suppression effect of the host vehicle V. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the traveling direction of the host vehicle V is detected.
  • the acceleration command value is lower than when the host vehicle V is traveling backward. Suppress with the degree of suppression.
  • the traveling direction of the host vehicle V is a forward movement in which the driver can easily recognize the traveling direction
  • the acceleration command value is larger than in a backward movement in which the driver is less likely to visually recognize the traveling direction than during the forward traveling. It is possible to reduce the decrease in drivability and reduce the drivability.
  • the acceleration command value is larger than when the driver is traveling forward in which the traveling direction is easily visible. It is possible to increase the degree of suppression and increase the acceleration suppression effect of the host vehicle V. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the present invention when the traveling direction of the host vehicle V is forward, the level of the parking frame reliability is less likely to be increased than when the traveling direction of the host vehicle V is backward, and the acceleration command Although the degree of suppression of the value is configured to be low, the present invention is not limited to this. That is, for example, when at least one of the parallelism threshold value, the turning radius threshold value, the first threshold value, and the second threshold value is changed and the traveling direction of the host vehicle V is forward, the traveling direction of the host vehicle V The level of the parking frame approach reliability may be less likely to increase than when the vehicle is moving backward.
  • the traveling direction of the host vehicle V when the traveling direction of the host vehicle V is forward, the set travel distance is set longer than when the traveling direction of the host vehicle V is backward, and the level of parking frame reliability is set.
  • the level of parking frame reliability is set.
  • the traveling direction of the host vehicle V when the traveling direction of the host vehicle V is backward, the process is continued as a line of about 5 [m] obtained by extending a virtual line of about 3 [m].
  • the traveling direction of the own vehicle V when the traveling direction of the own vehicle V is forward, the level of the parking frame reliability may be made less likely to be raised than when the traveling direction of the own vehicle V is backward.
  • the traveling direction of the host vehicle V is detected using the shift position sensor 20 and the shift position calculation unit 10E described above, but the present invention is not limited to this. That is, for example, the host vehicle V includes a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the vehicle body (vehicle longitudinal direction), and detects the traveling direction of the host vehicle V based on the acceleration detected by the longitudinal acceleration sensor. May be.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated based on the total reliability calculated by the total reliability calculation unit 40, but the present invention is not limited to this.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated based on the parking frame reliability calculated by the parking frame reliability calculation unit 36 and whether the traveling direction of the host vehicle V is forward or backward. Also good.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated by adapting the parking frame certainty to, for example, an acceleration suppression condition calculation map shown in FIG. FIG. 25 is a diagram showing a modification of this embodiment.
  • the present embodiment a third embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
  • the configuration of the vehicle acceleration suppression device 1 of the present embodiment will be described using FIG. 26 with reference to FIGS. 1 to 25.
  • the vehicle acceleration suppression device 1 of the present embodiment is the same as the first embodiment except for the processing performed by the acceleration suppression control content calculation unit 10I, and therefore, except for the processing performed by the acceleration suppression control content calculation unit 10I. The description may be omitted.
  • the acceleration suppression apparatus 1 for vehicles of this embodiment WHEREIN: Processes other than the process which the parking frame reliability calculation part 36 and the total reliability calculation part 40 perform among the processes performed by the acceleration suppression control content calculating part 10I are mentioned above. Since this is the same as the first embodiment, the description thereof is omitted.
  • the parking frame certainty calculation unit 36 of the present embodiment first receives an input of a steering angle signal, determines whether or not the traveling state of the host vehicle V is a turning state, and The set movement distance is set according to the determination result. Then, based on the set movement distance set according to whether or not the traveling state of the host vehicle V is a turning state, the process proceeds from step S206 until the movement distance of the host vehicle V becomes the set movement distance.
  • the process of step S206 performs a process of determining whether or not to collate continuously.
  • an operation amount (rotation angle) from the neutral position of the steering wheel 28 included in the steering angle signal is referred to. Further, it is determined whether or not the referred rotation angle exceeds a preset turning state determination threshold value (for example, 90 [°]). And when the referred rotation angle exceeds the turning state determination threshold value, it is determined that the host vehicle V is in a turning state.
  • a preset turning state determination threshold value for example, 90 [°]
  • the turning state determination threshold value is not limited to 90 [°], and may be changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels.
  • the process of setting the set movement distance according to whether or not the traveling state of the host vehicle V is a turning state is performed with reference to a steering angle signal received from the steering angle calculation unit 10C, for example.
  • the traveling state of the host vehicle V is determined not to be a turning state
  • the set movement distance is set to 2.5 [m]
  • the traveling state of the host vehicle V is a turning state. If it is determined, the case where the set moving distance is set to 1 [m] will be described.
