Retraction support device

Abstract

To provide a retraction support device capable of reducing a possibility to lose an opportunity to perform retraction support control.SOLUTION: A retraction support device includes: a storage device for storing a progress route through which a vehicle has passed when the vehicle progresses; and a control unit for performing retraction support control to retract the vehicle along the progress route. The control unit recommends a driver of the vehicle to perform retraction control when it is determined that a predetermined recommendation condition holds, based on a peripheral state of the vehicle or a retraction route through which the vehicle has passed when the vehicle retracts. When the driver accepts the performance of the retraction support control, the control unit performs the retraction support control.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a reverse assist device that performs reverse assist control for reversing a vehicle along a forward movement path when the vehicle is moving forward. [Background technology]

[0002] Conventionally, there has been known a reverse assist device capable of executing a reverse assist control for reversing a vehicle along a forward path. For example, a reverse assist device described in Patent Document 1 (hereinafter, referred to as a "conventional device") determines whether or not a reverse driving request signal has been input by the driver when the vehicle enters a driving restriction area. When a reverse driving request signal has been input, the conventional device executes reverse assist control.

[0003] The driving restriction area includes areas where driving is originally restricted (e.g., dead ends and one-way roads) and areas where driving is temporarily restricted due to other obstacles. The reverse driving request signal is input when the driver agrees to the execution of the reverse assist control. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Pat. No. 1,109,7733 Summary of the Invention

[0005] Conventional devices do not execute reverse assist control unless a reverse driving request signal is input. If a driver desires to execute reverse assist control, the driver must voluntarily perform a "consent operation for generating a reverse signal request signal." Even if the reverse assist control is available in a situation where the driver is not aware of this, the driver will naturally not execute the consent operation. This may result in the driver missing an opportunity to execute reverse assist control.

[0006] The present invention has been made to address the above-mentioned problems. That is, an object of the present invention is to provide a reverse assist device that can reduce the possibility of missing an opportunity to execute reverse assist control.

[0007] The reverse assist device of the present invention (hereinafter referred to as the "device of the present invention") is a storage device (38) for storing a forward path traveled by the vehicle when the vehicle is moving forward; a control unit (20) capable of executing a reverse assist control for causing the vehicle to reverse along the forward path; The control unit When it is determined that a predetermined suggestion condition is satisfied based on the situation around the vehicle or the reverse path taken by the vehicle when reverse-backing the vehicle (step 310 “Yes” and step 315 “Yes”, step 510 “Yes”, step 605 “Yes”), the execution of the reverse assist control is suggested to the driver of the vehicle (step 320); If the driver agrees to the execution of the reverse assist control (step 325 "Yes"), the reverse assist control is executed (step 330, steps 400 to 495). The reverse assist device is configured as follows.

[0008] According to the present invention, when it is determined that the proposed condition is satisfied, the execution of the reverse assist control is proposed. This makes it possible to make the driver aware that the reverse assist control is possible even if the driver is not aware that the reverse assist control is available. This makes it possible to prevent the opportunity to execute the reverse assist control from being missed.

[0009] Furthermore, the device of the present invention judges whether the suggestion condition is satisfied based on the situation around the vehicle or the reverse route, and therefore can determine that the suggestion condition is satisfied when the driver is highly likely to need the reverse assist control, thereby reducing the possibility that the driver will find the suggestion to execute the reverse assist control annoying. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic system configuration diagram of a backing up assistance device according to an embodiment of the present invention; [Diagram 2] 4 is a flowchart of a routine executed by a CPU of an ECU of the reverse assist device according to the first embodiment. [Diagram 3] 4 is a flowchart of a routine executed by a CPU of an ECU of the reverse assist device according to the first embodiment. [Figure 4] 4 is a flowchart of a routine executed by a CPU of an ECU of the reverse assist device according to the first embodiment. [Diagram 5] 10 is a flowchart of a routine executed by a CPU of an ECU of a reverse assist device according to a second embodiment. [Figure 6] 11 is a flowchart of a routine executed by a CPU of an ECU of a reverse assist device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] As shown in FIG. 1, a backing assist device 10 according to this embodiment (hereinafter referred to as "the device 10") is applied to a vehicle VA, and includes the components shown in FIG.

