Vehicle driver assistance devices and non-transitory storage media

Abstract

This disclosure relates to a vehicle driving assistance device and a non-transitory storage medium. The vehicle driving assistance device includes a processor. The processor is configured to: when a precondition for an erroneous acceleration operation is met under certain driving conditions, and when a predetermined prohibition condition is not met, execute acceleration suppression control to suppress acceleration of the vehicle. The driving conditions are conditions used to determine that the vehicle is moving. The precondition for an erroneous acceleration operation is a condition that serves as a prerequisite for determining that an acceleration operation has been erroneously performed. The acceleration operation is an operation in which the driver of the vehicle requests acceleration of the vehicle. The predetermined prohibition condition is a condition based on the relationship between the vehicle and its external environment.

Description

Technical Field

[0001] This disclosure relates to vehicle driving assistance devices and non-transitory storage media. Background Technology

[0002] A vehicle driving assistance device is known that suppresses the acceleration of the vehicle when the driver mistakenly accelerates by forcefully pressing the accelerator pedal. Furthermore, a vehicle driving assistance device is also known that determines the conditions for a mistaken acceleration operation (mistaken acceleration operation condition) to be different when the vehicle is stationary and when the vehicle is moving. As such a vehicle driving assistance device, a known device determines whether a mistaken acceleration operation condition is met by considering the force and speed of pressing the accelerator pedal while the vehicle is moving (for example, see Japanese Patent Application Laid-Open No. 2021-30882).

[0003] If phenomena other than the force and speed of pressing the accelerator pedal are not considered, and the conditions for erroneous acceleration are determined to be met and acceleration suppression control is executed, then acceleration suppression control may be executed unnecessarily. Summary of the Invention

[0004] This disclosure provides a vehicle driving assistance device and a non-temporary storage medium that can further reduce the unnecessary execution of acceleration suppression control during the operation of the vehicle.

[0005] The vehicle driving assistance device disclosed herein includes a processor. The processor is configured to: when a precondition for an erroneous acceleration operation is met under certain driving conditions, and when a predetermined prohibition condition is not met, execute acceleration suppression control to suppress acceleration of the vehicle. The driving conditions are conditions used to determine that the vehicle is currently moving. The precondition for an erroneous acceleration operation is a condition that presupposes an erroneous acceleration operation. The acceleration operation is an operation by which the driver of the vehicle requests acceleration of the vehicle. The predetermined prohibition condition is a condition based on the relationship between the vehicle and its external environment.

[0006] In cases where an incorrect acceleration operation is performed while the vehicle is in motion (accidental acceleration operation), the vehicle and its external environment may sometimes have a unique relationship during the vehicle's operation.

[0007] According to this disclosure, when the vehicle is in motion, acceleration suppression control is executed if the precondition for accidental acceleration is met and the prescribed prohibition condition is not met. Furthermore, the prescribed prohibition condition is set based on the relationship between the vehicle and its external environment. Therefore, it is easy to reduce the unnecessary execution of acceleration suppression control while the vehicle is in motion.

[0008] In the vehicle driving assistance device disclosed herein, the processor may also be configured to not perform the acceleration suppression control when the prescribed prohibition condition is met when the driving conditions are met and the precondition for the erroneous acceleration operation is met.

[0009] According to this disclosure, even if the precondition for accidental acceleration is met when the vehicle is in motion and the prohibited conditions are met, acceleration suppression control will not be executed. Therefore, it is easy to reduce the unnecessary execution of acceleration suppression control while the vehicle is in motion.

[0010] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may be the following: the angle between the boundary of the nearest point to the vehicle in the direction of travel of the vehicle and the direction of travel of the vehicle is greater than the prescribed upper limit angle.

[0011] If the driver accidentally accelerates while the vehicle is in motion, the driver may panic due to the sudden acceleration and make incorrect steering wheel movements, causing the vehicle to move towards the boundary.

[0012] At this point, the angle between the boundary closest to the vehicle in the direction of travel and the direction of travel (the boundary angle) becomes relatively large. Therefore, if the precondition for accidental acceleration occurs while the vehicle is in motion, the relatively large boundary angle can be used as a basis to determine that the acceleration of the vehicle should be suppressed.

[0013] However, when a driver intends to cross a road, they may accelerate. At this point, a situation arises where both the driving conditions and the preconditions for erroneous acceleration are met. Furthermore, the vehicle is traveling at a large angle relative to the boundary closest to it in its direction of travel. If acceleration suppression control is implemented to suppress acceleration, the driver will find it difficult to move the vehicle as intended.

[0014] According to this disclosure, the prohibited condition is set as follows: the angle between the boundary closest to the vehicle in the direction of travel and the direction of travel is greater than the prescribed upper limit angle. Therefore, it is possible to more appropriately determine whether the acceleration of the vehicle should be suppressed.

[0015] In the vehicle driving assistance device disclosed herein, the processor may also be configured to terminate the acceleration suppression control if, after the processor initiates the acceleration suppression control, the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane of the vehicle, and the angle between the boundary of the adjacent lane on the opposite side of the driving lane of the vehicle and the direction of travel of the vehicle is below a predetermined adjacent lane boundary angle.

[0016] Preferably, when the driver changes lanes, even if acceleration suppression control is initiated, it terminates once the vehicle enters the adjacent lane, thus completing the lane change. Here, when the vehicle completes the lane change, the angle between the boundary of the adjacent lane opposite to the vehicle's driving lane and the vehicle's direction of travel decreases. Therefore, it can be determined that the vehicle has completed a lane change based on the decrease in the angle between the boundary of the adjacent lane opposite to the vehicle's driving lane and the vehicle's direction of travel after the vehicle enters the adjacent lane.

[0017] According to this disclosure, acceleration suppression control terminates when the vehicle crosses the boundary of its driving lane and enters an adjacent lane, and the angle between the boundary of the adjacent lane on the opposite side of the vehicle's driving lane and the vehicle's direction of travel is below a predetermined adjacent lane boundary angle. Therefore, acceleration suppression control can be terminated at an appropriate timing.

[0018] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may also be that the angle between the boundary of the vehicle's driving lane and the vehicle's direction of travel is greater than or equal to the prescribed angle of the vehicle's driving lane boundary. Alternatively, the prescribed angle of the adjacent lane boundary may be set to a value smaller than the prescribed angle of the vehicle's driving lane boundary.

[0019] According to this disclosure, the boundary angle of the adjacent lane is set to a value smaller than the boundary angle of the lane in which the vehicle is traveling. Therefore, it is possible to more accurately determine whether the vehicle has completed a lane change.

[0020] In the vehicle driving assistance device disclosed herein, the processor may also be configured to terminate the acceleration suppression control if, after the processor initiates the acceleration suppression control, the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane, and the adjacent lane crossing time is longer than a predetermined adjacent lane crossing time. Alternatively, the adjacent lane crossing time may be the time required until the vehicle crosses the boundary of the adjacent lane on the opposite side of the driving lane.

[0021] As described above, preferably, when the driver changes lanes, even if acceleration suppression control is initiated, the acceleration suppression control ends once the vehicle enters the adjacent lane, thus completing the lane change. Here, once the vehicle has completed the lane change, it travels along the adjacent lane. Therefore, the time required for the vehicle to cross the boundary of the adjacent lane becomes a long time. Thus, it is possible to determine that the vehicle has completed the lane change based on the long time required from when the vehicle enters the adjacent lane until it crosses the boundary of the adjacent lane.

[0022] According to this disclosure, acceleration suppression control terminates when the time required for the vehicle to cross the boundary of its own lane and enter an adjacent lane, and the time required for the vehicle to cross the boundary of the adjacent lane on the opposite side of its own lane (adjacent lane boundary crossing time) is a predetermined time (predetermined adjacent lane boundary crossing time), or more. Therefore, acceleration suppression control can be terminated at an appropriate timing.

[0023] In the vehicle driving assistance device disclosed herein, the processor may also be configured to terminate the acceleration suppression control if, after the processor initiates the acceleration suppression control, the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to its driving lane, and the driving time in the adjacent lane exceeds a predetermined adjacent lane driving time. Alternatively, the adjacent lane driving time may be the time the vehicle spends driving in the adjacent lane after entering it.

