JP2020149187A - Vehicle control system - Google Patents

Abstract

To provide a vehicle control device capable of suppressing damage of a vehicle if an earthquake occurs during parking.SOLUTION: When a P-wave is detected by an earthquake sensor during parking of a vehicle 1 (ST3: Yes) and/or when an emergency earthquake prompt report is received by an earthquake prompt report reception section (ST4: Yes), a control device 20 determines whether or not an obstacle detected by an outer field sensor 30 has a possibility to have contact with the vehicle 1 (ST6). When it is determined that a possibility of contact exists (ST6: Yes), the control device 20 sets a retreat position having a low possibility of contact with an obstacle (ST9, ST10), so as to perform vehicle control in a retreat mode to move the vehicle 1 from a parking position to a retreat position (ST13).SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a vehicle control system that moves a vehicle from a parking position to a retracted position when an earthquake is predicted.

A traveling control device for causing a vehicle to travel more appropriately when an earthquake occurs is known (Patent Document 1). This travel control device includes an earthquake flash report receiving means for receiving an earthquake flash report, a travel plan generating means for generating a vehicle travel plan, and a structure such as a road, a bridge, or a building around the vehicle based on the earthquake flash report. It is equipped with a means for predicting the collapse of surrounding structures that predicts the risk of collapse. If an earthquake occurs while the vehicle is running, the travel plan generation means escapes from the area where the structure at risk of collapse predicted by the surrounding structure collapse prediction means exists by the time when the shaking of the earthquake arrives. Generate a travel plan that is possible.

Japanese Unexamined Patent Publication No. 2008-146168

However, the conventional travel control device only causes the vehicle to escape from the area where the structure having a risk of collapse exists when an earthquake occurs while the vehicle is traveling, and the vehicle is parked. Vehicles cannot escape from such areas in the event of an earthquake. Further, even if the structure does not collapse due to the earthquake, there is a possibility that the vehicle may be damaged due to contact with the vehicle due to the movement or large shaking of obstacles around the vehicle due to the shaking of the earthquake.

In view of such a background, it is an object of the present invention to provide a vehicle control device capable of suppressing damage to a vehicle when an earthquake occurs during parking.

In order to solve such a problem, an embodiment of the present invention is a vehicle control system (10) by driving a steering device (11) and a traveling motor (3) of the vehicle (1). A control device (20) capable of executing vehicle control for performing automatic driving including steering and acceleration / deceleration of the vehicle, and an external world sensor (30) for detecting the state of the outside world including obstacles around the vehicle. It has an earthquake sensor (23) capable of detecting the P wave of an earthquake and / or an earthquake flash report receiving unit (27) capable of receiving an emergency earthquake flash report based on the P wave of an earthquake, and the seismic sensor is provided while the vehicle is parked. When the P wave is detected by (ST3: Yes) and / or when the emergency earthquake flash report is received by the seismic flash report receiving unit (ST4: Yes), the control device is detected by the outside world sensor. If it is determined whether or not the obstacle may come into contact with the vehicle (ST6) and it is determined that the obstacle may come into contact with the vehicle (ST6: Yes), the possibility of contact with the obstacle is low. The retracted position is set (ST9, ST10), and the vehicle control is executed in the retracted mode in which the vehicle is moved from the parked position to the retracted position (ST13).

According to this configuration, when a P wave is detected and / or an Earthquake Early Warning is received (that is, the arrival of an S wave seismic motion is predicted) and an obstacle may come into contact with the vehicle. , The vehicle moves from the parking position to the retracted position where the possibility of contact with obstacles is low. Therefore, it is possible to reduce the possibility that the vehicle comes into contact with an obstacle when the seismic motion of the S wave, which has a larger sway than the P wave, arrives.

In the above configuration, the control device (20) determines whether or not the parking position is a place where evacuation is possible (ST5), and when the parking position is a place where evacuation is not possible (ST5: No), the above. The vehicle control (ST13) in the evacuation mode may be prohibited.

At the parking position, there are no obstacles in the evacuation direction such as the front or rear of the vehicle, and there are places where evacuation is possible, and even if there are no obstacles in the evacuation direction of the vehicle, the vehicle is used for evacuation like a multi-storey car park. There are places where you should not move (places that cannot be evacuated). According to this configuration, since the vehicle moves from the parking position to the evacuation position only when the parking position is a place where evacuation is possible, it is possible to prevent an accident or the like from occurring due to evacuation.

In the above configuration, the control device (20) recognizes the storage state of the battery (35) that supplies electric power to the steering device (11) and the traveling motor (3), and the storage state of the battery is predetermined. If it is less than the value (ST7: No), the vehicle control (ST13) in the retracted mode may be prohibited.

According to this configuration, it is possible to prevent the storage state of the battery from being lowered due to the movement of the vehicle to the evacuation position by executing the vehicle control in the evacuation mode, which hinders the subsequent operation.

In the above configuration, the connection between the cable connection portion (36) provided in the vehicle (1) for enabling external charging of the battery (35) and the charging cable (38) to the cable connection portion is detected. When the connection sensor (39) is further provided and the control device (20) detects the connection of the charging cable by the connection sensor (ST8: Yes), it is presumed that the charging cable can reach the charging. It is preferable to set the possible area and set the retracted position within the rechargeable area (ST10).

According to this configuration, even if the vehicle moves to the evacuation position while the charging cable is connected, it is possible to prevent the cable connection part from being pulled by the charging cable and the charging equipment from being damaged. it can.

In the above configuration, the control device (20) sets a parking area in which the vehicle (1) can be parked based on the detection result of the outside world sensor (30) (ST20, ST22), and the vehicle is placed in the parking area. It is preferable to execute the vehicle control (ST23) in the automatic parking mode for moving to, and then execute the vehicle control in the automatic parking mode (ST23) after executing the vehicle control (ST13) in the retracting mode.

According to this configuration, it is possible to prevent the passage of other vehicles from being obstructed by the movement of the vehicle to the evacuation position.

