JPH0670836B2 - Driving guidance instruction method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a driving guidance instructing method for an automobile, which stores a basic traveling locus in a memory and causes the vehicle to follow the basic traveling locus, and particularly relates to a method. The present invention relates to a driving guidance instructing method that enables a follow-up operation that follows a basic traveling locus even if a vehicle passes over a direction switching point.

<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 that detects the movement is attached to the steering wheel, and a sensor that detects the traveling direction (forward / reverse) of the vehicle is attached to the shift lever or the backlight, and a good driving vehicle drives and moves the vehicle 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. 5 shows the basic travel locus (0 → 1 → 2 → ・ ・ ・ ・ ・ → 19) when guiding the car CAR to the garage PRK (putting in the garage). After that, a case is shown in which the vehicle is moved backward to complete garage entry.

FIG. 6 is an explanatory view of basic traveling locus data stored in the memory, and corresponds to FIG. Initial position 0 (5th
As shown in 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 the memory address is changed from A ₀ to A ₁ , A ₂ , ... each time the pulse is generated. · A ₁₉ and then incremented (Figure 6), the handle rotation amount H at each point 0-19
_B (1 revolution is 360 °) and data D _B (F: forward, R: reverse) indicating the traveling direction are stored in the storage areas designated by the memory addresses A _{0 to} A ₁₉ , respectively, and the basic travel locus data is stored in the memory. To generate.

More specifically with reference to FIGS. 5 and 6, “F” data indicating that the vehicle is moving forward at address A ₀ at the initial position 0 of the vehicle and the steering wheel rotation amount at that time (when traveling straight ahead) is there a handle rotation amount 0) is stored, as well as data of +0.2 indicates that cut slightly right F and handle forward (rotation) is stored in the address a _1, hereinafter similarly address a ₂ traveling direction and the handle rotation amount at the point 2-9 in · · · a ₉ 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 direction of travel of the vehicle is switched from this point to reverse and the steering wheel is turned back in the opposite direction, the traveling direction data “R” and the steering wheel rotation amount −1.5 are stored in the address A ₁₁ . After that, similarly, data is stored in the addresses A ₁₂ , ..., A ₁₈ , and when the car is stopped at the point 19, the traveling direction data “F” and the steering wheel rotation amount at that time (in the case of the straight traveling position, are stored in the address A _19). 0) is stored. 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 strike trajectory data is generated in the memory.

In this way, when the basic driving locus data is stored in the memory, when an amateur drives based on the basic driving locus, the vehicle is moved from the initial position 0 (referred to as follow-up driving) and a pulse is generated from the distance sensor. together with increment the memory address read out basic wheel turning angle H _B and the traveling direction data D _B from storage that the address is an instruction to display the traveling direction by the moving direction data D _B each time, the basic wheel turning 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.

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 straight or only backward, but if the basic traveling locus becomes complicated and one or more traveling direction switching points are included, the traveling direction switching points will be included. Overrun occurs. When the amount of overrun becomes large, in most cases the steering wheel needs to be fully turned back to the other side from the state where the steering wheel is fully turned to one side at the traveling direction switching point. You will not be able to move following the trajectory. Especially, in the conventional method, the switching operation in the traveling direction is delayed and the overrun is considerably large as shown in FIG. 7, so that the follow-up operation according to the basic traveling locus (FIG. 5) cannot be performed and a contact accident with the building occurs. To do.

