vehicle

Abstract

To appropriately operate an environment detection function when a vehicle is moved to a vehicle washing machine.SOLUTION: A vehicle includes: an object sensor for detecting an object around the vehicle; a warning device for warning a driver when the object sensor detects an object at a position where distance from the vehicle is equal to or less than a threshold; a receiving device; and a control device for reducing the threshold when the receiving device receives a signal transmitted from a vehicle washing machine. According to this vehicle, it is possible to prevent unnecessary warning from being generated when the vehicle moves to the vehicle washing machine.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The technology disclosed in this specification relates to vehicles.

[0002] A car wash is disclosed in Patent Document 1. A vehicle can be washed by parking the vehicle in a parking space of the car wash and operating the car wash. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-074817 A Summary of the Invention [Problem to be solved by the invention]

[0004] There are vehicles that have an environment detection function around the vehicle, such as image recognition by an object sensor or a camera. However, since the environment around a car wash is different from the general environment in which a vehicle runs (e.g., a road, a parking lot, etc.), the environment detection function may not operate properly when the vehicle is moved to the car wash. This specification proposes a vehicle that can operate the environment detection function properly when the vehicle is moved to the car wash. [Means for solving the problem]

[0005] The first vehicle disclosed in this specification has an object sensor that detects objects around the vehicle, a warning device that warns the driver when the object sensor detects an object at a distance from the vehicle that is less than a threshold, a receiving device, and a control device that reduces the threshold when the receiving device receives a signal transmitted from a car wash.

[0006] When parking a vehicle in a car wash, the vehicle approaches the car wash. Therefore, if an object sensor warns the driver under the same conditions as in a general environment, the warning will be given more than necessary. In contrast, in this vehicle, when the receiving device receives a signal transmitted from the car wash when the vehicle is parked in the car wash, the control device reduces the threshold value (i.e., the distance between the vehicle and the object when warning the driver). This makes it possible to prevent the driver from being warned more than necessary.

[0007] The second vehicle disclosed in this specification has a camera that captures images of the road surface around the vehicle, an automatic parking device that recognizes a parking space from the image captured by the camera according to a recognition criterion and moves the vehicle into the recognized parking space, a receiving device, and a control device that changes the recognition criterion when the receiving device receives a signal transmitted from a car wash.

[0008] The recognition criteria are conditions for recognizing a parking space in an image, and may include, for example, the shape, width, and color of the parking space.

[0009] The environment of a parking space for a car wash is significantly different from the environment of a general parking space (e.g., a parking lot). For this reason, if an automatic parking device is operated with the same recognition criteria as in a general environment when parking a vehicle in a car wash, the automatic parking device will not be able to recognize the parking space of the car wash. In contrast, in this vehicle, when the receiving device receives a signal transmitted from the car wash when the vehicle is parked in the car wash, the control device changes the recognition criteria. For this reason, the automatic parking device is able to park the vehicle in the parking space. [Brief description of the drawings]

[0010] [Figure 1] FIG. [Diagram 2] FIG. 1 is a block diagram of a vehicle according to a first embodiment. [Diagram 3] 4 is a flowchart showing a process during a car wash in the first embodiment. [Figure 4]FIG. 11 is a block diagram of a vehicle according to a second embodiment. [Diagram 5] An explanatory diagram of automatic parking. [Figure 6] 10 is a flowchart showing a process during a car wash in the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The first vehicle may further include an openable / closable window and a foldable door mirror. When the signal is received by the receiving device, the control device may execute a process of closing the window and folding the door mirror.

[0012] This configuration allows easy preparation for washing the car.

[0013] In the first vehicle described above, the object sensor may include a right object sensor that detects an object on the right side of the vehicle and a left object sensor that detects an object on the left side of the vehicle. The warning device may include a display device that displays whether the detected object is on the left or right side of the vehicle when the object sensor detects an object.

[0014] With this configuration, the driver can recognize whether the location closest to the car wash machine is on the left or right side.

[0015] The second vehicle may further include an openable / closable window and a foldable door mirror. When the signal is received by the receiving device, the control device may execute a process of closing the window and folding the door mirror.

