Control device, control method, and control program product

Abstract

Provided is a control device, control method, and control program product that enable an operation that causes a control device to function using an existing structure while ensuring operability. The control device includes an acquisition unit (31) that acquires a steering torque and a steering angle; a determination unit (32) that determines whether or not a steering device has a non-steering operation based on the steering torque and the steering angle; and a control device control unit (33) that controls a prescribed control device mounted on a vehicle based on a determination result, the control device control unit, for a response requirement of a user based on a function of the control device, in a case where a non-steering operation is detected by at least one of a torque sensor and a steering angle sensor based on the determination result, executing control of the control device corresponding to the response requirement, and in a case where no non-steering operation is detected from either of the torque sensor and the steering angle sensor based on the determination result, not executing control of the control device corresponding to the response requirement.

Description

Technical Field

[0001] This invention relates to a control device, a control method, and a control program product. Background Technology

[0002] In recent years, efforts to promote the use of sustainable transportation systems that also take into account vulnerable traffic participants have become active. As part of this effort, research and development related to driver assistance technologies and autonomous driving technologies in vehicles such as automobiles have been carried out to further improve the safety and convenience of transportation.

[0003] With the introduction of driver assistance and autonomous driving technologies, the number of devices such as operating switches installed in automobiles and other vehicles is increasing. Furthermore, operating switches are sometimes shared with in-vehicle equipment such as navigation systems, complicating the operation method. Therefore, the device described in Patent Document 1 discloses a structure that detects vibrations generated by the driver striking the steering mechanism via a measuring unit installed on the steering mechanism, and outputs a control signal corresponding to the operation information for the control device based on the detected vibrations.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2012-150714 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, the device in Patent Document 1 includes a measuring unit for detecting vibrations generated by the operation of striking the steering mechanism, which may increase costs. Therefore, it is desirable to achieve operation of the control device using existing structures without adding new structures, while ensuring operability.

[0009] This invention provides a control device, control method, and control program product that can perform operations for enabling control equipment to function using existing structures while ensuring operability.

[0010] Methods for solving problems

[0011] One aspect of the present invention relates to a control device, wherein,

[0012] The control device includes:

[0013] The acquisition unit acquires torque and steering angle. The torque acts on the rotation axis of the steering unit of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle.

[0014] The determination unit determines whether the steering unit has performed a non-steering operation based on the torque and steering angle obtained by the acquisition unit; and

[0015] The control device control unit controls a specified control device mounted on the vehicle based on the determination result of the determination unit.

[0016] The control unit of the control device, in response to a user's response request based on the functions of the control device, and if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, executes control of the control device corresponding to the response request.

[0017] If the control unit of the control device does not detect the non-steering operation from either the first detection unit or the second detection unit based on the determination result, the control unit of the control device will not perform the control of the control device corresponding to the response requirement.

[0018] In addition, other aspects of the present invention relate to a control device, wherein,

[0019] The control device includes:

[0020] The acquisition unit acquires torque and steering angle. The torque acts on the rotation axis of the steering unit of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle.

[0021] The determination unit determines whether the steering unit has performed a non-steering operation based on the torque and steering angle obtained by the acquisition unit; and

[0022] The control device control unit controls a specified control device mounted on the vehicle based on the determination result of the determination unit.

[0023] In response to a user's request based on the functions of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, the control unit of the control device executes control of the control device corresponding to the response request.

[0024] If the control unit of the control device does not detect the non-steering operation from either the first detection unit or the second detection unit based on the determination result, the control unit of the control device will not perform the control of the control device corresponding to the response requirement.

[0025] Furthermore, other aspects of the present invention relate to a control method, wherein,

[0026] The control method causes the computer to perform the following processes:

[0027] The torque and steering angle are obtained. The torque acts on the rotation axis of the steering part of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle.

[0028] The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle;

[0029] Based on the determination result, control the specified control equipment mounted on the vehicle;

[0030] In response to a user's request based on the function of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, control of the control device corresponding to the response request is executed; and

[0031] If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

[0032] Additionally, other aspects of the present invention relate to a control program product comprising a control program, wherein,

[0033] The control program causes the computer to perform the following processes:

[0034] The torque and steering angle are obtained. The torque acts on the rotation axis of the steering part of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle.

[0035] The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle;

[0036] Based on the determination result, control the specified control equipment mounted on the vehicle;

[0037] In response to a user's request based on the function of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, control of the control device corresponding to the response request is executed; and

[0038] If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

[0039] Invention Effects

[0040] According to the present invention, it is possible to operate the control equipment using existing structures while ensuring operability. This improves traffic safety and contributes to the development of sustainable transportation systems. Attached Figure Description

[0041] Figure 1 This is a block diagram showing the general structure of a vehicle 1 equipped with a control device 30 according to one embodiment.

[0042] Figure 2 This is a diagram illustrating an example of the detection value of the steering angle sensor 41.

[0043] Figure 3 This is a diagram illustrating an example of the detection value of the torque sensor 42.

[0044] Figure 4 This is a diagram illustrating an example of methods to suppress false detections and misjudgments that lead to non-steering operations.

[0045] Figure 5 This is a flowchart illustrating an example of a process performed in an implementation.

[0046] Figure 6 It is used for explanation Figure 5 The non-steering operation determination process in step S4 of the flowchart.

[0047] Explanation of reference numerals in the attached figures

[0048] 1 vehicle

[0049] 30 Control device

[0050] 31 Acquisition Department

[0051] 32 Judgment Department

[0052] 33 Control Equipment Control Department

[0053] 41 Steering angle sensor (second detection unit)

[0054] 42 Torque sensor (first detection unit)

[0055] 46. ​​Steering mechanism (steering unit)

[0056] 47. Steering Axis (Rotation Axis)

[0057] TQ Steering Torque (Torque)

[0058] θst is the steering angle. Detailed Implementation

[0059] Hereinafter, one embodiment will be described with reference to the accompanying drawings. The following embodiments do not limit the present invention, and all elements described in the following embodiments are not limited to those essential to the present invention. Furthermore, two or more elements described in the following embodiments may be combined arbitrarily without departing from the spirit of the present invention. It should be noted that, hereafter, the same or similar elements will be labeled with the same or similar reference numerals, and their descriptions may sometimes be appropriately omitted or simplified.

[0060] [Vehicles equipped with control devices]

[0061] First, the structure of the vehicle 1 equipped with the control device 30 of the embodiment will be described. Figure 1 This is a block diagram illustrating the structure of vehicle 1. Vehicle 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steering wheels capable of steering. As an example, vehicle 1 can be a four-wheeled automobile with a pair of front wheels on the left and right and a pair of rear wheels on the left and right.

[0062] The drive source of vehicle 1 can be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of vehicle 1 can drive the left and right front wheels, the left and right rear wheels, or all four wheels (left and right front wheels and left and right rear wheels). The front and rear wheels of vehicle 1 can be either steering wheels (either one or both).

[0063] Vehicle 1, in addition to manual driving, is capable of autonomous driving and driver assistance systems, enabling it to operate automatically. Autonomous driving, as defined here, refers to the vehicle system's recognition or monitoring of the driving environment and surrounding conditions, as well as all driving operations such as starting, accelerating, decelerating, steering, and stopping. Driver assistance refers to a portion of the vehicle system's operations such as starting, accelerating, decelerating, steering, and stopping, such as APS (Automatic Parking System), LKAS (Lane Keep Assist System), and ACC (Adaptive Cruise Control). It should be noted that, as is known, there can be multiple levels of driving control in autonomous driving and driver assistance systems, for example, defined by levels 0 to 5 as defined by the SAE (Society of Automotive Engineers) in the United States. Regarding these driving control levels, the higher the level number, the lighter the operational burden on the driver and other users (hereinafter referred to as users) (in other words, the higher the level number, the higher the degree of automation). It should be noted that the specific content of levels 0 to 5 is known, therefore its description is omitted here.

[0064] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30, an electric power steering (EPS) system 40, a drive force control system 50, a braking force control system 60, a communication unit 70, and an operation input unit 80.