Incidentally, the reason why the conventional follow-up operation cannot follow the basic traveling locus in detail will often be due to the delay of the operation at the traveling direction switching point. This point will be described with reference to FIG. 7. 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 the vehicle reaches the direction change point (circle mark), the guidance instruction suddenly changes from forward (FWD display) to backward (REW display), and at the same time, the buzzer for switching the shift lever sounds. Until now, drivers who focused on steering wheel display and concentrated on steering wheel corrections were unable to stop the car by immediately pressing the brakes 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 that has moved too far beyond the traveling direction switching point. That is, the vehicle moves forward from the traveling direction switching point at almost the same steering wheel position and overruns to the point indicated by 12 in FIG. In many cases, after shifting, the shift lever is operated in the reverse direction, and only when there is enough margin, the steering wheel instruction is swirled to change the steering wheel. 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 for switching the maximum steering wheel is lost, and as a result, even if the vehicle is guided accurately, the vehicle travels while leaning in a direction different from the basic travel locus and colliding with the building as shown in FIG. 7. is there. Further, the actual travel distance becomes longer than the basic travel distance, and since the basic travel data does not exist due to the increase, the follow-up operation control cannot be performed.

From the above, it is necessary to eliminate the amount of overrun when it is necessary to change the traveling direction many times due to a narrow road in front of the garage. However, no matter how carefully you drive, overshooting will occur, and thus accurate follow-up operation will not be possible.

Therefore, an object of the present invention is to provide a driving guidance instruction that allows the vehicle to stop at the target position according to the basic travel locus by correctly returning to the traveling direction switching point even if the traveling direction switching point is overrun and restarting the following operation from there. Is to provide a method.

It is another object of the present invention to provide a driving guidance method that allows the vehicle to return to a traveling direction switching point and return to the traveling direction switching point when the vehicle is overturned and follow the driving thereafter.

<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, 11a is an address register, 11b is an overrun counter, 11c is a flag register, 12 is a non-volatile memory, 14 is a steering wheel sensor that detects the rotation angle of the steering wheel, 15 is a wheel sensor that detects the rotation of the wheel, and 16 is A traveling direction sensor that detects the forward / reverse direction (travel direction) of the vehicle,
18 is a buzzer and 19 is an indicator.

<Operation> During basic driving, the contents of the address register 11a indicating the address of the memory 12 are stepped up according to the distance traveled by the vehicle, and the storage area indicated by the address indicates the steering wheel rotation amount and the traveling direction at that time. In addition, the steering wheel correction rotation amount is displayed on the display device 19 during the follow-up operation so that the operation following the basic traveling locus is performed, and the basic traveling direction and the actual traveling direction of the vehicle are compared. When it stops, the follow-up operation control is interrupted, the overrun counter 11b monitors the overshoot amount from the point that does not match, and the vehicle overshoots after the actual traveling direction matches the basic traveling direction at the point. When the amount returns, the following operation control that follows the basic travel locus is restarted from that point again. <Example> FIG. 1 is a block diagram of the operation guidance instructing device according to the present invention. 11 is a processor that performs processing for instructing driving guidance and other processing, 11a is a general-purpose register (address register) for storing memory addresses, 11b is a general-purpose register (overrun counter) that stores an overshoot amount, and 11c is various flags. The flag register 12 is a non-volatile memory (such as a battery backup) that stores (i) basic travel locus data and (ii) a correspondence table showing a relationship between the steering wheel correction rotation amount and an index to be lit (described later).
RAM), 14 is a steering wheel sensor mounted on the steering wheel column, which detects the rotation angle of the steering wheel, 15 is a wheel sensor that generates one pulse at every predetermined rotation of the wheel (every predetermined distance movement), and 16 is a backlight. A traveling direction sensor that detects the reverse / forward movement (R / F) of the vehicle by turning on / off the, 17 is a display driver, 18 is a buzzer for instructing switching of the traveling direction, 19
Is a display device which displays a corrected rotation amount of the steering wheel, a traveling direction, a traveling direction switching display, and the like, and which has various operation switches.

The indicator 19 is a symmetrical optical index pattern 19a in which the scale portion is substantially circle-shaped and a part of the lower portion is missing, indicators 19b and 19c indicating forward (FWD) and backward (REV) of the vehicle, and a basic travel locus. Demo switch 19d to register, navigation to drive according to the basic travel path
A switch 19e, a start switch 19f for starting or stopping a basic traveling locus registration or a follow-up operation,
It has an end switch 19g.