[0024] As described above, preferably, when the driver changes lanes, even if acceleration suppression control is initiated, the acceleration suppression control ends once the vehicle enters the adjacent lane, thus completing the lane change. Here, when the vehicle completes the lane change, it travels along the adjacent lane. Therefore, the time the vehicle spends in the adjacent lane after entering it becomes a long time. Thus, it is possible to determine that the vehicle has completed a lane change based on the long time it spends in the adjacent lane after entering it.

[0025] According to this disclosure, acceleration suppression control terminates when the vehicle crosses the boundary of its driving lane and enters an adjacent lane, and the time the vehicle spends in the adjacent lane after entering it (adjacent lane travel time) exceeds a predetermined time (predetermined adjacent lane travel time). Therefore, acceleration suppression control can be terminated at an appropriate timing.

[0026] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may also be the condition that there is an object in front of the vehicle and in the vehicle's driving lane.

[0027] When there is an object in front of the vehicle and in the vehicle's lane (the lane the vehicle is currently traveling in), the driver is highly likely to operate the steering wheel in order to avoid the object. In such a scenario, when acceleration suppression control is executed due to such steering wheel operation, the driver is unable to move the vehicle as intended.

[0028] According to this disclosure, the prohibition condition is set as the presence of an object in front of the vehicle and in the lane in which the vehicle is traveling. Therefore, it reduces the likelihood of acceleration suppression control being executed, thus preventing the driver from driving the vehicle as intended.

[0029] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may also be that there is an object in front of the vehicle and in the vehicle's driving lane, and the distance between the object and the vehicle is less than a prescribed distance.

[0030] When there is an object in front of the vehicle and in the vehicle's lane (the lane the vehicle is currently traveling in), the driver is highly likely to make steering maneuvers to steer the vehicle away from the object as it approaches the object.

[0031] According to this disclosure, the prohibition condition is set as follows: there is an object in front of the vehicle and in the lane in which the vehicle is traveling, and the distance between the object and the vehicle is less than a specified distance. Therefore, it is possible to reduce the situation where acceleration suppression control is executed, thereby preventing the driver from driving the vehicle as intended.

[0032] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may also be the presence of other vehicles traveling in an adjacent lane, wherein the adjacent lane is the lane adjacent to the lane in which the vehicle is traveling.

[0033] For example, if acceleration suppression control is initiated when a erroneous acceleration operation is detected and the vehicle is traveling towards an adjacent lane, the vehicle may be slowed down by acceleration suppression control, resulting in it traveling at a low speed in the adjacent lane. In this situation, if other vehicles are traveling in the adjacent lane, they may approach the vehicle. This is undesirable.

[0034] According to this disclosure, the prohibition condition is set at the presence of other vehicles traveling in an adjacent lane that is adjacent to the vehicle's lane. Therefore, the likelihood of other vehicles approaching the vehicle can be reduced.

[0035] In the vehicle driving assistance device disclosed herein, the prohibited condition may also be that a blind spot exists within the range of the adjacent lane adjacent to the vehicle's driving lane in front of the surrounding information detection device of the vehicle.

[0036] If a blind spot exists within the adjacent lane of the vehicle's surrounding information detection device's forward detection range, information related to the condition of the adjacent lane cannot be obtained due to this blind spot. Furthermore, performing acceleration suppression control when information related to the condition of the adjacent lane cannot be obtained is not preferable.

[0037] According to this disclosure, the prohibition condition is set to the existence of a blind spot in the adjacent lane adjacent to the lane in front of the vehicle's surrounding information detection device. Therefore, the need for acceleration suppression control to be executed when a blind spot exists in the adjacent lane can be reduced.

[0038] In the vehicle driving assistance device disclosed herein, the prescribed prohibition condition may also be a condition that the time required for the vehicle to cross the boundary of the vehicle's driving lane is predicted to be more than a predetermined time.

[0039] Even if the driver accidentally accelerates, there is no need to implement acceleration suppression control if the time taken before the vehicle crosses the boundary of its lane (the lane the vehicle is currently traveling in) is long.

[0040] According to this disclosure, the prohibition condition is set to a condition that the time required for the vehicle to cross the boundary of the lane in which it is traveling is more than a predetermined time. Therefore, it is possible to reduce the occurrence of acceleration suppression control in scenarios where there is no need to perform acceleration suppression control.

[0041] In the vehicle driving assistance device disclosed herein, the processor may also be configured to perform the acceleration suppression control when the precondition for the erroneous acceleration operation is met when the vehicle is stopped.

[0042] In this disclosure, a non-transitory storage medium stores commands executable by one or more processors, which instruct the processors to perform the following functions: When a precondition for an erroneous acceleration operation is met under certain driving conditions, and a predetermined prohibition condition is not met, acceleration suppression control is performed to suppress acceleration of the vehicle. The driving conditions are those used to determine that the vehicle is in motion. The precondition for the erroneous acceleration operation is a condition that presupposes an erroneous acceleration operation. The acceleration operation is an operation by which the driver of the vehicle requests acceleration of the vehicle. The predetermined prohibition condition is a condition based on the relationship between the vehicle and its external environment.

[0043] According to this disclosure, even if the precondition for accidental acceleration is met while the vehicle is in motion, acceleration suppression control is performed even if the prescribed prohibition condition is not met. Furthermore, the prescribed prohibition condition is set based on the relationship between the vehicle and its external environment. Therefore, it is easy to reduce the unnecessary execution of acceleration suppression control while the vehicle is in motion.

[0044] The elements of this disclosure are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and accompanying advantages of this disclosure will be readily understood from the description of embodiments thereof. Attached Figure Description

[0045] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0046] Figure 1 This is a diagram illustrating a vehicle driving assistance device according to an embodiment of the present disclosure and a vehicle (the vehicle) equipped with the vehicle driving assistance device.

[0047] Figure 2A This diagram represents a scenario where the vehicle is in motion and has not been accidentally accelerated.

[0048] Figure 2B This is a diagram depicting a scenario where the vehicle is in motion and has been accidentally accelerated.

[0049] Figure 3 This is a diagram depicting a scenario where the vehicle intends to cross a road.

[0050] Figure 4A This is a diagram depicting a scenario where there is an oncoming vehicle traveling in the opposite lane in front of this vehicle.

[0051] Figure 4BThis is a diagram depicting a scenario where there are other vehicles traveling in a parallel lane behind this vehicle.

[0052] Figure 5 This is a diagram depicting a scenario where there are other vehicles stopped in the lane in front of this vehicle.

[0053] Figure 6 This is a diagram depicting a scenario where a preceding vehicle exists, and a blind spot is created in the detection range of the peripheral information detection device of the vehicle's driver assistance system due to the preceding vehicle.

[0054] Figure 7A This diagram illustrates a situation where the vehicle is changing lanes.

[0055] Figure 7B This diagram depicts a scenario where the vehicle is changing lanes and intends to cross the boundary of its lane.

[0056] Figure 7C This diagram represents a scenario where the vehicle is changing lanes and has crossed the boundary of its own lane into an adjacent lane.

[0057] Figure 8 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present disclosure.

[0058] Figure 9 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present disclosure.

[0059] Figure 10 This is a flowchart illustrating the routines executed by a vehicle driving assistance device, representing a variation of an embodiment of the present disclosure. Detailed Implementation

[0060] Hereinafter, a vehicle driving assistance device according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Figure 1 As shown, the vehicle driving assistance device 10 of the present disclosure is mounted on a vehicle (the vehicle 100).

[0061] The vehicle driving assistance device 10 includes an ECU (Electronic Control Unit) 90 (processor 90). The ECU 90 has a microcomputer as its main component. The ECU 90 includes a CPU (Central Processing Unit), ROM (Read-Only Memory), RAM (Random Access Memory), non-volatile memory (not shown), and interfaces. The CPU performs various functions by executing instructions (programs, routines) stored in the ROM.

[0062] Vehicle running gear

[0063] The vehicle 100 is equipped with a vehicle running gear 20. The vehicle running gear 20 drives, brakes, steers, and shifts gears for the vehicle 100. In this example, the vehicle running gear 20 includes a drive unit 21, a braking unit 22, a steering unit 23, and a transmission unit 24.