  • the set travel distance is an example, and may be changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example. Further, for example, the vehicle V may be changed according to the traffic regulations of the area (country etc.) where the vehicle V travels. Therefore, in the present embodiment, in the process of step S208, when the traveling state of the host vehicle V is the turning state, the level of the parking frame certainty is “level” compared to when the traveling state of the host vehicle V is not the turning state. It becomes difficult to calculate as “1”. Moreover, the comprehensive reliability calculation part 40 of this embodiment performs the process similar to the parking frame reliability calculation part 36 mentioned above, for example, and determines whether the driving state of the own vehicle V is a turning state. I do.
  • the overall certainty calculation unit 40 of the present embodiment receives the parking frame certainty signal and the parking frame approach certainty signal, receives the parking frame certainty factor included in the parking frame certainty signal, and the parking frame approach certainty signal.
  • the parking frame approach reliability included in is adapted to the comprehensive reliability calculation map shown in FIG. Then, based on the parking frame certainty factor and the parking frame approach certainty factor, the total certainty factor is calculated.
  • FIG. 26 is a diagram showing a comprehensive certainty calculation map used in the present embodiment. Further, in FIG. 26, as in FIG. 14, the parking frame certainty factor is indicated as “frame certainty factor”, and the parking frame approach certainty factor is indicated as “entry certainty factor”.
  • the comprehensive certainty calculation map used by the comprehensive certainty calculation unit 40 of the present embodiment is different from the comprehensive certainty calculation map used by the comprehensive certainty calculation unit 40 of the first embodiment described above.
  • the level of the total certainty level is changed according to the determination result of whether or not it is in a state.
  • the total certainty factor when it is determined that the host vehicle V is not in the turning state is “low level in non-turning state” and “high level in non-turning state” in the “entry certainty” column. It shows.
  • the total certainty when it is determined that the host vehicle V is in the turning state is “level low in turning state” and “level high in turning state” in the “entry certainty” column. It shows.
  • the total certainty calculation unit 40 of the present embodiment determines the total certainty when the host vehicle V is in a turning state, and determines that the host vehicle V is not in a turning state.
  • the level is calculated as a level that is equal to or higher than the overall certainty.
  • the parking frame certainty factor is “level 2”, and the parking frame approach certainty factor is “high level in non-turning state”. In this case, as shown in FIG. 26, the total certainty factor is calculated as “low”. On the other hand, when the parking frame certainty factor is “level 2” and the parking frame approach certainty factor is “high level when turning”, as shown in FIG. 26, the total certainty factor is calculated as “high”. . Therefore, in the present embodiment, when the host vehicle V is in a turning state, the total confidence level is easily calculated as a higher level than when the host vehicle V is not in a turning state. Thereby, in this embodiment, when the own vehicle V is in the turning state, the degree of suppression of the acceleration command value is higher than when the own vehicle V is not in the turning state.
  • the acceleration suppression command value calculation unit 10J When it is determined that the host vehicle V enters the parking frame L0 and the acceleration suppression control operation condition is satisfied, the acceleration suppression command value calculation unit 10J outputs an acceleration suppression command value signal to the target throttle opening calculation unit 10K. To do. Further, the target throttle opening calculation unit 10K outputs a target throttle opening signal to the engine controller 12.
  • the total confidence factor calculation unit 40 calculates the total confidence factor
  • the total confidence factor is greater than when the host vehicle V is not in a turning state. It is easy to calculate as a high level.
  • the vehicle acceleration suppression method increases the amount of operation of the accelerator pedal 32 when the turning state of the host vehicle V is not detected and when the turning state of the host vehicle V is detected. This is a method of suppressing the corresponding acceleration command value with a low suppression degree.
  • the steering angle sensor 18 and the steering angle calculation unit 10C detect whether or not the host vehicle V is in a turning state. In addition to this, when the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K are not in the turning state, Compared with the case where V is in a turning state, the degree of suppression of the acceleration command value is lowered.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K are configured so that when the host vehicle V is in a turning state, The degree of suppression of the acceleration command value is increased compared to the case where the vehicle is not in a turning state.
  • acceleration is faster than when the driver intends to accelerate less than when traveling straight. It is possible to reduce the degree of suppression of the command value and reduce the decrease in drivability. Further, when the traveling state of the host vehicle V is a turn where the driver is not intending to accelerate more than when the vehicle is traveling straight, the acceleration command value is greater than when the driver is intending to accelerate. It is possible to increase the degree of suppression and increase the acceleration suppression effect of the host vehicle V. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the acceleration command value is suppressed with a low suppression degree. For this reason, when the traveling state of the host vehicle V is straight traveling, in which the driver often intends to accelerate, acceleration is faster than when the driver intends to accelerate less than when traveling straight. It is possible to reduce the degree of suppression of the command value and reduce the decrease in drivability. Further, when the traveling state of the host vehicle V is a turn where the driver is not intending to accelerate more than when the vehicle is traveling straight, the acceleration command value is greater than when the driver is intending to accelerate.
  • the degree of suppression of the acceleration command value is increased.
  • the degree of suppression of the acceleration command value is made higher than when the host vehicle V is not in a turning state. It is good also as a structure.
  • the parking frame certainty factor or the parking frame approach certainty factor can be easily calculated as a higher level than when the host vehicle V is not in a turning state, and the acceleration command value It is good also as a structure from which the suppression degree becomes high.