Each index SI ₀ of the index patterns _{19a, SR 1 ~SR 10, SL} 1 ~SL 10 is formed by an LED (light emitting diode), respectively, (referred to zero indication) indication of the upper central portion only SI ₀ turned round The other indicators are rectangular. Zero indicator SI ₀ is green, indicators SR _{1 to} SR ₆ and SL _{1 to} SL ₆ are yellow, indicators SR _{7 to} SR
₁₀ and SL _{7 to} SL ₁₀ are displayed in red.
Further, the zero index SI ₀ indicates the steering wheel correction rotation amount zero position, and the indexes SL ₁ to SL ₁ arranged at equal intervals in the clockwise direction from the _zero index SI _0.
SL ₁₀ indicates the left correction rotation amount of the steering wheel in a non-linear manner, and indices S are arranged counterclockwise from zero index SI ₀ at equal intervals.
In R _{1 to} SR ₁₀ , the steering wheel right correction rotation amount is also non-linearly indicated. That is, when the correction rotation amount of the steering wheel is small, the change in the scale (the steering wheel correction amount) of each index is reduced,
When the amount of rotation of the handle is large, the scale of each index is changed in a non-linear manner so that the change is large.

Fig. 2 shows the correspondence between index No. and steering wheel correction rotation amount. Zero index SI ₀ is No. ₀ and indexes SR _{1 to} SR ₁₀ are No. ₁ to No. 1.
0 and indexes SL _{1 to} SL ₁₀ are shown as No. ₁ ′ to No. ₁₀ ′. That is, zero index No. 0 indicates a correction rotation amount of 0 to ± 0.03 rotations (+ sign indicates right rotation, − sign indicates left rotation), and index No. 1 indicates correction rotation amount of 0.03 to 0.14 rotations. ,
Corrected rotation amount -0.03 to 0.14 is indicated by index No. 1 ', and corrected rotation amount 0.14 to 0.2 by index No. 0, 2, No. 2', respectively.
9, -0.14 to -0.29 is indicated, and similarly, the corrected rotation amount is 2.5 to -2, respectively, according to indicators No.10 and No.10 '.
5 is designated, 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.

3 and 4 are flowcharts of the process of the present invention. The overall operation of FIG. 1 will be described below with reference to these flowcharts.

(A) Basic traveling locus registration processing First, the processor 11 initializes various flags to "0" (step 101). As flags, run flag RUNF, start flag STARTF, navigation flag N
There are AVIF, demo flag DEMOF, end flag ENDF, and overrun flag OVERRUNF.

Then, it is checked whether the processor RUNF = "1" (step 102), and if it is not "1", the ENDF = "1" is checked (step 103), and if it is not "1", the processing from step 102 onward is repeated. Since the run flag and the end flag are both set to "0" by the initial setting in step 101,
Unless the switches 19d to 19g (see FIG. 1) are pressed and a predetermined processing request is generated, the processing of steps 102 and 103 is repeated. Further, since the processor 11 receives a timer interrupt at every predetermined time, the processor 11 performs the interrupt processing shown in FIG. 4 at each time.

If the demo switch 19d (FIG. 1) is operated to enter the registration mode (demo mode) during the above processing, the following processing is performed by the timer interruption. That is, first, it is checked whether or not the start switch 19f is pressed (step 201). In this case, since the start switch 19f is not pressed, it is next checked whether the end switch 19g is pressed (step 202). Since the end switch is not pressed either, the processor next checks whether the navigation switch 19e is pressed to select the following operation mode (navigation mode) (step 203). Since it is not the navigation mode, the processor 11 further checks whether it is the basic traveling locus registration mode (demo mode) (step 204). In this case, since the demo switch 19d is pressed to enter the demo mode, the processor checks the run flag RUNF = "1" or "0" (step 205).

Since RUNF = “0” is set by the initial setting, the processor 11 sets only the demo flag DEMOF to “1” (step 206) and turns on a demo lamp (not shown) (step 207).