[0064] drive unit

[0065] The drive unit 21 outputs driving force to the vehicle 100 in order to move the vehicle 100. For example, the drive unit 21 is an internal combustion engine and / or a motor. The drive unit 21 is electrically connected to the ECU 90. The ECU 90 can control the driving force output from the drive unit 21 by controlling the operation of the drive unit 21.

[0066] Braking device

[0067] Braking device 22 outputs braking force to the vehicle 100 in order to brake the vehicle 100. For example, braking device 22 is a hydraulic brake device. Braking device 22 is electrically connected to ECU 90. ECU 90 can control the braking force output from braking device 22 by controlling the operation of braking device 22.

[0068] Steering mechanism

[0069] The steering device 23 outputs a steering force to the vehicle 100 for steering the vehicle 100. For example, the steering device 23 is a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0070] Speed ​​change

[0071] The transmission 24 switches whether the driving force output from the drive unit 21 is transmitted to the drive wheels of the vehicle 100, or whether the driving force is transmitted to the drive wheels in a way that propels the vehicle 100 forward or backward. Furthermore, the transmission 24 locks the gears in a stationary state by engaging a claw-shaped part (parking lock pawl) with the gears of the transmission 24, thereby keeping the vehicle 100 stationary. Therefore, the transmission 24 also functions as a parking holding device to keep the vehicle 100 stationary.

[0072] The transmission 24 operates in any of the following states: transmitting driving force to the drive wheels in a manner that causes the vehicle 100 to move forward (forward gear state); transmitting driving force to the drive wheels in a manner that causes the vehicle 100 to move backward (reverse gear state); not transmitting driving force to the drive wheels of the vehicle 100 (neutral gear state); and keeping the vehicle 100 in a stationary state (parking gear state).

[0073] The transmission 24 is electrically connected to the ECU 90. The ECU 90 can control the operation of the transmission 24 to set the transmission 24 to any one of the following states: forward gear, reverse gear, neutral gear, and parking gear.

[0074] Turn indicator lights

[0075] The vehicle 100 is equipped with turn indicator lights 31. Turn indicator lights 31 are primarily used to indicate to people outside the vehicle 100 the direction the vehicle 100 intends to turn. Turn indicator lights 31 are located at the right front corner, left front corner, right rear corner, and left rear corner of the vehicle 100. Turn indicator lights 31 are electrically connected to the ECU 90. The ECU 90 activates the turn indicator lights 31 by operating the turn indicator light control lever 48 (described later).

[0076] Sensors, etc.

[0077] Furthermore, the vehicle 100 is equipped with an accelerator pedal operation sensor 41, a brake pedal operation sensor 42, a steering angle sensor 43, a steering torque sensor 44, a shift position sensor 46, a vehicle speed detection device 47, a turn indicator lever 48, and a peripheral information detection device 60.

[0078] Accelerator pedal operation sensor

[0079] Accelerator pedal operation amount sensor 41 detects the operation amount of the accelerator pedal in vehicle 100. Accelerator pedal operation amount sensor 41 is electrically connected to ECU 90. Accelerator pedal operation amount sensor 41 sends the detected accelerator pedal operation amount information to ECU 90. ECU 90 uses this information to obtain the accelerator pedal operation amount as accelerator pedal operation amount AP.

[0080] In addition to executing the acceleration suppression control described later, the ECU 90 calculates the requested driving force Preq (requested driving torque) based on the accelerator pedal operation amount AP and the vehicle speed (vehicle speed). The ECU 90 controls the operation of the drive unit 21 by outputting the requested driving force Preq. Furthermore, when executing the acceleration suppression control described later, the ECU 90 determines the driving force required to propel the vehicle 100 as desired through the acceleration suppression control and controls the operation of the drive unit 21 by outputting that driving force.

[0081] Brake pedal operation sensor

[0082] Brake pedal operation amount sensor 42 detects the operation amount of the brake pedal of the vehicle 100. Brake pedal operation amount sensor 42 is electrically connected to ECU 90. Brake pedal operation amount sensor 42 sends the detected brake pedal operation amount information to ECU 90. ECU 90 uses this information to obtain the brake pedal operation amount as brake pedal operation amount BP.

[0083] In addition to performing the acceleration suppression control described later, the ECU 90 calculates the requested braking force (requested braking torque) based on the brake pedal operation amount BP. The ECU 90 controls the operation of the braking device 22 by outputting the requested braking force. Furthermore, when performing the acceleration suppression control described later, the ECU 90 determines the braking force required to propel the vehicle 100 as desired through the acceleration suppression control and controls the operation of the braking device 22 by outputting the braking force.

[0084] Steering angle sensor

[0085] Steering angle sensor 43 detects the rotation angle of the steering shaft of vehicle 100 relative to the neutral position. Steering angle sensor 43 is electrically connected to ECU 90. Steering angle sensor 43 sends the detected rotation angle information of the steering shaft to ECU 90. ECU 90 uses this information to obtain the rotation angle of the steering shaft as the steering angle θ.

[0086] Steering torque sensor

[0087] The steering torque sensor 44 is a sensor that detects the torque input by the driver DR of the vehicle 100 to the steering shaft via the steering wheel of the vehicle 100. The steering torque sensor 44 is electrically connected to the ECU 90. The steering torque sensor 44 sends information related to the detected torque to the ECU 90. The ECU 90 uses this information to obtain the torque input by the driver DR to the steering shaft via the steering wheel (driver input steering torque).

[0088] The ECU90 obtains the requested steering force (requested steering torque) based on the steering angle θ, the steering torque input by the driver, and the driving speed of the vehicle 100 (vehicle speed), and controls the operation of the steering device 23 by outputting the requested steering torque from the steering device 23.

[0089] Shift position sensor

[0090] The shift position sensor 46 detects the set position of the shift lever 45, which serves as the shift operator of the vehicle 100. The shift lever 45 is operated by the driver DR of the vehicle 100. The shift lever 45 can be set to the following positions by the driver DR: forward position (drive), reverse position (reverse), neutral position (neutral), and parking position (parking). The shift position sensor 46 is electrically connected to the ECU 90. The shift position sensor 46 sends a signal indicating the detected set position of the shift lever 45 to the ECU 90.

[0091] When the shift lever 45 is set to forward gear, the shift position sensor 46 sends a signal indicating that the shift lever 45 is set to forward gear to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission 24 in a forward gear state.

[0092] Furthermore, when the shift lever 45 is set to reverse, the shift position sensor 46 sends a signal indicating that the shift lever 45 is set to reverse to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission 24 in a reverse gear state.

[0093] Furthermore, when the shift lever 45 is set to neutral, the shift position sensor 46 sends a signal indicating that the shift lever 45 is set to neutral to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission 24 in a manner that the transmission 24 is in neutral.

[0094] Furthermore, when the shift lever 45 is set to the parking position, the shift position sensor 46 sends a signal indicating that the shift lever 45 is set to the parking position to the ECU 90. Upon receiving this signal, the ECU 90 controls the operation of the transmission 24 in a manner that the transmission 24 is in the parking position.

[0095] It should be noted that when the ECU90 performs the acceleration suppression control described later, it controls the operation of the transmission 24 (shifting gears) according to the need to make the vehicle 100 move as desired.

[0096] Vehicle speed detection device

[0097] The vehicle speed detection device 47 detects the driving speed of the vehicle 100. The vehicle speed detection device 47 is, for example, a wheel speed sensor. The vehicle speed detection device 47 is electrically connected to the ECU 90. The vehicle speed detection device 47 sends the detected driving speed information of the vehicle 100 to the ECU 90. The ECU 90 uses this information to obtain the driving speed of the vehicle 100 (vehicle speed V100).

