Control device, control method, and control program

Abstract

While ensuring ease of operation, it enables the operation of control equipment using existing configurations. [Solution] The system includes an acquisition unit 31 that acquires steering torque TQ and steering angle θst, a determination unit 32 that determines whether or not there is a non-steering operation of the steering 46 based on the steering torque TQ and steering angle θst, and a control device control unit 33 that controls a predetermined control device mounted on the vehicle 1 based on the determination result. The control device control unit 33, in response to a response request to the user based on the function of the control device, executes control of the control device corresponding to the response request if a non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41 based on the determination result, and does not execute control of the control device corresponding to the response request if a non-steering operation is not detected by either the torque sensor 42 or the steering angle sensor 41 based on the determination result.

Description

Technical Field

[0001] The present invention relates to a control device, a control method, and a control program.

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that also takes into account vulnerable road users. As part of this effort, research and development have been conducted on driving support technologies and autonomous driving technologies in vehicles such as automobiles in order to further improve traffic safety and convenience.

[0003] With the introduction of driving support technologies and autonomous driving technologies, the number of operation switches and the like provided in vehicles such as automobiles is on the increase. In addition, the operation switch may be shared with in-vehicle devices such as a navigation system, and the operation method is becoming more complicated. Therefore, in the device described in Patent Document 1, a configuration is disclosed in which vibrations generated by an operation of hitting the steering wheel are detected by a measuring unit provided on the steering wheel, and a control signal corresponding to operation information for a control device is output based on the detected vibrations.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the device of Patent Document 1, a measuring unit and the like for detecting vibrations generated by an operation of hitting the steering wheel are provided, and there is a risk of an increase in cost. Therefore, it is desired to realize an operation for functioning a control device with an existing configuration without adding a new configuration while ensuring operability.

[0006] The present invention provides a control device, a control method, and a control program that enable operation to make control equipment function using existing configurations while ensuring operability. [Means for solving the problem]

[0007] One aspect of the present invention is, An acquisition unit that acquires the torque detected by a first detection unit that detects the torque acting on the rotation shaft of the steering part of the vehicle, and the steering angle detected by a second detection unit that detects the steering angle, which is the rotation angle of the rotation shaft, A determination unit determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control device corresponding to the response request is not executed.

[0008] Furthermore, other embodiments of the present invention include: An acquisition unit that acquires the torque detected by a first detection unit that detects the torque acting on the rotation shaft of the steering part of the vehicle, and the steering angle detected by a second detection unit that detects the steering angle, which is the rotation angle of the rotation shaft, A determination unit determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user's response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control device corresponding to the response request is not executed.

[0009] Furthermore, other embodiments of the present invention include: Computers The torque detected by the first detection unit, which detects the torque acting on the rotation axis of the vehicle's steering section, and the steering angle detected by the second detection unit, which detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the system performs a process that prevents the control device corresponding to the response request from executing its control.

[0010] Furthermore, other embodiments of the present invention include: On the computer, The torque detected by the first detection unit, which detects the torque acting on the rotation axis of the vehicle's steering section, and the steering angle detected by the second detection unit, which detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. Based on the determination result, when a non-steering operation is detected by at least one of the first detection unit and the second detection unit in response to a response request to the user based on the function of the control device, the control of the control device corresponding to the response request is executed. Based on the determination result, when the non-steering operation is not detected from either the first detection unit or the second detection unit, a process of not executing the control of the control device corresponding to the response request is executed.

Effects of the Invention

[0011] According to the present invention, while ensuring operability, an operation for making a control device function can be performed with an existing configuration. And, by extension, it contributes to improving traffic safety and the development of a sustainable transportation system.

Brief Description of the Drawings

[0012] [Figure 1] It is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30 according to an embodiment. [Figure 2] It is a diagram for explaining an example of a detection value of a steering angle sensor 41. [Figure 3] It is a diagram for explaining an example of a detection value of a torque sensor 42. [Figure 4] It is a diagram for explaining an example for suppressing occurrence of false detection or false determination of a non-steering operation. [Figure 5] It is a flowchart showing an example of a process executed in an embodiment. [Figure 6] It is a subroutine for explaining a non-steering operation determination process in step S4 in the flowchart of FIG. 5.

Modes for Carrying Out the Invention

[0013] Hereinafter, an embodiment will be described with reference to the drawings. The following embodiments do not limit the present invention, and not all of the elements described in the following embodiments are essential to the present invention. Also, within the scope not departing from the gist of the present invention, two or more elements described in the following embodiments may be arbitrarily combined. In the following, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified.

[0014] [Vehicle equipped with a control device] First, the configuration of the vehicle 1 equipped with the control device 30 of the embodiment will be described. FIG. 1 is a block diagram showing the configuration of the vehicle 1. The vehicle 1 is an automobile including a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable steering wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of left and right front wheels and rear wheels.

[0015] The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Also, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or four wheels including a pair of left and right front wheels and rear wheels. Either one of the front wheels and rear wheels of the vehicle 1 may be a steerable steering wheel, or both may be steerable steering wheels.

[0016] Vehicle 1 is capable of both manual driving and automated driving or driver assistance, where the vehicle automatically controls the driving operations. Automated driving, as defined here, involves the vehicle's system performing all driving operations, including recognition or monitoring of the driving environment and surrounding conditions, as well as starting, accelerating, decelerating, steering, and stopping. Driver assistance, on the other hand, involves the vehicle's system performing some of the driving operations, such as starting, accelerating, decelerating, steering, and stopping, and includes, for example, APS (Automatic Parking System), LKAS (Lane Keep Assist System), and ACC (Adaptive Cruise Control). The level of driving control in automated driving and driver assistance can be multiple, as is conventionally known, and may be defined, for example, by levels 0 to 5 established by the SAE (Society of Automotive Engineers) in the United States. The higher the level number, the lighter the operational burden on the driver or other user (hereinafter referred to as "user") (in other words, the higher the level number, the higher the degree of automation). Since the specific content of levels 0 through 5 is already known, we will omit the explanation here.

[0017] Vehicle 1 is comprised of a sensor group 10, a navigation device 20, a control device 30, an electric power steering (EPS) system 40, a drive force control system 50, a braking force control system 60, a communication unit 70, and an operation input unit 80.

[0018] The sensor group 10 includes an external sensor 11 that acquires information about the surroundings of the vehicle 1, and a vehicle sensor 12 that acquires information about the vehicle 1. The information (in other words, detected values) acquired by each sensor in the sensor group 10 is output to the control device 30.

[0019] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is a digital camera that captures images of the area around the vehicle 1 and outputs the image data of the obtained surrounding images to the control device 30. In this embodiment, since the vehicle 1 can perform autonomous driving, etc., it has a front camera 111a, a rear camera 111b, a left-side camera 111c, and a right-side camera 111d in order to acquire images of the area around the vehicle 1 in all directions. Note that the camera 111 does not need to have all of these cameras 111a to 111d, but only needs to have enough cameras to enable autonomous driving, automatic parking, etc.

[0020] The front camera 111a is installed, for example, on the top of the front windshield or on the front bumper inside the vehicle interior, and photographs the area in front of the vehicle 1. The rear camera 111b is installed, for example, on the rear bumper, and photographs the area behind the vehicle 1. The left-side camera 111c is installed, for example, on the left side mirror, and photographs the area to the left of the vehicle 1. The right-side camera 111d is installed, for example, on the right side mirror, and photographs the area to the right of the vehicle 1. For each of the cameras 111a to 111d, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used. In the following description, unless otherwise specifically distinguished, the front camera 111a, rear camera 111b, left-side camera 111c, and right-side camera 111d will simply be referred to as "camera 111".