[0065] The sensor group 10 is configured to include: an external sensor 11 that acquires information related to the surroundings of the vehicle 1; and a vehicle sensor 12 that acquires information related to the vehicle 1. The information acquired by each sensor included in the sensor group 10 (in other words, the detection values) is output to the control device 30.

[0066] The external sensor 11 is configured to include, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is a digital camera that captures images of the surroundings of the vehicle 1 and outputs the image data of the obtained surrounding images to the control device 30. In this embodiment, the vehicle 1 is capable of autonomous driving, etc., so in order to obtain a 360-degree surrounding image of the vehicle 1, it has a front camera 111a, a rear camera 111b, a left-side camera 111c, and a right-side camera 111d. It should be noted that the camera 111 does not need to have all of these cameras 111a to 111d; it only needs to have at least a number of cameras capable of autonomous driving, automatic parking, etc.

[0067] The front camera 111a is installed, for example, above the front window inside the vehicle compartment, or on the front bumper, to capture the area in front of the vehicle 1. The rear camera 111b is installed, for example, on the rear bumper, to capture the area behind the vehicle 1. The left-side camera 111c is installed, for example, on the left-side rearview mirror, to capture the area on the left side of the vehicle 1. The right-side camera 111d is installed, for example, on the right-side rearview mirror, to capture the area on the right side of the vehicle 1. Each of the cameras 111a to 111d can be a digital camera using a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) imaging element. It should be noted that, in the following description, unless specifically distinguished, the front camera 111a, rear camera 111b, left-side camera 111c, and right-side camera 111d will be referred to simply as "camera 111".

[0068] Sonar 112 emits sound waves towards the periphery of vehicle 1 (e.g., in front, behind, and to the sides of vehicle 1) and receives reflected sound waves from objects present in the periphery of vehicle 1, thereby detecting the distance to the object, the orientation of the object, etc. This detected information is transmitted to control device 30 at a predetermined period. Radar 113 emits radio waves towards the periphery of vehicle 1, including the front of vehicle 1, and receives reflected waves from objects present in the periphery of vehicle 1, thereby detecting the distance to the object, the orientation of the object, etc. This detected information is transmitted to control device 30 at a predetermined period. For example, millimeter-wave radar can be used as radar 113.

[0069] It should be noted that the external sensor 11 can also be configured to replace sonar 112 and radar 113, or include LiDAR (Light Detection and Ranging) in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light into the vicinity of vehicle 1, including the area in front of vehicle 1, and receives reflected light from objects present in the vicinity of vehicle 1, thereby detecting the distance to the object, the orientation of the object, etc.

[0070] The vehicle sensor 12 may be configured to include, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering device touch sensor 126.

[0071] Wheel sensor 121 detects the rotation angle of one or more wheels of vehicle 1. Wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0072] The vehicle speed sensor 122 detects the speed of the vehicle 1 (in other words, the speed at which the vehicle body moves), i.e., the vehicle speed. For example, the vehicle speed sensor 122 detects the vehicle speed based on the rotational speed of a secondary shaft (not shown) provided by the vehicle 1.

[0073] The inertial measurement unit 123 detects the angular velocities of the vehicle 1 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 1 in the forward, left, right, and up / down directions. It should be noted that the vehicle sensor 12 can also be configured to replace the inertial measurement unit 123 by including an accelerometer sensor that detects the acceleration of the vehicle 1 in a specified direction and a gyroscope sensor that detects the angular velocity of the vehicle 1 in a specified direction.

[0074] The occupant camera 124 is a digital camera used to capture images of the interior of vehicle 1 and outputs the obtained image data of the interior to the control device 30. For example, the occupant camera 124 can be configured as a so-called "driver monitoring camera," capable of capturing the head of the user sitting in the driver's seat of vehicle 1 from the front (in other words, capable of capturing the face). As the occupant camera 124, like the camera 111, a digital camera utilizing imaging elements such as CCD or CMOS can be used. It should be noted that, in this embodiment, the image data of the interior obtained by capturing images of the interior through the occupant camera 124 becomes information that can determine the direction of the user's gaze.

[0075] The operation detection unit 125 detects operations performed using the operation input unit 80, which is configured in a manner operable by the occupants. In one embodiment, the operation input unit 80 includes, for example, an operation switch (not shown), which accepts operations to switch the automatic driving mode and automatic parking mode on (in other words, active) and off (in other words, inactive). In this case, the operation detection unit 125 can detect operations to turn the automatic driving mode and automatic parking mode on / off.

[0076] The steering system touch sensor 126 detects whether the steering system 46 of the vehicle 1 is properly gripped. For example, the steering system touch sensor 126 is implemented by an electrostatic capacitance sensor or the like. In this case, the electrostatic capacitance sensor is located at the part touched by the user when the steering system 46 is properly gripped.

[0077] The navigation device 20 is configured, for example, to include a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. Additionally, the navigation device 20 has a storage unit (not shown) composed of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (map information DB) 24, etc.

[0078] The GNSS receiver 21 determines the current position of vehicle 1 (e.g., the latitude and longitude of the location of vehicle 1) based on signals received from GNSS satellites. It should be noted that the navigation device 20 may also obtain the detection results of vehicle sensors 12 (e.g., wheel sensors 121, vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of vehicle 1 by using the INS (Inertial Navigation System) that utilizes the detection values ​​of vehicle sensors 12.

[0079] The touch panel 22 functions as an input device for receiving various information inputs to the control device 30, and as a display unit controlled by the control device 30. The touch panel 22 is configured, for example, by combining a liquid crystal display, an OLED (Organic Light Emitting Diode), and a pointing device (e.g., a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1.

[0080] For example, navigation device 20 searches for a path from the current location of vehicle 1 to the destination set by the user using touch panel 22, referring to map information database 24. Then, navigation device 20 provides path guidance using touch panel 22 and speaker 23 based on the searched path. Alternatively, navigation device 20 can also cause touch panel 22 to display a specified information according to instructions from control device 30. Specific display examples will be described later. Furthermore, navigation device 20 can output specified information to control device 30, such as information indicating the determined current location of vehicle 1 and information indicating operations received via touch panel 22.

[0081] The control device 30 is, for example, a computer that controls the vehicle 1 as a whole, which has a processor for performing various calculations, a storage unit 35 with a non-temporary storage medium for storing various information, and an input / output unit for controlling the internal and external data input and output of the control device 30, etc. (not shown).

[0082] For example, control device 30 may be implemented by a single ECU (Electronic Control Unit) or through the collaboration of multiple ECUs. The specific structure of control device 30 and concrete examples of its control will be described later.

[0083] The EPS system 40 is configured, for example, to include a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a rotary transformer 44, and an EPS ECU 45.

[0084] Steering angle sensor 41 detects the rotation angle of steering shaft 47, i.e., the steering angle θst of steering device 46, and outputs information representing the detected steering angle θst to EPS ECU 45. It should be noted that steering shaft 47 is connected to steering device 46. That is, steering angle sensor 41 detects the steering angle θst detected by user operation of steering device 46 and outputs the detected information to EPS ECU 45. Here, "operation of steering device 46" is not necessarily limited to steering operation of steering device 46 that turns the wheels. For example, it also includes non-steering operations such as user tapping or touching steering device 46. In other words, the "operation" mentioned here includes non-steering operations that do not turn the wheels (hereinafter also referred to as "non-steering operations").

[0085] Figure 2 This is a diagram showing an example of the detection value from the steering angle sensor 41. Figure 2 In the example, for ease of illustration, examples are shown of the user continuously performing non-steering operations such as tapping the steering mechanism 46, as well as steering operations that turn the wheels. From this... Figure 2 As can be seen, the changes in steering angle θst during non-steering operations and steering operations are significantly different. Specifically, the change in steering angle θst during non-steering operations (enclosed by the dashed line) is significantly smaller than the change during steering operations. It should be noted that the change in steering angle θst during non-steering operations is shown in the enlarged view of the portion enclosed by the dashed line. In other words, the change in steering angle θst per unit time is significantly smaller during non-steering operations than during steering operations. Based on this change in steering angle θst, the control device 30, described later, can determine whether the operation caused by the change in steering angle θst is a non-steering operation or a steering operation. That is, the user's operation can be determined based on the detection value of the steering angle sensor 41. A detailed control example will be described later.