[0016] This configuration allows easy preparation for washing the car. EXAMPLES

[0017] FIG. 1 shows a vehicle 10 of the first embodiment. The vehicle 10 may be an engine vehicle or an electric vehicle. FIG. 1 also shows a car wash machine 90. The car wash machine 90 has a main body 92. The main body 92 has a gate shape surrounding the upper and side parts of a parking space 98. By parking the vehicle 10 in the parking space 98 and operating the car wash machine 90, the vehicle 10 can be washed by the car wash machine 90. The main body 92 has a control unit 92a. The control unit 92a has a wireless communication device. The control unit 92a can communicate with the vehicle 10. Although not shown, the car wash machine 90 has a plurality of vehicle sensors that detect the vehicle around the parking space 98. Each vehicle sensor is connected to the control unit 92a by a communication line.

[0018] As shown in FIG. 1, the vehicle 10 has a right object sensor 20R and a left object sensor 20L. Although a front camera 30 is illustrated in FIG. 1, the vehicle 10 does not necessarily have to have the front camera 30. The right object sensor 20R and the left object sensor 20L detect objects present around the vehicle 10. For example, a millimeter wave radar, an ultrasonic sensor, or an optical sensor (e.g., LiDAR, etc.) can be used as the right object sensor 20R and the left object sensor 20L. The right object sensor 20R and the left object sensor 20L may be called a clearance sonar, a corner sensor, etc. The right object sensor 20R detects an object on the right front side of the vehicle 10. The left object sensor 20L detects an object on the left front side of the vehicle 10.

[0019] FIG. 2 shows devices mounted on the vehicle 10. As shown in FIG. 2, the vehicle 10 has a control device 40. The control device 40 has a CPU, a RAM, a ROM, and the like. Although FIG. 2 shows the control device 40 as a single block, the control device 40 may be configured by a plurality of ECUs (Electric Control Units) distributed and arranged inside the vehicle 10. The object sensors 20R and 20L are connected to the control device 40 via a communication line such as a communication bus. When the object sensors 20R and 20L do not detect an object, they each output a signal indicating that the object is not detected. When the object sensors 20R and 20L detect an object, they each output a distance from the vehicle 10 to the object. Hereinafter, the distance to the object calculated by the right object sensor 20R is referred to as a distance LR, and the distance to the object calculated by the left object sensor 20L is referred to as a distance LL. Each of the object sensors 20R and 20L transmits an output value to the control device 40 at a predetermined period.

[0020] The vehicle 10 has a warning device 50. The warning device 50 is connected to the control device 40 via a communication line, and issues a warning to the driver of the vehicle 10 according to a command from the control device 40. The warning by the warning device 50 may be a visual warning, an audible warning, or both. For example, a monitor, a projector that projects onto the windshield, an indicator lamp, a speaker, etc. may be used as the warning device 50.

[0021] The control device 40 stores the warning threshold value LTH. As described above, the control device 40 repeatedly receives these output values ​​from the object sensors 20R and 20L. When an object is detected by the object sensors 20R and 20L, the control device 40 receives the distances LR and LL to the object. When the control device 40 receives the distances LR and LL, it determines whether the distances LR and LL are equal to or less than the warning threshold value LTH. When at least one of the distances LR and LL is equal to or less than the warning threshold value LTH, the control device 40 issues a warning to the driver by the warning device 50. In this way, when an object is detected by the object sensors 20R and 20L at a distance equal to or less than the warning threshold value LTH, the warning device 50 issues a warning. Therefore, the driver can recognize that the vehicle 10 is approaching an object.

[0022] In addition, when the warning device 50 issues a warning, the driver may be notified of whether the vehicle 10 is approaching an object on the left or right side. That is, when the distance LR is equal to or less than the warning threshold LTH, the driver may be notified that the vehicle 10 is approaching an object on the right front side, and when the distance LL is equal to or less than the warning threshold LTH, the driver may be notified that the vehicle 10 is approaching an object on the left front side. For example, the driver may be notified of whether the object is on the left or right side of the vehicle 10 by displaying on a monitor or by voice. Also, the direction indicator lamps provided on the door mirrors 72 may be used as the warning device 50. In this case, when the object is on the right side of the vehicle 10, the direction indicator lamps of the right door mirror 72 may be turned on, and when the object is on the left side of the vehicle 10, the direction indicator lamps of the left door mirror 72 may be turned on.

[0023] The control device 40 can change the warning threshold LTH between a first warning threshold LTH1 and a second warning threshold LTH2. The second warning threshold LTH2 is smaller than the first warning threshold LTH1. Normally, the warning threshold LTH is set to the first warning threshold LTH1.

[0024] The vehicle 10 has a wireless communication interface 60. The wireless communication interface 60 is connected to the control device 40 via a communication line. The control device 40 can communicate with a control unit 92a of the car wash machine 90 via the wireless communication interface 60.