[0021] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and detects the distance and direction to objects by receiving reflected sound from objects present around the vehicle 1. The detected information is transmitted to the control device 30 at a predetermined interval. The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected waves from objects present around the vehicle 1. The detected information is transmitted to the control device 30 at a predetermined interval. For example, a millimeter-wave radar can be used as the radar 113.

[0022] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 1, including the area in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected light from objects present around the vehicle 1.

[0023] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0024] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. For example, the wheel sensor 121 can be an angle sensor or a displacement sensor.

[0025] The vehicle speed sensor 122 detects the vehicle speed, which is the speed at which the vehicle 1 is traveling (in other words, the speed at which the vehicle body is moving). For example, the vehicle speed sensor 122 detects the vehicle speed based on the rotational speed of a countershaft (not shown) provided by the vehicle 1.

[0026] The inertial measurement device 123 detects the angular velocities in the pitch, roll, and yaw directions of the vehicle 1, as well as the accelerations in the longitudinal, lateral, and vertical directions of the vehicle 1. The vehicle sensor 12 may also include an acceleration sensor for detecting acceleration in a predetermined direction of the vehicle 1 and a gyro sensor for detecting angular velocity in a predetermined direction of the vehicle 1, instead of the inertial measurement device 123.

[0027] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 1 and outputs the image data of the interior images obtained to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of a user seated in the driver's seat of vehicle 1 from the front (in other words, to capture images of the face). Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS. In this embodiment, the image data of the interior images obtained by the occupant camera 124 capturing images of the interior contains information that can identify the direction of the user's gaze.

[0028] The operation detection unit 125 detects operations performed using an operation input unit 80 that is operated by an occupant. In one embodiment, the operation input unit 80 includes, for example, an operation switch (not shown) that accepts an operation to switch automatic driving or automatic parking on (in other words, activated) and off (in other words, deactivated). In this case, the operation detection unit 125 can detect the operation to turn automatic driving or automatic parking on or off.

[0029] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is installed in the part that the user touches when the steering wheel 46 is being properly gripped.

[0030] The navigation device 20 is comprised of, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (map information DB) 24, etc.

[0031] The GNSS receiver 21 determines the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of the vehicle 1 using an INS (Inertial Navigation System) that utilizes the detection values ​​from the vehicle sensors 12.

[0032] The touch panel 22 functions as an input device that receives various types of information for the control device 30, and as a display unit controlled by the control device 30. The touch panel 22 is composed of, for example, a combination of a liquid crystal display or OLED (Organic Light Emitting Diode) and a pointing device (for example, a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1.

[0033] For example, the navigation device 20 searches for a route from the current location of vehicle 1 to a destination set by the user using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23. The navigation device 20 may also display predetermined information on the touch panel 22 according to instructions from the control device 30. Specific display examples will be described later. Furthermore, the navigation device 20 may output predetermined information to the control device 30, such as information indicating the current location of the identified vehicle 1 or information indicating the operation received via the touch panel 22.

[0034] The control device 30 is a computer that comprehensively controls the entire vehicle 1, and includes, for example, a processor that performs various calculations, a storage unit 35 having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the control device 30 (not shown).

[0035] The control device 30 is implemented by a single ECU (Electronic Control Unit) or by the cooperation of multiple ECUs. The specific configuration and control examples of the control device 30 will be described later.

[0036] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0037] The steering angle sensor 41 detects the steering angle θst of the steering 46, which is the rotation angle of the steering shaft 47, and outputs information indicating the detected steering angle θst to the EPS ECU 45. The steering shaft 47 is connected to the steering 46. In other words, the steering angle sensor 41 detects the steering angle θst detected when the user operates the steering 46, and outputs the detected information to the EPS ECU 45. Here, "operation of the steering 46" is not necessarily limited to steering operations of the steering 46 that turn the wheels. For example, it also includes non-steering operations such as the user hitting or touching the steering 46. In other words, "operation" as used here includes non-steering operations that do not turn the wheels (hereinafter also simply referred to as "non-steering operations").

[0038] Figure 2 shows an example of the detected value of the steering angle sensor 41. For the sake of explanation, the example in Figure 2 shows a case in which the user continuously performs non-steering operations, such as hitting the steering wheel 46, and steering operations, such as turning the wheels. As can be seen from Figure 2, the amount of change in the steering angle θst differs greatly between non-steering operations and steering operations. That is, the magnitude of the change in the steering angle θst in the case of non-steering operations, enclosed by the dashed line, is clearly smaller than the change in the steering angle θst in the case of steering operations. The change in the steering angle θst in non-steering operations is as shown in the enlarged view of the area enclosed by the dashed line. In other words, the amount of change in the steering angle θst per unit time is clearly smaller for non-steering operations than for steering operations. Based on such changes in the steering angle θst, the control device 30, described later, can determine whether the operation caused by the change in the steering angle θst is a non-steering operation or a steering operation. In other words, the user's operation can be determined based on the value detected by the steering angle sensor 41. A detailed control example will be described later.

[0039] Non-steering operations may be achieved by operating any part of the steering wheel 46. That is, the user can achieve non-steering operations by striking any part of the steering wheel 46.

[0040] The torque sensor 42 detects the steering torque TQ, which is the torque acting on the steering shaft 47, and outputs information indicating the detected steering torque TQ to the EPS ECU 45. In other words, the torque sensor 42 detects the steering torque TQ applied when the user operates the steering 46, and outputs the detected information to the EPS ECU 45. Note that, as explained with the steering angle sensor 41, "operation of the steering 46" is not necessarily limited to steering operations of the steering 46 that turn the wheels, but also includes the non-steering operations described above.

[0041] Figure 3 shows an example of the values ​​detected by the torque sensor 42. For the sake of explanation, the example in Figure 3 shows a case where the user continuously performs non-steering operations, such as hitting the steering wheel 46, and steering operations, such as turning the wheels. As can be seen from Figure 3, the amount of change in torque that moves up and down is significantly different between non-steering operations and steering operations. That is, the magnitude of the torque fluctuation in the case of non-steering operations, enclosed by the dashed line, is clearly smaller than the torque fluctuation in the case of steering operations. In other words, the amount of torque fluctuation per unit time is clearly smaller for non-steering operations than for steering operations. Based on such torque fluctuations, the control device 30, described later, can determine whether the operation caused by the torque fluctuation is a non-steering operation or a steering operation. In other words, the user's operation can be determined based on the values ​​detected by the torque sensor 42. Detailed control examples will be described later.

[0042] In this embodiment, the steering 46 is an example of a "steering unit," the steering shaft 47 is an example of a "rotating shaft," the torque sensor 42 is an example of a "first detection unit," and the steering angle sensor 41 is an example of a "second detection unit."

[0043] The EPS motor 43 assists the user's operation of the steering 46 by applying a driving force or reaction force to the steering column (not shown) connected to the steering 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0044] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. Alternatively, the EPS ECU 45 may control the EPS system 40 according to instructions from the control device 30.

