JP2013216181A - Drive supporting device - Google Patents

Abstract

A driving support device capable of realizing reliable driving support with improved safety when a vehicle parked forward is taken out from a parking place.
A left rear exploration radar apparatus having a function of exploring an obstacle on the left rear side of a vehicle, and a right rear exploration radar apparatus having a function of exploring an obstacle on the right rear side of the vehicle are used. When there is another vehicle that approaches the vehicle during reverse travel when leaving the parking place from the forward parked state, the situation determination for the other vehicle is made based on the behavior of the other vehicle such as the speed of the other vehicle and the speed change rate thereof. When the vehicle travels backward from the parking place, reliable driving assistance is performed to increase safety with the other vehicle approaching the vehicle.
[Selection] Figure 2

Description

  The present invention relates to a driving support device that performs driving support for securing safety with another vehicle when a vehicle is taken out from a parking place.

In recent years, many vehicles equipped with an obstacle detection sensor for detecting obstacles around the vehicle, particularly behind the vehicle, have come to be seen. As an obstacle detection sensor for detecting an obstacle behind the vehicle, an imaging camera or a radar device is installed at the rear of the vehicle, and in the case of the imaging camera, an obstacle behind the vehicle is photographed. In this case, the reflected wave that is reflected by the obstacle when the radio wave is irradiated to the rear of the vehicle is detected.
There is a driving assistance device that performs driving assistance during backward traveling using an image behind the vehicle imaged by an imaging camera used as such an obstacle detection sensor. In this driving support device, when the vehicle is parked after moving forward and the operation of reversing from the parked state is performed, a wide-angle image with a wide horizontal angle of view behind the vehicle captured by the camera is displayed on the display, When the operation is not performed, a narrow-angle image with a narrow horizontal angle of view behind the vehicle is displayed on the display to assist driving during reverse travel (see Patent Document 1).

JP 2005-112267 A

  However, such a driving support device only provides the driver with an image of the rear of the vehicle, and the determination to stop the vehicle traveling backward or the determination to continue the backward traveling is based on the image behind the vehicle visually recognized by the driver. Therefore, the driver himself / herself determines the obstacle, and there is a problem that the driving support at the time of reverse traveling is uncertain, such as a difference in driving support effect due to individual differences of drivers.

  This invention is made in view of such a situation, and provides the driving assistance apparatus which can implement | achieve the reliable driving assistance which improved the safety when the vehicle parked facing forward leaves the parking place. With the goal.

  The invention according to claim 1 is a driving support device that assists when a vehicle parked forward in a parking spot of a parking lot leaves from the parking spot, and an approaching vehicle approaching from the rear of the vehicle; An approaching vehicle detection unit that detects the traveling state; an approaching vehicle state determination unit that determines whether or not the approaching vehicle may pass backward from the traveling state of the approaching vehicle detected by the approaching vehicle detection unit; When the approaching vehicle state determination means determines that there is a possibility that the approaching vehicle can pass behind, support means for assisting in securing safety with the approaching vehicle is provided.

  According to the first aspect of the present invention, when a vehicle parked forward in a parking spot of a parking lot is released from the parking spot, an approaching vehicle detecting means detects an approaching vehicle approaching from the rear of the vehicle and its traveling state. The approaching vehicle state determination unit performs a state determination as to whether or not the approaching vehicle can pass backward from the traveling state of the approaching vehicle detected by the approaching vehicle detection unit, and the approaching vehicle state determination unit When it is determined that there is a possibility that an approaching vehicle can pass behind, the support means provides support for ensuring safety with the approaching vehicle, so when a vehicle parked in a forward direction leaves the parking place. It is not necessary for the driver of the leaving vehicle to make a situation judgment about the possibility of passing the approaching vehicle approaching from behind, and approaching approaching from behind Both with respect to the effect that can realize reliable driving support with improved safety.

  According to the second aspect of the present invention, the traveling situation of the approaching vehicle approaching from the rear of the vehicle is configured to include the traveling speed of the approaching vehicle and a change in the speed of the approaching vehicle. When the parked vehicle leaves the parking location, an approaching vehicle approaching from the rear of the vehicle and a traveling situation including the traveling speed of the approaching vehicle and a change in the speed are detected by the approaching vehicle detection means, and the detected Judgment is made as to whether or not the approaching vehicle is likely to pass backward from the traveling situation of the approaching vehicle, and if it is determined that the approaching vehicle is likely to pass backward, safety between the approaching vehicle and the approaching vehicle is ensured. Therefore, it is determined whether or not there is a possibility of passing the approaching vehicle backward from the traveling condition including the traveling speed of the approaching vehicle and the change in the speed. This eliminates the need for the driver of the vehicle to leave the vehicle to judge the situation about the possibility of passing the approaching vehicle behind, and can realize reliable driving support with improved safety for approaching vehicles approaching from behind. effective.

