Deceleration assisting device, deceleration assisting method, nonvolatile storage medium, and vehicle

Abstract

A deceleration assistance device, a deceleration assistance method, a deceleration assistance program, and a vehicle are provided. In the deceleration assistance device (100), a control unit (30) executes automatic deceleration control when an object requiring deceleration of a vehicle (50) is detected and a brake operation by a driver is not detected, interrupts the automatic deceleration control when the brake operation is detected by a brake operation detection device in a state where the automatic deceleration control is being executed, wherein the object requiring deceleration of the vehicle and being a position through which the vehicle will not be hindered is set as a specific object, and the control unit (30) again starts the automatic deceleration control when the brake operation is no longer detected in a state where the automatic deceleration control is interrupted, in a case where the object is not the specific object, but does not again start the automatic deceleration control in a case where the object is the specific object.

Description

Technical Field

[0001] This invention relates to a deceleration assist device, deceleration assist method, non-volatile storage medium, and vehicle for automobiles and other vehicles. Background Technology

[0002] When a deceleration assist device detects an object in front of the vehicle that requires it to slow down, such as other vehicles traveling at low speeds or stopped vehicles, it automatically slows down the vehicle by controlling the deceleration device.

[0003] A deceleration assist device interrupts automatic deceleration when the driver performs a driving operation while the vehicle is automatically decelerating. For example, Patent Document 1 describes an automatic deceleration control system based on cruise control where the automatic deceleration control is temporarily stopped when the driver presses the accelerator pedal. This deceleration assist device prevents situations where the vehicle decelerates against the driver's will despite the driver's unwillingness to decelerate.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 08-183371 Summary of the Invention

[0007] [The problem that the invention aims to solve]

[0008] In conventional deceleration assist devices such as the deceleration assist device described in Patent Document 1 above, when the driver releases the drive operation, if an object requiring vehicle deceleration is detected, automatic deceleration will resume.

[0009] However, depending on the detected object, it is sometimes preferable not to restart automatic deceleration, as drivers may find the automatic deceleration annoying when it restarts. For example, it is preferable to restart automatic deceleration when the detected object is another vehicle traveling at a low speed, but sometimes drivers do not want automatic deceleration to restart when the detected object is a stop sign or another vehicle turning left or right at an intersection.

[0010] The main objective of this invention is to prevent the driver from becoming annoyed when the automatic deceleration restarts after the driver has disengaged the drive operation, in the case where the automatic deceleration is interrupted.

[0011] [The technical solution used to solve the problem and the effects of the invention]

[0012] According to the present invention, a deceleration assist device is provided, comprising: an object detection device (10) that detects an object at least in front of a vehicle (50); a brake drive operation detection device (pressure sensor 26, accelerator opening sensor 48) that detects a brake drive operation performed by a driver; a deceleration device (20) that decelerates the vehicle; and a control unit (24, 30) that controls the deceleration device, the control unit being configured to, when the object detection device detects an object requiring the vehicle to decelerate and the brake drive operation detection device does not detect a brake drive operation (S20, S30), execute automatic deceleration control (S100) by controlling the deceleration device to automatically decelerate the vehicle (S100), and while the automatic deceleration control is being executed (S10), interrupt the automatic deceleration control (S110) when the brake drive operation detection device detects a drive operation (S90).

[0013] The control unit (24, 30) is configured to, when the automatic deceleration control is interrupted (S40) and the brake drive operation detection device no longer detects drive operation (S30), restart the automatic deceleration control (S100) if it is determined that the object is not the specific object (S50), but not restart the automatic deceleration control (S80) if it is determined that the object is the specific object.

[0014] In addition, according to the present invention, a deceleration assistance method is provided, comprising: when an object detection device (10) detecting an object requiring vehicle deceleration is detected by the object detection device (10) detecting an object at least in front of the vehicle (50), and a brake drive operation detection device (pressure sensor 26, accelerator opening sensor 48) detecting a brake drive operation performed by the driver does not detect a brake drive operation (S20, S30), performing an automatic deceleration control step (S100); and when, while the automatic deceleration control is being performed (S10), the brake drive operation detection device detects a drive operation (S90), interrupting the automatic deceleration control step (S110).

[0015] The deceleration assist method includes the following steps: setting the object that requires the vehicle (50) to decelerate and the object that will not obstruct the vehicle from passing through the object as a specific object; when the automatic deceleration control is interrupted (S40), when the brake drive operation detection device (pressure sensor 26, accelerator opening sensor 48) no longer detects the drive operation (S30), and when it is determined that the object is not a specific object (S50), the automatic deceleration control is restarted; however, when it is determined that the object is a specific object, the automatic deceleration control is not restarted (S80).

[0016] Furthermore, according to the present invention, a deceleration assist program is provided, which causes an electronic control unit (30) mounted on a vehicle to perform: when an object detection device (10) detecting an object requiring vehicle deceleration is detected by the object detection device (10) detecting an object at least in front of the vehicle (50), and a brake drive operation detection device (accelerator opening sensor 48) detecting a brake drive operation performed by the driver does not detect a brake drive operation (S20, S30), an automatic deceleration control step (S100) is performed to automatically decelerate the vehicle; and when automatic deceleration control is being performed (S10), an automatic deceleration control step (S110) is performed when a drive operation is detected by the brake drive operation detection device (S90).

