Vehicle stop-holding device

Abstract

To provide a vehicle stop holding device capable of maintaining a vehicle stop holding state in a reliable manner.SOLUTION: A vehicle stop holding device 100 for holding a stop of a vehicle 1 includes an ECU 10 for starting execution of backup control for holding a stop state of a vehicle 1 by a brake holding device 6 when a getting-off operation by a driver of the vehicle 1 is detected while the vehicle 1 is stopped by a brake device 5. The ECU 10 outputs a brake operation request for requesting the driver to operate the brake device 5 and releases the brake of the brake device 5 when both a seat belt release operation by the driver of the vehicle 1 and an opening operation, which is an operation for opening a door, are detected from the start of execution of the backup control to its completion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle stop-holding device. [Background technology]

[0002] As a technical document relating to a vehicle stop-holding device, for example, Patent Document 1 discloses a stop-holding device that performs backup control to maintain the vehicle's stopped state by automatically applying the parking brake when the power source is stopped or the driver gets off the vehicle while braking force is being maintained by the brake device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-306350 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vehicle stop-holding device described above, after starting backup control, backup control may not be realized due to a malfunction of the parking brake, etc. In this case, there is a possibility that the vehicle may not be able to maintain a stopped state.

[0005] Therefore, an object of one aspect of the present invention is to provide a vehicle stop-holding device that can reliably maintain a vehicle stopped state. [Means for solving the problem]

[0006] A vehicle stop-maintaining device according to one aspect of the present invention is a vehicle stop-maintaining device that maintains a stop of a vehicle, and is equipped with a control unit that, when it detects the driver of the vehicle getting out of the vehicle while the vehicle is stopped by the brake device, starts executing backup control to maintain the vehicle's stopped state using the brake-maintaining device, and when the control unit detects both the driver of the vehicle performing an operation to release the seat belt and an operation to open the door between the start and completion of execution of the backup control, it outputs a brake operation request to the driver to operate the brake device and releases the brake of the brake device.

[0007] In one aspect of the vehicle stop-holding device of the present invention, if the control unit does not detect both the release operation and the opening operation between the start and completion of backup control execution and determines that the backup control is not normal, it may output a brake operation request and determine whether or not it has detected an accelerator operation or brake operation by the driver, and if it determines that it has detected an accelerator operation or brake operation, it may release the brake of the brake device. [Effects of the Invention]

[0008] According to one aspect of the present invention, it is possible to provide a vehicle stop-holding device that can reliably maintain a vehicle stopped state. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a vehicle stop-holding device according to an embodiment of the present invention; [Figure 2] 10 is a flowchart illustrating an example of a process for keeping a vehicle stopped. [Figure 3] 10 is a flowchart illustrating an example of a process for keeping a vehicle stopped. [Figure 4] 10 is a flowchart illustrating an example of a process for keeping a vehicle stopped. [Figure 5] 10 is a flowchart illustrating another example of a process for maintaining a stop of the vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] Fig. 1 is a block diagram showing a vehicle stop-maintaining device 100 according to this embodiment. The vehicle stop-maintaining device 100 shown in Fig. 1 is a device that maintains the vehicle 1 at a stop when the vehicle 1 comes to a stop. The vehicle 1 is not particularly limited and may be various devices.

[0012] The vehicle stop-holding device 100 includes an ECU (Electronic Control Unit) 10 (controller) that controls the entire system. The ECU 10 is an electronic control unit that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, etc. The ECU 10 performs various functions by, for example, loading a program stored in the ROM into the RAM and executing the program loaded into the RAM with the CPU.

[0013] The ECU 10 may be configured with multiple electronic units. Some of the functions of the ECU 10 described below may be executed by a server that can communicate with the vehicle. The functional configuration and processing of the ECU 10 will be described in detail later. The ECU 10 is connected to an internal sensor 2, an external sensor 3, an accelerator device 4, a brake device 5, a brake holding device 6, and an HMI (Human Machine Interface) 7.