  According to the third aspect of the present invention, the support means is configured to include voice and display guidance means for outputting voice guidance for prompting the vehicle to advance, so that safety is improved for approaching vehicles approaching from the rear. There is an effect that it is possible to realize reliable driving support including voice guidance for prompting forward movement.

  According to the fourth aspect of the present invention, since the support means includes forward control means for controlling the vehicle so that the vehicle can move forward, the vehicle can be moved forward relative to an approaching vehicle approaching from behind. There is an effect that it is possible to realize reliable driving support that is controlled and improved in safety.

  According to the fifth aspect of the present invention, the shift position control means for switching the shift position to a state where the vehicle moves forward, and the vehicle in a state where the shift position is switched to the state where the vehicle moves forward by the shift position control means. Since the forward control means is provided with the braking control means for holding the vehicle in a stopped state, the vehicle whose shift position is switched to the forward state is held in a stopped state with respect to an approaching vehicle approaching from behind. As a result, it is possible to achieve reliable driving support with improved safety.

  According to the sixth aspect of the present invention, since the stop state of the vehicle held by the brake control means is released by the release means, the shift position is switched and stopped for an approaching vehicle approaching from behind. It is possible to advance the vehicle in a state in which the vehicle is in a state of being released by the releasing means, and to realize reliable driving support with improved safety.

  According to the seventh aspect of the present invention, the backward trajectory when the vehicle leaves the parking location is stored in the backward trajectory storage unit, and when the vehicle is released from the stopped state by the releasing means, the vehicle is changed to the backward trajectory. Since the vehicle is in a state where the vehicle is in a stopped state with the shift position being switched, the vehicle is moved forward by the release means, and the traveling locus is controlled to the traveling locus along the backward locus. This has the effect of realizing reliable driving support with improved performance.

It is a block diagram which shows the structure of the driving assistance apparatus of the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 1st Embodiment of this invention. It is explanatory drawing which shows the obstruction detection sensor which detects the obstruction of the vehicle back in the driving assistance device of embodiment of this invention, and its obstruction detection area. It is explanatory drawing which shows the condition of the driving assistance when leaving the vehicle from the state parked forward in the driving assistance apparatus of the 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the driving assistance apparatus of the 3rd Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 3rd Embodiment of this invention. It is explanatory drawing which shows the condition of the driving assistance when leaving from the state parked forward in the driving assistance apparatus of the 3rd Embodiment of this invention. It is explanatory drawing which shows the condition of the driving assistance when leaving from the state parked forward in the driving assistance apparatus of the 3rd Embodiment of this invention.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described.
FIG. 1 is a block diagram showing the configuration of the driving support apparatus of this embodiment.
This driving support device is mounted on a vehicle and has a left rear search radar device 1 having a function of searching for an obstacle on the left rear side of the vehicle, and a right rear side having a function of searching for an obstacle on the right rear side of the vehicle. When there is another vehicle that approaches the vehicle during backward running when the vehicle is parked forward from the parked location using the exploration radar device 2, between the other vehicle approaching the driver of the vehicle Driving assistance to ensure safety.
Specifically, in the state where the vehicle is moving forward and parked forward in the parking place, when the backward running is started when leaving the parking place in the back, the other vehicle approaching the own vehicle from the rear of the own vehicle is searched for in the left rear direction. When the radar apparatus 1 or the right rear exploration radar apparatus 2 detects and another vehicle approaching the rear of the host vehicle is detected, the situation of the other vehicle approaching the rear of the host vehicle is determined, and the vehicle moves out from the parking place. When driving, reliable driving support that enhances safety with other vehicles approaching the host vehicle is realized.

This driving support device includes a left rear search radar device 1, a right rear search radar device 2, a forward obstacle detection sensor 3, and a driving support controller 15 that forms the core of the driving support device.
The left rear exploration radar device 1 and the right rear exploration radar device 2 detect other vehicles approaching the own vehicle from behind the own vehicle and, for example, other vehicles that travel behind the own vehicle when the own vehicle changes its course. It is possible to use a radar device for driving support such as informing the driver of the presence of the vehicle.
The left rear exploration radar device 1 is configured to detect, for example, the direction when the millimeter wave is irradiated to the left rear of the host vehicle and the presence / absence of another vehicle approaching the vehicle left rear from the reflected wave, the speed of the other vehicle approaching the vehicle left rear, It is possible to detect speed changes. Further, the distance L from the left rear end of the host vehicle to the obstacle behind the host vehicle can be measured.
The right rear exploration radar device 2 is configured to detect, for example, the direction when the millimeter wave is irradiated to the right rear of the host vehicle and the presence / absence of another vehicle approaching the vehicle right rear from the reflected wave, the speed of the other vehicle approaching the vehicle right rear, It is possible to detect speed changes. Further, the distance L from the right rear end of the host vehicle to the obstacle behind the host vehicle can be measured.
The front obstacle detection sensor 3 may use a radar device or an imaging camera for driving assistance such as detecting an obstacle ahead of the host vehicle and notifying the driver of the presence of the obstacle ahead of the host vehicle. I can do it. The front obstacle detection sensor 3 can detect the presence or absence of an obstacle ahead of the host vehicle from the direction and reflected wave when the obstacle ahead of the host vehicle is irradiated with, for example, millimeter waves.

