WO2007122704A1

WO2007122704A1 - System for assisting entry and exit of occupant from vehicle

Info

Publication number: WO2007122704A1
Application number: PCT/JP2006/308216
Authority: WO
Inventors: Jun Kawai; Hiroshi Yamada
Original assignee: Fujitsu Limited
Priority date: 2006-04-19
Filing date: 2006-04-19
Publication date: 2007-11-01
Also published as: JP4763778B2; JPWO2007122704A1

Abstract

A system for assisting entry and exit of an occupant from a vehicle, enabling the occupant to enter into and exit from the vehicle when it is parked in a parking space having an insufficient width for opening a door. The system has a storage section for storing the track of movement of the vehicle by the driver from a parking position to an occupant entry/exit position, a control section for controlling movement of the vehicle, and an operation section for issuing a command to the control section. When the vehicle is at the occupant entry/exit position, the control section follows an instruction from the operation section and moves the vehicle so that it reversely traces the track to reach the parking position. When the vehicle is at the parking position, the control section follows an instruction from the operation section and moves the vehicle so that it traces the track to reach the occupant entry/exit position.

Description

Specification

Vehicle entry / exit support system

Technical field

The present invention relates to a vehicle boarding / alighting support system.

Background art

[0002] Figures 21 (a), 21 (b) and 22 (a), 22 (b) show a state in which several vehicles 96 are stopped in a parking space of a general parking lot 95. This parking lot 95 has a parking space 97a for general vehicles and a parking space 97b for welfare vehicles for one vehicle. The parking space 97b for welfare vehicles is wider than the parking space 97a for general vehicles. This is because some welfare vehicles can get in and out of wheelchairs, and in order to get in and out of wheelchairs, the doors must be fully opened, and the width for that is needed.

[0003] Assume that a driver of a welfare vehicle 98 that gets in and out of a wheelchair is looking for a parking space.

[0004] As shown in Fig. 21 (a), when the parking space 97b for the welfare vehicle is vacant, the driver of the welfare vehicle 98 places the welfare vehicle parking space 97b in the welfare vehicle parking space 97b as shown in Fig. 21 (b). Vehicle 98 can be parked. Since the parking space 97b for the welfare vehicle is wide as described above, the driver can fully open the door 99 of the welfare vehicle 98 and get off the welfare vehicle 98 together with the wheelchair.

[0005] On the other hand, Fig. 22 (a) shows a state where the parking space 97b for welfare vehicles is not vacant and the parking space 97a for general vehicles is vacant. In such a situation, the driver of the welfare vehicle 98 may desire to park the welfare vehicle 98 in the general vehicle parking space 97a as shown in FIG. 22 (b). However, as mentioned above, the parking space 97a for general vehicles is not wide enough, so if you try to fully open the door 99, it will collide with the adjacent vehicle 96, and the driver will get off the welfare vehicle 98. Can not do it.

[0006] For these reasons, conventionally, the driver of the welfare vehicle 98 could not use the parking space 97b for the welfare vehicle.

Disclosure of the invention Problems to be solved by the invention

[0007] However, if the welfare vehicle 98 can be parked in the general vehicle parking space 97a, it is extremely convenient for the driver of the welfare vehicle 98.

[0008] By the way, the problem caused by the narrow width of the parking space can occur not only in welfare vehicles but also in ordinary vehicles. For example, suppose that there is an empty parking space, but the vehicle is parked at a position that is biased toward the vehicle power of the adjacent parking space. In this case, if the vehicle is parked in an empty parking space, the vehicle in the adjacent parking space may not be able to open the door sufficiently due to obstruction, and the driver may not be able to get off the vehicle.

It is convenient if you can get on and off the vehicle when you park it in a parking space that is not wide enough to open the door.

[0009] The present invention has been made in view of such circumstances, and when a vehicle is parked in a parking space where the width for opening the door is not sufficient, it is possible to get on and off the vehicle. A support system is provided.

Means for Solving the Problems and Effects of the Invention

[0010] That is, the present invention provides a storage unit that stores a trajectory of movement of a vehicle by a driver up to a boarding / alighting position, a control unit that controls movement of the vehicle, and a command to the control unit. And an operation unit for giving the vehicle, when the vehicle is in the getting-on / off position, in accordance with a command from the operation unit, the vehicle turns the trajectory in a reverse direction and reaches the parking position. A vehicle that moves the vehicle so that when the vehicle is in the parking position, the vehicle follows the trajectory and reaches the boarding / alighting position according to a command from the operation unit. It provides a boarding / alighting support system.

[0011] Here, the width for opening the door using the system of the present invention (in the case of a welfare vehicle, it is the width for fully opening the door, and in the case of a general vehicle, it is necessary for getting off the driver) Explain how to get on and off the vehicle when it is parked in a parking space that is not enough.

[0012] 1. How to get off

(1) First, the driver parks the vehicle in the desired parking space. This position is It becomes “parking position” in the morning. Next, the driver starts the system of the present invention.

(2) Next, the driver moves the car to the parking position force entry / exit position. The “boarding / unloading position” is a position where there is sufficient width to open the door and the driver can get on and off the vehicle. When the vehicle moves, the storage unit of the system of the present invention stores the trajectory of the vehicle movement from the parking position to the boarding / exiting position.

(3) Next, the door is opened and the driver gets out of the car. The door may be opened by the driver or the system of the present invention.

(4) Next, the driver gives a command to move to the parking position from the operation unit of the system of the present invention to the control unit of the system of the present invention. After the driver gets off, before or after the command, the vehicle door is closed. The door may be closed by the driver and the system of the present invention should be closed.

(5) Upon receipt of the above command, the control unit of the system of the present invention moves the vehicle so that the vehicle reaches the parking position with the trajectory reversed.

[0013] With the above method, the driver can get out of the vehicle when parking the vehicle in a parking space that is not wide enough to open the door.

[0014] 2. Ride method

(1) The driver approaches the vehicle in the parking position, and gives a command to move to the getting-on / off position from the operation unit of the system of the present invention to the control unit of the system of the present invention.

(2) Upon receiving the above command, the control unit of the system of the present invention moves the vehicle so that the vehicle reaches the getting on / off position along the trajectory.

(3) Next, the door is opened and the driver gets into the car. Thereafter, the door is closed.

[0015] With the above method, the driver can get on a vehicle parked in a parking space that is not wide enough to open the door.

Brief Description of Drawings

FIG. 1 is a block diagram showing a configuration of a vehicle boarding / alighting support system according to an embodiment of the present invention.

FIG. 2 is a front view showing a steering wheel and a dashboard in front of a driver seat on which various switches and the like of the vehicle boarding / alighting support system according to the embodiment of the present invention are arranged.

FIG. 3 is a plan view of a remote control unit of the vehicle boarding / alighting support system according to the embodiment of the present invention. 圆 4] Initiation / departure support start This is another embodiment of the remote control unit shown in Fig. 3 in which parking SW and boarding / exiting SW are provided instead of SW.

V5] Another embodiment of the remote control unit in Fig. 3 is provided with a forward SW and a reverse SW instead of the boarding / exit support start SW.

6) Another embodiment of the remote control unit of FIG.

