Vehicle behavior judgment system and vehicle behavior judgment method

Abstract

To provide a vehicle behavior determination system and a vehicle behavior determination method, which are capable of determining whether a vehicle has executed a given specific retreating action accompanying an advancing action and a direction change action by a given angle or more within a given time period.SOLUTION: A vehicle behavior determination system includes: a shift position sensor 16 for detecting a shift position of a vehicle 11; a yaw rate sensor 18 for detecting a yaw rate of the vehicle; a rotation angle computation part for computing a rotation angle, in a plan view, of the vehicle between a start clock time and a finish clock time, on the basis of the yaw rates at the start clock time and finish clock time of a first time period; and a determination part for determining that a shift position has switched in the order of an advanceg position, a reverse position, and the advance position within the first time period, on the basis of a detection value of the shift position sensor, and determining that the vehicle has executed a specific retreating action in a case where a maximum value of an accumulation value of a rotation angle of the vehicle in one direction between the start clock time and finish clock time computed by the rotation angle computation part is equal to or higher than a threshold.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] The following Patent Document 1 discloses a vehicle that is capable of detecting a backward movement of the vehicle when the vehicle performs the backward movement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-142844 A Summary of the Invention [Problem to be solved by the invention]

[0004] The invention of the above-mentioned Patent Document 1 cannot determine whether or not the vehicle has performed a specific reverse movement, including multiple forward movements, at least one reverse movement, and a direction change of a predetermined angle or more within a predetermined time period.

[0005] In consideration of the above, the present invention aims to provide a vehicle behavior judgment system and a vehicle behavior judgment method capable of determining whether or not a vehicle has performed a specific reverse movement including multiple forward movements, at least one reverse movement, and a direction change movement of a predetermined angle or more within a predetermined time period. [Means for solving the problem]

[0006] Vehicle Transmissiona shift position sensor that detects a shift position, a yaw rate sensor that detects a yaw rate of the vehicle, and a rotation angle calculation unit that calculates a rotation angle in a planar view of the vehicle between a start time and an end time of a first time based on the yaw rate between the start time and an end time of the first time, and a rotation angle calculation unit that determines that the shift position has been switched to a forward position, a reverse position, and the forward position in this order within the first time based on a detection value of the shift position sensor, and when a maximum value of a cumulative value of the rotation angle in one direction of the vehicle between the start time and the end time calculated by the rotation angle calculation unit is equal to or greater than a threshold value, the vehicle Specific forward / backward / forward movement A determination unit that determines that the above has been executed; The first time period is 2 minutes, and the threshold value is a value between 150° and 180°.

[0007] The vehicle behavior determination system described in claim 1 includes a determination unit that determines that the shift position has been switched in the order of forward position, reverse position, and forward position within the first hour based on a detection value of the shift position sensor, and that the vehicle has performed a specific reverse operation if a maximum value of a cumulative value of the rotation angle of the vehicle in one direction between a start time and an end time calculated by the rotation angle calculation unit is equal to or greater than a threshold value. Therefore, the vehicle behavior determination system described in claim 1 is capable of determining whether or not the vehicle has performed a specific reverse operation including multiple forward operations, at least one reverse operation, and a direction change operation of a predetermined angle or more within the first hour.

[0009] Claim 1 The determination unit of the invention described in is configured to determine that the vehicle is in a state where ... Specific forward / backward / forward movement That is, when the cumulative value of the rotation angle in one direction of the vehicle is a small value (less than the threshold value), the determination unit determines that the vehicle Specific forward / backward / forward movement Therefore, it is not judged that Claim 1 The vehicle behavior determination system described in the above is configured to determine whether a vehicle is turning at a predetermined angle or more within a first hour. Specific forward / backward / forward movement It is possible to determine with high accuracy whether or not the above has been executed.

[0010] Claim 2The vehicle behavior determination system according to the invention described in Shorter than the first time When the shift position sensor detects that the shift position is in the reverse position for a second period of time and the vehicle speed is zero, When determining that the shift position has been changed in the order of the forward position, the reverse position, and the forward position within the first hour, The determining unit determines that the shift position is in the reverse position.

[0011] Specific forward / backward / forward movement A driver who intends to do so will usually check behind him / her for a certain period of time (second time) after setting the shift position to the reverse position. Therefore, when the driver sets the shift position to the reverse position, the vehicle speed is usually maintained at zero for the second period of time and the shift position is set to the reverse position. Claim 2 In the invention described in the above, when the shift position sensor detects that the shift position is in the reverse position for a second period of time and the vehicle speed is zero, the determination unit determines that the shift position is in the reverse position. Specific forward / backward / forward movement If a driver who has no intention of performing the above operation temporarily sets the shift position to the reverse position, the vehicle Specific forward / backward / forward movement There is little risk that the determination unit will erroneously determine that Claim 2 The vehicle behavior determination system according to the present invention is Specific forward / backward / forward movement It is possible to determine with high accuracy whether or not the above has been executed.

[0012] Claim 3 The vehicle behavior determination system according to the invention described in Claim 2 In the invention, when the shift position sensor detects that the shift position is in the reverse position for a third time period, the determination unit determines that the shift position is in the reverse position.

[0013] Claim 3 In the invention described in, for example, when a driver rotates (turns) the vehicle by a small angle while setting the shift position to a reverse position for a short period of time less than the third time, the vehicle Specific forward / backward / forward movement Therefore, the determination unit does not erroneously determine that Claim 3 The vehicle behavior determination system according to the present invention is Specific forward / backward / forward movementIt is possible to determine with high accuracy whether or not the above has been executed.

[0014] Claim 4 The vehicle behavior determination system according to the invention described in Claim 2 or Claim 3 In the invention described in the above, the vehicle is an automatic vehicle, the reverse position, R range, is located between the forward positions, D range and P range, and when the shift position moves between the P range and the D range within a fourth time period, the judgment unit does not judge that the shift position is in the R range.

[0015] Claim 4 In the invention described in , when the shift position is temporarily set to the R range in order to move the shift position between the P range and the D range, the determination unit does not determine that the shift position is in the R range. Claim 4 The vehicle behavior determination system according to the present invention is Specific forward / backward / forward movement It is possible to determine with high accuracy whether or not the above has been executed.

[0016] Claim 5 The vehicle behavior determination system according to the invention described in Claims 1 to 4 In any one of the inventions, the vehicle The ignition switch or start switch is in the ON position. While the vehicle is in a drivable state, Specific forward / backward / forward movement The vehicle further includes a notification unit that notifies a driver of the vehicle of the determination result when the determination unit determines that the above-mentioned process has been executed a predetermined number of times or more.

[0017] Claim 5 In the invention described in the above, while the vehicle is in a drivable state, Specific forward / backward / forward movement When the determination unit determines that the above has been executed a predetermined number of times or more, the notification unit notifies the driver of the vehicle of the determination result. Claim 5 The vehicle behavior determination system described in the above is configured such that the driver who is informed of the determination result subsequently Specific forward / backward / forward movement It is possible to reduce the possibility of executing the above.