In the above configuration, when the control device (20) executes the vehicle control (ST13) in the retracted mode, and then the seismic motion of the S wave is settled from the detection of the P wave and / or the reception of the Earthquake Early Warning. When the estimated predetermined time has elapsed (ST18: Yes), the vehicle control (ST23) in the automatic parking mode may be executed.

According to this configuration, the vehicle moves to the parking area when it is presumed that the S-wave seismic motion has subsided, so that it is possible to prevent the vehicle from coming into contact with an obstacle due to the influence of the seismic motion during the movement. it can.

In the above configuration, when the seismic sensor (23) capable of detecting the S wave of the earthquake is provided and the control device (20) determines that the earthquake has subsided based on the detection signal of the seismic sensor (ST17: Yes), the vehicle control (ST23) in the automatic parking mode may be executed.

According to this configuration, since the vehicle moves to the parking area after it is determined that the S-wave seismic motion has subsided, it is possible to prevent the vehicle from coming into contact with an obstacle due to the influence of the seismic motion during the movement. ..

In the above configuration, the control device (20) sets the parking position in the automatic parking mode after the vehicle control (ST13) is executed in the evacuation mode and before the vehicle control is executed in the evacuation mode. It is good to set it in the area (ST22).

According to this configuration, the vehicle once moved to the evacuation position returns to the original parking position, so that the driver who has returned to the parking position after that is prevented from feeling anxious because the vehicle is not in the original parking position. be able to.

In the above configuration, the control device (20) is configured to be able to open and close the shutter provided in the passage for accessing the parking position by wireless communication, and the vehicle control (ST13) is performed in the evacuation mode. It is preferable to open the shutter (ST12) before the execution.

According to this configuration, even if the vehicle is parked in the parking position where the shutter is located, the vehicle is moved to the evacuation position where the possibility of contact with an obstacle outside the shutter is low when the arrival of the S-wave seismic motion is predicted. Can be moved.

In the above configuration, the control device (20) closes the shutter after executing the vehicle control (ST23) in the automatic parking mode executed after executing the vehicle control (ST13) in the evacuation mode (ST27). ) Is good.

According to this configuration, the possibility that the article placed inside the shutter is stolen can be reduced by keeping the shutter open.

In the above configuration, the communication device (25) capable of communicating with the outside is further provided, and the control device (20) parks the vehicle (1) after executing the vehicle control (ST13) in the evacuation mode. State information including at least one of the state and the surrounding state of the vehicle may be transmitted from the communication device to the outside (ST15, ST28).

According to this configuration, it is possible to immediately notify the outside of the driver, possession, etc. of the vehicle that the vehicle has moved from the parking position to the evacuation position, the parking state, the surrounding state of the vehicle, etc. by wireless communication. ..

As described above, according to the present invention, it is possible to provide a vehicle control device capable of suppressing damage to a vehicle when an earthquake occurs during parking.

Schematic configuration diagram of a vehicle equipped with a vehicle control system according to an embodiment Functional block diagram of the vehicle control system shown in FIG. Flowchart of parking processing executed by the control device Flowchart of parking processing executed by the control device The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking The figure which shows the example of the parking state of the vehicle by the processing during parking

Hereinafter, embodiments of the vehicle control system 10 according to the present invention will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a vehicle 1 on which the vehicle control system 10 according to the embodiment is mounted. As shown in the figure, the vehicle 1 is a four-wheeled vehicle having left and right front wheels 4A and left and right rear wheels 4B supported by a vehicle body 2 forming the skeleton of the vehicle 1 via a suspension device.

The vehicle 1 is an electric vehicle equipped with a traveling motor 3 that drives the wheels 4 (4A, 4B). In the illustrated example, the traveling motor 3 is provided on each of the left and right rear wheels 4B. In another embodiment, one traveling motor 3 may be provided to drive the left and right rear wheels 4B and / or left and right front wheels 4A, and four traveling motors 3 may be provided on each of the wheels 4. You may.

Further, the vehicle 1 may be a hybrid vehicle equipped with the power plant 5 as shown by an imaginary line in FIG. The power plant 5 may be an internal combustion engine such as a gasoline engine or a diesel engine, and assists the traveling of the vehicle 1. That is, even in this case, the vehicle 1 can travel only by driving the traveling motor 3. The vehicle 1 may be a rear-wheel drive vehicle, a front-wheel drive vehicle, or a four-wheel drive vehicle.

The vehicle 1 has a steering device 11 for steering the front wheels 4A. The steering device 11 includes a steering shaft 12 rotatably supported by a steering column, and a steering wheel 13 provided at one end of the steering shaft 12. A pinion is provided at the other end of the steering shaft 12, and the rack gear of the rack shaft 14 extending to the left and right is engaged with the pinion. The rack shafts 14 are connected to the left and right knuckles that support the front wheels 4A via tie rods at both the left and right ends. When the steering wheel 13 rotates, the rack shaft 14 moves left and right, the knuckle rotates, and the left and right front wheels 4A steer.

The steering shaft 12 is provided with a steering torque sensor 15 that detects steering torque and an assist motor 16 that applies assist torque according to the steering torque. That is, the steering device 11 constitutes an electric power steering. In another embodiment, the steering device 11 may include a reaction force motor and a steering motor, and may form a steer-by-wire in which the steering wheel 13 and the front wheels 4A are mechanically separated.

The vehicle 1 is provided with a braking device 17 for braking the four wheels 4. The brake device 17 includes a hydraulically driven braking force generating device 18 (for example, a brake caliper) provided on each of the wheels 4, and an electric cylinder 19 for supplying hydraulic pressure to the braking force generating device 18.

