Vehicle driving support device

Abstract

A vehicle driving support device is provided that enables a vehicle to smoothly overtake a plurality of adjacent preceding vehicles during the execution of following driving control. The vehicle driving support device (10) performs following driving control that automatically controls the driving speed of the vehicle so as to maintain the distance between the adjacent preceding vehicle (200S) and the vehicle (100) at a predetermined distance. The vehicle driving support device interrupts the following driving control when a control interruption condition is satisfied, in which the driver of the vehicle performs an acceleration operation to accelerate the vehicle in order to overtake the adjacent preceding vehicle, and starts measuring the elapsed time from the time point when the following driving control is interrupted. When the vehicle overtakes the adjacent preceding vehicle before the elapsed time reaches the predetermined time, the measured elapsed time is reset, and the elapsed time is measured from the time point when the elapsed time is reset. When a control restart condition is satisfied, in which the elapsed time reaches the predetermined time, the following driving control is restarted.

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device. Background Art

[0002] A vehicle driving support device is known that performs a following driving control that automatically controls the driving speed of the own vehicle so that the own vehicle follows the leading vehicle. In addition, as such a vehicle driving support device, a vehicle driving support device is also known that is configured to interrupt the following driving control when it is detected during the execution of the following driving control that the driver of the own vehicle intends to overtake the leading vehicle (adjacent leading vehicle) traveling in an adjacent lane (for example, refer to Patent Document 1).

[0003] The conventional vehicle driving support device determines that the driver of the own vehicle intends to overtake the adjacent preceding vehicle when the driver steps on the accelerator pedal. Furthermore, the conventional vehicle driving support device restarts the following driving control when the own vehicle has completed overtaking the adjacent preceding vehicle or when a predetermined time has passed since the following driving control was interrupted.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2015-143970 Summary of the invention

[0007] According to the conventional vehicle driving support device, when the driver of the own vehicle wants to overtake the adjacent preceding vehicles when a traffic jam occurs, and the driver of the own vehicle steps on the accelerator pedal, the following driving control is interrupted. However, if the driver stops stepping on the accelerator pedal before overtaking the first adjacent preceding vehicle, the following driving control is restarted, and as a result, the driving speed of the own vehicle is greatly reduced. Therefore, in order to overtake the first adjacent preceding vehicle, the driver must accelerate the own vehicle greatly to increase the driving speed, and cannot smoothly overtake the first adjacent preceding vehicle.

[0008] Furthermore, if the driver of the own vehicle temporarily stops the acceleration operation when overtaking the first adjacent preceding vehicle, the following driving control will be restarted, and as a result, the driving speed of the own vehicle will be greatly reduced, so the driver cannot smoothly overtake the second adjacent preceding vehicle.

[0009] An object of the present invention is to provide a vehicle driving support device that enables a host vehicle to smoothly overtake a plurality of adjacent preceding vehicles during execution of follow-up driving control.

[0010] The vehicle driving assistance device of the present invention has a controller for performing following driving control, wherein the following driving control automatically controls the driving speed of the own vehicle in a manner that maintains the distance between the own vehicle and an adjacent leading vehicle traveling in front of the own vehicle in a lane adjacent to the lane in which the own vehicle is traveling at a predetermined adjacent vehicle-to-vehicle distance.

[0011] The controller interrupts the following travel control and starts measuring the elapsed time from the time when the following travel control is interrupted when a control interruption condition is satisfied in which the driver of the own vehicle performs an acceleration operation for accelerating the own vehicle in order to overtake the adjacent leading vehicle.

[0012] Furthermore, when the own vehicle overtakes the adjacent preceding vehicle before the elapsed time reaches a predetermined time, the controller resets the measured elapsed time and starts measuring the elapsed time from the time point when the elapsed time was reset.

[0013] Furthermore, the controller restarts the following travel control when a control restart condition is satisfied, that is, the elapsed time reaches the predetermined time.

[0014] In the case where the following travel control is interrupted when the acceleration operation is performed and the following travel control is restarted when the acceleration operation is stopped, if the driver of the own vehicle starts the acceleration operation in order to overtake the adjacent preceding vehicle and then temporarily stops the acceleration operation before overtaking the adjacent preceding vehicle, the following travel control is restarted, resulting in a significant decrease in the travel speed of the own vehicle. Therefore, the driver must greatly accelerate the own vehicle to increase the travel speed in order to overtake the adjacent preceding vehicle, and cannot smoothly overtake the adjacent preceding vehicle.

[0015] Furthermore, if the driver of the own vehicle starts accelerating to overtake multiple adjacent preceding vehicles, and temporarily stops accelerating after overtaking the first adjacent preceding vehicle, the following driving control will start again, resulting in a significant reduction in the driving speed of the own vehicle, making it impossible for the driver to smoothly overtake the second adjacent preceding vehicle.

[0016] According to the vehicle driving support device of the present invention, after the driver of the own vehicle starts the acceleration operation in order to overtake the adjacent leading vehicle, even if the acceleration operation is temporarily stopped before overtaking the adjacent leading vehicle, as long as it is before the predetermined time, the following driving control will not be started again and the driving speed of the own vehicle will not be significantly reduced, so the driver can smoothly overtake the adjacent leading vehicle.

[0017] In addition, when the own vehicle overtakes the first adjacent preceding vehicle, the elapsed time is reset and the measurement of the elapsed time starts again. Therefore, even if the driver temporarily stops the acceleration operation when the own vehicle overtakes the first adjacent preceding vehicle, the following driving control will not be restarted and the driving speed of the own vehicle will not be significantly reduced. Therefore, the driver can smoothly overtake the second adjacent preceding vehicle.

[0018] In the vehicle driving support device of the present invention, the control suspension condition may include a condition that the own vehicle is traveling in a driving lane and the adjacent preceding vehicle is traveling in a passing lane.

[0019] For example, sometimes, when the own vehicle is traveling in the driving lane, there is a traffic jam of vehicles (adjacent preceding vehicles) in the passing lane adjacent to the driving lane, and these adjacent preceding vehicles are stopped or traveling at a low speed, so there is no traffic jam in the driving lane. If the following driving control is executed in such a situation, the own vehicle will follow the adjacent preceding vehicle that is stopped or traveling at a low speed, so there may be a traffic jam in the driving lane.