[0018] Claim 6 The vehicle behavior determination method described in Transmissiona step of detecting a shift position; a step of detecting a yaw rate of the vehicle; a step of calculating a rotation angle in a planar view of the vehicle between a start time and an end time of a first time based on the yaw rate between the start time and the end time of the first time; and a step of determining that the shift position has been switched in the order of a forward position, a reverse position, and the forward position within the first time, and if the maximum value of the calculated cumulative value of the rotation angle in one direction of the vehicle between the start time and the end time is equal to or greater than a threshold value, Specific forward / backward / forward movement and determining that the above has been executed. Effect of the Invention

[0019] As described above, the vehicle behavior judgment system and vehicle behavior judgment method of the present invention have the excellent effect of being able to determine whether or not a vehicle has performed a specific reverse movement, including multiple forward movements, at least one reverse movement, and a direction change movement of a predetermined angle or more, within a predetermined time period. [Brief description of the drawings]

[0020] [Figure 1] 1 is an overall view of a vehicle behavior determination system according to an embodiment; [Diagram 2] 2 is a schematic diagram of a shift lever provided in the vehicle shown in FIG. 1. [Diagram 3] FIG. 2 is a control block diagram of an ECU of a vehicle. [Figure 4] FIG. 4 is a functional block diagram of the ECU shown in FIG. [Diagram 5] FIG. 2 is a functional block diagram of the mobile terminal shown in FIG. [Figure 6] 2 is a functional block diagram of an external server shown in FIG. 1. [Figure 7] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 8] 8 is a timing chart when the vehicle executes the operation of FIG. 7. [Figure 9] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 10]10 is a timing chart when the vehicle executes the operation of FIG. 9. [Figure 11] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 12] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 13] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 14] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 15] FIG. 2 is a schematic diagram showing a state in which a vehicle performs a predetermined operation. [Figure 16] 13 is a flowchart showing a process executed by an external server. [Figure 17] 13 is a flowchart showing a process executed by an external server. [Figure 18] 13 is a flowchart showing a process executed by the mobile terminal. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a vehicle behavior determination system 10 (hereinafter simply referred to as the system 10) and a vehicle behavior determination method according to the present invention will be described with reference to the drawings.

[0022] 1 shows the overall configuration of a system 10 according to an embodiment. The system 10 includes a vehicle 11, a mobile terminal 20, and an external server 30. The external server 30 is installed, for example, in a shop of a taxi operating company that owns a plurality of vehicles 11.

[0023] 1 shows a vehicle 11 owned by the taxi operating company. Each vehicle owned by the taxi operating company is assigned an ID that represents the vehicle.

[0024] The vehicle 11 has an ECU (Electronic Control Unit) 12, a wireless communication device 13, a GPS receiver 14, a shift lever 15, a shift position sensor 16, a vehicle speed sensor 17, a yaw rate sensor 18, and a display (notification unit) 19. The wireless communication device 13, the GPS receiver 14, the shift position sensor 16, the vehicle speed sensor 17, the yaw rate sensor 18, and the display 19 are connected to the ECU 12. The vehicle 11 further has a steering wheel (not shown). When the steering wheel is steered, the steering angle of the front wheels (steered wheels) of the vehicle 11 changes.

[0025] 3, the ECU 12 includes a CPU (Central Processing Unit: processor) 12A, a ROM (Read Only Memory) 12B, a RAM (Random Access Memory) 12C, a storage 12D, a communication I / F (Interface) 12E, and an input / output I / F 12F. The CPU 12A, the ROM 12B, the RAM 12C, the storage 12D, the communication I / F 12E, and the input / output I / F 12F are connected to each other so as to be able to communicate with each other via a bus 12Z. The ECU 12 can obtain information related to date and time from a timer (not shown).

[0026] The CPU 12A is a central processing unit that executes various programs and controls each part. That is, the CPU 12A reads a program from the ROM 12B or the storage 12D, and executes the program using the RAM 12C as a working area. The CPU 12A controls each component and performs various arithmetic processing according to the program recorded in the ROM 12B or the storage 12D.

[0027] The ROM 12B stores various programs and various data. The RAM 12C temporarily stores programs or data as a working area. The storage 12D is configured with a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data. The communication I / F 12E is an interface for communicating with other devices. The input / output I / F 12F is an interface for communicating with various devices.

[0028] The wireless communication device 13 is capable of wireless communication with a wireless communication device 21 of a mobile terminal 20 and a wireless communication device 31 of an external server 30 .

[0029] The GPS receiver 14 repeatedly acquires position information (latitude, longitude, etc.) of the location where the vehicle 11 is traveling at a predetermined cycle based on a GPS signal transmitted from an artificial satellite.

[0030] 2 can be moved to each of the shift positions, P range (parking range), R range (reverse range) (reverse position), N range (neutral range), and D range (drive range) (forward position). In other words, the vehicle 11 is an automatic transmission vehicle (AT vehicle).

[0031] 1 repeatedly acquires the shift position of the shift lever 15 at a predetermined cycle. The ECU 12, which receives a signal indicating the shift position from the shift position sensor 16, changes the gear of the transmission (not shown) provided in the vehicle 11. That is, when the shift position is in the D range, the gear of the transmission becomes a forward gear. When the shift position is in the R range, the gear of the transmission becomes a reverse gear. When the shift position is in the N range, the transmission is in neutral. When the shift position is in the P range, the transmission is in parking state.

[0032] The vehicle speed sensor 17 detects the speed of the vehicle 11 .

[0033] The yaw rate sensor 18 detects the yaw rate of the vehicle 11 .

[0034] The display 19 having a touch panel is provided on an instrument panel (not shown) of the vehicle 11.

[0035] The wireless communication device 13 and the GPS receiver 14 repeatedly transmit the received information to the ECU 12 at a predetermined cycle. The shift position sensor 16, the vehicle speed sensor 17, and the yaw rate sensor 18 repeatedly transmit information relating to their detection values ​​to the ECU 12 at a predetermined cycle. The display 19 transmits information inputted using a touch panel to the ECU 12.

[0036] 4 is a block diagram showing an example of the functional configuration of the ECU 12. The ECU 12 has, as its functional configuration, a rotation angle calculation unit 121, a wireless control unit 122, and a display control unit 123. The rotation angle calculation unit 121, the wireless control unit 122, and the display control unit 123 are realized by the CPU 12A reading and executing a program stored in the ROM 12B.

[0037] The rotation angle calculation unit 121 calculates the rotation angle of the vehicle 11 in a planar view based on information related to the yaw rate of the vehicle 11 transmitted from the yaw rate sensor 18. The vehicle 11 can rotate in a clockwise direction and a counterclockwise direction in a planar view. The rotation angle calculation unit 121 calculates the rotation angle while distinguishing the rotation direction of the vehicle 11.

[0038] The wireless control unit 122 controls the wireless communication device 13. That is, the wireless control unit 122 controls the wireless communication device 13, whereby the wireless communication device 13 executes wireless communication between the external server 30 (wireless communication device 31) and the mobile terminal 20 (wireless communication device 21).