[0086] It should be noted that non-steering operations can be achieved by operating any part of the steering mechanism 46. That is, the user can achieve non-steering operations by tapping any part of the steering mechanism 46, etc.

[0087] The torque sensor 42 detects the torque acting on the steering shaft 47, i.e., the steering torque TQ, and outputs information indicating the detected steering torque TQ to the EPS ECU 45. In other words, the torque sensor 42 detects the steering torque TQ applied by the user operating the steering device 46 and outputs the detected information to the EPS ECU 45. It should be noted that the "operation of the steering device 46" mentioned here, as described in the steering angle sensor 41, is not limited to the steering operation of the steering device 46 that turns the wheels, but also includes the aforementioned non-steering operations.

[0088] Figure 3 This is a diagram showing an example of the detection value of the torque sensor 42. Figure 3 In the example shown, for ease of explanation, examples are illustrated of the user continuously performing non-steering operations such as tapping the steering mechanism 46, as well as steering operations that turn the wheels. From this... Figure 3 It can be seen that the magnitude of torque fluctuations during non-steering and steering operations is significantly different. Specifically, the magnitude of torque fluctuation during non-steering (enclosed by the dashed line) is significantly smaller than that during steering. In other words, the torque change per unit time is significantly smaller during non-steering and steering operations. Based on this torque fluctuation, the control device 30, described later, can determine whether the operation caused by the torque fluctuation is a non-steering or steering operation. That is, the user's operation can be determined based on the detection value of the torque sensor 42. A detailed control example will be described later.

[0089] It should be noted that, in the implementation, the steering device 46 is an example of a "steering unit", the steering shaft 47 is an example of a "rotation shaft", the torque sensor 42 is an example of a "first detection unit", and the steering angle sensor 41 is an example of a "second detection unit".

[0090] EPS motor 43 assists the user in operating the steering device 46 by applying driving or reaction force to the steering column (not shown) connected to the steering device 46 according to instructions from EPS ECU 45. Resolver 44 detects the rotation angle θm of EPS motor 43 and outputs information representing the detected rotation angle θm to EPS ECU 45.

[0091] The EPS ECU 45 is, for example, a computer that controls the EPS system 40 (e.g., the EPS motor 43). It includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the EPS ECU 45 (all not shown). It is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the rotary transformer 44. Alternatively, the EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0092] Alternatively, the EPS system 40 (e.g., EPS ECU 45) can also output information representing the steering speed ω of the steering device 46 to the control device 30. In this case, the steering speed ω is obtained, for example, by time differentiation of the steering angle θst.

[0093] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is, for example, a computer that controls the drive force control system 50. It includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the drive ECU 51 (all not shown), and is implemented by one or more ECUs. For example, the drive ECU 51 controls the drive force output from the drive source of the vehicle 1 based on the amount of operation of the accelerator pedal 52 provided on the vehicle 1 and the detection value of the gear position sensor 53 that detects the gear position Ps of a shifting device (e.g., shift lever, shift switch, not shown). It should be noted that the drive source, as described above, is an internal combustion engine or a motor, and the drive ECU 51 controls the output of these internal combustion engines or motors based on the amount of operation of the accelerator pedal 52 and the gear position Ps. Furthermore, the drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to instructions from the control device 30.

[0094] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is, for example, a computer that controls the braking force control system 60. It includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the internal and external data inputs and outputs of the braking ECU 61 (all not shown), and is implemented by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the braking device (not shown) provided by the vehicle 1 based on the operation of the brake pedal 62 provided on the vehicle 1. Here, the braking device is configured, for example, to include a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the hydraulic cylinder. Then, the braking ECU 61 controls the electric motor of the braking device to generate braking force corresponding to the operation of the brake pedal 62. Furthermore, the braking ECU 61 can also control the braking force control system 60 according to instructions from the control device 30.

[0095] The communication unit 70 is a communication interface that communicates with the external device 2 according to control instructions issued by the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include, for example, a user's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of vehicle 1. It should be noted that communication between vehicle 1 and the external device 2 can utilize mobile communication networks such as cellular lines, Wi-Fi, Bluetooth, etc.

[0096] [Structure of the control device]

[0097] Next, the structure of the control device 30 will be described in detail. The control device 30 executes various programs stored in the storage unit 35. In an embodiment, the control device 30, for example, determines whether the user has performed a non-steering operation that requires a response to the function of the control device based on autonomous driving, automatic parking, or other similar control equipment, and executes control of the control equipment corresponding to the response request based on the determination result. As mentioned above, with the introduction of autonomous driving technology and driver assistance technology, the number of devices such as operating switches installed in vehicles is increasing, or operating switches may be shared with in-vehicle equipment such as navigation systems, which may complicate or cumbersome the operation of the operating switches. Therefore, in an embodiment, a prescribed program is executed that ensures operability and allows the operation of the control equipment to function using the existing structure without adding new structures.

[0098] Specifically, the control device 30 includes an acquisition unit 31, a determination unit 32, and a control device control unit 33 as functional units implemented by executing the prescribed procedure. It should be noted that, hereinafter, the processes performed by the acquisition unit 31, the determination unit 32, and the control device control unit 33 are described as processes implemented by the control device 30.

[0099] The acquisition unit 31 acquires the steering torque TQ, which is the torque acting on the steering shaft 47 detected by the torque sensor 42, and the steering angle θst, which is the steering angle detected by the steering angle sensor 41. As described above, the information such as the detection value acquired by the torque sensor 42 and the detection value acquired by the steering angle sensor 41 are output to the control device 30. Then, the information output to the control device 30 is stored in the storage unit 35. Therefore, the acquisition unit 31, referring to the storage unit 35, acquires the steering torque TQ detected by the torque sensor 42 and the steering angle θst detected by the steering angle sensor 41.

[0100] The determination unit 32 determines whether the steering device 46 is in non-steering operation based on the steering torque TQ and steering angle θst obtained by the acquisition unit 31. For example, the determination unit 32 compares the steering torque TQ obtained by the function of the acquisition unit 31 with reference information (e.g., the steering torque TQ during non-steering operation) pre-stored in the storage unit 35. Figure 3 The waveform described in the diagram is compared to determine whether the obtained steering torque TQ represents a non-steering operation. If the determination unit 32 determines that the information of the obtained steering torque TQ is consistent with or similar to the reference information of that steering torque TQ, it determines that the obtained steering torque TQ is the torque based on a non-steering operation. It should be noted that, as described above, in both non-steering and steering operations, if... Figure 3 As explained, the magnitude of torque variation is significantly different, making it easy to determine non-steering operations. However, it is also possible to determine whether non-steering operations have occurred by defining the amount of torque variation per unit time.

[0101] Then, if the determination unit 32 determines that the obtained steering torque TQ is not based on the torque of non-steering operation, it determines that the obtained steering torque TQ is not based on the reference information of the steering torque TQ.

[0102] In addition, the determination unit 32 compares the steering angle θst obtained by the acquisition unit 31 with the reference information of the steering angle θst during non-steering operation pre-stored in the storage unit 35 (e.g., Figure 2The waveform described in the diagram is compared to determine whether the obtained steering angle θst represents a non-steering operation. If the determination unit 32 determines that the information indicating the obtained steering angle θst is consistent with or similar to the reference information for that steering angle θst, it determines that the obtained steering angle θst is a steering angle based on a non-steering operation. It should be noted that, as described above, in both non-steering and steering operations, if... Figure 2 As explained, the magnitude of the change in steering angle θst is significantly different, making it easy to determine whether a non-steering operation has occurred. However, it is also possible to determine whether a non-steering operation has occurred by defining the amount of change in steering angle θst per unit time.

[0103] Then, if the determination unit 32 determines that the obtained steering angle θst is inconsistent or dissimilar to the reference information of the steering angle θst, the determination unit 32 determines that the obtained steering angle θst is not a steering angle based on non-steering operation.

