JPH0670835B2 - Advance notice method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention, in a driving guidance instruction device, prevents the traveling direction switching point from going too far by displaying advance notice of the traveling direction switching in the basic travel locus. Regarding advance notice method for changing direction.

<Prior Art> Data for indicating a basic driving travel locus is stored in a memory in advance, and a driving guidance instructing device for a vehicle that displays on a display a steering wheel correction rotation amount for performing driving that follows the basic travel locus. There is.

In such a driving guidance instructing device, a sensor for detecting a traveling locus of the vehicle is mounted on the vehicle, for example, a sensor for detecting a traveling distance or a position of the vehicle is mounted at a position related to an axle, and a steering wheel rotation direction and a steering wheel rotation angle are set. A sensor to detect the vehicle is attached to the steering wheel, and a sensor to detect the traveling direction (forward / reverse) of the vehicle is attached to the shift lever or the backlight, and a good driver drives the vehicle to move it to the intended place. Then, in parallel with the driving, the steering wheel rotation angle and the traveling direction according to the traveling distance or the position of the vehicle are read from the respective sensors and stored in the memory as a basic traveling locus.

Fig. 8 shows the basic travel locus (1 → 2 → ... → 19) when guiding the car CAR to the garage PRK (putting it in the garage). , Shows the case of moving backward and completing the storage of books.

FIG. 9 is an explanatory view of basic traveling locus data stored in the memory and corresponds to FIG. Initial position 0 (8th
From the figure), one pulse is generated from the distance sensor each time the vehicle moves and reaches each of the points 1 to 19, and each time the pulse is generated, the memory address is changed from A ₀ to A ₁ , A ₂ , ... -Stepping with A ₁₉ (Fig. 9), the handle rotation amount H _B at each point 0 to ₁₉ and the data D _B (F: forward, R: backward) indicating the traveling direction are stored at memory addresses A _{0 to} A ₁₉ , respectively. The basic traveling locus data is stored in the storage area designated by the above and the basic traveling locus data is generated in the memory. Specifically, at address A ₀ of the initial position 0 of the vehicle, “F” data indicating that the vehicle is moving forward and the steering wheel rotation amount at that time (straight running and steering wheel rotation amount 0) are stored. At address A ₁ , the forward F and +0.2 (rotation) data indicating that the steering wheel is turned slightly to the right are stored. Similarly, at addresses A ₂ , ... A ₉ , the traveling direction and steering wheel are stored. The rotation amount is stored. Further, a handle from the point 9 to point 10 is cut in the right full (+1.5 rotation) assuming that the advancing, the address A ₁₀ corresponding to the point 10 "F" and the handle rotation amount +1.5 is stored To be done. Then, assuming that the traveling direction of the vehicle is switched to the backward traveling from this point and the steering wheel is switched to the full state, the traveling direction data “R” and the steering wheel rotation amount −1.5 are stored in the address A ₁₁ in the same manner. Thereafter Likewise address A _12, · · · A ₁₈ and data are stored, the point 19
When the vehicle is stopped with, the traveling direction data “F” and the steering wheel rotation amount at that time (0 in the case of the straight traveling position) are stored in the address A ₁₉ . In general, when the vehicle is stopped, the shift lever is once disengaged from the reverse, so the traveling direction data is "F". As described above, the basic travel locus data is generated in the memory.

In this way, when the basic traveling locus data is stored in the memory, when an amateur drives based on the basic traveling locus, the vehicle moves from the initial position 0 (called follow-up driving) and a pulse is generated from the distance sensor. The basic handle rotation angle H _B and the traveling direction data D _B are read from the storage area designated by the memory address each time the traveling direction is changed, the traveling direction is displayed by the traveling direction data D _B , and the basic steering wheel rotation is performed. The angle H _B is compared with the actual steering wheel rotation angle H _A, and the comparison result is transmitted to the driver through the display provided in the vehicle interior, and the driver corrects the steering wheel rotation, and the actual running trajectory is used as the basis. It is approximated to the running trajectory. After that, the same driving guidance is performed, and the vehicle follows the basic travel path and moves. Incidentally, FIG. 10 is an external view of the display 100, and a display portion 102, 103 showing a left-right symmetrical optical index pattern 101 having a substantially circular shape and a part of the lower part thereof being omitted, and forward (FWD) and backward (REV) of the vehicle. And the circular pattern of the index pattern 101 is provided.
SI ₀ indicates the steering wheel correction rotation amount zero position, and indexes SL _{1 to} SL ₁₀ are arranged clockwise from the _zero index SI ₀ at equal intervals.
The left correction rotation amount of the steering wheel is indicated non-linearly by and the indexes SR ₁ ~ ₁ are arranged counterclockwise from the zero index SI ₀ at equal intervals.
In SR ₁₀ , the steering wheel right correction rotation amount is also indicated non-linearly.