[0012] The control ECU 20 is an ECU that executes reverse assist control, which is a type of automatic driving. The reverse assist control is a control that reverses the vehicle VA along the forward path that the vehicle VA has traveled while traveling forward.

[0013] In this specification, an "ECU" is an electronic control device having a microcomputer as a main part. The ECU is also called a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The functions realized by the ECU 20 may be realized by multiple ECUs.

[0014] The multiple cameras 22A to 22D are a front camera, a left camera, a right camera, and a rear camera, respectively. The front camera, the left camera, the right camera, and the rear camera capture the front, left, right, and rear of the vehicle VA, respectively, to obtain front image data, left image data, right image data, and rear image data. When it is not necessary to distinguish between the cameras 22A to 22D, they are referred to as "cameras 22." When it is not necessary to distinguish between the front image data, left image data, right image data, and rear image data, they are referred to as "image data."

[0015] Each sonar included in the device 10 will be described below. The sonar transmits ultrasonic waves and receives the ultrasonic waves reflected by an object. The sonar determines the distance to the object based on the time between the transmission and reception of the ultrasonic waves, and transmits sonar object information including the distance to the ECU 20.

[0016] The front sonars 24A to 24D are disposed on the front bumper (not shown) of the vehicle VA, the rear sonars 26A to 26D are disposed on the rear bumper (not shown) of the vehicle VA, the left side sonars 28A and 28D are disposed on the left side of the vehicle VA, and the right side sonars 30A and 30B are disposed on the right side of the vehicle VA.

[0017] The front sonars 24A to 24D obtain the distance to objects in front of the vehicle VA, the rear sonars 26A to 26D obtain the distance to objects behind the vehicle VA, the left side sonars 28A and 28B obtain the distance to objects to the left of the vehicle VA, and the right side sonars 30A and 30B obtain the distance to objects to the right of the vehicle VA.

[0018] The vehicle speed sensor 32 detects the speed (vehicle speed Vs) of the vehicle VA. The acceleration sensor 33 detects the acceleration G in the longitudinal direction of the vehicle VA. The steering angle sensor 34 detects the steering angle θ of the steering wheel (not shown). The shift position sensor 35 detects the position (shift position) of the shift lever (not shown) of the vehicle VA. The ECU 20 acquires the detection values ​​of these sensors. The shift positions include N range (neutral position), P range (parking position), D range (forward position), and R range (reverse position). The GNSS receiver 36 receives signals from multiple artificial satellites and identifies the current position (latitude and route) of the vehicle VA based on the received signals.

[0019] The storage device 38 has a route storage unit 38a. The route storage unit 38a stores forward route information relating to a forward route traveled by the vehicle VA while the vehicle VA is moving forward.

[0020] The power train actuator 42 changes the driving force generated by a drive device (e.g., an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 44 controls the braking force applied to the vehicle VA. The steering motor 46 is incorporated in a steering mechanism 48. The steering mechanism 48 is a mechanism for turning the steering wheels in response to the operation of the steering wheel. The steering motor 46 generates an automatic steering torque in the steering mechanism 48 for changing the steering angle of the steering wheels in response to an instruction from the ECU 20. The gear ratio and shift range of the transmission 50 are controlled based on the shift position. The transmission 50 may be either a gear type transmission or a continuously variable transmission. The display 52 is a touch panel type display, and is disposed at a position visible to the driver in the vehicle cabin. A proposal screen 60, which will be described later, is displayed on the display 52. ​​The speaker 54 is disposed in the vehicle cabin. The speaker 54 issues a proposal voice message, which will be described later.