[0104] The control device control unit 33 controls the prescribed control device mounted on the vehicle 1 based on the determination result of the determination unit 32 regarding whether a non-steering operation has occurred. Specifically, in response to a user's response request based on the function of the control device, if a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41 based on the determination result of the determination unit 32, the control device control unit 33 executes control of the control device corresponding to the response request. Conversely, if no non-steering operation is detected by either the torque sensor 42 or the steering angle sensor 41 based on the determination result of the determination unit 32, the control device control unit 33 does not execute control of the control device corresponding to the response request.

[0105] Here, "response to user requests based on the functions of the control device" includes, in addition to the aforementioned driver assistance controls such as autonomous driving control, ACC, and APS, operations such as audio device operation (e.g., adjusting volume, skipping songs), destination retrieval operation on the navigation device 20, route search to the destination, and air conditioning operation. It should be noted that the control and operation based on response requests listed here are just examples, and can be arbitrarily set by the manufacturer, etc. The control unit 33 of the control device performs such response requests, for example, by displaying on a display unit such as the touch panel 22, or by outputting sound from the speaker 23. Then, when the user responds to the response request, they can respond by non-steering operations such as tapping the steering device 46.

[0106] It should be noted that if the above response requirements are classified according to the content of the requirements, they can be classified, for example, as "response requirements accompanied by braking force control" for autonomous driving, driving assistance and other control of driving force and / or braking force, and "response requirements without braking force control" for path search to the destination.

[0107] Based on the determination result of the determination unit 32, the control device control unit 33 executes control of the control device corresponding to the response request when a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41. In this case, the control device control unit 33 preferably determines whether to execute control of the control device corresponding to the response request based on the content of the response request. For example, if the response request is the aforementioned response request accompanied by braking force control, since braking force control is a control directly related to the driving of vehicle 1, further considering safety, it is preferable to execute control of the control device corresponding to the response request based on the determination that a non-steering operation is detected by both the torque sensor 42 and the steering angle sensor 41.

[0108] For example, in the case of driver assistance such as Automatic Parking System (APS) where the response request is to begin moving vehicle 1 to the target parking position, the control unit 33, upon determining that both the torque sensor 42 and the steering angle sensor 41 detect non-steering operation, begins to execute control of the control equipment for automatic parking. That is, the control unit 33, based on the condition that both the torque sensor 42 and the steering angle sensor 41 detect non-steering operation, performs drive control, braking control, and steering control via the drive ECU 51, brake ECU 61, EPS ECU 45, etc., to begin automatic parking control that moves vehicle 1 to the target parking position.

[0109] It should be noted that in response requirements for automatic parking control and other accompanying braking force control, if a non-steering operation is detected only by one of the torque sensor 42 and the steering angle sensor 41, or if no non-steering operation is detected by either sensor, the control unit 33 will not execute the control of the control device corresponding to the response requirement. In other words, since no non-steering operation is detected in response to the accompanying braking force control, the control unit 33 will not execute the control of the control device corresponding to the response requirement.

[0110] On the other hand, for example, when the response requirement is the operation of the navigation device 20 or other response requirement that is not accompanied by braking force control, the control unit 33 of the control device may relax the conditions compared with the response requirement accompanied by braking force control, and execute the control of the control device corresponding to the response requirement based on the determination that non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41.

[0111] For example, when the response request is to start searching for a path to the destination in the navigation device 20, the control unit 33 executes control of the control device for path searching if it determines that a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41. That is, the control unit 33 controls the navigation device 20 to start searching for a path to the destination based on the condition that a non-steering operation is detected by one of the torque sensor 42 and the steering angle sensor 41.

[0112] It should be noted that, in response requirements without accompanying braking force control, if no non-steering operation is detected by either the torque sensor 42 or the steering angle sensor 41, the control unit 33 does not execute the control of the control device corresponding to the response requirement. In other words, since no non-steering operation is detected for the response requirement without accompanying braking force control, the control unit 33 does not execute the control of the control device corresponding to the response requirement.

[0113] Thus, in this implementation, when conditions are met based on response requirements such as those accompanying braking force control and those not accompanying braking force control, control of the control device corresponding to the response requirement is executed. It should be noted that the condition of "non-steering operation detected by torque sensor 42 and steering angle sensor 41" applied when there is a response requirement accompanying braking force control is an example of the "first condition" in this implementation. Furthermore, the condition of "non-steering operation detected by at least one of torque sensor 42 and steering angle sensor 41" applied when there is no response requirement accompanying braking force control is an example of the "second condition" in this implementation. In the following description, these conditions will also be abbreviated as "first condition" and "second condition."

[0114] On the other hand, user responses to non-steering operations as described above may also lead to false detections and misjudgments. For example, when vehicle 1 is in motion, unavoidable vibrations, noise, and external interference may occur. For example, when vehicle 1 is traveling at a speed above a specified speed, the control device 30 may falsely detect or misjudge non-steering operations due to vibrations. Furthermore, when vehicle 1 is traveling at a speed above a specified speed, the user's operation of the steering device 46 may become complicated, which may lead to false detections or misjudgments of non-steering operations. Therefore, in the embodiment, in order to suppress or prevent such false detections or misjudgments of non-steering operations, the determination of whether or not non-steering operations occur is limited under specified conditions.

[0115] Specifically, the determination unit 32 determines whether a non-steering operation has occurred when the vehicle speed of vehicle 1 is less than a predetermined speed. In other words, the determination unit 32 does not determine whether a non-steering operation has occurred when the vehicle speed is above the predetermined speed. It should be noted that the predetermined speed can be predetermined through experiments or the like. In addition, the vehicle speed is obtained, for example, based on information from the vehicle speed sensor 122.

[0116] Furthermore, the determination unit 32 determines whether a non-steering operation has occurred when the wheel's steering speed is less than a predetermined steering speed. In other words, the determination unit 32 does not determine whether a non-steering operation has occurred when the steering speed is higher than the predetermined steering speed. This is because at high steering speeds, the user's operation may become complicated, and false detections or misjudgments of non-steering operations may occur. It should be noted that the predetermined steering speed can be predetermined, for example, through experiments. Additionally, the steering speed can be obtained, for example, based on information from a steering angle sensor (not shown) or based on information from the steering angle θst obtained by the steering angle sensor 41.

[0117] Furthermore, if the determination unit 32 determines whether there is a non-steering operation based on the torque sensor 42's detection if the number of other detections performed by the torque sensor 42 within a predetermined time period before and after the torque sensor 42's detection is less than a predetermined number. In other words, if the number of other detections performed by the torque sensor 42 within a predetermined time period before and after the torque sensor 42's detection is more than a predetermined number, it does not determine whether there is a non-steering operation based on the torque sensor 42's detection.

[0118] Will use Figure 4 Regarding the determination of whether non-steering operation has occurred, for example, if a torque change (as shown by the dashed line) is detected in response to a user's request, and if other detections performed by the torque sensor 42 within a predetermined time period before and after the detection of this torque change are less than a predetermined number, then the determination unit 32 determines whether non-steering operation has occurred. In other words, in Figure 4 If, within a specified time period, other than the torque variation enclosed by the dotted line, the detection count exceeds a specified number, then the determination unit 32 will not determine whether there is a non-steering operation detected by the torque sensor 42. It should be noted that the "specified time period" is assumed to be a short time such as 1 second. Furthermore, the "specified number" can be predetermined by the manufacturer, for example, set to a number that takes into account false detections and false judgments.

[0119] It should be noted that other detections performed by the torque sensor 42 are preferably "0". However, the user's response to the required response is not necessarily based on a single tap on the steering mechanism 46. Individual differences can be considered, such as continuous tapping or intermittent tapping of the steering mechanism 46 within a short period of time. Furthermore, external interference such as unavoidable minor torque variations can also be considered. Therefore, the number of other detections besides torque variation is defined here as less than a predetermined number including "0".

[0120] Based on the same principle, if the number of other detections performed by the steering angle sensor 41 within a predetermined time period before and after the detection by the steering angle sensor 41 is less than a predetermined number, the determination unit 32 determines whether there is a non-steering operation based on the detection by the steering angle sensor 41. In other words, if the number of other detections performed by the steering angle sensor 41 within a predetermined time period before and after the detection by the steering angle sensor 41 is more than a predetermined number, the determination does not determine whether there is a non-steering operation based on the detection by the steering angle sensor 41. Detailed explanation and use Figure 4 The description of the torque sensor 42 is the same as that in the description, so its description is omitted here.