  • the turning state determination threshold is set to a value (for example, 90 [°]) corresponding to the rotation angle of the steering wheel 28, but the turning state determination threshold is limited to this. is not. That is, the configuration of the host vehicle V includes a yaw rate sensor that detects the yaw rate of the host vehicle V, and the turning state determination threshold is set to a value (for example, 100 [R]) corresponding to the yaw rate of the host vehicle V. It may be set.
  • the configuration of the host vehicle V is configured to include a turning angle sensor that detects the turning angle of the steered wheels (for example, the right front wheel WFR and the left front wheel WFL), and the turning state determination threshold value is set to the turning value of the steered wheel. You may set to the value (for example, 6 [degree]) corresponding to a steering angle.
  • the acceleration suppression control start timing and the acceleration suppression control amount are calculated based on the total reliability calculated by the total reliability calculation unit 40, but the present invention is not limited to this. That is, the acceleration suppression control start timing and the acceleration suppression control amount may be calculated on the basis of the parking frame reliability calculated by the parking frame reliability calculation unit 36 and whether or not the host vehicle V is in a turning state. . In this case, the acceleration suppression control start timing and the acceleration suppression control amount are calculated by adapting the parking frame certainty to, for example, an acceleration suppression condition calculation map shown in FIG. FIG. 27 is a diagram showing a modification of the present embodiment. Further, when the traveling state of the host vehicle V is a turning state using the acceleration suppression condition calculation map shown in FIG. 27, for example, an acceleration suppression condition calculation map similar to that shown in FIG. 24 is used. It is also possible to calculate the acceleration suppression control start timing and the acceleration suppression control amount.
  • the present embodiment a fourth embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings.
  • the configuration of the vehicle acceleration suppression device 1 of the present embodiment will be described using FIG. 28 with reference to FIGS. 1 to 27.
  • the vehicle acceleration suppression device 1 of the present embodiment is the same as the first embodiment except for the processing performed by the acceleration suppression control content calculation unit 10I, and therefore, except for the processing performed by the acceleration suppression control content calculation unit 10I. The description may be omitted.
  • the acceleration suppression apparatus 1 for vehicles of this embodiment WHEREIN Among the processes performed by the acceleration suppression control content calculating part 10I, processes other than the process which the acceleration suppression operation condition judgment block 34 and the comprehensive reliability calculation part 40 perform are mentioned above. Since this is the same as the first embodiment, the description thereof is omitted.
  • the acceleration suppression operation condition determination block 34 of the present embodiment determines whether the vehicle speed of the host vehicle V is suitable among a plurality of preset threshold vehicle speed regions in the process of step S106 described above. I do. And if the process of step S106 is performed, the process which the acceleration suppression operation condition judgment block 34 of this embodiment performs will transfer to step S108.
  • FIG. 28 is a map used for processing performed by the acceleration suppression control content calculation unit 10I of the present embodiment, and is a map showing the relationship between the vehicle speed and the control content.
  • the four threshold vehicle speed regions are a first vehicle speed region of 0 [km / h], a second vehicle speed region of 0 [km / h] to 15 [km / h], and exceeds 15 [km / h].
  • the third vehicle speed region is 20 [km / h] or less, and the fourth vehicle speed region is over 20 [km / h].
  • the acceleration suppression operation condition determination block 34 of the present embodiment determines that the host vehicle V is in the parking frame based on the threshold vehicle speed region in which the vehicle speed of the host vehicle V determined in step S106 is matched in the process of step S118 described above. Change the conditions for judging entry.
  • the condition for determining that the host vehicle V enters the parking frame is a condition for determining whether or not the acceleration suppression control is started, and is indicated as “control start” in the “control content” column.
  • the set value of the condition A described above is The process which makes the same value as 1st embodiment mentioned above is performed.
  • the set value of the condition A is at least one of the set rudder angle value, the set time, the set angle, and the set distance described above.
  • a state where the set values of the conditions (A1 to A3) are the same as those in the first embodiment is indicated by a symbol “ ⁇ ”.
  • the set value of the condition A is changed to a value that is less likely to be determined when the host vehicle V enters the parking frame than in the first embodiment. To do. This is performed, for example, by processing such as changing the set time in the condition A1 to a time longer than that in the first embodiment.
  • a state in which the set value of the condition A is changed to a value that is less likely to be determined when the host vehicle V enters the parking frame than the first embodiment is indicated as “control start condition is restricted”.
  • the acceleration suppression operation condition determination block 34 of the present embodiment in a state where the acceleration suppression control is operating, is based on a threshold vehicle speed region in which the vehicle speed of the host vehicle V determined in step S106 is suitable, Change the conditions for continuing control.
  • the condition for continuing the acceleration suppression control during operation is indicated as “control continuation” in the “control content” column.
  • the process of continuing the acceleration suppression control during operation is performed.
  • a state in which the acceleration suppression control during operation is continued is indicated by a symbol “ ⁇ ”.
  • the set value of the condition A is changed to a value that is less likely to be determined when the host vehicle V enters the parking frame than the first embodiment.
  • a process for facilitating the termination of the acceleration suppression control during operation is performed.
  • a state that facilitates terminating the acceleration suppression control during operation is indicated as “relaxation of control termination condition”.
  • the overall certainty calculation unit 40 of this embodiment receives the input of the vehicle speed calculation value signal, and the vehicle speed of the host vehicle V is adapted to any threshold vehicle speed region as in the process performed in the acceleration suppression operation condition determination block 34.