[0021] <Back-up Assist Control> When the vehicle speed Vs is equal to or lower than a predetermined threshold vehicle speed Vsth and the shift position is in the D range, the device 10 acquires forward route information regarding the forward route traveled by the vehicle VA and stores the forward route information in the route memory unit 38a. The forward route information includes an estimated position, a road surface image, and a GNSS position.

[0022] The estimated position is the current position of the vehicle VA estimated based on the previous estimated position. The device 10 estimates the current position of the vehicle VA based on the vehicle speed Vs and the steering angle θ. The road surface image is acquired, for example, from an overhead image generated based on image data acquired by the camera 22. The GNSS position is the current position of the vehicle VA identified by the GNSS receiver 36.

[0023] When the device 10 detects that the driver has performed a predetermined consent operation, the device 10 starts reverse assist control. In the reverse assist control, the device 10 compares the GNSS position and road surface image acquired at the current time with the GNSS position and road surface image of the forward route information stored in the route storage unit 38a to identify the current position of the vehicle VA based on the forward route. Then, the device 10 acquires a target steering angle θtgt for the vehicle VA to reverse along the forward route based on the identified current position of the vehicle VA and the forward route. The device 10 controls the steering motor 46 so that the steering angle θ coincides with the target steering angle θtgt.

[0024] In the reverse assist control, the device 10 obtains a target acceleration Gtgt for making the vehicle speed Vs equal to or lower than a predetermined reverse speed Vre. The device 10 controls the power train actuator 42 and the brake actuator 44 so that the acceleration G coincides with the target acceleration Gtgt.

[0025] (Overview of operation) The device 10 judges whether or not the suggestion condition is satisfied based on the surroundings of the vehicle VA or the reverse path taken by the vehicle VA when the vehicle VA is reversed. If the suggestion condition is satisfied, the device 10 displays on the display 52 a suggestion screen 60 for suggesting the execution of reverse assist control.

[0026] The device 10 determines that the proposed condition is satisfied when it determines that the vehicle VA cannot move forward based on the situation around the vehicle VA. Specifically, the device 10 determines that the proposed condition is satisfied when it determines that the following condition A or condition B is satisfied based on the situation around the vehicle VA. Condition A: The road width W, which indicates the width of the road on which the vehicle VA is traveling, is equal to or smaller than a predetermined threshold width Wth, and an oncoming vehicle is detected within a predetermined distance from the vehicle VA. Condition B: The road on which the vehicle VA is traveling is a dead end or the vehicle VA is located in a narrow section of the road where the width of the road is too narrow for the vehicle VA to travel.

[0027] The device 10 determines that the proposed condition is satisfied when it determines that the reverse assist control can be executed based on the reverse route. Specifically, the device 10 determines that the proposed condition is satisfied when it determines that either of the following conditions C1 and C2 is satisfied based on the reverse route. Condition C1: The reverse path is a forward path along which the vehicle VA is reversed for a period of time equal to or longer than a predetermined threshold time. Condition C2: A condition that the reverse distance by which the vehicle VA is reversed along the forward path is equal to or greater than a predetermined threshold distance.

[0028] The above condition A will be explained in the first embodiment, the above condition B will be explained in the third embodiment, and the above conditions C1 and C2 will be explained in the second embodiment.

[0029] The proposal screen 60 includes a proposal message 62, an agree button 64, and a reject button 66. The proposal message 62 displays a message proposing to the driver that reverse assist control be executed. Specifically, as shown in FIG. 1, the proposal message 62 displays the message "Start reverse assist?". The driver touches the agree button 64 if he / she agrees to the execution of reverse assist control, and touches the reject button 66 if he / she rejects the execution of reverse assist control. When the agree button 64 is touched, an agree signal is input to the ECU 20. When the reject button 66 is touched, a reject signal is input to the ECU 20.