[0014] The internal sensors 2 are detection devices that detect the driving state of the vehicle 1 and the internal state of the vehicle 1. The internal sensors 2 transmit the detection results to the ECU 10. The internal sensors 2 include an accelerator sensor and a brake sensor. The accelerator sensor detects the amount of operation of the accelerator device 4 by the driver and transmits the detected amount of operation to the ECU 10. The brake sensor detects the amount of operation of the brake device 5 by the driver and transmits the detected amount of operation to the ECU 10.

[0015] The internal sensor 2 includes a sensor that detects an exit operation by the driver. The exit operation is an operation by which an occupant in the vehicle 1 exits the vehicle 1. For example, the internal sensor 2 includes a seat belt sensor that detects an unfastening operation of a seat belt as an exit operation, and a door opening / closing sensor that detects an opening operation for opening a door (hereinafter referred to as a "door opening operation") as an exit operation. Note that the door opening operation may be, for example, an operation to unlock the door (unlocking operation). The door opening operation may also be an operation other than those described above. Furthermore, the internal sensor 2 may include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor.

[0016] The external sensor 3 is a detection device for detecting obstacles and the like around the vehicle 1. The external sensor 3 transmits the detection results to the ECU 10. The external sensor 3 includes at least one of a camera, a radar, and a LIDAR (Laser Imaging Detection and Ranging).

[0017] The accelerator device 4 operates a drive device such as a motor or an engine. The accelerator device 4 is controlled by, for example, the driver or the ECU 10. The brake device 5 controls the braking force applied to the wheels of the vehicle 1. The brake device 5 is, for example, a hydraulic brake. The brake device 5 is controlled by, for example, the driver or the ECU 10.

[0018] The brake holding device 6 holds the vehicle 1 in a stopped state. The brake holding device 6 is controlled, for example, by the driver or the ECU 10. As an example, the brake holding device 6 controls the parking brake 6a in response to a control signal from the ECU 10, and activates or releases the parking brake 6a. The parking brake 6a may be, for example, an electric parking brake (EPB).

[0019] The HMI 7 is an interface for transmitting and receiving information between an occupant (e.g., a driver) of the vehicle 1 and the vehicle stop-maintenance device 100. The HMI 7 includes a display 7a that displays image information to the occupant, a speaker that transmits audio to the occupant, etc. In response to a control signal from the ECU 10, the HMI 7 displays image information on the display 7a and transmits audio via the speaker.

[0020] The ECU 10 controls the accelerator device 4, the brake device 5, the brake holding device 6, and the HMI 7 based on the detection results of the internal sensor 2 and the external sensor 3, and executes the following control.

[0021] The ECU 10 performs vehicle speed adjustment assistance for the vehicle 1. The vehicle speed adjustment assistance is driving assistance that automatically adjusts the vehicle speed of the vehicle 1 according to the surrounding environment of the vehicle 1 and the driving conditions of the vehicle 1. The vehicle speed adjustment assistance is, for example, adaptive cruise control (ACC). For example, ACC control is constant speed control that causes the vehicle 1 to travel at a predetermined set speed when there is no preceding vehicle ahead of the vehicle 1. For example, ACC control is follow-up control that adjusts the vehicle speed of the vehicle 1 so that the inter-vehicle distance from the preceding vehicle becomes a predetermined set distance when there is a preceding vehicle ahead of the vehicle 1. The ACC control works in conjunction with a brake hold function that operates the brake device 5 to apply automatic brakes, and allows the vehicle 1 to travel or stop so as to follow the preceding vehicle.

[0022] The ECU 10 executes backup control to maintain the vehicle 1 in a stopped state using the brake holding device 6. Specifically, the ECU 10 executes control to activate the parking brake 6a in the backup control. For example, if the vehicle 1 is a vehicle equipped with (or configured with) an electric parking brake, the ECU 10 activates the electric parking brake in the backup control. Note that, for example, if the vehicle 1 is a vehicle equipped with (or configured with) a shift-by-wire (SBW) system, the ECU 10 activates an auto P lock (automatic parking lock) in the backup control.

