JP2010036656A - Apparatus for evacuating vehicle - Google Patents

Abstract

A vehicle evacuation device capable of guiding a vehicle appropriately even in a situation where a driver falls on a steering wheel.
Detecting an abnormality in the state of a driver of a vehicle (S10), if the state of the driver is abnormal, the steering input is invalidated (S20), and the steering control is performed with the steering input invalidated. To adjust the traveling direction of the vehicle and guide the vehicle to the retracted position (S22). Accordingly, even when the driver is leaning on the steering wheel or holding the steering wheel and the steering system is difficult to operate, the vehicle can be properly retracted.
[Selection] Figure 2

Description

  The present invention relates to a vehicle retracting device that guides the vehicle to retract.

Conventionally, as described in, for example, Japanese Patent No. 3862192, as a device for guiding the evacuation of a vehicle, the health condition of the driver of the vehicle is determined, and when the health condition is not normal, the outside of the vehicle is notified wirelessly. There are known vehicles that evacuate a vehicle.
Japanese Patent No. 3862192

  However, in such a device, when the driver's consciousness is lowered and the driver falls on the steering wheel, it is difficult to change the steering direction, and it becomes difficult to control the traveling direction of the vehicle by steering control. For this reason, it will be in the situation where a vehicle cannot be evacuated appropriately.

  Accordingly, the present invention has been made to solve such a technical problem, and an object of the present invention is to provide a vehicle evacuation device that can properly guide the vehicle even in a situation where the steering wheel cannot be moved. To do.

  That is, the vehicle retractor according to the present invention includes a detection unit that detects an abnormality in the state of the driver of the vehicle, a steering control unit that invalidates the steering input when the state of the driver is abnormal, and a steering input. Vehicle guidance means for adjusting the traveling direction of the vehicle by steering control and guiding the vehicle to a retracted position is provided.

  According to the present invention, when it is determined that the driver's condition is abnormal, the steering input is invalidated and the vehicle is guided to the retracted position, so that the driver is leaning on the steering wheel or holding the steering wheel and steering. Even if it is difficult to operate the system, the vehicle can be properly retracted.

  In the vehicle evacuation device according to the present invention, it is preferable that the steering control means invalidates the steering input when the driver's state is abnormal and there is steering torque of the steering wheel.

  In the vehicle evacuation device according to the present invention, it is preferable that the steering control means invalidates the steering input when the driver's state is abnormal and the steering control cannot be performed by turning the steering wheel.

  The vehicle evacuation device according to the present invention adjusts the traveling direction of the vehicle by braking control when it is determined that the state of the driver is abnormal and the detection means for detecting the abnormality of the state of the driver of the vehicle. And vehicle guidance means for guiding the vehicle to the retracted position.

  According to the present invention, when it is determined that the state of the driver is abnormal, the driver is leaning on the steering wheel by adjusting the traveling direction of the vehicle by braking control and guiding the vehicle to the retracted position. Even if it is difficult to operate the steering system by gripping the vehicle, the vehicle can be properly retracted.

  In the vehicle evacuation device according to the present invention, the vehicle guidance means adjusts the traveling direction of the vehicle by braking control when the driver's condition is abnormal and there is steering torque of the steering wheel. Is preferably guided to the retracted position.

  In the vehicle evacuation device according to the present invention, the vehicle guiding means adjusts the traveling direction of the vehicle by braking control when the driver's condition is abnormal and the steering control cannot be performed by turning the steering wheel. It is preferable to guide the vehicle to the retracted position.

  According to the present invention, the vehicle can be appropriately guided even in a situation where the driver is about to fall over the handle and the handle cannot be moved.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.
(First embodiment)

  FIG. 1 shows a schematic configuration diagram of a vehicle evacuation device according to a first embodiment of the present invention.