When the above interrupt processing is completed, the processor 11 repeats steps 102 and 103 in FIG. 3 again.

After that, the start switch to start the basic driving operation
While pressing 19f, a good driver drives and moves the car toward a desired place (for example, a garage).

The pressing of the start switch 19f results in "YES" in the determination of step 201 (see FIG. 4) in the subsequent timer interruption, whereby the processor sets the start flag STARTF and the run flag RUNF to "1" (step 208). After the interrupt processing is completed, the processing of step 101 and thereafter in FIG. 3 is started again.

However, this time, since the run flag RUNF is "1", it becomes "YES" in step 101 and step 101
And 102, the basic traveling registration process is performed.

That is, if RUNF = "1", the processor 11 determines that STATF
Check if it is "1" (step 104). In this case, STA
Since RTF = “1”, the processor sets the flag to 0 (step 105) and turns on the zero index SI ₀ of the display 19 (step 106).

Next, check if DEMOF = "1" or "0" (Step 1
07) In this case, since it is "1" in this case, the processor 11 clears the area for storing the basic traveling locus of the non-volatile memory 12 and sets the initial address of the address register 11a to A ₀ (for example, 0) (steps 108, 109).

When the processing up to step 109 is completed, the processing from step 102 onward is performed again, but since RUNF = “1” and STARTF = “0”, it becomes “NO” in step 104. As a result, the processor 11 checks whether the demo flag DEMOF is "1" (step 110).

Since the demo flag DEMOF is "1", the processor 11 checks whether the vehicle has moved a predetermined distance and a pulse is generated from the wheel sensor 15 (WF = "1") (step 111),
If not generated, until the pulse is generated Step 102 → 1
The process of 04 → 110 → 111 is repeated.

Then, the car moves a predetermined distance and the pulse is detected by the wheel sensor.
If it occurs from 15, it becomes "YES" in step 111,
The processor sets WF = "0" (step 112),
The steering wheel rotation angle H _B and the traveling direction D _B (F: forward, R: reverse) are obtained using the signals from the steering wheel sensor 14 and the traveling direction sensor 16 at that time, and these are stored in the address register 11a.
Is stored in the storage area of the non-volatile memory 12 indicated by the address (step 113), and then the address of the address register 11a is incremented by a predetermined amount (step 114).

Then, it is checked whether the non-volatile memory 12 is out of memory (step 115). If it is not out of memory, the above process is repeated and the steering wheel rotation amount and traveling direction at that time are set as the basic handle. The rotation amount H _B and the basic traveling direction D _B are stored in the non-volatile memory 12.

Incidentally, before the end switch 19g is pressed, in other words, if the memory is over at step 115 before the vehicle is stopped at the target position, the end process is performed and the basic traveling locus registration process is completed ( Step 116). In addition, in this end processing, the error display of the memory over (warning)
Alternatively, a warning sound is output, all flags are cleared to "0", and all the indicators 19 are turned off.

On the other hand, if the vehicle is moved to the target position and the end switch 19g is pressed before the memory is over, the step 202 (fourth step) in the first timer interrupt processing thereafter is performed.
In the determination process of FIG. 7), the determination is "YES", and the processor 11 clears the end flag ENDF to "1" and all remaining flags to "0" (step 209).

After the interrupt process, the process of FIG. 3 is repeated from the step interrupted by the timer interrupt. In this case, since the run flag RUNF = "0" and ENDF = "1", it becomes "NO" in step 102 and "YES" in step 103, and the end flag ENDF is set to "0" in the next step. All lights on the display 19 are turned off (steps 117, 11).
8).

As described above, for example, the garage is put in as shown in FIG. 5, and the basic traveling locus data shown in FIG. 6 is registered in the non-volatile memory 12. It should be noted that it is indicated that these data are stored in the address where the data H _B , D _B are described.
GO data (1: data exists, 0: no data) is stored,
The address next to the last address (address A in FIG. 6)
₂₀ ) stores GO data of "0" indicating that the above data H _B and D _B are not stored.