[Fig. 7] (a) to (f) show a case where the vehicle entry / exit support system according to the embodiment of the present invention is used for a vacant parking space in a parking lot where two vehicles are already stopped. It is a top view for demonstrating the method of parking.

8] It is a flowchart showing the flow of processing of the vehicle boarding / alighting support system according to an embodiment of the present invention when a vehicle is parked in a parking space.

9] A flowchart showing the flow of processing of the vehicle boarding / alighting support system according to an embodiment of the present invention when a vehicle is parked in a parking space.

FIG. 10 is a flowchart showing a flow of a handle fixing process of the vehicle boarding / alighting support system according to the embodiment of the present invention.

[11] This is a flowchart showing the flow of the semi-automatic processing to the parking position in the vehicle boarding / alighting support system of one embodiment of the present invention.

12) A flowchart showing a flow of semi-automatic processing to a parking position in the vehicle boarding / alighting support system according to the embodiment of the present invention.

13] A flow chart showing the flow of parking processing in the vehicle boarding / alighting support system according to the embodiment of the present invention.

[FIG. 14] (a) to (f) are plan views for explaining a method of getting on a vehicle parked between two vehicles using the vehicle boarding / alighting support system of one embodiment of the present invention. It is a figure

FIG. 15 is a flowchart showing a processing flow of the vehicle boarding / alighting support system according to the embodiment of the present invention when the driver gets into the vehicle and the parking space force also leaves.

FIG. 16 is a flowchart showing a processing flow of the vehicle boarding / alighting support system according to the embodiment of the present invention when the driver gets into the vehicle and the parking space force also leaves.

17] A flow chart showing the flow of start-up processing in the vehicle boarding / alighting support system according to one embodiment of the present invention. FIG. 18 is a flowchart showing a flow of semi-automatic processing to a boarding / alighting parking position in the vehicle boarding / alighting support system of one embodiment of the present invention.

FIG. 19 is a flowchart showing a flow of semi-automatic processing to the boarding / alighting parking position of the vehicle boarding / alighting support system according to the embodiment of the present invention.

FIG. 20 is a list of messages notified when getting on and off the vehicle using the vehicle boarding / alighting support system according to the embodiment of the present invention.

[Fig. 21] (a) and (b) are planes for explaining a conventional method for parking a welfare vehicle in a parking space for a welfare vehicle in a general parking lot where several vehicles are stopped. FIG.

[Fig.22] (a) and (b) explain the problems when parking a welfare vehicle in a conventional manner in a general vehicle parking space in a general parking lot where several vehicles are stopped. FIG.

Explanation of symbols

1: Main unit 3: Remote control unit 5: Boarding / alighting support control unit 6: Memory unit 7: Start boarding / alighting support SW 8: End boarding / alighting support SW 9: Emergency stop SW 10: Message notification control unit 11: Handle 12: Meters 13 : Air conditioner outlet 14: Various operation sections 15: Speaker 16: Message display section 17: System operation lamp 18: Steering lamp 19: Laser irradiation control section 20: Communication section 21: Door lock control section 22: Door SW 23 : Door open / close detection unit 24: Operation start control unit 25: Key IF 26: Immobilizer 27: Steering wheel control unit 29: Rudder angle detection unit 31: Rudder angle control unit 33: Travel distance · Speed detection unit 35: Driving force control unit 37: Shift control unit 39: Brake control unit 41: Parking brake control unit 43: Parking brake SW 45: Parking assist control unit 47: Obstacle detection unit 49: Camera unit 5 1: Video processing unit 53: Video display unit 55: Side slip prevention control unit 57: Control unit 59: Communication unit 61: Entry / exit support start SW 63: Entry / exit support end SW 65: Tight Sudden stop SW 67: Travel distance increased SW 69: Travel distance decreased SW 71: Trunk open SW 73: Door locked SW 75: Door unlocked SW 76: Parking SW 77: Getting on / off SW 78: Forward SW 79: Reverse SW 80: Voice Input start SW 81: Microphone 82: Speaker 83: Cancel SW 85: Vehicle 86: Parking lot 87: Parking space 88: Vehicle 89: Door 90: Wheelchair 91: Laser 95: Parking lot 96: Vehicle 97a: For general vehicles Parking space 97b: Parking space for welfare vehicles 98: Welfare vehicles Both 99: Door

BEST MODE FOR CARRYING OUT THE INVENTION

[0018] A vehicle boarding / alighting support system according to an embodiment of the present invention includes a storage unit that stores a trajectory of movement of a vehicle by a driver from a parking position to a boarding / alighting position, a control unit that controls movement of the vehicle, An operation unit that gives a command to the control unit, and the control unit, when the vehicle is in the getting-on / off position, causes the vehicle to reverse the track in accordance with the command from the operation unit. Accordingly, the vehicle is moved so as to reach the parking position, and when the vehicle is in the parking position, the vehicle reaches the getting-on / off position along the locus according to a command from the operation unit. Thus, the vehicle is moved.

[0019] Preferably, the system of the present invention further includes a moving distance detecting unit that detects a moving distance of the vehicle, and a rudder angle detecting unit that detects a rudder angle of the steering wheel of the vehicle, and the storage unit has a predetermined time or Data on the distance traveled from the parking position and the steering angle of the handle for each predetermined distance is acquired, and a trajectory data sequence in which these data are arranged in the order of acquisition is stored to store the trajectory of the vehicle movement, and the control unit May reproduce the data of the trajectory data sequence in reverse order, and move the vehicle while traversing the trajectory in the reverse direction. According to such a method, the vehicle can be easily moved to the parking position even if the trajectory of the vehicle is curved.

[0020] Preferably, the system of the present invention includes a steering angle detection unit that detects a steering angle of a steering wheel, and a handle that is detected by the steering angle detection unit before the movement of the vehicle by the driver. A steering wheel fixing control unit for fixing the handle at the position where the rudder angle is 0 degree may be further provided. In this case, the rudder angle is constant at 0 degrees, so there is no need to memorize the rudder angle and the trajectory is easy to memorize. In addition, it is not necessary to control the rudder angle when reproducing the trajectory, and the trajectory can be easily reproduced. In addition, since the trajectory of movement becomes simple, safety confirmation becomes easy.

Also, preferably, if the handle is operated while the handle is fixed, the handle is released and the system is terminated. Considering the case where the driver needs to operate the handle, it is preferable to release the handle lock by operating the handle. In that case, it is preferable to terminate the system and restart the initial force. As a result, safety can be further improved. [0021] Preferably, the control unit may move the vehicle to a boarding / alighting position changed by a command from the operation unit. In this case, it is convenient to deal with inconveniences when the initial boarding / alighting position set initially or the default boarding / alighting position (when the user gets off without using the system of the present invention) is inconvenient.

[0022] Preferably, the control unit may move the vehicle only while the operation unit force continues to receive a command. In this case, the movement of the vehicle can be stopped by stopping the command from the operation unit, so that the movement can be easily stopped in an emergency.

[0023] Preferably, the apparatus may further include a light irradiation unit that irradiates light (eg, laser) to a planned stop position of the vehicle while the control unit moves the vehicle. In this case, the planned stop position of the vehicle can be easily grasped, which is convenient and can improve safety.