[0030] The above-mentioned proposal condition is satisfied when there is a high possibility that the reverse assist control will be executed. When the proposal condition is satisfied, the proposal screen 60 is displayed. As a result, even if the driver does not recognize a situation in which the reverse assist control is available, the proposal screen 60 is displayed, so that the possibility of missing an opportunity to execute the reverse assist control can be reduced. Even if the reverse assist control is not available, the possibility that the proposal screen 60 is displayed can be reduced. This reduces the possibility that the driver feels that the proposal screen 60 is bothersome.

[0031] (Specific operation) <Example 1> The CPU of the ECU 20 executes the routines shown in the flowcharts of FIGS. 2 to 4 every time a predetermined time elapses.

[0032] <Forward Path Memory Routine> When an appropriate time arrives, the CPU starts the process from step 200 in Fig. 2. The process proceeds to step 205, where the CPU determines whether or not the vehicle speed Vs is equal to or lower than a threshold vehicle speed Vsth.

[0033] If the vehicle speed Vs is equal to or lower than the threshold vehicle speed Vsth, the CPU determines "Yes" in step 205, and the process proceeds to step 210. In step 210, the CPU determines whether the shift position is in the D range.

[0034] If the shift position is in the D range, the CPU determines "Yes" in step 210, and the process proceeds to step 215. In step 215, the CPU stores the forward route information in the route storage unit 38a. After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0035] When the process proceeds to step 205 and the vehicle speed Vs is greater than the threshold vehicle speed Vsth, the CPU determines "No" in step 205. After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0036] If the shift position is not in the D range when the process proceeds to step 210, the CPU makes a "No" determination in step 210. After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0037] <Retreat support suggestion routine> When an appropriate time arrives, the CPU starts the process from step 300 in Fig. 3. The process proceeds to step 305, where the CPU determines whether the value of the execution flag Xexe is "0" or not.

[0038] The value of the execution flag Xexe is set to "1" when the CPU starts reverse assist control, and is set to "0" when the CPU ends reverse assist control. The value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is a routine executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the OFF position to the ON position.

[0039] If the value of the execution flag Xexe is "0", the CPU judges "Yes" in step 305. In this case, the process proceeds to step 310, where the CPU identifies the road width W based on the forward image data and judges whether the road width W is equal to or smaller than the threshold width Wth. The threshold width Wth is preset to a value that indicates a width at which the vehicle VA cannot pass an oncoming vehicle (for example, a width about twice the width of the vehicle VA).

[0040] If the road width W is equal to or smaller than the threshold width Wth, the CPU determines "Yes" in step 310, and the process proceeds to step 315. In step 315, the CPU determines whether or not an oncoming vehicle is present based on the forward image data.

[0041] If an oncoming vehicle is present, the CPU determines “Yes” in step 315 and executes steps 320 and 325 . Step 320 : The CPU displays the proposal screen 60 on the display 52 . Step 325: The CPU determines whether or not an agreement signal is input before a predetermined time has elapsed since the proposal screen 60 was displayed.

[0042] If the consent signal is input before the predetermined time has elapsed, the CPU determines “Yes” in step 325 and executes steps 330 and 335 . Step 330: The CPU sets the value of the execution flag Xexe to “1”. Step 335: The CPU determines whether the shift position is in the R range.

[0043] If the shift position is not in the R range, the CPU determines "No" in step 335, and the process proceeds to step 340. In step 340, the CPU controls the transmission 50 so that the shift position is in the R range. After that, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0044] On the other hand, if the shift position is in the R range, the CPU determines "Yes" in step 335. In this case, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0045] If the value of the execution flag Xexe is "1" when the process proceeds to step 305, the CPU determines "No" in step 305. In this case, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0046] When the process proceeds to step 310 and the road width W is greater than the threshold width Wth, the CPU determines "No" in step 310. In this case, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0047] If there is no oncoming vehicle when the process proceeds to step 315, the CPU determines "No" in step 315. In this case, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0048] When the process proceeds to step 325, if the consent signal is not input before the predetermined time has elapsed, the CPU determines "No" in step 325. In this case, the process proceeds to step 395, and the CPU temporarily ends this routine. Note that steps 345 and 350 shown in FIG. 3 will be described later.