Then, in parallel with the following operation process, 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 switching point is passed. The driver gives a warning by hurrying to stop the car and sound the buzzer to move the shift lever backward.

After that, the above-described processing and operations are performed to follow the basic traveling and the garage entry of the vehicle is completed.

<Problems to be Solved by the Invention> As described above, if the driving operation is accurately performed as guided by the conventional driving guidance instructing device, the following traveling locus almost coincides with the basic traveling locus, and there is no problem. Absent.

However, there is no problem as long as the basic traveling locus is only straight or only backward, but if the basic traveling locus becomes complicated and includes one or more traveling direction switching points, the traveling direction switching points will be included. Overrun occurs. And even if you overrun even a little, in most cases at the traveling direction switching point it is necessary to turn the steering wheel to the other side from the state where the steering wheel is fully turned to one side, so after that the vehicle will be accurately set to the basic travel path. It becomes impossible to follow and move. Especially, in the conventional method, the switching operation in the traveling direction is delayed and the overrun is considerably large as shown in Fig. 11, so that the follow-up operation according to the basic traveling locus (Fig. 8) cannot be performed and a contact accident with the building occurs. To do.

In addition, when investigating the cause of the inability to follow the basic travel locus in the conventional follow-up operation, it is often due to an erroneous operation at the traveling direction switching point. This point will be explained with reference to FIG. 11. From the start point (initial position 0) to the traveling direction switching point 10, carefully follow the guidance instruction of the driving guidance instruction device to drive the vehicle along the basic traveling path. Can be made. However, when reaching the direction switching point (circle), the guidance instruction suddenly advances (FWD display)
Then, the reverse command (REW display) is given, and at the same time, the buzzer for switching the shift lever sounds. Until now, drivers who focused their attention on the steering wheel display to correct the steering wheel could not immediately stop the car by pressing the brake in order to switch the shift lever to reverse in response to this sudden direction switching instruction. Therefore, the position at which the vehicle stops is a position far away from the traveling direction switching point. That is, the vehicle moves forward from the traveling direction switching point at the current steering wheel position and overruns to the point indicated by 12 in FIG. In many cases, when the vehicle is operated in reverse after the vehicle is stopped, the steering wheel instruction is changed and the steering wheel is switched only when there is enough room. In this case, the driving guidance instruction device has already read the basic data (basic steering wheel rotation amount, traveling direction data) corresponding to the overrun points 11 and 12, and is included in the address near the most important switching point. The data of switching the maximum handle is lost,
As a result, even if the vehicle is guided accurately thereafter, the vehicle travels while leaning in a direction different from the basic traveling locus and colliding with the building as shown in FIG.

From the above, when it is necessary to change the traveling direction many times due to a narrow road in front of the garage, it is necessary to reduce the amount of overrun as much as possible.

Therefore, an object of the present invention is to provide a traveling direction switching advance notice method that can reduce the amount of overrunning the traveling point even if the basic traveling locus includes the traveling direction switching point, and thus can perform follow-up operation accurately following the basic traveling locus. Is to provide.

Another object of the present invention is to identify a traveling direction switching point before reaching the traveling point, and when the vehicle approaches the switching point, the traveling direction switching point can be shortened by notifying that the traveling direction switching point is near. It is to provide a switching notice method.

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

11 is a processor, 12 is a non-volatile memory (for example, RAM for battery backup), 13 is an operation panel, 14 is a handle sensor that is mounted on a handle column and detects the rotation angle of the handle, and 15 is a wheel sensor that detects the rotation of the wheels. , 16 is a traveling direction sensor for detecting forward / reverse traveling (traveling direction) of the vehicle, 17 is a display driver, 18 is a buzzer, and 19 is an indicator.

<Operation> During basic driving, the address of the memory 12 is stepped according to the distance traveled by the vehicle, and the data indicating the steering wheel rotation amount and the traveling direction at that time are stored in the storage area indicated by the address.
While following the basic traveling path during follow-up driving, driving direction data is read from an address after a predetermined number of addresses according to the current traveling distance of the vehicle, and the traveling direction and the current traveling direction are compared, If they are different, a notice will be displayed soon indicating that it is necessary to switch the traveling direction.

