Vehicle behavior determination system and vehicle behavior determination method

Abstract

The present invention relates to a vehicle behavior determination system and method. The system includes a gear position sensor that detects a gear position of a vehicle; a yaw rate sensor that detects a yaw rate of the vehicle; a turning angle calculation unit that calculates a turning angle of the vehicle in a plan view between a start time and an end time based on the yaw rate between a start time and an end time of a first time; and a determination unit that determines that the vehicle is performing a designated reverse operation when the determination unit determines, based on a detection value of the gear position sensor, that the gear position switches between a forward position, a reverse position, and a forward position within the first time, and when a maximum cumulative value of the turning angle of the vehicle in one direction calculated by the turning angle calculation unit between the start time and the end time is equal to or greater than a threshold value.

Description

Technical Field

[0001] The present invention relates to a vehicle behavior determination system and a vehicle behavior determination method. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2006-142844 (JP 2006-142844 A) discloses a vehicle that can detect a reverse operation of the vehicle when the vehicle performs a reverse operation. Summary of the Invention

[0003] The invention in JP 2006-142844 A cannot determine whether the vehicle has performed a prescribed designated back-up operation including a plurality of forward operations, at least one back-up operation, and an operation of changing direction by a predetermined angle or more within a prescribed time.

[0004] In view of the above facts, the object of the present invention is to obtain a vehicle behavior determination system and a vehicle behavior determination method, which are capable of determining whether a vehicle has performed a specified reversing operation within a specified time, and the specified reversing operation includes multiple forward operations, at least one reversing operation, and an operation of changing direction at a predetermined angle or larger.

[0005] A vehicle behavior determination system according to a first aspect includes a gear position sensor, a yaw rate sensor, a turning angle calculation unit, and a determination unit. The gear position sensor is configured to detect the gear position of the vehicle. The yaw rate sensor is configured to detect the yaw rate of the vehicle. The turning angle calculation unit is configured to calculate the turning angle of the vehicle in a plan view during the period between the start time and the end time based on the yaw rate during the period between the start time and the end time of the first time. The determination unit is configured to determine that the vehicle has performed a designated reverse operation when, based on the detection value of the gear position sensor, it is determined that the gear position has switched in the order of forward position, reverse position, and forward position within the first time, and when the maximum cumulative value of the vehicle's turning angle in one direction during the period between the start time and the end time calculated by the turning angle calculation unit is equal to or greater than a threshold value.

[0006] The vehicle behavior determination system according to the first aspect includes a determination unit configured to determine that the vehicle has performed a specified reverse operation when, based on a detection value of a shift position sensor, it is determined that the shift position has switched in the order of a forward position, a reverse position, and a forward position within a first time, and when a maximum cumulative value of a turning angle of the vehicle in one direction during a period between a start time and an end time calculated by a turning angle calculation unit is equal to or greater than a threshold value. Thus, the vehicle behavior determination system according to the first aspect is capable of determining whether the vehicle has performed a specified specified reverse operation within the first time, the specified reverse operation including a plurality of forward operations, at least one reverse operation, and an operation of changing direction by a specified angle or greater.

[0007] In the vehicle behavior determination system of the second aspect of the present invention according to the first aspect of the present invention, the threshold value may be a value from 150° to 180°.

[0008] The determination unit in the second aspect of the present invention can determine that the vehicle has performed a designated reverse operation when the cumulative value of the vehicle's turning angle in one direction during the period between the start time and the end time calculated by the turning angle calculation unit is equal to or greater than a value between 150° and 180°. In other words, when the cumulative value of the vehicle's turning angle in one direction is a very small value (less than a threshold value), the determination unit can determine that the vehicle has performed a designated reverse operation. Therefore, the vehicle behavior determination system according to the second aspect can determine with high accuracy whether the vehicle has performed a designated reverse operation within the first time, the designated reverse operation including an operation of changing direction by a predetermined angle or greater.

[0009] In the vehicle behavior determination system of the third aspect of the invention according to the first aspect or the second aspect of the invention, when the gear sensor detects that the gear is in the reverse position and the vehicle speed is zero within the second time, the determination unit can determine that the gear is in the reverse position.

[0010] A driver who intends to perform a designated reverse operation usually performs rear confirmation within a certain period of time (second time) after setting the gear to the reverse position. Therefore, when the driver sets the gear to the reverse position, the vehicle speed is usually maintained at zero, and the gear is set to the reverse position within the second time. In the third aspect of the present invention, when the gear sensor detects that the gear is in the reverse position and the vehicle speed is zero within the second time, the determination unit can determine that the gear is in the reverse position. Therefore, when a driver who does not intend to perform a designated reverse operation temporarily sets the gear to the reverse position, the determination unit is less likely to mistakenly determine that the vehicle has performed the designated reverse operation. Therefore, the vehicle behavior determination system according to the third aspect can determine with high accuracy whether the vehicle has performed the designated reverse operation within the first time.

[0011] In the vehicle behavior determination system of the fourth aspect of the present invention according to any one of the first to third aspects of the present invention, when the shift sensor detects that the shift is in the reverse position within a third time, the determination unit may determine that the shift is in the reverse position.

[0012] In the fourth aspect of the present invention, for example, when the driver turns the vehicle at a very small angle while setting the gear position to the reverse position within a short period of time that is less than the third time, the determination unit can determine that the vehicle has performed the designated reverse operation without erroneously determining that the vehicle has performed the designated reverse operation. Therefore, the vehicle behavior determination system according to the fourth aspect can determine with high accuracy whether the vehicle has performed the designated reverse operation within the first time.

[0013] In the vehicle behavior determination system of the fifth aspect of the present invention according to any one of the first to fourth aspects of the present invention, when the vehicle is an automatic vehicle, the R gear corresponding to the reverse position is located between the P gear and the D gear corresponding to the forward position, and the gear moves between the P gear and the D gear within the fourth time, the determination unit may not determine that the gear is in the R gear.

[0014] In the fifth aspect of the present invention, when the gear position is temporarily set to the R range to shift the gear position between the P range and the D range, the determination unit may not determine that the gear position is in the R range. Therefore, the vehicle behavior determination system according to the fifth aspect can determine with high accuracy whether the vehicle has performed the designated reverse operation within the first time.

[0015] The vehicle behavior determination system in the sixth aspect of the present invention according to any one of the first to fifth aspects of the present invention may include a notification unit, which is configured to: when the determination unit determines that the vehicle has performed a specified reverse operation a prescribed number of times or more while the vehicle is in a drivable state, the notification unit notifies the driver of the vehicle of the determination result.

[0016] In the sixth aspect of the present invention, when the determination unit determines that the vehicle has performed the designated back-up operation a prescribed number of times or more while the vehicle is in a drivable state, the notification unit may notify the driver of the vehicle of the determination result. Therefore, the vehicle behavior determination system according to the sixth aspect can reduce the likelihood that the driver, having received notification of the determination result, will subsequently perform the designated back-up operation.