  3 shows a left rear exploration radar device 1 and a right rear exploration radar device 2, a front obstacle detection sensor 3, and a left rear exploration area 201 by the left rear exploration radar device 1 installed in a rear bumper of the host vehicle 101. FIG. 4 is an explanatory diagram showing a right rear search area 202 by the right rear search radar apparatus 2 and a front search area 203 by the front obstacle detection sensor 3.

Returning to FIG. 1, the driving support controller 15 communicates with the electric power steering ECU 4, the meter ECU 6, the transmission ECU 9, the brake ECU 11, and the engine ECU 13 via the bus line.
The electric power steering ECU 4 is configured by a microcomputer that controls the drive motor of the steering 5 and drives the steering 5.
The meter ECU 6 controls various instruments installed in the driver's seat and the display thereof, and outputs a detection result by various sensors including an outside air temperature sensor and a voice output of the display result by the various instruments through a speaker 7. Alternatively, it is configured by a microcomputer that outputs an image to the liquid crystal display device 8 in the driver's seat.
The transmission ECU 9 is configured by a microcomputer that detects the shift position of the shift lever, controls the shift actuator 10, and automatically shifts the position of the shift lever to a designated shift position.
The brake ECU 11 is constituted by a microcomputer that detects the state of the brake, controls the brake actuator 12, and automatically operates the brake.
The engine ECU 13 is configured by a microcomputer that detects the state of the engine, detects the state of the accelerator pedal 14, and controls the engine.

The driving support controller 15 detects the operation state of the steering 5 via the electric power steering ECU 4 and performs automatic steering of the steering 5 in accordance with driving support.
Further, the driving support controller 15 outputs various voice announcements accompanying driving support from the speaker 7 via the meter ECU 6, and displays and outputs various information accompanying driving support to the liquid crystal display device 8.
Further, the driving support controller 15 detects the position of the shift lever via the transmission ECU 9 and controls the shift actuator 10 to perform automatic switching control of the transmission accompanying the driving support.
Further, the driving support controller 15 detects the operation state of the brake via the brake ECU 11, controls the brake actuator 10, and performs automatic control of the brake device accompanying driving support.
Further, the driving support controller 15 detects the operation state of the accelerator pedal 14 via the engine ECU 13.

  The driving support controller 15 includes a rear side vehicle detection unit 21, a passage possibility determination unit 22, a backward locus storage unit 23, a front obstacle contact determination unit 24, an alarm instruction unit 25, and an automatic forward control unit 26.

  The rear side vehicle detection unit 21 approaches the host vehicle from the left rear or the right rear of the host vehicle 101 based on the reflected wave when the millimeter wave is irradiated from the left rear search radar device 1 or the right rear search radar device 2. Detect the vehicle.

The passability determination unit 22 determines whether the other vehicle approaching to the rear of the host vehicle is going to pass the rear of the host vehicle or the passing of the rear of the host vehicle based on the speed of the other vehicle approaching to the rear of the host vehicle and the speed change. The possibility of passing whether or not hesitates is determined, and the situation is determined for other vehicles approaching to the rear of the host vehicle.
The possibility of passing is, for example, two conditions regarding the speed of the other vehicle approaching to the rear of the host vehicle and the speed change thereof, that is, the speed of the other vehicle approaching to the rear of the host vehicle is equal to or higher than a predetermined constant speed Vr. When the speed change is below a preset reference value, it is determined that “the other vehicle is about to pass behind the host vehicle”, that is, “the driver of the other vehicle is willing to pass”.
In addition, for a situation where one of the two conditions is not satisfied, a situation where the speed of the other vehicle is traveling at a low speed equal to or lower than a preset constant speed Vr, or a reference in which the speed change is set in advance. It is determined that a sudden brake exceeding the value is applied, and “it is hesitant to pass behind the host vehicle”, that is, “the driver of the other vehicle has no intention to pass”.

  The backward trajectory storage unit 23 stores a travel trajectory when the vehicle is parked forward from the parking position in reverse travel. For example, a time-series value of the parking position, the vehicle speed, the steering operation angle, and the front wheel rudder angle is detected as the travel locus, and the travel locus when the vehicle exits from the parking position is calculated and stored in the memory.

  The front obstacle contact determination unit 24 detects the presence or absence of an obstacle ahead of the host vehicle from the direction and reflected wave when the obstacle ahead of the host vehicle is irradiated with the millimeter wave by the front obstacle detection sensor 3. Further, it is possible to determine whether or not there is a possibility of contact between the obstacle and the host vehicle from the detected distance between the obstacle ahead of the host vehicle and the host vehicle.

  The alarm instruction unit 25 communicates with the meter ECU 6, transmits an alarm instruction to the meter ECU 6 via the bus line, outputs an alarm by voice announcement from the speaker 7, or issues an alarm to the liquid crystal display device 8. Display output.