The vehicle 1 controls the drive of the traveling motor 3, the assist motor 16 of the steering device 11, the electric cylinder 19 of the brake device 17, and the vehicle control for performing automatic driving including steering and acceleration / deceleration of the vehicle 1. A viable control device 20 is provided. The control device 20 is an electronic control unit (ECU) composed of a CPU, ROM, RAM, peripheral circuits, input / output interfaces, various drivers, and the like. The control device 20 executes various vehicle controls by executing arithmetic processing according to the program on the CPU. The control device 20 may be configured as one hardware, or may be configured as a unit composed of a plurality of hardware. Further, at least a part of each functional unit of the control device 20 may be realized by hardware such as LSI, ASIC, FPGA, or may be realized by a combination of software and hardware.

The vehicle 1 is provided with various sensors such as a front wheel steering angle sensor 21, a vehicle speed sensor 22, an acceleration sensor 23, and a yaw rate sensor 24. The front wheel steering angle sensor 21 outputs a signal corresponding to the steering angle of the left and right front wheels 4A to the control device 20. The control device 20 acquires the front wheel steering angle, which is the steering angle of the front wheels 4A, based on the signal from the front wheel steering angle sensor 21. The vehicle speed sensor 22 is provided on each of the front wheels 4A and the rear wheels 4B, and outputs a pulse signal generated in response to the rotation of the front wheels 4A and the rear wheels 4B to the control device 20. The control device 20 acquires the wheel speeds of the front wheels 4A and the rear wheels 4B based on the signals from the vehicle speed sensors 22, and acquires the vehicle speeds by averaging the wheel speeds. The acceleration sensor 23 outputs signals corresponding to the vertical acceleration, the lateral acceleration, and the front-rear acceleration of the vehicle body 2 to the control device 20. The control device 20 acquires the vertical acceleration, the lateral acceleration, and the front-back acceleration of the vehicle body 2 based on the signal from the acceleration sensor 23. The yaw rate sensor 24 may be, for example, a gyro sensor, and outputs a signal corresponding to the rotational angular velocity around the vertical axis of the vehicle body 2 to the control device 20. The control device 20 acquires the yaw rate of the vehicle body 2 based on the signal from the yaw rate sensor 24.

Further, the vehicle 1 is equipped with a communication device 25 and a navigation device 26. The communication device 25 mediates communication between the control device 20 and the navigation device 26 and peripheral vehicles and servers located outside the vehicle. Further, the communication device 25 includes an earthquake early warning receiving unit 27 (see FIG. 2) capable of receiving an earthquake early warning. The control device 20 can perform wireless communication with neighboring vehicles via the communication device 25. Further, the control device 20 can communicate with a server that provides traffic regulation information via the communication device 25. Further, the control device 20 can communicate with an external terminal such as a mobile terminal owned by a person outside the vehicle 1 or a terminal of a management consignment company of the vehicle 1 via the communication device 25. Further, the control device 20 can communicate with the emergency call center that receives an emergency call from the vehicle 1 via the communication device 25.

The navigation device 26 is a device that acquires the current position of the vehicle 1 and provides route guidance to the destination, and has a GPS receiving unit 28 (see FIG. 2) and a map storage unit 29 (see FIG. 2). The GPS receiving unit 28 identifies the position (latitude and longitude) of the vehicle 1 based on the signal received from the artificial satellite (positioning satellite). The map storage unit 29 is composed of a known storage device such as a flash memory or a hard disk, and stores map information. In other embodiments, the GPS receiver 28 may be configured as part of the communication device 25. Further, the map storage unit 29 may be configured as a part of the control device 20, or may be configured as a part of a server device capable of communicating via the communication device 25.

Map information includes road types such as expressways, toll roads, national roads, and prefectural roads, road information such as the number of lanes on the road and the central position of each lane, as well as address information (address / postal code), buildings, and parking. It includes facility information including the type of facility such as a lane, telephone number information, and the like.

Further, the vehicle 1 is provided with an outside world sensor 30 that detects the state of the outside world. The outside world sensor 30 is a sensor that detects electromagnetic waves and light from the periphery of the vehicle 1 to detect an object outside the vehicle, and is a sonar 31, an outside camera 32 (32A, 32B), a radar 33 (33A, 33B), and a rider. 34 is included. The external sensor 30 outputs the detection result to the control device 20.

The sonar 31 is a so-called ultrasonic sensor, which emits ultrasonic waves around the vehicle 1 and detects the position (distance and direction) of the object by capturing the reflected waves. A plurality of sonar 31s are provided at the rear portion and the front portion of the vehicle 1, respectively. In the present embodiment, two pairs of sonar 31 are provided on the left and right sides of the rear bumper, two pairs on the left and right sides of the front bumper, and one pair each on the front end and the rear end on the left and right side surfaces of the vehicle 1, for a total of six pairs. The sonar 31 provided on the rear bumper mainly detects the position of an object behind the vehicle 1, and the sonar 31 provided on the front bumper mainly detects the position of an object in front of the vehicle 1. The sonars 31 provided at the front ends on the left and right sides of the vehicle 1 detect the positions of objects on the left and right outer sides of the front end of the vehicle, and the sonars 31 provided at the rear ends on the left and right sides of the vehicle 1 are at the rear ends of the vehicle. Detects the position of objects on the left and right outside.

The vehicle exterior camera 32 is a device that images the surroundings of the vehicle 1 including objects (for example, peripheral vehicles and pedestrians) existing around the vehicle 1, guardrails, curbs, walls, road markings drawn on the road surface, and the like. The vehicle exterior camera 32 may be, for example, a digital camera using a solid-state image sensor such as a CCD or CMOS. The outside camera 32 includes at least a front camera 32A that images the front of the vehicle 1 and a rear camera 32B that images the rear. The vehicle exterior camera 32 may be, for example, a stereo camera.

The radar 33 emits radio waves such as millimeter waves around the vehicle 1 and captures the reflected waves to detect the position (distance and direction) of the object. At least one radar 33 is attached to any part of the vehicle 1. The radar 33 preferably includes a front radar 33A that irradiates radio waves toward the front of the vehicle 1 and a rear radar 33B that irradiates radio waves toward the rear of the vehicle 1, and emits radio waves toward the side of the vehicle 1. It is more preferred to include a pair of left and right side radars to irradiate.