(B) Follow-up operation processing With the basic travel locus (demo data) registered in the non-volatile memory 12 by the above operation, the vehicle is moved to the initial position 0 (see FIG. 5), and then the navigation switch 19e. To operate. Since all flags are initially set to "0", the processes of steps 102 and 103 in FIG. 3 are repeated as in the basic travel locus registration mode. Then, in this state, the navigation switch 19
When e is pressed, "YES" is entered in step 203 of the timer interruption process of FIG. 4 which is performed every predetermined time.
Becomes Then, the processor 11 uses the run flag RUNF = "1".
Check "0" (step 210). In this case, RUNF
= "0", the processor 11 sets only the navigation flag NAVIF to "1" (step 211),
A navigation lamp (not shown) is turned on (step 212).

When the above interrupt processing is completed, the processor 11 repeats steps 102 and 103 in FIG. 3 again. Then, in such a state, the start switch 19f is pressed to start the following traveling operation to move the vehicle.

The pressing of the start switch 19f results in "YES" in the determination of step 201 (see FIG. 4) in the subsequent timer interruption, whereby the processor sets the start flag STARTF and the run flag RUNF to "1" (step 208). After the interrupt processing is completed, the processing of step 101 and thereafter in FIG. 3 is started again.

However, this time, since the run flag RUNF is "1", it becomes "YES" in step 101 and step 101
And 102, and the follow-up operation processing is performed thereafter.

That is, if RUNF = "1", the processor 11 starts STARTF.
Check if it is "1" (step 104). In this case, STA
Since RTF = “1”, the processor sets the flag to 0 (step 105) and turns on the zero index SI ₀ of the display 19 (step 106).

Then, it is checked whether DEMOF = "1" or "0" (step 107). In this case, DEMOF is "0" and therefore "NO", and then the processor checks whether NAVIF = "1" (step 121). Navigation mode, NAVIF
= “1”, processor is overrun counter 11b
And the address of the address register 11a is set to A ₀ (for example, 0) (steps 122, 10).
9).

When the processing up to step 109 is performed, the processing after step 102 is performed again, but this time, RUNF = "1", STARTF = "0".
Therefore, “NO” is obtained in step 104. As a result, the processor 11 checks whether the demo flag DEMOF is "1" (step 110).

Since the demo flag DEMOF is "0", the processor 11 next checks whether the navigation flag NAVIF is "1" (step 123).

In this case, since the navigation flag is "1", the processor then checks whether the vehicle has moved a predetermined distance to generate a pulse from the wheel sensor 15 (WF = "1") (step 124), If it does not occur, the process after step 102 is performed until it occurs (step 102 → 104 → 110
→ processing of 123) is repeated, and if it has occurred, WF is set to 0 (step 124 ′) and the overrun flag OVERRUN is set.
Check whether F (initial value is "0") is "1" (step 12)
Five).

Since the overrun flag OVERRUNF is "0" unless the traveling direction switching point has been exceeded, the processor next reads the GO data from the address β ahead of the current address and sets it as G '(step 125'). The data and the current GO data (the initial value is "1") are compared and it is checked whether they match or in other words, whether they are close to the target value (step 126).

If they match, immediately perform the processing from step 128 onward,
If they do not match, in other words, if the GO data of β ahead is “0”, the zero index SI ₀ is blinked to indicate that the target point is approached (step 127), and then step 12
Perform the process from 8 onwards.

Next, it is checked whether the data end has been reached (step 128). If the data end has not been reached, the basic handle rotation amount H _B and the advancing direction D _B are determined from the storage area of the nonvolatile memory 12 indicated by the address stored in the address register 11a. Is read from the nonvolatile memory 12 and the traveling direction is displayed based on the basic traveling direction data D _B (step 129). That is, if the basic traveling direction D _B is the forward traveling direction (F), the display driver 17 is used to turn on the “FWD” display portion 19b of the display device 19, and if the vehicle is in reverse, the “REV” display on the display device 19 is similarly performed. The part 19b is turned on.