[0039] The display control unit 123 controls the display 19. That is, the display control unit 123 causes the display 19 to display, for example, information received by the wireless communication device 13 from the mobile terminal 20 (wireless communication device 21) and the external server 30 (wireless communication device 31) and information input via the touch panel of the display 19.

[0040] The mobile terminal 20 shown in FIG. 1 is owned by a driver who is a user of the system 10. The mobile terminal 20 has a wireless communication device 21 capable of wireless communication with the wireless communication device 13 of the vehicle 11 and the wireless communication device 31 of the external server 30. The mobile terminal 20 has a display (notification unit) 22 having a touch panel. The mobile terminal 20 is configured to include a CPU, a ROM, a RAM, a storage, a communication I / F, and an input / output I / F. The CPU, ROM, RAM, storage, communication I / F, and input / output I / F are connected to each other so as to be able to communicate with each other via a bus. The mobile terminal 20 can obtain information related to the date and time from a timer (not shown). Furthermore, a driving diagnosis application, which is software created by the taxi operating company, is installed in the mobile terminal 20.

[0041] 5 is a block diagram showing an example of the functional configuration of mobile terminal 20. Mobile terminal 20 has, as its functional configuration, a wireless control unit 211 and a display control unit 212. Wireless control unit 211 and display control unit 212 are realized by a CPU reading and executing a program stored in a ROM.

[0042] The wireless control unit 211 controls the wireless communication device 21. That is, the wireless control unit 211 controls the wireless communication device 21, whereby the wireless communication device 21 executes wireless communication between the vehicle 11 (wireless communication device 13) and the external server 30 (wireless communication device 31).

[0043] The display control unit 212 controls the display 22. That is, the display control unit 212 causes the display 22 to display, for example, information received by the wireless communication device 21 from the vehicle 11 (wireless communication device 13) and the external server 30 (wireless communication device 31) and information input via a touch panel of the mobile terminal 20.

[0044] 1 includes a CPU, a ROM, a RAM, a storage, a communication I / F, and an input / output I / F. The CPU, the ROM, the RAM, the storage, the communication I / F, and the input / output I / F of the external server 30 are connected to each other via a bus so as to be able to communicate with each other. The external server 30 can obtain information related to date and time from a timer (not shown).

[0045] 6 is a block diagram showing an example of the functional configuration of the external server 30. The external server 30 has, as its functional configuration, a determination unit 311, a count unit 312, and a wireless control unit 313. The determination unit 311, the count unit 312, and the wireless control unit 313 are realized by the CPU of the external server 30 reading and executing a program stored in a ROM.

[0046] As described below, the determination unit 311 determines whether the vehicle 11 is in a state in which the vehicle is in a plan view based on the vehicle speed detected by the vehicle speed sensor 17, the shift position of the shift lever 15 detected by the shift position sensor 16, the cumulative value (maximum value) of the rotation angle of the vehicle 11 in a plan view calculated by the rotation angle calculation unit 121 of the ECU 12, and a threshold value described below. Specific forward / backward / forward movement It is determined whether or not the above has been executed. Specific forward / backward / forward movement The term "movement of the vehicle 11" refers to a movement of the vehicle 11 in which the vehicle 11 moves forward multiple times and moves backward at least once within a predetermined first time period, and the maximum value of the accumulated value of the rotation angle of the vehicle 11 in one direction within the first time period is equal to or greater than a threshold value. As described later, the first time period is, for example, two minutes.

[0047] As described below, counting unit 312 starts measuring the first time when shift lever 15 is moved to the D range under a predetermined condition. Counting unit 312 measures the time from the start time of the first time until the first time has elapsed. The time when the first time has elapsed is the end time.

[0048] The wireless control unit 313 controls the wireless communication device 31 of the external server 30. That is, the wireless control unit 313 controls the wireless communication device 31, whereby the wireless communication device 31 executes wireless communication between the vehicle 11 (wireless communication device 13) and the mobile terminal 20 (wireless communication device 21).

[0049] (Action and Effects) Next, the operation and effects of this embodiment will be described.

[0050] <Case in Figure 7> Next, the operations of the vehicle 11, the mobile terminal 20, and the external server 30 when the vehicle 11 executes the operation shown in FIG. 7 will be described with reference to the flowcharts of FIG. 16 to FIG.

[0051] From the time when the IG-SW (ignition switch, not shown) of the vehicle 11 is turned ON to the time when it is turned OFF, data representing the state of the IG-SW, data representing the detection values ​​of the shift position sensor 16 and the vehicle speed sensor 17, and data representing the calculation value of the rotation angle calculation unit 121 (rotation angle of the vehicle 11) are repeatedly transmitted from the wireless communication device 13 to the wireless communication device 31 of the external server 30. Hereinafter, these data are referred to as vehicle data. The vehicle data includes information on the time when each vehicle data was acquired and location information representing the location. If the vehicle 11 is equipped with a start switch (not shown) instead of the IG-SW, from the time when the start switch is turned ON to the time when it is turned OFF, the vehicle data (data representing the state of the start switch, data representing the detection values ​​of the shift position sensor 16 and the vehicle speed sensor 17, and data representing the calculation value of the rotation angle calculation unit 121) are repeatedly transmitted from the wireless communication device 13 to the wireless communication device 31 at a predetermined period. When the IG-SW or the start switch is in the ON state, the vehicle 11 is in a state where it can run.

[0052] The external server 30 (its CPU) executes the process shown in the flowchart of FIG. 16 every time a predetermined time elapses.

[0053] In step S10, the wireless control unit 313 of the external server 30 determines whether or not the wireless communication device 31 has received vehicle data from the wireless communication device 13 of the vehicle 11. If the determination in step S10 is Yes, the external server 30 proceeds to step S11.

[0054] In step S11, the determination unit 311 of the external server 30 determines whether or not a predetermined 1D condition is met. The 1D condition is met when all of the following conditions 1 to 3 are met. Condition 1: The value of the judgment start flag is “0.” The initial value of the judgment start flag is “0.” Condition 2: The detection value of the shift position sensor 16 indicates that the shift lever 15 of the vehicle 11 has been in the D range for a predetermined third time period. For example, the third time period is five seconds. Condition 3: The detection value of the vehicle speed sensor 17 indicates that the vehicle speed is different from zero during a time period when the shift lever 15 is in the D range. However, during that time period, the vehicle speed may temporarily become zero.

[0055] The vehicle 11 shown in FIG. 7 advances along the arrow A1 on the straight road 40, and is located at the position 1 shown in FIG. 7 at the time t1 shown in FIG. 8. The front end of the vehicle 11 is depicted as a triangle in FIG. 7, FIG. 9, and FIG. 11 to FIG. 15. Furthermore, the vehicle 11 stops at the position 2 in FIG. 7 at the time t2. The time t1 to t2 is longer than the third time, and the shift lever 15 is located in the D range during the time t1 to t2. Furthermore, the vehicle speed detected by the vehicle speed sensor 17 is greater than zero during the time t1 to t2. Furthermore, the value of the judgment start flag is set to "0" during the time t1 to t2. Therefore, the judgment unit 311 judges in step S11 that the first D condition is satisfied. In this case, the judgment unit 311 judges that the shift lever 15 is located in the D range. That is, the judgment unit 311 judges as Yes in step S11.