[0045] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0046] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium that stores various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the drive force output from the drive source of the vehicle 1 based on the amount of operation of the accelerator pedal 52 provided on the vehicle 1 and the detected value of a shift position sensor 53 that detects the shift position Ps of a shift device (e.g., a shift lever or shift switch) not shown. The drive source is an internal combustion engine or a motor as described above, and the drive ECU 51 controls the output of these internal combustion engines or motors based on the amount of operation of the accelerator pedal 52 and the shift position Ps. The drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to instructions from the control device 30.

[0047] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on the operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 according to instructions from the control device 30.

[0048] The communication unit 70 is a communication interface that communicates with the external device 2 according to control instructions from the control device 30. In other words, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a user's terminal device (e.g., a smartphone) or a server device managed by the manufacturer of the vehicle 1. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0049] [Control device configuration] Next, the configuration of the control device 30 will be described in detail. The control device 30 executes various programs stored in the memory unit 35. In this embodiment, the control device 30 determines, for example, whether or not the user has performed a non-steering operation in response to a response request based on the function of a control device, such as automatic driving or automatic parking, and executes control of the control device corresponding to the response request based on the determination result. As described above, with the introduction of automatic driving technology and driver assistance technology, the number of operation switches provided in vehicles is increasing, or operation switches are being shared with in-vehicle equipment such as navigation systems, which may make the operation of operation switches more complex or cumbersome. Therefore, in this embodiment, a predetermined program is executed that ensures operability while enabling operations to make the control device function using the existing configuration without adding any new configurations.

[0050] Specifically, the control device 30 includes an acquisition unit 31, a determination unit 32, and a control device control unit 33 as functional units realized by the execution of a predetermined program. In the following, the processes described as being performed by the acquisition unit 31, the determination unit 32, and the control device control unit 33 are processes realized by the control device 30.

[0051] The acquisition unit 31 acquires the steering torque TQ, which is the torque acting on the steering shaft 47 detected by the torque sensor 42, and the steering angle θst, which is detected by the steering angle sensor 41 that detects the steering angle θst of the steering 46. As described above, the information such as the detected value acquired by the torque sensor 42 and the information such as the detected value acquired by the steering angle sensor 41 are output to the control device 30. The information output to the control device 30 is then stored in the storage unit 35. Therefore, the acquisition unit 31 refers to the storage unit 35 to acquire the steering torque TQ detected by the torque sensor 42 and the steering angle θst detected by the steering angle sensor 41.

[0052] The determination unit 32 determines whether or not a non-steering operation of the steering 46 is performed based on the steering torque TQ and steering angle θst acquired by the acquisition unit 31. For example, the determination unit 32 compares the steering torque TQ acquired by the function of the acquisition unit 31 with reference information of steering torque TQ during non-steering operations (for example, a waveform as explained in Figure 3) stored in advance in the storage unit 35 to determine whether the acquired steering torque TQ is from a non-steering operation. If the determination unit 32 determines that the information of the acquired steering torque TQ matches or is similar to the reference information of that steering torque TQ, it determines that the acquired steering torque TQ is based on a non-steering operation. As described above, the magnitude of torque fluctuations is clearly different between non-steering operations and steering operations, as explained using Figure 3, so it is easy to determine whether or not a non-steering operation is performed. However, the system may also be configured to determine whether or not a non-steering operation is performed by defining the amount of torque fluctuation per unit time, for example.

[0053] Then, if the determination unit 32 determines that the acquired steering torque TQ does not match or resemble the reference information for that steering torque TQ, it determines that the acquired steering torque TQ is not based on a non-steering operation.

[0054] Furthermore, the determination unit 32 compares the steering angle θst acquired by the acquisition unit 31 with reference information for the steering angle θst during non-steering operations (for example, a waveform as explained in Figure 2) stored in the storage unit 35, and determines whether the acquired steering angle θst is from a non-steering operation. If the determination unit 32 determines that the information of the acquired steering angle θst matches or is similar to the reference information for that steering angle θst, it determines that the acquired steering angle θst is based on a non-steering operation. As mentioned above, the magnitude of the change in steering angle θst is clearly different between non-steering operations and steering operations, as explained using Figure 2, making it easy to determine non-steering operations. However, the system may also be configured to determine the presence or absence of non-steering operations by defining, for example, the amount of change in steering angle θst per unit time.

[0055] Then, if the determination unit 32 determines that the acquired steering angle θst does not match or resemble the reference information for that steering angle θst, it determines that the acquired steering angle θst is not based on a non-steering operation.

[0056] The control device control unit 33 controls a predetermined control device mounted on the vehicle 1 based on the determination result of the determination unit 32 regarding whether or not a steering operation has occurred. Specifically, in response to a user response request based on the function of the control device, the control device control unit 33 executes control of the control device corresponding to the response request if a steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41, based on the determination result of the determination unit 32. Conversely, the control device control unit 33 does not execute control of the control device corresponding to the response request if a steering operation is not detected by either the torque sensor 42 or the steering angle sensor 41, based on the determination result of the determination unit 32.

[0057] Here, "a user response request based on the function of the control device" may include, in addition to the aforementioned automatic driving control, ACC, APS and other driver assistance controls, operations on audio equipment (e.g., adjusting the volume, skipping tracks), destination search operations on the navigation device 20, route planning to the destination, and air conditioning operation. Note that the controls and operations based on the response requests listed here are just examples and may be arbitrarily set by, for example, the manufacturer. The control device control unit 33 makes such response requests by, for example, displaying them on a display unit such as the touch panel 22, or outputting them as sound from the speaker 23. The user can then respond to such a response request by performing a non-steering operation, such as tapping the steering wheel 46.

[0058] Furthermore, when classifying the above-mentioned response requests according to their content, they can be divided into, for example, "response requests involving braking and / or driving force control," which control driving force and / or braking force, such as in autonomous driving or driver assistance, and "response requests without braking and / or driving force control," such as route searching to a destination.

[0059] The control device control unit 33, based on the determination result of the determination unit 32, executes control of the control device corresponding to the response request when non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41. At this time, it is preferable that the control device control unit 33 sets whether to execute control of the control device corresponding to the response request, depending on the content of the response request. For example, if the response request is a response request related to the braking force control described above, since the braking force control is a control that is directly related to the driving of the vehicle 1, it is preferable to execute control of the control device corresponding to the response request based on the determination that non-steering operation has been detected by both the torque sensor 42 and the steering angle sensor 41, taking safety into consideration.

[0060] For example, if the response request is for driver assistance such as starting automatic parking control (APS) to move vehicle 1 to a target parking position, the control equipment control unit 33 will start controlling the control equipment for automatic parking if it determines that non-steering operation has been detected by both the torque sensor 42 and the steering angle sensor 41. That is, the control equipment control unit 33 will start automatic parking control to move vehicle 1 to a target parking position by performing drive control, braking control, and steering control, etc., via the drive ECU 51, braking ECU 61, EPS ECU 45, etc., provided that non-steering operation has been detected by both the torque sensor 42 and the steering angle sensor 41.

[0061] Furthermore, in response requests involving braking and driving force control, such as automatic parking control, if non-steering operation is detected by only one of the torque sensor 42 or steering angle sensor 41, or if no non-steering operation is detected by either sensor, the control device control unit 33 will not execute control of the control device corresponding to the response request. In other words, because no non-steering operation is detected in response to a response request involving braking and driving force control, the control device control unit 33 will not execute control of the control device corresponding to the response request.