[0024] Preferably, the operation unit may have a function of giving a command to the control unit for an emergency stop, reversing operation, or resuming operation for the moving vehicle. In this case, if you want to interrupt the movement, if you want to stop and return to the original position in the middle, or if you want to resume after the interruption, it can be convenient and can improve safety. .

[0025] Preferably, the vehicle further includes an obstacle detection unit that detects an obstacle in the moving direction of the vehicle, and the control unit detects the obstacle when the obstacle detection unit detects the obstacle during movement. May be stopped. In this case, safety can be improved.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The configurations shown in the drawings and the following description are merely examples, and the scope of the present invention is not limited to those shown in the drawings and the following description.

[0027] 1. Configuration of vehicle entry / exit support system

FIG. 1 is a block diagram showing a configuration of a vehicle boarding / alighting support system according to an embodiment of the present invention. The system according to the present embodiment includes a main body 1 and a remote control unit 3 incorporated in a vehicle. Hereinafter, the main unit 1 and the remote control unit 3 will be described in detail.

[0028] 1 1. Body

First, the configuration of the main body 1 will be described. The main unit 1 includes a boarding / alighting support control unit 5 and a memory Entry / exit support start SW (switch) 7, Entry / exit support end SW8, emergency stop SW9, message notification control unit 10, laser irradiation control unit 19, communication unit 20, door lock control unit 21 Door SW22, door open / close detection unit 23, operation start control unit 24, key IF (interface) 25, immobilizer 26, handle fixing control unit 27, rudder angle detection unit 29, rudder Angle control unit 31, travel distance speed detection unit 33, driving force control unit 35, shift control unit 37, brake control unit 39, parking brake control unit 41, parking brake SW43, parking assist control A unit 45, an obstacle detection unit 47, a camera unit 49, a video processing unit 51, a video display unit 53, and a skid prevention control unit 55 are provided.

[0029] The boarding / alighting support control unit 5 controls the entire system and has a function that enables the boarding / alighting support according to this embodiment. The boarding / alighting support control unit 5 specifically controls the movement of the vehicle. In the following explanation, the movement of the vehicle under the control of the boarding / alighting support control unit 5 without the steering wheel, accelerator and brake operation by the driver is called “semi-automatic movement”. The movement of the vehicle by the driver is called “first movement”, and the movement of the vehicle by the driver without operating the steering wheel, accelerator, and brake under the control of the boarding / alighting support control unit 5 is called “second movement”. Monkey.

The storage unit 6 obtains the data of the movement distance of the parking position force obtained at a predetermined time or every predetermined distance and the data of the steering angle of the handle of the vehicle by the driver until the parking position force also reaches the getting on / off position. A trajectory data sequence arranged in order) is stored.

Entry / exit support start SW7 is used for the purpose of starting the system of this embodiment. Exit support SW8 is used for the purpose of terminating the system of this embodiment. Emergency stop SW9 is used for the purpose of emergency stop of semi-automatic movement. The operation part of the main part 1 is composed of the boarding / exit assistance start SW7, boarding / exit assistance end SW8 and emergency stop SW9.

[0030] The message notification control unit 10 controls notification of various messages to the driver. There are two methods for notifying a message: a method for notifying a message by voice through a speaker, and a method for displaying a message on a message display section.

[0031] Here, Fig. 2 shows an arrangement example of the boarding / alighting support start SW7, boarding / alighting support end SW8, emergency stop SW9, speaker, and message display section. Figure 2 shows the handle and dash in front of the driver's seat. FIG. Figure 2 shows the entry / exit assistance start SW7, exit / exit assistance end SW8, emergency stop SW9, meter 11, meters 12, air conditioner outlet 13, various operation parts 14, speaker 15, message display part 16, system operation lamp 17 And a handle fixing lamp 18 are shown. System activation lamp 17 is lit during system operation. The handle fixing lamp 18 lights up while the handle is fixed.

[0032] The laser irradiation control unit 19 controls the laser irradiation unit to irradiate a laser at a planned stop position (a boarding / alighting position or a parking position) of a vehicle that is moving semi-automatically. For example, one laser irradiation unit is provided before and after the vehicle.

[0033] The communication unit 20 communicates with the remote operation unit 3, and transmits the command received from the remote operation unit 3 to the boarding / alighting support control unit 5, the door locking control unit 21, and the operation start control unit 24. The communication unit 20 is composed of, for example, a keyless entry ECU (electronic control unit).

The door locking control unit 21 controls locking and unlocking of the vehicle door. The door locking control unit 21 is composed of, for example, a door ECU.

Door SW22 is used to manually give door locking and unlocking commands to door locking control unit 21.

The door open / close detector 23 detects the open / close state of the vehicle door.

[0035] The operation start control unit 24 controls the operation start of the driving force. The operation start control unit 24 also has a function of maintaining the operation of the driving force (operation maintaining control) while the system of the present invention is operating even after the key is removed from the key IF25. Key IF25 is an interface for inserting keys. The immobilizer 26 has a function of reading the ID code of the electronic chip embedded in the key and allowing the vehicle to be driven only when the ID code is correct. The operation start control unit 24, the key IF 25, and the immobilizer 26 include, for example, a key switch and an immobilizer. Examples of driving force include engine only, motor only, and engine-motor hybrid. In the case of a hybrid system, when the vehicle is moved semi-automatically in the system of this embodiment, a configuration using only a motor may be used.

The handle fixing control unit 27 fixes the handle at the position of the steering angle force O degree of the handle. If the driver operates the handle while the handle is fixed, the handle is locked for safety. Part 27 releases the handle. The steering angle detection unit 29 detects the steering angle of the steering wheel. The steering angle control unit 31 controls the steering angle of the steering wheel. The steering wheel fixing control unit 27, the rudder angle detection unit 29, and the rudder angle control unit 31 are configured by, for example, a power steering ECU.

[0037] The moving distance / speed detecting unit 33 detects the moving distance and speed of the vehicle. Travel distance 'Speed detector 33 is composed of, for example, a wheel speed sensor and an acceleration sensor. In one example, one wheel speed sensor is provided for each wheel, and the acceleration sensor is located in the center of the vehicle.

[0038] The driving force control unit 35 controls the driving force of the vehicle. The shift control unit 37 controls the shift (forward, reverse or parking). The driving force control unit 35 and the shift control unit 37 are configured by, for example, an engine Z transmission ECU.

The brake control unit 39 controls the brake.

The parking brake control unit 41 controls the parking brake. The parking brake SW43 is used to manually give the parking brake control unit 41 a command to release the parking brake.

[0039] The parking assist control unit 45 is a block used to assist backward parking (specifically, the obstacle detection unit 47, the camera unit 49, the video processing unit 51, and the video display unit 53). Control is performed (the entire system is called a “parking assist system”;). In addition, the parking assist control unit 45 calculates the path that the vehicle should pass when parking backwards.

[0040] The obstacle detection unit 47 detects an obstacle present around the vehicle. The obstacle detection unit 47 is constituted by a clearance sonar, for example. For example, the obstacle detection unit 47 is arranged one by one at the front right, the front left, the rear right, and the rear left.