[0056] If the answer is Yes in step S11, the external server 30 proceeds to step S12, and the counting unit 312 starts measuring the first time. The first time is, for example, two minutes. The measurement start time in this case is time t1 in FIG. 8. That is, the counting unit 312 starts measuring the elapsed time from time t1 (start time) at time t2. Furthermore, in step S12, the judgment unit 311 sets the value of the judgment start flag to "1."

[0057] After completing the process of step S12, wireless control section 313 proceeds to step S13, where it determines whether or not a predetermined specific R condition is met. The specific R condition is met when all of the following conditions 4 to 7 are met. Condition 4: The detection value of the shift position sensor 16 indicates that the shift lever 15 has been in the R range for a third period of time. Condition 5: The detection value of the vehicle speed sensor 17 indicates that the vehicle speed is zero for a second time period that is shorter than the third time period, and the detection value of the shift position sensor 16 indicates that the shift lever 15 is in the R range. The second time period is, for example, 3 seconds. Condition 6: The vehicle speed is different from zero during a time period when the shift lever 15 is in the R range. However, during that time period, the vehicle speed may temporarily become zero. Condition 7: The shift position changes from D range to R range within the first period of time.

[0058] When the vehicle 11 moves to position 2 in FIG. 7, the driver of the vehicle 11 moves the shift lever 15 to the R range, and places the shift lever 15 in the R range from time t2 to t3 in FIG. 8. The time from time t2 to t3 is longer than the third time. Furthermore, the vehicle speed of the vehicle 11 is maintained at zero from time t2 to t2a. The time from time t2 to t2a corresponds to a second time shorter than the third time. During this second time, the driver checks the rear. Furthermore, at time t2a, the driver steers the steering wheel counterclockwise and takes his foot off the brake pedal (not shown). Therefore, the vehicle 11 in which the creep phenomenon has occurred moves backward while turning, and stops at position 3 in FIG. 7 at time t3. That is, the vehicle speed becomes a magnitude different from zero while the shift lever 15 is in the R range. Furthermore, time t2 arrives before the first time has elapsed. Therefore, the determination unit 311 determines that the specific R condition is established in step S13. In this case, the determination unit 311 determines that the shift lever 15 is in the R range. That is, the determination unit 311 determines Yes in step S13 and proceeds to step S14. Note that, as shown in Fig. 8, the cumulative value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 between times t2a and t3 is 90°.

[0059] When the vehicle 11 moves to position 3 in FIG. 7, the driver of the vehicle 11 moves the shift lever 15 from R range to D range, and places the shift lever 15 in D range from time t3 to t5 in FIG. 8. Furthermore, at time t3, the driver steers the steering wheel clockwise and takes his foot off the brake pedal. As a result, the vehicle 11, which has experienced a creep phenomenon, moves forward while turning. The vehicle 11 reaches position 4 at time t4. At time t4, the driver returns the steering wheel to the initial position (neutral position) and depresses the accelerator pedal (not shown). As a result, the vehicle 11 moves forward along the road 40 and reaches position 5 at time t5.

[0060] In step S14, the determination unit 311 determines whether or not a predetermined condition 2D is satisfied. The condition 2D is satisfied when the above conditions 2 and 3 are satisfied.

[0061] 8 is longer than the third time period, and the shift lever 15 is in the D range during the period from time t3 to t5. Furthermore, the vehicle speed of the vehicle 11 is greater than zero during the period from time t3 to t5. Therefore, the determination unit 311 determines in step S14 that the second D condition is satisfied. In this case, the determination unit 311 determines that the shift lever 15 is in the D range. That is, the determination unit 311 determines Yes in step S14 and proceeds to step S15.

[0062] 8, the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 between times t3 and t5 is 90°. That is, the maximum accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 between times t1 and t5 is 180°.

[0063] In step S15, the determination unit 311 determines whether a predetermined D range holding time has elapsed since the shift lever 15 was moved to the D range at time t3. For example, the D range holding time is 60 seconds. The period from time t3 to t5 in Fig. 8 is longer than the D range holding time. Therefore, the determination unit 311 determines Yes in step S15 and proceeds to step S16.

[0064] In step S16, the determination unit 311 determines whether the maximum accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 between times t1 and t5 is equal to or greater than the threshold value. For example, the threshold value is recorded in the ROM of the external server 30. For example, the threshold value is 150°. As described above, the maximum accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 between times t1 and t5 is 180°. Therefore, the determination unit 311 determines Yes in step S16 and proceeds to step S17.

[0065] In step S17, the determination unit 311 determines whether the vehicle 11 is Specific forward / backward / forward movement It is determined that the above has been executed.

[0066] Then, in step S18, counting unit 312 ends the measurement of the first time. As described above, time t5 in Fig. 8 is the end time of the first time. Furthermore, in step S18, determination unit 311 sets the value of the determination start flag to "0".

[0067] After completing the process of step S18, the external server 30 proceeds to step S19, and the determination unit 311 Specific forward / backward / forward movement Add "1" to the counter's count.

[0068] When the external server 30 finishes the process of step S19, it temporarily ends the process of the flowchart in Fig. 16. If the determinations in steps S10, S11, S13, S14, and S20 to S22 are No, the external server 30 sets the start determination flag to "0" in step S24.

[0069] Furthermore, the external server 30 (its CPU) executes the process shown in the flowchart of FIG. 17 every time a predetermined time elapses.

[0070] In step S30, the wireless control unit 313 of the external server 30 determines whether the information transmitted from the wireless communication device 13 includes information indicating that the IG-SW (or the start switch) of the vehicle 11 has been turned OFF.

[0071] If the external server 30 determines that the result is Yes in step S30, the process proceeds to step S31. Specific forward / backward / forward movement A determination unit 311 determines whether the count number of the counter is 1 or more.

[0072] If the external server 30 determines "Yes" in step S31, the process proceeds to step S32, in which the wireless communication device 31 controlled by the wireless control unit 313: Specific forward / backward / forward movement The location information of the place where it is determined that the above has been performed and information regarding the date and time are transmitted to the mobile terminal 20 (wireless communication device 21).

[0073] When the external server 30 has finished the process of step S32 or has determined No in steps S30 and S31, the external server 30 temporarily ends the process of the flowchart in FIG.

[0074] Furthermore, the mobile terminal 20, in which the driving diagnosis application is running, executes the process shown in the flowchart of FIG. 18 every time a predetermined time elapses.

[0075] In step S40, the wireless control unit 211 of the mobile terminal 20 determines whether the wireless communication device 21 has received, from the wireless communication device 31, information regarding the count number of the reverse operation counter when the vehicle 11 is in a travelable state.