The rider 34 irradiates the surroundings of the vehicle 1 with light such as infrared rays and captures the reflected light to detect the position (distance and direction) of the object. At least one rider 34 is provided at an arbitrary position of the vehicle 1. In the present embodiment, five riders 34 are provided in total, one toward the front and four at the left and right corners of the front and rear of the vehicle body 2 in order to detect an object in front.

The vehicle 1 is further equipped with a battery 35 and a cable connection portion 36 for external charging to the battery 35. The battery 35 supplies electric power to the traveling motor 3, the steering device 11, the brake device 17, the control device 20, and the like. The cable connection portion 36 is provided at an appropriate position on the vehicle body 2, and is configured to be able to connect the connection portion of the charging cable 38 (see FIG. 11) provided at the charging station 37 (see FIG. 11). The cable connecting portion 36 is provided at the rear portion of the vehicle body 2 in the illustrated example. The cable connection portion 36 is provided with a connection sensor 39 that detects the connection of the charging cable 38. The connection sensor 39 outputs a signal to the control device 20 indicating that the charging cable 38 is connected to the cable connection portion 36.

When the charging operation is performed at the charging station 37 with the charging cable 38 connected to the cable connecting portion 36, a current flows from the cable connecting portion 36 to the battery 35 to charge the battery 35. A current sensor 40 is provided in the electric circuit between the cable connection portion 36 and the battery 35. The current sensor 40 outputs a signal corresponding to the charging current to the control device 20. The control device 20 recognizes the storage state of the battery 35 (hereinafter referred to as SOC), calculates the charging power based on the signal from the current sensor 40, and appropriately updates the recognized SOC of the battery 35. Further, when power is supplied from the battery 35 to various devices of the vehicle 1, the control device 20 appropriately updates the SOC of the battery 35, which is calculated and recognized as being supplied.

FIG. 2 is a functional block diagram of the control device 20 shown in FIG. The control device 20 controls the vehicle 1 in the parked state and executes automatic parking to move the vehicle 1 to a predetermined position. In order to perform such control, the control device 20 includes an automatic operation control unit 41, an earthquake determination unit 42, a state management unit 43, a shutter control unit 44, a storage state recognition unit 45, and a storage unit 46.

The automatic driving control unit 41 includes an outside world recognition unit 51, a vehicle position recognition unit 52, an action planning unit 53, and a travel control unit 54.

Based on the detection result of the outside world sensor 30, the outside world recognition unit 51 recognizes obstacles such as parked vehicles and walls existing around the vehicle 1 and acquires information such as the position and size of the obstacles. .. Further, the outside world recognition unit 51 analyzes the image acquired by the vehicle outside camera 32 based on a known image analysis method such as pattern matching, and acquires the presence / absence of an obstacle and its size. Further, the outside world recognition unit 51 may calculate the distance to the obstacle using the signal from the sonar 31 and acquire the position of the obstacle.

The own vehicle position recognition unit 52 detects the position of the vehicle 1 based on the signal from the GPS receiving unit 28 of the navigation device 26. Further, the own vehicle position recognition unit 52 acquires the vehicle speed and yaw rate from the vehicle sensor in addition to the signal from the GPS receiving unit 28, and specifies the position and attitude of the vehicle 1 by using so-called inertial navigation. The own vehicle position recognition unit 52 identifies the type in which the vehicle 1 is parked on the road (parking area or shoulder), a flat parking lot, or a multi-story parking lot, and further causes an earthquake. Identify whether the parking position can be evacuated to another location when predicted.

The outside world recognition unit 51 analyzes the detection result of the outside world sensor 30, more specifically, the image captured by the outside camera 32 based on a known image analysis method such as pattern matching, and for example, on a road surface such as a parking lot. You can get the position of the drawn white line.

The action planning unit 53 sequentially creates an action plan for driving the vehicle 1 along the route. More specifically, the action planning unit 53 first determines an event for traveling on the route determined by the route determination unit without the vehicle 1 coming into contact with an obstacle. The event includes an evacuation event in which the vehicle 1 is moved to a safe evacuation position when an earthquake is predicted, and an automatic parking event in which the vehicle 1 is parked in the parking area after the evacuation event. The action planning unit 53 generates a target trajectory on which the vehicle 1 should travel in the future based on the further determined event. The target track is a sequence of track points, which are points that the vehicle 1 should reach at each time.

The travel control unit 54 controls the travel motor 3, the brake device 17, and the steering device 11 so that the vehicle 1 passes the target track generated by the action planning unit 53.

The earthquake determination unit 42 determines that the earthquake early warning has been received by the earthquake early warning receiving unit 27 and that the detection signal of the acceleration sensor 23 has generated vibration due to the P wave of the earthquake, and based on these. Predict the arrival of the S wave of an earthquake. That is, the acceleration sensor 23 functions as an earthquake sensor capable of detecting the P wave of an earthquake. The earthquake determination unit 42 predicts that a larger shaking earthquake will occur when either or both of the reception of the Earthquake Early Warning and the detection of the occurrence of vibration by the P wave occur.

The earthquake determination unit 42 determines the end of the earthquake when a predetermined time set as a sufficient time for the arrival of the S wave and the vibration due to the S wave has elapsed from the reception of the Earthquake Early Warning. Further, the detection signal of the acceleration sensor 23 is analyzed to determine the occurrence and convergence of the vibration of the S wave of the earthquake, and the end of the earthquake is determined when the vibration of the S wave has subsided. That is, the acceleration sensor 23 functions as an earthquake sensor capable of detecting the S wave of an earthquake.