[0017] The deceleration assist program causes the electronic control unit (30) to perform the following steps: setting the object that requires the vehicle (50) to decelerate and the object that will not obstruct the vehicle from passing through the object as a specific object; when the automatic deceleration control is interrupted (S40), when the brake drive operation detection device (accelerator opening sensor 48) no longer detects the drive operation (S30), and when it is determined that the object is not a specific object (S50), the automatic deceleration control is restarted; however, when it is determined that the object is a specific object, the automatic deceleration control is not restarted (S80).

[0018] According to the aforementioned deceleration assist device, deceleration assist method, and deceleration assist procedure, automatic deceleration control is executed when the object detection device detects an object requiring vehicle deceleration and the brake drive operation detection device does not detect a brake drive operation. While automatic deceleration control is in progress, it is interrupted when the brake drive operation detection device detects a drive operation. Therefore, when the driver performs a drive operation while automatic deceleration control is in progress, automatic deceleration control is interrupted.

[0019] Furthermore, when automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects any drive operation, automatic deceleration control restarts if the target is determined to be a non-specific object, but does not restart if the target is determined to be a specific object. Therefore, since automatic deceleration control does not restart when the target is determined to be a specific object, driver frustration from the automatic deceleration restarting can be prevented. Moreover, in the latter case, the driver can accelerate or decelerate the vehicle according to their own will through brake drive operation.

[0020] [Method of Invention]

[0021] In one embodiment of the invention, the control unit (30) is configured to, when the object detection device (10) detects multiple objects that require the vehicle (50) to decelerate and the automatic deceleration control is interrupted (S20, S40), when the brake drive operation detection device (pressure sensor 26, accelerator opening sensor 48) no longer detects drive operation (S30), restart the automatic deceleration control (S100) if it is determined that the multiple objects include objects that are not specific objects, but do not restart the automatic deceleration control (S80) if it is determined that all the multiple objects are specific objects.

[0022] According to the above method, when the object detection device detects multiple objects that require vehicle deceleration and the automatic deceleration control is interrupted, the automatic deceleration control will restart when the brake drive operation detection device (accelerator opening sensor 48) no longer detects drive operation, and the multiple objects include objects that are not specific objects. However, the automatic deceleration control will not restart when all multiple objects are specific objects.

[0023] Therefore, when multiple objects include non-specific objects, automatic deceleration control restarts, thus slowing the vehicle down and preventing collisions with non-specific objects. Conversely, when all multiple objects are specific objects, automatic deceleration control does not restart, preventing driver frustration from the repeated automatic deceleration.

[0024] In another aspect of the invention, the specific object is an object that does not shift relative to the road on which the vehicle travels, and is an object that the vehicle can pass through without colliding with.

[0025] According to the above method, it is possible to prevent objects that are stationary on the road, such as vehicles stopped on the road, objects that have fallen on the road, or fallen trees, from being identified as specific objects relative to the road on which vehicles travel.

[0026] Furthermore, in another aspect of the present invention, the control unit (30) is configured to, when the automatic deceleration control is interrupted (S40), when the brake drive operation detection device (pressure sensor 26, accelerator opening sensor 48) no longer detects the drive operation (S30), when it is determined that the object is not the specific object (S50), restart the automatic deceleration control (S100), and when it is determined that the object is the specific object (S50), end the automatic deceleration control (S80).

[0027] According to the above method, when automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects drive operation, automatic deceleration control restarts if the object is determined to be a non-specific object. Therefore, automatic deceleration control can slow the vehicle down, preventing collisions with non-specific objects. Furthermore, when automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects drive operation, automatic deceleration control terminates if the object is determined to be a specific object. Therefore, it prevents the driver from becoming annoyed by the automatic deceleration restarting.

[0028] Furthermore, in another aspect of the present invention, the control unit (30) is configured to, when it is determined that the object is a specific object (S50), when it is determined that the distance (L) from the vehicle to the object is greater than or equal to the reference distance (Lc) (S55), restart automatic deceleration control (S100), and when it is determined that the distance from the vehicle to the object is less than the reference distance (S55), terminate automatic deceleration control (S80).

[0029] According to the above method, when a specific object is detected, and the distance from the vehicle to the object is determined to be greater than the reference distance, the automatic deceleration control restarts. Even if the automatic deceleration control is interrupted, a specific object is detected, the distance from the vehicle to the object is greater than the reference distance, and the driver is not performing any driving operations, the driver will not feel annoyed by the automatic deceleration restarting.

[0030] In contrast, when a specific object is detected but no driving operation is detected, the automatic deceleration control ends when it is determined that the distance from the vehicle to the object is less than a reference distance. Therefore, it prevents the driver from becoming annoyed by the automatic deceleration restarting.

[0031] Furthermore, in another aspect of the invention, the control unit (30) is configured to variably set the reference distance according to the vehicle speed, such that the higher the vehicle speed (50) is, the greater the reference distance (Lc).