[0076] If the mobile terminal 20 judges "Yes" in step S40, the mobile terminal 20 proceeds to step S41, where the display control unit 212 controls the display 22 to display the result of the judgment made by the judgment unit 311 on the display 22. For example, Specific forward / backward / forward movement Location information indicating the location where it was determined that the Specific forward / backward / forward movement The map information (not shown) including the information indicating the date and time when it was determined that the above was executed is displayed on the display 22.

[0077] When the mobile terminal 20 has finished the process of step S41 or has determined No in step S40, the mobile terminal 20 temporarily ends the process of the flowchart in FIG.

[0078] <Case in Figure 9> Next, the operations of vehicle 11, mobile terminal 20, and external server 30 when vehicle 11 executes the operation shown in Fig. 9 will be described with reference to the flowcharts of Fig. 16 to Fig. 18. One end of a straight road 51 perpendicular to road 50 is connected to straight road 50 shown in Fig. 9. Furthermore, a retreat space 52 into which vehicle 11 can enter is provided at the side edge of road 50. Note that in the following description, a description of the same operations (processing) as in the case of Fig. 7 is omitted.

[0079] The external server 30 (its CPU) executes the process shown in the flowchart of FIG. 16 every time a predetermined time elapses.

[0080] The vehicle 11 shown in FIG. 9 advances along the arrow B1 on the straight road 50, and is located at position 1 shown in FIG. 9 at time t1 shown in FIG. 10. Furthermore, the vehicle 11 stops at position 2 in FIG. 9 at time t2. The time from t1 to t2 is longer than the third time, and the shift lever 15 is located in the D range between times t1 and t2. Furthermore, the vehicle speed of the vehicle 11 is greater than zero between times t1 and t2. Furthermore, the value of the judgment start flag is set to "0" between times t1 and t2. Therefore, the judgment unit 311 judges in step S11 that the first D condition is satisfied and the shift lever 15 is located in the D range. That is, the judgment unit 311 judges Yes in step S11.

[0081] Next, the counting unit 312 of the external server 30 starts measuring the first time in step S12. The measurement start time in this case is time t1 in Fig. 10. Furthermore, in step S12, the determination unit 311 sets the value of the determination start flag to "1".

[0082] After completing the process of step S12, the determination unit 311 proceeds to step S13. When the vehicle 11 moves to position 2 in FIG. 9, the driver of the vehicle 11 moves the shift lever 15 to the R range, and places the shift lever 15 in the R range from time t2 to t3 in FIG. 10. The time from time t2 to t3 is longer than the third time. Furthermore, the vehicle speed of the vehicle 11 is maintained at zero from time t2 to t2a. The time from t2 to t2a corresponds to the second time. During this second time, the driver checks the rear. Furthermore, at time t2a, the driver steers the steering wheel counterclockwise and takes his foot off the brake pedal. Therefore, the vehicle 11 in which the creep phenomenon has occurred moves backward while turning, and stops at position 3 in FIG. 9 at time t3. That is, the vehicle speed becomes a magnitude different from zero while the shift lever 15 is in the R range. Furthermore, time t2 arrives before the first time has elapsed. Therefore, in step S13, the determination unit 311 determines that the specific R condition is met and the shift lever 15 is in the R range. That is, the determination unit 311 determines Yes in step S13 and proceeds to step S14.

[0083] When the vehicle 11 moves to position 3 in Fig. 9, the driver of the vehicle 11 shifts the shift lever 15 from R range to D range, and places the shift lever 15 in the D range between times t3 and t4 in Fig. 10. Furthermore, at time t3, the driver steers the steering wheel clockwise and takes his foot off the brake pedal. As a result, the vehicle 11, which has now undergone creep, moves forward while turning.

[0084] 10 is longer than the third time period, and the shift lever 15 is in the D range during the period from t3 to t4. Furthermore, the speed of the vehicle 11 is greater than zero during the period from t3 to t4. Therefore, the determination unit 311 determines Yes in step S14 and proceeds to step S15.

[0085] In step S15, the determination unit 311 determines whether a predetermined D range holding time has elapsed since the shift lever 15 was moved to the D range at time t3. The time from time t3 to t4 in Fig. 8 is shorter than the D range holding time. Therefore, the determination unit 311 determines No in step S15 and proceeds to step S20. Note that, as shown in Fig. 10, the cumulative value of the rotation angle of the vehicle 11 in the clockwise direction (one direction) between times t1 to t4 is 90°.

[0086] The process of step S20 is the same as step S13. When the vehicle 11 moves to position 4 in FIG. 9, the driver of the vehicle 11 moves the shift lever 15 to the R range, and places the shift lever 15 in the R range from time t4 to t5 in FIG. 10. The time from time t4 to t5 is longer than the third time. Furthermore, the vehicle speed of the vehicle 11 is maintained at zero from time t4 to t4a. The time from t4 to t4a corresponds to the second time. During this second time, the driver checks the rear. Furthermore, at time t4a, the driver steers the steering wheel counterclockwise and takes his foot off the brake pedal. Therefore, the vehicle 11 in which the creep phenomenon has occurred moves backward while turning, and stops at position 5 in FIG. 9 at time t5. That is, the vehicle speed becomes a magnitude different from zero while the shift lever 15 is in the R range. Furthermore, time t4 arrives before the first time has elapsed. Therefore, the determination unit 311 determines Yes in step S20 and proceeds to step S21.

[0087] The process of step S21 is the same as step S14. When the vehicle 11 moves to position 5 in FIG. 9, the driver of the vehicle 11 moves the shift lever 15 from the R range to the D range, and places the shift lever 15 in the D range from time t5 to t7 in FIG. 10. Furthermore, at time t5, the driver steers the steering wheel clockwise and takes his foot off the brake pedal. As a result, the vehicle 11, in which the creep phenomenon has occurred, moves forward while turning, and reaches position 6 at time t6. Furthermore, at time t6, the driver depresses the accelerator pedal and rotates the steering wheel counterclockwise. Furthermore, the driver returns the steering wheel to the initial position (neutral position) at a predetermined time after time t6. Therefore, the vehicle 11 moves forward along the road 51, and reaches position 7 at time t7. The time t5 to t7 in FIG. 10 is longer than the third time, and the shift lever 15 is in the D range from time t5 to t7. Furthermore, the vehicle speed of the vehicle 11 is greater than zero from time t5 to t7. Therefore, the determination unit 311 determines in step S21 that the second D condition is satisfied. That is, the determination unit 311 determines Yes in step S21 and the process proceeds to step S22.

[0088] The process of step S22 is the same as that of step S15. It is determined whether or not the D range holding time has elapsed since the shift lever 15 was moved to the D range at time t5. The time from time t5 to t7 in FIG. 8 is longer than the D range holding time. Therefore, the determination unit 311 determines Yes in step S22 and proceeds to step S23. Note that, as shown in FIG. 10, the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 from time t1 to t6 is 170°. Furthermore, at time t6, the driver steers the steering wheel in the counterclockwise direction. Therefore, the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 from time t1 to t7 changes to 90°. That is, the maximum accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 from time t1 to time t7 is 170°.