  • the process which determines is performed. It should be noted that in the process of determining which threshold vehicle speed range the vehicle speed of the host vehicle V fits in the overall certainty factor calculation unit 40, the process result performed in the acceleration suppression operation condition determination block 34 may be used.
  • the comprehensive reliability calculation part 40 of this embodiment calculates a comprehensive reliability based on a parking frame reliability and a parking frame approach reliability, and also based on the threshold vehicle speed area
  • a state in which the level of the total certainty level is maintained during the acceleration suppression control operation is indicated as “holding the certainty level during control”.
  • the level of the total certainty calculated based on the parking frame certainty and the parking frame approach certainty is set. Lowering (for example, lowering by one step) is performed.
  • a state in which the level of the overall confidence is lowered when the acceleration suppression control is not operating is indicated as “lowering the confidence level except during control”.
  • the level of the total certainty calculated based on the parking frame certainty and the parking frame approach certainty regardless of whether or not the acceleration suppression control is operating. (For example, lowering by one step) is performed.
  • a state in which the level of the overall confidence level is lowered regardless of whether or not the acceleration suppression control is operating is indicated as “lowering the level of confidence level uniformly”. Therefore, in this embodiment, the higher the vehicle speed of the host vehicle V, the easier it is to calculate the overall confidence level as a lower level. Thereby, in this embodiment, the acceleration command value is suppressed at a higher suppression degree as the vehicle speed of the host vehicle V is lower.
  • the acceleration suppression control start timing calculation unit 42 calculates the acceleration suppression control start timing based on the total reliability calculated by the total reliability calculation unit 40, and the acceleration suppression control amount calculation unit 44 calculates an acceleration suppression control amount.
  • the acceleration suppression command value calculation unit 10J outputs an acceleration suppression command value signal to the target throttle opening calculation unit 10K.
  • the target throttle opening calculation unit 10K outputs a target throttle opening signal to the engine controller 12.
  • the vehicle acceleration suppression method of the present embodiment is a method of suppressing the acceleration command value according to the operation amount of the accelerator pedal 32 with a lower suppression degree as the vehicle speed of the host vehicle V is higher.
  • the vehicle speed of the host vehicle V is detected by the wheel speed sensor 16 and the host vehicle vehicle speed calculation unit 10B.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K increase the acceleration command value as the vehicle speed of the host vehicle V increases. Is suppressed with a low degree of suppression.
  • the acceleration suppression control start timing calculation unit 42, the acceleration suppression control amount calculation unit 44, the acceleration suppression command value calculation unit 10J, and the target throttle opening calculation unit 10K increase the acceleration command value as the vehicle speed of the host vehicle V decreases. Suppress with the degree of suppression.
  • the vehicle speed of the own vehicle V is high and there is a high possibility that the driver does not intend to park the own vehicle V, the vehicle speed of the own vehicle V is low and the driver intends to park the own vehicle V.
  • the degree of suppression of the acceleration command value is made lower than when there is a high possibility that the acceleration command value is high. Thereby, it becomes possible to reduce the fall of drivability.
  • the vehicle speed of the host vehicle V is low and the driver is likely to intend to park the host vehicle V
  • the vehicle speed of the host vehicle V is high and the driver intends to park the host vehicle V.
  • the degree of suppression of the acceleration command value is made higher than when there is a high possibility that it is not. Thereby, the acceleration suppression effect of the host vehicle V can be increased. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the acceleration command value is suppressed at a lower suppression degree as the vehicle speed of the host vehicle V is higher. For this reason, when the vehicle speed of the own vehicle V is high and there is a high possibility that the driver does not intend to park the own vehicle V, the vehicle speed of the own vehicle V is low and the driver intends to park the own vehicle V.
  • the degree of suppression of the acceleration command value is made lower than when there is a high possibility that the acceleration command value is high. Thereby, it becomes possible to reduce the fall of drivability. Furthermore, when the vehicle speed of the host vehicle V is low and the driver is likely to intend to park the host vehicle V, the vehicle speed of the host vehicle V is high and the driver intends to park the host vehicle V.
  • the degree of suppression of the acceleration command value is made higher than when there is a high possibility that it is not. Thereby, the acceleration suppression effect of the host vehicle V can be increased. As a result, it is possible to suppress the drivability of the host vehicle V during parking and to suppress acceleration of the host vehicle V when the accelerator pedal 32 is erroneously operated.
  • the higher the vehicle speed of the host vehicle V the easier it is to calculate the overall confidence level as a lower level, and the degree of suppression of the acceleration command value is lower.
  • the present invention is not limited to this. Absent. That is, for example, the acceleration suppression control start timing and the acceleration suppression control amount may be changed so that the degree of suppression of the acceleration command value decreases as the vehicle speed of the host vehicle V increases. Further, for example, the higher the vehicle speed of the host vehicle V, the easier it is to calculate the parking frame certainty factor or the parking frame approach certainty factor as a low level, and the degree of suppression of the acceleration command value may be reduced.
  • each threshold vehicle speed area is not limited to the speed described above, and may be set / changed according to the specifications of the host vehicle V, such as the braking performance of the host vehicle V, for example.
  • the entire contents of the Japanese Patent Application 2012-259209 filed on November 27, 2012 to which the present application claims priority form part of the present disclosure by reference.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