[0062] On the other hand, for example, if the response request is one that does not involve braking or driving force control, such as the operation of the navigation device 20, the control equipment control unit 33 may relax the conditions compared to a response request that involves driving force control, and execute control of the control equipment corresponding to the response request based on the determination that non-steering operation has been detected by at least one of the torque sensor 42 and the steering angle sensor 41.

[0063] For example, if the response request is for the navigation device 20 to start searching for a route to the destination, the control device control unit 33 will execute control of the control device to perform route searching if it determines that non-steering operation has been detected by at least one of the torque sensor 42 and the steering angle sensor 41. In other words, the control device control unit 33 will perform control to start searching for a route to the destination in the navigation device 20, on the condition that non-steering operation has been detected by either the torque sensor 42 or the steering angle sensor 41.

[0064] Furthermore, in response requests that do not involve braking force control, if no steering operation is detected from either the torque sensor 42 or the steering angle sensor 41, the control equipment control unit 33 will not execute control of the control equipment corresponding to the response request. In other words, since no steering operation is detected in response to a response request that does not involve braking force control, the control equipment control unit 33 will not execute control of the control equipment corresponding to the response request.

[0065] As described above, in this embodiment, control of the control device corresponding to the response request is executed when the conditions specified according to the content of the response request are met, such as a response request with braking force control or a response request without braking force control. The "condition in which non-steering operation is detected by the torque sensor 42 and the steering angle sensor 41" imposed in the case of a response request with braking force control is an example of the "first condition" in this embodiment. The "condition in which non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41" imposed in the case of a response request without braking force control is an example of the "second condition" in this embodiment. In the following description, these conditions will also be simply referred to as the "first condition" and the "second condition".

[0066] On the other hand, user responses based on non-steering operations as described above may lead to false detections or misjudgments. For example, when vehicle 1 is in motion, unavoidable vibrations, noises, disturbances, etc. may occur. For example, when vehicle 1 is traveling at a predetermined speed or higher, the control device 30 may falsely detect or misjudgment non-steering operations due to vibrations. Also, when vehicle 1 is traveling at a predetermined speed or higher, the user's operation of the steering 46 may become complicated, which may lead to false detection or misjudgment of non-steering operations. Therefore, in this embodiment, in order to suppress or prevent such false detections or misjudgments of non-steering operations, the system is configured to limit the determination of whether or not a non-steering operation is performed under predetermined conditions.

[0067] Specifically, the determination unit 32 determines whether or not non-steering operation has occurred when the vehicle speed of vehicle 1 is below a predetermined speed. In other words, the determination unit 32 does not determine whether or not non-steering operation has occurred when the vehicle speed is equal to or greater than the predetermined speed. This predetermined speed may be determined in advance through experiments or other means. The vehicle speed is obtained, for example, based on information from the vehicle speed sensor 122.

[0068] Furthermore, the determination unit 32 determines whether or not a non-steering operation has been performed when the steering speed of the wheels is less than a predetermined steering speed. In other words, the determination unit 32 does not determine whether or not a non-steering operation has been performed when the steering speed is equal to or greater than the predetermined steering speed. This is because if the steering speed is fast, the user's operation may become complicated, which may lead to false detection or false determination of non-steering operations. This predetermined steering speed may be determined in advance, for example, by experimentation. The steering speed may also be obtained, for example, based on information from a steering angle sensor (not shown) or based on steering angle θst information obtained by the steering angle sensor 41.

[0069] Furthermore, the determination unit 32 determines whether or not there is a non-steering operation based on the detection by the torque sensor 42 if there are fewer than a predetermined number of other detections by the torque sensor 42 within a predetermined time period before and after the detection by the torque sensor 42. In other words, if there are a predetermined number or more of other detections by the torque sensor 42 within a predetermined time period before and after the detection by the torque sensor 42, the determination unit 32 does not determine whether or not there is a non-steering operation based on the detection by the torque sensor 42.

[0070] Using Figure 4, the determination of whether or not non-steering operation is possible can be explained as follows: For example, if a torque fluctuation indicated by a dashed line is detected in response to a user response request, the determination unit 32 will determine whether or not non-steering operation is possible if, within a predetermined time before and after the detection of the torque fluctuation, the number of other detections by the torque sensor 42 is less than a predetermined number. In other words, in Figure 4, if there are a predetermined number or more of other detections other than the torque fluctuation enclosed by the dashed line within the predetermined time before and after, the determination unit 32 will not determine whether or not non-steering operation is possible based on the detection by the torque sensor 42. Note that the "predetermined time before and after" is assumed to be a relatively short time, such as 1 second. The "predetermined number" may be predetermined by the manufacturer, etc., and may be set to a number that takes into account false detections and false judgments.

[0071] While it is preferable that other detections by the torque sensor 42 be "0", it is conceivable that there may be individual differences in how users respond to response requests, such as by tapping the steering wheel 46 only once, or by tapping it repeatedly or at short intervals. Furthermore, disturbances that cause unavoidable slight torque fluctuations may also be conceivable. Therefore, the number of detections other than torque fluctuations is defined here as less than a predetermined number, including "0".

[0072] Similarly, the determination unit 32 determines whether or not there is a non-steering operation based on the detection by the steering angle sensor 41 if there are fewer than a predetermined number of other detections by the steering angle sensor 41 within a predetermined time before and after the detection by the steering angle sensor 41. In other words, if there are a predetermined number or more of other detections by the steering angle sensor 41 within a predetermined time before and after the detection by the steering angle sensor 41, the determination unit does not determine whether or not there is a non-steering operation based on the detection by the steering angle sensor 41. A detailed explanation is the same as the explanation for the torque sensor 42 using Figure 4, so that explanation is omitted here.

[0073] [flowchart] Next, an example of processing performed by the control device 30 in this embodiment will be described. Figure 5 is a flowchart of this example of processing. In this example, the control device 30 performs control of a control device corresponding to the content of a response request when the response to a response request from the user satisfies predetermined conditions. As the specific details of the processing in the control device 30 are as described above, the flow of processing will be mainly described here, and a detailed explanation of the processing will be omitted or simplified.

[0074] In the process shown in Figure 5, it is assumed that the vehicle speed is less than a predetermined vehicle speed and the steering speed is less than a predetermined steering speed, which are conditions for preventing the aforementioned false detections and false judgments. Furthermore, in the response to the response request, the information from the torque sensor 42 and steering angle sensor 41 detected is assumed to be less than a predetermined number within a predetermined time before and after the detection of the response to the response request. In addition, the process shown in Figure 5 is executed when the ignition power is on.

[0075] First, in step S1, the control device 30 makes a response request. Here, as an example, it will be explained that the control device 30 makes a response request to start automatic parking control. That is, the control device 30 makes a response request to start automatic parking control via the touch panel 22, speaker 23, etc. Situations in which the control device 30 makes a response request for automatic parking control to the user include, for example, when vehicle 1 enters the premises of a designated parking lot such as a home, or when the distance between vehicle 1 and the designated parking lot is within a predetermined distance.

[0076] Next, in step S2, the control device 30 acquires the steering torque TQ. That is, the control device 30 acquires information on the steering torque TQ based on the information from the torque sensor 42 using the function of the acquisition unit 31.