  As shown in FIG. 1, a vehicle evacuation device 1 according to the present embodiment is a device that is mounted on a vehicle and guides the vehicle to a safe evacuation position when there is an abnormality in the driver of the vehicle. . The vehicle evacuation device 1 includes an ECU (Electronic Control Unit) 2, a navigation system 3, a camera 4, a steering torque sensor 5, a drive control unit 6, a steering control unit 7, and a braking control unit 8.

  The ECU 2 is an electronic control unit that controls the entire vehicle evacuation device 1 and is configured mainly by a computer including a CPU, a ROM, and a RAM, for example. The ECU 2 functions as a steering control unit that invalidates the steering input when the driver's state is abnormal. For example, when the driver's condition is abnormal and steering torque is present or steering control is not possible, the steering input is invalidated and steering control is executed regardless of the detection result of the steering torque sensor 5. Thus, even when the driver is gripping the steering wheel or is leaning on the steering wheel, it is possible to perform appropriate vehicle steering control even when it is difficult to operate the steering system.

  The navigation system 3 detects the position of the vehicle and provides map data for searching for the stop position of the vehicle. For example, a navigation system 3 having a GPS (Global Positioning System) is used.

  The camera 4 functions as a detecting unit that detects the state of the driver of the vehicle, and can detect the state of the driver based on an image obtained by capturing the driver. The camera 4 is installed so that the driver can be photographed. For example, the camera 4 is installed so that the driver's face can be photographed from the front side. By installing the camera 4 in this way, it is possible to determine whether or not the driver's consciousness has decreased more than a predetermined level based on the captured image of the camera 4.

  In addition, as a detection means in the vehicle evacuation device 1, as long as it can detect the state of the driver, it may be other than the one that detects the state of the driver from the image of the driver like the camera 4. For example, the driver's state may be detected by the driver's body temperature, pulse, or the like.

  The steering torque sensor 5 is a sensor that detects the steering torque of the steering wheel of the vehicle. Any type of steering torque sensor 5 may be used as long as the steering torque of the steering wheel of the vehicle can be detected.

  The drive control unit 6, the steering control unit 7 and the braking control unit 8 function as vehicle guidance means for guiding the vehicle to the retracted position. The drive control unit 6 controls driving of the vehicle and is configured by, for example, an engine drive ECU. The steering control unit 7 performs steering control of the vehicle, and is configured by, for example, a steering ECU. The braking control unit 8 performs braking control of the vehicle, and is configured by, for example, a brake ECU.

  The drive control unit 6, the steering control unit 7, and the braking control unit 8 operate according to a control signal output from the ECU 2, and when it is determined that the driver's state is abnormal, the steering input is invalidated and the vehicle is retracted. Guide to.

  Next, the operation of the vehicle evacuation device according to this embodiment will be described.

  FIG. 2 is a flowchart showing the operation of the vehicle evacuation device 1 according to this embodiment. The control process of FIG. 2 is repeatedly executed at a predetermined cycle by the ECU 2 during traveling of the vehicle, for example.

  First, as shown in S10 of FIG. 2, it is determined whether or not the state of the vehicle driver is abnormal. For example, it is determined whether or not the driver is unable to perform normal driving, such as when the driver's consciousness falls below a predetermined level. This determination is made based on the captured image of the camera 4. For example, when the time when the eyes are closed is a predetermined time or more, or when the number of times the eyes are closed for the predetermined time or more is a predetermined value or more, the vehicle It is determined that the state of the driver is abnormal. Otherwise, it is determined that the state of the driver of the vehicle is not abnormal.

  If it is determined in S10 that the state of the vehicle driver is not abnormal, the control process is terminated. On the other hand, if it is determined in S10 that the state of the vehicle driver is abnormal, it is determined whether or not there is steering torque (S12). This determination process is a process for determining whether or not the driver has steered the steering wheel. For example, when the detected value of the steering torque sensor 5 is equal to or greater than a predetermined value, it is determined that there is steering torque, and the steering is performed. When the detected value of the torque sensor 5 is not equal to or greater than a predetermined value, it is determined that there is no steering torque.