<Embodiment> FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention. 11 is a processor for performing processing for driving guidance instruction and other processing, 12 is (i) basic traveling locus and (ii) )
A non-volatile memory (for example, a battery backup RAM) that stores a correspondence table showing the relationship between the steering wheel correction rotation amount and an index (to be described later) to be turned on, and 13 is a switch for registering the basic traveling locus and the basic traveling locus. An operation panel equipped with an induction driving start switch for performing driving in accordance with the above, 14 is a steering wheel sensor mounted on the steering wheel column for detecting the rotation angle of the steering wheel, and 15 is a predetermined rotation of the wheel for detecting the rotation of the wheel. A wheel sensor that generates one pulse each time, 16 is a traveling direction sensor that detects backward / forward (R / F) of the vehicle by turning on / off the backlight,
Reference numeral 17 is a display driver, 18 is a buzzer for instructing switching of the traveling direction, and 19 is a display device for displaying the corrected rotation amount of the steering wheel, the traveling direction, and the advance notice.

The display unit 19 has a symmetrical optical index pattern 19a in which the graduation portion is substantially a circle and a part of which is cut off below, and display units 19b and 19c indicating forward (FWD) and backward (REV) of the vehicle. . Each index of index pattern 19a SI ₀ , SR ₁ ~ SR ₁₀ , SL ₁ ~ SL ₁₀
Are made up of LEDs (light emitting diodes),
Only the index SI _{0 in the} upper center part is circular, and the other indices are rectangular. Indicator SI ₀ is green and indicators SR _{1 to} SR
₆ and SL _{1 to} SL ₆ are yellow and have indicators SR _{7 to} SR ₁₀ and SL _{7 to} SL _10.
Is displayed in red. Further, the index SI ₀ indicates the steering wheel correction rotation amount zero position, and the left correction rotation amount of the steering wheel is non-linearly indicated by the indexes SL _{1 to} SL ₁₀ arranged at equal intervals in the clockwise direction from the _zero index SI ₀ , and Similarly, the steering wheel right correction rotation amount is non-linearly indicated by the indexes SR _{1 to} SR ₁₀ arranged at equal intervals in the counterclockwise direction from the zero index SI ₀ . That is, when the amount of correction rotation of the handle is small, the change in the scale of each index (handle correction amount) is small, and when the amount of rotation of the handle is large, the change in the scale of each index is large. There is.

FIG. 2 is a correspondence diagram between the index NO. And the steering wheel correction rotation amount. The index SI ₀ is NO. ₀ , the indexes SR _{1 to} SR ₁₀ are NO. 1 to NO.
The indexes SL _{1 to} SL ₁₀ are shown as NO.1 ′ to NO.10 ′. That is, the index NO.0 indicates a corrected rotation amount of 0 to ± 0.03 rotations (the + sign indicates a right rotation, the − sign indicates a left rotation), and the index NO.1 indicates a correction rotation amount of 0.03 to 0.14 rotations.
The corrected rotation amount -0.03 to -0.14 is indicated by the index NO.1 ', and the corrected rotation amount 0.14 to 0.29, respectively by the index NO.2, NO.2'.
-0.14 to -0.29 is indicated, and in the same manner, the corrected rotation amount is 2.5 to,-, respectively, using the indexes NO.10 and NO.10 '.
2.5- is instructed, and the correspondence between the steering wheel correction rotation amount and the index to be turned on is stored in the non-volatile memory 12 in advance.

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

(A) Basic traveling locus registration processing The basic traveling locus registration switch 13a (Fig. 1) is operated to enter the registration mode, and a good driver drives the vehicle toward the intended place (for example, a garage). To move.

Then, if a pulse is generated from the wheel sensor 15 in parallel with this operation, the processor 11 steps the addresses of the non-volatile memory 12 sequentially from the initial address A ₀ , (A ₀ → A ₁ → ...
· A _19), and the handle rotated using a signal from the steering wheel sensor 14 and the traveling direction sensor 16 at the time of the pulse occurs angle H _B and the traveling direction D _B (F: forward, R: the seek backward) Then, these are stored in the storage area of the non-volatile memory 12 indicated by the address, and thereafter, the same processing is performed to register the basic traveling locus in the non-volatile memory. It is assumed that the garage is put in as shown in FIG. 8 and the basic travel locus data shown in FIG. 9 is registered in the nonvolatile memory 12.

(B) Follow-up operation process With the basic travel locus registered in the non-volatile memory 12 by the above operation, the vehicle is moved to the initial position 0 (see FIG. 8), and then the follow-up operation start switch 13b is operated. Then, the following operation is started and the following operation is started.
Note that FIG. 3 is a flow chart of the processing in the follow-up operation, and the follow-up operation processing will be described below with reference to the flow chart.

