JPH01122000A - Traveling direction switching noticing system - Google Patents

Abstract

PURPOSE:To reduce an overrun and to improve a follow-up accuracy by comparing a traveling direction read with the present traveling direction and executing the switching notice of the traveling direction when they are different. CONSTITUTION:At the time of a basic driving traveling, in accordance with the traveling distance of a car, the address of a memory 12 is stepped and data to show a steering wheel rotation quantity and the traveling direction at that time are stored into the storage area of the memory 12 shown by the said address. At the time of a follow-up driving, a driving is executed by following up a basic traveling locus, traveling direction data are read from the address prescribed number after the address in accordance with the present traveling distance, the said traveling direction is compared with the present traveling direction and when they are different, an effect that the switching of the traveling direction is necessary soon is noticed and displayed.

Description

[Detailed Description of the Invention] <Industrial Application Minute Hand> The present invention is a driving guidance instructing device that displays advance notice of a change in direction of travel in a basic travel trajectory to prevent the driver from going too far past the point of change in direction of travel. Relating to advance direction switching advance notice system.

<Prior art> An automobile driving guidance instruction device that stores data indicating a basic driving trajectory in a memory in advance and displays on a display a steering wheel correction rotation amount for driving in accordance with the basic driving trajectory. There is.

In such a driving guidance/instruction device, a sensor for detecting the traveling trajectory of the vehicle is attached to the vehicle, and a sensor for detecting, for example, the distance traveled or the vehicle position is attached to a position related to the axle. A sensor is attached to the steering wheel to detect the vehicle's direction of travel (forward/reverse), and a sensor is attached to the shift lever or bar light to detect the direction of travel of the vehicle (forward/reverse). In parallel with the driving, the steering wheel rotation angle and traveling direction according to the distance traveled or the position of the vehicle are read from each sensor and stored in the memory as a basic traveling trajectory.

Figure 8 shows how the car CAR is guided to the garage PRK (garage entry f''
l) Basic running trajectory (1→2-...-1
9), which shows the case where the vehicle moves forward up to point 10 and then moves backward to complete parking.

FIG. 9 is an explanatory diagram of the basic traveling locus data stored in the memory, and corresponds to FIG. 8. Each time the car moves from the initial position O (Fig. 8) and reaches each point 1 to 19, one pulse is generated from the distance sensor, and each time the pulse is generated, the memory address is changed from A to A, etc. A2.・・・・・・
A, 9 (Fig. 9), data DFs (F
: forward, R: backward) respectively at memory address A. -A
, 9 to generate basic travel trajectory data in the memory. To explain specifically, the initial position O of the car
address A. "F" indicates that the car is moving forward
The data and the amount of rotation of the steering wheel at that time (driving straight and the amount of steering wheel rotation is 0) are memorized, and in the same way, address A is F for forward and +0 indicating that the steering wheel is turned slightly to the right.
．． 2 (rotation) data is stored, and the traveling direction and amount of rotation of the steering wheel are similarly stored at addresses A, . . . A9. Further, assuming that the steering wheel is turned to the right (+1.5 rotations) and moves forward from point 9 to point 10, rFJ and steering wheel rotation fi+1.5 are stored in address A1o corresponding to point 10. Then, from this point, if the direction of travel of the car is changed to reverse and the steering wheel is turned all the way in the opposite direction, the direction of travel data rR'' and the amount of rotation of the steering wheel -1, 5 are similarly stored at address A. Thereafter, address A, 2. ...Data A, 8 is memorized, and address A, 9 is sent to stop the car at point 19 (
The direction of travel data rF'' and the amount of rotation of the steering wheel at that time (0 in the case of the straight-ahead position) are stored. Generally, when the vehicle is stopped, the shift 1 lever is disengaged from the reverse position, so the traveling direction data is rFJ. As a result of the above, basic travel trajectory data will be generated in the memory.