  If it is determined in S12 that there is no steering torque, vehicle guidance processing based on steering control is performed (S14). The vehicle guidance process by the steering control is a process for guiding the vehicle to a safe position such as a road shoulder by operating the steering actuator to control the traveling direction of the vehicle. For example, a control signal is output from the ECU 2 to the steering control unit 7, and a motor used for electric power steering is operated to execute vehicle steering control. Further, the ECU 2 outputs a control signal to the drive control unit 6 and the brake control unit 8, and operates the engine or the brake actuator to execute vehicle drive control and brake control.

  At this time, the ECU 2 sets a route from the current position to the guidance position, sets a speed pattern in the route, and generates a route plan. Then, a control signal corresponding to the route plan may be output to the drive control unit 6, the steering control unit 7, and the braking control unit 8. As a result, the vehicle is guided according to the route plan.

  Then, the process proceeds to S16, and it is determined whether or not desired steering control is possible in the vehicle guidance process in S14. For example, when the driver is leaning on the steering wheel and the electric power steering is operated and the steering wheel cannot be turned, it is determined that the desired steering control is impossible.

  When it is determined in S16 that the desired steering control is possible, it is determined whether or not the vehicle guidance by the vehicle guidance process in S14 is completed (S18). If it is determined in S18 that the vehicle guidance by the vehicle guidance process in S14 is not completed, the process returns to S14. If it is determined in S18 that the vehicle guidance by the vehicle guidance process in S14 is completed, the series of control processes is terminated. On the other hand, if it is determined in S16 that the desired steering control is not possible, the process proceeds to S20.

  By the way, when it is determined that there is steering torque in S12, the driver who is conscious is holding the steering wheel and the desired steering control is difficult, so the process proceeds to S20 and the steering input invalidation process is performed. Done. The steering input invalidation process is a process for invalidating the steering input by the steering wheel operation. For example, when the steering system of the vehicle is steer-by-wire and the parts that steer the steering wheel and the steered wheels such as tie rods are not mechanically coupled, the steering signal from the steering wheel operation is ignored and the route plan is Steering control is executed. In addition, when the steering system of the vehicle is not steer-by-wire and the steering wheel and the parts that steer the steered wheels such as tie rods are mechanically coupled, the steering power of the steering wheel is prevented from being transmitted to the steered wheels. Is used to perform steering control according to the route plan.

  By such steering input invalidation processing, desired steering control can be performed by invalidating the steering input of the steering wheel even when the driver who has decreased consciousness is holding the steering wheel or leaning on the steering wheel.

  And it transfers to S22 and the vehicle guidance process by steering control is performed. The vehicle guidance process by the steering control is a process for guiding the vehicle to a safe position such as a road shoulder by operating the steering actuator to control the traveling direction of the vehicle. For example, a control signal is output from the ECU 2 to the steering control unit 7, and a motor used for electric power steering is operated to execute vehicle steering control. Further, the ECU 2 outputs a control signal to the drive control unit 6 and the brake control unit 8, and operates the engine or the brake actuator to execute vehicle drive control and brake control.

  At this time, the ECU 2 sets a route from the current position to the guidance position, sets a speed pattern in the route, and generates a route plan. Then, a control signal corresponding to the route plan may be output to the drive control unit 6, the steering control unit 7, and the braking control unit 8. As a result, the vehicle is guided according to the route plan.

  Then, the process proceeds to S24, and it is determined whether or not the vehicle guidance by the vehicle guidance process of S22 is completed. If it is determined in S24 that the vehicle guidance by the vehicle guidance process in S22 is not completed, the vehicle guidance process is continued. On the other hand, if it is determined in S24 that the vehicle guidance by the vehicle guidance process in S22 is completed, the series of control processes is terminated.