The state management unit 43 parks the vehicle 1 based on the determination result of the vehicle position by the vehicle position recognition unit 52, the power supply state of the vehicle 1, and the storage / discharge state of the battery 35 by the power storage state recognition unit 45. Judge the state and whether or not the vehicle is parked in a position where it can be retracted. Further, the state management unit 43 determines whether or not the action planning unit 53 executes the evacuation event and the subsequent automatic parking event when an earthquake is predicted during parking, and controls the action planning unit 53. Further, when the action planning unit 53 executes the evacuation event, the state management unit 43 transmits the state information indicating that the vehicle 1 has moved to the evacuation position after the evacuation event ends via the communication device 25. Send to the outside. Even when the action planning unit 53 executes the automatic parking event, the state management unit 43 provides state information indicating that the vehicle 1 has moved from the retracted position to the parking position after the end of the automatic parking event. It is preferable to transmit to the outside via the communication device 25. These state information may include information on the position where the vehicle 1 is stopped and information on the surrounding state of the vehicle 1 detected by the outside world sensor 30. The state management unit 43 transmits these state information to an external terminal such as a mobile terminal owned by a person existing outside the vehicle 1 or a terminal of a management consignment company of the vehicle 1.

The shutter control unit 44 outputs an opening signal for opening the shutter and a closing signal for closing the shutter to the shutter management device in the garage, which needs to open and close the shutter in order to access the parking position. To do. The shutter management device is, for example, a device provided in a home garage where the vehicle 1 is frequently parked, a contract garage at work, or the like, and the control device 20 of the vehicle 1 is a terminal that permits shutter opening / closing commands for shutter management. It is registered in the device in advance.

The power storage state recognition unit 45 constantly recognizes the SOC of the battery 35, and appropriately updates the SOC of the battery 35 based on the signal from the current sensor 40.

The storage unit 46 is composed of a ROM, a RAM, or the like, and stores information required for processing by the automatic operation control unit 41, the state management unit 43, the shutter control unit 44, and the storage state recognition unit 45.

After the vehicle 1 is parked, the control device 20 manages the parking state of the vehicle 1 by the state management unit 43. When the state management unit 43 gives a command to execute an evacuation event, the control device 20 executes automatic operation in the evacuation mode by the automatic operation control unit 41. When the state management unit 43 gives a command to execute an automatic parking event, the control device 20 executes automatic operation in the automatic parking mode by the automatic operation control unit 41. These autonomous driving are performed when there are no occupants in the passenger compartment. In the following, the parking process performed by the control device 20 while the vehicle 1 is parked, including the automatic operation in the evacuation mode and the automatic operation in the automatic parking mode, will be described with reference to the flowcharts of FIGS. 3 and 4.

As shown in FIG. 3, the control device 20 first confirms the parking position status when the vehicle 1 is parked (ST1). In this process, the control device 20 confirms the type and status of the parking lot. Subsequently, the control device 20 confirms the presence or absence of the shutter in the parking lot (ST2). In this process, the control device 20 confirms the presence or absence of the shutter based on information on whether or not the parking lot is a parking lot in which the vehicle 1 is registered and whether or not the parking lot is equipped with a shutter. These processes are performed immediately after the vehicle 1 is parked and are stored.

Subsequently, the control device 20 determines whether or not a P wave has been detected (ST3) and determines whether or not a seismic bulletin has been received (ST4). When the control device 20 detects the P wave (ST3: Yes) or receives the seismic bulletin (ST4: Yes), the control device 20 proceeds to step ST5. If the P wave is not detected (ST3: No) and the earthquake flash report is not received (ST4: No), the control device 20 repeats the processes of steps ST3 and ST4. The determination that the P wave was detected in step ST3 and the determination that the seismic bulletin was received in step ST4 predicted that the seismic motion of the S wave with large shaking would arrive after that, that is, the occurrence of a large earthquake. Means that.

In step ST5, the control device 20 determines whether or not the parking position of the vehicle 1 is a retractable parking position based on the specific result of the own vehicle position recognition unit 52. In the process of step ST5, for example, when the parking lot is a multi-story parking lot, or when there is a shutter that cannot be driven and the vehicle 1 cannot turn back and run, the result is determined as No. In step ST6, the control device 20 determines whether or not there is a possibility that a peripheral object may come into contact with the vehicle 1 based on the detection result of the outside world sensor 30. In the process of step ST6, for example, when there is another vehicle that may shake due to the earthquake motion in the vicinity of the vehicle 1, or when there is a structure such as a shelf that may fall around the vehicle 1, it is determined as Yes. .. In step ST7, the control device 20 determines whether or not the SOC of the battery 35 is equal to or higher than a predetermined value based on the SOC recognized by the power storage state recognition unit 45. In the process of step ST7, for example, when the SOC of the battery 35 is less than 5%, it is determined as No. If all of the determinations in steps ST5 to ST7 are Yes, the control device 20 proceeds to step ST8, and if any one of these determinations is No, the control device 20 processes during parking without performing any processing. (See FIG. 4). That is, the control device 20 does not (prohibit) perform vehicle control in the retract mode of step ST13 or vehicle control in the automatic parking mode of step ST23.

In step ST8, the control device 20 determines whether or not the charging cable 38 is connected to the cable connection portion 36 based on the detection signal of the connection sensor 39. When the charging cable 38 is not connected to the cable connection portion 36 (ST8: No), the control device 20 has the lowest possibility of contact with an obstacle based on the detection result of the external sensor 30, and damages the vehicle 1. A place around the vehicle 1, which is unlikely, is set as the evacuation position (ST9). On the other hand, when the charging cable 38 is connected to the cable connection portion 36 (ST8: Yes), the control device 20 sets a rechargeable area where the charging cable 38 is expected to reach, and the vehicle 1 is within the rechargeable area. A place where the possibility of damage is estimated to be low is set as the evacuation position (ST10).

Subsequently, the control device 20 can wirelessly operate the shutter on the path from the parking position to the evacuation position based on the presence / absence of the shutter confirmed in step ST2 and the evacuation position set in step ST9 or step ST10. It is determined whether or not there is (ST11). When there is a shutter that can be wirelessly operated on the path (ST11: Yes), the control device 20 wirelessly transmits an release signal for releasing the shutter by the shutter control unit 44 (ST12).