[0041] The camera unit 49 is used to acquire an image behind the vehicle. The camera unit 49 is composed of, for example, a CCD camera or a CMOS camera. The camera unit 49 is arranged at a position where the rear of the vehicle can be photographed.

The video processing unit 51 recognizes the parking space finishing line existing in the video acquired by the camera unit 49 and the already stopped vehicle. The parking assist control unit 45 and the video processing unit 51 are configured by, for example, an IPA (Intelligent Parking Assist) -ECU. The video display unit 53 displays the video behind the vehicle processed by the video processing unit 51 and the parking assist control unit 45. For the video display unit 53, for example, a car navigation system screen is used.

[0042] The skid prevention control unit 55 controls the driving force and the brake so as to prevent the skid of the vehicle. The skid prevention control unit 55 includes, for example, an ABS brake Z skid prevention control ECU together with the brake control unit 39.

[0043] 1 2. Remote control unit

Next, the configuration of the remote control unit 3 will be described. Remote control unit 3 includes control unit 57, communication unit 59, boarding / alighting support start SW61, boarding / alighting support end SW63, emergency stop SW65, travel distance increase SW67, travel distance decrease SW69, and trunk opening SW71. And door locking SW73 and door unlocking SW75.

[0044] The control unit 57 controls the entire remote operation. The communication unit 59 has a function of communicating with the main unit 1.

The boarding / alighting support start SW61, boarding / alighting support end SW63, and emergency stop SW65 have the same functions as the boarding / alighting support start SW7, boarding / alighting support end SW8, and emergency stop SW9, respectively.

The travel distance increase SW67 and travel distance decrease SW69 are used to change the boarding / exiting position. Increased travel distance Pressing SW67 moves the boarding / exiting position in the direction in which the travel distance extends, and pressing down the travel distance SW69 moves the boarding / exiting position in the direction in which the travel distance decreases. Trunk opening SW71 is used to open the trunk. Used. Door lock SW73 and door lock SW75 are used to lock and unlock the door of the vehicle, respectively.

Here, FIG. 3 shows an example of the arrangement of each switch. FIG. 3 is a plan view of the remote control unit 3.

Figure 3 shows the entry / exit support start SW61, exit / exit support end SW63, emergency stop SW65, travel distance increase SW67, travel distance decrease SW69, trunk opening SW71, door locking SW73, and door unlocking SW75. It is shown in the figure.

[0046] Next, another embodiment of the remote control unit 3 will be described with reference to Figs.

In Fig. 4, parking SW76 and boarding / exiting SW77 force S are provided instead of boarding / exiting support SW61. Remote control unit 3. The parking SW 76 and the getting-on / off SW 77 have a function of moving when the vehicle moves in the direction of the parking position or the direction of the getting-on / off position only while being pressed. Figure 5 shows the remote control unit 3 provided with a forward SW78 and a reverse SW79 instead of the boarding / exit assistance start SW61. Forward SW78 or Reverse SW79 has the function of moving the vehicle forward or backward only while it is pressed.

Figure 6 shows the remote control unit 3 with voice input. This remote control unit 3 is equipped with a voice input start SW 80, a microphone 81, a speaker 82, and a cancel SW 83. Voice human power start S After pressing W80 and turning to microphone 81, and inputting a pre-registered keyword (such as “Start”, “Move”) by voice, remote control unit 3 moves from the keyword to main unit 1 This command is recognized and the recognized command is sent to the main unit 1. The speaker 82 is used to transmit a command recognized by the remote control unit 3 to the driver. Cancel SW83 is used to cancel the command recognized by remote control unit 3.

[0047] 2. Method of using boarding / alighting support system of this embodiment

Next, a method of using the boarding / alighting support system according to one embodiment of the present embodiment will be described.

2- 1.How to park

First, a method for parking a vehicle using the system of this embodiment will be described with reference to FIGS. Figs. 7 (a) to (f) explain how to park the vehicle 88 in the vacant parking space 87 of the parking lot 86 where two vehicles 85 have already stopped using the system of this embodiment. It is a top view for doing. FIG. 8 to FIG. 13 are flowcharts showing the processing flow of the system of this embodiment when the vehicle 88 is parked in the space 87. The main body 1 in FIG. The remote control unit 3 is portable and is configured to transmit various commands to the main unit 1 from outside the vehicle 88.

[0048] 2- 1-1. System start processing

First, as shown in FIGS. 7 (a) and 7 (b), the driver normally drives the vehicle 88 and stops the vehicle 88 in the parking space 87 before starting the system of this embodiment. Set the shift to parking. The vehicle 88 is a welfare vehicle, and the driver gets on and off the vehicle 88 together with the wheelchair. The driver uses the parking assist system to place the vehicle 88 in the parking space. It may be parked in the station 87. The direction in which the vehicle 88 is moved may be forward or backward. Here, it is assumed that the driver stops the vehicle 88 in the parking space 87 by driving the vehicle 88 backward.

Next, the driver presses the getting on / off support start SW 7 of the main unit 1. When the boarding / alighting support control unit 5 detects pressing of the boarding / alighting support start SW7 (step SA1 in FIG. 8), it determines whether the boarding / alighting support system is already in operation (step SA2). Y of S A2), the trajectory data string stored in the storage unit 6 is deleted (step S A3), the message notification control unit 10 is controlled, and the message Ml “Ending boarding / exiting support is terminated” is notified. After that (step SA4), the system is terminated.

[0050] On the other hand, when the system is not operating (N in step SA2), the boarding / alighting support control unit 5 determines whether the system start condition is satisfied (step SA5). Here, the system start conditions are (1) the vehicle is stopped and (2) the shift is parked.

[0051] If the system start condition is not satisfied (N in Step SA5), the boarding / alighting support control unit 5 displays the message M2 “Stop the car, put the shift into the parking space, and try again”. Notify (step SA6), and further notify the message Ml “Terminate boarding / exit support” and terminate the system.

When the system start condition is satisfied (Y in step SA5), the boarding / alighting support control unit 5 notifies the message M3 “Starting boarding / alighting support with the current position as the parking position” (step SA7), Proceed to step SA8.

[0052] 2-1 2. Handle fixing process

In step SA8, a handle fixing process is performed. Here, the handle fixing process is explained using the flowchart in Fig. 10. The handle fixing process is performed to prevent the driver from operating the steering wheel when the driver moves the vehicle from the parking position to the boarding / exiting position.

[0053] In the handle fixing process, first, the boarding / alighting support control unit 5 notifies the message M4 "Turn it straight until the handle is fixed" (step SB1). The driver who receives this notice turns the tire straight as shown in Fig. 7 (c). Turn the knob until you turn. During this time, the boarding / alighting support control unit 5 obtains the steering angle information of the steering wheel from the steering angle detection unit 29 and monitors the steering angle of the steering wheel (step SB2). The boarding / alighting support control unit 5 continues monitoring until the rudder angle becomes 0 (N in step SB2). When the boarding / alighting support control unit 5 detects that the steering angle force ^ has been reached (Y in step SB2), it controls the handle fixing control unit 27 to fix the handle (step SB3). Next, the boarding / alighting support control unit 5 notifies the message M5 “The handle is fixed. Move the car to the boarding / alighting position and put the shift lever into the parking” (step SB4), and proceed to the next process. Move.