[0077] Similarly, in step S3, the control device 30 acquires the steering angle θst. That is, the control device 30 acquires information on the steering angle θst based on the information from the steering angle sensor 41 through the function of the acquisition unit 31. Note that the order of processing in steps S2 and S3 may be reversed, or they may be performed simultaneously.

[0078] Next, the control device 30 performs a non-steering operation determination process to determine whether or not the user has performed a non-steering operation (step S4). Figure 6 shows a subroutine that is an example of this non-steering operation determination process. In this non-steering operation determination process, the control device 30 determines whether or not the user's operation in response to the response request satisfies the conditions for a non-steering operation based on the content of the response request.

[0079] First, the control device 30 determines whether the content of the response request relates to braking force control (step S40). In the example shown here, as described above, a response request is made to start automatic parking control. Therefore, in step S40, it is determined to be positive (Yes in step S40), and the control device 30 proceeds to step S41.

[0080] In step S41, the control device 30 determines whether the first condition is met by the function of the determination unit 32. The first condition is, as described above, that "non-steering operation is detected by the torque sensor 42 and the steering angle sensor 41". Specifically, the control device 30 compares the steering torque TQ information acquired in step S2 with the reference information of steering torque TQ during non-steering operation stored in the storage unit 35 to determine whether the steering torque TQ information matches or is similar to the reference information of steering torque TQ.

[0081] Similarly, the control device 30 compares the steering angle θst information acquired in step S3 with the reference information for the steering angle θst during non-steering operations stored in the memory unit 35 to determine whether the steering angle θst information matches or is similar to the reference information for the steering angle θst.

[0082] In these determination processes, if it is determined that both the steering torque TQ and the steering angle θst match or are similar to the respective reference information stored in the memory unit 35 (Yes in step S41), the control device 30 determines that the first condition is met (step S42). In other words, if the information acquired based on the torque sensor 42 and the steering angle sensor 41 corresponds to information related to non-steering operations as explained using Figures 2 and 3, the control device 30 determines that the first condition is met and considers that there has been a response from the user to the response request.

[0083] If, in the determination, at least one of the steering torque TQ and steering angle θst information is determined not to match or be similar to the reference information stored in the storage unit 35 (No in step S41), the control device 30 determines that the first condition is not met (step S43). In other words, if at least one of the information acquired based on the torque sensor 42 and the steering angle sensor 41 is not information corresponding to a non-steering operation as explained using Figures 2 and 3, the control device 30 determines that the first condition is not met and considers that there has been no response from the user to the response request.

[0084] If the content of the response request is not related to braking force control, such as the start of automatic parking control, it is determined negatively in step S40 (No in step S40). For example, this may occur if the response request is to start the search for a route to a destination in the navigation device 20. In such cases, the control device 30 proceeds to step S44.

[0085] In step S44, the control device 30 determines whether the second condition is met using the function of the determination unit 32. The second condition is, as described above, that "non-steering operation is detected in at least one of the torque sensor 42 and the steering angle sensor 41". Specifically, the control device 30 compares the steering torque TQ information acquired in step S2 with the reference information of steering torque TQ during non-steering operation stored in the storage unit 35 to determine whether the steering torque TQ information matches or is similar to the reference information of steering torque TQ.

[0086] Similarly, the control device 30 compares the steering angle θst information acquired in step S3 with the reference information for the steering angle θst during non-steering operations stored in the memory unit 35 to determine whether the steering angle θst information matches or is similar to the reference information for the steering angle θst.

[0087] In these determination processes, if it is determined that at least one of the steering torque TQ and steering angle θst matches or is similar to the respective reference information stored in the memory unit 35 (Yes in step S44), the control device 30 determines that the second condition is met (step S45). In other words, if at least one of the information acquired based on the torque sensor 42 and the steering angle sensor 41 corresponds to information related to non-steering operations as described using Figures 2 and 3, the control device 30 determines that the second condition is met and considers that there has been a user response to the response request.

[0088] If, in the determination, it is determined that neither the steering torque TQ nor the steering angle θst information matches or is similar to the reference information stored in the memory unit 35 (No in step S44), the control device 30 determines that the second condition is not met (step S46). In other words, if neither of the information acquired based on the torque sensor 42 and the steering angle sensor 41 corresponds to information related to non-steering operations as explained using Figures 2 and 3, the control device 30 determines that the second condition is not met and considers that there has been no response from the user to the response request.

[0089] If the control device 30 makes a determination in any of steps S43 to S46, it proceeds to step S5 in Figure 5.

[0090] In step S5, the control device 30 determines whether the conditions for the response request are met, based on the function of the determination unit 32. That is, the control device 30 determines whether the first or second condition for the response request in step S1 is met, based on the determination result of the non-steering operation determination process in step S4.

[0091] In step S5, if it is determined positively that the conditions for the response request are met (Yes in step S5), the control device 30 proceeds to step S6.

[0092] In step S6, the control device 30 causes the control device corresponding to the response request to perform control. For example, if the content of the response request is to start automatic parking control, the control device 30 starts automatic parking control to move the vehicle 1 to the target parking position by performing drive control, brake control, and steering control via the drive ECU 51, brake ECU 61, EPS ECU 45, etc. Also, for example, if the content of the response request is to start the navigation device 20 to search for a route to the destination, the control device 30 controls the navigation device 20 to start searching for a route to the destination.

[0093] On the other hand, if step S5 is negatively determined to be unsatisfactory because the conditions for the response request are not met (No in step S5), the control device 30 terminates the process shown in Figure 5.

[0094] [Effects in the Embodiment] As described above, in this embodiment, the user can respond to a response request based on the function of a control device, such as automatic parking control, by a non-steering operation such as tapping the steering wheel 46. In other words, the user does not need to operate a dedicated operation switch or the touch panel 22 of the navigation device 20 to respond to a response request from the vehicle 1, and can respond to the request with a simple operation such as tapping the steering wheel 46. This improves or ensures operability and marketability.

[0095] Furthermore, in this embodiment, the presence or absence of non-steering operations by the user is determined based on information detected by the steering angle sensor 41 and / or torque sensor 42 included in the EPS system 40. Therefore, no new configuration is required, such as a measuring unit for detecting non-steering operations by the user. In other words, the presence or absence of non-steering operations by the user can be determined using an existing configuration. As a result, it becomes possible to implement a switch function with excellent operability while avoiding increased costs.

[0096] Furthermore, in this embodiment, a first or second condition is set, determined according to the content of the response request, as a condition for executing control of the control device corresponding to the response request. That is, the system is configured to execute control of the control device corresponding to the response request when the condition corresponding to the content of the response request is met. For example, the first condition is applied to response requests that involve braking and driving force control, such as automatic parking, and the second condition is applied to response requests that do not involve braking and driving force control, such as starting a route search to a destination in the navigation device 20. In this way, in the case of control related to the driving and safety of the vehicle 1, such as control involving braking and driving force control, the conditions are made relatively stricter, which allows for a more reliable determination of whether or not there is a non-steering operation, and enables control that takes into account the safety of the vehicle 1.

[0097] Furthermore, in this embodiment, the condition for determining whether a non-steering operation has occurred is that the vehicle speed is below a predetermined speed. That is, the presence or absence of a non-steering operation is determined when the vehicle speed is below the predetermined speed, and the presence or absence of a non-steering operation is not determined when the vehicle speed is above the predetermined speed. This suppresses or avoids false detection or misjudgment of non-steering operations due to vibrations, noise, etc. that may occur in the moving vehicle 1. In addition, as the vehicle speed increases, the operation of the user's steering 46 becomes more complicated, which may lead to false detection or misjudgment of non-steering operations. However, by not determining whether a non-steering operation has occurred above the predetermined speed, the possibility of false detection or misjudgment of non-steering operations due to the complicated operation of the steering 46 can be reduced.