After step ST12, or when there is no shutter on the route (ST11: No), the control device 20 starts vehicle control in the retracted mode in order to move the vehicle 1 from the parking position to the retracted position (ST13). .. The control device 20 stops the vehicle 1 when the vehicle 1 reaches the evacuation position, and ends the vehicle control in the evacuation mode.

The control device 20 determines in step ST14 whether or not the vehicle control in the evacuation mode is completed, and when the vehicle control in the evacuation mode is completed (ST14: Yes), the control device 20 indicates that the vehicle 1 has moved to the evacuation position. The indicated state information is transmitted to the outside (ST15).

As shown in FIG. 4, the control device 20 subsequently determines whether or not the S wave of the earthquake has been detected based on the detection signal of the acceleration sensor 23 (ST16). When the S wave of the earthquake is detected (ST16: Yes), the control device 20 determines whether or not the shaking of the S wave of the earthquake has ended, and continues this process until the determination result is Yes. When the S wave of the earthquake is not detected (ST16: No), the control device 20 is set as a predetermined time set as a sufficient time for the arrival of the S wave and the vibration caused by the S wave from the earthquake prediction in step ST3 or ST4. It is determined whether or not the time has passed (ST18). If the predetermined time does not elapse (ST18: No), the control device 20 repeats the processes after step ST16. When the predetermined time has elapsed (ST18: Yes) or when it is determined that the S-wave sway of the earthquake has ended (ST17: Yes), the control device 20 proceeds to step ST19.

In step ST19, the control device 20 determines whether or not there is an obstacle in moving to the original parking position (before vehicle control in the evacuation mode) based on the detection result of the outside world sensor 30. If obstacles are scattered in the original parking position, or if the possibility of damage in the original parking position is higher than the possibility of damage in the evacuation position, it is determined that there is a problem. If there is no problem in moving to the original parking position (ST19: No), the control device 20 sets the original parking position to the parking area where the vehicle 1 should be moved by executing the vehicle control in the automatic parking mode. (ST20), the process proceeds to step ST23. If there is a problem in moving to the original parking position (ST19: Yes), the control device 20 searches for a parkable place around the vehicle 1 based on the detection result of the outside world sensor 30, and a new parking space is possible. It is determined whether or not there is a suitable place (ST21). When there is a new place where parking is possible around the vehicle 1 (ST21: Yes), the control device 20 sets a place other than the original parking position in the parking area (ST22), and proceeds to step ST23. If there is no new parking space around the vehicle 1 (ST21: No), the control device 20 proceeds to step ST25.

In step ST24, the control device 20 starts vehicle control in the automatic parking mode in order to move the vehicle 1 from the current position to the parking area (ST23). The control device 20 stops the vehicle 1 when the vehicle 1 reaches the parking area, and ends the vehicle control in the automatic parking mode. After step ST23, the control device 20 determines whether or not vehicle control in the parking mode has been completed (ST24). When the vehicle control in the parking mode is completed (ST24: Yes), the process proceeds to step ST25.

In step ST25, the control device 20 determines whether or not the shutter has been opened by transmitting a shutter release signal before executing vehicle control in the evacuation mode (before ST13) (ST25). When the shutter is open (ST25: Yes), the control device 20 determines whether or not there is a problem in closing the shutter based on the detection result of the external sensor 30 (ST26). If there is no problem in closing the shutter (ST26: No), the control device 20 wirelessly transmits a closing signal for closing the shutter by the shutter control unit 44 (ST27), and proceeds to step ST28. If there is a problem in closing the shutter (ST26: Yes), the control device 20 directly proceeds to step ST28.

After that, the control device 20 moves the vehicle 1 to the original parking position or a new parking area by executing the vehicle control in the automatic parking mode, or the retreat position without executing the vehicle control in the automatic parking mode. The state information indicating that the vehicle stays in the vehicle is transmitted to the outside (ST28). By the above processing, the control device 20 ends the processing during parking.

In the above parking process, for example, if any one of the determinations in steps ST5 to ST7 is No, no process is performed. Therefore, as shown in FIG. 5, the vehicle 1 does not move from the parking position before the earthquake prediction in (A) after the earthquake prediction in (B), and does not move even after the earthquake in (C) ends. ..

As shown in FIG. 6A, when there is another vehicle in the vicinity of the vehicle 1 (near beyond the parking lot line), the determination in step ST6 is Yes, and the vehicle control in the evacuation mode is performed in step ST13. By being executed, the vehicle 1 moves to the retracted position shown in FIG. 6 (B). After the end of the earthquake, the judgment in step ST19 becomes Yes, the parking place next to the original parking position is set in the parking area in step ST22, and the vehicle control in the parking mode is executed in step ST23. , Vehicle 1 moves to the new parking area shown in FIG. 6 (C).

As shown in FIG. 7A, there is a structure such as a shelf around the vehicle 1 that may tip over (ST6: Yes), and a shutter that cannot be wirelessly operated is in the evacuation direction of the vehicle 1. In step ST9, the evacuation position is set at a position away from the shelf, and the vehicle 1 moves to the evacuation position shown in FIG. 7 (B) (ST13). After the end of the earthquake, the determination in step ST19 becomes Yes and the determination in step ST19 becomes No. Therefore, the vehicle 1 stays in the evacuation position as shown in FIG. 7C.

As shown in FIG. 8A, there is a structure such as a shelf around the vehicle 1 that may tip over (ST6: Yes), and a shutter that can be wirelessly operated is in the retracting direction of the vehicle 1 (ST11: In the case of Yes), the vehicle 1 moves to the retracted position shown in FIG. 8 (B) after the shutter is opened and driven in step ST12 (ST13). After the end of the earthquake, as shown in FIG. 8C, after the vehicle 1 moves to the original parking position (ST23), the shutter is closed and driven in step ST27.