[0020] According to the vehicle driving support device of the present invention, when there is a congestion of adjacent preceding vehicles in the overtaking lane and these adjacent preceding vehicles are stopped or traveling at a low speed, and there is no congestion of vehicles in the driving lane, if the driver of the own vehicle performs an acceleration operation in order to overtake these adjacent preceding vehicles, the following driving control is interrupted. Furthermore, even if the own vehicle completes overtaking the first adjacent preceding vehicle, the interrupted following driving control is maintained for a predetermined time, so that the driver of the own vehicle can overtake the second adjacent preceding vehicle without performing a cumbersome driving operation of temporarily returning the accelerator pedal and then stepping on it. Therefore, the driver of the own vehicle can overtake a plurality of adjacent preceding vehicles that are congested in the overtaking lane without performing a cumbersome driving operation.

[0021] In addition, the control interruption condition may include a condition that congestion of the adjacent preceding vehicles occurs.

[0022] As a result, the following travel control can be interrupted only when the driver of the own vehicle performs an acceleration operation during the following travel control and a traffic jam of adjacent preceding vehicles occurs.

[0023] Furthermore, the control restart condition may include a condition that the acceleration operation is not being performed.

[0024] Thus, the following travel control can be restarted only when it is estimated that the driver has no intention to accelerate the own vehicle at the time when the predetermined time has elapsed.

[0025] In addition, the controller is configured, for example, to automatically control the driving speed of the own vehicle in such a manner as to maintain the distance between the front leading vehicle and the own vehicle at a predetermined front vehicle-to-vehicle distance when the following driving control is executed when there is no adjacent leading vehicle and there is a front leading vehicle, the front leading vehicle being a vehicle traveling in front of the own vehicle on a lane in which the own vehicle is traveling.

[0026] Thus, when there is a preceding vehicle ahead of the adjacent preceding vehicle and there is no adjacent preceding vehicle, the own vehicle automatically follows the preceding vehicle ahead through the following travel control.

[0027] In addition, the controller is configured, for example, to, when the following driving control is executed when the adjacent leading vehicle and the front leading vehicle are present, automatically accelerate the own vehicle when the distance between the front leading vehicle and the own vehicle is longer than the predetermined front vehicle-to-vehicle distance and the distance between the adjacent leading vehicle and the own vehicle is longer than the predetermined adjacent vehicle-to-vehicle distance, and automatically decelerate the own vehicle when the distance between the front leading vehicle and the own vehicle is shorter than the predetermined front vehicle-to-vehicle distance or the distance between the adjacent leading vehicle and the own vehicle is shorter than the predetermined adjacent vehicle-to-vehicle distance, the front leading vehicle being a vehicle traveling in front of the own vehicle on a lane in which the own vehicle is traveling.

[0028] Thus, when there is both an adjacent preceding vehicle and a preceding vehicle in front, the own vehicle automatically follows the adjacent preceding vehicle or the preceding vehicle in front through the following travel control.

[0029] Furthermore, the control suspension condition may include a condition that the own vehicle is traveling on a highway.

[0030] As a result, the following travel control can be interrupted only when the own vehicle is traveling on a highway.

[0031] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and additional advantages of the present invention can be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The diagram shows a vehicle driving support device according to an embodiment of the present invention and a vehicle (own vehicle) to which the vehicle driving support device is applied.

[0033] Figure 2 (A) is a diagram showing a situation where the own vehicle follows the front leading vehicle by following driving control, Figure 2(B) is a diagram showing a case where the frontal vehicle distance is longer than the target frontal vehicle distance. Figure 2 (C) is a diagram showing a case where the front vehicle distance is shorter than the target front vehicle distance.

[0034] Figure 3 (A) is a diagram showing a situation where the own vehicle follows the adjacent preceding vehicle by following travel control. Figure 3 (B) is a diagram showing a case where the adjacent vehicle distance is longer than the target adjacent vehicle distance. Figure 3 (C) is a diagram showing a case where the adjacent vehicle distance is shorter than the target adjacent vehicle distance.

[0035] Figure 4 This is a diagram showing a situation where there are a preceding vehicle in front and an adjacent preceding vehicle.

[0036] Figure 5 (A) is a diagram showing a situation where there is a front leading vehicle and an adjacent leading vehicle. Figure 5 (B) is a diagram showing another situation where there is a front leading vehicle and an adjacent leading vehicle. Figure 5 (C) is a diagram showing another situation where there is a front leading vehicle and an adjacent leading vehicle. Figure 5 (D) is a diagram showing another situation in which there are a preceding vehicle in front and an adjacent preceding vehicle.

[0037] Figure 6 This is a diagram showing a case where there is neither a preceding vehicle in front nor an adjacent preceding vehicle.

[0038] Figure 7 This is a diagram showing a situation where a plurality of adjacent preceding vehicles exist in a lane adjacent to the lane in which the own vehicle is traveling.

[0039] Figure 8 The following diagrams are diagrams showing the interruption of the following travel control by the vehicle driving support device according to the present invention and the travel state of the own vehicle when the following travel control is restarted.

[0040] Fig. 9 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0041] Fig.10 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0042] Fig.11 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0043] Fig.12 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0044] Fig.13 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0045] Fig.14 This is a flowchart showing a routine executed by the vehicle driving support device according to the embodiment of the present invention.

[0046] Description of symbols

[0047] 10…Vehicle driving support device, 31…Accelerator pedal, 32…Accelerator pedal operation amount sensor, 42…Front information detection device, 90…ECU, 100…Own vehicle, 200F…Front leading vehicle, 200S…Adjacent leading vehicle. DETAILED DESCRIPTION

[0048] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 2 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on a host vehicle 100 .

[0049] <ecu>

[0050] The vehicle driving support device 10 includes an ECU 90. ECU is an abbreviation for an electronic control unit. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a nonvolatile memory, and an interface. The CPU implements various functions by executing instructions, programs, or routines stored in the ROM.

[0051] <Drive device, etc.>

[0052] The host vehicle 100 is equipped with a driving device 21 and a braking device 22 .

[0053] <Drive device>

[0054] The drive device 21 is a device that applies a driving force to the own vehicle 100 for driving the own vehicle 100, and is, for example, an internal combustion engine or a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the driving force applied to the own vehicle 100 by controlling the operation of the drive device 21.

[0055] <Braking device>

[0056] The brake device 22 is a device that applies a braking force to the vehicle 100 for braking the vehicle 100, and is, for example, a brake device. The brake device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking force applied to the vehicle 100 by controlling the operation of the brake device 22.

[0057] <Forward Information Detection Device, etc.>

[0058] In addition, the own vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount (depression amount) sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a following driving operating member 41, a front information detection device 42, a vehicle speed detection device 43, a GPS device 44, a database 45 and a receiving device 46.

[0059] <Accelerator pedal operation amount sensor>

[0060] The accelerator pedal operation amount sensor 32 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 detects the operation amount of the accelerator pedal 31 and transmits information of the detected operation amount to the ECU 90. Based on the information, the ECU 90 acquires the operation amount of the accelerator pedal 31 as the accelerator pedal operation amount AP.