[0098] Furthermore, in this embodiment, the condition for determining whether a non-steering operation has occurred is that the steering speed of the wheels is less than a predetermined steering speed. That is, if the steering speed is less than the predetermined steering speed, the presence or absence of a non-steering operation is determined, and if the steering speed is equal to or greater than the predetermined steering speed, the presence or absence of a non-steering operation is not determined. This suppresses or avoids false detection or misjudgment of non-steering operations caused by vibrations, noise, etc. that may occur in the moving vehicle 1. In addition, as the steering speed increases, the operation of the user's steering 46 becomes more complicated, which may lead to false detection or misjudgment of non-steering operations. However, by not determining whether a non-steering operation has occurred at or above the predetermined steering speed, the possibility of false detection or misjudgment of non-steering operations due to the complicated operation of the steering 46 can be reduced.

[0099] Furthermore, in this embodiment, the presence or absence of non-steering operation is determined when the number of other detections by the steering angle sensor 41 within a predetermined time period before and after the detection of the steering angle θst is less than a predetermined number. In other words, if the number of other detections by the steering angle sensor 41 is greater than or equal to a predetermined number, the presence or absence of non-steering operation is not determined. This is because if there are many other detections (i.e., other operations) by the steering angle sensor 41, the accuracy of determining non-steering operation may decrease. That is, if the number of detections by the steering angle sensor 41 is greater than or equal to a predetermined number, it becomes difficult to determine whether it is a response to a response request. Therefore, by excluding cases where the number of other detections by the steering angle sensor 41 within a predetermined time period before and after is greater than or equal to a predetermined number, it is possible to suppress a decrease in the accuracy of determining non-steering operation.

[0100] Similarly, the presence or absence of non-steering operation is determined when the number of other detections by the torque sensor 42 within a predetermined time before and after the detection of steering torque TQ is less than a predetermined number. In other words, if the number of other detections by the torque sensor 42 is greater than or equal to a predetermined number, the presence or absence of non-steering operation is not determined. This is because if there are many other detections (i.e., other operations) by the torque sensor 42, the accuracy of determining non-steering operation may decrease. That is, if the number of detections by the torque sensor 42 is greater than or equal to a predetermined number, it becomes difficult to determine whether it is a response to a response request. Therefore, by excluding cases where the number of other detections by the torque sensor 42 within a predetermined time before and after is greater than or equal to a predetermined number, the decrease in the accuracy of determining non-steering operation can be suppressed.

[0101] [Differentiation] Next, a modified example will be described. In the above-described embodiment, an example was described in which the user responds to a response request from the vehicle 1 by a non-steering operation of the steering wheel 46. On the other hand, it is conceivable that the user may want to give a negative response, such as parking the vehicle by their own operation, in response to a response request from the vehicle 1 (for example, initiation of automatic parking control). In other words, in the above-described embodiment, a positive response was basically given to a response request from the vehicle 1 by a non-steering operation, but it is also conceivable that a negative response may be given. In such cases, it is preferable to change the specifications and settings of the non-steering operation for positive and negative responses. That is, it is preferable to be able to determine whether or not to respond with a non-steering operation on the steering wheel 46.

[0102] For example, as a "positive response," the information of the steering angle sensor 41 and torque sensor 42 obtained when the steering wheel 46 is struck once is stored in the storage unit 35. Similarly, as a "negative response," the information of the steering angle sensor 41 and torque sensor 42 obtained when the steering wheel 46 is struck twice is stored in the storage unit 35. Then, in response to a response request, the information of the steering angle sensor 41 and torque sensor 42 obtained by the user's operation is compared with the information stored in the storage unit 35. For example, if it matches or is similar to the information obtained when the steering wheel is struck once, it is determined that a positive response has been obtained. If it matches or is similar to the information obtained when the steering wheel is struck twice, it is determined that a negative response has been obtained. If a positive response is obtained, the control device 30 starts controlling the control device corresponding to the response request.

[0103] It should be noted that these specifications and settings are merely examples, and the system may, for example, determine whether or not to respond to a response request based on waveforms and amplitudes obtained by long-pressing the steering wheel 46. Furthermore, for example, the relationship between the "positive response" and the "negative response" described above may be reversed. That is, the information of the steering angle sensor 41 and torque sensor 42 obtained when the steering wheel 46 is struck once is stored in the storage unit 35 as a "negative response," and the information of the steering angle sensor 41 and torque sensor 42 obtained when the steering wheel 46 is struck twice is stored in the storage unit 35 as a "positive response." Then, in response to a response request, the system may compare the information of the steering angle sensor 41 and torque sensor 42 obtained by the user's operation with the information stored in the storage unit 35 to determine whether or not to respond.

[0104] In this way, by using non-steering operations on the steering wheel 46, the system can output whether or not a response request from the vehicle 1 is accepted, allowing the user to give both positive and negative responses. As a result, for example, compared to a configuration where only positive responses are possible, operability is improved, and the inconvenience of only being able to give positive responses is reduced.

[0105] Furthermore, in the above-described embodiment, in order to suppress false detection or misjudgment of non-steering operations, the determination unit 32 is described in an example where it does not determine whether or not a non-steering operation is performed when the vehicle speed is above a predetermined vehicle speed or the steering speed is above a predetermined steering speed. However, in situations where such false detection or misjudgment is expected to occur, the system may be configured not to send a response request from the vehicle 1.

[0106] Furthermore, in the above-described embodiment, an example was explained in which the vehicle 1 makes a response request and the user responds to that response request with a non-steering operation. However, for example, in some response requests that do not involve braking force control, the system may be configured so that a response request is always made when the control device corresponding to the response request is functioning, and a response is possible even if there is no display of the response request on the touch panel 22 or the like. For example, when the audio function is functioning, operations such as changing the volume or skipping the currently playing song may be made to be responsive even if there is no display of the response request. This improves the convenience of response requests that do not involve braking force control. In contrast, for response requests that do involve braking force control, since these are response requests related to driving, it is preferable that the vehicle 1 makes a response request each time and the user responds to that response request.

[0107] Furthermore, the range of the steering wheel 46 that can be operated without steering may be set according to the function. For example, in the case of a positive response as described above, or a response that suggests a positive response, such as increasing the volume, the setting may be such that the response can be made by operating the right half of the steering wheel 46 without steering. Similarly, in the case of a negative response, or a response that suggests a negative response, such as decreasing the volume, the setting may be such that the response can be made by operating the left half of the steering wheel 46 without steering.

[0108] Furthermore, in the above-described embodiment, the trigger for the response request to initiate automatic parking control was explained as, for example, when vehicle 1 enters the parking lot. However, the trigger for the response request may be defined according to the content of the response request. For example, in the case of automatic driving control, the response request may be made when a destination is set in the navigation device 20.

[0109] Furthermore, although the above-described embodiment explained an example in which a response request is displayed on the display unit of the touch panel 22 in the navigation device 20, the display unit may also be a display that shows a speedometer or the like.