On the other hand, as shown in FIG. 9, even under the same parking conditions, after the vehicle 1 moves to the retracted position (ST23) shown in FIG. 9 (B), the original parking is performed as shown in FIG. 9 (C). Obstacles such as objects that have fallen from the shelves may be scattered at the position. In this case, since the determination in step ST19 is Yes and the determination in step ST21 is No, the vehicle 1 stays in the retracted position. If the determination in step ST26 is Yes, the shutter remains open. Even if obstacles are scattered in the original parking position, it is determined in step ST26 that there is no problem in closing the shutter (No), and the shutter may be closed.

As shown in FIG. 10A, there is no structure such as a shelf that may tip over around the vehicle 1 (ST6: No), and a shutter that cannot be wirelessly operated is in the retracting direction of the vehicle 1 (ST11: No) In this case, the vehicle 1 may be parked near an obstacle such as a wall. In such a case, the determination in step ST6 is Yes, and the position away from the wall in step ST9 is set as the evacuation position. In the example of FIG. 10B, the center of the garage is set to the evacuation position with the lowest possibility of damage, and the vehicle 1 moves to this evacuation position (ST13). After the shutter is driven to open, the vehicle 1 moves to the retracted position shown in FIG. 8 (B) (ST13). After the end of the earthquake, the determination in step ST19 becomes Yes and the determination in step ST19 becomes No. Therefore, the vehicle 1 stays in the evacuation position as shown in FIG. 7C.

As shown in FIG. 11A, the vehicle 1 is parked at the parking position where the charging station 37 is located, the charging cable 38 is connected to the vehicle 1 for charging (ST8: Yes), and the vehicle 1 There may be other vehicles in the vicinity (ST6: Yes). In this case, a place in the rechargeable area is set to the retracted position (ST10). As a result, the vehicle 1 moves to the retracted position in the rechargeable area shown in FIG. 11 (B). After the end of the earthquake, the judgment in step ST19 becomes Yes, and in step ST22, a place in the rechargeable area adjacent to the original parking position is set as the parking area, and the vehicle 1 is a new one shown in FIG. 6 (C). Move to the parking area (ST23).

According to the vehicle control system 10 configured in this way, the following effects are achieved.

When a P wave is detected by the seismic sensor while the vehicle 1 is parked (ST3: Yes) and / or when an Earthquake Early Warning is received by the earthquake early warning receiver 27 (ST4: Yes), the control device 20 It is determined whether or not the obstacle detected by the external sensor 30 may come into contact with the vehicle 1 (ST6). When it is determined that there is a possibility of contact (ST6; Yes), the control device 20 sets a retracted position with a low possibility of contact with an obstacle (ST9, ST10), and moves the vehicle 1 from the parked position to the retracted position. Vehicle control is executed in the evacuation mode (ST13). Therefore, for example, as shown in FIG. 6B, the possibility that the vehicle 1 comes into contact with an obstacle is reduced when the seismic motion of the S wave, which has a larger sway than the P wave, arrives.

The parking position is a place where there are no obstacles in the evacuation direction such as the front or the rear of the vehicle 1 and can be evacuated forward, and even if there are no obstacles in the evacuation direction of the vehicle 1, the evacuation is like a multi-story parking lot. Therefore, there is a place where the vehicle 1 should not be moved (a place where it cannot be evacuated). In the present embodiment, the control device 20 determines whether or not the parking position is a place where evacuation is possible (ST5), and when the parking position is a place where evacuation is not possible (ST5: No), the vehicle in the evacuation mode. Control is prohibited (“A” in FIGS. 3 and 4). Therefore, only when the parking position is a place where evacuation is possible, the vehicle 1 moves from the parking position to the evacuation position (ST13), and it is possible to prevent an accident or the like from occurring due to evacuation.

The control device 20 prohibits vehicle control in the evacuation mode when the SOC (storage state) of the battery 35 is less than a predetermined value (ST7: No) (“A” in FIGS. 3 and 4). Therefore, when the vehicle 1 is moved to the evacuation position by executing the vehicle control in the evacuation mode (ST13), it is possible to prevent the storage state of the battery 35 from being lowered and hindering the subsequent operation.

When the connection of the charging cable 38 is detected by the connection sensor 39 (ST8: Yes), the control device 20 sets a rechargeable area in which the charging cable 38 is presumed to be reachable, and sets the retracted position within the rechargeable area. Set to (ST10). Therefore, as shown in FIG. 11B, even if the vehicle 1 moves to the retracted position while the charging cable 38 is connected, it is pulled by the charging cable 38 and the cable connection portion 36 is damaged or charged. Damage to equipment is suppressed.

The control device 20 sets a parking area in which the vehicle 1 can be parked based on the detection result of the outside world sensor 30 (ST20, ST22), and after executing the vehicle control in the retracted mode (ST13), the vehicle control in the automatic parking mode. Is executed (ST23). Therefore, for example, as shown in FIG. 6C, it is possible to prevent the passage of another vehicle 1 from being obstructed by the movement of the vehicle 1 to the evacuation position.

After the vehicle control is executed in the reception evacuation mode (ST13), the control device 20 detects a P wave and / or receives an Earthquake Early Warning when a predetermined time estimated that the seismic motion of the S wave is settled elapses ( ST18: Yes) to execute vehicle control in the automatic parking mode (ST23). Therefore, since the vehicle 1 moves to the parking area when it is presumed that the S-wave seismic motion has subsided, it is possible to prevent the vehicle 1 from coming into contact with an obstacle due to the influence of the seismic motion during the movement.

The control device 20 executes vehicle control in the automatic parking mode when it is determined that the earthquake has subsided based on the detection signal of the earthquake sensor (ST17: Yes) (ST23). Therefore, since the vehicle 1 moves to the parking area after it is determined that the S-wave seismic motion has subsided, it is possible to prevent the vehicle 1 from coming into contact with an obstacle due to the influence of the seismic motion during the movement.