[0049] <Back-up support control routine> When an appropriate time arrives, the CPU starts the process from step 400 in Fig. 4. The process proceeds to step 405, where the CPU determines whether or not the value of the execution flag Xexe is "1".

[0050] If the value of the execution flag Xexe is "0", the CPU determines "No" in step 405. In this case, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0051] If the value of the execution flag Xexe is “1”, the CPU determines “Yes” in step 405 and executes steps 410 to 435 .

[0052] Step 410: The CPU determines the current position of the vehicle VA relative to the forward path based on the GNSS position and the road surface image. Step 415: The CPU acquires a target steering angle θtgt for the vehicle VA to travel along the forward path based on the identified current position of the vehicle VA. Step 420: The CPU obtains a target acceleration Gtgt for driving the vehicle at a vehicle speed Vs equal to or lower than the reverse speed Vre. Step 425: The CPU performs steering control to control the steering motor 46 so that the steering angle θ coincides with the target steering angle θtgt. Step 430: The CPU performs acceleration / deceleration control to control the power train actuator 42 and the brake actuator 44 so that the acceleration G coincides with the target acceleration Gtgt. Step 435: The CPU determines whether or not a predetermined termination condition is met.

[0053] The CPU determines that the termination condition is met when any one of the following conditions D to F is met. Condition D: The vehicle VA has traveled backward along all forward routes indicated by the forward route information stored in the route memory unit 38a. Condition E: The steering wheel is operated. Condition F: A condition that an end button (not shown) is operated.

[0054] If the end condition is not satisfied, the CPU determines "No" in step 435. In this case, the process proceeds to step 495, and the CPU temporarily ends this routine.

[0055] If the end condition is met, the CPU determines "Yes" in step 435. In this case, the process proceeds to step 440, where the CPU sets the value of the execution flag Xexe to "0." After that, the process proceeds to step 495, where the CPU temporarily ends this routine.

[0056] According to this embodiment, when it is determined that the vehicle VA cannot pass an oncoming vehicle based on the surrounding conditions of the vehicle VA, it is determined that the proposal condition is satisfied. In this case, the proposal screen 60 is displayed. This makes it possible to prevent the driver from missing an opportunity to execute the reverse assist control, and also reduces the possibility that the driver will find the proposal to execute the reverse assist control annoying.

[0057] <Example 2> The CPU according to this embodiment executes the routine shown in Fig. 5 instead of the routine shown in Fig. 3. Note that the same processes in Fig. 5 as those shown in Fig. 3 and Fig. 4 are given the same reference numerals as those in Fig. 3 and Fig. 4, and the description thereof will be omitted.

[0058] When an appropriate time arrives, the CPU starts the process from step 500 in Fig. 5. If the value of the execution flag Xexe is "0" ("Yes" in step 305 shown in Fig. 5), the process proceeds to step 505. In step 505, the CPU determines whether the shift position is in the R range.

[0059] If the shift position is in the R range, the CPU determines "Yes" in step 505, and in step 410 shown in FIG. 5, identifies the current position of the vehicle VA based on the forward route.

[0060] Then, the process proceeds to step 510, where the CPU determines whether or not either of the above condition C1 and the above condition C2 is satisfied. Note that, if the distance between the current position of the vehicle VA identified in step 410 shown in Fig. 5 and the forward path is equal to or shorter than a predetermined distance, the CPU determines that the vehicle VA is moving backward along the forward path.