[0023] The ECU 10 determines whether the backup control is normal. A case where the backup control is not normal (a case where there is an abnormality in the backup control) is, for example, a case where the backup control cannot be realized. A case where the backup control is not normal may be, for example, a case where the parking brake 6a has malfunctioned. Also, a case where the backup control is not normal may be, for example, a case where the braking device 5 is no longer able to maintain the stopped state of the vehicle 1 when the vehicle 1 is stopped on a steep slope. Note that a case where the backup control is not normal may also be a case other than those described above.

[0024] The ECU 10 executes takeover control (brake operation handover control) to allow the driver to take over (hand over) the operation of the brake device 5. After the vehicle 1 is stopped by the brake device 5, if the ECU 10 determines that the backup control is not normal before executing the backup control, the ECU 10 executes the takeover control. In this takeover control, the ECU 10 changes the braking force of the brake device 5 in a predetermined pattern.

[0025] When ECU 10 detects that the driver of vehicle 1 has exited the vehicle while vehicle 1 is stopped by the brake device 5, it starts executing backup control to maintain the stopped state of vehicle 1 by brake holding device 6. When ECU 10 detects both the release of the seat belt and the opening of the door by the driver of vehicle 1 between the start and completion of backup control execution, it outputs a brake operation request to the driver to operate brake device 5 and causes brake device 5 to release the brake.

[0026] If the ECU 10 does not detect either the release of the seatbelt or the opening of the door by the driver of the vehicle 1 between the start and completion of backup control execution and determines that the backup control is not normal, it outputs a brake operation request that requests the driver to operate the brake device 5, and determines whether or not it has detected an accelerator operation or a brake operation by the driver, and if it determines that an accelerator operation or a brake operation has been detected, it releases the brake of the brake device 5. Therefore, when the ECU 10 detects an abnormality in the backup control, it outputs a brake operation request and continues brake control until the driver operates the brake or accelerator.

[0027] Next, a processing method of the vehicle stop-holding device 100 according to this embodiment will be described. FIGS. 2 to 4 are flowcharts showing an example of processing for maintaining the stop of the vehicle 1. The ECU 10 constantly monitors whether the backup control is normal. For example, the ECU 10 periodically executes processing for determining whether the backup control is normal by the brake holding device 6. More specifically, in the processing for maintaining the stop of the vehicle 1, the processing of S10 to S28 is repeatedly executed.

[0028] 2, in S10, the ECU 10 determines whether or not ACC control is being executed. If the ECU 10 determines that ACC control is being executed (S10: YES), the ECU 10 proceeds to S11. If the ECU 10 determines that ACC control is not being executed (S10: NO), the ECU 10 proceeds to S10.

[0029] Next, in S11, the ECU 10 determines whether the vehicle 1 is held in a stopped state (stop-held state). For example, the ECU 10 acquires information indicating the vehicle speed of the vehicle 1 from a vehicle speed sensor included in the internal sensor 2, and determines whether the vehicle 1 is held in a stopped state. If the ECU 10 determines that the vehicle 1 is held in a stopped state (S11: YES), the ECU 10 proceeds to S12. If the ECU 10 determines that the vehicle 1 is not held in a stopped state (S11: NO), the ECU 10 proceeds to S10.

[0030] Next, in S12, the ECU 10 determines whether or not an operation to get out of the vehicle by the driver has been detected. For example, the ECU 10 determines whether or not an operation to release the seat belt or an operation to open the door by the driver has been detected. If the ECU 10 determines that an operation to get out of the vehicle by the driver has been detected (S12: YES), the ECU 10 proceeds to S13. If the ECU 10 determines that an operation to get out of the vehicle by the driver has not been detected (S12: NO), the ECU 10 proceeds to S10.