Next, the processor reads the actual traveling direction D _A from the traveling direction sensor 16 and checks whether it agrees with the basic traveling direction D _B (step 130).
Is set to "0" (step 131), and the processing from step 135 onward is repeated. Since the traveling direction switching point has not been reached at the beginning, D _A = D _B and SAF = “0”.

However, if the follow-up operation progresses to reach the traveling direction switching point, it is determined in step 130 that D _A ≠ D _B , and thus the processor sets the difference flag SAF to “1” and the overrun flag OVERRUNF to “1”. To (Step 132,
133). Further, the processor sounds the buzzer 18 to give a warning to notify that the traveling direction has been switched, and blinks the display portion 19b or 19c showing the current traveling direction (step 134).

Next, it is checked whether the overrun flag OVERRUNF is "1" or "0" (step 135), and if OVERRUNF = "0", the processor 11 determines the actual handle rotation amount H _A by the handle sensor 14
Read from the correction rotation amount / index table stored in the non-volatile memory 12 for the index of the display 19 corresponding to the difference between the handle rotation amount H _A and the basic handle rotation amount H _B (correction handle rotation amount H). Obtained, all indicators from 0 to H are turned on (step 136). That is, if H is positive, the indicators SR _{1 to} SRi on the left side of FIG. ₁ are turned on to indicate the right steering wheel correction rotation amount, and if H is negative, the indicators SL _{1 to} SLi on the right side are turned on and the left steering wheel is turned on. Instruct the corrected rotation amount. Thus, when the handle correction rotation amount to rotate the handle in a direction to decrease, for example, rotating the handle counterclockwise direction when the index SL ₁ to SL ₅ is lit, the indicators with decreasing handle correction rotational amount SL ₅ → SL ₄ → SL ₃ → SL ₂ → SL ₁ gradually goes out, and finally the corrected rotation amount becomes zero and only indicator SI ₀ lights up.

After that, the processor 11 increments the address of the address register 11a (step 137), and thereafter repeats the processing from step 102 onward.

If the overrun flag is "1" in step 135, the processes in steps 102 and thereafter are repeated without performing the processes in steps 136 to 137. If the memory is over at step 128, the end processing of the follow-up operation is performed (step 116).

On the other hand, in the determination processing of step 125, if the traveling direction switching point has been passed too much, the overrun flag OVERRUNF is set to "1", so "YES", and in the next step, the processor displays the basic traveling direction in the display portions 19b, 19c. Is displayed (step 139), and it is checked whether the actual traveling direction matches the basic traveling direction at the traveling direction switching point (step 139 '). If they match, the difference flag SAF is set to "0". The difference flag is still set to "1" (step 140).

Next, the processor checks whether the difference flag SAF is "0" (step 141). If it is not "0", the processor is overshooting the switching point.
It is checked whether the count value C of b is zero (step 142).

If zero and that time by reading the actual steering wheel rotation amount H _A (when reaching the traveling direction switching point) from the sensor to the basic wheel turning amount H _B of the dummy (step 143), hereinafter the basic wheel turning amount H _B The correction handle rotation amount is displayed on the display 19 so as to become (step 143 '), and thereafter, the count value (overshoot amount) C of the overrun counter 11b is incremented by 1 (step 144), and the processing from step 102 onward is repeated. If the count value C of the overrun counter is not zero in step 142, the steering wheel correction rotation amount and the count value C
Is counted up and the processes from step 102 onward are repeated.

On the other hand, if the actual traveling direction coincides with the basic traveling direction at the switching point by operating the shift lever after the traveling direction switching point has passed a predetermined distance, the difference flag SAF is set to "140" in step 140 since the overshooting amount starts to be returned. It becomes 0 ". Therefore, in the processing of step 141, the result is "YES" and the count value (overshoot amount) C of the overrun counter 11b.
Is counted down (step 145), and then the count value C is checked to be zero (step 146).