  The automatic forward control unit 26 includes a shift position instruction unit 31, a brake instruction unit 32, a creep travel instruction unit 33, and a steering operation instruction unit 34.

  The shift position instruction unit 31 detects the position of the shift lever via the transmission ECU 9, transmits a shift position instruction signal indicating the position of the shift lever to the transmission ECU 9 via the bus line, and controls the shift actuator 10. The position of the shift lever is automatically switched.

  The brake instructing unit 32 controls the brake actuator 12 via the brake ECU 11, and when the other vehicle that approaches the host vehicle from the rear of the host vehicle and passes the rear of the host vehicle is detected when the vehicle is moved backward from the parking position, the host vehicle is detected. Stop.

  The creep travel instruction unit 33 detects the travel speed of the host vehicle via the transmission ECU 9, transmits a creep travel instruction signal for instructing creep travel of the host vehicle to the engine ECU 13 via the bus line, and instructs the creep travel. To do.

The steering operation instruction unit 34 detects the state of the steering 5 via the electric power steering ECU 4 and transmits a steering operation instruction signal for instructing the steering operation amount to the electric power steering ECU 4 via the bus line. Perform the operation automatically.
Note that the left rear exploration radar device 1, the right rear exploration radar device 2, and the driving support controller 15 can be configured integrally.

Next, the operation will be described.
FIG. 2 is a flowchart showing the operation of the driving support apparatus of this embodiment. Hereinafter, the operation of the driving support apparatus will be described with reference to this flowchart.
The driving support program showing the operation of the driving support apparatus shown in the flowchart of FIG. 2 is stored in the memory of the microcomputer constituting the driving support controller 15, and is repeatedly performed while the accessory power is turned on and the vehicle can run. Executed.
In this driving support program, first, it is determined whether or not the host vehicle has started reverse travel (step S1). Whether or not the backward running has been started is determined from the position of the shift lever (selector lever). That is, it is performed by detecting that the position of the shift lever is in the reverse position.
Alternatively, the start of reverse traveling is determined based on the determination condition that the position of the shift lever, the brake pedal is in the non-operating state, and the accelerator pedal is in the operating state. As a result, when it is determined that the backward running is not started, the driving support program is skipped.
On the other hand, when it is determined that the reverse travel has started, the vehicle speed and the steering angle by the steering during the reverse travel are detected, the reverse trajectory of the host vehicle during the reverse travel is calculated, and stored in the reverse trajectory storage unit 23. (Step S2).

  Next, the presence / absence of another vehicle approaching the host vehicle is determined from the rear right side and the rear left side of the host vehicle 101 (step S3). The determination as to whether or not there is another vehicle approaching the host vehicle from the rear right side and the rear left side is made based on the reflected wave when the left rear exploration radar apparatus 1 and the right rear exploration radar apparatus 2 emit millimeter waves. By detecting other vehicles approaching the vehicle, the presence / absence of another vehicle approaching the host vehicle from the left rear and right rear of the host vehicle is determined.

FIG. 4 is an explanatory diagram illustrating an example of a situation during backward running when leaving the parking place.
In the example shown in FIG. 4, a situation is shown in which another vehicle 102 is approaching from the left rear side of the host vehicle 101 when the host vehicle 101 starts traveling backward from the parking place where the host vehicle 101 is parked forward.
In the situation shown in FIG. 4, while the host vehicle 101 is traveling backward, the rear part of the host vehicle is swung leftward or rightward by the steering operation of the driver, but from the left rear side by the left rear exploration radar device 1 of the host vehicle 101. The other vehicle 102 approaching the host vehicle 101 is detected.
In the example shown in FIG. 4, when another vehicle approaching the left rear or right rear of the host vehicle is detected, there is another vehicle approaching the host vehicle from the left rear or the right rear. The warning instruction unit 25 of the driving support controller 15 transmits an output instruction of a voice announcement “There is another vehicle approaching” to the meter ECU 6 and outputs it from the speaker 7 to notify the driver of the own vehicle (step S4).

When another vehicle approaching the left rear or right rear of the host vehicle 101 is detected by the left rear search radar device 1 or the right rear search radar device 2, the speed and speed change of the approaching other vehicle are detected (step S5). .
Then, from the speed and speed change of the approaching other vehicle, it is determined whether or not the approaching other vehicle 102 may pass behind the host vehicle 101, or the strength of the intention of passing the other vehicle 102 behind the host vehicle. Then, the situation of the other vehicle 102 is determined (step S6).
The situation determination for the other vehicle 102, such as whether or not there is a possibility of the other vehicle 102 passing through the rear and the strength of intention to pass behind the host vehicle, is performed as follows.