[0089] The process of step S23 is the same as step S16. As described above, the maximum value of the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 from time t1 to time t7 is 170°. Therefore, the determination unit 311 determines Yes in step S23 and proceeds to step S17.

[0090] In step S17, the determination unit 311 determines whether the vehicle 11 is Specific forward / backward / forward movement 16. Furthermore, the external server 30 executes the processes of steps S18 and S19. Note that time t7 in Fig. 10 is the end time of the first period. In this case, the external server 30 temporarily ends the process of the flowchart in Fig. 16.

[0091] Furthermore, the external server 30 (its CPU) executes the process shown in the flowchart of Fig. 17 every time a predetermined time has elapsed. In this case, the external server 30 judges "Yes" in step S30 and proceeds to step S31, and also judges "Yes" in step S31. Furthermore, the wireless communication device 31 controlled by the wireless control unit 313 of the external server 30 that has proceeded to step S32, Specific forward / backward / forward movement The external server 30 transmits to the mobile terminal 20 (wireless communication device 21) position information and information on date and time where it is determined that the above was performed. In this case, the external server 30 temporarily ends the process of the flowchart in FIG.

[0092] Furthermore, the mobile terminal 20 in which the driving diagnosis application is running executes the process shown in the flowchart of Fig. 18 every time a predetermined time elapses. In this case, the wireless control unit 211 of the mobile terminal 20 judges Yes in step S40 and proceeds to step S41, where the display 22 controlled by the display control unit 212 displays the result of the judgment made by the judgment unit 311. In this case, the mobile terminal 20 temporarily ends the process of the flowchart of Fig. 18.

[0093] <Case in Figure 11> Next, a case will be described in which the vehicle 11 executes the operations shown in Fig. 11. Note that in the following explanation, explanations of the same operations (processing) as in the case of Fig. 7 will be omitted.

[0094] The external server 30 (its CPU) executes the process shown in the flowchart of FIG. 16 every time a predetermined time elapses.

[0095] 11 moves forward along the straight road 60 in the direction of the arrow C1. At this time, the shift lever 15 is in the D range. The vehicle 11 then makes a U-turn along the direction of the arrow C2. Therefore, the vehicle 11 moves to position 2 and continues moving forward.

[0096] When the vehicle data is transmitted from the wireless communication device 13 to the wireless communication device 31, the external server 30 judges "Yes" in step S10 of FIG. 16 and proceeds to step S11. The time that the vehicle 11 advances along the arrows C1 and C2 is longer than the third time, and the shift lever 15 is in the D range when the vehicle 11 advances along the arrows C1 and C2. Therefore, the vehicle speed of the vehicle 11 at this time is greater than zero. Furthermore, the value of the judgment start flag is set to "0" at a predetermined time while the vehicle 11 advances along the arrows C1 and C2. Therefore, the judgment unit 311 judges in step S11 that the first D condition is satisfied. That is, the judgment unit 311 judges "Yes" in step S11.

[0097] After completing the process of step S12, the external server 30 proceeds to step S13. In this example, the shift lever 15 remains in the D range even when the first time (e.g., 2 minutes) has elapsed since the time (start time) when the measurement of the first time was started in step S12. Therefore, the determination unit 311 determines No in step S13, sets the value of the determination start flag to "0" in step S24, and temporarily ends the process of this routine.

[0098] Therefore, when the vehicle 11 advances along the road 60 shown in FIG. 11 along the arrows C1 and C2, the determination unit 311 Specific forward / backward / forward movementhas been executed. Therefore, the external server 30 judges No in step S31 of the flowchart in Fig. 17, and temporarily ends the processing of the flowchart in Fig. 17. Furthermore, the mobile terminal 20 judges No in step S40 of the flowchart in Fig. 18, and temporarily ends the processing of the flowchart in Fig. 18. Therefore, the display 22 of the mobile terminal 20 does not display the judgment result.

[0099] <Case in Figure 12> Next, a case where the vehicle 11 executes the operation shown in Fig. 12 will be described. A straight road 71 perpendicular to the road 70 is connected to one end of the straight road 70 shown in Fig. 12. Note that in the following explanation, explanations of the same operations (processing) as those in the cases of Fig. 7 and Fig. 11 will be omitted.

[0100] The external server 30 (its CPU) executes the process shown in the flowchart of FIG. 16 every time a predetermined time elapses.

[0101] The vehicle 11 shown in FIG. 12 advances along a straight road 70 along the arrow D1. At this time, the shift lever 15 is in the D range. When the vehicle 11 reaches position 1, the driver steers the steering wheel clockwise. As a result, the vehicle 11 moves to position 2 and stops at position 2. At position 2, the shift lever 15 is further moved from the D range to the R range. The driver further steers the steering wheel and takes his foot off the brake pedal. As a result, the vehicle 11, which has experienced creep, moves backward while turning and stops at position 3. At position 3, the shift lever 15 is further moved from the R range to the D range. The driver further depresses the accelerator pedal while steering the steering wheel. As a result, the vehicle 11 reaches position 5 after passing through position 4. Thereafter, the steering wheel is returned to the initial position, and the vehicle 11 advances along the road 71 along the arrow D2.

[0102] The time during which the vehicle 11 moves from position 2 to position 3 is less than the third time. That is, the time during which the shift lever 15 is in the R range is less than the third time. That is, the amount of turning of the steering wheel when the vehicle 11 reverses from position 2 to position 3 is very small. Therefore, when the external server 30 executing the process of the flowchart in FIG. 16 proceeds to step S13, the determination unit 311 determines No in step S13. Therefore, when the vehicle 11 moves from position 2 to position 3 in FIG. 12, if the driver places the shift lever 15 in the R range for a time less than the third time in order to turn the steering wheel slightly, the determination unit 311 determines Specific forward / backward / forward movement Therefore, the display 22 of the mobile terminal 20 does not display the result of the determination.

[0103] <Case in Figure 13> Next, a case where the vehicle 11 executes the operation shown in Fig. 13 will be described. One end of linear roads 81 and 82 perpendicular to the road 80 is connected to both side edges of the linear road 80 shown in Fig. 13. Note that in the following explanation, explanations of the same operations (processing) as those in the cases of Fig. 7 and Fig. 11 are omitted.

[0104] The vehicle 11 shown in FIG. 13 advances along a straight road 80 along the arrow E1. At this time, the shift lever 15 is in the D range. When the vehicle 11 reaches position 1, the vehicle 11 stops. At position 1, the shift lever 15 is moved from the D range to the R range. The driver then steers the steering wheel counterclockwise and takes his foot off the brake pedal. As a result, the vehicle 11, which has experienced creep, moves backward while turning, and stops at position 3 after passing through position 2. At position 3, the steering wheel is returned to the initial position, and the shift lever 15 is moved from the R range to the D range. The driver then depresses the accelerator pedal. As a result, the vehicle 11 advances along the roads 81, 80, and 82 along the arrow E2 and reaches position 4.