[0061] When the accelerator pedal operation amount AP is greater than zero, the ECU 90 calculates the required acceleration Greq based on the accelerator pedal operation amount AP. That is, the ECU 90 obtains the required acceleration Greq based on the accelerator pedal operation amount AP. The required acceleration Greq is the acceleration required by the driver of the own vehicle 100 as the acceleration of the own vehicle 100. The ECU 90 controls the operation of the drive device 21 based on the accelerator pedal operation amount AP.

[0062] <Brake pedal operation amount sensor>

[0063] The brake pedal operation amount sensor 34 is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 detects the operation amount of the brake pedal 33, and sends the information of the detected operation amount to the ECU 90. Based on the information, the ECU 90 obtains the operation amount of the brake pedal 33 as the brake pedal operation amount BP. When the brake pedal operation amount BP is greater than zero, the ECU 90 controls the operation of the brake device 22 according to the brake pedal operation amount BP.

[0064] <Follow-up driving operation>

[0065] The following travel operation element 41 is a device operated by the driver of the own vehicle 100. The following travel operation element 41 is a device composed of switches, buttons, etc. These switches, buttons, etc. are provided on the steering wheel of the own vehicle 100 or on a lever attached to the steering column of the own vehicle 100, for example.

[0066] In this example, the following travel operating element 41 includes a following travel selection switch, a vehicle speed setting switch, a vehicle speed increase button, a vehicle speed decrease button, and an inter-vehicle distance setting button. The following travel operating element 41 is electrically connected to the ECU 90 .

[0067] When the driver operates the following travel selection switch when the following travel control described later is not being executed, a specific signal is sent from the following travel operating member 41 to ECU90. When ECU90 receives the signal, it is determined that the driver has requested the execution of the following travel control. Furthermore, when ECU90 determines that the driver has requested the execution of the following travel control, as long as the control interruption condition Cstop described later does not hold, the following travel control is executed. On the other hand, when the driver operates the following travel selection switch when the following travel control is being executed (including when it is interrupted), a specific signal is sent from the following travel operating member 41 to ECU90. When ECU90 receives the signal, it is determined that the driver has requested the end of the following travel control. Furthermore, when ECU90 determines that the driver has requested the end of the following travel control, it ends the following travel control.

[0068] In addition, when the driver operates the vehicle speed setting switch when the following travel control is being executed (including when it is interrupted), a specific signal is sent from the following travel operating element 41 to the ECU 90. When receiving the signal, the ECU 90 sets the travel speed (vehicle speed SPD) of the own vehicle 100 at that time as the set vehicle speed SPDset in the following travel control.

[0069] In addition, when the driver operates the vehicle speed increase button while the following travel control is being executed (including when it is interrupted), a specific signal is sent from the following travel operation element to the ECU 90. Upon receiving the signal, the ECU 90 increases the set vehicle speed SPDset. On the other hand, when the driver operates the vehicle speed decrease button while the following travel control is being executed (including when it is interrupted), a specific signal is sent from the following travel operation element 41 to the ECU 90. Upon receiving the signal, the ECU 90 decreases the set vehicle speed SPDset.

[0070] When the driver operates the inter-vehicle distance setting button while the following travel control is being executed (including when it is interrupted), a specific signal is sent from the following travel operating element 41 to the ECU 90. The specific signal is a signal (required inter-vehicle distance signal) indicating the front inter-vehicle distance Dfr and the adjacent inter-vehicle distance Dsd required as the target front inter-vehicle distance Dfr_tgt (predetermined front inter-vehicle distance) and the target adjacent inter-vehicle distance Dsd_tgt (predetermined adjacent inter-vehicle distance) by the driver operating the inter-vehicle distance setting button.

[0071] like Figure 2 As shown in (A), the front vehicle distance Dfr is the distance between the front leading vehicle 200F and the own vehicle 100, and the target front vehicle distance Dfr_tgt is the front vehicle distance Dfr that is the target in the following driving control. In this example, the front leading vehicle 200F is a leading vehicle that is traveling in the lane (own lane LN1) in which the own vehicle 100 is traveling within a predetermined distance range in front of the own vehicle 100.

[0072] In addition, if Figure 3 As shown in (A), the adjacent vehicle distance Dsd is the distance between the adjacent preceding vehicle 200S and the own vehicle 100, and the target adjacent vehicle distance Dsd_tgt is the adjacent vehicle distance Dsd used as the target in the following driving control. In this example, the adjacent preceding vehicle 200S is a preceding vehicle traveling in a lane (adjacent lane LN2) adjacent to the own lane LN1 within a predetermined distance range in front of the own vehicle 100.

[0073] In this example, the driver can request three types of front vehicle distance Dfr and adjacent vehicle distance Dsd as the target front vehicle distance Dfr_tgt and the target adjacent vehicle distance Dsd_tgt by operating the vehicle distance setting button: a long distance, a medium distance, and a short distance, respectively.

[0074] When receiving the required vehicle distance signal, ECU90 sets the target front vehicle distance Dfr_tgt according to the front vehicle distance Dfr (required front vehicle distance Dfr_req) indicated by the signal, and sets the target adjacent vehicle distance Dsd_tgt according to the adjacent vehicle distance Dsd (required adjacent vehicle distance Dsd_req) indicated by the signal.

[0075] ECU90 can set the target front inter-vehicle distance Dfr_tgt corresponding to the required front inter-vehicle distance Dfr_req and the target adjacent inter-vehicle distance Dsd_tgt corresponding to the required adjacent inter-vehicle distance Dsd_req without considering the vehicle speed SPD at that time. However, in this example, the vehicle speed SPD at that time is considered, the target front inter-vehicle distance Dfr_tgt corresponding to the required front inter-vehicle distance Dfr_req is set, and the target adjacent inter-vehicle distance Dsd_tgt corresponding to the required adjacent inter-vehicle distance Dsd_req is set.

[0076] Specifically, ECU90 sets the front inter-vehicle distance Dfr when the time TTCfr obtained by dividing the vehicle speed SPD at that time becomes a preset time (scheduled arrival prediction time TTCfr_ref) as the target front inter-vehicle distance Dfr_tgt. That is, ECU90 sets the front inter-vehicle distance Dfr when the relationship among the vehicle speed SPD at that time, the scheduled arrival prediction time TTCfr_ref and the front inter-vehicle distance Dfr becomes the relationship of the following formula 1 as the target front inter-vehicle distance Dfr_tgt.

[0077] TTCfr_ref=Dfr / SPD…(1)

[0078] The scheduled arrival prediction time TTCfr_ref is a long time TTCfr_long when the required front vehicle distance Dfr_req is a long distance, a medium time TTCfr_mid when the required front vehicle distance Dfr_req is a medium distance, and a short time TTCfr_short when the required front vehicle distance Dfr_req is a short distance.