As shown in FIG. 4, the movement of the other vehicle 102 attempting to pass through the space behind the host vehicle from the left rear of the host vehicle 101 is also affected by the behavior of the host vehicle 101. That is, when the speed of the other vehicle 102 exceeds the predetermined speed Vr that is set in advance and the speed change rate ΔVr is lower than the preset reference value, the other vehicle 102 increases the speed at a traveling speed that is equal to or higher than the speed Vr. In this situation, the other vehicle 102 is about to pass the rear space of the own vehicle 101 from the left rear side of the own vehicle 101, that is, “is about to pass”. Judgment is "strong intention" or "passing ant".
On the other hand, when the speed of the other vehicle 102 is approaching the host vehicle 101 at a low speed lower than a preset predetermined speed Vr, or when the speed change rate of the other vehicle 102 is equal to or higher than a preset reference value, In other words, in a situation where the other vehicle 102 has lowered the traveling speed by a brake operation beyond a certain percentage, the other vehicle 102 is approaching from the left rear of the own vehicle 101 as a situation determination in this case. It is determined that he / she is hesitant to pass the vehicle 101 backward, “intention to pass is weak”, that is, “passing intention”.

If it is determined in step S6 that the vehicle is willing to pass, this driving support program is skipped, and then the backward trajectory of the host vehicle 101 is stored in the backward trajectory storage unit 23 in the program cycle, while the host vehicle 101 While the other vehicle 102 approaching the vehicle is detected by the left rear exploration radar device 1 and the right rear exploration radar device 2, the processing from step S1 to step S6 is not performed, and the other vehicle 102 approaching the host vehicle is not detected in step S3. Repeat until.
In the example shown in FIG. 4, when the other vehicle 102 approaching the host vehicle from the left rear of the host vehicle 101 is detected by the left rear exploration radar device 1, a voice announcement “There is another vehicle approaching the host vehicle from the left rear”. The driver of the host vehicle 101 is notified (step S4), and in the subsequent step S5, the speed and speed change of the approaching other vehicle 102 are detected, and in the next step S6, the possibility of passing backward is determined. Judge the situation against When the other vehicle 102 approaching the host vehicle stops from the left rear of the host vehicle 101 and determines that the vehicle does not pass, the driving support program is skipped, and the processing from step S1 is repeated.

  On the other hand, if it is determined in step S6 that it is “passing intention ant”, the alarm instruction unit 25 communicates with the meter ECU 6 to transmit the alarm instruction to the meter ECU 6 and from the speaker 7 such as “go forward”. A voice guidance prompting the forward travel of 101 is notified to the driver of the host vehicle 101 (step S7).

Subsequently, the shift actuator 10 shifts the position of the shift lever from the reverse R position to the D range position according to an instruction transmitted from the shift position instruction unit 31 of the automatic forward control unit 26 to the transmission ECU 9, and further from the brake instruction unit 32 to the brake ECU 11. The brake actuator 12 controls the brake in accordance with the instruction transmitted to the brake state, and the state where the brake is applied and the state where the brake is held are shifted (step S8).
In this state, the host vehicle 101 is stopped while the position of the shift lever is in the D range and the brake is held.

In the example shown in FIG. 4, the driver of the host vehicle 101 listens to the voice announcement “There is another vehicle approaching the host vehicle from the left rear” and the voice guidance that prompts the user to travel forward. Know the existence of another vehicle 102 approaching the host vehicle from the back of the host vehicle that has a high possibility of passing, and operate the accelerator pedal to advance the host vehicle 101 again from the stopped position to the first parking position. .
For the operation of the accelerator pedal, for example, a short time accelerator operation by the driver is sufficient. At this time, the CPU of the driving support controller 15 determines whether or not the accelerator pedal is turned on from the output of the accelerator operation amount sensor that detects the operation amount of the accelerator pedal (step S9).
As a result, if it is determined from the output of the accelerator operation amount sensor that the accelerator pedal is turned on, the backward trajectory from the first parking position stored in the backward trajectory storage unit 23 until the stop in step S8 is automatically performed. The forward control unit 26 reads from the backward trajectory storage unit 23, transmits a steering operation instruction from the tearing operation instruction unit 34 to the electric power steering ECU 4 so as to trace the backward trajectory, and creeps from the creep travel instruction unit 33 to the engine ECU 13. A traveling instruction is transmitted, and the brake holding state in step S8 is released, and the host vehicle 101 is automatically advanced (step S12).

Next, the CPU of the driving support controller 15 determines whether or not the automatic forward travel distance has reached a predetermined constant distance Lc from the detected travel distance of the host vehicle 101 (step S13), and automatically advances. A reverse locus stored in the reverse locus storage unit 23 by a predetermined distance Lc while communicating with the engine ECU 13 and the electric power steering ECU 4 by the creep travel instruction unit 33 and the steering operation instruction unit 34 of the control unit 26. Auto advance to trace.
When the automatic forward travel distance of the host vehicle 101 exceeds a certain distance Lc, the brake instruction unit 32 of the automatic forward control unit 26 of the driving support controller 15 transmits an instruction to operate the brake to the brake ECU 11 and travels forward. The own vehicle 101 is braked to hold the brake (step S14).