[0017] The vehicle behavior determination method according to the seventh aspect includes the following steps: detecting the gear position of the vehicle; detecting the yaw rate of the vehicle; calculating the turning angle of the vehicle in a plan view during the period between the start time and the end time based on the yaw rate during the period between the start time and the end time of the first time; when it is determined that the gear position has been switched in the order of forward position, reverse position and forward position within the first time, and the calculated maximum cumulative value of the turning angle of the vehicle in one direction during the period between the start time and the end time is equal to or greater than a threshold value, it is determined that the vehicle has performed a specified reverse operation.

[0018] As described above, the vehicle behavior determination system and vehicle behavior determination method according to the present invention have the following excellent effects: they can determine whether the vehicle has performed a specified reverse operation within a specified time, and the specified reverse operation includes multiple forward operations, at least one reverse operation, and an operation of changing direction at a predetermined angle or larger. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0020] Figure 1 is an overall view of a vehicle behavior determination system according to an embodiment;

[0021] Figure 2 is installed in Figure 1 a schematic diagram of a gear lever on the vehicle shown;

[0022] Figure 3 This is the control block diagram of the vehicle's ECU;

[0023] Figure 4 yes Figure 3 Functional block diagram of the ECU shown;

[0024] Figure 5 yes Figure 1 Functional block diagram of the mobile terminal shown;

[0025] Figure 6 yes Figure 1 Functional block diagram of the external server shown;

[0026] Figure 7 is a schematic diagram showing how the vehicle performs a prescribed operation;

[0027] Figure 8 Vehicle execution Figure 7 The timing diagram of the operation shown;

[0028] Figure 9is a schematic diagram showing how the vehicle performs a prescribed operation;

[0029] Figure 10 When the vehicle executes Figure 9 Timing diagram of the operation shown in ;

[0030] Figure 11 is a schematic diagram showing a state when the vehicle performs a prescribed operation;

[0031] Figure 12 is a schematic diagram showing a state when the vehicle performs a prescribed operation;

[0032] Figure 13 is a schematic diagram showing a state when the vehicle performs a prescribed operation;

[0033] Figure 14 is a schematic diagram showing a state when the vehicle performs a prescribed operation;

[0034] Figure 15 is a schematic diagram showing a state when the vehicle performs a prescribed operation;

[0035] Figure 16 is a flowchart illustrating a process performed by an external server;

[0036] Figure 17 is a flowchart illustrating a process performed by an external server; and

[0037] Figure 18 is a flowchart illustrating a process performed by a mobile terminal. DETAILED DESCRIPTION

[0038] Hereinafter, embodiments of a vehicle behavior determination system 10 (hereinafter referred to as simply as system 10 ) and a vehicle behavior determination method according to the present invention will be described with reference to the accompanying drawings.

[0039] Figure 1 1 shows the overall configuration of the system 10 of this embodiment. The system 10 includes a vehicle 11, a mobile terminal 20, and an external server 30. For example, the external server 30 is installed in a shop of a taxi operating company that owns a plurality of vehicles 11.

[0040] Figure 1 One of the vehicles 11 owned by a taxi operating company is shown. Each of the vehicles owned by the taxi operating company has an ID representing each individual vehicle.

[0041] Vehicle 11 includes an electronic control unit (ECU) 12, a wireless communication device 13, a GPS receiver 14, a gear lever 15, a gear position sensor 16, a vehicle speed sensor 17, a yaw rate sensor 18, and a display (notification unit) 19. The wireless communication device 13, the GPS receiver 14, the gear position sensor 16, the vehicle speed sensor 17, the yaw rate sensor 18, and the display 19 are connected to the ECU 12. Vehicle 11 also includes a steering wheel (not shown). When the steering wheel is turned, the steering angle of the front wheels (steering wheels) of vehicle 11 changes.

[0042] like Figure 3 As shown, the ECU 12 includes a central processing unit (CPU) 12A, a read-only memory (ROM) 12B, a random access memory (RAM) 12C, a memory 12D, a communication interface (I / F) 12E, and an input / output I / F 12F. The CPU 12A, ROM 12B, RAM 12C, memory 12D, communication I / F 12E, and I / F 12F are communicatively connected to one another via a bus 12Z. The ECU 12 can obtain information about the date and time from a timer (not shown).

[0043] The CPU 12A is a central processing unit that executes various programs and controls each unit. More specifically, the CPU 12A reads programs from the ROM 12B or the memory 12D and executes the programs using the RAM 12C as a work area. The CPU 12A controls each component and performs various calculations according to the programs recorded in the ROM 12B or the memory 12D.

[0044] ROM 12B stores various programs and various data. RAM 12C is used as a work area for temporarily storing programs or data. Memory 12D is composed of a storage device (such as a hard disk drive (HDD) or a solid-state drive (SSD)) to store various programs and various data. Communication I / F 12E is an interface for communicating with other devices. Input / output I / F 12F is an interface for communicating with various devices.

[0045] The wireless communication device 13 is capable of wireless communication with the wireless communication device 21 in the mobile terminal 20 and the wireless communication device 31 in the external server 30 .

[0046] The GPS receiver 14 repeatedly acquires position information (latitude, longitude, etc.) of the location where the vehicle 11 is traveling at a predetermined period based on GPS signals transmitted from satellites.

[0047] Figure 2The shift lever 15 shown in FIG can be moved to a range including a parking range (P range), a reverse range (R range) (reverse position), a neutral range (N range) and a drive range (D range) (forward range). In other words, the vehicle 11 is an automatic vehicle (AT vehicle).

[0048] Figure 1 The gear position sensor 16 shown in the figure repeatedly obtains the gear position of the gear lever 15 at a prescribed period. When a signal indicating the gear position is received from the gear position sensor 16, the ECU 12 changes the gear stage (gear) of the transmission (omitted from the figure) provided in the vehicle 11. Specifically, when the gear position is in the D gear, the gear stage of the transmission is used as the forward gear. When the gear position is in the R gear, the gear stage of the transmission is used as the reverse gear. When the gear position is in the N gear, the transmission is in the neutral state. When the gear position is in the P gear, the transmission is in the parking state.

[0049] The vehicle speed sensor 17 detects the vehicle speed of the vehicle 11 .

[0050] The yaw rate sensor 18 detects the yaw rate of the vehicle 11 .

[0051] A display 19 having a touch panel is provided on an instrument panel (not shown) of the vehicle 11 .

[0052] The wireless communication device 13 and the GPS receiver 14 repeatedly transmit received information to the ECU 12 at a predetermined interval. The gear position sensor 16, the vehicle speed sensor 17, and the yaw rate sensor 18 repeatedly transmit information regarding their detected values to the ECU 12 at a predetermined interval. The display 19 transmits information inputted using the touch panel to the ECU 12.

[0053] exist Figure 4 1, an example of the functional configuration of the ECU 12 is shown in block diagram form. The ECU 12 includes a turning angle calculation unit 121, a wireless control unit 122, and a display unit controller 123 as functional configurations. The turning angle calculation unit 121, the wireless control unit 122, and the display unit controller 123 are implemented when the CPU 12A reads and executes the program stored in the ROM 12B.