[0061] If either condition C1 or condition C2 is satisfied, the CPU judges "Yes" in step 510. In this case, the process proceeds to step 320 shown in FIG. 5, rather than to step 515 shown by a dotted line in FIG. 5, and the CPU displays the proposal screen 60 on the display 52. ​​Step 515 shown by a dotted line in FIG. 5 will be described later. If an agreement signal is input within a predetermined time ("Yes" in step 325 shown in FIG. 5), the CPU sets the value of the execution flag Xexe to "1" in step 330 shown in FIG. 5. Thereafter, the process proceeds to step 595, and the CPU temporarily ends this routine. If an agreement signal is not input within the predetermined time ("No" in step 325 shown in FIG. 5), the process proceeds to step 595, and the CPU temporarily ends this routine.

[0062] If the value of the execution flag Xexe is "1" when the process proceeds to step 305 shown in Fig. 5 ("No" in step 305 shown in Fig. 5), the process proceeds to step 595, and the CPU ends this routine. If neither condition C1 nor condition C2 is satisfied when the process proceeds to step 510 ("No" in step 510), the process proceeds to step 595, and the CPU ends this routine.

[0063] According to this embodiment, when the time that the vehicle VA has been reversing along the forward path is equal to or longer than the threshold time, or when the distance that the vehicle VA has been reversing along the forward path is equal to or longer than the threshold distance, the proposal screen 60 is displayed. This makes it possible to prevent the opportunity to execute the reverse assist control from being missed, and also reduces the possibility that the driver will find the proposal to execute the reverse assist control annoying.

[0064] <Example 3> The CPU according to this embodiment executes the routine shown in Fig. 6 instead of the routine shown in Fig. 3. Note that the same processes in Fig. 6 as those shown in Fig. 3 and Fig. 5 are given the same reference numerals as those in Fig. 3 and Fig. 5, and the description thereof will be omitted.

[0065] When an appropriate time arrives, the CPU starts the process from step 600 in Fig. 6. If the value of the execution flag Xexe is "0" (step 305 "Yes" shown in Fig. 6) and the shift position is in the R range (step 505 "Yes" shown in Fig. 6), the process proceeds to step 605.

[0066] In step 605, the CPU determines, based on the image data and the sonar object information, whether the road on which the vehicle VA is traveling is a dead end or whether the vehicle VA is located in the narrow area.

[0067] In detail, when the CPU determines that there is a "structure (e.g., a guard rail, a wall, etc.) that has a predetermined length and is not a vehicle, a pedestrian, or a motorcycle" within a predetermined distance from the front end of the vehicle VA, it determines that the road on which the vehicle VA is traveling is a dead end. The CPU determines whether or not an object existing within a predetermined distance from the front end of the vehicle VA is the above-mentioned structure based on the forward image data and the sonar object information transmitted from the front sonars 24A to 24D.

[0068] Furthermore, when the CPU determines that the above-mentioned structure exists within a predetermined distance from the left side of the vehicle VA and that the above-mentioned structure exists within a predetermined distance from the right side of the vehicle VA, the CPU determines that the vehicle VA is located in a narrow space. The CPU determines whether or not the object existing within a predetermined distance from the left side of the vehicle VA is the above-mentioned structure based on the left image data and the sonar object information transmitted from the left side sonars 28A and 28B. Similarly, the CPU determines whether or not the object existing within a predetermined distance from the right side of the vehicle VA is the above-mentioned structure based on the right image data and the sonar object information transmitted from the right side sonars 30A and 30B.

[0069] If the road on which the vehicle VA is traveling is a dead end or if the vehicle VA is located in a narrow area, the CPU determines "Yes" in step 605 and proceeds to step 320 shown in Fig. 6. The processing after step 320 shown in Fig. 6 has been explained in Fig. 3, so the explanation will be omitted.

[0070] According to this embodiment, when it is determined that the vehicle VA has entered a dead end or a narrow space based on the situation around the vehicle VA, it is determined that the proposal condition is satisfied. In this case, the proposal screen 60 is displayed. This makes it possible to prevent the driver from missing an opportunity to execute the reverse assist control, and also reduces the possibility that the driver will find the proposal to execute the reverse assist control annoying.