[0031] Next, in S13, the ECU 10 ends the ACC control. Next, in S14, the ECU 10 determines whether the backup control is normal. If the ECU 10 determines that the backup control is normal, the process proceeds to S16. If the ECU 10 determines that the backup control is not normal (S14: NO), the process proceeds to S15. Next, in S15, the ECU 10 executes the takeover control. After that, the process proceeds to S10.

[0032] As shown in FIG. 3, in S16, the ECU 10 starts executing (operating) the backup control. If the backup control has already started, the ECU 10 continues the backup control in S16. Subsequently, in S17, the ECU 10 determines whether the execution of the backup control has been completed. The state in which the execution of the backup control has been completed is, for example, a state in which the vehicle 1 is held stationary by the brake holding device 6. If the ECU 10 determines that the execution of the backup control has been completed (S17: YES), the ECU 10 proceeds to S18. In S18, the ECU 10 notifies the driver that the backup control has been completed using the HMI 7, and then proceeds to S21. If the ECU 10 determines that the execution of the backup control has not been completed (S17: NO), the ECU 10 proceeds to S19.

[0033] Next, in S19, the ECU 10 determines whether or not both the driver's seatbelt release operation and the door opening operation have been detected. If the ECU 10 determines that both the seatbelt release operation and the door opening operation have been detected (S19: YES), the ECU 10 proceeds to S20. If the ECU 10 determines that neither the seatbelt release operation nor the door opening operation has been detected (S19: NO), the ECU 10 proceeds to S22.

[0034] Next, in S20, the ECU 10 outputs a brake operation request. For example, the ECU 10 outputs the brake operation request to the HMI 7 and notifies the driver of the brake operation request using the HMI 7. Next, in S21, the ECU 10 releases the brake of the braking device 5, and then proceeds to S10.

[0035] 4, in S22, the ECU 10 determines whether the backup control is normal. If the ECU 10 determines that the backup control is not normal (S22: NO), the ECU 10 proceeds to S23. If the ECU 10 determines that the backup control is normal (S22: YES), the ECU 10 proceeds to S27.

[0036] Next, in S23, the ECU 10 turns on a warning light. Next, in S24, the ECU 10 outputs a brake operation request in the same manner as in S20. Next, in S25, the ECU 10 determines whether or not an accelerator operation or a brake operation by the driver has been detected. If the ECU 10 determines that an accelerator operation or a brake operation by the driver has been detected (S25: YES), the ECU 10 proceeds to S28. Next, in S28, the ECU 10 releases the brake of the brake device 5, and then proceeds to S10. If the ECU 10 determines that neither an accelerator operation nor a brake operation by the driver has been detected (S25: NO), the ECU 10 proceeds to S26.

[0037] Next, in S26, the ECU 10 determines whether or not both a seatbelt release operation and a door opening operation have been detected. If the ECU 10 has not detected a seatbelt release operation or a door opening operation (S26: NO), the ECU 10 proceeds to S23. If the ECU 10 has detected both a seatbelt release operation and a door opening operation in S26 (S26: YES), the ECU 10 immediately proceeds to S28. Next, in S28, the ECU 10 releases the brake of the brake device 5, and then proceeds to S10. For example, if the ECU 10 detects both a release operation and an opening operation in S26, the ECU 10 releases the brake in S28 within the time required for the driver to get out of the vehicle, for example, within 2 seconds. Note that immediately after the driver performs the release operation and the opening operation, the driver's attention to driving operations is sufficiently high (driver engagement (driver response ability) is sufficiently ensured), so there is no actual safety problem even if the brake of the brake device 5 is immediately released.