[0025] The vehicle 10 has a power window 70 and a door mirror 72. The power window 70 and the door mirror 72 are connected to the control device 40 via a communication line. The control device 40 can open and close the power window 70. In addition, the control device 40 can fold and unfold the door mirror 72.

[0026] Next, the operation of the vehicle 10 when the vehicle 10 is parked in the parking space 98 of the car wash 90 will be described with reference to Fig. 3. As described above, the warning threshold LTH is normally set to the first warning threshold LTH1. Therefore, at the start of the process of Fig. 3, the warning threshold LTH is set to the first warning threshold LTH1.

[0027] When the vehicle 10 approaches the entrance of the car wash machine 90, in step S2 of Fig. 3, the car wash machine 90 detects the vehicle 10 by a vehicle sensor (not shown). Then, in step S4, the control unit 92a transmits a signal SIG1 to the control device 40 of the vehicle 10 to instruct the control device 40 to prepare for the car wash.

[0028] When the control device 40 of the vehicle 10 receives the signal SIG1, it transitions the vehicle 10 to a car wash mode in step S6. The car wash mode is a mode of the vehicle 10 suitable for washing in a car wash. More specifically, in step S6, the control device 40 closes all the power windows 70. This prevents washing water from entering the vehicle 10 during the subsequent car wash. Also, in step S6, the control device 40 folds the left and right door mirrors 72. Also, in step S6, the control device 40 transitions to a mode in which the air conditioner and audio can be used even with the ignition off. Therefore, during the subsequent car wash, the driver can use the air conditioner and audio even with the ignition off.

[0029] Next, in step S8, the control device 40 reduces the warning threshold LTH from the first warning threshold LTH1 to the second warning threshold LTH2.

[0030] When steps S6 and S8 are completed, the control device 40 instructs the driver to move the vehicle 10 to the parking space 98 via a monitor or the like. Therefore, the driver moves the vehicle 10 to the parking space 98 in step S10. At this time, the vehicle 10 approaches the main body 92 of the car wash machine 90. Therefore, the main body 92 is detected by the object sensors 20R and 20L, and the distances LR and LL to the main body 92 (i.e., the distance between the vehicle 10 and the main body 92) are transmitted by the object sensors 20R and 20L. Even when the vehicle 10 moves to the parking space 98 via an appropriate route, the distances LR and LL may be smaller than the first warning threshold LTH1. However, in step S8, the warning threshold LTH is lowered from the first warning threshold LTH1 to the second warning threshold LTH2. When the vehicle 10 moves to the parking space 98 via an appropriate route, the distances LR and LL do not become equal to or smaller than the second warning threshold LTH2. Therefore, in step S10, when the vehicle 10 is moving to the parking space 98 via an appropriate route, the warning device 50 does not issue a warning. In this way, since the warning threshold LTH is lowered, a warning is prevented from being issued when the vehicle 10 moves to the parking space 98 via an appropriate route. In addition, when the distances LR and LL fall below the second warning threshold LTH2 due to the vehicle 10 moving via an inappropriate route, the control device 40 uses the warning device 50 to warn the driver. This prevents the vehicle 10 from colliding with the main body 92. Note that the moving speed when the vehicle 10 is moved to the parking space 98 of the car wash machine 90 is low, so even if the warning threshold LTH is set to the low second warning threshold LTH2, the collision of the vehicle 10 can be prevented. In addition, when the warning device 50 issues a warning, as described above, the warning device 50 notifies the driver of whether the vehicle 10 is approaching the main body 92 from the left or right. Therefore, the driver can know whether the vehicle 10 is approaching the main body 92 from the left or right.

[0031] The movement of the vehicle 10 in step S10 may be performed by automatic parking rather than by driving by a driver. Even in this case, unnecessary warnings can be prevented by lowering the warning threshold LTH to the second warning threshold LTH2.

[0032] When parking of vehicle 10 in parking space 98 is completed, car wash machine 90 detects the entry of vehicle 10 by a vehicle sensor (not shown). Then, in step S12, control unit 92a executes the car wash. When the car wash is completed, control unit 92a transmits a signal SIG2 notifying the control device 40 of vehicle 10 of the completion of the car wash in step S14.

[0033] When the control device 40 of the vehicle 10 receives the signal SIG2, in step S16, the control device 40 increases the warning threshold LTH from the second warning threshold LTH2 to the first warning threshold LTH1. That is, the control device 40 returns the warning threshold LTH from the value for the car wash to the normal value.