[0110] Furthermore, in the above-described embodiment, the response request was a response request from the vehicle 1 to the user, but the system may be configured to allow the user to initiate the response request, rather than being limited to the vehicle 1. For example, if the user requests the start of automatic parking control, the system may be configured to activate when the user performs a non-steering operation, such as tapping the steering wheel 46. In that case, similar to the response request from the vehicle 1, the automatic parking control is a response request that involves braking and driving force control, and therefore the system is subject to a first condition in which a non-steering operation is detected by the torque sensor 42 and the steering angle sensor 41. When the first condition is met, the system executes control of the control equipment related to automatic parking control corresponding to the response request.

[0111] Furthermore, if the response request from the user is a response request that does not involve braking force control, the system may be configured to execute control of the control device corresponding to the response request when non-steering operation is detected by at least one of the torque sensor 42 and the steering angle sensor 41. Other requirements and conditions may be the same as in the example of a response request from the vehicle 1 side described above. Therefore, their explanation is omitted here.

[0112] Although embodiments of the present invention have been described above with reference to the drawings, it goes without saying that the present invention is not limited to the embodiments described above. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these are also understood to naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined arbitrarily without departing from the spirit of the invention.

[0113] For example, at least some of the components that make up the control device 30 (acquisition unit 31, determination unit 32, control device control unit 33) may be divided and exist in multiple devices.

[0114] Furthermore, some of the components of the above-described embodiment may be omitted, or the processing may be varied or omitted.

[0115] Furthermore, the processing described in the above-mentioned embodiments can be realized by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed by reading it from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer that executes this control program may be included in the control device, included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or included in a server device that can communicate with these control devices and electronic devices.

[0116] This specification contains at least the following information. The components indicated in parentheses in the embodiments described above are, but are not limited thereto.

[0117] (1) An acquisition unit (acquisition unit 31) that acquires the torque (steering torque TQ) detected by a first detection unit (torque sensor 42) that detects the torque acting on the rotation axis (steering shaft 47) of the steering unit (steering 46) of the vehicle (vehicle 1), and the steering angle (steering angle θst) detected by a second detection unit (steering angle sensor 41) that detects the steering angle, which is the rotation angle of the rotation axis, A determination unit (determination unit 32) determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit (control device control unit 33) that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control device corresponding to the response request is not executed. Control device (control device 30).

[0118] According to (1), in response to a user response request based on the function of the control device, at least one of the first detection unit and the second detection unit determines whether or not a non-steering operation has occurred in the steering unit, and controls the control device based on the determination result. This makes it possible to determine whether or not a non-steering operation has occurred using an existing configuration, without having to introduce a new configuration such as a measuring unit to determine whether or not a non-steering operation has occurred. As a result, it becomes possible to implement a switch function with excellent operability in the steering unit while avoiding increased costs.

[0119] (2) The control device described in (1), The conditions for causing the control device to execute control in response to the aforementioned response request include: Based on the above determination result, a first condition is set which is that the non-steering operation is detected by the first detection unit and the second detection unit, Based on the determination result, a second condition is included, which is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit. The control device control unit is If the first or second condition, determined according to the content of the response request, is met, the control of the control device corresponding to the response request is executed. Control device.

[0120] According to (2), by defining a first or second condition depending on the content of the response request, it becomes possible to implement control that takes into account the safety of the vehicle when executing control in response to the response request.

[0121] (3) The control device described in (2), The first condition is, Applied to the response request, which involves automatic control of driving force and / or braking force, The second condition is, Applicable to the response request without the aforementioned braking force control, Control device.

[0122] According to (3), by applying the first condition, which requires that non-steering operation be detected by the two detection units, the first detection unit and the second detection unit, to the braking and driving force control, it becomes possible to perform control that takes into account, for example, vehicle safety.

[0123] (4) The control device described in (3), The braking and driving force control includes automatic parking control that performs automatic parking control to move the vehicle to a target parking position. The control device control unit is In response to the response request relating to the automatic parking control, if a response request based on the first condition is received, based on the determination result, the control device that performs the automatic parking control is controlled. Control device.

[0124] According to (4), by applying the first condition to the automatic parking control, it becomes possible to control the system while taking into consideration safety during automatic parking.

[0125] (5) A control device as described in (1) or (2), The determination unit, When the vehicle speed of the said vehicle is below a predetermined speed, the presence or absence of the non-steering operation is determined. Control device.

[0126] According to (5), by determining whether or not there is a non-steering operation when the vehicle speed is below a predetermined speed, or in other words, by not determining whether or not there is a non-steering operation when the vehicle speed is above a predetermined speed, it is possible to avoid or suppress false detection or judgment of non-steering operations due to vibrations during driving, for example.

[0127] (6) A control device as described in (1) or (2), The determination unit, When the steering speed of the vehicle's wheels is less than a predetermined steering speed, the presence or absence of the non-steering operation is determined. Control device.

[0128] According to (6), by determining whether or not there is a non-steering operation when the steering speed is less than the predetermined steering speed, or in other words, by not determining whether or not there is a non-steering operation when the steering speed is equal to or greater than the predetermined steering speed, it is possible to avoid or suppress false detection or misjudgment of non-steering operations due to vibrations during driving, for example.

[0129] (7) A control device as described in (1) or (2), The determination unit, If the number of other detections by the first detection unit is less than a predetermined number within a predetermined time before and after the detection by the first detection unit, the first detection unit determines whether or not the non-steering operation is performed based on the detection. Control device.

[0130] According to (7), the presence or absence of non-steering operation is determined when the number of other detections by the first detection unit within a predetermined time before and after the detection by the first detection unit is less than a predetermined number, or in other words, when the number of other detections is greater than or equal to a predetermined number, it is possible to avoid or suppress false detection or misjudgment of non-steering operation due to disturbances, for example.

[0131] (8) A control device as described in (1) or (2), The determination unit, If the number of other detections by the second detection unit is less than a predetermined number within a predetermined time before and after the detection by the second detection unit, the second detection unit determines whether or not the non-steering operation is performed based on the detection. Control device.

[0132] According to (8), the presence or absence of non-steering operation is determined when the number of other detections by the second detection unit within a predetermined time before and after the detection by the second detection unit is less than a predetermined number, or in other words, when the number of other detections is greater than or equal to a predetermined number, it is possible to avoid or suppress false detection or misjudgment of non-steering operation due to disturbances, for example.

[0133] (9) A control device as described in (1) or (2), The aforementioned non-steering operation is This is an operation on the steering unit that does not turn the wheels of the vehicle. Control device.

[0134] According to (9), by determining whether or not there is an operation on the steering unit that does not steer the wheels, it is possible to avoid confusion between an operation to steer the wheels and a response to a response request, or to avoid false detection or misjudgment.

[0135] (10) An acquisition unit (acquisition unit 31) that acquires the torque (steering torque TQ) detected by a first detection unit (torque sensor 42) that detects the torque acting on the rotation axis (steering shaft 47) of the steering unit (steering 46) of the vehicle (vehicle 1), and the steering angle (steering angle θst) detected by a second detection unit (steering angle sensor 41) that detects the steering angle, which is the rotation angle of the rotation axis, A determination unit (determination unit 32) determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit (control device control unit 33) that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user's response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control device corresponding to the response request is not executed. Control device (control device 30).