[0071] <Combination of Examples> It is also possible to combine the above-mentioned Examples 1 to 3. When the above-mentioned Examples 1 to 3 are combined, for example, the proposal condition of Example 2 may be satisfied after the proposal condition of Example 1 or the proposal condition of Example 3 is satisfied. In this case, the driver may operate the reject button 66 on the proposal screen 60 displayed due to the proposal condition that was satisfied earlier. If the proposal condition of Example 2 is satisfied after the driver operates the reject button 66, the proposal screen 60 is displayed again. If the proposal screen 60 is displayed again despite the driver refusing to execute the reverse assist control, the driver may feel that the proposal screen 60 is bothersome.

[0072] Therefore, when the process proceeds to step 325 shown in Fig. 3 and an agreement signal has not been input before the predetermined time has elapsed (step 325 "No" shown in Fig. 3), the process proceeds to step 345. In step 345, the CPU determines whether or not a rejection signal has been input before the predetermined time has elapsed since the proposal screen 60 was displayed.

[0073] If a rejection signal is input before the predetermined time has elapsed, the CPU determines “Yes” in step 345 and executes step 350. In step 350, the CPU sets the value of the rejection flag Xrej to “1.” Then, the process proceeds to step 335.

[0074] The value of the rejection flag Xrej is set to "1" if a rejection signal is input before a predetermined time has elapsed since the proposal screen 60 was displayed, and is set to "0" when a predetermined invalid time has elapsed since the rejection signal was input. Note that it is desirable to set the invalid time to be longer than the above-mentioned predetermined time. The value of the rejection flag Xrej is also set to "0" in the initial routine.

[0075] If the refusal signal is not input before the predetermined time has elapsed, the CPU determines "No" in step 345. After that, the process proceeds to step 395, and the CPU temporarily ends this routine.

[0076] Furthermore, if the CPU determines "Yes" in step 510 shown in Fig. 5, the process proceeds to step 515. In step 515, the CPU determines whether the value of the rejection flag Xrej is "0" or not.

[0077] When the value of the refusal flag Xrej is "0", the CPU judges "Yes" in step 515, and the process proceeds to step 320 shown in FIG. 5, where the proposal screen 60 is displayed. On the other hand, when the value of the refusal flag Xrej is "1", the CPU judges "No" in step 515, and the process proceeds to step 595, where the CPU temporarily ends this routine. As a result, when the value of the refusal flag Xrej is "1", the proposal screen 60 is not displayed even if the proposal condition of the second embodiment is satisfied. This reduces the possibility that the proposal screen 60 will be displayed again after the driver has rejected the execution of the reverse assist control, and reduces the possibility that the driver will find the proposal screen 60 annoying.

[0078] If the CPU judges "No" in step 325 shown in FIG.

[0079] In the first and third embodiments, even if the proposal condition is met, if the value of the rejection flag Xrej is "1", the CPU does not need to display the proposal screen 60.

[0080] <Modification> The ECU 20 according to this modification may change the threshold value used for the proposed condition based on the consent refusal history of whether the driver consented to or refused to execute the reverse assist control. Specifically, the ECU 20 changes the threshold value so that the proposed condition becomes more likely to be satisfied as the number of consents increases, and changes the threshold value so that the proposed condition becomes less likely to be satisfied as the number of refusals increases.

[0081] In the proposed condition (condition A) of the first embodiment, the threshold width Wth is the above threshold. The more the number of consents, the larger the threshold width Wth is set, and the more the number of rejections, the smaller the threshold width Wth is set.

[0082] In the proposed condition (condition C) of the second embodiment, the threshold time and the threshold distance are the above thresholds. The more the number of consents, the smaller the threshold time and the threshold distance are set, and the more the number of rejections, the larger the threshold time and the threshold distance are set.