[0034] Next, the control device 40 cancels the car wash mode in step S18. More specifically, in step S18, the ignition is turned on, and the control device 40 unfolds the left and right door mirrors 72. Also, in step S18, the control device 40 transitions to a mode in which the ignition is turned off and the air conditioner and audio cannot be used.

[0035] As described above, after the car wash is completed, the vehicle 10 returns to the normal driving mode in steps S16 and S18. Then, in step S20, the driver moves the vehicle 10 out of the car wash machine 90. Then, the car wash machine 90 detects the movement of the vehicle 10 by a vehicle sensor (not shown), and transitions to a standby state in step S22.

[0036] As described above, when the vehicle 10 moves into the parking space 98 of the car wash machine 90, the warning threshold LTH is lowered from the first warning threshold LTH1 to the second warning threshold LTH2. This makes it possible to prevent unnecessary warnings from being issued when approaching the car wash machine 90. In addition, the vehicle 10 can transition to the car wash mode in accordance with the change in the warning threshold LTH, making it easy to prepare for the car wash. EXAMPLES

[0037] The vehicle 10a of the second embodiment shown in Fig. 1 has a front camera 30. Although the object sensors 20R and 20L are illustrated in Fig. 1, the vehicle 10a of the second embodiment may or may not have the object sensors 20R and 20L. The front camera 30 captures an image of the road surface in front of the vehicle 10a.

[0038] Fig. 4 shows devices mounted on the vehicle 10. Note that the configurations of the power window 70 and door mirror 72 shown in Fig. 4 are the same as those in the first embodiment, so the description thereof will be omitted.

[0039] The vehicle 10a has a control device 40. The control device 40 has a CPU, a RAM, a ROM, etc., as in the first embodiment. The front camera 30 is connected to the control device 40 via a communication line such as a communication bus. The front camera 30 repeatedly transmits an image of the road surface in front of the vehicle 10a to the control device 40. The control device 40 can communicate with a control unit 92a of the car wash machine 90 via a wireless communication interface 60. The control device 40 is also connected to the transmission 80, the brake 82, the prime mover 84 (e.g., an engine or a motor), and the steering device 86 of the vehicle 10a via a communication line, and can control these. The control device 40 can perform automatic parking by controlling these. In automatic parking, the control device 40 switches between forward and reverse of the vehicle 10a by the transmission 80, controls the vehicle speed by the brake 82 and the prime mover 84, and controls the traveling direction of the vehicle 10a by the steering device 86. The control device 40 also stores, as data, a recognition criterion 42 for recognizing a parking frame in automatic parking. The control device 40 can change the recognition standard 42 between a first recognition standard 42a and a second recognition standard 42b. The first recognition standard 42a is a recognition standard used in normal times. The second recognition standard 42b is a recognition standard used when parking in a parking space 98 of the car wash machine 90.

[0040] When the driver performs a predetermined operation, the control device 40 executes automatic parking. In automatic parking, the control device 40 receives an image captured by the front camera 30 and recognizes a parking frame indicating the outline of a parking space from the received image. The control device 40 recognizes the parking space according to the recognition criterion 42.

[0041] FIG. 5(a) shows a case where the vehicle 10a is parked in a general parking lot. In a general parking lot, parking spaces are indicated by paint applied to the road surface. In a general parking lot, parking spaces are white lines extending parallel to each other in a straight line. Moreover, the width of each white line is relatively wide. The first recognition standard 42a used in normal times is set to recognize a wide white line extending parallel to each other in a straight line as a parking space. Therefore, in normal automatic parking, the control device 40 recognizes an area surrounded by wide white lines extending parallel to each other in a straight line as a parking space, and parks the vehicle in the recognized parking space.

[0042] FIG. 5(b) shows a case where the vehicle 10a is parked in the parking space 98 of the car wash machine 90. The parking frame of the parking space 98 is indicated by a metal rail. The parking frame of the parking space 98 has a linearly extending parallel portion and a portion where the distance between the portions is tapered in front of the parallel extending portion. The color of the parking frame of the parking space 98 is yellow or orange. The width of the line of the parking frame of the parking space 98 is narrow. The second recognition criterion 42b used when entering the car wash machine 90 is set to recognize a rail of such a shape, color, and line width as a parking frame. Therefore, in automatic parking in the parking space 98 of the car wash machine 90, the control device 40 recognizes the area surrounded by the rail as a parking space and parks the vehicle in the recognized parking space.

[0043] Next, the operation of the vehicle 10a when the vehicle 10a is automatically parked in the parking space 98 of the car wash machine 90 will be described with reference to Fig. 6. As described above, the first recognition criterion 42a is set as the recognition criterion 42 under normal circumstances.