  Next, the shift position instructing unit 31 of the automatic forward control unit 26 of the driving support controller 15 communicates with the transmission ECU 9 to operate the shift actuator 10 to change the position of the shift lever from the position of the D range to the parking range P (or The position is automatically switched to the neutral range N) position (step S15).

Whether or not the accelerator pedal is turned on in step S9 is determined for a predetermined period.
For this reason, when it is determined in step S9 that the accelerator operation amount sensor does not detect the operation amount of the accelerator pedal and the accelerator pedal is not turned on, the software timer is started and the timer count value C is set to “ 1 "is incremented (step S10).
Subsequently, it is determined whether or not the timer count value C is equal to or less than a specified value, that is, equal to or less than a count value that defines the predetermined period (step S11). The determination whether or not has been performed is repeated.
If the timer count value exceeds the specified value, the host vehicle 101 is not in a forward travel state, so the process proceeds to step S15, and the automatic forward control unit 26 of the driving support controller 15 communicates with the transmission ECU 9 to indicate the shift position. The shift actuator 10 is actuated by an instruction from the unit 31 to automatically switch the position of the shift lever from the D range position to the parking range P (or neutral range N) position.

According to this embodiment, the driver of the host vehicle 101 is notified of the presence of the other vehicle 102 approaching the host vehicle 101 from the left rear or right rear of the host vehicle 101, and the driver of the host vehicle 101 is urged to ensure safety. In addition, the situation determination at the time of reverse traveling when the own vehicle 101 leaves the parking place is performed from the behavior of the other vehicle 102 at this time.
In other words, when the host vehicle 101 parked forward is traveling backward when leaving the parking place, the other vehicle 102 passes the rear of the host vehicle due to the behavior of the other vehicle 102 approaching the host vehicle 101, the speed change, and the like. The presence / absence of the possibility of passing, the strength of the intention of passing by the other vehicle 102, and the presence / absence of the other vehicle 102 are determined, and the situation of the backward traveling when the own vehicle 101 leaves the parking place is determined.
Then, according to the situation determination result, the own vehicle 101 is secured so that the safety between the own vehicle 101 and the other vehicle 102 approaching the own vehicle 101 is ensured with the intention of the driver of the own vehicle 101 interposed. It was configured to support driving operations.
Therefore, when a vehicle parked in a forward direction travels backward when leaving the parking place, it supports appropriate driving operation according to the situation when another vehicle approaches the host vehicle 101 from the left rear or right rear of the host vehicle 101. There is an effect that can be done.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described.
FIG. 5 is a flowchart showing the operation of the driving support apparatus according to this embodiment.
The configuration of the driving support apparatus of this embodiment is the same as the configuration shown in FIG. 1, and will be described with reference to the block diagram shown in FIG. In FIG. 5, the same or corresponding processing steps as those in FIG. 1 are denoted by the same reference numerals, description thereof is omitted, and processing different from that in FIG.
Even in this driving support device, the situation of the other vehicle 102 is determined based on the behavior of the other vehicle 102 approaching the host vehicle 101 when the host vehicle 101 parked forward is traveling backward when leaving the parking place.
As the situation determination at this time, it is determined that the other vehicle 102 is about to pass through the space behind the host vehicle 101 from the left rear side of the host vehicle 101, that is, “strong intention to pass” or “passing intention ant”. In this case, when an accelerator pedal on-operation by the driver of the host vehicle 101 is detected and automatic forward travel is performed, an obstacle ahead of the host vehicle is detected by the front obstacle detection sensor 3 during the period during which the automatic forward travel is performed. (Step S21).
If an obstacle is detected in front of the host vehicle while the automatic forward traveling is performed, the process returns to step S8, and the position of the shift lever is shifted from the reverse R position to the D range position (in this case, the shift lever The position is shifted to the D range), and further, the brake actuator 12 drives the brake in response to an instruction transmitted from the brake instruction unit 32 to the brake ECU 11, and shifts to a brake holding state.
In this state, the host vehicle 101 stops because the shift lever is in the D range and the brake is held.

As described above, in this embodiment, when the own vehicle 101 leaves the parking place, if the other vehicle 102 approaches the own vehicle 101, the vehicle travels backward from the behavior of the other vehicle 102 due to the traveling speed and the speed change. Sometimes, the situation determination for the other vehicle 102 approaching the host vehicle 101 is performed.
Then, when the forward obstacle is detected by the forward obstacle detection sensor 3 when the host vehicle 101 automatically moves forward to return to the first parking position according to the result of the situation determination, the brake is held. The host vehicle 101 stops.
Therefore, even if the driver is delayed in noticing the front obstacle that appears in front of the host vehicle 101 when the host vehicle 101 automatically moves forward to return to the first parking position according to the result of the situation determination at the time of reverse running, Safety with the front obstacle is ensured, and the driving operation of the host vehicle 101 can be appropriately supported.