[0098] Turn indicator lever

[0099] The turn signal lever 48 is a device operated by the driver (DR) to activate the turn signal lights 31. The turn signal lever 48 is electrically connected to the ECU 90. When the turn signal lever 48 is operated clockwise, the ECU 90 causes the turn signal lights 31 located at the right front corner and the right rear corner to flash. Conversely, when the turn signal lever 48 is operated counterclockwise, the ECU 90 causes the turn signal lights 31 located at the left front corner and the left rear corner to flash. Furthermore, the ECU 90 can also cause all turn signal lights 31 to flash at predetermined time intervals. Hereinafter, the flashing of all turn signal lights 31 at predetermined time intervals will be referred to as "hazard light flashing."

[0100] Surrounding Information Detection Device

[0101] The surrounding information detection device 60 detects the surrounding information of the vehicle 100. In this example, it includes an electromagnetic wave sensor 61 and an image sensor 62.

[0102] radio wave sensor

[0103] The radio wave sensor 61 uses radio waves to detect information related to objects present in the vicinity of the vehicle 100. For example, the radio wave sensor 61 is at least one of an acoustic sensor such as a radar sensor (millimeter-wave radar, etc.), an ultrasonic sensor (gap sonar), and a light sensor such as a lidar (LiDAR). The radio wave sensor 61 is electrically connected to the ECU 90. The radio wave sensor 61 transmits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 61 transmits information about the transmitted and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 61 senses objects present in the vicinity of the vehicle 100 and transmits information about these sensed objects to the ECU 90. The ECU 90 can then acquire information about objects present in the vicinity of the vehicle 100 (peripheral detection information IS) based on this information (radio wave information IR or radio wave data). Objects detected using the radio wave sensor 61 include, for example, vehicles, walls, bicycles, and people.

[0104] Image sensor

[0105] Image sensor 62 captures images of the surroundings of vehicle 100. For example, the image sensor is a camera. Image sensor 62 is electrically connected to ECU 90. Image sensor 62 captures images of the surroundings of vehicle 100 and sends the captured image information to ECU 90. ECU 90 can use this information (image information IC or image data) to obtain information about the surroundings of vehicle 100 (surroundings detection information IS).

[0106] Summary of the operation of vehicle driver assistance devices

[0107] Next, a summary of the operation of the vehicle driving assistance device 10 will be explained. When the driver DR mistakenly accelerates by forcefully pressing the accelerator pedal, the vehicle driving assistance device 10 performs acceleration suppression control to suppress the acceleration of the vehicle 100.

[0108] The vehicle driving assistance device 10 performs acceleration suppression control when it determines that a erroneous acceleration operation has been performed. As a condition for determining that a erroneous acceleration operation has been performed, the condition that the accelerator pedal operation amount AP increases at a large rate of change is considered first.

[0109] However, if it is determined that a mistaken acceleration operation has been performed when the accelerator pedal operation amount AP increases at a large rate of change, then if the vehicle 100 is in motion at this time, the vehicle driving assistance device 10 will perform acceleration suppression control in a scenario where it is not preferable to perform acceleration suppression control, or in a scenario where there is no need to perform acceleration suppression control.

[0110] Therefore, when the driving condition C20 is met under the precondition C10 of accidental acceleration, the vehicle driving assistance device 10 determines whether the prescribed prohibition condition C30 is met. If the vehicle driving assistance device 10 determines that the prescribed prohibition condition C30 is not met, the vehicle driving assistance device 10 is configured to perform acceleration suppression control. If the vehicle driving assistance device 10 determines that the prescribed prohibition condition C30 is met, the vehicle driving assistance device 10 is configured not to perform acceleration suppression control.

[0111] It should be noted that the vehicle driving assistance device 10 is configured to perform acceleration suppression control without determining whether the prescribed prohibition condition C30 is met when the vehicle driving assistance device 10 determines that the precondition C10 for the erroneous acceleration operation has been met but the driving condition C20 has not been met (i.e., the vehicle 100 has stopped).

[0112] Driving condition C20 is used to determine if vehicle 100 is in motion. In this example, driving condition C20 is that the vehicle speed V100 is greater than zero. It should be noted that, in addition to the condition that the vehicle speed V100 is greater than zero, driving condition C20 can also include the condition that the vehicle speed V100 is below a specified speed Vupper_limit (which is greater than zero). In this case, in this example, the specified speed Vupper_limit is set to a relatively large speed.

[0113] Furthermore, the precondition C10 for accidental acceleration is used to determine whether an accidental acceleration operation has occurred. In this example, the precondition C10 for accidental acceleration is that the accelerator pedal operation amount AP is greater than the specified operation amount APth, and the rate of change Rap of the accelerator pedal operation amount AP at this time is greater than the specified rate of change Rap_th. It should be noted that, in addition to these conditions, one or more of the following conditions can be added as the precondition C10 for accidental acceleration: the turn indicator light 31 is not in operation, the brake pedal is not operated, and the time elapsed since the start of the brake pedal operation is longer than a specified time. Moreover, in addition to these conditions, conditions related to the steering angle θ and / or the setting position of the shift lever 45 can be added as the precondition C10 for accidental acceleration.

[0114] An acceleration operation is an operation used to request acceleration of the vehicle 100. In this example, an acceleration operation is an operation such as pressing the accelerator pedal. The vehicle driving assistance device 10 determines that an acceleration operation has been performed when the accelerator pedal operation amount AP is greater than zero.

[0115] Accidental acceleration is a driver's incorrect operation of the accelerator pedal, such as forcefully pressing the accelerator pedal.

[0116] Furthermore, in this example, acceleration suppression control is the control that performs either driving force limiting processing or braking processing. In addition to these processing, acceleration suppression control can also be the control that performs either driving force reduction processing or downshifting processing, for a total of four processing actions.

[0117] The drive force limiting process is as follows: if the requested drive force Preq, obtained based on the accelerator pedal operation amount AP and the vehicle speed V100, is greater than the specified drive force Plimit, the drive force P supplied from the drive unit 21 to the vehicle 100 is controlled to the specified drive force Plimit. In other words, the drive force limiting process is a control that limits the drive force P supplied from the drive unit 21 to the vehicle 100 to below the specified drive force Plimit.

[0118] During braking, the driving force supplied to the vehicle 100 from the drive unit 21 is set to zero, and the braking force is supplied to the vehicle 100 from the braking unit 22.

[0119] In the process of reducing driving force, regardless of the value of the accelerator pedal operation amount AP, the driving force imparted by the drive unit 21 to the vehicle 100 decreases from the driving force at that point in time.

[0120] During downshifting, braking force is applied to the vehicle 100 by changing the gear ratio of the transmission device 24.

[0121] Prohibited conditions

[0122] Furthermore, in this example, the prohibited condition C30 includes the prohibited boundary angle condition C31, the adjacent vehicle condition C32, the object condition in the vehicle's driving lane C33, the blind spot condition C34, and the vehicle's driving lane crossing time condition C35. The vehicle driving assistance device 10 determines that the prohibited condition C30 is met if at least one of the prohibited boundary angle condition C31, the adjacent vehicle condition C32, the object condition in the vehicle's driving lane C33, the blind spot condition C34, and the vehicle's driving lane crossing time condition C35 is met. In other words, the vehicle driving assistance device 10 determines that the prohibited condition C30 is not met if none of the prohibited boundary angle condition C31, the adjacent vehicle condition C32, the object condition in the vehicle's driving lane C33, the blind spot condition C34, and the vehicle's driving lane crossing time condition C35 are met.

[0123] Forbidden boundary angle conditions

[0124] The forbidden boundary angle condition C31 is explained. For example... Figure 2A As shown, when driver DR accidentally accelerates the vehicle while driving at 100 km / h, causing the vehicle to accelerate rapidly, driver DR may panic due to this sudden acceleration and make incorrect steering wheel movements. When driver DR makes such incorrect steering wheel movements, such as... Figure 2B As shown, the direction of travel Dv of vehicle 100 will change (refer to location P21). As a result, vehicle 100 may sometimes travel towards boundary BL1. It should be noted that... Figure 2B The following scenario is shown: The vehicle 100 is traveling toward the boundary BL1 (the dividing line that divides the right side of the vehicle's driving lane LN1, i.e., the dividing line between the vehicle's driving lane LN1 and lane LN2) that is closest to the vehicle 100 in its direction of travel Dv.