[0054] The turning angle calculation unit 121 calculates the turning angle of the vehicle 11 in a plan view based on information about the yaw rate of the vehicle 11 transmitted from the yaw rate sensor 18. The vehicle 11 can turn clockwise and counterclockwise in a plan view. The turning angle calculation unit 121 calculates the turning angle while distinguishing the turning direction of the vehicle 11.

[0055] The wireless control unit 122 controls the wireless communication device 13. Specifically, the wireless control unit 122 controls the wireless communication device 13 so that the wireless communication device 13 performs wireless communication with the external server 30 (wireless communication device 31) and the mobile terminal 20 (wireless communication device 21).

[0056] The display unit controller 123 controls the display 19. Specifically, the display unit controller 123 displays on the display 19 information received by the wireless communication device 13 from the mobile terminal 20 (wireless communication device 21) and the external server 30 (wireless communication device 31) and information input via the touch panel on the display 19.

[0057] Figure 1 The mobile terminal 20 shown in is owned by a driver who is a user of the system 10. The mobile terminal 20 includes a wireless communication device 21 that is capable of performing wireless communication with the wireless communication device 13 in the vehicle 11 and the wireless communication device 31 in the external server 30. The mobile terminal 20 includes a display (notification unit) 22 with a touch panel. The mobile terminal 20 has a structure including a CPU, ROM, RAM, memory, communication I / F and input-output I / F. The CPU, ROM, RAM, memory, communication I / F and input-output I / F are communicatively connected to each other via a bus. The mobile terminal 20 can obtain information about the date and time from a time device (not shown). In addition, a driving diagnosis application that is software developed by a taxi operating company is installed on the mobile terminal 20.

[0058] exist Figure 5 , an example of the functional configuration of the mobile terminal 20 is shown in the form of a block diagram. The mobile terminal 20 includes a wireless control unit 211 and a display unit controller 212 as functional configurations. The wireless control unit 211 and the display unit controller 212 are implemented when the CPU reads and executes the program stored in the ROM.

[0059] The wireless control unit 211 controls the wireless communication device 21. Specifically, the wireless control unit 211 controls the wireless communication device 21 so that the wireless communication device 21 performs wireless communication with the vehicle 11 (wireless communication device 13) and the external server 30 (wireless communication device 31).

[0060] The display unit controller 212 controls the display 22. Specifically, for example, the display unit controller 212 displays on the display 22 information received by the wireless communication device 21 from the vehicle 11 (wireless communication device 13) and the external server 30 (wireless communication device 31) and information input via the touch panel of the mobile terminal 20.

[0061] Figure 1The external server 30 shown in FIG has a configuration including a CPU, ROM, RAM, storage, a communication I / F, and an input / output I / F. The CPU, ROM, RAM, storage, communication I / F, and input / output I / F in the external server 30 are communicatively connected to each other via a bus. The external server 30 can obtain information about the date and time from a time device (not shown).

[0062] exist Figure 6 , an example of the functional configuration of the external server 30 is shown in the form of a block diagram. The external server 30 includes a determination unit 311, a timing unit 312, and a wireless control unit 313 as functional configurations. When the CPU in the external server 30 reads and executes the program stored in the ROM, the determination unit 311, the timing unit 312, and the wireless control unit 313 are implemented.

[0063] As will be described later, based on the vehicle speed detected by the vehicle speed sensor 17, the gear position of the gear lever 15 detected by the gear position sensor 16, the (maximum) cumulative value of the turning angle of the vehicle 11 in a plan view calculated by the turning angle calculation unit 121 in the ECU 12, and a threshold value described later, the determination unit 311 determines whether the vehicle 11 has performed a designated reverse operation. A designated reverse operation is an operation of the vehicle 11 in which the vehicle 11 performs a plurality of forward operations and at least one reverse operation within a prescribed first time, and the maximum cumulative value of the turning angle of the vehicle 11 in one direction within the first time is equal to or greater than the threshold value. As will be described later, for example, the first time is two minutes.

[0064] As will be described later, when the shift lever 15 is moved to the D position under specified conditions, the timing unit 312 begins counting the first time. The timing unit 312 counts from the start time of the first time until the first time has elapsed. Note that the time after the first time has elapsed is the end time.

[0065] The wireless control unit 313 controls the wireless communication device 31 in the external server 30. Specifically, the wireless control unit 313 controls the wireless communication device 31 so that the wireless communication device 31 performs wireless communication with the vehicle 11 (wireless communication device 13) and the mobile terminal 20 (wireless communication device 21).

[0066] Functions and effects

[0067] Next, the functions and effects of this embodiment will be described.

[0068] Figure 7 Situation

[0069] Next, we will use Figures 16 to 18 The flowchart in FIG. 1 is used to describe when the vehicle 11 executes Figure 7The operations of the vehicle 11 , the mobile terminal 20 , and the external server 30 during the illustrated operation.

[0070] During the period when the ignition switch (IG-SW) of vehicle 11 is turned on and off, data indicating the state of the IG-SW, data indicating the detection values of the shift position sensor 16 and vehicle speed sensor 17, and data indicating the calculated value of the turning angle calculation unit 121 (the turning angle of vehicle 11) are repeatedly transmitted from wireless communication device 13 to wireless communication device 31 in external server 30. Hereinafter, this data is referred to as vehicle data. Vehicle data includes information regarding the time when each piece of vehicle data was acquired and location information indicating the location. If vehicle 11 includes a start switch (not shown) in place of the IG-SW, vehicle data (data indicating the state of the start switch, data indicating the detection values of the shift position sensor 16 and vehicle speed sensor 17, and data indicating the calculated value of the turning angle calculation unit 121) are repeatedly transmitted from wireless communication device 13 to wireless communication device 31 at a prescribed cycle during the period when the start switch is turned on and off. Note that when the IG-SW or the start switch is on, vehicle 11 is in a drivable state.

[0071] Every time a predetermined time has passed, the external server 30 (CPU) executes Figure 16 The processing is shown in the flowchart in .

[0072] In step S10, the wireless control unit 313 in the external server 30 determines whether the wireless communication device 31 has received the vehicle data from the wireless communication device 13 in the vehicle 11. When "YES" is determined in step S10, the external server 30 proceeds to step S11.

[0073] In step S11, the determination unit 311 in the external server 30 determines whether a prescribed first D condition is satisfied. The first D condition is satisfied when all of the following conditions 1 to 3 are satisfied.

[0074] Condition 1: The value of the start flag is determined to be "0". The initial value of the start flag is determined to be "0".

[0075] Condition 2: The detection value of the shift position sensor 16 indicates that the shift lever 15 of the vehicle 11 is in the D range within a predetermined third time. For example, the third time is five seconds.

[0076] Condition 3: The detection value of the vehicle speed sensor 17 indicates that the vehicle speed is not zero during the period when the shift lever 15 is in the D range. However, during this period, the vehicle speed may be temporarily zero.