In another embodiment, the handle fixing process is not performed, and the driver can perform the handle operation when moving the vehicle to the parking position force getting on / off position.

[0055] 2- 1-3. Trajectory memory processing

Next, the boarding / alighting support control unit 5 obtains shift information from the shift control unit 37 and monitors whether the shift is parking (step SA9). The boarding / alighting support control unit 5 continues monitoring until the shift is no longer parking (Y in step SA9). When the boarding / alighting support control unit 5 detects that the shift is not parking (that is, when the shift is changed to the forward shift or the reverse shift) (Ν of step SA9), it moves to step SA10 and stores the trajectory. Start. The position of the vehicle at the start of storage is the “parking position”. In this embodiment, the vehicle is parked backwards in the parking space, so the shift is switched to the forward shift. If the vehicle is parked forward and parked, the shift is switched to a reverse shift.

[0056] When the driver steps on the accelerator, as shown in Fig. 7 (d), the vehicle 88 starts moving forward, and when the driver reaches a position where the driver can get on and off (boarding / exiting position), the driver Stop and switch the shift to parking.

During this time, the boarding / alighting support control unit 5 repeats steps SAIO, SA11, SA13, and SA14.

In step SA10, the boarding / alighting support control unit 5 stores in the storage unit 6 the current steering angle acquired from the steering angle detection unit 29 and the current position acquired from the travel distance / speed detection unit force. Step S A10 is performed every predetermined time (step SA14), and the storage unit 6 stores a trajectory data sequence in which the current steering angle and the current position are arranged in the order of acquisition.

[0058] In step SA11, the boarding / alighting support control unit 5 obtains the current steering angle obtained from the steering angle detection unit 29. If the steering angle is not 0 (N in step SA11), the message M6 “System is released because the handle has been operated” is notified (step SA12). ) Deletes the trajectory data string stored in the storage unit 6 (step S A3), notifies the message Ml “Terminates getting on / off support” (step SA4), and then terminates the system. In addition, when the steering angle is not 0, the boarding / alighting support control unit 5 controls the handle fixing control unit 27 to release the handle and enable the driver to operate the handle.

[0059] If the current steering angle force ^ is Y (step SA11: Y), the boarding / alighting support control unit 5 monitors whether the shift is parking (step SA13).

When the shift is not parking (N in step SA13), the boarding / alighting support control unit 5 determines that the vehicle 88 is moving, moves to step SA14, and performs steps SA10, SA11, and SA13 again.

When the shift is parking (Y in step SA13), the boarding / alighting support control unit 5 determines that the movement of the vehicle 88 has ended, and completes the storage of the trajectory data string. The position of the vehicle at this time is the “boarding position”.

Next, the boarding / alighting support control unit 5 notifies the message M7 “The current position is stored as the boarding / alighting position. Please get off the car and press the boarding / alighting support switch on the remote control unit” (step SA15). .

[0060] In this embodiment, since the driver is prohibited from operating the steering wheel while the vehicle is moving, a step for monitoring whether or not the rudder angular force ^ is maintained in step SAl1 is provided. However, in another embodiment, the driver may operate the steering wheel while the vehicle is moving. In this case, step SA11 and step SA12 are not necessary.

[0061] Further, in order to be able to cope with the setting that permits the driver to operate the steering wheel, in step SA10, the current steering angle and current position are stored. Thus, when the operation of the steering wheel is prohibited while the vehicle is moving, the current steering angle is not necessarily stored. Also, instead of repeating step SA10 every predetermined time, only the distance between the parking position and the getting-on / off position may be stored. Further, instead of performing the process of step SA10 every predetermined time, it may be performed every time the vehicle 88 travels a predetermined distance. The trajectory storage method shown here is an example, and the scope of the present invention is not limited to this method.

[0062] 2- 1 -4. Getting off processing

Next, as shown in FIGS. 7 (d) and (e), the driver removes the key from the key IF25, fully opens the door 89 of the vehicle 88, holds the remote control unit 3, and holds the wheelchair 90 and the vehicle 88. Get off the door, close door 8 9 and leave vehicle 88 slightly. Normally, when the key is removed from the key IF25, the operation of the driving force (eg engine) stops, but in a vehicle equipped with the system of this embodiment, the system of this embodiment terminates in the power boarding / alighting support standby mode. The operation start control unit 24 maintains the operation of the driving force until it shifts to.

Next, the driver presses the getting on / off support start SW 61 of the remote control unit 3. When the control unit 57 of the remote control unit 3 detects pressing of the boarding / alighting support start SW 61, the control unit 57 transmits information about the pressing of the boarding / alighting support start SW 61 to the communication unit 20 of the main unit 1 via the communication unit 59. When the communication unit 20 receives information on pressing of the boarding / alighting support start SW61, the communication unit 20 notifies the information to the boarding / alighting support control unit 5. Information on the open / closed state of the door 89 is acquired from the door open / close detection unit 23, and it is determined whether the door 89 is closed! (Step SA17). If the door 89 is closed (N in Step SA17), the boarding / alighting support control unit 5 notifies the message M8 “Close the door and operate the remote control unit with force” (Step SA18). ) Return to step SA16. If the door 89 is closed (Y in step SA17), the boarding / alighting support control unit 5 sends message M9 “Starts moving to the parking position. Check safety and press the boarding / alighting support start switch.” (Step SA19).

[0064] Next, the driver presses the getting-on / off assistance start SW 61 of the remote control unit 3 again. When the boarding / alighting support control unit 5 detects that the boarding / alighting support start SW 61 is pressed (step SA20), as shown in FIG. 7 (f), a semi-automatic movement process to the parking position is performed (step SA21).

[0065] 2— 1 5. Semi-automatic movement to parking position

In step SA21, a semi-automatic movement process to the parking position is performed. Here, the semi-automatic movement process to the parking position will be described using the flowcharts of FIGS. The

In the semi-automatic movement process to the parking position, the boarding / alighting support control unit 5 first controls the shift control unit 37 to switch to the parking position direction shift (step SC1). In this embodiment, the reverse shift is a shift in the parking position direction.

[0066] Next, the boarding / alighting support control unit 5 substitutes the number of the last element of the trajectory data string or the element at the time of emergency stop into the variable K (step SC2). During normal operation, substitute the number of the last element in the trajectory data string, and return to the original position (getting on / off position) after an emergency stop of semi-automatic movement (in the case of semi-automatic movement at step SG13) , Substitute the element number at emergency stop.

[0067] Next, the boarding / alighting support control unit 5 moves to the position of the Kth trajectory data at the steering angle of the Kth trajectory data (step SC3), and checks whether there is unprocessed data in the trajectory data string. Confirm (step SC26), and if there is unprocessed data (Y in step SC26), decrease the value of K by 1 (step SC27) and return to step SC3. Thus, by repeating the loop of steps SC3, SC26 and SC27, the data of the trajectory data sequence can be reproduced in reverse order. As a result, the boarding / alighting support control unit 5 can move the vehicle 88 semi-automatically to the parking position by reversing the locus when the parking position force is moved to the boarding / alighting position. At this time, the boarding / alighting support control unit 5 controls the steering angle control unit 31, the driving force control unit 35, and the brake control unit 39.