[0125] At this moment, the boundary BL1 (located at the point closest to the vehicle 100 in the direction of travel Dv) of the vehicle 100 is... Figure 2BIn the example shown, the angle (boundary angle θ1) between the dividing line on the right side of the lane LN1 (where the vehicle is traveling) and the direction of travel Dv of the vehicle 100 becomes larger (compared to a normal lane change). Therefore, even if the precondition C10 for accidental acceleration is met while the vehicle 100 is traveling (when driving condition C20 is met), the larger boundary angle θ1 indicates that the acceleration of the vehicle 100 should be suppressed.

[0126] However, as Figure 3 As shown, when attempting to move vehicle 100 across road RD, driver DR may forcefully depress the accelerator pedal. At this time, driving condition C20 is met, and the precondition for erroneous acceleration operation C10 is met. Furthermore, vehicle 100 is traveling at a large angle relative to the boundary BL1 closest to vehicle 100 in its direction of travel Dv. In this situation, when acceleration suppression control is executed because it is determined that acceleration of vehicle 100 should be suppressed, driver DR will find it difficult to move vehicle 100 as intended.

[0127] Furthermore, even if the driver DR performs an erroneous acceleration maneuver, if no incorrect steering wheel operation is performed at that moment, the vehicle 100 will continue along its own lane LN1. Therefore, in such a situation, there is no need to implement acceleration suppression control at that point in time. In other words, even if an erroneous acceleration maneuver occurs, if the boundary angle θ1 is very small, there is no need to implement acceleration suppression control at that point in time.

[0128] Based on the above, in this example, the prohibited boundary angle condition C31 is set to the condition that the boundary angle θ1 is outside the specified allowable angle range Rθ. Therefore, it can be set so that even if the precondition C10 for erroneous acceleration is met when the driving condition C20 is met, acceleration suppression control will not be executed when the boundary angle θ1 is relatively large or very small.

[0129] It should be noted that the upper limit of the permissible angle range Rθ is the upper limit permissible angle θupper_limit (which specifies the boundary angle of the vehicle's driving lane). The lower limit of the permissible angle range Rθ is the lower limit permissible angle θlower_limit. Furthermore, the vehicle driving assistance device 10 uses the surrounding detection information IS to obtain the boundary angle θ1.

[0130] Adjacent vehicle conditions

[0131] Next, the condition C32 for adjacent vehicles will be explained. When the driver DR accidentally accelerates the vehicle 100 while it is in motion, and the driver DR panics due to the sudden acceleration of the vehicle 100 and makes an incorrect steering wheel operation, and the vehicle 100 is traveling along the road, the vehicle 100 may sometimes move toward the boundary BL1 of its own lane LN1.

[0132] At this time, as Figure 4A As shown, sometimes there is an adjacent lane LN2 in the direction of travel Dv of the vehicle 100, and this adjacent lane LN2 is an oncoming lane. Furthermore, sometimes there is a vehicle (oncoming vehicle 200A) traveling in the oncoming lane ahead of the vehicle 100. When acceleration suppression control is executed under such circumstances, the vehicle 100 will decelerate due to the acceleration suppression control and enter the adjacent lane LN2 (oncoming lane), traveling at a low speed in the adjacent lane LN2, or coming to a stop in the adjacent lane LN2. In such cases, the oncoming vehicle 200A may approach the vehicle 100, which is undesirable.

[0133] In addition, such as Figure 4B As shown, sometimes there is an adjacent lane LN2 in the direction of travel Dv of the vehicle 100, and this adjacent lane LN2 is a parallel lane. Furthermore, sometimes there is a vehicle (rear vehicle 200B) traveling behind the vehicle 100 in this parallel lane. When acceleration suppression control is executed under such circumstances, the vehicle 100 will decelerate due to the acceleration suppression control and enter the adjacent lane LN2 (parallel lane), traveling at a low speed in the adjacent lane LN2, or coming to a stop in the adjacent lane LN2. In such cases, the rear vehicle 200B may approach the vehicle 100, which is undesirable.

[0134] Based on the above, in this example, the adjacent vehicle condition C32 is set as follows: when the adjacent lane LN2 in the direction of travel Dv of this vehicle 100 is an oncoming lane, there is a vehicle (oncoming vehicle 200A) traveling in the oncoming lane ahead of this vehicle 100, and the predicted arrival time TTC for the oncoming vehicle 200A is less than or equal to a predetermined predicted arrival time TTCth. Alternatively, the adjacent vehicle condition C32 is set as follows: when the adjacent lane LN2 in the direction of travel Dv of this vehicle 100 is a parallel lane, there is a vehicle (rear vehicle 200B) traveling in the parallel lane behind this vehicle 100, and the predicted arrival time TTC for the rear vehicle 200B is less than or equal to a predetermined predicted arrival time TTCth. Therefore, it can be set so that even if the precondition C10 for the accidental acceleration operation is met when the driving condition C20 is met, acceleration suppression control will not be performed if oncoming vehicle 200A and following vehicle 200B traveling in adjacent lane LN2 may approach the vehicle 100 if acceleration suppression control is performed.

[0135] It should be noted that the predicted arrival time (TTC) for the oncoming vehicle 200A is a prediction of the time required for the vehicle 100 to reach a point where it approaches the oncoming vehicle 200A at a distance less than a predetermined distance, while the vehicle 100 maintains its original speed V100 and steering angle θ at that time. The vehicle driving assistance device 10 calculates the predicted arrival time (TTC) based on the distance between the vehicle 100 and the oncoming vehicle 200A, their relative speed, and the steering angle θ. The vehicle driving assistance device 10 uses surrounding detection information such as IS to obtain the distance between the vehicle 100 and the oncoming vehicle 200A and their relative speed.

[0136] Furthermore, the predicted arrival time (TTC) for the following vehicle 200B is predicted as the time required for the vehicle 100 to reach a point where it approaches the following vehicle 200B at a distance less than a predetermined distance, while the vehicle 100 maintains its original speed V100 and steering angle θ at that time. The vehicle driving assistance device 10 calculates the predicted arrival time (TTC) based on the distance between the vehicle 100 and the following vehicle 200B, their relative speeds, and the steering angle θ. The vehicle driving assistance device 10 uses surrounding detection information (IS) and the like to obtain the distance between the vehicle 100 and the following vehicle 200B, as well as their relative speeds.

[0137] In addition, the vehicle driving assistance device 10 determines, based on the surrounding detection information IS, whether the adjacent lane LN2 in the direction of travel Dv of the vehicle 100 is an oncoming lane or a parallel lane.

[0138] The vehicle is traveling in the lane with objects in it.

[0139] Next, the object condition C33 in the vehicle's driving lane will be explained. For example... Figure 5 As shown, sometimes there are vehicles or other objects (vehicle lane object 200C) stopped on the side of the road in front of vehicle 100's driving lane LN1, or pedestrians, bicycles, or other objects (vehicle lane object 200C) moving in the same or opposite direction as vehicle 100's direction of travel Dv on the side of the road in front of vehicle 100's driving lane LN1. In this situation, sometimes the driver DR will turn vehicle 100 by maneuvering the steering wheel to avoid such a vehicle lane object 200C. It should be noted that... Figure 5 The scene shown is a vehicle (object 200C in the vehicle's driving lane) that is stopped on the left side of the vehicle's driving lane LN1 in front of the vehicle 100.

[0140] When driver DR turns the steering wheel to avoid object 200C in the vehicle's lane, the vehicle 100 moves towards the boundary BL1 of the vehicle's lane LN1. At this time, driver DR performs an operation that causes the precondition C10 to be met, thus, when acceleration suppression control is executed because it is determined that acceleration of the vehicle 100 should be suppressed, driver DR finds it difficult to drive the vehicle 100 as intended.