[0079] Similarly, the ECU 90 sets the inter-vehicle distance Dsd at which the time TTCsd obtained by dividing by the vehicle speed SPD at this time becomes a preset time (predicted arrival expected time TTCsd_ref) as the target inter-vehicle distance Dsd_tgt. That is, the ECU 90 sets the inter-vehicle distance Dsd that makes the relationship among the vehicle speed SPD, the predicted arrival expected time TTCsd_ref, and the inter-vehicle distance Dsd satisfy the following formula (2) as the target inter-vehicle distance Dsd_tgt.

[0080] TTCsd_ref = Dsd / SPD…(2)

[0081] The predicted arrival expected time TTCsd_ref is a long time TTCsd_long when the required inter-vehicle distance Dsd_req is long, a medium time TTCsd_mid when the required inter-vehicle distance Dsd_req is medium, and a short time TTCsd_short when the required inter-vehicle distance Dsd_req is short.

[0082] <Forward information detection device>

[0083] The forward information detection device 42 is a device that detects information in front of the host vehicle 100. The forward information detection device 42 is, for example, a device such as a camera, a radar sensor (millimeter wave radar, etc.), an ultrasonic sensor (clearance sonar), and a lidar (LiDAR).

[0084] The forward information detection device 42 is electrically connected to the ECU 90. The forward information detection device 42 sends the information in front of the host vehicle 100 (forward information Ifr) to the ECU 90. The ECU 90 obtains the distance between other vehicles (i.e., the front leading vehicle 200F and the adjacent leading vehicle 200S) in front of the host vehicle 100 and the host vehicle 100, the direction of other vehicles relative to the host vehicle 100, and the traveling speed (vehicle speed) of other vehicles, etc. based on this forward information Ifr.

[0085] <Vehicle speed detection device>

[0086] The vehicle speed detection device 43 is a device that detects the vehicle speed SPD of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 43 is electrically connected to the ECU 90. The vehicle speed detection device 43 detects the vehicle speed SPD of the host vehicle 100 and sends the information of this vehicle speed SPD to the ECU 90. The ECU 90 obtains the vehicle speed SPD based on this information.

[0087] <GPS device>

[0088] The GPS device 44 is electrically connected to the ECU 90. The GPS device 44 receives a GPS signal and transmits the received GPS signal to the ECU 90. The ECU 90 can acquire the current position of the own vehicle 100 based on the GPS signal.

[0089] <Database>

[0090] The database 45 stores map data Dmap and traffic information data Dtraffic. In addition, the vehicle driving support device 10 may be configured to obtain the map data Dmap and traffic information data Dtraffic from a database outside the own vehicle 100 in a wireless manner.

[0091] The database 45 is electrically connected to the ECU 90. The ECU 90 compares the current position of the own vehicle 100 with the map data Dmap stored in the database 45, determines the location on the map where the own vehicle 100 is currently traveling, and obtains the traffic information Itraffic associated with the travel of the own vehicle 100 at the location based on the traffic information data Dtraffic stored in the database 45.

[0092] In this example, the traffic information data Dtraffic includes information on the type of the lane (own lane LN1) in which the own vehicle 100 is traveling and the lane adjacent to the own lane LN1 (adjacent lane LN2), that is, information on "whether the own lane LN1 is a driving lane or an overtaking lane" and "whether the adjacent lane LN2 is a driving lane or an overtaking lane". Based on this information, the ECU 90 can recognize whether the own lane LN1 is a driving lane or an overtaking lane and whether the adjacent lane LN2 is a driving lane or an overtaking lane.

[0093] Furthermore, when the front information detection device 42 is a camera, the ECU 90 may be configured to recognize whether the own lane LN1 is a driving lane or a passing lane and whether the adjacent lane LN2 is a driving lane or a passing lane based on images captured by the camera.

[0094] In addition, the traffic information data Dtraffic includes information about the type of road on which the own vehicle 100 is traveling, that is, information about "whether the road on which the own vehicle 100 is traveling is a general road or a highway." Based on this information, the ECU 90 can identify whether the road on which the own vehicle 100 is traveling is a general road or a highway.

[0095] <Receiving Device>

[0096] The receiving device 46 is a device that receives a wireless signal from outside the own vehicle 100. In this example, the receiving device 46 receives a wireless signal indicating information about road congestion. The receiving device 46 is electrically connected to the ECU 90. The receiving device 46 transmits the received wireless signal to the ECU 90. The ECU 90 can recognize whether a vehicle congestion has occurred in the adjacent lane LN2 based on the information about the road congestion indicated by the wireless signal and the current position of the own vehicle 100.

[0097] In addition, whether "congestion has occurred" can be determined according to the general definition of congestion. In addition, when the front information detection device 42 is a camera, the ECU 90 can be configured to recognize whether a vehicle congestion has occurred in the adjacent lane LN2 based on the image captured by the camera.

[0098] <Overview of Operation of Vehicle Driving Assistance Device>

[0099] Next, the operation of the vehicle driving support device 10 will be described. When the vehicle driving support device 10 determines that the driver has requested execution of the following travel control, the following following travel control is executed unless a control interruption condition Cstop described later is satisfied.

[0100] The following travel control in this example includes normal following travel control, overtaking prevention following travel control, and constant speed travel control.

[0101] The vehicle driving support device 10 is Figure 2 In the case where there is a front leading vehicle 200F and no adjacent leading vehicle 200S as shown in (A), normal following driving control is performed. In this case, the vehicle driving support device 10 controls the operation of the drive device 21 and / or the brake device 22 so that the own vehicle 100 follows the front leading vehicle 200F. That is, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the front vehicle distance Dfr is maintained at the target front vehicle distance Dfr_tgt, and controls the operation of the drive device 21 and / or the brake device 22 to achieve the target acceleration Gtgt.

[0102] Specifically, if Figure 2 As shown in (B), when the front vehicle distance Dfr is longer than the target front vehicle distance Dfr_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the front vehicle distance Dfr becomes shorter, and controls the operation of the drive device 21 to achieve the target acceleration Gtgt. In this case, a positive target acceleration Gtgt is calculated, so the vehicle speed SPD of the own vehicle 100 increases, and as a result, the front vehicle distance Dfr becomes shorter.

[0103] On the other hand, Figure 2 As shown in (C), when the front vehicle distance Dfr is shorter than the target front vehicle distance Dfr_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the front vehicle distance Dfr becomes longer, and controls the operation of the braking device 22 (and / or the driving device 21) to achieve the target acceleration Gtgt. In this case, a negative target acceleration Gtgt (i.e., target deceleration) is calculated, so the vehicle speed SPD of the own vehicle 100 decreases, and as a result, the front vehicle distance Dfr becomes longer.