[0121] [flow chart]

[0122] Next, an example of the processing performed by the control device 30 in the embodiment will be described. Figure 5 This is a flowchart illustrating an example of the process. In this example, we see how control device 30 executes control of the control equipment corresponding to the content of the response request when the user's response to the response request meets specified conditions. Since the specific content of the process in control device 30 is as described above, the flow of the process will be primarily explained here, with detailed descriptions omitted or simplified.

[0123] It should be noted that, in this Figure 5 In the processing shown, the prerequisite is that the vehicle speed is less than a specified vehicle speed and the steering speed is less than a specified steering speed, which are conditions used to prevent the aforementioned false detections and misjudgments. Furthermore, in the response to the response request, the information detected by the torque sensor 42 and the steering angle sensor 41 is less than a specified number within a specified time period before and after the detection of the response request. Additionally, Figure 5 The process shown is performed when the ignition power is on.

[0124] First, in step S1, the control device 30 responds to a request. Here, we will explain the case where a request to initiate automatic parking control is made as an example. That is, the control device 30 responds to the request to initiate automatic parking control via the touch panel 22, speaker 23, etc. It should be noted that the situation in which the control device 30 responds to the user's request for automatic parking control can be envisioned, for example, when vehicle 1 enters a designated parking area such as one's own home, or when the distance between vehicle 1 and the designated parking area is within a specified distance.

[0125] Next, in step S2, the control device 30 acquires the steering torque TQ. That is, the control device 30 acquires the steering torque TQ information based on the information from the torque sensor 42 through the function of the acquisition unit 31.

[0126] Similarly, in step S3, the control device 30 obtains the steering angle θst. That is, the control device 30 obtains the steering angle θst information based on the information from the steering angle sensor 41 through the function of the acquisition unit 31. It should be noted that the processing order of steps S2 and S3 can be reversed, or they can be executed simultaneously.

[0127] Next, the control device 30 performs a non-steering operation determination process to determine whether the user has performed a non-steering operation (step S4). Figure 6 This is a sub-process representing an example of the non-steering operation determination process. In this non-steering operation determination process, the control device 30 determines whether the user's operation in response to the response request meets the conditions for a non-steering operation based on the content of the response request.

[0128] First, the control device 30 determines whether the content of the response request is related to the control of the braking force and driving force (step S40). In the example shown here, as described above, as an example, a response request is made regarding whether to start automatic parking control. Therefore, an affirmative determination is made in step S40 (yes in step S40), and the control device 30 causes the process to proceed to step S41.

[0129] In step S41, the control device 30 determines whether the first condition is met through the function of the determination unit 32. As described above, the first condition refers to "non-steering operation detected by the torque sensor 42 and the steering angle sensor 41". Specifically, the control device 30 compares the steering torque TQ information obtained in step S2 with the reference information of steering torque TQ during non-steering operation stored in the storage unit 35 to determine whether the steering torque TQ information is consistent with or similar to the reference information of steering torque TQ.

[0130] Similarly, the control device 30 compares the steering angle θst information obtained in step S3 with the reference information of the steering angle θst during non-steering operation stored in the storage unit 35 to determine whether the steering angle θst information is consistent with or similar to the reference information of the steering angle θst.

[0131] In these determination processes, if it is determined that both the steering torque TQ and the steering angle θst are consistent with or similar to the various reference information stored in the storage unit 35 (Yes in step S41), the control device 30 determines that the first condition is met (step S42). That is, the control device 30 uses the information obtained from the torque sensor 42 and the steering angle sensor 41... Figure 2 and Figure 3 If the information is equivalent to a non-steering operation, it is determined that the first condition is met, and it is considered that there is a response from the user to the response request.

[0132] Conversely, if the information of at least one of the steering torque TQ and steering angle θst is inconsistent with or dissimilar to the reference information stored in the storage unit 35 (no in step S41), the control device 30 determines that the first condition is not met (step S43). That is, the control device 30 determines that the information of at least one of the information obtained from the torque sensor 42 and the steering angle sensor 41 is not used... Figure 2 and Figure 3 If the information is equivalent to a non-directional operation, it is determined that the first condition is not met, and it is considered that there is no response from the user to the response request.

[0133] It should be noted that if the response request is not related to braking force or drive force control, such as initiating automatic parking control, a negative determination is made in step S40 (no in step S40). For example, consider a situation where the response request is to start searching for a route to the destination in the navigation device 20. In such a case, the control device 30 causes the process to proceed to step S44.

[0134] In step S44, the control device 30 determines whether the second condition is met through the function of the determination unit 32. As described above, the second condition refers to "a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41". Specifically, the control device 30 compares the steering torque TQ information obtained in step S2 with the reference information of the steering torque TQ during non-steering operation stored in the storage unit 35 to determine whether the steering torque TQ information is consistent with or similar to the reference information of the steering torque TQ.

[0135] Similarly, the control device 30 compares the steering angle θst information obtained in step S3 with the reference information of the steering angle θst during non-steering operation stored in the storage unit 35 to determine whether the steering angle θst information is consistent with or similar to the reference information of the steering angle θst.

[0136] In these determination processes, if it is determined that at least one of the steering torque TQ and steering angle θst is consistent with or similar to the various reference information stored in the storage unit 35 (yes in step S44), the control device 30 determines that the second condition is met (step S45). That is, the control device 30 determines that at least one of the information obtained from the torque sensor 42 and the steering angle sensor 41 is satisfied. Figure 2 and Figure 3 If the information is equivalent to a non-steering operation, it is determined that the second condition is met, and it is considered that there is a response from the user to the response request.

[0137] Conversely, if either the steering torque TQ or the steering angle θst is determined to be inconsistent with or dissimilar to the reference information stored in the storage unit 35 (not in step S44), the control device 30 determines that the second condition is not met (step S46). In other words, the control device 30 determines that the second condition is not met when neither the information obtained from the torque sensor 42 nor the steering angle sensor 41 is used... Figure 2 and Figure 3 If the information is equivalent to a non-directional operation, it is determined that the second condition is not met, and it is considered that there is no response from the user to the response request.

[0138] After performing the determination in any of steps S43 to S46, the control device 30 causes the processing to proceed. Figure 5 Step S5.

[0139] In step S5, the control device 30 determines, through the function of the determination unit 32, whether the conditions for the response requirement are met. That is, based on the determination result of the non-steering operation determination process in step S4, the control device 30 determines whether the first condition or the second condition for the response requirement in step S1 is met.

[0140] In step S5, if it is determined that the conditions for the response requirement are met (yes in step S5), the control device 30 causes the processing to proceed to step S6.

[0141] In step S6, the control device 30 executes control of the control equipment corresponding to the response request. For example, if the response request is to start automatic parking control, the control device 30 performs drive control, braking control, and steering control via the drive ECU 51, brake ECU 61, EPSECU 45, etc., to start automatic parking control that moves the vehicle 1 to the target parking position. Alternatively, for example, if the response request is to start searching for the destination path in the navigation device 20, the control device 30 controls the navigation device 20 to start searching for the destination path.

[0142] On the other hand, in step S5, if it is negatively determined that the conditions for the response requirement are not met (no in step S5), the control device 30 temporarily terminates. Figure 5 The processing shown.

[0143] [Effects of the Implementation Method]

[0144] As described above, in this implementation, for user response requests based on functions of control devices such as automatic parking control, the user can respond by non-steering operations such as tapping the steering mechanism 46. That is, for response requests from the vehicle 1 side, the user does not need to operate a dedicated control switch, the touch panel 22 of the navigation device 20, etc., but can respond to the request by a simple operation such as tapping the steering mechanism 46. Therefore, operability and marketability can be improved or ensured.