[0136] According to (10), in response to a user's request for a response from the vehicle side based on the function of the control device, at least one of the first detection unit and the second detection unit determines whether or not there is a non-steering operation of the steering unit, and controls the control device based on the determination result. This allows the user to make a response request to the vehicle side to activate the control device by performing a simple non-steering operation, such as tapping the operating unit. Furthermore, by making it possible to make a response request to the vehicle side to activate the control device with such a simple operation, it becomes possible to implement a switch function with excellent operability while avoiding increased costs.

[0137] (11) The control device described in (10), The conditions for causing the control device to execute control in response to the response request from the user include: Based on the above determination result, a first condition is set which is that the non-steering operation is detected by the first detection unit and the second detection unit, Based on the determination result, a second condition is included, which is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit. The control device control unit is The first condition is applied to the response request, which involves automatic control of the driving force and / or braking force, and when the response request is made based on the first condition, the control of the control device corresponding to the response request is executed. The second condition is applied to the response request that does not involve braking force control, and when the response request is based on the second condition, the control of the control device corresponding to the response request is executed. Control device.

[0138] According to (11), by defining a first or second condition depending on the content of the response request, it becomes possible to implement control that takes into account the safety of the vehicle when executing control in response to the response request.

[0139] (12) A computer The torque (steering torque TQ) detected by a first detection unit (torque sensor 42) that detects the torque acting on the rotation axis (steering shaft 47) of the steering unit (steering 46) of the vehicle (vehicle 1), and the steering angle (steering angle θst) detected by a second detection unit (steering angle sensor 41) that detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the process is executed to prevent the control device corresponding to the response request from executing. Control method.

[0140] According to (12), in response to a user response request based on the function of the control device, at least one of the first detection unit and the second detection unit determines whether or not a non-steering operation has been performed on the steering unit, and controls the control device based on the determination result. This makes it possible to determine whether or not a non-steering operation has been performed using an existing configuration without having to provide a new configuration such as a measuring unit that determines whether or not a non-steering operation has been performed. As a result, it becomes possible to implement a switch function with excellent operability in the steering unit while avoiding an increase in cost.

[0141] (13) To the computer, The torque (steering torque TQ) detected by a first detection unit (torque sensor 42) that detects the torque acting on the rotation axis (steering shaft 47) of the steering unit (steering 46) of the vehicle (vehicle 1), and the steering angle (steering angle θst) detected by a second detection unit (steering angle sensor 41) that detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control of the control device corresponding to the response request is not performed, and the process is not executed. Control program.

[0142] According to (13), in response to a user response request based on the function of the control device, at least one of the first detection unit and the second detection unit determines whether or not a non-steering operation has been performed on the steering unit, and controls the control device based on the determination result. This makes it possible to determine whether or not a non-steering operation has been performed using an existing configuration without having to provide a new configuration such as a measuring unit that determines whether or not a non-steering operation has been performed. As a result, it becomes possible to implement a switch function with excellent operability in the steering unit while avoiding an increase in cost. [Explanation of symbols]

[0143] 1 vehicle 30 Control device 31 Acquisition Department 32 Judgment section 33 Control Equipment Control Unit 41. Rudder angle sensor (second detection unit) 42 Torque sensor (first detection unit) 46. ​​Steering (steering mechanism) 47. Steering shaft (rotation axis) TQ Steering Torque (Torque) θst steering angle

Claims

1. An acquisition unit that acquires the torque detected by a first detection unit that detects the torque acting on the rotation shaft of the steering part of the vehicle, and the steering angle detected by a second detection unit that detects the steering angle, which is the rotation angle of the rotation shaft, A determination unit determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control of the control device corresponding to the response request is not executed. Control device.

2. A control device according to claim 1, The conditions for causing the control device to execute control in response to the aforementioned response request include: Based on the determination result, a first condition is set that the non-steering operation is detected by the first detection unit and the second detection unit, Based on the determination result, a second condition is included which is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit. The control device control unit is If the first or second condition, determined according to the content of the response request, is met, the control of the control device corresponding to the response request is executed. Control device.

3. A control device according to claim 2, The first condition is, Applied to the response request, which involves automatic control of driving force and / or braking force, The second condition is, Applicable to the response request without the aforementioned braking force control, Control device.

4. A control device according to claim 3, The braking and driving force control includes automatic parking control that performs automatic parking control to move the vehicle to a target parking position. The control device control unit is In response to the response request relating to the automatic parking control, if a response request based on the first condition is received based on the determination result, the control device that performs the automatic parking control is controlled. Control device.

5. A control device according to claim 1 or 2, The determination unit, When the vehicle speed of the said vehicle is below a predetermined speed, the presence or absence of the non-steering operation is determined. Control device.

6. A control device according to claim 1 or 2, The determination unit, When the steering speed of the vehicle's wheels is less than a predetermined steering speed, the presence or absence of the non-steering operation is determined. Control device.

7. A control device according to claim 1 or 2, The determination unit, If the number of other detections by the first detection unit is less than a predetermined number within a predetermined time before and after the detection by the first detection unit, the first detection unit determines whether or not the non-steering operation is performed based on the detection. Control device.

8. A control device according to claim 1 or 2, The determination unit, If the number of other detections by the second detection unit is less than a predetermined number within a predetermined time before and after the detection by the second detection unit, the second detection unit determines whether or not the non-steering operation is performed based on the detection. Control device.

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

10. An acquisition unit that acquires the torque detected by a first detection unit that detects the torque acting on the rotation shaft of the steering part of the vehicle, and the steering angle detected by a second detection unit that detects the steering angle, which is the rotation angle of the rotation shaft, A determination unit determines whether or not the steering unit is being operated without steering based on the torque and steering angle acquired by the acquisition unit, The system includes a control device control unit that controls a predetermined control device mounted on the vehicle based on the determination result of the determination unit, The control device control unit is In response to a user's response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control of the control device corresponding to the response request is not executed. Control device.

11. A control device according to claim 10, The conditions for causing the control device to execute control in response to the response request from the user include: Based on the determination result, a first condition is set that the non-steering operation is detected by the first detection unit and the second detection unit, Based on the determination result, a second condition is included which is that the non-steering operation is detected by at least one of the first detection unit and the second detection unit. The control device control unit is The first condition is applied to the response request, which involves automatic control of the driving force and / or braking force, and when the response request is made based on the first condition, the control of the control device corresponding to the response request is executed. The second condition is applied to the response request that does not involve braking force control, and when the response request is based on the second condition, the control of the control device corresponding to the response request is executed. Control device.

12. Computers The torque detected by the first detection unit, which detects the torque acting on the rotation axis of the vehicle's steering mechanism, and the steering angle detected by the second detection unit, which detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the process is executed to prevent the control device corresponding to the response request from executing. Control method.

13. On the computer, The torque detected by the first detection unit, which detects the torque acting on the rotation axis of the vehicle's steering mechanism, and the steering angle detected by the second detection unit, which detects the steering angle, which is the rotation angle of the rotation axis, are obtained. Based on the acquired torque and steering angle, it is determined whether or not the steering unit is being operated without steering. Based on the determination result, the vehicle is controlled to operate a predetermined control device. In response to a user response request based on the function of the control device, if the non-steering operation is detected by at least one of the first detection unit and the second detection unit based on the determination result, the control of the control device corresponding to the response request is executed. Based on the determination result, if neither the first detection unit nor the second detection unit detects the non-steering operation, the control of the control device corresponding to the response request is not performed, and the process is executed. Control program.

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