[0104] In addition, the vehicle driving support device 10 is Figure 3 In the case where there is an adjacent preceding vehicle 200S and there is no front preceding vehicle 200F as shown in (A), the overtaking prevention following driving control is performed. In this case, the vehicle driving support device 10 controls the operation of the drive device 21 and / or the brake device 22 so that the own vehicle 100 does not overtake the adjacent preceding vehicle 200S. That is, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the adjacent vehicle distance Dsd is maintained at the target adjacent vehicle distance Dsd_tgt (or the minimum vehicle distance), and controls the operation of the drive device 21 and / or the brake device 22 to achieve the target acceleration Gtgt.

[0105] In this example, the target adjacent vehicle distance Dsd_tgt is set to a value greater than zero, but it is sufficient as long as the own vehicle 100 does not overtake the adjacent preceding vehicle 200S, so it can also be set to a value smaller than zero within the range where it can be said that "the own vehicle 100 does not overtake the adjacent preceding vehicle 200S". On the other hand, if the target front vehicle distance Dfr_tgt is less than zero, the own vehicle 100 will contact the front preceding vehicle 200F, so the target front vehicle distance Dfr_tgt is set to a value greater than zero and sufficient for "even if the front preceding vehicle 200F suddenly decelerates, the own vehicle 100 can decelerate without contacting the front preceding vehicle 200F".

[0106] Specifically, in Figure 3 As shown in (B), when the adjacent vehicle distance Dsd is longer than the target adjacent vehicle distance Dsd_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the adjacent vehicle distance Dsd becomes shorter, and controls the operation of the drive device 21 to achieve the target acceleration Gtgt. In this case, a positive target acceleration Gtgt is calculated, so the vehicle speed SPD of the own vehicle 100 increases, and as a result, the adjacent vehicle distance Dsd becomes shorter.

[0107] On the other hand, in Figure 3 As shown in (C), when the adjacent vehicle distance Dsd is shorter than the target adjacent vehicle distance Dsd_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the adjacent vehicle distance Dsd becomes longer, and controls the operation of the braking device 22 (and / or the driving device 21) to achieve the target acceleration Gtgt. In this case, a negative target acceleration Gtgt (i.e., target deceleration) is calculated, so the vehicle speed SPD of the own vehicle 100 decreases, and as a result, the adjacent vehicle distance Dsd becomes longer.

[0108] In addition, the vehicle driving support device 10 is Figure 4 In the case where there is both the front leading vehicle 200F and the adjacent leading vehicle 200S, the overtaking prevention following driving control is performed. In this case, the vehicle driving support device 10 controls the operation of the driving device 21 and / or the braking device 22 according to the magnitude relationship between the front vehicle distance Dfr and the target front vehicle distance Dfr_tgt and the magnitude relationship between the adjacent vehicle distance Dsd and the target adjacent vehicle distance Dsd_tgt.

[0109] Specifically, in Figure 5 As shown in (A), when the front vehicle distance Dfr is longer than the target front vehicle distance Dfr_tgt and the adjacent vehicle distance Dsd is longer than the target adjacent vehicle distance Dsd_tgt (that is, when all vehicle distances are longer than the target vehicle distance), when the adjacent vehicle distance difference dDsd (the difference between the adjacent vehicle distance Dsd and the target adjacent vehicle distance Dsd_tgt) is shorter than the front vehicle distance difference dDfr (the difference between the front vehicle distance Dfr and the target front vehicle distance Dfr_tgt), the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the adjacent vehicle distance Dsd becomes shorter, and controls the operation of the drive device 21 to achieve the target acceleration Gtgt. In this case, a positive target acceleration Gtgt is calculated, so the vehicle speed SPD of the own vehicle 100 increases, and as a result, the adjacent vehicle distance Dsd becomes shorter.

[0110] On the other hand, in Figure 5 As shown in (B), when the front vehicle distance difference dDfr is shorter than the adjacent vehicle distance difference dDsd, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the front vehicle distance Dfr becomes shorter, and controls the operation of the drive device 21 to achieve the target acceleration Gtgt. In this case, a positive target acceleration Gtgt is also calculated, so the vehicle speed SPD of the own vehicle 100 increases, and as a result, the front vehicle distance Dfr becomes shorter.

[0111] In addition, in Figure 5 As shown in (C), when the front vehicle distance Dfr is shorter than the target front vehicle distance Dfr_tgt and the adjacent vehicle distance Dsd is longer than the target adjacent vehicle distance Dsd_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the front vehicle distance Dfr becomes longer, and controls the operation of the braking device 22 (and / or the driving device 21) to achieve the target acceleration Gtgt. In this case, a negative target acceleration Gtgt (i.e., target deceleration) is calculated, so the vehicle speed SPD of the own vehicle 100 decreases, and as a result, the front vehicle distance Dfr becomes longer.

[0112] On the other hand, in Figure 5 As shown in (D), when the front vehicle distance Dfr is longer than the target front vehicle distance Dfr_tgt and the adjacent vehicle distance Dsd is shorter than the target adjacent vehicle distance Dsd_tgt, the vehicle driving support device 10 calculates the target acceleration Gtgt in such a way that the adjacent vehicle distance Dsd becomes longer, and controls the operation of the braking device 22 (and / or the driving device 21) to achieve the target acceleration Gtgt. In this case, a negative target acceleration Gtgt (i.e., target deceleration) is calculated, so the vehicle speed SPD of the own vehicle 100 decreases, and as a result, the adjacent vehicle distance Dsd becomes longer.

[0113] In addition, in Figure 6 As shown, when there is neither the front leading vehicle 200F nor the adjacent leading vehicle 200S, the vehicle driving support device 10 performs the constant speed driving control. In this case, the vehicle driving support device 10 controls the operation of the driving device 21 and / or the braking device 22 to maintain the vehicle speed SPD at the set vehicle speed SPDset.

[0114] <Interruption and Restart of Follow-up Driving Control>

[0115] Next, the interruption and resumption of the following travel control by the vehicle driving support device 10 will be described. As described above, when the vehicle driving support device 10 determines that the driver has requested execution of the following travel control, it executes the following travel control unless the control interruption condition Cstop is satisfied.

[0116] The control interruption condition Cstop is a condition that the driver performs an acceleration operation to accelerate the own vehicle 100 during the following travel control. Therefore, the vehicle driving support device 10 determines that the control interruption condition Cstop is satisfied when the driver performs an acceleration operation during the following travel control.