As described above, according to the vehicle evacuation device according to the present embodiment, when it is determined that the driver's state is abnormal, the steering input is invalidated and the vehicle is guided to the evacuation position, so that the driver can move to the steering wheel. Even if the steering system is difficult to operate due to falling down or holding the steering wheel, the vehicle can be properly retracted.
(Second embodiment)

  Next, a vehicle retractor according to a second embodiment of the present invention will be described.

  The vehicle evacuation device according to the present embodiment is a device that guides the vehicle to the evacuation position by adjusting the traveling direction of the vehicle by braking control when it is determined that the state of the driver is abnormal. As the vehicle evacuation device according to the present embodiment, one configured similarly to the vehicle evacuation device according to the first embodiment of FIG. 1 can be used.

  In this case, when the driver's condition is abnormal, the ECU 2 adjusts the traveling direction of the vehicle by braking control and guides the vehicle to the retracted position. For example, when the driver is in an abnormal state and there is steering torque, or when the steering control cannot be performed by turning the steering wheel, the traveling direction of the vehicle is adjusted by braking control. Thus, even when the driver is gripping the steering wheel or the driver is about to fall down on the steering wheel, it is possible to perform appropriate vehicle steering control.

  Next, the operation of the vehicle evacuation device according to this embodiment will be described.

  FIG. 3 is a flowchart showing the operation of the vehicle evacuation device according to the present embodiment. The control process of FIG. 3 is repeatedly executed at a predetermined cycle by the ECU 2 during traveling of the vehicle, for example.

  First, as shown in S30 of FIG. 3, it is determined whether or not the state of the driver of the vehicle is abnormal. For example, it is determined whether or not the driver is unable to perform normal driving, such as when the driver's consciousness falls below a predetermined level. This determination is made based on the captured image of the camera 4. For example, when the time when the eyes are closed is a predetermined time or more, or when the number of times the eyes are closed for the predetermined time or more is a predetermined value or more, the vehicle It is determined that the state of the driver is abnormal. Otherwise, it is determined that the state of the driver of the vehicle is not abnormal.

  If it is determined in S30 that the state of the vehicle driver is not abnormal, the control process is terminated. On the other hand, if it is determined in S30 that the state of the driver of the vehicle is abnormal, it is determined whether or not there is steering torque (S32). This determination process is a process for determining whether or not the driver has steered the steering wheel. For example, when the detected value of the steering torque sensor 5 is equal to or greater than a predetermined value, it is determined that there is steering torque, and the steering is performed. When the detected value of the torque sensor 5 is not equal to or greater than a predetermined value, it is determined that there is no steering torque.

  If it is determined in S32 that there is no steering torque, vehicle guidance processing by steering control is performed (S34). The vehicle guidance process by the steering control is a process for guiding the vehicle to a safe position such as a road shoulder by operating the steering actuator to control the traveling direction of the vehicle. For example, a control signal is output from the ECU 2 to the steering control unit 7, and a motor used for electric power steering is operated to execute vehicle steering control. Further, the ECU 2 outputs a control signal to the drive control unit 6 and the brake control unit 8, and operates the engine or the brake actuator to execute vehicle drive control and brake control.

  At this time, the ECU 2 sets a route from the current position to the guidance position, sets a speed pattern in the route, and generates a route plan. Then, a control signal corresponding to the route plan may be output to the drive control unit 6, the steering control unit 7, and the braking control unit 8. As a result, the vehicle is guided according to the route plan.

  Then, the process proceeds to S36, and it is determined whether or not desired steering control is possible in the vehicle guidance process in S34. For example, when the driver is leaning on the steering wheel and the electric power steering is operated and the steering wheel cannot be turned, it is determined that the desired steering control is impossible.