[0077] Figure 7 The vehicle 11 shown in FIG. 1 is moving forward along the arrow A1 on the straight road 40 and Figure 8 The time t1 shown in Figure 7 1. Note that Figure 7 、 Figure 9 and Figures 11 to 15 In FIG, the front end of the vehicle 11 is depicted as a triangle. The vehicle 11 stops at time t2. Figure 7 . The time from t1 to t2 is longer than the third time, and during the time from t1 to t2, the shift lever 15 is in the D gear. In addition, during the time from t1 to t2, the vehicle speed detected by the vehicle speed sensor 17 is greater than zero. In addition, during the time from t1 to t2, the value of the determination start flag is set to "0". Therefore, the determination unit 311 determines in step S11 that the first D condition is met. In this case, the determination unit 311 determines that the shift lever 15 is in the D gear. In short, the determination unit 311 determines "yes" in step S11.

[0078] When "yes" is determined in step S11, the external server 30 proceeds to step S12, in which the timing unit 312 starts to count the first time. For example, the first time is two minutes. In this case, the time to start counting is Figure 8 Specifically, at time t2, the timing unit 312 starts counting the time elapsed from time t1 (start time). In step S12, the determination unit 311 further sets the value of the determination start flag to "1".

[0079] After the processing of step S12 ends, the wireless control unit 313 proceeds to step S13 to determine whether a prescribed designated R condition is satisfied. The designated R condition is satisfied when all of the following conditions 4 to 7 are satisfied.

[0080] Condition 4: The detection value of the shift position sensor 16 indicates that the shift lever 15 is located at the R range within the third time.

[0081] Condition 5: The detection value of the vehicle speed sensor 17 indicates that the vehicle speed is zero, and the detection value of the shift position sensor 16 indicates that the shift lever 15 is in the R range for a second time shorter than the third time. For example, the second time is three seconds.

[0082] Condition 6: The vehicle speed is not zero during the period when the shift lever 15 is in the R range. However, the vehicle speed may be temporarily zero during this period.

[0083] Condition 7: The gear is changed from D to R within the first time.

[0084] When the vehicle 11 moves to Figure 7 When the position 2 is reached, the driver of the vehicle 11 moves the gear lever 15 to the R gear and Figure 8The shift lever 15 is placed in the R gear during the time from t2 to t3 in FIG. The time from t2 to t3 is longer than the third time. In addition, during the time from t2 to t2a, the speed of the vehicle 11 is maintained at zero. The time from t2 to t2a corresponds to a second time that is shorter than the third time. During the second time, the driver performs rear confirmation. At time t2a, the driver turns the steering wheel counterclockwise and releases his foot from the brake pedal (illustration omitted). As a result, the vehicle 11 experiences a creeping phenomenon, causing the vehicle 11 to move backward while turning, and stops at time t3. Figure 7 3 in the middle. In other words, while the shift lever 15 is in the R gear, the vehicle speed is not zero. In addition, time t2 occurs before the first time elapses. Therefore, the determination unit 311 determines in step S13 that the specified R condition is met. In this case, the determination unit 311 determines that the shift lever 15 is in the R gear. In short, the determination unit 311 determines "yes" in step S13 and proceeds to step S14. Note that during the time from t2a to t3, the cumulative value of the clockwise (one direction) turning angle of the vehicle 11 is 90°, as shown in FIG. Figure 8 shown.

[0085] When the vehicle 11 moves to Figure 7 When the position 3 is reached, the driver of the vehicle 11 moves the gear lever 15 from the R gear to the D gear, and Figure 8 During the time period from t3 to t5 in FIG. , the shift lever 15 is placed in the D position. Furthermore, at time t3, the driver turns the steering wheel clockwise and releases his foot from the brake pedal. As a result, the vehicle 11 experiences a creep phenomenon, causing the vehicle 11 to move forward while turning. At time t4, the vehicle 11 reaches position 4. At time t4, the driver returns the steering wheel to its initial position (neutral) and depresses the accelerator pedal (not shown). Consequently, the vehicle 11 moves forward along the road 40 and reaches position 5 at time t5.

[0086] In step S14, the determination unit 311 determines whether a predetermined second D condition is satisfied. When conditions 2 and 3 are satisfied, the second D condition is satisfied.

[0087] Figure 8 The time from t3 to t5 in step S14 is longer than the third time, and the shift lever 15 is in the D range during the time from t3 to t5. Furthermore, the vehicle speed of the vehicle 11 is greater than zero during the time from t3 to t5. Therefore, the determination unit 311 determines in step S14 that the second D condition is met. In this case, the determination unit 311 determines that the shift lever 15 is in the D range. In short, the determination unit 311 determines "yes" in step S14 and proceeds to step S15.

[0088] Note that during the time period from t3 to t5, the cumulative value of the clockwise (one direction) turning angle of the vehicle 11 is 90°, as shown in FIG. Figure 8 Specifically, during the time period from t1 to t5, the maximum accumulated value of the clockwise (one direction) turning angle of the vehicle 11 is 180°.

[0089] The determination unit 311 proceeds to S15 to determine whether a prescribed D range holding time has elapsed since the shift lever 15 was moved to the D range at time t3. For example, the D range holding time is 60 seconds. Figure 8 The time from t3 to t5 in FIG. 1 is longer than the D range holding time. Therefore, the determination unit 311 determines “Yes” in step S15 and proceeds to step S16.

[0090] In step S16, the determination unit 311 determines whether the maximum cumulative value of the clockwise (one-direction) turning angle of the vehicle 11 during the period from t1 to t5 is equal to or greater than a threshold value. For example, the threshold value is recorded in the ROM of the external server 30. For example, the threshold value is 150°. As described above, the maximum cumulative value of the clockwise (one-direction) turning angle of the vehicle 11 during the period from t1 to t5 is 180°. Therefore, the determination unit 311 determines "yes" in step S16 and proceeds to step S17.

[0091] In step S17 , the determination unit 311 determines that the vehicle 11 has performed a designated backing operation.

[0092] Then, in step S18, the timing unit 312 ends the timing of the first time. Figure 8 The time t5 in t is the time when the first time ends. In step S18, the determination unit 311 further sets the value of the determination start flag to "0".

[0093] After the processing of step S18 ends, the external server 30 proceeds to step S19 , in which the determination unit 311 increases the count value of the designated back operation counter by “1”.

[0094] When the process of step S19 is completed, the external server 30 temporarily ends Figure 16 Note that when "No" is determined in steps S10, S11, S13, S14, and S20 to S22, the external server 30 sets the determination start flag to "0" in step S24.

[0095] Every time a predetermined time has passed, the external server 30 (CPU) further executes Figure 17 The processing is shown in the flowchart in .

[0096] In step S30 , the wireless control unit 313 of the external server 30 determines whether the information transmitted from the wireless communication device 13 includes information indicating that the IG-SW (or start switch) of the vehicle 11 has been turned off.