The count value C does not become zero if the distance that has passed too far has not returned, and therefore the processing from step 102 onward is repeated.

On the other hand, when the distance that has passed the excessive distance is returned (when the vehicle returns to the traveling direction switching point), the count value C of the overrun counter becomes zero, so that the result is "YES" in step 146. As a result, the processor thereafter displays the traveling direction and the steering wheel correction rotation amount using the basic steering wheel rotation amount H _B and the basic traveling direction D _B according to the traveling distance stored in the nonvolatile memory 12 as basic data (step 147), and the overrun flag OVERRUN
F is set to "0", the address of the address register 11a is incremented (steps 148 and 149), and the processes after step 102 are repeated.

After that, the follow-up operation continues and the data end (Step 12
If 8) is reached, or if the driver presses the end switch 19g, the end process is performed and the follow-up drive process is completed.

<Effects of the Invention> According to the present invention as described above, it is checked whether the traveling direction switching point has been reached, and if the vehicle overshoots the traveling direction switching point, the distance overshooting is monitored, and the follow-up operation based on the basic traveling locus is temporarily performed during that time. When the vehicle is interrupted and the traveling direction is switched by operating the shift lever and the vehicle returns to the overshooting distance, the follow-up operation is restarted. You can stop at.

Also, when the vehicle is overshooting the traveling direction switching point, the follow-up operation is interrupted and the actual handle rotation amount at the time of overshooting is regarded as the basic handle rotation amount and fixed, and then overtraveled to reach the handle rotation amount. Since the steering wheel correction amount is displayed as zero, the steering wheel correction rotation amount is displayed as zero, which means that the driver does not operate the steering wheel during overshooting, and therefore the traveling direction switching point (excessive point ), And the posture (direction) at the time of overshooting is accurately maintained, and thereafter, the follow-up operation can be accurately continued to move to and stop at the target position.

[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 steering wheel correction rotation amount and lighting index, FIG. 3 is a flow chart of processing of the present invention, and FIG. 4 is a timer in the present invention. FIG. 5 to FIG. 7 are background explanatory diagrams of the present invention, FIG. 5 is an explanatory diagram of a basic traveling locus, FIG. 6 is a basic traveling locus data configuration diagram, and FIG. FIG. 11 …… Processor, 11a …… Address register, 11b …… Overrun counter, 11c …… Flag register, 12 …… Non-volatile memory 14 …… Handle sensor, 15 …… Wheel sensor, 16 …… Travel direction sensor, 18… … Buzzer, 19 …… Display

Claims (1)

[Claims] 1. A basic travel locus is stored in a memory,
In a method of instructing driving guidance of an automobile that causes the vehicle to follow the basic traveling locus, during basic driving traveling, the memory address is stepped according to the traveling distance of the vehicle, and the steering wheel rotation amount and traveling direction at that time are indicated. The data shown is stored in the storage area indicated by the address, and during the actual follow-up operation, the basic steering wheel rotation amount and the traveling direction data are read from the storage area designated by the memory address which is stepped according to the traveling distance of the vehicle. , The traveling direction is displayed by the traveling direction data, and the steering wheel correction rotation amount for performing the operation that follows the basic traveling locus is displayed from the basic steering wheel rotation amount and the actual steering wheel rotation amount. In parallel with the display processing, the basic traveling direction and the actual traveling direction of the vehicle are compared, and when they do not match, the follow-up operation control is interrupted and Monitoring the overshoot from the point where the vehicle has stopped, returning the vehicle by the overshoot amount after the actual traveling direction matches the basic traveling direction at the point, and while returning the overtravel amount, the actual situation at the point where the vehicle does not match The steering wheel correction amount is obtained and displayed by using the steering wheel rotation amount as the basic steering wheel rotation amount, and when the overshoot amount is returned, the following operation control that follows the basic traveling locus from the point is restarted again. Driving guidance instruction method.