[0145] Furthermore, in this embodiment, the system is configured to determine whether the user has performed a non-steering operation based on information detected by the steering angle sensor 41 and / or torque sensor 42 included in the EPS system 40. Therefore, a novel structure, such as a measuring unit that detects the user's non-steering operation, is unnecessary. In other words, existing structures can be used to determine whether the user has performed a non-steering operation. As a result, increased costs can be avoided, and a highly operable switching function can be achieved.

[0146] Furthermore, in the implementation, a first condition or a second condition, depending on the content of the response request, is set as the condition for executing control of the control device corresponding to the response request. That is, the control device corresponding to the response request is configured to execute control when the condition corresponding to the content of the response request is met. For example, the first condition applies to response requests such as automatic parking that are accompanied by braking force control, while the second condition applies to response requests such as starting a route search to the destination in the navigation device 20 that are not accompanied by braking force control. In this way, in the case of control related to the driving and safety of the vehicle 1, such as control accompanied by braking force control, by making the condition relatively strict, it is possible to more reliably determine whether there is a non-steering operation, and to perform control based on the safety of the vehicle 1.

[0147] Furthermore, in this embodiment, the condition for determining whether a non-steering operation is performed is that the vehicle speed is less than a predetermined speed. That is, when the vehicle speed is less than the predetermined speed, it is determined whether a non-steering operation has occurred; when the vehicle speed is above the predetermined speed, it is not determined whether a non-steering operation has occurred. This suppresses or avoids false detections or misjudgments of non-steering operations caused by vibrations, noise, etc., that may occur from the moving vehicle 1. Additionally, as the vehicle speed increases, the operation of the steering device 46 becomes more complex for the user, potentially leading to false detections or misjudgments of non-steering operations. However, by not determining whether a non-steering operation has occurred when the vehicle speed is above the predetermined speed, the possibility of such false detections or misjudgments of non-steering operations due to the increased complexity of operating the steering device 46 can be reduced.

[0148] Furthermore, in this embodiment, the condition for determining whether a non-steering operation is being performed is that the wheel's steering speed is less than a predetermined steering speed. That is, if the wheel's steering speed is less than the predetermined steering speed, a determination is made regarding whether a non-steering operation has occurred; if the wheel's steering speed is higher than the predetermined steering speed, a determination is not made regarding whether a non-steering operation has occurred. This suppresses or avoids false detections or misjudgments of non-steering operations caused by vibrations, noise, etc., that may occur from the moving vehicle 1. Additionally, as the steering speed increases, the user's operation of the steering device 46 becomes more complex, potentially leading to false detections or misjudgments of non-steering operations. However, by not determining whether a non-steering operation has occurred when the predetermined steering speed is higher, the possibility of such false detections or misjudgments due to the increased complexity of operating the steering device 46 can be reduced.

[0149] Furthermore, in this embodiment, if the number of other detections performed by the steering angle sensor 41 within a predetermined time period before and after the detection of the steering angle θst in the steering angle sensor 41 is less than a predetermined number, it is determined whether a non-steering operation has occurred. In other words, if the number of other detections performed by the steering angle sensor 41 is greater than or equal to a predetermined number, it is not determined whether a non-steering operation has occurred. This is because the accuracy of determining a non-steering operation may decrease when there are multiple other detections (i.e., other operations) performed by the steering angle sensor 41. That is, if a predetermined number or more of the detections performed by the steering angle sensor 41 are detected, it is difficult to determine whether the response is in response to the required response. Therefore, by excluding cases where the number of other detections performed by the steering angle sensor 41 within a predetermined time period before and after the detection of the steering angle θst, the decrease in the accuracy of determining a non-steering operation can be suppressed.

[0150] Similarly, if the number of other detections performed by the torque sensor 42 within a specified time period before and after the torque sensor 42 detects the steering torque TQ is less than a specified number, a non-steering operation is determined. In other words, if the number of other detections performed by the torque sensor 42 is greater than or equal to a specified number, a non-steering operation is not determined. This is because the accuracy of determining a non-steering operation may decrease when multiple other detections (i.e., other operations) performed by the torque sensor 42 are present. That is, if a specified number or more of the detections performed by the torque sensor 42 are detected, it is difficult to determine whether the response is in accordance with the required response. Therefore, by excluding cases where the number of other detections performed by the torque sensor 42 within a specified time period before and after the detection of the steering torque TQ is greater than or equal to a specified number, the decrease in the accuracy of determining a non-steering operation can be suppressed.

[0151] [Variation Example]

[0152] Next, variations will be described. In the above embodiment, an example was described where the user responded to a response request from the vehicle 1 side via a non-steering operation of the steering device 46. On the other hand, for example, there may be a situation where the driver wishes to give a negative response to a response request from the vehicle 1 side (e.g., to initiate automatic parking control), for example, by parking the vehicle by his / her own operation. That is, in the above embodiment, a positive response to a response request from the vehicle 1 side is generally given via a non-steering operation, but a negative response is also possible. In such cases, it is preferable to change the method and setting of the non-steering operation under a positive response and the method and setting of the non-steering operation under a negative response. In other words, it is preferable that a positive or negative response can be given during a non-steering operation of the steering device 46.

[0153] For example, as a "positive response," the information from the steering angle sensor 41 and torque sensor 42 obtained when the steering device 46 is struck once is pre-stored in the storage unit 35. Similarly, as a "negative response," the information from the steering angle sensor 41 and torque sensor 42 obtained when the steering device 46 is struck twice is stored in the storage unit 35. Then, in response to a response request, the information from the steering angle sensor 41 and torque sensor 42 obtained through user operation is compared with the information stored in the storage unit 35. For example, if the information is the same as or similar to the information obtained when the steering device 46 is struck once, a positive response is determined; if the information is the same as or similar to the information obtained when the steering device 46 is struck twice, a negative response is determined. Then, if a positive response is received, the control device 30 begins control of the control equipment corresponding to the response request.

[0154] It should be noted that this method and setting is merely an example. For instance, the response to a request can also be determined based on the waveform and amplitude obtained by operating the steering device 46 by pressing and holding. Furthermore, the relationship between the aforementioned "positive response" and "negative response" can be reversed. That is, as a "negative response," the information from the steering angle sensor 41 and torque sensor 42 obtained from striking the steering device 46 once is pre-stored in the storage unit 35, while as a "positive response," the information from the steering angle sensor 41 and torque sensor 42 obtained from striking the steering device 46 twice is pre-stored in the storage unit 35. Then, for any response request, the information from the steering angle sensor 41 and torque sensor 42 obtained through user operation can be compared with the information stored in the storage unit 35 to determine whether the response is acceptable.

[0155] In this way, through the non-steering operation of the steering device 46, it is possible to output whether a response request from the vehicle 1 side is permissible or not, thereby allowing the user to give both affirmative and negative responses. As a result, for example, operability is improved compared to a structure that can only give affirmative responses, and the inconvenience of only being able to give affirmative responses is reduced.

[0156] In addition, in the above embodiment, it was explained that in order to suppress false detection and false determination of non-steering operation, the determination unit 32 does not determine whether there is an example of non-steering operation when the vehicle speed is above a specified vehicle speed or the steering speed is above a specified steering speed. However, it can also be configured to not make a response request from the vehicle 1 side when such false detection and false determination can be expected.

[0157] Furthermore, in the above embodiment, an example was described where a response request is made from the vehicle 1 side and the user responds to the response request through a non-steering operation. However, for example, in some response requests that are not accompanied by braking force control, as long as the control device corresponding to the response request is functioning, it can be configured to respond even if the response request is not displayed on the display section of the touch panel 22, etc. For example, when the audio function is functioning, it can be configured to respond to operations such as changing the volume or skipping a song even if the response request is not displayed. This improves the convenience for response requests that are not accompanied by braking force control. It should be noted that for response requests accompanied by braking force control, since these are driving-related response requests, it is preferable to have a structure in which the response request is made from the vehicle 1 side each time, and the user responds to the response request.

[0158] Furthermore, the range of the steering device 46 for non-steering operations can be set according to its function. For example, in cases of positive response, such as increasing the volume, the system can be configured to respond by performing a non-steering operation on the right half of the steering device 46. Similarly, in cases of negative response, such as decreasing the volume, the system can be configured to respond by performing a non-steering operation on the left half of the steering device 46.