[0097] When “YES” is determined in step S30 , the external server 30 proceeds to step S31 , and the determination unit 311 determines whether the count value of the designated back operation counter is equal to or greater than 1.

[0098] When "yes" is determined in step S31, the external server 30 enters step S32, in which the wireless communication device 31 controlled by the wireless control unit 313 sends the location information about the execution location of the specified back operation determined to have been performed and information about the execution date and time to the mobile terminal 20 (wireless communication device 21).

[0099] When the processing of step S32 ends or when “No” is determined in steps S30 and S31, the external server 30 temporarily ends the Figure 17 Processing of the flowchart in .

[0100] In addition, every time a predetermined time has passed, the mobile terminal 20 in which the driving diagnosis application is active executes Figure 18 The processing is shown in the flowchart.

[0101] In step S40 , the wireless control unit 211 of the mobile terminal 20 determines whether the wireless communication device 21 has received information on the count value of the reverse operation counter in a state where the vehicle 11 is drivable from the wireless communication device 31 .

[0102] When "yes" is determined in step S40, the mobile terminal 20 proceeds to step S41, in which the display unit controller 212 controls the display 22 to display the determination result of the determination unit 311 on the display 22. For example, the display 22 displays map information (not shown) including location information indicating the execution location of the designated back operation determined to have been executed and information indicating the execution date and time of the designated back operation determined to have been executed.

[0103] When the process of step S41 ends or when “No” is determined in step S40, the mobile terminal 20 temporarily ends the process. Figure 18 Processing of the flowchart in .

[0104] Figure 9 Situation

[0105] Next, we will use Figures 16 to 18 The flowchart in FIG. 1 is used to describe when the vehicle 11 executes Figure 9Operations of the vehicle 11 , the mobile terminal 20 , and the external server 30 during the operation shown in . Figure 9 The straight road 50 shown is connected to one end of a straight road 51 intersecting the road 50. In addition, a retreat space 52 for allowing the vehicle 11 to enter is provided at the side edge of the road 50. Figure 7 The same operation (processing) as in the case of .

[0106] Every time a predetermined time has passed, the external server 30 (CPU) executes Figure 16 The processing is shown in the flowchart in .

[0107] Figure 9 The vehicle 11 shown is moving forward along the arrow B1 on the straight road 50 and Figure 10 At time t1 shown, Figure 9 The vehicle 11 stops at position 1 at time t2. Figure 9 The time from t1 to t2 is longer than the third time, and during the time from t1 to t2, the shift lever 15 is in the D range. Furthermore, during the time from t1 to t2, the vehicle speed of the vehicle 11 is greater than zero. Furthermore, during the time from t1 to t2, the value of the determination start flag is set to "0." Therefore, the determination unit 311 determines in step S11 that the first D condition is met and that the shift lever 15 is in the D range. In short, the determination unit 311 determines "yes" in step S11.

[0108] Then, in step S12, the timing unit 312 in the external server 30 starts to count the first time. In this case, the time to start counting is Figure 10 In step S12, the determination unit 311 further sets the value of the determination start flag to "1".

[0109] After the processing of step S12 is completed, the determination unit 311 proceeds to step S13. Figure 9 When the position 2 is reached, the driver of the vehicle 11 moves the gear lever 15 to the R gear and Figure 10 During the time from t2 to t3 in the figure, the shift lever 15 is placed in the R gear. The time from t2 to t3 is longer than the third time. In addition, during the time from t2 to t2a, the speed of the vehicle 11 remains zero. The time from t2 to t2a corresponds to the second time. During the second time, the driver performs rear confirmation. In addition, at time t2a, the driver turns the steering wheel counterclockwise and releases his foot from the brake pedal. As a result, the vehicle 11 creeps, causing the vehicle 11 to move backward while turning, and stops at time t3. Figure 93 in the . In other words, while the shift lever 15 is in the R range, the vehicle speed is not zero. Furthermore, time t2 occurs before the first time elapses. Therefore, the determination unit 311 determines in step S13 that the designated R condition is met and that the shift lever 15 is in the R range. In short, the determination unit 311 determines "yes" in step S13 and proceeds to step S14.

[0110] When the vehicle 11 moves to Figure 9 When the position 3 is reached, the driver of the vehicle 11 moves the gear lever 15 from the R gear to the D gear, and Figure 10 During the time period from t3 to t4, the shift lever 15 is placed in the D range. In addition, at time t3, the driver turns the steering wheel clockwise and releases his foot from the brake pedal. As a result, the vehicle 11 creeps, so that the vehicle 11 moves forward while turning.

[0111] Figure 10 The time from t3 to t4 in step S14 is longer than the third time, and the shift lever 15 is in the D range during the time from t3 to t4. Furthermore, the vehicle speed of the vehicle 11 is greater than zero during the time from t3 to t4. Therefore, the determination unit 311 determines "yes" in step S14 and proceeds to step S15.

[0112] In step S15 , the determination unit 311 determines whether a prescribed D range holding time has elapsed since the shift lever 15 was moved to the D range at time t3 . Figure 8 The time from t3 to t4 in the D range is shorter than the D range holding time. Therefore, the determination unit 311 determines no in step S15 and proceeds to step S20. Note that during the time from t1 to t4, the cumulative value of the clockwise (one direction) turning angle of the vehicle 11 is 90°, as shown in FIG. Figure 10 shown.

[0113] The process of step S20 is the same as that of step S13. Figure 9 When the position 4 is reached, the driver of the vehicle 11 moves the gear lever 15 to the R gear and Figure 10 During the time from t4 to t5 in the third time, the shift lever 15 is placed in the R gear. The time from t4 to t5 is longer than the third time. In addition, during the time from t4 to t4a, the speed of the vehicle 11 remains zero. The time from t4 to t4a corresponds to the second time. During the second time, the driver performs rear confirmation. In addition, at time t4a, the driver turns the steering wheel counterclockwise and releases his foot from the brake pedal. As a result, the vehicle 11 creeps, causing the vehicle 11 to move backward while turning, and stops at time t5. Figure 9In other words, when the shift lever 15 is in the R position, the vehicle speed is not zero. In addition, time t4 occurs before the first time elapses. Therefore, the determination unit 311 determines "yes" in step S20 and proceeds to step S21.

[0114] The process of step S21 is the same as that of step S14. Figure 9 When the position 5 is reached, the driver of the vehicle 11 moves the gear lever 15 from the R gear to the D gear, and Figure 10 During the time period from t5 to t7 in FIG, the shift lever 15 is placed in the D position. Furthermore, at time t5, the driver turns the steering wheel clockwise and releases his foot from the brake pedal. As a result, the vehicle 11 experiences a creep phenomenon, causing the vehicle 11 to advance while turning and stop at position 6 at time t6. Furthermore, at time t6, the driver depresses the accelerator pedal and turns the steering wheel counterclockwise. Then, at a predetermined time after time t6, the driver returns the steering wheel to its initial position (neutral position). Consequently, the vehicle 11 advances along the road 51 and arrives at position 7 at time t7. Figure 10 The time from t5 to t7 in step S21 is longer than the third time, and the shift lever 15 is in the D range during the time from t5 to t7. Furthermore, the vehicle speed of the vehicle 11 is greater than zero during the time from t5 to t7. Therefore, the determination unit 311 determines in step S21 that the second D condition is met. In short, the determination unit 311 determines "yes" in step S21 and proceeds to step S22.