The control device 20 sets the parking position before the execution of the vehicle control in the evacuation mode to the parking area in the automatic parking mode after the execution of the vehicle control in the evacuation mode (ST13) (ST22). Therefore, since the vehicle 1 that has once moved to the evacuation position returns to the original parking position, it is possible to prevent the driver who has subsequently returned to the parking position from feeling anxious because the vehicle 1 is not in the original parking position.

The control device 20 is configured to be able to open and close the shutter provided in the passage for accessing the parking position by wireless communication, and opens the shutter before executing vehicle control in the evacuation mode (ST13) (ST12). .. Therefore, as shown in FIG. 8, even if the vehicle 1 is parked at the parking position where the shutter is located, the possibility of contact with an obstacle outside the shutter is low when the arrival of the S-wave seismic motion is predicted. The vehicle 1 can be moved to the retracted position.

The control device 20 closes the shutter (ST27) after executing the vehicle control in the automatic parking mode (ST23) executed after executing the vehicle control in the evacuation mode (ST13). Therefore, the possibility that the article placed inside the shutter is stolen is reduced by keeping the shutter open.

After executing the vehicle control in the evacuation mode (ST13), the control device 20 transmits the state information including at least one of the parking state of the vehicle 1 and the surrounding state of the vehicle 1 from the communication device 25 to the outside (ST15, ST28). Therefore, the fact that the vehicle 1 has moved from the parking position to the evacuation position, the parking state, the surrounding state of the vehicle 1, and the like are immediately notified to the outside such as the driver and possession of the vehicle 1 by wireless communication.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment. For example, in the above embodiment, as shown in FIG. 3, when the control device 20 detects the P wave (step ST3: Yes) or receives the seismic bulletin (step ST4: Yes), the process proceeds to step ST5. However, when the P wave is detected and the earthquake flash report is received, the process may proceed to step ST5. In addition, the specific configuration, arrangement, quantity, angle, etc. of each member or portion can be appropriately changed as long as it does not deviate from the gist of the present invention. On the other hand, not all of the components shown in the above embodiments are essential, and they can be appropriately selected.

1 Vehicle 2 Body 3 Traveling motor 10 Vehicle control system 11 Steering device 17 Brake device 20 Control device 23 Acceleration sensor (earthquake sensor)
25 Communication device 27 Earthquake flash report receiver 30 External sensor 35 Battery 36 Cable connection 38 Charging cable 39 Connection sensor 40 Current sensor 41 Automatic operation control 42 Earthquake judgment 43 State management 44 Shutter control 45 Power storage status recognition 51 External Recognition unit 52 Vehicle position recognition unit 53 Action planning unit 54 Travel control unit

Claims (11)

It ’s a vehicle control system.
A control device capable of executing vehicle control for performing automatic driving including steering and acceleration / deceleration of the vehicle by driving a vehicle steering device and a traveling motor.
An external sensor that detects the state of the external world including obstacles around the vehicle, and
It has an earthquake sensor that can detect the P wave of an earthquake and / or an earthquake early warning receiver that can receive an Earthquake Early Warning based on the P wave of an earthquake.
When the P wave is detected by the earthquake sensor while the vehicle is parked and / or when the emergency earthquake bulletin is received by the earthquake flash report receiving unit, the control device is detected by the outside world sensor. It is determined whether or not the obstacle may come into contact with the vehicle, and if it is determined that the obstacle may come into contact with the vehicle, a retracted position having a low possibility of contact with the obstacle is set and the vehicle is moved. A vehicle control system characterized in that the vehicle control is executed in a retracted mode for moving from a parking position to the retracted position. The control device determines whether or not the parking position is a place where evacuation is possible, and if the parking position is a place where evacuation is not possible, the vehicle control in the evacuation mode is prohibited. The vehicle control system according to claim 1. The control device recognizes the charge state of the battery that supplies electric power to the steering device and the traveling motor, and if the charge state of the battery is less than a predetermined value, the vehicle control in the retract mode is prohibited. The vehicle control system according to claim 1 or 2, wherein the vehicle control system. A cable connection portion provided in the vehicle to enable external charging of the battery and a connection sensor for detecting the connection of the charging cable to the cable connection portion are further provided.
When the connection sensor detects the connection of the charging cable, the control device sets a rechargeable area in which the charging cable is presumed to reach, and sets the retracted position within the rechargeable area. The vehicle control system according to claim 3, wherein the vehicle control system is characterized. The control device sets a parking area in which the vehicle can be parked based on the detection result of the outside world sensor, executes the vehicle control in an automatic parking mode for moving the vehicle to the parking area, and executes the vehicle control in the retract mode. The vehicle control system according to any one of claims 1 to 4, wherein the vehicle control in the automatic parking mode is executed after the vehicle control is executed. The control device executes the vehicle control in the automatic parking mode when a predetermined time has elapsed from the detection of the P wave and / or the reception of the Earthquake Early Warning after the vehicle control is executed in the retracted mode. The vehicle control system according to claim 5, wherein the vehicle control system. Equipped with the earthquake sensor capable of detecting the S wave of an earthquake,
The fifth or sixth aspect of the present invention, wherein the control device executes the vehicle control in the automatic parking mode when it determines that the earthquake has subsided based on the detection signal of the earthquake sensor. Vehicle control system. The claim is characterized in that the control device sets the parking position in the parking area of the automatic parking mode after executing the vehicle control in the retracting mode and before executing the vehicle control in the retracting mode. Item 5. The vehicle control system according to any one of claims 5 to 7. The control device is configured to be able to open and close the shutter provided in the passage for accessing the parking position by wireless communication, and opens the shutter before executing the vehicle control in the retracted mode. The vehicle control system according to any one of claims 5 to 8. The vehicle control system according to claim 9, wherein the control device closes the shutter after executing the vehicle control in the automatic parking mode executed after executing the vehicle control in the evacuation mode. It also has a communication device that can communicate with the outside,
After executing the vehicle control in the retracted mode, the control device transmits state information including at least one of the parked state of the vehicle and the surrounding state of the vehicle from the communication device to the outside. The vehicle control system according to any one of claims 1 to 10.

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