[0141] Based on the above, in this example, the vehicle lane object condition C33 is set as follows: there is a vehicle lane object 200C that is stationary on the side of the road in front of the vehicle 100's vehicle lane LN1, or there is a vehicle lane object 200C that is moving in the same direction as the vehicle 100's travel direction Dv on the side of the road in front of the vehicle 100's vehicle lane LN1, or there is a vehicle lane object 200C that is moving in the opposite direction to the vehicle 100's travel direction Dv on the side of the road in front of the vehicle 100's vehicle lane LN1, and the predicted arrival time TTC for this vehicle lane object 200C is less than or equal to a predetermined predicted arrival time TTCth. Therefore, it can be set so that even if the precondition C10 for erroneous acceleration operation is met when the driving condition C20 is met, acceleration suppression control will not be performed when there is an object such as a vehicle on the side of the road in front of the vehicle 100's vehicle lane LN1. The condition C33 for objects in the vehicle's driving lane can also replace the condition that the predicted arrival time TTC for the object 200C in the vehicle's driving lane is less than or equal to a specified predicted arrival time TTCth, and instead use the condition that the distance between the object 200C in the vehicle's driving lane and the vehicle is less than or equal to a specified distance.

[0142] It should be noted that the predicted arrival time (TTC) for the object 200C in the vehicle's driving lane is predicted as the time required for the vehicle 100 to reach a point where it approaches the object 200C at a distance less than a predetermined distance, while the vehicle 100 maintains its original speed V100 and steering angle θ at that time. The vehicle driving assistance device 10 calculates the predicted arrival time (TTC) based on the distance between the vehicle 100 and the object 200C, their relative speed, and the steering angle θ. The vehicle driving assistance device 10 uses surrounding detection information such as IS to obtain the distance between the vehicle 100 and the object 200C and their relative speed.

[0143] In addition, the vehicle driving assistance device 10 determines whether there is an object 200C in the vehicle's driving lane based on the surrounding detection information IS.

[0144] Blind spot conditions

[0145] Next, the blind spot condition C34 will be explained. As mentioned above, when the driver DR accidentally accelerates the vehicle 100 while it is in motion, and panics due to the sudden acceleration of the vehicle 100, the driver DR makes an incorrect steering wheel operation, and the vehicle 100 sometimes moves toward the boundary BL1 of the vehicle's lane LN1.

[0146] At this time, as Figure 6 As shown, when a vehicle (leading vehicle 200D) traveling in lane LN1 is present in front of vehicle 100, a portion of the detection range of the surrounding information detection device 60 (a portion of the forward detection range) may be obscured by the leading vehicle 200D, becoming a blind spot. When acceleration suppression control is executed under such circumstances, although the blind spot Rdead in front of vehicle 100 cannot be obtained from the surrounding detection information IS, vehicle 100 will decelerate through acceleration suppression control and enter the adjacent lane LN2 (in... Figure 6 In the example shown, the opposite lane is used, so the vehicle travels at a low speed in the adjacent lane LN2, or stops in the adjacent lane LN2. This situation is not preferred.

[0147] Based on the above, in this example, the blind spot condition C34 is set as follows: when an adjacent lane LN2 exists, a blind spot of the surrounding information detection device 60 exists in the adjacent lane LN2 within the range from the vehicle 100 to a point at a predetermined distance Dth in front of the vehicle 100. Therefore, it can be set so that even if the precondition C10 for erroneous acceleration operation is met when driving condition C20 is met, acceleration suppression control will not be performed when a blind spot of the surrounding information detection device 60 exists in the adjacent lane LN2.

[0148] It should be noted that the vehicle driving assistance device 10 determines whether there is a blind spot of the surrounding information detection device 60 in the adjacent lane LN2 based on the surrounding detection information IS, and whether the blind spot exists in the adjacent lane LN2 within the range from the vehicle 100 to a location at a predetermined distance Dth in front of the vehicle 100.

[0149] The vehicle crossed the lane boundary under the following conditions.

[0150] Next, the condition C35 for the vehicle crossing the lane boundary will be explained. As mentioned above, when the driver DR accidentally accelerates the vehicle 100 while it is in motion, and the driver DR panics due to the sudden acceleration of the vehicle 100, and thus makes an incorrect steering wheel operation, the vehicle 100 may sometimes move towards the boundary BL1 of the vehicle's lane LN1.

[0151] If the time required for the vehicle to cross the boundary BL1 of its driving lane LN1 (the time T1 for the vehicle to cross the boundary) is relatively long, then there is no need to perform acceleration suppression control at that time point.

[0152] Based on the above, in this example, the lane crossing time condition C35 is set to the condition that the lane crossing time T1 is more than or equal to the specified lane crossing time T1th. Therefore, it can be set so that even if the precondition C10 for erroneous acceleration is met when driving condition C20 is met, and the time required for vehicle 100 to cross the boundary BL1 of lane LN1 (lane crossing time T1) is relatively long, thus lacking the necessity to perform acceleration suppression control at that time point, acceleration suppression control will not be performed.

[0153] It should be noted that the vehicle driving assistance device 10 obtains the time T1 when the vehicle crosses the lane based on the surrounding detection information IS.

[0154] Termination condition

[0155] Furthermore, in this example, a condition (end condition C40) is set to end the acceleration suppression control after its initiation. End condition C40 includes adjacent lane boundary angle condition C41, adjacent lane crossing time condition C42, adjacent lane travel time condition C43, and accelerator pedal operation amount condition C44.

[0156] Adjacent lane boundary angle conditions

[0157] The adjacent lane boundary angle condition C41 is explained. When driver DR changes lanes for vehicle 100, vehicle 100... Figure 7A Drive as shown. Therefore, as Figure 7B As shown, when vehicle 100 moves from location P71 to location P72, vehicle 100 is traveling and the boundary angle θ1 is within the specified permissible angle range Rθ. When the driver DR performs an operation that causes the precondition C10 for accidental acceleration to be met, the vehicle driving assistance device 10 begins acceleration suppression control. If acceleration suppression control continues as is, the state in which acceleration of vehicle 100 is suppressed will persist. This situation is undesirable.

[0158] If driver DR is changing lanes 100 for this vehicle, then as follows Figure 7C As shown, when vehicle 100 moves to location P73, the angle between the boundary BL2 of the adjacent lane LN2 in the direction of travel Dv of vehicle 100 and the direction of travel Dv (adjacent lane boundary angle θ2) decreases. Therefore, the lane change of vehicle 100 can be judged as completed when vehicle 100 crosses the boundary BL1 of its own lane LN1 and enters the adjacent lane LN2, and the adjacent lane boundary angle θ2 becomes relatively small.

[0159] Based on the above, in this example, the adjacent lane boundary angle condition C41 is set as follows: the vehicle 100 crosses the boundary BL1 of its own lane LN1 and enters the adjacent lane LN2, and the adjacent lane boundary angle θ2 is below the specified adjacent lane boundary angle θ2th. Therefore, acceleration suppression control can end when the lane change of the vehicle 100 is completed. The specified adjacent lane boundary angle θ2th can also be an angle smaller than the specified upper limit angle θupper_limit (the specified boundary angle of the vehicle's own lane).

[0160] It should be noted that the vehicle driving assistance device 10 determines whether the vehicle 100 has entered the adjacent lane LN2 based on the surrounding detection information IS. In addition, the vehicle driving assistance device 10 obtains the adjacent lane boundary angle θ2 based on the surrounding detection information IS.

[0161] Adjacent lane crossing time conditions

[0162] Next, the adjacent lane crossing time condition C42 will be explained. As mentioned above, if driver DR is changing lanes for vehicle 100, then as follows... Figure 7C As shown, when vehicle 100 moves to location P73, the adjacent lane boundary angle θ2 decreases. Therefore, the time required for vehicle 100 to cross the boundary BL2 of the adjacent lane LN2 existing ahead of its direction of travel Dv (adjacent lane crossing time T2) becomes longer. Therefore, the lane change of vehicle 100 can be judged as complete when vehicle 100 crosses the boundary BL1 of its own lane LN1 and enters the adjacent lane LN2, and the adjacent lane crossing time T2 becomes relatively long.

[0163] Based on the above, in this example, the adjacent lane crossing time condition C42 is set as follows: the vehicle 100 crosses the boundary BL1 of its own lane LN1 and enters the adjacent lane LN2, and the adjacent lane crossing time T2 is greater than or equal to the prescribed adjacent lane crossing time T2th. Therefore, acceleration suppression control can be terminated when the lane change of the vehicle 100 is completed.

[0164] It should be noted that the vehicle driving assistance device 10 obtains the adjacent lane crossing time T2 based on surrounding detection information IS and other information.