[0117] In this example, the acceleration operation is the driver's stepping on the accelerator pedal 31 and / or the operation of the vehicle speed increase button of the follow-up travel operation element 41 for a predetermined time or longer (long pressing).

[0118] When determining that the control suspension condition Cstop is satisfied, the vehicle driving support device 10 interrupts the following travel control and starts measuring the time (elapsed time Telp) that has elapsed since that time.

[0119] Furthermore, when the own vehicle 100 overtakes the adjacent preceding vehicle 200S before the elapsed time Telp reaches the predetermined time Telp_th, the vehicle driving support device 10 resets the elapsed time Telp when the own vehicle 100 overtakes the adjacent preceding vehicle 200S (i.e., when the own vehicle 100 completes overtaking the adjacent preceding vehicle 200S), and starts measuring the time (elapsed time Telp) that has passed since that time point.

[0120] The vehicle driving support device 10 resets the elapsed time Telp each time the host vehicle 100 completes overtaking the adjacent preceding vehicle 200S before the elapsed time Telp reaches the predetermined time Telp_th, and starts measuring the time (elapsed time Telp) that has elapsed since that time.

[0121] Then, when the control suspension condition Cstop ceases to be satisfied (that is, when the control resumption condition is satisfied), the vehicle driving support device 10 resumes the following travel control.

[0122] Although the vehicle driving support device 10 may determine that the control suspension condition Cstop is no longer satisfied when the elapsed time Telp reaches the predetermined time Telp_th, in this example, when the driver does not perform an acceleration operation when the elapsed time Telp reaches the predetermined time Telp_th, the control suspension condition Cstop is determined to be no longer satisfied.

[0123] Therefore, if Figure 7 As shown in FIG. 1 , when there are a plurality of adjacent preceding vehicles 200S, the following travel control is interrupted and restarted as follows.

[0124] like Figure 8 As shown, the driver of the own vehicle 100 wants to overtake two adjacent preceding vehicles 200S and starts the acceleration operation at time t80. Then, the control interruption condition Cstop is satisfied, so the following travel control is interrupted and the vehicle speed SPD starts to increase. At this time, the measurement of the elapsed time Telp is started.

[0125] Thereafter, when the own vehicle 100 completes overtaking the first adjacent preceding vehicle 200S at time t81 before the elapsed time Telp reaches the predetermined time Telp_th, the elapsed time Telp is reset, and the measurement of the elapsed time Telp is started thereafter.

[0126] After that, the accelerator operation is stopped at time t81, but at this time, the elapsed time Telp has not reached the predetermined time Telp_th, so the following travel control is not restarted but is maintained interrupted. Therefore, the vehicle speed SPD decreases slightly but does not decrease significantly.

[0127] After that, the acceleration operation starts again at time t82. At this time point, the vehicle speed SPD does not drop significantly, so it immediately reaches a higher speed.

[0128] Thereafter, when the own vehicle 100 completes overtaking the first adjacent preceding vehicle 200S at time t83, the elapsed time Telp is reset and the measurement of the elapsed time Telp starts.

[0129] After that, the accelerator operation is stopped at time t84, but at this time, the elapsed time Telp has not reached the predetermined time Telp_th, so the following travel control is not restarted but is maintained interrupted. Therefore, the vehicle speed SPD decreases slightly but does not decrease significantly.

[0130] After that, the acceleration operation starts again at time t85. At this time point, the vehicle speed SPD does not drop significantly, so it immediately reaches a higher speed.

[0131] Thereafter, when the own vehicle 100 completes overtaking the second adjacent preceding vehicle 200S at time t86, the elapsed time Telp is reset, and the measurement of the elapsed time Telp starts.

[0132] After that, at time t87, the acceleration operation stops, but at this time, the elapsed time Telp has not reached the predetermined time Telp_th, so the following travel control is not restarted. Then, at time t88, the elapsed time Telp reaches the predetermined time Telp_th. At this time, the acceleration operation is not performed, so the control interruption condition Cstop becomes not satisfied (that is, the control restart condition is satisfied), and the following travel control is restarted.

[0133] <Effect>

[0134] When the following travel control is interrupted when the acceleration operation is performed, and when the following travel control is restarted when the acceleration operation is stopped, if the driver of the own vehicle 100 starts the acceleration operation in order to overtake the adjacent preceding vehicle 200S, and then temporarily stops the acceleration operation before overtaking the adjacent preceding vehicle 200S, the following travel control will be restarted, and as a result, the vehicle speed SPD of the own vehicle 100 will be greatly reduced. Therefore, in order to overtake the adjacent preceding vehicle 200S, the driver must accelerate the own vehicle 100 greatly to increase the vehicle speed SPD, and cannot smoothly overtake the adjacent preceding vehicle 200S.

[0135] Furthermore, if the driver of the own vehicle 100 starts accelerating in order to overtake a plurality of adjacent preceding vehicles 200S, and temporarily stops accelerating after overtaking the first adjacent preceding vehicle 200S, the following driving control will start again, resulting in a significant reduction in the vehicle speed SPD of the own vehicle 100. Therefore, the driver cannot smoothly overtake the second adjacent preceding vehicle 200S.

[0136] According to the vehicle driving support device 10, after the driver of the own vehicle 100 starts the acceleration operation in order to overtake the adjacent leading vehicle 200S, even if the acceleration operation is temporarily stopped before overtaking the adjacent leading vehicle 200S, as long as it is before the predetermined time Telp_th, the following driving control will not be started again, and the vehicle speed SPD of the own vehicle 100 will not be significantly reduced, so the driver can smoothly overtake the adjacent leading vehicle 200S.

[0137] In addition, when the own vehicle 100 overtakes the first adjacent preceding vehicle 200S, the elapsed time Telp is reset and the measurement of the elapsed time Telp is restarted. Therefore, even if the driver temporarily stops the acceleration operation when the own vehicle 100 overtakes the first adjacent preceding vehicle 200S, the following driving control will not be restarted, and the vehicle speed SPD of the own vehicle 100 will not be significantly reduced. Therefore, the driver can smoothly overtake the second adjacent preceding vehicle 200S.

[0138] <Specific Operation of Vehicle Driving Assistance Device>

[0139] Next, an example of a specific operation of the vehicle driving support device 10 will be described. The CPU of the ECU 90 of the vehicle driving support device 10 executes the operation every time a predetermined operation time elapses. Fig. 9 The routine shown.

[0140] Therefore, when the predetermined timing is reached, the CPU Fig. 9 The process starts from step 900 and proceeds to step 905 to determine whether execution of follow-up travel control is requested.