The semi-automatic movement method shown here is an example, and the scope of the present invention is not limited to this method. The semi-automatic movement method is not limited as long as it can move the vehicle without operating the steering wheel, accelerator and brake by the driver.

[0069] When there is no unprocessed data (N in step SC26), the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88 (step SC28), and proceeds to the parking process in step SA22 in FIG.

[0070] During the semi-automatic movement, the boarding / alighting support control unit 5 determines whether the emergency stop SW65 is pressed (step SC4) or the obstacle detection unit 47 detects the obstacle for safety reasons. ! Check whether the door 89 is closed! / (Step SC6).

[0071] When emergency stop SW65 is pressed (Y at step SC4), when obstacle detection unit 47 detects an obstacle (Y at step SC5), or when the door is opened (N at step SC6), Figure Moving to Step SC7 in Step 12, the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88, and message M10 “Emergency stopped. To return to the boarding / exiting position, press the emergency stop switch. Check the safety, and press the boarding / alighting support start switch again.To end boarding / alighting support, press the boarding / alighting support end switch ”(step SC8).

[0072] Next, the boarding / alighting support controller 5 checks whether the door 89 is closed (step SC9). If the door 89 is not closed (N in step SC9), Repeat the message Ml 1 “Close the door and force the remote control unit to operate.” (Step SC10). When the door 89 is closed (Y in step SC9), the boarding / alighting support control unit 5 determines whether the emergency stop SW65 is pressed (step SC11) or the boarding / alighting support start SW61 is pressed (step SC15) End of boarding / alighting support SW63 is awaited (step SC17) (step SC11, SC15, N of SC17).

[0073] When the emergency stop SW65 is pressed (Step SC11: Y), the boarding / alighting support control unit 5 notifies the message M12 “Returns to the boarding / exiting position” (Step SC12) and semi-automatically moves to the parking position. And the vehicle 88 is moved semiautomatically to the original boarding / exiting position (step SC13). The semi-automatic movement process to the boarding / alighting position can be performed by reproducing the data in the trajectory data sequence in the order of acquisition. For details, see “2-2-3. Semi-automatic movement process to boarding / exiting position”. When the semi-automatic movement process to the boarding / alighting position is completed, boarding / alighting support control unit 5 notifies message M13 “Returned to boarding / alighting position” (step SC14), and the movement cancellation is completed. When the movement cancellation is completed, the process proceeds to step SA19 in Fig. 9.

[0074] When the boarding / alighting support control unit 5 detects that the boarding / alighting support start SW61 is pressed (Y in step SC15), the boarding / alighting support control unit 5 notifies the message M14 “Resuming movement” (step SC16), and performs step SC3 in FIG. Proceed to

When boarding / alighting support control unit 5 detects that the boarding / alighting support end SW63 is pressed (step SC17: Y), the boarding / alighting support control section 5 moves to step SC18 in FIG. 11 and notifies the message Ml 5 “System has been released” (step SC18). In addition, message M16 “Termination / exit assistance is terminated” is notified (step SC19), the trajectory data string in the storage unit 6 is erased (step SC20), and then the system is terminated. [0075] During the semi-automatic movement, the boarding / alighting support control unit 5 determines whether the boarding / alighting support end SW63 has been pressed (step SC21) or the steering wheel operation has not been performed (step SC23). Check also about.

When boarding / alighting support controller 5 detects pressing of boarding / alighting support end SW63 (Y in step SC21), it stops semi-automatic movement of vehicle 88 (step SC22), and then message Ml 5 “System is released. (Step SC18), and further message M16 “End of boarding / exit assistance” is notified (step SC19), the trajectory data string in the storage unit 6 is deleted (step SC20), and then the system End.

[0076] When detecting the steering wheel operation (Step SC23 N), the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88 (Step SC24), and message Ml 7 “The system is released because the steering wheel has been operated. ”(Step SC25), the message M16“ End of boarding / exit assistance is terminated ”(step SC19), the trajectory data string in the storage unit 6 is deleted (step SC20), and then Terminate the system.

In another embodiment, semi-automatic movement is performed only while the boarding / alighting support control unit 5 continues to receive a semi-automatic movement command. In this case, a step through which the boarding / alighting support control unit 5 detects a semi-automatic movement command is further provided in the loop passing through steps SC3, SC26 and SC27, and the boarding / alighting support control unit 5 does not detect a semi-automatic movement command. May proceed to step SC 7 in FIG. In this case, when the semi-automatic movement command is no longer detected, the semi-automatic movement is stopped immediately (step SC7), so safety can be improved.

[0078] 2—1— 6. Parking process

When the semi-automatic movement process to the parking position (Step SA21 in Fig. 9) is completed, the parking process is performed (Step SA22). Here, the parking process is explained using the flowchart in Fig. 13.

[0079] In the parking process, the boarding / alighting support control unit 5 stops at the message Ml 8 “Parking position”.

Park "(Step SD1). Next, the boarding / alighting support control unit 5 controls the shift control unit 37 to switch the shift to parking (step SD2). Next, the boarding / alighting support control unit 5 controls the parking brake control unit 41 to activate the parking brake (step SD3). Next, the boarding / alighting support control unit 5 controls the driving force control unit 35 to drive Deactivate the force (step SD4). Next, the boarding / alighting support control unit 5 controls the door locking control unit 21 to lock the door (step SD5). Next, the boarding / alighting support control unit 5 shifts the boarding / alighting support system to the boarding / alighting support standby mode (step SD6), and ends the parking process. In step SD6, the boarding / alighting support control unit 5 stores the fact that the parking process has been completed normally in the storage unit 6, and then switches the vehicle power supply to the off state.

[0080] After the driver gets off with the door 89 fully open at the boarding / exiting position by the above method, the driver moves the car semi-automatically to the parking position, so that the driver can enter the parking space where the width for opening the door is not enough. When you park, you can get off the vehicle.

[0081] 2- 2. Ride method

Next, a method of getting into the vehicle using the system of this embodiment will be described with reference to FIGS. 14 (a) to 14 (f) are plan views for explaining a method of getting on a vehicle 88 parked between two vehicles 85. FIG. FIGS. 15 to 19 are flowcharts showing the processing flow of the system of this embodiment when the driver gets on the vehicle 88 and leaves the parking lot 86.

[0082] 2— 2— 1. Start-up process

First, as shown in FIG. 14 (a), the driver in the wheelchair 90 approaches the vehicle 88 and presses the getting-on / off assistance start SW 61 of the remote control unit 3. When the boarding / alighting support control unit 5 detects pressing of the boarding / alighting support start SW61 (step SE1 in FIG. 15), the boarding / alighting support control unit 5 performs a start process (step SE2

) o

Here, the starting process will be described with reference to the flowchart of FIG.

First, the boarding / alighting support control unit 5 shifts the boarding / alighting support system to the operation mode (step SF1). Specifically, the boarding / alighting support control unit 5 switches the vehicle power source to the on state, refers to the information stored in the storage unit 6 and confirms the force that the parking process has been completed normally. If so, the storage unit 6 records that it has shifted to the boarding support operation state.