When the basic driving trajectory data is stored in the memory in this way, and an amateur drives based on the basic driving trajectory (referred to as follow-up driving), the car moves from the initial position KO and pulses are sent from the distance sensor. Each time , the memory address is incremented and the basic steering wheel rotation angle H8 and the traveling direction data DB are read out from the storage area indicated by the address, and the traveling direction is displayed based on the traveling direction data D, and the basic steering wheel rotation is Angle H, and actual handle rotation angle H
The comparison result is transmitted to the driver via a display installed in the vehicle interior, and the driver corrects the rotation of the steering wheel, thereby approximating the actual travel trajectory to the basic travel trajectory.

Thereafter, similar driving guidance is performed, and the car moves along the basic driving trajectory. In addition, FIG. 10 is an external view of the display N100, and shows a symmetrical optical index pattern 101 in a substantially circular shape with a portion of the lower part missing, and the forward movement (FWD) of the vehicle.
, display sections 102 and 103 indicating reverse (REV) are provided, and a circular index SIo of the index pattern 101 indicates the zero position of the steering wheel correction rotation amount, and the indexes are arranged at equal intervals clockwise from the zero index S10. S.L.

The corrected rotation amount to the left of the steering wheel is nonlinearly specified at ~5LIo, and the corrected rotation amount to the right of the steering wheel is similarly specified nonlinearly by fingers IsR, ~SR, o arranged at equal intervals counterclockwise from the zero index SIo. Ru.

Then, in parallel with the follow-up process described above, the actual traveling direction is compared with the basic traveling direction read from the memory, and if they match, nothing is done, but if they are different, the traveling direction has passed the switching point. A buzzer sounds to warn the driver to stop the vehicle quickly and shift the shift lever into reverse.

Thereafter, the above-mentioned processes and operations are performed to follow the basic driving, and the parking of the car is completed.

<Problem to be solved by the invention> As described above, if the driving operation is performed accurately as guided by the conventional driving guidance and instruction device, the following driving trajectory will almost match the basic driving trajectory, and the equivalent problem will not be solved. do not have.

However, there is no problem when the basic running trajectory is simple, just going straight or going backwards, but if the basic running trajectory becomes complex and includes one or more switching points, the switching points This may cause an overrun situation. If you overrun even a little, you will most likely have to turn the steering wheel fully to one side and then fully back to the other side at the point where you change the direction of travel. It becomes impossible to move the object by following its trajectory. In particular, with the conventional method, the switching operation of the direction of travel is delayed, resulting in a considerable overrun as shown in Figure 11, which makes it impossible to follow the basic travel trajectory (Figure 8), resulting in collisions with buildings. do.

In addition, when examining the cause of failure to follow the basic traveling trajectory in conventional follow-up driving, it is often found that it is due to an erroneous operation at the traveling direction switching point. To explain this point with reference to FIG. 11, from the start point (initial position 0) to the direction switching point 10, the car travels along the basic travel trajectory by carefully following the guidance instructions from the driving guidance device. You can do it. However, when the vehicle reaches the direction switching point (circled), the guidance instruction suddenly changes from a forward instruction (FWD display) to a reverse instruction (REW display), and at the same time a buzzer sounds to prompt the driver to switch the shift lever.

Up until now, drivers had focused on correcting the steering wheel by paying attention to the steering wheel display, but in response to this sudden instruction to change the direction of travel, it is impossible for drivers to immediately step on the brake and stop the car in order to switch the shift lever to reverse. Therefore, the position where the car stops is far away from the direction switching point.

That is, the vehicle moves forward with the current handle position from the point where the direction of travel is changed, and overruns to the point indicated by 12 in FIG. 11. Then, after stopping the vehicle, the driver often operates the vehicle in reverse, and only after he has time to do so, does he look at the steering wheel instructions and hastily switch the steering wheel.

In this case, the driving guidance instruction device indicates the overrun point 11.
, 12 (basic steering wheel rotation amount, traveling direction data) has already been read out, and the maximum steering wheel switching data included in the address near the most important switching point has been lost. As a result, even if the vehicle is guided accurately thereafter, the vehicle travels at a tilt in a direction different from the basic travel trajectory, resulting in a collision with a building as shown in FIG. 11.