When the follow-up operation is activated, the processor 11 initializes various values (for example, the address is initialized to A ₀ ), reads the outputs of the steering wheel sensor 14 and the traveling direction sensor 16 at the initial position 0 of the vehicle, and rotates the current steering wheel. The quantity H _A and the traveling direction (forward / reverse) D _A are set (step 101).

Next, the processor 11 reads the basic handle rotation amount H _B and the traveling direction D _B indicated by the initial address A ₀ from the non-volatile memory 12 (step 102), and proceeds from the address after a predetermined number (for example, the address after two). The direction data D _B 'is read (step 103). It should be noted that D _B ′ is the basic traveling direction at a point separated by a distance corresponding to two addresses.

After that, the processor checks whether D _A = D _B , in other words, whether the actual traveling direction and the basic traveling direction match (step 104), and if they do match, D _A = D _B ′. That is, it is checked whether the current direction of travel and the basic direction of travel at a point after a distance corresponding to two addresses are the same (step 105).

Then, if D _A = D _B ′, it is determined that the basic traveling direction D _{B at the} current position is the forward direction (F) on the assumption that the vicinity of the traveling direction switching point has not been reached (step 10
6) If it is forward, display driver 17 and display 19 "FWD"
The portion 19b is turned on (step 107), and if the vehicle is in reverse, the "REV" portion 19b of the display 19 is also turned on (step 10).
8).

The processor then checks if the actual handle rotation amount H _A is equal to the basic handle rotation amount H _B (step 10
9), if they are equal, the index SI ₀ indicating the corrected rotation amount of zero in the index pattern 19a on the display 19 is turned on (step 11
0).

However, if H _A ≠ H _B , H = H _B −H _A corrected rotation amount H is calculated by the following equation, and an index corresponding to the corrected rotation amount H is stored in the non-volatile memory 12. All indexes from 0 to H are lit from the index table (step 11)
1). That is, if H is positive, the index SR ₁ on the left side of FIG.
SRi is lit to indicate the right handle correction rotation amount, and if H is negative, the right indicators SL _{1 to} SLi are lit to indicate the left handle correction rotation amount. As a result, when the handle is rotated in the direction in which the handle correction rotation amount decreases, for example,
As shown in the figure, when the handle is rotated counterclockwise while the indicators SL ₁ to SL ₅ are lit, the indicators are SL ₅ → SL ₄ → SL ₃ → SL ₂ → SL as the handle correction rotation amount decreases. _{The value} gradually turns off to ₁ and finally the corrected rotation amount becomes zero and the index SI ₀
Only will be lit.

Then, every time the wheel rotates by a predetermined amount (every time it moves a predetermined distance)
Monitor the output of the generated pulses (Step 11
2) If a pulse is generated, the address is incremented (step 1
13) Then, it is checked whether or not the memory data indicating the basic traveling locus is finished (step 114), and if so, the follow-up process is finished. However, if the memory data remains, the processing from step 101 onward is repeated.

The above process is repeated, and in step 105, D _A
If ≠ D _B ′ (D _A ≠ D _B at point 9 in FIG. 8), in other words, if the current traveling direction and the basic traveling direction after two addresses are different, processor 11 is near the traveling direction switching point. That the car has arrived at (step 115). still,
The advance direction switching notice can be recognized by voice or by the display device 19. 4 to 7 are indicators
It is explanatory drawing in the case of giving a traveling direction switching advance notice by 19.

In FIG. 4, a display element 19d for displaying a traveling direction switching advance notice is separately provided near the index SI ₀ indicating the steering wheel correction rotation amount of zero, and the advance notice is given by blinking the display element 19d.

Fig. 5 shows the direction of travel direction change by blinking the display elements 19b, 19c that display the direction of travel. When approaching the switching point while moving forward, the "FWD" display element 19b flashes and moves backward. While approaching the switching point, the "REV" display element 19c blinks. As a result, for example, when moving forward to the switching point, the "FWD" display element 19b continues to light up, the display element 19b starts blinking when approaching the switching point, and when the traveling direction switching point is reached, "REV" is displayed. The element 19c keeps lighting (the blinking disappears), so that the driver can easily recognize the approach of the switching point and also the approach direction.

FIG. 6 shows a display element 19e for performing a stop display when the actual traveling direction and the basic traveling direction at the current position are different (when the traveling direction switching point is reached), and this display element is blinked to display the traveling direction. The notice of switching is given.
In the advance notice system of FIG. 6, it is possible to recognize by blinking that the vehicle is near the switching point, and since the stop display blinks, it is possible to inform the driver to brake and stop at the switching point. You can decelerate from the point in time.