[0141] If the CPU determines "yes" in step 905, the processing proceeds to step 910 to determine whether the value of the control interruption flag Xstop is "0". The control interruption flag Xstop is a flag indicating whether the following travel control is interrupted, and its value is set to "1" when the following travel control is interrupted, and is set to "0" when the following travel control is executed.

[0142] When the CPU makes a “YES” determination at step 910, the CPU advances the process to step 915 to determine whether or not there is a preceding vehicle 200F in front.

[0143] When the CPU makes a “YES” determination in step 915, the process proceeds to step 920 to determine whether or not there is an adjacent preceding vehicle 200S.

[0144] When the CPU determines "yes" in step 920, the process proceeds to step 925 to execute Fig.10 Therefore, when the CPU advances the processing to step 925, Fig.10 The process starts from step 1000 and proceeds to step 1005 to determine whether the front vehicle distance Dfr is larger than the target front vehicle distance Dfr_tgt and the adjacent vehicle distance Dsd is larger than the target adjacent vehicle distance Dsd_tgt.

[0145] When the CPU determines "yes" in step 1005, the processing proceeds to step 1010. Figure 5 Next, the CPU advances the processing to step 1015, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1010. Thereafter, the CPU advances the processing to step 1095. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0146] On the other hand, when the CPU makes a “No” determination in step 1005, the CPU advances the process to step 1020 to determine whether the front inter-vehicle distance Dfr is smaller than the target front inter-vehicle distance Dfr_tgt.

[0147] When the CPU determines "yes" in step 1020, the processing proceeds to step 1025. Figure 5 Next, the CPU advances the processing to step 1030, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1025. Thereafter, the CPU advances the processing to step 1095. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0148] On the other hand, when the CPU makes a “No” determination in step 1020, the CPU advances the process to step 1035 to determine whether the adjacent vehicle distance Dsd is smaller than the target adjacent vehicle distance Dsd_tgt.

[0149] When the CPU determines "yes" in step 1035, the processing proceeds to step 1040. Figure 5 Next, the CPU advances the processing to step 1045, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1040. Thereafter, the CPU advances the processing to step 1095. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0150] On the other hand, when the CPU determines "No" in step 1035, the processing proceeds to step 1050, and sends a command for controlling the operation of the drive device 21 and / or the brake device 22 to maintain the current vehicle speed SPD to the drive device 21 and / or the brake device 22. Thereafter, the CPU proceeds to step 1095. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0151] In addition, the CPU Fig. 9 If the determination result in step 920 is "No", the process proceeds to step 930 and executes Fig.11 Therefore, when the CPU advances the processing to step 930, Fig.11 The process starts from step 1100 and proceeds to step 1105 to determine whether the front vehicle distance Dfr is larger than the target front vehicle distance Dfr_tgt.

[0152] When the CPU determines "yes" in step 1105, the processing proceeds to step 1110. Figure 2 Next, the CPU advances the processing to step 1115, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1110. Thereafter, the CPU advances the processing to step 1195. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0153] On the other hand, when the CPU makes a “No” determination in step 1105, the CPU advances the process to step 1120 to determine whether the front inter-vehicle distance Dfr is smaller than the target front inter-vehicle distance Dfr_tgt.

[0154] When the CPU determines "yes" in step 1120, the processing proceeds to step 1125. Figure 2 Next, the CPU advances the processing to step 1130, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1125. Thereafter, the CPU advances the processing to step 1195. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0155] On the other hand, when the CPU determines "No" in step 1120, the processing proceeds to step 1135, and sends a command for controlling the operation of the drive device 21 and / or the brake device 22 to maintain the current vehicle speed SPD to the drive device 21 and / or the brake device 22. Thereafter, the CPU proceeds to step 1195. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0156] In addition, the CPU Fig. 9 If the determination result in step 915 is "No", the process proceeds to step 935 to determine whether there is an adjacent preceding vehicle 200S.

[0157] When the CPU determines "yes" in step 935, the process proceeds to step 940 to execute Fig.12 Therefore, when the CPU advances the processing to step 940, Fig.12 The process starts from step 1200 and proceeds to step 1205 to determine whether the adjacent vehicle distance Dsd is larger than the target adjacent vehicle distance Dsd_tgt.

[0158] When the CPU determines "yes" in step 1205, the processing proceeds to step 1210. Figure 3 Next, the CPU advances the processing to step 1215, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1210. Thereafter, the CPU advances the processing to step 1295. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0159] On the other hand, when the CPU makes a “No” determination in step 1205, the CPU advances the process to step 1220 to determine whether the adjacent vehicle distance Dsd is smaller than the target adjacent vehicle distance Dsd_tgt.

[0160] When the CPU determines "yes" in step 1220, the processing proceeds to step 1225. Figure 3 Next, the CPU advances the processing to step 1230, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1225. Thereafter, the CPU advances the processing to step 1295. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0161] On the other hand, when the CPU determines "No" in step 1220, the processing proceeds to step 1235, and sends a command for controlling the operation of the drive device 21 and / or the brake device 22 to maintain the current vehicle speed SPD to the drive device 21 and / or the brake device 22. Thereafter, the CPU proceeds to step 1295. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0162] In addition, the CPU Fig. 9 If the judgment is "No" in step 935, the process proceeds to step 945 and executes Fig.13 Therefore, when the CPU advances the processing to step 945, Fig.13 The process starts from step 1300 and proceeds to step 1305 to determine whether the vehicle speed SPD is lower than the set vehicle speed SPDset.

[0163] When the CPU determines "yes" in step 1305, the processing proceeds to step 1310. Figure 6 Next, the CPU advances the processing to step 1315, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1310. Thereafter, the CPU advances the processing to step 1395. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0164] On the other hand, when the CPU makes a “NO” determination in step 1305, the CPU advances the process to step 1320 to determine whether the vehicle speed SPD is higher than the set vehicle speed SPDset.

[0165] When the CPU determines "yes" in step 1320, the processing proceeds to step 1325. Figure 6 Next, the CPU advances the processing to step 1330, and sends a command to the driving device 21 and / or the braking device 22 for controlling the operation of the driving device 21 and / or the braking device 22 to achieve the target acceleration Gtgt calculated in step 1325. Thereafter, the CPU advances the processing to step 1395. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0166] On the other hand, when the CPU determines "No" in step 1320, the processing proceeds to step 1335, and sends a command for controlling the operation of the drive device 21 and / or the brake device 22 to maintain the current vehicle speed SPD to the drive device 21 and / or the brake device 22. Thereafter, the CPU proceeds to step 1395. Fig. 9 Step 995 of the present routine is terminated for the time being.