L'invention concerne un degré de commande de force d'entraînement, à savoir la position d'une pédale d'accélérateur (32) qu'un conducteur actionne de façon à imposer le degré de force d'entraînement produite, qui est détecté, comme le sont l'état et la vitesse de rotation du véhicule personnel (V), et l'environnement entourant le véhicule personnel qui est reconnu. Si l'environnement reconnu contient des lignes d'espace de stationnement, l'état de rotation détecté est égal ou supérieur à un premier seuil de rotation de limitation d'accélération préétabli, et la vitesse de véhicule détectée est supérieure ou égale à un premier seuil de vitesse de véhicule de limitation d'accélération préétabli, une limitation de l'accélération du véhicule personnel, commandée selon le degré de commande de force d'entraînement détecté, est donc démarrée.
PCT/JP2013/006880 2012-11-27 2013-11-22 Dispositif de limitation d'accélération de véhicule et procédé de limitation d'accélération de véhicule Ceased WO2014083822A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2014549815A JP6007991B2 (ja) 2012-11-27 2013-11-22 車両用加速抑制装置及び車両用加速抑制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012259209 2012-11-27
JP2012-259209 2012-11-27

Publications (1)

Publication Number Publication Date
WO2014083822A1 true WO2014083822A1 (fr) 2014-06-05