[0038] Next, in S27, the ECU 10 determines whether an acceleration operation or a starting operation by the driver has been detected. For example, the ECU 10 determines whether an acceleration operation or a starting operation by the driver has been detected based on information acquired from a vehicle speed sensor included in the internal sensor 2. If the ECU 10 determines that an acceleration operation or a starting operation by the driver has been detected (S27: YES), the ECU 10 proceeds to S28. Next, in S28, the ECU 10 releases the brake of the brake device 5, and then proceeds to S10. If the ECU 10 determines that neither an acceleration operation nor a starting operation by the driver has been detected (S27: NO), the ECU 10 proceeds to S16. Therefore, if the backup control is not completed, the ECU 10 repeatedly executes the processes of S16, S17, S19, S22, and S27.

[0039] As described above, the vehicle stop-maintaining device 100 is a device for maintaining the stop of the vehicle 1, and includes the ECU 10 that starts executing backup control to maintain the stop state of the vehicle 1 using the brake-maintaining device 6 when it detects that the driver of the vehicle 1 has exited the vehicle while the vehicle 1 is stopped by the brake device 5. If the ECU 10 detects both the driver of the vehicle 1 releasing the seatbelt and opening the door between the start and completion of backup control, it outputs a brake operation request to the driver to operate the brake device 5 and releases the brake of the brake device 5. As a result, when the ECU 10 detects that the driver has exited the vehicle, if backup control is possible, it can execute backup control to maintain the stop state of the vehicle 1. Furthermore, when the ECU 10 detects that the driver has exited the vehicle, if backup control is not possible, it can release the brake operation before the driver exits the vehicle and hand over (take over) the brake operation to the driver. As a result, it is possible to reliably maintain the stop state of the vehicle 1.

[0040] In the prior art, if the ECU detects the driver's intention to exit the vehicle while the vehicle 1 is stopped, the ECU always sounds an alarm and releases the brakes of the brake device. This prior art system causes anxiety and annoyance to the occupants, including the driver, and is therefore unnatural to the occupants. In other prior art, when braking force is maintained by the brake device, backup control is executed to automatically apply the parking brake to maintain the vehicle's stopped state when the power source is stopped or the driver exits the vehicle. In this prior art, if the ECU determines that the backup control is not normal after detecting the driver's exit, there is a possibility that the vehicle's stopped state cannot be maintained.

[0041] On the other hand, the vehicle stop-holding device 100 takes into consideration the fact that backup control may be determined to be abnormal after it has been initiated, and that it takes just under two seconds to just over two seconds from when the ECU 10 issues an activation request to the brake-holding device 6 until the parking brake 6a is activated and backup control is actually completed. Taking these factors into consideration, the vehicle stop-holding device 100 executes backup control if possible (S14, S16 to S18), and releases brake control before the driver exits the vehicle if backup control is not possible (S14 to S17, S19 to S21). This reliably maintains the vehicle 1 in a stopped state, thereby more reliably preventing the vehicle 1 from moving when unmanned. As a result, it is possible to realize control that does not cause anxiety or annoyance to occupants, including the driver (i.e., it feels natural to occupants), and that also takes actual safety into consideration. In other words, if backup control is normal, backup control is completed without issuing an alarm, while ensuring functional safety after the driver exits the vehicle.

[0042] According to the vehicle stop-holding device 100, if the ECU 10 does not detect either the release of the seatbelt or the opening of the door between the start and completion of backup control and determines that backup control is not normal, it outputs a brake operation request and determines whether or not an accelerator operation or brake operation by the driver has been detected, and if it determines that an accelerator operation or brake operation has been detected, it releases the brake of the brake device 5. In this case, the driver can take over the brake operation at a timing when the driver is paying sufficient attention to the driving operation. As a result, it is possible to reliably maintain the stop-hold state of the vehicle 1.

[0043] When the ECU 10 does not determine that an accelerator operation or a brake operation has been detected and detects both a release operation and an opening operation, the ECU 10 releases the brake of the brake device 5. In this case, the brake operation is handed over to the driver immediately after the driver has exited the vehicle. This allows the brake operation to be handed over to the driver at a timing when the driver is paying sufficient attention to the driving operation. As a result, it becomes possible to more reliably maintain the stopped state of the vehicle 1. Furthermore, when the ECU 10 detects that the driver has exited the vehicle, if backup control cannot be realized, the brake operation can be released before the driver exits the vehicle, and the brake operation can be handed over (switched) to the driver.