[0159] Furthermore, in the above embodiment, the trigger for initiating automatic parking control was described using, for example, the situation where vehicle 1 enters the parking lot area. However, the trigger for the response request can be defined differently depending on the content of the response request. For example, in the case of automatic driving control, the response request can be initiated when the destination is set in the navigation device 20.

[0160] In addition, in the above embodiment, an example of displaying a response request is described in the display section of the touch panel 22 in the navigation device 20, but the display section may also be a display showing a speedometer or the like.

[0161] Furthermore, in the above embodiment, the response request is a response request sent from the vehicle 1 side to the user, but it is not limited to a response request from the vehicle 1 side; it can also be a structure where the response request is made from the user side. For example, it can be configured such that when the user requests the start of automatic parking control, the system for automatic parking control starts working when the user performs a non-steering operation such as tapping the steering device 46. In this case, as with the response request from the vehicle 1 side, the automatic parking control is a response request accompanied by braking force control, and therefore its condition is the first condition, namely, the non-steering operation is detected by the torque sensor 42 and the steering angle sensor 41. Then, when the first condition is met, the control of the control equipment related to the automatic parking control corresponding to the response request is executed.

[0162] It should be noted that the structure can be as follows: when the response request from the user side is a response request without accompanying braking force control, and when a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41, control of the control device corresponding to the response request is executed. Other requirements and conditions can also be the same as in the example above regarding the response request from the vehicle 1 side. Therefore, their description is omitted here.

[0163] The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Obviously, those skilled in the art will be able to conceive of various modifications or alterations within the scope of the technical solutions described, and it should be understood that these modifications and alterations also fall within the technical scope of the present invention. Furthermore, the constituent elements of the above embodiments can be combined arbitrarily without departing from the spirit of the invention.

[0164] For example, at least a portion of each part constituting the control device 30 (acquisition part 31, determination part 32, control device control part 33) may exist separately in multiple devices.

[0165] Furthermore, some structures in the above-described embodiments may be omitted, or the processing may be modified or omitted.

[0166] Furthermore, the processing described in the above embodiments can be implemented by a computer executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and executed by reading it from the storage medium. Additionally, this control program can be provided in the form of storage on a non-transitory storage medium such as flash memory, or via a network such as the Internet. The computer executing this control program can be included in a control device, or in an electronic device such as a smartphone, tablet computer, or personal computer capable of communicating with the control device, or in a server device capable of communicating with these control devices and electronic devices.

[0167] At least the following items are described in this specification. It should be noted that the components corresponding to the above embodiments are shown in parentheses, but this is not a limitation.

[0168] (1) A control device (control device 30), wherein,

[0169] The control device includes:

[0170] The acquisition unit (acquisition unit 31) acquires torque (steering torque TQ) and steering angle (steering angle θst). The torque acts on the rotation shaft (steering shaft 47) of the steering unit (steering device 46) of the vehicle (vehicle 1) and is detected by a first detection unit (torque sensor 42) that detects the torque. The steering angle is the rotation angle of the rotation shaft and is detected by a second detection unit (steering angle sensor 41) that detects the steering angle.

[0171] The determination unit (determination unit 32) determines whether the steering unit has performed a non-steering operation based on the torque and steering angle obtained by the acquisition unit; and

[0172] The control device control unit (control device control unit 33) controls the specified control device mounted on the vehicle based on the determination result of the determination unit.

[0173] The control unit of the control device, in response to a user's response request based on the functions of the control device, and if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, executes control of the control device corresponding to the response request.

[0174] If the control unit of the control device does not detect the non-steering operation from either the first detection unit or the second detection unit based on the determination result, the control unit of the control device will not perform the control of the control device corresponding to the response requirement.

[0175] According to (1), in response to user requests based on the function of the control device, the presence or absence of non-steering operation of the steering unit is determined by at least one of the first and second detection units, and the control device is controlled based on the determination result. Therefore, for example, there is no need to set up a new structure such as a measuring unit for determining whether non-steering operation has occurred; in other words, the presence or absence of non-steering operation can be determined using existing structures. As a result, it is possible to avoid increasing costs and achieve a highly operable switching function in the steering unit.

[0176] (2) The control device according to (1), wherein,

[0177] The conditions for executing control of the control device corresponding to the response request include:

[0178] The first condition is that the non-steering operation is detected by the first detection unit and the second detection unit based on the determination result; and

[0179] The second condition is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result.

[0180] When the control unit of the control device satisfies the first condition or the second condition determined according to the content of the response requirement, it performs control of the control device corresponding to the response requirement.

[0181] According to (2), the first or second condition is determined based on the content of the response requirement, such as the ability to achieve control that takes into account the safety of the vehicle when executing the control corresponding to the response requirement.

[0182] (3) The control device according to (2), wherein,

[0183] The first condition applies to the response requirements of the braking force control accompanying automatic control of driving force and / or braking force.

[0184] The second condition applies to the response requirement that is not accompanied by the braking force drive force control.

[0185] According to (3), by applying the first condition, which is that non-steering operation is detected by the two detection units, the first detection unit and the second detection unit, to the braking force control, it is possible to perform control that takes into account the safety of the vehicle.

[0186] (4) The control device according to (3), wherein,

[0187] The braking force control includes automatic parking control that moves the vehicle to the target parking position.

[0188] In response to the response request related to the automatic parking control, if a response request based on the first condition exists based on the determination result, the control unit of the control device executes the control device to cause the automatic parking control to be performed.

[0189] According to (4), by applying the first condition to the automatic parking control, it is possible to perform control that takes into account safety during automatic parking.

[0190] (5) The control device according to (1) or (2), wherein,

[0191] The determination unit determines whether or not the non-steering operation has occurred when the vehicle speed is less than the specified speed.

[0192] According to (5), when the vehicle speed is less than the specified speed, it is determined whether there is a non-steering operation. In other words, when the vehicle speed is above the specified speed, it is not determined whether there is a non-steering operation. This can, for example, avoid or suppress the false detection and false judgment of non-steering operations caused by vibrations during driving.

[0193] (6) The control device according to (1) or (2), wherein,

[0194] The determination unit determines whether or not the non-steering operation has occurred when the steering speed of the vehicle's wheels is less than a specified steering speed.

[0195] According to (6), when the steering speed is less than the specified steering speed, it is determined whether there is a non-steering operation. In other words, when the steering speed is above the specified steering speed, it is not determined whether there is a non-steering operation. This can, for example, avoid or suppress the false detection and false judgment of non-steering operations caused by vibrations during driving.

[0196] (7) The control device according to (1) or (2), wherein,

[0197] If, within a specified time before and after the detection by the first detection unit, other detections performed by the first detection unit are less than a specified number, the determination unit determines whether the non-steering operation based on the detection has occurred.

[0198] According to (7), if the number of other tests performed by the first detection department within a specified time before and after the first detection department's test is less than a specified number, it is determined whether there is a non-steering operation. In other words, it excludes the case where the number of other tests is more than a specified number. This can, for example, avoid or suppress the false detection and false judgment of non-steering operations caused by external interference.

[0199] (8) The control device according to (1) or (2), wherein,

[0200] If, within a specified time before and after the detection by the second detection unit, other detections performed by the second detection unit are less than a specified number, the determination unit determines whether the non-steering operation based on the detection has occurred.

[0201] According to (8), if the number of other tests performed by the second detection department within a specified time before and after the second detection department's test is less than the specified number, it is determined whether there is a non-steering operation. In other words, it excludes the case where the number of other tests is more than the specified number. For example, it can avoid or suppress the false detection and false judgment of non-steering operation caused by external interference.

[0202] (9) The control device according to (1) or (2), wherein,

[0203] The non-steering operation is an operation on the steering unit that does not turn the wheels of the vehicle.

[0204] According to (9), by determining whether there is an operation on the steering unit that does not cause the wheels to turn, it is possible to avoid confusion between the operation that causes the wheels to turn and the response to the response requirements, or to avoid false detection or false judgment.