From the above, if the road in front of the garage is narrow and it is necessary to change the direction of travel many times, you can do it! It is necessary to reduce the amount of overrun.

Therefore, an object of the present invention is to reduce the amount of overrun of the switching point even if the basic travel trajectory includes a switching point of the traveling direction (
It is an object of the present invention to provide a traveling direction switching advance notice system which enables a follow-up operation that accurately follows a basic traveling trajectory.

Another object of the present invention is to identify a traveling direction switching point before reaching the point, and when approaching the switching point, to predict that the traveling direction switching point is near, so that the overrun distance can be shortened as much as possible. The purpose is to provide a switching advance notice method.

Means for Solving the Problems> FIG. 1 is a block diagram of a driving guidance and instruction device according to the present invention.

11 is a processor, 12 is a non-volatile memory (for example, battery backup RAM), 13 is a 4JE panel, 14 is a steering wheel sensor attached to the steering wheel column to detect the rotation angle of the steering wheel, and 15 is a sensor that detects the rotation of the wheel. A wheel sensor, 16 (:) is a traveling direction sensor that detects forward/backward movement (direction of travel) of the vehicle, 17 is a display driver, 18 is a buzzer, and 19 is a display.

Function> During basic driving, the address in the memory 12 is incremented according to the distance traveled by the car, and data indicating the amount of steering wheel rotation and direction of travel at that time is stored in the memory area indicated by the address, and the tracking is performed. While driving, the vehicle follows the basic traveling trajectory, reads the traveling direction data from an address that is a predetermined number of addresses after the address corresponding to the current traveling distance of the vehicle, compares the traveling direction with the current traveling direction, and determines whether the vehicle is different. In such a case, an advance notice is displayed to the effect that it will be necessary to change the direction of travel soon.

<Embodiment> FIG. 1 is a block diagram of a driving guidance instruction device according to the present invention, in which 11 is a processor that performs processing for driving guidance instruction and other processing, 12 is a processor that performs processing for driving guidance instruction and other processing;
11) Nonvolatile memory (for example, battery-backed RAM) for storing a correspondence table showing the relationship between the steering wheel correction rotation amount and the indicator to be lit (described later), 1
Reference numeral 3 denotes an operation panel equipped with a switch for registering the basic travel trajectory and a guidance drive start switch for driving according to the basic travel trajectory, and 14 is attached to the steering wheel column to detect the rotation angle of the steering wheel. 15 is a wheel sensor that detects the rotation of the wheel and generates one pulse for each predetermined rotation of the wheel; 16 is a wheel sensor that detects whether the vehicle is moving backward/forward (R/F) by turning on/off the backlight. A traveling direction sensor, 17 is a display driver, 18 is a buzzer that instructs to change the traveling direction, and 19 is a display that displays the corrected rotation amount of the steering wheel, the traveling direction, and a preview display.

The display 19 includes a symmetrical optical index pattern 19a with a substantially circular scale and a portion missing at the bottom, and a display section 19b that indicates forward movement (FWD) and reverse movement (REV) of the vehicle.
, 19c. Each index 3 of index pattern 19a
1o, SR, ~SR,. .

SL and ~5L10 are each formed of LEDs (light emitting diodes), and only the index S10 at the upper center is circular, and the other indexes are rectangular.

The index SIo is green, and the indexes SR, ~SR, and SL.

~SL6 is yellow, index SR, ~SR,. and SL, ~
S.L. is now displayed in red. Further, the index SI0 indicates the zero position of the steering wheel correction rotation amount, and the zero index S
Indices SL, ~S arranged at equal intervals clockwise from Io
L. The left correction rotation amount of the handle is instructed non-linearly,
Further, the corrected rotation amount of the steering wheel to the right is similarly indicated in a non-linear manner by the indicators SR to SR arranged at equal intervals counterclockwise from the zero indicator SI0. In other words, when the amount of correction rotation of the steering wheel is small, the change in the scale of each index (handle correction amount) is small, and when the amount of steering wheel rotation is large, the change in the scale of each index is large. There is.