[0044] Although the embodiments have been described above, one aspect of the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the invention.

[0045] In the above embodiment, if the ECU 10 does not detect both the seat belt release operation and the door opening operation between the start and completion of backup control execution and determines that the backup control is not normal, the ECU 10 determines whether or not it has detected an accelerator operation or a brake operation by the driver, and if it determines that an accelerator operation or a brake operation has been detected, it releases the brake of the brake device 5, but this is not limited to this.

[0046] For example, if the ECU 10 has not detected both a seatbelt release operation and a door opening operation between the start and completion of backup control and has determined that the backup control is not normal, the ECU 10 may release the brakes by the brake device 5 if the elapsed time from the detection of the driver's exit operation is within a predetermined time. That is, if the ECU 10 determines that the backup control is not normal before the backup control is completed and the driver is able to take action at that time, the ECU 10 may quickly release the brake operation and hand over the brake operation to the driver (hand over). Furthermore, the ECU 10 may release the brakes by the brake device 5 if the ECU 10 detects an accelerator operation or a brake operation or if the ECU 10 detects both a release operation and an opening operation when the elapsed time from the detection of the exit operation exceeds a predetermined time.

[0047] As shown in FIG. 5, the process of maintaining the stop of the vehicle 1 in the modified example may be performed by executing the following processes of S29 to S30 instead of the process of determining in S25 whether the ECU 10 has detected an accelerator operation or a brake operation by the driver, and the process of determining in S26 whether the ECU 10 has detected both a seat belt release operation and a door opening operation.

[0048] After executing the process of outputting the brake operation request in S24, the ECU 10 determines in S29 whether the elapsed time from the time when the driver's exit operation is detected (S12) to the time when the backup control is determined to be abnormal (S22) is within a predetermined time. For example, the ECU 10 determines whether the elapsed time from the detection of the seat belt release operation or the door opening operation is within a predetermined time.

[0049] The predetermined time is the time from the start of detection of the exit operation during which the driver's attention to the driving operation is kept sufficiently high (the time during which the driver can sufficiently take action). This time is, for example, the time required for the driver to exit the vehicle or leave the seat. The predetermined time is, for example, 2 seconds. Therefore, in S29, the ECU 10 determines whether the timing is such that the driver's attention to the driving operation is sufficiently high (the time during which the driver can sufficiently take action). After the predetermined time has elapsed, for example, a child sitting in the back seat may be experiencing some kind of emergency. In this case, the driver may have released the seat belt and left the driver's seat without opening the door. Therefore, it is not practically safe for the ECU 10 to quickly release the brake of the brake device 5 after the predetermined time has elapsed.

[0050] If the ECU 10 determines that the elapsed time from the detection of the driver's dismounting operation (S12) is within the predetermined time (S29: YES), the ECU 10 proceeds to S28. If the ECU 10 determines that the elapsed time from the detection of the driver's dismounting operation (S12) is greater than the predetermined time (S29: NO), the ECU 10 proceeds to S30.

[0051] Next, in S30, the ECU 10 determines whether a brake operation or an accelerator operation by the driver has been detected. If the ECU 10 determines that a brake operation or an accelerator operation by the driver has been detected (S30: YES), the ECU 10 proceeds to S28. If the ECU 10 determines that neither a brake operation nor an accelerator operation by the driver has been detected (S30: NO), the ECU 10 proceeds to S31.

[0052] Next, in S31, the ECU 10 determines whether or not both a seatbelt release operation and a door opening operation have been detected. If the ECU 10 determines that both a seatbelt release operation and a door opening operation have been detected (S31: YES), the ECU 10 proceeds to S28. If the ECU 10 determines that neither a seatbelt release operation nor a door opening operation has been detected (S31: NO), the ECU 10 proceeds to S30.