Next, the boarding / alighting support control unit 5 controls the door locking control unit 21 to unlock the door (step SF2). Next, the boarding / alighting support control unit 5 controls the brake control unit 39 to operate the brake (step SF3). Next, the boarding / alighting support control unit 5 controls the operation start control unit 24 to start the operation of the driving force (step SF4). The boarding / alighting support control unit 5 is embedded in the key It has the function of assigning the same ID code to the immobilizer 26 as the ID code of the inserted electronic chip, and it can be driven without inserting the key into the key IF25 while the system of this embodiment is operating. The force action is started. The remote control unit may be configured to send the same ID code as the key, or the immobilizer 26 may not function while the boarding / alighting support system is in the operation mode. .

Next, the boarding / alighting support control unit 5 controls the parking brake control unit 41 to release the parking brake (step SF5) and completes the starting process.

[0084] 2- 2- 2. Ride position adjustment processing

Next, the boarding / alighting support control unit 5 notifies the message M19 “When changing the boarding / alighting position, adjust with the travel distance increase / decrease switch” (step SE3 in FIG. 15).

[0085] Next, as shown in Fig. 14 (b), the boarding / alighting support control unit 5 controls the laser irradiation control unit 19 to irradiate the boarding / exiting position with the laser 91 (step SE4). Laser 91 is irradiated in a line. When the driver gets off the vehicle without using the system of this embodiment, the boarding / exiting position is not stored. In this case, for example, the default position (for example, a position advanced 2 m) is set as the boarding / exiting position, and the laser is placed at that position. 91 can be irradiated

[0086] In order to change the boarding / alighting position indicated by the laser 91, the driver presses the movement distance increase SW67 or the movement distance decrease SW69 to move the irradiation position of the laser 91 back and forth. When the boarding / alighting support control unit 5 detects that the travel distance increase SW67 is pressed (step S E5), for example, a new element is added to the trajectory data sequence stored in the storage unit 6 or the value of the last element is set. The boarding / alighting position is changed by changing (Step SE6). When the boarding / alighting support control unit 5 detects that the travel distance decrease SW69 is pressed (step SE5), the boarding / alighting support control unit 5 changes the boarding position by, for example, deleting the elements of the trajectory data sequence stored in the storage unit 6 in order from the end. (Step SE6).

The method described here is an example, and the method of changing the boarding / exiting position is not limited to the method described here.

Next, when the boarding / alighting position indicated by the laser 91 is not changed, the driver presses the boarding / alighting support start SW 61. Boarding / alighting support control unit 5 presses down on / off support start SW61. When detected (Step SE7), the message M20 “Start moving to the boarding / exiting position. Check safety and press the boarding / alighting support start switch” (Step SE8).

[0088] Next, the driver presses the getting-on / off assistance start SW61. When the boarding / alighting support control unit 5 detects that the boarding / alighting support start SW 61 is pressed (step SE9), the boarding / alighting support control unit 5 proceeds to a semi-automatic movement process to the boarding / alighting position (step SE10).

[0089] 2— 2— 3. Semi-automatic movement to the boarding / exiting position

In step SE10, as shown in Fig. 14 (c), a semi-automatic movement process to the entry / exit position is performed. Here, the semi-automatic movement process to the boarding / exiting position will be explained using the flowcharts in Figs.

In the semi-automatic movement process to the boarding / alighting position, first, the boarding / alighting support control unit 5 controls the shift control unit 37 to switch to a shift in the boarding / alighting position direction (step SG1). In this embodiment, the forward shift is a shift in the boarding / exiting position direction.

[0091] Next, the boarding / alighting support control unit 5 substitutes the number of the first element of the trajectory data string or the element at the time of emergency stop into the variable K (step SG2). During normal operation, substitute the number of the first element in the trajectory data string, and when returning to the original position (parking position) after an emergency stop of semi-automatic movement (in the case of semi-automatic movement at step SC13) Substitute the element number for emergency stop.

[0092] Next, the boarding / alighting support control unit 5 moves to the position of the Kth trajectory data at the steering angle of the Kth trajectory data (step SG3), and determines whether there is unprocessed data in the trajectory data string. Confirm (step SG26), and if there is unprocessed data (Y in step SG26), increase the value of K by 1 (step SG27) and return to step SG3. In this way, by repeating the loop of steps SG3, SG26, and SG27, the data of the trajectory data string can be reproduced. As a result, the boarding / alighting support control unit 5 can move the vehicle 88 semi-automatically to the boarding / alighting position using the locus when the parking position force moves to the boarding / alighting position. At this time, the boarding / alighting support control unit 5 controls the steering angle control unit 31, the driving force control unit 35, and the brake control unit 39.

[0093] When there is no unprocessed data (N in Step SG26), the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88 (Step SG28), and proceeds to Step SE11 in FIG. [0094] While the vehicle 88 is moved semi-automatically, the boarding / alighting support control unit 5 controls the laser irradiation control unit 19 to change the irradiation direction of the laser 91 so that the laser 91 continues to irradiate the boarding / exiting position. Control.

[0095] While the vehicle 88 is being moved semi-automatically, for reasons such as ensuring safety, the boarding / alighting support control unit 5 determines whether the emergency stop SW65 has been pressed (step SG4) or the obstacle detection unit 47 detects an obstacle. Check whether the door 89 is closed! / Or (Step SG6).

[0096] When emergency stop SW65 is pressed (Y in step SG4), when obstacle detection unit 47 detects an obstacle (Y in step SG5), or when the door is opened (N in step SG6), Moving on to step SG7 in Fig. 19, the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88, and message M21 “Emergency stopped. To return to the parking position, press the emergency stop switch. In this case, confirm safety and press the boarding / alighting support start switch again.To end boarding / alighting support, press the boarding / alighting support end switch ”(step SG8).

[0097] Next, the boarding / alighting support control unit 5 confirms whether the door 89 is closed (step SG9). If the door 89 is not closed (N in step SG9), Repeat message Ml 1 “Close the door and force the remote control to operate” (step SG10). When the door 89 is closed (Y in Step SG9), the boarding / alighting support control unit 5 determines whether the emergency stop SW65 is pressed (Step SG11) or the boarding / alighting support start SW61 is pressed (Step SG15) End of boarding / alighting support SW63 is awaited (step SG17) (step SG11, SG15, SG17 N).

[0098] When the emergency stop SW65 is pressed (Step SG11: Y), the boarding / alighting support control unit 5 notifies the message M22 “Returns to the parking position” (Step SG12) and semi-automatically moves to the boarding / alighting position. And the vehicle 88 is moved semi-automatically to the original parking position (step SG13). The semi-automatic movement process to the parking position can be performed by the method described in the section of Γ2-1-5. When the semi-automatic movement process to the parking position is completed, the boarding / alighting support control unit 5 notifies the message M23 “Returned to the parking position” (step S G14), and the movement cancellation is completed. When the movement cancellation is completed, the next step is step SE3 in Fig. 15. move on.

When boarding / alighting support control unit 5 detects pressing of boarding / alighting support start SW61 (Y in step SG15), it notifies message M14 “Resuming movement” (step SG16), and proceeds to step SG3 in FIG.