[0167] Furthermore, the CPU Fig. 9 If the judgment is "No" in step 905 and step 910, the processing proceeds to step 950, and the required acceleration Greq is calculated based on the accelerator pedal operation amount AP. Next, the CPU proceeds to step 955, and sends a command for controlling the operation of the drive device 21 and / or the brake device 22 to realize the required acceleration Greq calculated in step 950 to the drive device 21 and / or the brake device 22. Thereafter, the CPU proceeds to step 995, and temporarily ends this routine.

[0168] Furthermore, the CPU executes the Fig.14 Thus, when the predetermined timing is reached, the CPU starts Fig.14 The process starts from step 1400 and proceeds to step 1405 to determine whether the value of the control interrupt flag Xstop is "0".

[0169] If the CPU determines "yes" in step 1405, the processing proceeds to step 1410 to determine whether the value of the acceleration operation flag Xac is "1". The acceleration operation flag Xac is a flag indicating whether an acceleration operation has been performed, and its value is set to "1" when an acceleration operation has been performed, and is set to "0" when the acceleration operation has stopped.

[0170] If the CPU determines "yes" in step 1410, the process proceeds to step 1415, and sets the value of the control interrupt flag Xstop to "1". Fig. 9 The following driving control is interrupted in the routine. Next, the CPU advances the processing to step 1420 to start measuring the elapsed time Telp. Thereafter, the CPU advances the processing to step 1495 to temporarily end this routine.

[0171] On the other hand, when the CPU makes a "No" determination in step 1410, the CPU directly advances the processing to 1495 and temporarily terminates this routine.

[0172] When the CPU makes a “No” determination in step 1405, the CPU advances the process to step 1425 to determine whether or not the adjacent preceding vehicle 200S has completed overtaking.

[0173] When the CPU determines "yes" in step 1425, the CPU advances the processing to step 1430 to reset the elapsed time Telp. Next, the CPU advances the processing to step 1435 to start measuring the elapsed time Telp. Thereafter, the CPU advances the processing to step 1495 to temporarily terminate this routine.

[0174] On the other hand, the CPU proceeds to step 1440 to determine whether the elapsed time Telp is equal to or longer than a predetermined time Telp_th.

[0175] If the CPU makes a "yes" determination in step 1440, the process proceeds to step 1445 to determine whether the value of the acceleration operation flag Xac is "0".

[0176] If the CPU determines "yes" in step 1445, the process proceeds to step 1450, and sets the value of the control interrupt flag Xstop to "0". Fig. 9 The following driving control is started again in the routine. Next, the CPU advances the processing to step 1455 to reset the elapsed time Telp. Thereafter, the CPU advances the processing to step 1495 to temporarily terminate this routine.

[0177] On the other hand, when the CPU makes a "No" determination in steps 1440 and 1445, the CPU directly advances the processing to step 1495 and temporarily terminates this routine.

[0178] The above is an example of the specific operation of the vehicle driving support device 10 .

[0179] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0180] <Modification>

[0181] For example, the vehicle driving support device 10 may be configured to execute the overtaking prevention following travel control when there is an adjacent preceding vehicle 200S and the adjacent preceding vehicle 200S is traveling in the passing lane and the own vehicle 100 is traveling in the traveling lane, rather than executing the overtaking prevention following travel control when there is an adjacent preceding vehicle 200S.

[0182] In this case, the control suspension condition Cstop includes, in addition to the condition that the acceleration operation is performed while the following travel control is being executed, the condition that the own vehicle 100 is traveling in the traveling lane and the adjacent preceding vehicle 20S is traveling in the passing lane.

[0183] In this case, the vehicle driving support device 10 performs the normal following travel control when the adjacent preceding vehicle 200S exists but the adjacent preceding vehicle 200S is traveling in the travel lane.

[0184] In addition, the control interruption condition Cstop may include, in addition to the condition that an acceleration operation is performed when executing the following driving control, a condition that congestion occurs in the adjacent leading vehicle 200S, and further, may include the condition that the own vehicle 100 is traveling in the driving lane and the adjacent leading vehicle 200S is traveling in the overtaking lane.

[0185] Furthermore, the vehicle driving support device 10 may include a condition that the own vehicle 100 is traveling on a highway in the conditions for executing the follow-up driving control.< / ecu>

Claims

1. A vehicle driving support device, comprising a controller for executing a following driving control, The following driving control is a control for automatically controlling the driving speed of the own vehicle in such a manner that the distance between the own vehicle and an adjacent preceding vehicle traveling in front of the own vehicle in a lane adjacent to the lane in which the own vehicle is traveling is maintained at a predetermined adjacent vehicle distance. The controller is configured as follows: When a control interruption condition is satisfied in which the driver of the own vehicle performs an acceleration operation for accelerating the own vehicle in order to overtake the adjacent preceding vehicle, interrupting the following travel control and starting to measure the elapsed time from the time point when the following travel control is interrupted, When the own vehicle overtakes the adjacent preceding vehicle before the elapsed time reaches a predetermined time, resetting the measured elapsed time and starting to measure the elapsed time from the time point when the elapsed time was reset, When a control restart condition is satisfied, that is, the elapsed time reaches the predetermined time, the following travel control is restarted.

2. The vehicle driving support device according to claim 1, The control interruption condition includes a condition that the own vehicle is traveling in a driving lane and the adjacent preceding vehicle is traveling in a passing lane.

3. The vehicle driving support device according to claim 1, The control interruption condition includes a condition that congestion of the adjacent leading vehicles occurs.

4. The vehicle driving support device according to claim 1, The control restart condition includes a condition that the acceleration operation is not performed.

5. The vehicle driving support device according to claim 1, The controller is configured to automatically control the travel speed of the own vehicle in such a manner as to maintain the distance between the front leading vehicle and the own vehicle at a predetermined front vehicle-to-vehicle distance when the following travel control is executed when there is no adjacent leading vehicle and there is a front leading vehicle, the front leading vehicle being a vehicle traveling in front of the own vehicle on a lane in which the own vehicle is traveling.

6. The vehicle driving support device according to claim 1, The controller is configured to, when the following driving control is executed when there is the adjacent leading vehicle and the front leading vehicle, automatically accelerate the own vehicle when the distance between the front leading vehicle and the own vehicle is longer than a predetermined front vehicle distance and the distance between the adjacent leading vehicle and the own vehicle is longer than a predetermined adjacent vehicle distance, and automatically decelerate the own vehicle when the distance between the front leading vehicle and the own vehicle is shorter than the predetermined front vehicle distance or the distance between the adjacent leading vehicle and the own vehicle is shorter than the predetermined adjacent vehicle distance, the front leading vehicle being a vehicle traveling in front of the own vehicle on a lane in which the own vehicle is traveling.

7. The vehicle driving support device according to claim 1, The control interruption condition includes the condition that the own vehicle is traveling on a highway.

Images