[0115] The process of step S22 is the same as the process of step S 15. It is determined whether the D range holding time has elapsed since the shift lever 15 was moved to the D range at time t5. Figure 8 The time from t5 to t7 in FIG is longer than the D range holding time. Therefore, the determination unit 311 determines "yes" in step S22 and proceeds to step S23. Note that during the time from t1 to t6, the cumulative value of the clockwise (one direction) turning angle of the vehicle 11 is 170°, as shown in FIG. Figure 10 As shown. Furthermore, at time t6, the driver turns the steering wheel counterclockwise. Therefore, during the period from t1 to t7, the cumulative value of the clockwise (one-direction) turning angle of the vehicle 11 becomes 90°. This means that the maximum cumulative value of the clockwise (one-direction) turning angle of the vehicle 11 during the period from t1 to t7 is 170°.

[0116] The process of step S23 is the same as that of step S16. As described above, during the time period from t1 to t7, the maximum cumulative value of the clockwise (one direction) turning angle of the vehicle 11 is 170°. Therefore, the determination unit 311 determines "yes" in step S23 and proceeds to step S17.

[0117] In step S17, the determination unit 311 determines that the vehicle 11 has performed the designated reverse operation. Then, the external server 30 performs the processing of steps S18 and S19. Note that Figure 10 The time t7 in the first time is the time when the first time ends. In this case, the external server 30 temporarily ends Figure 16 Processing of the flowchart in .

[0118] Every time a predetermined time has passed, the external server 30 (CPU) further executes Figure 17 In this case, the external server 30 determines "yes" in step S30, proceeds to step S31, and determines "yes" in step S31. When the external server 30 further proceeds to step S32, the wireless communication device 31 controlled by the wireless control unit 313 transmits the location information of the execution place of the designated back operation determined to have been executed and the information about the execution date and time to the mobile terminal 20 (wireless communication device 21). In this case, the external server 30 temporarily ends Figure 17 Processing of the flowchart in .

[0119] In addition, every time a predetermined time has passed, the mobile terminal 20 in which the driving diagnosis application is active executes Figure 18 In this case, the wireless control unit 211 of the mobile terminal 20 determines "yes" in step S40 and proceeds to step S41, in which the display 22 controlled by the display unit controller 212 displays the determination result of the determination unit 311. In this case, the mobile terminal 20 temporarily ends Figure 18 Processing of the flowchart in .

[0120] Figure 11 Situation

[0121] Now, the vehicle 11 is described. Figure 11 In the following description, the operation of Figure 7 The same operation (processing) as in the case of .

[0122] Every time a predetermined time has passed, the external server 30 (CPU) executes Figure 16 The processing is shown in the flowchart in .

[0123] Figure 11 The vehicle 11 shown in FIG is moving forward along the arrow C1 on the straight road 60. In this case, the gear lever 15 is in the D gear. Then, the vehicle 11 makes a U-turn along the arrow C2. Therefore, the vehicle 11 moves to the position 2 and then continues to move forward.

[0124] When the vehicle data is transmitted from the wireless communication device 13 to the wireless communication device 31, the external server 30 Figure 16 "Yes" is determined in step S10 in the process, and the process proceeds to step S11. The time during which the vehicle 11 moves forward along the arrows C1 and C2 is longer than the third time, and when the vehicle 11 moves forward along the arrows C1 and C2, the shift lever 15 is in the D gear. Therefore, the vehicle speed of the vehicle 11 at this time is greater than zero. In addition, at a specified time while the vehicle 11 moves forward along the arrows C1 and C2, the value of the determination start flag is set to "0". Therefore, the determination unit 311 determines in step S11 that the first D condition is met. In short, the determination unit 311 determines "Yes" in step S11.

[0125] After completing step S12, external server 30 proceeds to step S13. In this example, even after the first time (e.g., two minutes) has elapsed since the start time of the first time measurement in step S12, the shift lever 15 remains in the D range. Therefore, determination unit 311 determines "No" in step S13, sets the value of the determination start flag to "0" in step S24, and temporarily terminates processing in this routine.

[0126] Therefore, when the vehicle 11 is Figure 11 When the user advances along arrows C1 and C2 on the road 60 shown in FIG, the determining unit 311 does not determine that the designated reverse operation has been performed. Figure 17 "No" is determined in step S31 of the flowchart of Figure 17 In addition, the mobile terminal 20 Figure 18 "No" is determined in step S40 of the flowchart of Figure 18 Therefore, the display 22 of the mobile terminal 20 does not display the determination result.

[0127] Figure 12 Situation

[0128] Now, the vehicle 11 is described. Figure 12 The operation shown in . Figure 12 One end of the straight road 70 shown is connected to a straight road 71 that intersects the road 70. In the following description, the straight road 71 and the straight road 70 are omitted. Figure 7 and Figure 11 The same operation (processing) as in the case of .

[0129] Every time a predetermined time has passed, the external server 30 (CPU) executes Figure 16 The process is shown in the flowchart.

[0130] Figure 12The vehicle 11 shown in FIG is traveling along a straight road 70 along the direction of arrow D1. In this case, the gear lever 15 is in the D position. When the vehicle 11 reaches position 1, the driver turns the steering wheel clockwise. As a result, the vehicle 11 moves to position 2 and stops at position 2. Furthermore, at position 2, the gear lever 15 moves from the D position to the R position. The driver then turns the steering wheel and releases his foot from the brake pedal. As a result, the vehicle 11 experiences a creep phenomenon, causing the vehicle 11 to roll backward while turning and stop at position 3. At position 3, the gear lever 15 moves from the R position to the D position. The driver then depresses the accelerator pedal while turning the steering wheel. As a result, the vehicle 11 reaches position 5 after passing position 4. The steering wheel is then returned to its original position, and the vehicle 11 continues traveling along the road 71 along the direction of arrow D2.

[0131] The time that the vehicle 11 moves from position 2 to position 3 is less than the third time. In other words, the time that the gear lever 15 is in the R gear is less than the third time. This means that the amount of return of the steering wheel when the vehicle 11 moves from position 2 to position 3 is very small. Therefore, when executing Figure 16 When the external server 30 of the process of the flowchart in FIG. 1 enters step S13, the determination unit 311 determines "No" in step S13. Therefore, when the vehicle 11 is Figure 12 When the driver moves from position 2 to position 3 in the vehicle, and the driver places the shift lever 15 in the R position for less than the third time to slightly return the steering wheel, the determination unit 311 does not determine that the designated reverse operation has been performed. Therefore, the display 22 of the mobile terminal 20 does not display the determination result.