(Third embodiment)
Hereinafter, a third embodiment of the present invention will be described.
FIG. 6 is a block diagram showing the configuration of the driving support apparatus of this embodiment.
In FIG. 6, the same or corresponding parts as in FIG.
In addition to the configuration of the driving support apparatus shown in FIG. 1, the driving support apparatus of this embodiment further includes a space calculation unit 41 and a passability determination unit 42.
In the driving support device of this embodiment, when the host vehicle 101 parked forward is traveling backward when leaving the parking place, the other vehicle 102 approaches the host vehicle 101 from the rear side of the host vehicle 101. In the example shown in FIG. 8, the distance to the other vehicle 103 parked in the rear parking section across the parking lot traveling path, that is, the rear space width L of the host vehicle 101 is detected.
Then, it is determined whether or not the other vehicle 102 approaching the host vehicle 101 can pass through the rear space width L of the host vehicle 101, and it is determined that the other vehicle 102 can pass the rear space width of the host vehicle 101. Then, the driving operation of the host vehicle 101 performed by the driver at this time is appropriately supported.
That is, depending on the direction in which the other vehicle 102 approaches the host vehicle 101, that is, the left rear or right rear of the host vehicle 101, for example, “the other vehicle approaching from the left rear of the host vehicle can pass through the rear space of the host vehicle” or A voice announcement “Another vehicle approaching from the right rear side of the host vehicle can pass the space behind the host vehicle” is notified to the driver of the host vehicle 101.

The space calculation unit 41 calculates the distance to the obstacle behind the host vehicle 101, that is, the rear space width L of the host vehicle 101.
The distance from the host vehicle 101 to the obstacle behind the host vehicle 101, that is, the rear space width L of the host vehicle 101, is a rear obstacle after the radio wave is irradiated from the left rear search radar device 1 to the rear of the host vehicle. The time required to detect the reflected wave reflected by the vehicle and the direction in which the radio wave is radiated, or the reflection reflected by the obstacle behind the vehicle after radiating the radio wave from the right rear exploration radar device 2 to the rear of the vehicle It is calculated from the time required to detect the wave and the direction in which the radio wave is emitted.

The passage propriety determination unit 42 determines whether or not the other vehicle 102 approaching the host vehicle 101 can pass through the rear space width L calculated by the space calculation unit 41.
Whether or not the other vehicle 102 can pass through the rear space width L of the host vehicle 101 is determined based on the reference value “1.7 meters” set as the vehicle width of the other vehicle approaching the host vehicle 101. Then, it is determined whether or not the rear space width L of the host vehicle 101 has a margin distance α, that is, whether or not the rear space width L of the host vehicle 101 exceeds 1.7 + α meters. If the rear space width L of the host vehicle 101 exceeds 1.7 + α meters, the other vehicle 102 can pass.

Next, the operation of the driving support apparatus of this embodiment will be described.
FIG. 7 is a flowchart showing the operation of the driving support apparatus of this embodiment. In FIG. 7, the same or corresponding processing steps as those in FIG.
FIG. 8 and FIG. 9 are explanatory diagrams showing an example of a situation during backward running when leaving the parking place.
In the driving support device of this embodiment, when another vehicle approaching the own vehicle 101 is detected from the rear side of the own vehicle 101 in step S3, the fact that the other vehicle is approaching the own vehicle 101 is indicated. 101 is notified to the driver.
Further, the obstacle behind the host vehicle 101, in the example shown in FIGS. 8 and 9, the distance to the other vehicles 103 and 104 parked in the rear parking section across the parking lot traveling path, that is, the rear space of the host vehicle 101 The space calculation unit 41 calculates the width L (step S25).

  Whether or not another vehicle 102 approaching the host vehicle 101 can pass the distance from the host vehicle 101 calculated in step S25 to the obstacle behind the host vehicle 101 and the rear space width L of the host vehicle 101 can be passed. Is determined by the passability determination unit 42 (step S26).

  As a result, when it is determined that the other vehicle 102 can pass the distance from the own vehicle 101 to the obstacle behind the own vehicle 101 and the rear space width of the own vehicle 101, the direction in which the other vehicle 102 approaches the own vehicle 101, that is, Depending on the left rear or right rear of the host vehicle 101, for example, “another vehicle approaching from the left rear of the host vehicle can pass the space behind the host vehicle” or “another vehicle approaching from the right rear of the host vehicle is a space behind the host vehicle. The warning instruction unit 25 of the driving support controller 15 transmits an output instruction of a voice announcement saying “I can pass through” to the meter ECU 6 and outputs it from the speaker 7 to notify the driver of the host vehicle (step S27).

  On the other hand, when the other vehicle 102 determines that the distance from the own vehicle 101 to the obstacle behind the own vehicle 101 and the rear space width of the own vehicle 101 cannot pass, the direction in which the other vehicle 102 approaches the own vehicle 101, that is, Depending on the left rear or right rear of the host vehicle 101, for example, “Other vehicles approaching from the left rear of the host vehicle cannot pass through the rear space of the host vehicle” or “Other vehicles approaching from the rear right of the host vehicle have the space behind the host vehicle. The warning instruction unit 25 of the driving support controller 15 transmits a voice announcement output instruction “cannot pass” to the meter ECU 6 and outputs it from the speaker 7 to notify the driver of the host vehicle (step S28).