FIG. 2 is a diagram showing the correspondence between the index NO0 and the steering wheel correction rotation amount, and is the index SI. No, O1 index SR1~SR,.

No. 1 to No. 10, index SL, to SL. No
, 1'-~No, 10'. That is, finger llN0. O specifies a correction rotation amount of O ~ ±0.03 rotations (+ sign indicates clockwise rotation, - sign indicates counterclockwise rotation), and index No. 1 specifies a correction rotation amount of 0.03 to 0°14 rotations. , Corrected rotation amount by index No. 1' -〇, 0
3 to -0.14 is specified, and index No. 2. No, 2'
The corrected rotation amount is 0.14 to 0.29. -0.
14 to -0°29 is indicated, and the index number is 10. No., 10' instructs the rotational scene of 2.5~, -2.5~ with the correction of shaking, and the correspondence between these steering wheel correction rotation amounts and the indicators to be lit is stored in the non-volatile memory 12 in advance.

The overall operation of FIG. 1 will be explained below.

(, 1 Basic travel trajectory registration process) Operate the basic travel trajectory registration switch 13a (Fig. 1) to set the registration mode, and at the same time, a skilled driver drives the car and directs it to the desired location (for example, a garage). and move it.

When a pulse is generated from the wheel sensor 15 in parallel with this operation, the processor 11 stores the information in the non-volatile memory 12.
The address of is the initial address A. Step by step from A −
A→...A, 9) and the signals from the steering wheel sensor 14 and the traveling direction sensor 16 at the time when the pulse is generated, the steering wheel rotation angle H8 and the traveling direction DB (F
: forward, R: backward), and store these in the storage area of the non-volatile memory 12 indicated by the address. After that, similar processing is performed to register the basic traveling trajectory in the non-volatile memory. It is assumed that the vehicle has been parked in the garage as shown in FIG. 8, and that the basic travel locus data shown in FIG.

With the basic driving trajectory registered in the non-volatile memory 12 through the above operations, move the vehicle to the initial position O (see Figure 8), and then turn the follow-up driving start switch 13.
Activate follow-up operation by operating b to start follow-up operation. In addition, FIG. 3 is a flowchart of processing in follow-up operation,
The follow-up operation process will be explained below according to the flowchart.

When the follow-up operation is activated, the processor 11 initializes various values (for example, initializes the address to 80).
, reads the outputs of the steering wheel sensor 14 and the traveling direction sensor 16 at the initial position 0 of the car and determines the current steering wheel rotation amount H.
A and the traveling direction (forward/reverse) DA (step 101).

Next, the processor 11 stores the basic steering wheel rotation amount HB and traveling direction DB indicated by the initial address A0 in the non-volatile memory 1.
2 (step 102), and reading direction data D,' from a predetermined number of addresses later (for example, two addresses later) (step 103). Furthermore, D6
' is the basic direction of travel at a point separated by a distance corresponding to two addresses.

After that, the processor checks whether DA=D, in other words, checks whether the actual direction of travel and the basic direction of travel match (step 104), - if so, DA
=D,', that is, it is checked whether the current traveling direction and the basic traveling direction at a point after a distance 'fps corresponding to 2 addresses are the same (step 105).

If DA=D6', check whether the basic direction of movement at the current position is the forward direction (F) assuming that the direction of movement has not reached the vicinity of the point of change of direction of movement (step 106); Turn on the display driver 17 to turn on the rFWDJ part 19b of the display 19 (step 107), and similarly turn on the rREVJ part of the display word 19 if you are going in reverse.
Portion 19b is turned on (step 108).

Next, the processor checks whether the actual steering wheel rotation amount HA and the basic steering wheel rotation amount H8 are equal (step 109), and if they are equal, lights up the index SIo of the index pattern 19a on the display 19 indicating the corrected rotation amount of zero (step 109). 110).