[0105] 13, the maximum value of the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 while the vehicle 11 moves from position 1 to position 4 is 90°. Therefore, when the external server 30 executing the process of the flowchart in FIG. 16 proceeds to steps S16 and S23, the determination unit 311 determines No in steps S16 and S23. Therefore, when the vehicle 11 travels on roads 80, 81, and 82 as shown in FIG. 13, the determination unit 311 determines Specific forward / backward / forward movement Therefore, the display 22 of the mobile terminal 20 does not display the result of the determination.

[0106] <Case in Figure 14> Next, a case will be described in which the vehicle 11 executes the operation shown in Fig. 14. Note that in the following explanation, explanations of the same operations (processing) as those in the cases of Fig. 7 and Fig. 11 will be omitted.

[0107] The vehicle 11 shown in FIG. 14 advances along the straight road 90 in the direction of the arrow F1. At this time, the shift lever 15 is in the D range. After passing through position 1, the vehicle 11 reaches position 2 and stops at position 2. At position 2, the shift lever 15 is moved from the D range to the R range. The driver then steers the steering wheel and takes his foot off the brake pedal. As a result, the vehicle 11, in which the creep phenomenon has occurred, moves backward while turning, and stops at position 3, which is a part of the side edge of the road 90. After the vehicle 11 has stopped at position 3, the driver returns the steering wheel to the initial position and moves the shift lever 15 to the D range. The driver then takes his foot off the brake pedal. As a result, the vehicle 11, in which the creep phenomenon has occurred, moves along the side edge of the road 90 to position 4. After the vehicle 11 has stopped at position 4, the driver moves the shift lever 15 to the P range. That is, the driver parallel parks the vehicle 11 at position 4.

[0108] In this case, as is clear from Fig. 14, the steering angle of the steering wheel when the vehicle 11 moves from position 2 to position 3 is a small angle, and the maximum value of the accumulated value of the rotation angle of the vehicle 11 in one direction is less than the above threshold value. Therefore, when the determination unit 311 of the external server 30 proceeds to step S16 in the flowchart of Fig. 16, the determination unit 311 determines No in step S16. Furthermore, in this case, the shift lever 15 moves to the P range after this, so the determination unit 311 determines No in step S20. Therefore, when the vehicle 11 travels on the road 90 as shown in Fig. 14, the determination unit 311 determines Specific forward / backward / forward movement Therefore, the display 22 of the mobile terminal 20 does not display the result of the determination.

[0109] <Case in Figure 15> Next, a case where the vehicle 11 executes the operation shown in Fig. 15 will be described. A parking space 101 is provided on one side edge of a straight road 100 shown in Fig. 15. Furthermore, one end of a straight road 102 perpendicular to the road 100 is connected to the other side edge of the road 100. Note that in the following explanation, explanations of the same operations (processing) as those in the cases of Fig. 7 and Fig. 11 are omitted.

[0110] The vehicle 11 shown in FIG. 15 is parked in a parking space 101 (position 1). At this time, the shift lever 15 of the vehicle 11 is in the P range. At position 1, the shift lever 15 is moved from the P range to the R range. Furthermore, the driver steers the steering wheel counterclockwise and takes his foot off the brake pedal. As a result, the vehicle 11, which has experienced creep, moves backward while turning and moves to position 2. When the vehicle 11 stops at position 2, the shift lever 15 is moved from the R range to the D range. Furthermore, the driver returns the steering wheel to the initial position and depresses the accelerator pedal. Therefore, the vehicle 11 moves forward along the road 100 along the arrow G1 and reaches position 3. When the vehicle 11 reaches position 3, the driver steers the steering wheel clockwise. Therefore, the vehicle 11 moves to position 4 on the road 102.

[0111] As shown in FIG. 15, the maximum value of the accumulated value of the rotation angle in the clockwise direction (one direction) of the vehicle 11 while the vehicle 11 moves from position 1 to position 4 occurs at position 4. The accumulated value of the rotation angle at position 4 is approximately 170°. In other words, the maximum accumulated value is equal to or greater than the threshold value. However, when the vehicle 11 is at position 1, the shift lever 15 is in the P range. Therefore, when the external server 30 executing the process of the flowchart in FIG. 16 proceeds to step S11, the determination unit 311 determines No at step S11. Therefore, when the vehicle 11 travels through the parking space 101 and roads 100 and 102 as shown in FIG. 15, the determination unit 311 determines Specific forward / backward / forward movement Therefore, the display 22 of the mobile terminal 20 does not display the result of the determination.

[0112] As described above, in the system 10 and the vehicle behavior determination method of the present embodiment, when the determination unit 311 determines that the shift position has been switched in the order of D range, R range, D range, or D range, R range, D range, R range, D range, within the first hour based on the detection value of the shift position sensor 16, and when the maximum cumulative value of the rotation angle in one direction of the vehicle 11 between the start time and the end time of the first hour calculated by the rotation angle calculation unit 121 is equal to or greater than the threshold value, the system 10 and the vehicle behavior determination method of the present embodiment determine that the vehicle 11 is in a state of being ... Specific forward / backward / forward movement Therefore, the system 10 and the vehicle behavior determination method of the present embodiment determine that the vehicle 11 has executed the above-mentioned process within the first hour. Specific forward / backward / forward movement That is, in the system 10 and the vehicle behavior determination method of the present embodiment, when the vehicle 11 performs the operations in the cases of FIG. Specific forward / backward / forward movement On the other hand, in the system 10 and the vehicle behavior determination method of the present embodiment, when the vehicle 11 executes the operations in each of the cases of Figs. 11 to 15, it is determined that the vehicle 11 Specific forward / backward / forward movement It is not determined that the above has been executed.

[0113] moreover Specific forward / backward / forward movementA driver who intends to do so will usually check behind him / her for a certain period of time (second time) after placing the shift lever 15 in the R range. Therefore, when the driver moves the shift lever 15 to the R range, the vehicle speed is usually maintained at zero for the second period of time and the shift lever 15 is in the R range. The system 10 and the vehicle behavior determination method of this embodiment determine whether the vehicle speed will be zero for the second period of time and the shift lever 15 is in the R range in steps S13 and S20 of FIG. 16. Therefore, Specific forward / backward / forward movement When a driver who has no intention of performing the above-mentioned operation temporarily places the shift lever 15 in the R range, the vehicle 11 Specific forward / backward / forward movement Therefore, there is little possibility that the determination unit 311 will erroneously determine that the above has been performed.

[0114] Furthermore, for example, when the driver rotates (turns) the vehicle 11 by a small angle while positioning the shift lever 15 in the R range for a short period of time less than the third time, the vehicle 11 Specific forward / backward / forward movement Therefore, in such a case, the system 10 and the vehicle behavior determination method of the present embodiment are unlikely to erroneously determine that the vehicle 11 has performed the above-mentioned operation within the first hour. Specific forward / backward / forward movement It is possible to determine with high accuracy whether or not the above has been executed.