  If it is determined in S36 that the desired steering control is possible, it is determined whether or not the vehicle guidance by the vehicle guidance process in S34 is completed (S38). If it is determined in S38 that the vehicle guidance by the vehicle guidance process in S34 has not been completed, the process returns to S34. If it is determined in S38 that the vehicle guidance by the vehicle guidance process in S34 has been completed, the series of control processes is terminated. On the other hand, if it is determined in S36 that the desired steering control is not possible, the process proceeds to S40.

  By the way, if it is determined in S32 that the steering torque is present, the driver who has decreased consciousness is grasping the steering wheel and the desired steering control is difficult. Processing is performed. The vehicle guidance process by the braking control is a process for guiding the vehicle by adjusting the traveling direction of the vehicle by the braking control. For example, when the vehicle is guided to the left shoulder, a braking force is generated on the left wheel to drive the vehicle. In this case, a yaw moment that turns left is generated in the vehicle, and the vehicle travels so as to turn left, and the vehicle can be guided to a desired position.

  By such vehicle guidance processing based on braking control, the vehicle can be guided to a desired safe position even when the driver who has decreased consciousness is holding the steering wheel or leaning against the steering wheel.

  Then, the process proceeds to S42, and it is determined whether or not the vehicle guidance by the vehicle guidance process of S40 is completed. If it is determined in S42 that the vehicle guidance by the vehicle guidance process of S40 has not been completed, the vehicle guidance process is continued. On the other hand, when it is determined in S42 that the vehicle guidance by the vehicle guidance process in S40 has been completed, the series of control processes is terminated.

  As described above, according to the vehicle evacuation device according to the present embodiment, when the driver's state is determined to be abnormal, by adjusting the traveling direction of the vehicle by braking control and guiding the vehicle to the evacuation position, Even when the driver is leaning on the steering wheel or holding the steering wheel and the steering system is difficult to operate, the vehicle can be properly retracted.

  Each embodiment described above shows an example of a vehicle evacuation device according to the present invention. The vehicle evacuation device according to the present invention is not limited to the vehicle evacuation device according to this embodiment, and the vehicle evacuation device according to the embodiment may be modified or otherwise changed without changing the gist described in each claim. It may be applied to the above.

1 is a schematic configuration diagram of a vehicle evacuation device according to a first embodiment of the present invention. It is a flowchart which shows operation | movement of the vehicle evacuation apparatus of FIG. It is a flowchart which shows operation | movement of the vehicle evacuation apparatus which concerns on 2nd embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle evacuation apparatus, 2 ... ECU, 3 ... Navigation system, 4 ... Camera, 5 ... Steering torque sensor, 6 ... Drive control part, 7 ... Steering control part, 8 ... Braking control part.

Claims (6)

Detection means for detecting an abnormality in the state of the driver of the vehicle;
Steering control means for invalidating the steering input when the driver's condition is abnormal;
Vehicle guidance means for invalidating steering input and adjusting the traveling direction of the vehicle by steering control to guide the vehicle to a retracted position;
A vehicle evacuation device comprising: The steering control means invalidates the steering input when the driver's condition is abnormal and the steering torque of the steering wheel is present;
The vehicle evacuation device according to claim 1. The steering control means invalidates the steering input when the driver's condition is abnormal and the steering control cannot be performed by turning the steering wheel;
The vehicle evacuation device according to claim 1. Detection means for detecting an abnormality in the state of the driver of the vehicle;
Vehicle guidance means for adjusting the traveling direction of the vehicle by braking control and guiding the vehicle to a retracted position when it is determined that the driver's condition is abnormal;
A vehicle evacuation device comprising: The vehicle guiding means adjusts the traveling direction of the vehicle by braking control and guides the vehicle to a retracted position when the driver's condition is abnormal and there is steering torque of the steering wheel;
The vehicle evacuation device according to claim 4. The vehicle guidance means adjusts the traveling direction of the vehicle by braking control and guides the vehicle to a retracted position when the driver's condition is abnormal and the steering control cannot be performed by turning the steering wheel. ,
The vehicle evacuation device according to claim 4.

Images