[0132] Figure 13 Situation

[0133] Now, the vehicle 11 is described. Figure 13 The operation shown in . Figure 13 The straight road 80 shown in FIG has edge portions on both sides, and the edge portions are connected to respective ends of straight roads 81, 82 that intersect the road 80. In the following description, the reference to the straight road 80 is omitted. Figure 7 and Figure 11 The same operation (processing) as in the case of .

[0134] Figure 13The vehicle 11 shown in FIG is traveling along a straight road 80 along arrow E1. In this case, the gear lever 15 is in D gear. When the vehicle 11 reaches position 1, it stops. At position 1, the gear lever 15 moves from D gear to R gear. The driver then turns the steering wheel counterclockwise and releases his foot from the brake pedal. As a result, the vehicle 11 experiences a creep phenomenon, causing it to reverse while turning and, after passing position 2, stop at position 3. Then, at position 3, the steering wheel is returned to its initial position, and the gear lever 15 moves from R gear to D gear. The driver then depresses the accelerator pedal. Consequently, the vehicle 11 travels along arrow E2 along roads 81, 80, and 82 and reaches position 4.

[0135] like Figure 13 As shown, during the time period when the vehicle 11 moves from position 1 to position 4, the maximum accumulated value of the clockwise (one direction) turning angle of the vehicle 11 is 90°. Figure 16 When the external server 30 of the process of the flowchart in FIG. 1 enters steps S16 and S23, the determination unit 311 determines "No" in steps S16 and S23. Figure 13 When traveling on the roads 80, 81, and 82 shown, the determination unit 311 does not determine that the designated reverse operation has been performed. Therefore, the display 22 of the mobile terminal 20 does not display the determination result.

[0136] Figure 14 Situation

[0137] Now, the vehicle 11 is described. Figure 14 In the following description, the operation of Figure 7 and Figure 11 The same operation (processing) as in the case of .

[0138] Figure 14 Vehicle 11 shown in FIG. is traveling along a straight road 90 in the direction of arrow F1. In this situation, the shift lever 15 is in D. After passing position 1, vehicle 11 reaches position 2 and stops at position 2. At position 2, the shift lever 15 moves from D to R. Furthermore, the driver turns the steering wheel and releases his foot from the brake pedal. As a result, vehicle 11 experiences a creep phenomenon, causing it to reverse while turning and stop at position 3, which is part of the side edge of road 90. After vehicle 11 stops at position 3, the driver returns the steering wheel to its original position and moves the shift lever 15 to D. Furthermore, the driver releases his foot from the brake pedal. Consequently, vehicle 11 experiences a creep phenomenon, causing it to move along the side edge of road 90 to position 4. After vehicle 11 stops at position 4, the driver moves the shift lever 15 to P. In short, the driver performs parallel parking of vehicle 11 at position 4.

[0139] In this case, as from Figure 14 It is clear that when the vehicle 11 moves from position 2 to position 3, the steering angle of the steering wheel is a small angle, and the maximum cumulative value of the turning angle of the vehicle 11 in one direction is less than the threshold value. Therefore, when the determination unit 311 of the external server 30 enters Figure 16 , the determination unit 311 determines "No" in step S16. Then, in this case, the shift lever 15 is moved to the P range, so that the determination unit 311 determines "No" in step S20. Therefore, when the vehicle 11 is in the Figure 14 When traveling on the road 90 shown, the determination unit 311 does not determine that the designated reverse operation has been performed. Therefore, the display 22 of the mobile terminal 20 does not display the determination result.

[0140] Figure 15 Situation

[0141] Now, the vehicle 11 is described. Figure 15 The operation shown in Figure 15 A parking space 101 is provided on one side edge portion of a straight road 100 shown in FIG. The other side edge portion of the road 100 is connected to one end of a straight road 102 intersecting the road 100. In the following description, the reference to the straight road 102 is omitted. Figure 7 and Figure 11 The same operation (processing) as in the case of .

[0142] Figure 15 The vehicle 11 shown in FIG is parked in a parking space 101 (position 1). In this case, the gear lever 15 of the vehicle 11 is in the P gear. At position 1, the gear lever 15 moves from the P gear to the R gear. Then, the driver turns the steering wheel counterclockwise and releases his foot from the brake pedal. As a result, the vehicle 11 creeps, causing the vehicle 11 to move backward while turning and stop at position 2. When the vehicle 11 stops at position 2, the gear lever 15 moves from the R gear to the D gear. Then, the driver returns the steering wheel to its initial position and depresses the accelerator pedal. Thus, the vehicle 11 advances along the arrow G1 on the road 100 and reaches position 3. When the vehicle 11 reaches position 3, the driver turns the steering wheel clockwise. Thus, the vehicle 11 moves to position 4 on the road 102.

[0143] like Figure 15 As shown, the maximum cumulative value of the clockwise (one direction) turning angle of the vehicle 11 during the time period when the vehicle 11 moves from position 1 to position 4 is generated at position 4. The cumulative value of the turning angle at position 4 is approximately 170°. In other words, the maximum cumulative value is equal to or greater than the threshold value. However, when the vehicle 11 is in position 1, the gear lever 15 is in the P gear. Therefore, when executing Figure 16 When the external server 30 of the process of the flowchart in FIG. 1 enters step S11, the determination unit 311 determines "No" in step S11. Therefore, when the vehicle 11 Figure 15 When the vehicle passes the parking space 101 and the roads 100 and 102 as shown in FIG, the determination unit 311 does not determine that the designated backing operation has been performed. Therefore, the display 22 of the mobile terminal 20 does not display the determination result.

[0144] As described above, according to the system 10 and the vehicle behavior determination method in the present embodiment, when the determination unit 311 determines that the gear is switched in the order of D gear, R gear and D gear or in the order of D gear, R gear, D gear, R gear and D gear within the first time based on the detection value of the gear sensor 16, and the maximum cumulative value of the turning angle of the vehicle 11 in one direction during the time period between the start time and the end time of the first time calculated by the turning angle calculation unit 121 is equal to or greater than the threshold value, it is determined that the vehicle 11 has performed the specified reverse operation. Therefore, the system 10 and the vehicle behavior determination method in the present embodiment can determine whether the vehicle 11 has performed the specified reverse operation within the first time. Specifically, according to the system 10 and the vehicle behavior determination method in the present embodiment, when the vehicle 11 performs Figure 7 and Figure 9 On the other hand, according to the system 10 and vehicle behavior determination method of this embodiment, when the vehicle 11 performs the specified reverse operation, Figures 11 to 15 When operating in each of the cases, it is not determined that the vehicle 11 has performed the designated reverse operation.