Family

ID=50827483

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/006880 Ceased WO2014083822A1 (fr) 2012-11-27 2013-11-22 Dispositif de limitation d'accélération de véhicule et procédé de limitation d'accélération de véhicule

Country Status (2)

Country Link
JP (1) JP6007991B2 (fr)
WO (1) WO2014083822A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107499186A (zh) * 2017-08-14 2017-12-22 深圳市德塔防爆电动汽车有限公司 带有行车安全保护的电动汽车
CN110203201A (zh) * 2018-02-28 2019-09-06 铃木株式会社 驱动力控制装置
CN114919423A (zh) * 2022-05-24 2022-08-19 酷黑科技（北京）有限公司 一种车辆控制方法、装置和电子设备
CN116670001A (zh) * 2020-12-10 2023-08-29 三菱电机株式会社 驾驶辅助控制装置及驾驶辅助控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010195118A (ja) * 2009-02-24 2010-09-09 Nissan Motor Co Ltd 駐車支援装置及び駐車支援方法
JP2011025895A (ja) * 2009-07-29 2011-02-10 Hitachi Automotive Systems Ltd 駐車支援装置
JP2012001081A (ja) * 2010-06-16 2012-01-05 Nissan Motor Co Ltd 駐車支援システム
JP2012087692A (ja) * 2010-10-20 2012-05-10 Fujitsu Ltd 車載装置、車両および制御方法
WO2012144253A1 (fr) * 2011-04-21 2012-10-26 日産自動車株式会社 Dispositif de commande du couple et système de chargement sans contact

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3883049B2 (ja) * 2001-11-06 2007-02-21 株式会社デンソー 乗物の安全装置及び乗物の安全運転方法をコンピュータに実現させるためのコンピュータプログラム
JP2007066179A (ja) * 2005-09-01 2007-03-15 Toyota Motor Corp 車両用運転支援装置
JP2010144667A (ja) * 2008-12-19 2010-07-01 Kenwood Corp 車両の安全運転装置
JP2011122607A (ja) * 2009-12-08 2011-06-23 Denso Corp 車両の制御装置
JP5218532B2 (ja) * 2010-12-01 2013-06-26 株式会社日本自動車部品総合研究所 運転支援装置および運転支援システム
JP5657410B2 (ja) * 2011-02-04 2015-01-21 本田技研工業株式会社 車両の走行制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010195118A (ja) * 2009-02-24 2010-09-09 Nissan Motor Co Ltd 駐車支援装置及び駐車支援方法
JP2011025895A (ja) * 2009-07-29 2011-02-10 Hitachi Automotive Systems Ltd 駐車支援装置
JP2012001081A (ja) * 2010-06-16 2012-01-05 Nissan Motor Co Ltd 駐車支援システム
JP2012087692A (ja) * 2010-10-20 2012-05-10 Fujitsu Ltd 車載装置、車両および制御方法
WO2012144253A1 (fr) * 2011-04-21 2012-10-26 日産自動車株式会社 Dispositif de commande du couple et système de chargement sans contact
JP2012228119A (ja) * 2011-04-21 2012-11-15 Nissan Motor Co Ltd トルク制御装置及び非接触充電システム

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107499186A (zh) * 2017-08-14 2017-12-22 深圳市德塔防爆电动汽车有限公司 带有行车安全保护的电动汽车
CN110203201A (zh) * 2018-02-28 2019-09-06 铃木株式会社 驱动力控制装置
CN110203201B (zh) * 2018-02-28 2022-07-12 铃木株式会社 驱动力控制装置
CN116670001A (zh) * 2020-12-10 2023-08-29 三菱电机株式会社 驾驶辅助控制装置及驾驶辅助控制方法
CN114919423A (zh) * 2022-05-24 2022-08-19 酷黑科技（北京）有限公司 一种车辆控制方法、装置和电子设备
CN114919423B (zh) * 2022-05-24 2024-06-07 酷黑科技（北京）有限公司 一种车辆控制方法、装置和电子设备

Also Published As

Publication number Publication date
JPWO2014083822A1 (ja) 2017-01-05
JP6007991B2 (ja) 2016-10-19

Similar Documents

Publication Publication Date Title
JP5915771B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5999195B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5915769B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5915770B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5991382B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
WO2014083827A1 (fr) Dispositif de suppression d'accélération de véhicule
WO2014083826A1 (fr) Dispositif de suppression d'accélération pour véhicule et procédé de suppression d'accélération pour véhicule
JP6007991B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5900648B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5892259B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5846318B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5892260B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5900647B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法
JP5900650B2 (ja) 車両用加速抑制装置及び車両用加速抑制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13859069

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2014549815

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13859069

Country of ref document: EP

Kind code of ref document: A1