[0165] Adjacent lane travel time conditions

[0166] Next, the condition C43 regarding the adjacent lane travel time will be explained. After vehicle 100 completes its lane change, it should travel in adjacent lane LN2 for a relatively long time after entering it. Therefore, the completion of vehicle 100's lane change can be determined by the relatively long period of time (adjacent lane travel time T3) after vehicle 100 crosses the boundary BL1 of its own lane and enters adjacent lane LN2.

[0167] Based on the above, in this example, the adjacent lane travel time condition C43 is set to the condition that the adjacent lane travel time T3 is greater than or equal to the specified adjacent lane travel time T3th. Therefore, acceleration suppression control can be terminated when the lane change of this vehicle 100 is completed.

[0168] It should be noted that the vehicle driving assistance device 10 obtains the adjacent lane travel time T3 based on surrounding detection information IS and other information.

[0169] Accelerator pedal operation conditions

[0170] Next, the accelerator pedal operation amount condition C44 will be explained. If the accelerator pedal operation amount AP decreases after acceleration suppression control is initiated, it can be determined that the situation of the driver DR accidentally accelerating has been eliminated.

[0171] Based on the above, in this example, the accelerator pedal operation amount condition C44 is set to a condition where the accelerator pedal operation amount AP is less than or equal to the specified release operation amount APcancel. Therefore, acceleration suppression control can be terminated when no further erroneous acceleration operations occur.

[0172] It should be noted that the vehicle driving assistance device 10 can also be configured to perform either driving force limiting processing or braking processing as acceleration suppression control when acceleration suppression control is being performed, but depending on the condition of the vehicle 100, the processing performed as acceleration suppression control is switched from driving force limiting processing to braking processing.

[0173] More specifically, the vehicle driving assistance device 10 can also be configured to: when acceleration suppression control is initiated while the vehicle 100 is traveling along the road, perform driving force limiting processing during the period until the vehicle 100 crosses the boundary BL1 of the vehicle's driving lane LN1, and perform braking processing after the vehicle 100 crosses the boundary BL1 of the vehicle's driving lane LN1.

[0174] Effect

[0175] Therefore, according to the vehicle driving assistance device 10, even if the precondition C10 for accidental acceleration is met while the vehicle 100 is in motion, acceleration suppression control will not be executed as long as the prescribed prohibition condition C30 is met. Furthermore, the prescribed prohibition condition C30 is set based on the relationship between the vehicle 100 and its external environment. Therefore, unnecessary execution of acceleration suppression control while the vehicle 100 is in motion can be reduced.

[0176] The specific operation of vehicle driving assistance devices

[0177] Next, the specific operation of the vehicle driving assistance device 10 will be explained. The CPU of the ECU 90 of the vehicle driving assistance device 10 executes according to the prescribed calculation cycle. Figure 8 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 8 The process begins at step S800 and proceeds to step S805, where it is determined whether the value of the acceleration suppression execution flag X1 is "0". The acceleration suppression execution flag X1 indicates whether acceleration suppression control is being executed. The acceleration suppression execution flag X1 is set to "1" when acceleration suppression control is being executed. The acceleration suppression execution flag X1 is set to "0" when acceleration suppression control is not being executed.

[0178] If the CPU determines "yes" in step S805, the CPU will proceed to step S810 to determine whether the precondition C10 for the erroneous acceleration operation is met.

[0179] If the CPU determines "yes" in step S810, the CPU causes the process to proceed to step S815, whereby it determines whether at least one of the specified prohibition conditions C30 is met.

[0180] If the CPU determines "No" in step S815, the CPU proceeds to step S820 to begin acceleration suppression control. Next, the CPU proceeds to step S825 and sets the value of the acceleration suppression execution flag X1 to "1". Then, the CPU proceeds to step S895, temporarily terminating the current routine.

[0181] On the other hand, if the CPU determines "yes" in step S815, the CPU will directly proceed to step S895 and temporarily terminate this routine.

[0182] Furthermore, if the CPU determines "no" in step S810, the CPU will also directly proceed to step S895, temporarily ending this routine.

[0183] Furthermore, if the CPU determines "no" in step S805, the CPU causes the process to proceed to step S830 to continue acceleration suppression control. Then, the CPU causes the process to proceed to step S895, temporarily terminating the current routine.

[0184] Alternatively, the CPU executes according to a specified operation cycle. Figure 9 The example shown is used to replace Figure 8 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 9 The process begins at step S900 and proceeds to step S905, where it is determined whether the value of the acceleration suppression execution flag X1 is "0".

[0185] If the CPU determines "yes" in step S905, the CPU will proceed to step S910 to determine whether the precondition C10 for the erroneous acceleration operation is met.

[0186] If the CPU determines "yes" in step S910, the CPU causes the process to proceed to step S915, whereby it determines whether at least one of the specified prohibition conditions C30 is met.

[0187] If the CPU determines "No" in step S915, the CPU proceeds to step S920 to begin driving force limiting processing as acceleration suppression control. Next, the CPU proceeds to step S925 and sets the value of the acceleration suppression execution flag X1 to "1". Then, the CPU proceeds to step S995, temporarily terminating the current routine.

[0188] On the other hand, if the CPU determines "yes" in step S915, the CPU will directly proceed to step S995 and temporarily terminate this routine.

[0189] Furthermore, if the CPU determines "no" in step S910, the CPU will also directly proceed to step S995, temporarily ending this routine.

[0190] Furthermore, if the CPU determines "no" in step S905, the CPU will proceed to step S930 to determine whether the vehicle 100 has crossed the boundary BL1 of its driving lane LN1 and entered the adjacent lane LN2.

[0191] If the CPU determines "yes" in step S930, the CPU proceeds to step S935, switching the acceleration suppression control process from driving force limiting to braking. Then, the CPU proceeds to step S995, temporarily terminating the current routine.

[0192] On the other hand, if the CPU determines "no" in step S930, the CPU causes the process to proceed to step S940, where it continues the drive force limiting process as an acceleration suppression control process. Then, the CPU causes the process to proceed to step S995, temporarily terminating the current routine.

[0193] Moreover, the CPU executes according to the prescribed operation cycle. Figure 10 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 10 The process begins at step S1000 and proceeds to step S1005, where it is determined whether the value of the acceleration suppression flag X1 is "1".

[0194] If the CPU determines "yes" in step S1005, the CPU causes the process to proceed to step S1010 to determine whether the termination condition C40 is met.

[0195] If the CPU determines "yes" in step S1010, the CPU proceeds to step S1015 to end the acceleration suppression control. Next, the CPU proceeds to step S1020 and sets the value of the acceleration suppression execution flag X1 to "0". Then, the CPU proceeds to step S1095 to temporarily terminate this routine.

[0196] On the other hand, if the CPU determines "no" in step S1010, the CPU will directly proceed to step S1095 and temporarily terminate this routine.

[0197] Furthermore, if the CPU determines "no" in step S1005, the CPU will also directly proceed to step S1095, temporarily ending this routine.

[0198] The above describes the specific operation of the vehicle driving assistance device 10. Figure 8 or Figure 9 In the routine, the determination of whether the driving conditions are met can also be performed before or after determining whether the precondition for the erroneous acceleration operation is met. Furthermore, the CPU can also determine whether at least one of the specified prohibition conditions is met if both the precondition for the erroneous acceleration operation and the driving conditions are met.

[0199] It should be noted that this disclosure is not limited to the above-described embodiments, and various modifications can be adopted within the scope of this disclosure.

Claims

1. A vehicle driving assistance device, characterized in that, Including processors, The processor is configured to: when the precondition for an erroneous acceleration operation is met under the given driving conditions, and when none of the prescribed prohibition conditions are met, execute acceleration suppression control to suppress the acceleration of the vehicle. The driving conditions are those used to determine that the vehicle is currently moving; the precondition for the erroneous acceleration operation is a condition used to determine that an erroneous acceleration operation has been performed; the acceleration operation is an operation by which the driver of the vehicle requests acceleration; and the prescribed prohibition conditions are based on the relationship between the vehicle and its external environment. The prohibited conditions include the following: the angle between the boundary closest to the vehicle in the direction of travel and the direction of travel is greater than the specified upper limit angle.