However, if HA+H, then H = HH - H Calculate the corrected rotation amount H using the following formula, and calculate the index corresponding to the corrected rotation amount H from the corrected rotation amount/index table stored in the non-volatile memory 12. , all indicators from 0 to H are lit (step 111). That is, if H is positive, the indicators SR0 to SR on the left side of Figure 1 are lit to indicate the right steering wheel correction rotation amount, and if H is negative, the indicators SL to the right are lit and the left side is turned on. Instructs the amount of steering wheel correction rotation. As a result, when the handle is rotated in a direction in which the handle correction rotation amount decreases, for example, as shown in FIG.
If you turn the handle counterclockwise while is lit, the indicator will change to SL5 → as the handle correction rotation amount decreases.
The light gradually goes out in the order of SL4→SL, →SL2→SL, and finally the corrected rotation amount becomes zero and only the index SI0 lights up.

Then, every predetermined rotation of the wheel (every time it moves a predetermined distance)
Step 11: Monitor the output of the generated pulse.
2) If a pulse is generated, the address is incremented (step 113), and after L is reached, it is checked whether the memory data indicating the basic running trajectory has been completed (step 114); if it has been completed, the follow-up process is completed. However, if memory data remains, the processing from step 101 onwards is repeated.

The above process is repeated, and if DA≠DI,' in step 105 (D at point 9 in FIG.
(A≠D), in other words, if the current direction of travel differs from the basic direction of travel two addresses later, the processor 11 notifies you that the vehicle has arrived near the direction of travel change point (step 115). Note that the advance direction change notice can be recognized by voice or by the display 19. FIGS. 4 to 7 are explanatory diagrams when the display 51.9 gives advance notice of a change in direction of travel.

In FIG. 4, a display element 19d for displaying advance direction change notice is separately provided near the index SI0 indicating the negative zero steering wheel correction rotation, and the display element is blinked to give the notice.

FIG. 5 shows a display element 19b that displays the direction of travel.

19c flashes to warn you of a change in direction of travel.If you approach the switching point while moving forward, the "rFWD" display element 19b flashes, and if you approach the switching point while moving backward, the rR
The EVJ display element 19c is blinked. As a result, for example, when moving forward toward the switching point, the rFWDJ display element 19b continues to light at first, as the switching point approaches, the display element 19b starts blinking, and when the traveling direction switching point is reached, the rREVJ display element 19c lights up. The light continues to blink (stops blinking), allowing the driver to easily recognize the proximity of the switching point and also the direction of approach.

FIG. 6 shows a display element 19e that displays a stop display when the actual direction of travel differs from the basic direction of travel at the current position (when the point of change of direction of travel is reached), and this display element blinks to indicate the direction of travel. This is to give advance notice of the changeover.

In the advance notice system shown in Fig. 6, the driver can recognize that he/she is near the switching point by flashing the light, and the stop display flashes to notify the driver that he/she will apply the brakes and stop at the switching point. You can slow it down from that point.

Figure 7 shows a circular finger fi indicating negative zero steering wheel correction rotation.
10 flashes to warn you that you have reached the vicinity of the direction switching point. The indicator SI0 remains lit during follow-up driving, but it blinks when the driver is not close to the switching point, so the driver can easily recognize that the driver is approaching the switching point. Since the viewpoint is concentrated on the zero index, do not move the viewpoint (but you should be able to recognize the proximity to the switching point early and reduce the amount of overrun.

In response to the above advance direction change notice, the driver continues the follow-up driving while slowing down, and in parallel with this, the processor 11 repeats the processing from step 106 onwards (the notice continues).

Then, when the vehicle moves further and reaches the traveling direction switching point, in step 104, DAf-D9, that is, the actual traveling direction and the basic traveling direction no longer match. As a result, the processor 11 sounds the buzzer 18 to notify that the direction switching point has been reached (step 116).
. It should be noted that the proximity warning disappears upon reaching the traveling direction switching point.