[0083] In the proposed condition (condition B) of the third embodiment, the structure must be located within a predetermined distance from the vehicle VA, and this predetermined distance is the threshold value. The greater the number of consents, the greater the predetermined distance is set, and the greater the number of rejections, the smaller the predetermined distance is set.

[0084] For example, if the accept button 64 is operated before a predetermined time has elapsed since the proposal screen 60 was displayed, the ECU 20 adds a predetermined first value to the proposal index value. If the reject button 66 is operated before a predetermined time has elapsed since the proposal screen 60 was displayed, the ECU 20 subtracts a predetermined second value from the proposal index value. Then, the ECU 20 changes the threshold value so that the larger the proposal index value is, the more likely the proposed condition is to be met.

[0085] In this way, the frequency with which the proposal screen 60 is displayed can be adjusted depending on whether the driver prefers to execute the reverse assist control or not.

[0086] In the above embodiment, the ECU 20 proposes the reverse assist control by displaying the proposal screen 60 on the display 52, but the present invention is not limited to this. For example, the ECU 20 may pronounce a "proposal voice message for proposing the reverse assist control" from the speaker 54. Furthermore, the ECU 20 may determine whether the driver has agreed to or rejected the reverse assist control by voice recognition.

[0087] In the above embodiment, a sonar that detects objects using ultrasonic waves has been exemplified as a sensor for detecting objects, but any sensor that detects objects using waves (for example, electromagnetic waves, sound waves, etc.) may be used.

[0088] The present device 10 is applicable to vehicles such as internal combustion engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. [Explanation of symbols]

[0089] 10... reverse assist device, 20... ECU, 38... storage device, 38a... route storage unit, 42... power train actuator, 44... brake actuator, 46... steering motor, 60... proposal screen.

Claims

1. a storage device that stores a forward path traveled by the vehicle when the vehicle moves forward; a control unit capable of executing a reverse assist control for causing the vehicle to reverse along the forward movement path, The control unit When it is determined that a predetermined suggestion condition is satisfied based on a situation around the vehicle or a reverse route taken by the vehicle when the vehicle is reversed, the execution of the reverse assistance control is suggested to a driver of the vehicle; When the driver agrees to the execution of the reverse assist control, the reverse assist control is executed. The reverse assist device is configured as follows.

2. 2. The reverse assist device according to claim 1, the control unit is configured to determine that the proposed condition is satisfied when, in a case where the reverse assist control is not being executed, a time during which the vehicle reverses along the reverse path, which is the forward path, is equal to or longer than a predetermined threshold time, or a distance during which the vehicle reverses along the reverse path, which is the forward path, is equal to or longer than a predetermined threshold distance. Reverse support device.

3. 2. The reverse assist device according to claim 1, The control unit is configured to determine that the proposed condition is satisfied when it is determined based on the surrounding conditions that the width of the road on which the vehicle is traveling is equal to or smaller than a predetermined threshold width and that there is an oncoming vehicle approaching the vehicle, or when it is determined based on the surrounding conditions that the road on which the vehicle is traveling is a dead end or the width of the road is such that the vehicle cannot travel on the road. Reverse support device.

4. 2. The reverse assist device according to claim 1, The control unit determining whether the proposed condition is satisfied based on the surrounding situation, and determining whether the proposed condition is satisfied based on the retreat path; When the execution of the reverse assist control is proposed due to the satisfaction of the proposal condition based on the surrounding situation and the driver refuses to execute the reverse assist control, the execution of the reverse assist control is not proposed even if the proposal condition based on the reverse route is satisfied. The reverse assist device is configured as follows.

5. 2. The reverse assist device according to claim 1, The control unit is configured to make the proposed condition more likely to be satisfied as the number of times the driver agrees to the execution of the reverse assist control increases, and to make the proposed condition more difficult to be satisfied as the number of times the driver refuses the execution of the reverse assist control increases. Reverse support device.

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