2. A vehicle driving assistance device, characterized in that, Including processors, The processor is configured to: when the precondition for an erroneous acceleration operation is met under the condition that driving conditions are met, and when none of the prescribed prohibition conditions are met, execute acceleration suppression control to suppress the acceleration of the vehicle, wherein the driving conditions are conditions used to determine that the vehicle is driving, the precondition for the erroneous acceleration operation is a condition used to determine that an erroneous acceleration operation has been performed, the acceleration operation is an operation by which the driver of the vehicle requests the acceleration of the vehicle, and the prescribed prohibition conditions are conditions based on the relationship between the vehicle and its external environment; and After the processor initiates the acceleration suppression control, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane, and the angle between the boundary of the adjacent lane on the opposite side of the driving lane and the direction of travel of the vehicle becomes below a predetermined adjacent lane boundary angle, the acceleration suppression control ends.

3. The vehicle driving assistance device according to claim 2, characterized in that, The prohibited conditions include the condition that the angle between the boundary of the vehicle's driving lane and the vehicle's direction of travel is greater than or equal to the angle of the boundary of the vehicle's driving lane; and The specified adjacent lane boundary angle is set to a value smaller than the specified vehicle lane boundary angle.

4. A vehicle driving assistance device, characterized in that, Including processors, The processor is configured to: when the precondition for an erroneous acceleration operation is met under the condition that driving conditions are met, and when none of the prescribed prohibition conditions are met, execute acceleration suppression control to suppress the acceleration of the vehicle, wherein the driving conditions are conditions used to determine that the vehicle is driving, the precondition for the erroneous acceleration operation is a condition used to determine that an erroneous acceleration operation has been performed, the acceleration operation is an operation by which the driver of the vehicle requests the acceleration of the vehicle, and the prescribed prohibition conditions are conditions based on the relationship between the vehicle and its external environment; and After the processor initiates the acceleration suppression control, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane, and the adjacent lane crossing time is more than a predetermined adjacent lane crossing time, the acceleration suppression control ends, wherein the adjacent lane crossing time is the time required until the vehicle crosses the boundary of the adjacent lane on the opposite side of the driving lane.

5. A vehicle driving assistance device, characterized in that, Including processors, The processor is configured to: when the precondition for an erroneous acceleration operation is met under the condition that driving conditions are met, and when none of the prescribed prohibition conditions are met, execute acceleration suppression control to suppress the acceleration of the vehicle, wherein the driving conditions are conditions used to determine that the vehicle is driving, the precondition for the erroneous acceleration operation is a condition used to determine that an erroneous acceleration operation has been performed, the acceleration operation is an operation by which the driver of the vehicle requests the acceleration of the vehicle, and the prescribed prohibition conditions are conditions based on the relationship between the vehicle and its external environment; and After the processor initiates the acceleration suppression control, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to its driving lane, and the driving time in the adjacent lane exceeds a predetermined driving time in the adjacent lane, the acceleration suppression control ends. The driving time in the adjacent lane is the time the vehicle spends driving in the adjacent lane after entering it.

6. The vehicle driving assistance device according to claim 1, 2, 4 or 5, characterized in that, The processor is configured to not perform the acceleration suppression control when the driving conditions are met and the preconditions for the erroneous acceleration operation are met.

7. The vehicle driving assistance device according to any one of claims 1 to 5, characterized in that, The prohibited conditions include the presence of an object in front of the vehicle and in the vehicle's driving lane.

8. The vehicle driving assistance device according to any one of claims 1 to 5, characterized in that, The prohibited conditions include the condition that there is an object in front of the vehicle and in the vehicle's driving lane, and the distance between the object and the vehicle is less than a specified distance.

9. The vehicle driving assistance device according to any one of claims 1 to 5, characterized in that, The prohibited conditions include the condition that other vehicles are traveling in an adjacent lane that is adjacent to the lane in which the vehicle is traveling.

10. The vehicle driving assistance device according to any one of claims 1 to 5, characterized in that, The prohibited conditions include the existence of a blind spot within the detection range of the vehicle's surrounding information detection device in the adjacent lane that is adjacent to the vehicle's driving lane.

11. The vehicle driving assistance device according to any one of claims 1 to 5, characterized in that, The prohibited conditions include the condition that the time required for the vehicle to cross the boundary of its driving lane is more than a predetermined time.

12. The vehicle driving assistance device according to claim 1, 2, 4 or 5, characterized in that, The processor is configured to execute the acceleration suppression control when the precondition for the erroneous acceleration operation is met when the vehicle stops.

13. A non-transitory storage medium storing an instruction executable by one or more processors, the instruction causing the one or more processors to perform a function, wherein the non-transitory storage medium is characterized in that the function includes: When the preconditions for erroneous acceleration are met under the given driving conditions, and all prohibited conditions are not met, acceleration suppression control is implemented to inhibit the acceleration of the vehicle. Here, the driving conditions are those used to determine that the vehicle is currently moving; the preconditions for erroneous acceleration are those used to determine that an acceleration operation has been incorrectly performed; the acceleration operation is an operation by which the driver of the vehicle requests acceleration; and the prohibited conditions are based on the relationship between the vehicle and its external environment. The prohibited conditions include the following: the angle between the boundary closest to the vehicle in the direction of travel and the direction of travel is greater than the specified upper limit angle.

14. A non-transitory storage medium storing an instruction executable by one or more processors, the instruction causing the one or more processors to perform a function, characterized in that the function includes: When the preconditions for erroneous acceleration are met when the driving conditions are met, and all prohibited conditions are not met, acceleration suppression control is executed to inhibit the acceleration of the vehicle. Here, the driving conditions are those used to determine that the vehicle is currently moving; the preconditions for erroneous acceleration are those used to determine that an acceleration operation has been erroneously performed; the acceleration operation is an operation by which the driver of the vehicle requests acceleration; and the prohibited conditions are those based on the relationship between the vehicle and its external environment. After acceleration suppression control is initiated, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane, and the angle between the boundary of the adjacent lane on the opposite side of the driving lane and the direction of travel of the vehicle is below a predetermined adjacent lane boundary angle, then acceleration suppression control is terminated.

15. A non-transitory storage medium storing an instruction executable by one or more processors, the instruction causing the one or more processors to perform a function, wherein the non-transitory storage medium is characterized in that the function includes: When the preconditions for erroneous acceleration are met when the driving conditions are met, and all prohibited conditions are not met, acceleration suppression control is executed to inhibit the acceleration of the vehicle. Here, the driving conditions are those used to determine that the vehicle is currently moving; the preconditions for erroneous acceleration are those used to determine that an acceleration operation has been erroneously performed; the acceleration operation is an operation by which the driver of the vehicle requests acceleration; and the prohibited conditions are those based on the relationship between the vehicle and its external environment. After acceleration suppression control is initiated, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to the driving lane, and the adjacent lane crossing time is longer than a predetermined adjacent lane crossing time, the acceleration suppression control is terminated. The adjacent lane crossing time is the time required until the vehicle crosses the boundary of the adjacent lane on the opposite side of the driving lane.

16. A non-transitory storage medium storing an instruction executable by one or more processors, the instruction causing the one or more processors to perform a function, wherein the non-transitory storage medium is characterized in that the function includes: When the preconditions for erroneous acceleration are met when the driving conditions are met, and all prohibited conditions are not met, acceleration suppression control is executed to inhibit the acceleration of the vehicle. Here, the driving conditions are those used to determine that the vehicle is currently moving; the preconditions for erroneous acceleration are those used to determine that an acceleration operation has been erroneously performed; the acceleration operation is an operation by which the driver of the vehicle requests acceleration; and the prohibited conditions are those based on the relationship between the vehicle and its external environment. After the acceleration suppression control is initiated, if the vehicle crosses the boundary of its driving lane and enters an adjacent lane adjacent to its driving lane, and the driving time in the adjacent lane exceeds a predetermined driving time in the adjacent lane, the acceleration suppression control is terminated. The driving time in the adjacent lane is the time the vehicle spends in the adjacent lane after entering it.

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