[0115] Furthermore, while vehicle 11 was in a drivable state, Specific forward / backward / forward movement When the determination unit 311 determines that the driver has executed the above-mentioned operation, the display 22 of the mobile terminal 20 displays the determination result of the determination unit 311. Specific forward / backward / forward movement It is possible to reduce the possibility of executing the above.

[0116] The system 10 and the vehicle behavior determination method according to the embodiment have been described above. However, the system 10 and the vehicle behavior determination method can be modified in design as appropriate without departing from the gist of the present invention.

[0117] For example, when the shift lever 15 moves between the P range and the D range within a predetermined fourth time period, the determination unit 311 may not determine that the shift lever 15 is in the R range in steps S13 and S20. The fourth time period is a short time period. For example, the fourth time period is one second. According to this modification, Specific forward / backward / forward movement When a driver who has no intention of performing the above operation moves the shift lever 15 between the P range and the D range, the vehicle 11 Specific forward / backward / forward movement The system 10 is less likely to erroneously determine that

[0118] The first period does not have to be two minutes. For example, the first period may be one minute.

[0119] The second time period does not have to be 3 seconds, for example, the second time period may be 4 seconds.

[0120] The third time period does not have to be 5 seconds, for example, the third time period may be 7 seconds.

[0121] The threshold value for the maximum value of the accumulated rotation angle of the vehicle 11 does not have to be 150°. However, when the vehicle 11 is moved backward by steering the steering wheel by a small angle, the threshold value may be set to 150°. Specific forward / backward / forward movement In order to prevent erroneous determination that the angle is not 150°, the threshold is preferably set to an arbitrary value between 150° and 180° (150° or more and 180° or less). However, the threshold may be an angle less than 150°. The threshold may also be an angle greater than 180°. For example, the threshold may be set to an arbitrary value equal to or greater than 90°.

[0122] Steps S20 to S23 may be omitted from the flowchart in FIG.

[0123] The flowchart of Fig. 16 may include a specific step group consisting of steps S20 to S23 as a process executed after the determination of No in step S23. Furthermore, the flowchart of Fig. 16 may include two or more specific step groups as a process executed after the determination of No in step S23.

[0124] In step S32, the wireless communication device 31 of the external server 30 Specific forward / backward / forward movement The ECU 12 may transmit information on the location where it is determined that the above has been performed and information on the date and time to the wireless communication device 13. In this case, the ECU 12 causes the display 19 to display the determination result.

[0125] The flowchart of FIG. 18 may be modified so that when the information relating to the count number received by wireless communication device 21 of mobile terminal 20 in step S40 represents a predetermined number of times or more (for example, three times or more), mobile terminal 20 judges Yes in step S40.

[0126] The ECU 12 of the vehicle 11 may have a function corresponding to the determination unit 311. In this case, the ECU 12 performs the process of the flowchart in Fig. 16. Furthermore, when the ECU 12 performs the process of step S19, the ECU 12 causes the display 19 to display the determination result.

[0127] 18, a speaker controlled by the CPU of the mobile terminal 20 may emit a sound representing the determination result. Similarly, in step S41, a speaker of the vehicle 11 controlled by the ECU 12 may emit a sound representing the determination result.

[0128] The vehicle 11 may be an AT vehicle that does not have a shift lever 15. For example, the vehicle 11 may be an AT vehicle that has a button for changing the shift position or a dial for changing the shift position.

[0129] The vehicle 11 equipped with the system 10 may be a manual vehicle (MT vehicle). For example, the vehicle 11 may be equipped with a shift lever that can be moved to a forward position (e.g., 1st to 5th gears), a reverse position, and a neutral position, and a shift position sensor that detects the shift position of the shift lever.

[0130] Instead of the GPS receiver 14, the vehicle 11 may be equipped with a receiver capable of receiving information from satellites of a global navigation satellite system other than GPS (for example, Galileo). [Explanation of symbols]

[0131] 10 Vehicle behavior judgment system (system) 11 Vehicles 121 Rotation angle calculation unit 15 Shift lever 16 Shift position sensor 18 Yaw rate sensor 19 Display (notification section) 22 Display (notification section) 311 Judgment section

Claims

1. a shift position sensor that detects a shift position of a transmission of the vehicle; a yaw rate sensor for detecting a yaw rate of the vehicle; a rotation angle calculation unit that calculates a rotation angle of the vehicle in a plan view between a start time and an end time of a first period based on the yaw rate between the start time and the end time of the first period; a determination unit that determines that the shift position has been switched to a forward position, a reverse position, and the forward position in this order within the first time period based on a detection value of the shift position sensor, and that the vehicle has performed a specific forward, reverse, forward movement when a maximum value of an accumulated value of the rotation angle in one direction of the vehicle between the start time and the end time calculated by the rotation angle calculation unit is equal to or greater than a threshold value; Equipped with the first time period is two minutes; The vehicle behavior determination system, wherein the threshold value is a value between 150 and 180 degrees.

2. A vehicle behavior judgment system as described in claim 1, wherein, when the shift position sensor detects that the shift position is in the reverse position for a second time period shorter than the first time period and the vehicle speed is zero, the judgment unit judges that the shift position is in the reverse position when determining that the shift position has switched in the order of the forward position, the reverse position, and the forward position within the first time period.

3. 3. The vehicle behavior determination system according to claim 2, wherein, when the shift position sensor detects that the shift position is in the reverse position for a third time period that is longer than the second time period, the determination unit determines that the shift position is in the reverse position when determining that the shift position has been switched in the order of the forward position, the reverse position, and the forward position within the first time period.

4. The vehicle is an automatic vehicle, The R range, which is the reverse position, is located between the D range and the P range, which are the forward positions, 4. The vehicle behavior judgment system according to claim 2 or 3, wherein when the shift position moves between the P range and the D range within a fourth time period of one second, the judgment unit does not judge that the shift position is in the R range when determining that the shift position has been switched in the order of the forward position, the reverse position, and the forward position within the first time period.

5. The vehicle behavior judgment system according to any one of claims 1 to 4, further comprising an alarm unit that notifies a driver of the vehicle of a judgment result when the judgment unit judges that the vehicle has performed the specific forward / reverse / forward movement a predetermined number of times or more while the vehicle is in a drivable state with an ignition switch or a start switch in an ON state.

6. detecting a shift position of a transmission of the vehicle; detecting a yaw rate of the vehicle; calculating a rotation angle of the vehicle in a plan view between a start time and an end time of a first period based on the yaw rate between the start time and the end time of the first period; and determining that the shift position has been switched to a forward position, a reverse position, and the forward position in this order within the first time period, and that the vehicle has performed a specific forward, reverse, forward movement when a maximum value of a cumulative value of the rotation angle in one direction of the vehicle calculated between the start time and the end time is equal to or greater than a threshold value; having the first time period is two minutes; The vehicle behavior determination method, wherein the threshold value is a value between 150 and 180 degrees.

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