[0044] When the vehicle 10a approaches the entrance of the car wash machine 90, in step S102 of Fig. 6, the car wash machine 90 detects the vehicle 10a by a vehicle sensor (not shown). Then, in step S104, the control unit 92a transmits a signal SIG11 to the control device 40 of the vehicle 10a to instruct the control device 40 to prepare for a car wash.

[0045] When the control device 40 of the vehicle 10a receives the signal SIG11, the control device 40 shifts the vehicle 10a to a car wash mode in step S106. The car wash mode is the same as that in the first embodiment.

[0046] Next, in step S108, the control device 40 changes the recognition criterion 42 from the first recognition criterion 42a to the second recognition criterion 42b.

[0047] When steps S106 and S108 are completed, the control device 40 uses a monitor or the like to instruct the driver to move the vehicle 10a to the parking space 98. When the driver performs a predetermined operation, the control device 40 executes automatic parking in step S110. Since the second recognition criterion 42b is set as the recognition criterion 42 in step S108, the control device 40 properly recognizes the parking frame of the car wash machine 90. Therefore, the vehicle 10a is properly parked in the parking space 98 of the car wash machine 90 by the automatic parking.

[0048] When the control device 40 parks the vehicle 10a in the parking space 98, it transmits a signal SIG12 permitting the start of a car wash to the control unit 92a of the car wash machine 90 in step S111. Then, in step S112, the control unit 92a executes the car wash. When the car wash is completed, the control unit 92a transmits a signal SIG13 notifying the control device 40 of the vehicle 10a that the car wash is completed in step S114.

[0049] When the control device 40 of the vehicle 10a receives the signal SIG13, in step S116, the control device 40 changes the recognition standard 42 from the second recognition standard 42b to the first recognition standard 42a. That is, the control device 40 returns the recognition standard 42 from the recognition standard for the car wash to the recognition standard for normal use.

[0050] Next, the control device 40 cancels the car wash mode in step S118.

[0051] As described above, after the car wash is completed, the vehicle 10a returns to the normal driving mode in steps S116 and S118. After that, in step S120, the driver moves the vehicle 10a out of the car wash machine 90. Then, the car wash machine 90 detects the movement of the vehicle 10a by a vehicle sensor (not shown), and transitions to a standby state in step S122.

[0052] As described above, the vehicle 10a of the second embodiment changes the recognition criterion 42 from the first recognition criterion 42a to the second recognition criterion 42b when moving to the parking space 98 of the car wash machine 90. Therefore, the vehicle 10a can be parked in the parking space 98 of the car wash machine 90 by automatic parking. In addition, a transition to the car wash mode can be performed in accordance with the change in the recognition criterion 42, making it easy to prepare for the car wash.

[0053] The control device 40 of the second embodiment is an example of an automatic parking device.

[0054] Although the embodiments have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes to the specific examples exemplified above. The technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or drawings achieves multiple objectives simultaneously, and achieving one of the objectives itself has technical utility. [Explanation of symbols]

[0055] 10: vehicle, 20L-20R: right object sensor, 30: front camera, 40: control device, 50: warning device, 90: car wash machine

Claims

1. A vehicle, An object sensor that detects objects around the vehicle; a warning device that warns a driver when the object sensor detects an object at a position whose distance from the vehicle is equal to or less than a threshold; A receiving device; a control device that reduces the threshold value when the receiving device receives a signal transmitted from the car wash; A vehicle having the above configuration.

2. Openable windows and Foldable door mirrors, and the control device executes a process of closing the window and folding the door mirror when the signal is received by the receiving device.

2. The vehicle of claim 1.

3. the object sensor includes a right object sensor that detects an object on a right side of the vehicle and a left object sensor that detects an object on a left side of the vehicle; the warning device has a display device which displays whether the detected object is present on the left or right side of the vehicle when the object is detected by the object sensor, A vehicle according to claim 1 or 2.

4. A vehicle, A camera that captures an image of the road surface around the vehicle; An automatic parking device that recognizes a parking space from an image captured by the camera according to a recognition standard and moves the vehicle into the recognized parking space; A receiving device; a control device that changes the recognition criterion when the receiving device receives a signal transmitted from the car wash; A vehicle having the above configuration.

5. Openable windows and Foldable door mirrors, and the control device executes a process of closing the window and folding the door mirror when the signal is received by the receiving device.

5. A vehicle as claimed in claim 4.

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