FIG. 7 blinks the circular index SI ₀ indicating the steering wheel correction rotation amount of zero to notify that the vehicle has reached the vicinity of the traveling direction switching point. The index SI ₀ continues to be lit during the follow-up operation, but it blinks when approaching the switching point, and thus the driver can easily recognize that the switching point is approached by the blinking. Since the driver's viewpoint is concentrated on the zero index during the following operation, the proximity to the switching point can be recognized early without moving the viewpoint, and the amount of overrun can be reduced.

By the above-mentioned advance direction switching notice, the driver continues the follow-up operation while slowing down the speed, and in parallel with this, the processor 11 repeats the processing of step 106 and thereafter (the notice is continued).

Then, when the vehicle further moves and reaches the traveling direction switching point, D _A ≠ D _B in step 104, that is, the actual traveling direction and the basic traveling direction do not match. As a result, the processor 11 sounds the buzzer 18 to notify that the traveling direction switching point has been reached (step 116). The proximity notice disappears when the travel direction switching point is reached.

After that, the driver brakes and stops the car,
By operating the shift lever, the traveling direction of the vehicle is switched to continue the follow-up operation, and the processor performs the processing of FIG. 3 in parallel with this. The buzzer sound disappears when D _A = D _B by operating the shift lever.

Then, finally, the vehicle is accurately moved and stopped at the target point.

In the above description, for the sake of explanation, the position where the notice is issued is set to a distance of two addresses before the traveling direction switching point, but in actual driving, about 50-60 cm in front of the traveling direction switching point in consideration of the driver's operation delay. It is better to give the advance notice at the position of, so that if the number of pulses generated during the distance movement from the wheel sensor is 20, the basic advance direction after 20 addresses is pre-read and the advance notice display process is performed as D _B ′. This allows the driver to concentrate on operating the steering wheel during normal operation,
You can drive carefully while holding down the speed with the brakes so that you can stop at any time from 50-60 cm before notice, and you can stop the car immediately when you come to the switching point (a buzzer sounds) and reduce overruns. It should be noted that, in the past, the speed was relatively high and suddenly stopped.
Although an overrun of cm or more has occurred, the present invention can reduce the overrun to 1/10 or less of the conventional value.

<Effects of the Invention> According to the present invention as described above, since the switching point can be recognized before reaching the traveling direction switching point, the driver can prepare for the next operation (stop operation), and therefore the traveling speed. The vehicle can be stopped immediately after reaching the switching point and the overrun can be reduced.

And, according to the present invention, since the overrun can be reduced,
Even if the basic running locus is a complicated running locus that includes a large number of traveling direction switching points, the tracking accuracy can be improved, and the stopping position and the inclination of the vehicle can be faithfully approximated to that of the basic running locus, resulting in a contact accident with a building. Can be eliminated.

[Brief description of drawings]

FIG. 1 is a block diagram of a driving guidance instructing device according to the present invention, FIG. 2 is a correspondence table of a steering wheel correction rotation amount and a lighting index, FIG. 3 is a flow chart of processing of the present invention, and FIGS. FIGS. 8 to 11 are background explanatory diagrams of the present invention, FIG. 8 is an explanatory diagram of a basic traveling locus, FIG. 9 is a basic traveling locus data configuration diagram, and FIG. FIG. 10 is an external view of the display device, and FIG. 11 is an explanatory view of a conventional defect. 11 …… Processor, 12 …… Nonvolatile memory 14 …… Handle sensor, 15 …… Wheel sensor, 16 …… Travel direction sensor, 18 …… Display

Claims (1)

[Claims] 1. A basic travel locus is stored in a memory,
In a traveling direction switching advance notice method in a vehicle driving guidance instructing device that causes a vehicle to follow a basic traveling locus, in the basic driving traveling, the address of the memory is stepped according to the traveling distance of the vehicle, and the steering wheel at that time is operated. Data indicating the amount of rotation and the direction of travel is stored in the storage area indicated by the address, and during actual follow-up driving, the basic steering wheel rotation amount from the storage area designated by the memory address that is stepped according to the traveling distance of the vehicle Along with reading the traveling direction data, the traveling direction is displayed by the traveling direction data, and the steering wheel correction rotation amount for performing the operation following the basic traveling locus from the basic steering wheel rotation amount and the actual steering wheel rotation amount is displayed. Further, the traveling direction data is read from an address after a predetermined number of addresses corresponding to the current traveling position of the vehicle, and the read traveling direction data indicates Row direction and compares the current traveling direction, the traveling direction switching notice how when different and performs the traveling direction of the switching notice.