[0145] Furthermore, a driver who intends to perform a designated reverse operation usually performs rearward confirmation within a certain period of time (second time) after the shift lever 15 is placed in the R range. Therefore, when the driver moves the shift lever 15 to the R range, the vehicle speed is usually kept at zero during the second time, and the shift lever 15 is placed in the R range. According to the system 10 and the vehicle behavior determination method of this embodiment, Figure 16 In steps S13 and S20, it is determined whether the vehicle speed is zero and the shift lever 15 is in the R range within the second time. Therefore, when the driver who does not intend to perform the designated reverse operation temporarily places the shift lever 15 in the R range, the determination unit 311 is less likely to erroneously determine that the vehicle 11 has performed the designated reverse operation.

[0146] Furthermore, for example, when the driver turns the vehicle 11 at a very small angle (performs a turn) while keeping the shift lever in the R position for a short period of time shorter than the third time, the determination unit 311 is less likely to erroneously determine that the vehicle 11 has performed the designated reverse operation. Therefore, in this case, the system 10 and vehicle behavior determination method of this embodiment can determine with high accuracy whether the vehicle 11 has performed the designated reverse operation within the first time.

[0147] Furthermore, when the determination unit 311 determines that the vehicle 11 has performed the designated back-up operation while the vehicle 11 is in a drivable state, the display 22 of the mobile terminal 20 displays the determination result of the determination unit 311. Therefore, the system 10 and the vehicle behavior determination method of the present embodiment can reduce the possibility that the driver who sees the display 22 will subsequently perform the designated back-up operation.

[0148] Although the system 10 and the vehicle behavior determination method in the present embodiment have been described above, the system 10 and the vehicle behavior determination method may be modified as appropriate without departing from the scope of the present invention.

[0149] For example, if the shift lever 15 moves between P and D within a specified fourth time, the determination unit 311 may not determine in steps S13 and S20 that the shift lever 15 is in R. The fourth time is a very short period of time. For example, the fourth time is one second. According to this variation, when a driver who does not intend to perform a designated reverse operation moves the shift lever 15 between P and D, the system 10 is less likely to erroneously determine that the vehicle 11 has performed a designated reverse operation.

[0150] The first time may not be two minutes. For example, the first time may be one minute.

[0151] The second time period may not be three seconds. For example, the second time period may be four seconds.

[0152] The third time period may not be five seconds. For example, the third time period may be seven seconds.

[0153] The threshold value of the maximum cumulative value of the turning angle of the vehicle 11 may not be 150°. However, it is preferable that the threshold value is set to any value between 150° and 180° (150° or greater and 180° or less) to prevent the operation of the vehicle 11 (including the reverse operation of turning the steering wheel to a very small angle) from being erroneously determined as a designated reverse operation. However, the threshold value may be an angle less than 150°. The threshold value may also be an angle greater than 180°. For example, the threshold value may be set to any angle equal to or greater than 90°.

[0154] Steps S20 to S23 can be Figure 16 Removed from the flowchart.

[0155] Figure 16 The flowchart in may include, as processing to be performed after “No” is determined in step S23 , a specified step group including steps S20 to S23 . Figure 16 The flowchart in may further include two or more designated step groups as processing executed after “No” is determined in step S23 .

[0156] In step S32, the wireless communication device 31 in the external server 30 may transmit the position information of the execution location of the designated reverse operation determined to have been executed and the information on the execution date and time to the wireless communication device 13. In this case, the ECU 12 displays the determination result on the display 19.

[0157] Can be changed Figure 18 , so that when the information on the count value received by the wireless communication device 21 of the mobile terminal 20 in step S40 indicates a prescribed number of times or more (three times or more), the mobile terminal 20 determines "yes" in step S40.

[0158] The ECU 12 of the vehicle 11 may have a function corresponding to the determination unit 311. In this case, the ECU 12 executes Figure 16 Furthermore, when the ECU 12 executes the process of step S19 , the ECU 12 displays the determination result on the display 19 .

[0159] exist Figure 18 In step S41 of the flowchart in FIG, the speaker controlled by the CPU of the mobile terminal 20 may output a voice indicating the determination result. Similarly, in step S41, the speaker of the vehicle 11 controlled by the ECU 12 may output a voice indicating the determination result.

[0160] The vehicle 11 may be an AT vehicle without the shift lever 15. For example, the vehicle 11 may be an AT vehicle having a button for changing the gear position or an instrument panel for changing the gear position.

[0161] The vehicle 11 including the system 10 may be a manual transmission vehicle (MT vehicle). For example, the vehicle 11 may include a shift lever that can be moved to a forward position (e.g., first to fifth gear), a reverse position (reverse gear), and a neutral position, and a shift position sensor that detects the shift position of the shift lever.

[0162] The vehicle 11 may include, in place of the GPS receiver 14 , a receiver capable of receiving information from satellites in a global navigation satellite system other than GPS, such as Galileo.

Claims

1. A vehicle behavior determination system, comprising: a gear position sensor configured to detect a gear position of the vehicle; a yaw rate sensor configured to detect a yaw rate of the vehicle; a turning angle calculation unit configured to calculate a turning angle of the vehicle in a plan view during a period between a start time and an end time of a first time based on a yaw rate during the period between the start time and the end time; as well as a determining unit configured to determine that the vehicle has performed a designated reverse operation when it is determined based on the detection value of the shift position sensor that the shift position has been switched in the order of a forward position, a reverse position, and the forward position within the first time, and when a maximum cumulative value of a turning angle of the vehicle in one direction during a period between the start time and the end time calculated by the turning angle calculation unit is equal to or greater than a threshold value, wherein the threshold is a value from 150° to 180°, When the gear position sensor detects that the gear position is in the reverse position and the vehicle speed is zero within a second time, the determining unit determines that the gear position is in the reverse position.

2. The vehicle behavior determination system according to claim 1, wherein: When the shift position sensor detects that the shift position is in the reverse position for a third time longer than the second time, the determination unit determines that the shift position is in the reverse position.

3. The vehicle behavior determination system according to claim 1 or 2, wherein: When the vehicle is an automatic vehicle, the R gear corresponding to the reverse position is located between the P gear and the D gear corresponding to the forward position, and the gear moves between the P gear and the D gear within a fourth time, the determination unit does not determine that the gear is in the R gear.

4. The vehicle behavior determination system according to claim 1 or 2 includes a notification unit, which is configured to: when the determination unit determines that the vehicle has performed the specified reverse operation a prescribed number of times or more while the vehicle is in a drivable state, the notification unit notifies the driver of the vehicle of the determination result.

5. A method for determining vehicle behavior, comprising the following steps: Detect the gear position of the vehicle; detecting a yaw rate of the vehicle; calculating a turning angle of the vehicle in a plan view during a period between a start time and an end time of a first time based on a yaw rate during the period between the start time and the end time; as well as When it is determined that the gear position has been switched in the order of the forward position, the reverse position, and the forward position within the first time, and a maximum cumulative value of the turning angle of the vehicle in one direction calculated during the period between the start time and the end time is equal to or greater than a threshold value, it is determined that the vehicle has performed a designated reverse operation, wherein the threshold is a value from 150° to 180°, When it is detected within the second time that the gear is in the reverse position and the vehicle speed is zero, it is determined that the gear is in the reverse position.

Images