[0053] In the above-described embodiment, if the ECU 10 determines that the backup control is not normal between the start and completion of backup control, the ECU 10 outputs a brake operation request and executes a process to continue the brake control until the driver applies the brakes. The above process takes into consideration the driver's attention to the driving operation. For example, the above process assumes that some time has passed since the detection of the exit operation and the driver's attention to the driving operation has decreased. In most cases, the driver is expected to apply the brakes promptly thereafter. However, if the driver does not perform any operation, the hydraulic brakes, which are the braking device 5, may reach their limit and be unable to maintain the vehicle 1 in a stopped state.

[0054] In view of the above, as in this modification, for example, when the ECU 10 has not detected both the seatbelt release operation and the door open operation between the start and completion of backup control and has determined that the backup control is not normal, the ECU 10 may release the brakes by the brake device 5 if the elapsed time from the detection of the driver's exit operation is within a predetermined time. In this case, the brakes of the brake device 5 can be released at a timing when the driver is paying sufficient attention to the driving operation, and the driver can take over the brake operation. This makes it possible to reliably maintain the stopped state of the vehicle 1.

[0055] Furthermore, when the ECU 10 detects an accelerator operation or a brake operation, or when it detects both a release operation and an open operation, when the elapsed time from the detection of the dismounting operation exceeds a predetermined time, the ECU 10 may cause the brake device 5 to release the brake. This allows the driver to take over the brake operation at a timing when the driver is paying sufficient attention to the driving operation. As a result, it becomes possible to reliably maintain the stopped state of the vehicle 1.

[0056] The components in the above embodiments and modifications are not limited to the materials and shapes described above, and various materials and shapes can be applied. Each component in the above embodiments or modifications can be applied as desired to each component in other embodiments or modifications. Parts of each component in the above embodiments or modifications can be omitted as appropriate without departing from the spirit of one aspect of the present invention. [Explanation of symbols]

[0057] 1...vehicle, 5...brake device, 6...brake holding device, 10...ECU (control unit), 100...vehicle stop holding device

Claims

1. A vehicle stop maintaining device that maintains the stop of a vehicle, a control unit that starts execution of backup control to maintain a stopped state of the vehicle by a brake holding device when detecting an operation of the driver of the vehicle getting out of the vehicle while the vehicle is stopped by a brake device; A vehicle stop maintaining device in which, if the control unit detects both a seat belt release operation and an opening operation to open the door by the driver of the vehicle between the start and completion of the backup control, the control unit outputs a brake operation request to the driver to operate the brake device and releases the brake of the brake device.

2. The control unit If neither the release operation nor the opening operation is detected during the period from the start to the completion of the backup control and it is determined that the backup control is not normal, the brake operation request is output, and it is determined whether an accelerator operation or a brake operation by the driver has been detected. The vehicle stop-holding device according to claim 1 , wherein the brake of the brake device is released when it is determined that the accelerator operation or the brake operation has been detected.

3. The control unit 3. The vehicle stop-holding device according to claim 2, wherein when it is not determined that the accelerator operation or the brake operation has been detected and both the release operation and the release operation have been detected, the brake of the brake device is released.

4. The control unit 2. The vehicle stop-holding device according to claim 1, wherein, when neither the release operation nor the opening operation is detected between the start and completion of execution of the backup control, and when it is determined that the backup control is not normal, the brakes applied by the brake device are released if the elapsed time from the detection of the dismounting operation is within a predetermined time.

5. The control unit 5. The vehicle stop-holding device according to claim 4, wherein, when neither the release operation nor the release operation is detected between the start and completion of execution of the backup control and it is determined that the backup control is not normal, if an accelerator operation or a brake operation by the driver is detected when the elapsed time from the detection of the dismounting operation exceeds a predetermined time, or if both the release operation and the release operation are detected, the brake by the brake device is released.

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