[0205] (10) A control device (control device 30), wherein,

[0206] The control device includes:

[0207] The acquisition unit (acquisition unit 31) acquires torque (steering torque TQ) and steering angle (steering angle θst). The torque acts on the rotation shaft (steering shaft 47) of the steering unit (steering device 46) of the vehicle (vehicle 1) and is detected by a first detection unit (torque sensor 42) that detects the torque. The steering angle is the rotation angle of the rotation shaft and is detected by a second detection unit (steering angle sensor 41) that detects the steering angle.

[0208] The determination unit (determination unit 32) determines whether the steering unit has performed a non-steering operation based on the torque and steering angle obtained by the acquisition unit; and

[0209] The control device control unit (control device control unit 33) controls the specified control device mounted on the vehicle based on the determination result of the determination unit.

[0210] In response to a user's request based on the functions of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, the control unit of the control device executes control of the control device corresponding to the response request.

[0211] If the control unit of the control device does not detect the non-steering operation from either the first detection unit or the second detection unit based on the determination result, the control unit of the control device will not perform the control of the control device corresponding to the response requirement.

[0212] According to (10), in response to a user's request to the vehicle side based on the function of the control device, the system determines whether there is a non-steering operation on the steering unit by at least one of the first and second detection units, and controls the control device based on the determination result. Thus, for example, the user can make a response request to the vehicle side to activate the control device by performing a simple non-steering operation such as tapping the operating unit. Furthermore, by making such a simple operation, a response request to the vehicle side to activate the control device can be made, thereby avoiding increased costs and achieving a highly operable switching function.

[0213] (11) The control device according to (10), wherein,

[0214] The conditions for executing control of the control device corresponding to the response request from the user include:

[0215] The first condition is that the non-steering operation is detected by the first detection unit and the second detection unit based on the determination result; and

[0216] The second condition is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result.

[0217] The control unit of the control device applies the first condition to the response requirement of the braking force control accompanying the automatic control of the driving force and / or braking force, and, if the response requirement based on the first condition exists, executes the control of the control device corresponding to the response requirement.

[0218] The control unit of the control device applies the second condition to the response requirement that is not accompanied by braking force or driving force control, and performs control of the control device corresponding to the response requirement when there is a response requirement based on the second condition.

[0219] According to (11), the first or second condition is determined based on the content of the response requirement, such as the ability to achieve control that takes into account the safety of the vehicle when executing the control corresponding to the response requirement.

[0220] (12) A control method, wherein,

[0221] The control method causes the computer to perform the following processes:

[0222] The torque (steering torque TQ) and steering angle (steering angle θst) are obtained. The torque acts on the rotation shaft (steering shaft 47) of the steering unit (steering device 46) of the vehicle (vehicle 1) and is detected by a first detection unit (torque sensor 42) that detects the torque. The steering angle is the rotation angle of the rotation shaft and is detected by a second detection unit (steering angle sensor 41) that detects the steering angle.

[0223] The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle;

[0224] Based on the determination result, control the specified control equipment mounted on the vehicle;

[0225] In response to a user's request based on the function of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, control of the control device corresponding to the response request is executed; and

[0226] If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

[0227] According to (12), in response to user requirements based on the function of the control device, the presence or absence of non-steering operation of the steering unit is determined by at least one of the first and second detection units, and the control device is controlled based on the determination result. Therefore, for example, it is possible to determine the presence or absence of non-steering operation using an existing structure without the need for a new structure such as a measuring unit for determining whether non-steering operation has occurred. As a result, it is possible to avoid increasing costs and to achieve a highly operable switching function in the steering unit.

[0228] (13) A control program product comprising a control program, wherein,

[0229] The control program causes the computer to perform the following processes:

[0230] The torque (steering torque TQ) and steering angle (steering angle θst) are obtained. The torque acts on the rotation shaft (steering shaft 47) of the steering unit (steering device 46) of the vehicle (vehicle 1) and is detected by a first detection unit (torque sensor 42) that detects the torque. The steering angle is the rotation angle of the rotation shaft and is detected by a second detection unit (steering angle sensor 41) that detects the steering angle.

[0231] The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle;

[0232] Based on the determination result, control the specified control equipment mounted on the vehicle;

[0233] In response to a user's request based on the function of the control device, if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, control of the control device corresponding to the response request is executed; and

[0234] If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

[0235] According to (13), in response to user requirements based on the function of the control device, the presence or absence of non-steering operation of the steering unit is determined by at least one of the first and second detection units, and the control device is controlled based on the determination result. Therefore, for example, it is possible to determine the presence or absence of non-steering operation using an existing structure without the need for a new structure such as a measuring unit for determining whether non-steering operation has occurred. As a result, it is possible to avoid increasing costs and to achieve a highly operable switching function in the steering unit.

Claims

1. A control device, wherein, The control device includes: The acquisition unit acquires torque and steering angle. The torque acts on the rotation axis of the steering unit of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle. The determination unit determines whether the steering unit has performed a non-steering operation based on the torque and steering angle obtained by the acquisition unit; as well as The control device control unit controls a specified control device mounted on the vehicle based on the determination result of the determination unit. The control unit of the control device, in response to a user's response request based on the functions of the control device, and if at least one of the first detection unit and the second detection unit detects the non-steering operation based on the determination result, executes control of the control device corresponding to the response request. If the control unit of the control device does not detect the non-steering operation from either the first detection unit or the second detection unit based on the determination result, the control unit of the control device will not perform the control of the control device corresponding to the response requirement.

2. The control device according to claim 1, wherein, The conditions for executing control of the control device corresponding to the response request include: The first condition is that the non-steering operation is detected by the first detection unit and the second detection unit based on the determination result; and The second condition is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result. When the control unit of the control device satisfies the first condition or the second condition determined according to the content of the response requirement, it performs control of the control device corresponding to the response requirement.

3. The control device according to claim 2, wherein, The first condition applies to the response requirements of the braking force control accompanying automatic control of driving force and / or braking force. The second condition applies to the response requirement that is not accompanied by the braking force drive force control.

4. The control device according to claim 3, wherein, The braking force control includes automatic parking control that moves the vehicle to the target parking position. In response to the response request related to the automatic parking control, if a response request based on the first condition exists based on the determination result, the control unit of the control device executes the control device to cause the automatic parking control to be performed.

5. The control device according to claim 1 or 2, wherein, The determination unit determines whether or not the non-steering operation has occurred when the vehicle speed is less than the specified speed.

6. The control device according to claim 1 or 2, wherein, The determination unit determines whether or not the non-steering operation has occurred when the steering speed of the vehicle's wheels is less than a specified steering speed.

7. The control device according to claim 1 or 2, wherein, If, within a specified time before and after the detection by the first detection unit, other detections performed by the first detection unit are less than a specified number, the determination unit determines whether the non-steering operation based on the detection has occurred.

8. The control device according to claim 1 or 2, wherein, If, within a specified time before and after the detection by the second detection unit, other detections performed by the second detection unit are less than a specified number, the determination unit determines whether the non-steering operation based on the detection has occurred.

9. The control device according to claim 1 or 2, wherein, The non-steering operation is an operation on the steering unit that does not turn the wheels of the vehicle.

10. A control method, wherein, The control method causes the computer to perform the following processes: The torque and steering angle are obtained. The torque acts on the rotation axis of the steering part of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle. The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle; Based on the determination result, control the specified control equipment mounted on the vehicle; In response to a user's response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, control of the control device corresponding to the response request is executed. as well as If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

11. A control program product comprising a control program, wherein, The control program causes the computer to perform the following processes: The torque and steering angle are obtained. The torque acts on the rotation axis of the steering part of the vehicle and is detected by a first detection unit that detects the torque. The steering angle is the rotation angle of the rotation axis and is detected by a second detection unit that detects the steering angle. The determination of whether the steering unit has performed a non-steering operation is based on the obtained torque and steering angle; Based on the determination result, control the specified control equipment mounted on the vehicle; In response to a user's response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, control of the control device corresponding to the response request is executed. as well as If, based on the determination result, the non-steering operation is not detected from either the first detection unit or the second detection unit, the control of the control device corresponding to the response requirement is not executed.

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