The example shown in FIGS. 8 and 9 shows a situation in which another vehicle approaches from the right rear side of the host vehicle when traveling backward for leaving the parking place.
In the state where the host vehicle 101 shown in FIG. 8 is parked forward at the parking place, the rear space width L of the host vehicle 101 is determined by the parked host vehicle 101 and the parking section located immediately behind the host vehicle 101. Although it is a distance from the vehicle 103 and has a small error from the actual rear space width, as shown in FIG. 9, the driver of the host vehicle 101 operates the steering wheel and swings the rear part of the host vehicle 101 to the left. The rear space width L at this time is the distance between the host vehicle 101 and the other vehicle 104 in the parking area located at the left rear of the host vehicle 101. The error with the actual rear space width increases.
Therefore, in order to suppress this error and calculate an accurate rear space width, the vehicle angle θ by the steering operation from the forward parked state, that is, the turning angle accompanying the backward traveling of the host vehicle 101, is calculated at this time. From the rear space width L ′, an accurate rear space width in which an error is suppressed by L ′ · cos θ can be calculated.

As described above, according to this embodiment, when the host vehicle 101 detects the other vehicle 102 approaching the host vehicle 101 at the time of reverse running when leaving the parking lot in the parking lot parking area, The rear space width between the host vehicle 101 and the obstacle behind the host vehicle is calculated, and it is determined whether or not another approaching vehicle 102 can pass through the rear space. A voice announcement notifies the driver of the host vehicle 101 that the other vehicle 102 can pass through the space behind the host vehicle 101, and prompts the driver of the host vehicle 101 to ensure safety.
If the vehicle cannot pass, the driver of the host vehicle 101 is notified by voice announcement that the other vehicle 102 approaching the space behind the host vehicle 101 cannot pass, and the driver of the host vehicle 101 is urged to ensure safety.
As described above, when the other vehicle 102 approaching the host vehicle 101 is detected during backward running when leaving the parked state, the rear space width between the host vehicle 101 and the obstacle behind the host vehicle is determined. Judgment is made, and driving assistance for ensuring safety with other approaching vehicles is performed.
Therefore, when driving backward from the parking place, it is possible to realize reliable driving support for ensuring safety with respect to the rear space of the host vehicle 101 with other vehicles.

  DESCRIPTION OF SYMBOLS 1 ... Left rear search radar apparatus (approaching vehicle detection means), 2 ... Right rear search radar apparatus (approaching vehicle detection means), 6 ... Meter ECU (voice | voice, display guidance means), 7 ... Speaker (voice guidance) Means), 15... Driving support controller (release means), 21... Rear side vehicle detection section (approaching vehicle detection means), 22... Passability determination section (approaching vehicle status determination means), 23. Trajectory storage unit, 25 …… Alarm instruction unit (support means), 26 …… Automatic forward control unit (support means, forward control means), 31 …… Shift position instruction unit (shift position control means), 32 …… Brake instruction Part (braking control means), 34... Steering operation instruction part (traveling locus control means).

Claims (7)

A driving support device that provides support when a vehicle parked forward in a parking spot of a parking lot leaves the parking spot,
An approaching vehicle detection means for detecting an approaching vehicle approaching from the rear of the vehicle and a traveling state thereof;
An approaching vehicle state determination unit that performs a state determination as to whether or not the approaching vehicle may pass backward from the traveling state of the approaching vehicle detected by the approaching vehicle detection unit;
When it is determined by the approaching vehicle state determination means that there is a possibility of passing behind the approaching vehicle, support means for assisting in securing safety with the approaching vehicle;
A driving support apparatus comprising:   The driving support apparatus according to claim 1, wherein the traveling state includes a traveling speed of an approaching vehicle approaching from behind the vehicle and a change in the speed.   The driving support apparatus according to claim 1, wherein the support means includes voice and display guide means for outputting voice guidance for prompting the vehicle to move forward.   The driving support apparatus according to any one of claims 1 to 3, wherein the support means includes forward control means for controlling the vehicle to a state in which the vehicle can advance.   The forward control means stops the vehicle in a state where the shift position is switched to a state in which the vehicle moves forward by the shift position control means, and a shift position control means that switches a shift position in a state in which the vehicle moves forward. The driving support device according to claim 4, further comprising braking control means for maintaining the state.   The driving support device according to claim 5, further comprising a release unit that releases the stopped state of the vehicle held by the brake control unit.   The vehicle has a backward trajectory storage unit that stores a backward trajectory when the vehicle leaves the parking place, and the forward control means removes the vehicle when the stopped state is released by the release means. The driving support apparatus according to claim 6, further comprising a traveling locus control means for moving forward along the backward locus.

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