When boarding / alighting support control unit 5 detects pressing of boarding / alighting support end SW63 (Y in step SG17), the boarding / alighting support control section 5 moves to step SG18 in FIG. 18 and notifies message Ml 5 “System has been released” (step SG18). ) Furthermore, the message M16 “Termination support is terminated” is notified (step SG19), the trajectory data string in the storage unit 6 is erased (step SG20), and then the system is terminated.

[0099] During the semi-automatic movement, the boarding / alighting support control unit 5 determines whether the boarding / alighting support end SW63 is pressed (step SG21) or the steering wheel is not operated (step SG23). Check also about.

When boarding / alighting support controller 5 detects pressing of boarding / alighting support end SW63 (Y in step SG21), it stops the semi-automatic movement of vehicle 88 (step SG22), and then message M15 “System has been released.” (Step SG18), message M16 “End of boarding / exit assistance” is notified (step SG19), the trajectory data string in the storage unit 6 is deleted (step SG20), and then the system is Terminate.

[0100] When detecting the steering operation by the driver (N in Step SG23), the boarding / alighting support control unit 5 stops the semi-automatic movement of the vehicle 88 (Step SG24), and message M17 “Release the system because the steering wheel has been operated. (Step SG25), message M16 “Termination / exit support is terminated” (Step SG19), the trajectory data string in storage 6 is deleted (Step SG20), and then , Terminate the system.

[0101] 2- 2-4. Ride processing

When the semi-automatic movement process to / from the boarding / exiting position (step SE10 in FIG. 15) is completed, the driver next opens the door 89, gets into the vehicle 88 together with the wheelchair 90, as shown in FIG. 14 (d). Then close door 89. The boarding / alighting support control unit 5 notifies the message M24 “Stopped at the boarding / exiting position. Please get on” (step SE11 in FIG. 16), obtains information on the opening / closing of the door 89 from the door opening / closing detection unit 23, Determine whether door 89 has been opened or closed (step SE 12). Until the door 89 is opened and closed, the boarding / alighting support control unit 5 determines that the driver has not boarded yet (N in step SE12), and again stops at the message M24 “boarding / unloading position. (Step SE11). When boarding / alighting support control unit 5 detects the opening and closing of door 89 (Y in step SE12), it determines that the driver has boarded, and proceeds to step SE13.

[0102] Next, boarding / alighting support controller 5 presses message M25 “To exit the boarding / alighting support system, press the boarding / alighting support end switch. To automatically move to the parking position, press the boarding / alighting support start switch, Is notified (step SE13).

[0103] The driver presses the getting-on / off support start SW7 of the main unit 1 to temporarily return to the parking position, and presses the getting-on / off support end SW8 of the main unit 1 to end the getting-on / off support system.

[0104] The boarding / alighting support control unit 5 continues monitoring whether the boarding / alighting support start SW7 is pressed (step SE14) or the boarding / alighting support end SW8 is pressed (step SE15) (N in step SE14, N in step SE15). .

When the boarding / alighting support control unit 5 detects pressing of the boarding / alighting support end SW8 (Y in step SE15), the boarding / trailing support control unit 5 deletes the trajectory data string from the storage unit 6 (step SE16) and terminates the system.

[0105] When the boarding / alighting support control unit 5 detects that the boarding / alighting support start SW7 is pressed, the boarding / alighting support control unit 5 notifies the message M26 “Start moving to the parking position. Check safety and press the boarding / alighting support start switch.” (Step SE 17).

Next, the driver presses the getting on / off assistance start SW7. When boarding / alighting support controller 5 detects pressing of boarding / alighting support start SW7 (step SE18), it performs a semi-automatic movement process to the parking position (step SE19). This process is the same as described in “2-1-5. Semi-automatic movement to parking position”. If the emergency stop SW9 is pressed during the semi-automatic movement and the semi-automatic movement is canceled, the process returns to step SE13. When the semi-automatic movement to the parking position is completed, the boarding / alighting support control unit 5 notifies the message M27 “Stopped at the parking position. The boarding / alighting support will be terminated” (step SE20), and the laser 91 is irradiated. Stop (step SE21), delete the trajectory data string from the storage unit 6 (step SE16), and terminate the system. [0107] With the above method, the driver can get on a vehicle parked in a parking space that is not wide enough to open the door.

[0108] 2- 3. List of messages

For reference, a list of various messages that appear in the above explanation is shown in Figure 21.

[0109] 3. Other

Boarding / alighting support start SW7 and 61, boarding / alighting support end SW8 and 63, and emergency stop SW9 and 65 provided in the main unit 1 and remote control unit 3 have the same functions and can be substituted for each other. . Various switches provided in the remote control unit 3 can also be provided in the main unit 1. In this case, the remote control unit 3 is not necessarily required.

[0110] It is also possible to irradiate the parking position with laser in the same way as the laser irradiation at the boarding / alighting position. It is also possible to adjust the parking position in the same way as adjusting the boarding / exiting position. This makes it possible to determine whether or not the parking position is appropriate, and to adjust it if it is not appropriate.

[0111] Various features described in the above embodiments can be combined with each other. In the case where a plurality of features are included in one embodiment, one or more of the features can be appropriately extracted and used in the present invention alone or in combination.

Claims

The scope of the claims

[1] Parking position force A storage unit that stores the trajectory of vehicle movement by the driver to the boarding / exiting position

, A control unit for controlling the movement of the vehicle;

An operation unit for giving a command to the control unit;

The controller is

When the vehicle is at the boarding / alighting position, the vehicle is moved according to a command from the operation unit so that the vehicle reaches the parking position while traversing the trajectory in a reverse direction, and the vehicle A vehicle boarding / alighting support system for moving the vehicle so that the vehicle reaches the boarding / alighting position along the trajectory according to a command from the operation unit when in the parking position.

[2] It further includes a travel distance detection unit that detects the travel distance of the vehicle, and a steering angle detection unit that detects the steering angle of the steering wheel of the vehicle,

The storage unit acquires data on the distance traveled by the parking position force and the steering angle of the handle at predetermined time intervals or every predetermined distance, and stores a trajectory data sequence in which these data are arranged in the order of acquisition, thereby moving the vehicle. Remember the trajectory of

The system according to claim 1, wherein the control unit moves the vehicle while reversing the trajectory by reproducing the data of the trajectory data sequence in reverse order.

[3] A steering angle detector that detects the steering angle of the steering wheel,

2. The steering wheel fixing control unit according to claim 1, further comprising a steering wheel fixing control unit configured to fix a handle at a steering angle force SO degree detected by the steering angle detection unit before the movement of the vehicle by the driver. system.

4. The system according to claim 1, wherein the control unit moves the vehicle to a boarding / alighting position changed by a command of the operation unit force.

5. The system according to claim 1, wherein the control unit moves the vehicle only while receiving the operation unit force command.

6. The system according to claim 1, further comprising a light irradiation unit that irradiates light to a planned stop position of the vehicle while the control unit moves the vehicle.

[7] The operation unit is an instruction for emergency stop, reversing operation or resuming operation for the moving vehicle. The system according to claim 1, which has a function of giving an instruction to the control unit.

[8] An obstacle detection unit that detects an obstacle in the moving direction of the vehicle,

2. The system according to claim 1, wherein the control unit stops the vehicle when the obstacle detection unit detects an obstacle during the movement.