After that, the driver applies the brakes to stop the car, and
By operating the shift lever, the direction of travel of the vehicle is changed and follow-up driving is continued, and the processor performs the processing shown in FIG. 3 in parallel. Note that the buzzer sound disappears when DA=D8 is reached by operating the shift lever.

In the end, the vehicle is moved and stopped exactly at the desired location.

For convenience of explanation, in the above, the position where the notice is generated is set at a distance of 2 addresses in front of the direction switching point, but in actual driving, it is approximately 50 to 60 cm in front of the direction switching point in consideration of the driver's operation play. Therefore, if the number of pulses generated by the wheel sensor during the distance movement is 20 pulses, the basic direction of movement of the 20 address combination is read in advance and the preview display process is performed as D8'.

As a result, the driver can concentrate on operating the steering wheel under normal conditions, and can drive carefully while sufficiently controlling the speed with the brakes so that he or she can stop at any time with advance notice from 50 to 60 cyns before the switching point.
(buzzer sounds) Immediately stop the car and reduce overrun. In the past, progress has been relatively fast,
The sudden stop causes an overrun of 50 cm or more, but with the present invention, the overrun can be reduced to less than 1/10 of the conventional level.

<Effects of the Invention> According to the present invention, the switching point can be recognized before the driver reaches the switching point, so the driver can prepare for the next operation (stopping operation), and therefore the driving speed can be adjusted. By lowering the switch sufficiently in front of the driver, the vehicle can be stopped immediately after reaching the switching point, reducing overruns.

According to the present invention, overrun can be reduced, so
Even if the basic driving trajectory is a complicated driving trajectory that includes many points where the direction of travel is changed, the tracking accuracy can be improved, and the stopping position and vehicle inclination can be faithfully approximated to that of the basic driving trajectory, reducing accidents caused by collisions with buildings. can be eliminated.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the driving guidance instruction device according to the present invention, Fig. 2 is a correspondence table between steering wheel correction rotation amount and lighting indicator, Fig. 3 is a flowchart of the processing of the present invention, and Figs. 4 to 7 are 8 to 11 are explanatory diagrams of the advance notice display according to the present invention.
9 is an explanatory diagram of the basic traveling locus, FIG. 9 is a diagram of the basic traveling locus data structure, FIG. 10 is an external view of the display, and FIG. 11 is an explanatory diagram of conventional defects. 11...Processor, 12...Non-volatile memory 14...-Handle sensor 1 15...Wheel sensor, 16...Direction of travel sensor, 18...Display device patent applicant Alpine Co., Ltd. agent Patent attorney Chiki Saito 2nd Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11

Claims (3)

[Claims] (1) In a direction switching advance notice method in a driving guidance and instruction device for automobiles that stores a basic driving trajectory in memory and causes the car to drive in accordance with the basic driving trajectory, the basic driving trajectory is determined according to the driving direction of the vehicle during basic driving. and increments the address of the memory, and stores data indicating the amount of rotation of the steering wheel and the direction of travel at that time in a storage area indicated by the address, and the memory is incremented according to the running of the car during actual follow-up driving. Reads the basic steering wheel rotation amount and traveling direction data from the storage area specified by the address, displays the traveling direction based on the traveling direction data, and uses the basic steering wheel rotation amount and actual steering wheel rotation amount to perform driving that follows the basic travel trajectory. Displays the amount of steering wheel correction rotation required to perform the correction, further reads traveling direction data from an address a predetermined number of times after the address corresponding to the current running of the vehicle, and compares the traveling direction indicated by the read traveling direction data with the current traveling direction. Compare the
A traveling direction switching advance notice system that is characterized in that a advance direction switching advance notice is given when the travel direction is different. (2) The traveling direction switching advance notice system according to claim 1, characterized in that the memory address is incremented in accordance with the travel distance. (3) The traveling direction switching advance notice system according to claim 1, characterized in that when the actual traveling direction and the basic traveling direction read from the memory are different, a notification to that effect is output.