[0032] Regarding the time it takes for the vehicle to reach the location of a specific object, the shorter the distance from the vehicle to the specific object, and the higher the vehicle speed, the smaller the time. Therefore, the preferred reference distance for determining whether automatic deceleration control should be restarted is one that increases with the vehicle speed.

[0033] Based on the above method, the reference distance is set variably according to the vehicle speed, increasing as the vehicle speed increases. Therefore, when an object is determined to be a specific object, it is possible to appropriately determine whether automatic deceleration control should be restarted, regardless of the vehicle speed.

[0034] Furthermore, according to the present invention, a vehicle is provided which includes the aforementioned deceleration assist device. Based on this vehicle, the same effects as the aforementioned deceleration assist device, deceleration assist method, and deceleration assist procedure can be achieved.

[0035] Furthermore, in this application, "objects requiring vehicle deceleration" means objects existing on and around the road where vehicles travel, and objects for which vehicle deceleration is required to ensure safe and lawful driving. "Objects requiring vehicle deceleration" are categorized into objects that shift relative to the road and objects that do not shift relative to the road. Objects that shift relative to the road include, for example, vehicles traveling in front, bicycles, and pedestrians. Objects that do not shift relative to the road are further categorized into objects that are stationary on the road and objects that are not stationary on the road. Objects that are stationary on the road include, for example, stopped vehicles, objects fallen on the road, and fallen trees. Objects that are not stationary on the road include, for example, traffic lights illuminated in red or yellow, road signs such as "Slow Down" and "Stop Temporarily," road markings such as "Slow Down" and "Stop Temporarily," intersections, T-junctions, and road curves.

[0036] Furthermore, "a location that will not obstruct the passage of vehicles" means that vehicles can pass through the location of the object without being prevented from driving by it. Therefore, "specific objects" include, for example, traffic lights that are illuminated in red or yellow, road signs such as "slow down" and "stop temporarily", road surface signs such as "decelerate" and "stop temporarily", intersections, T-junctions, and road curves.

[0037] In the foregoing description, to aid in understanding the invention, the names and / or reference numerals used in the embodiments described below are enclosed in parentheses to represent the components of the invention. However, the constituent elements of the invention are not limited to the constituent elements of the embodiments corresponding to the names and / or reference numerals enclosed in parentheses. Other objects, features, and incidental advantages of the invention can be readily understood from the relevant description of the embodiments of the invention described alongside the following drawings. Attached Figure Description

[0038] Figure 1 This is a schematic diagram illustrating an embodiment of the deceleration assist device based on the present invention.

[0039] Figure 2 This is a flowchart illustrating the deceleration assist control routine in the implementation method.

[0040] Figure 3 This is a flowchart showing the main part of the deceleration assist control routine in the modified example.

[0041] Figure 4 It is used for mapping the reference distance Lc based on vehicle speed V.

[0042] Figure 5 This indicates that the vehicle's automatic deceleration control is interrupted and the vehicle is approaching another stopped vehicle in front of it.

[0043] Figure 6 This indicates that the vehicle's automatic deceleration control is interrupted, and the vehicle is approaching other stopped vehicles and pedestrian crossings ahead.

[0044] Figure 7 This indicates that the vehicle's automatic deceleration control is interrupted and the vehicle is approaching the pedestrian crossing ahead.

[0045] Figure 8 This indicates that the vehicle's automatic deceleration control is interrupted and the vehicle is approaching a pedestrian crossing and traffic lights ahead. Detailed Implementation

[0046] The deceleration assist device according to the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] <Composition>

[0048] like Figure 1As shown, the deceleration assist device 100 according to the embodiment is applicable to a vehicle 50 and includes: an object detection device 10 that detects objects at least in front of the vehicle 50; a deceleration device 20 that decelerates the vehicle; and a deceleration assist electronic control device 30 that controls the deceleration device. Therefore, the vehicle 50 is equipped with the deceleration assist device 100. The electronic control device 30 is connected to a main switch 32, a vehicle speed sensor 34, and front and rear acceleration sensors 36.

[0049] The deceleration assist device 100 operates when the main switch 32 is turned on. Furthermore, in this application, "electronic control device" is referred to as the abbreviation of Electronic Control Unit, i.e., "ECU".

[0050] The object detection device 10 includes a camera sensor 12 and a radar sensor 14 connected to the CAN (Controller Area Network) 52. The camera sensor 12 has a camera unit and an identification unit that analyzes the image data captured by the camera unit to identify objects requiring the vehicle 50 to decelerate. The camera unit of the camera sensor 12 captures images of the scenery in front of the vehicle 50, and the identification unit of the camera sensor 12 repeatedly supplies information related to the identified objects requiring vehicle deceleration to the deceleration assist ECU 30 every predetermined calculation cycle.

[0051] In addition to camera sensor 12 and radar sensor 14, a navigation device can also be used as an auxiliary detection device for detecting objects that require vehicle deceleration. Alternatively, LiDAR (Light Detection and Ranging) can be used instead of camera sensor 12. In the following description, "objects that require vehicle deceleration" will be referred to as "deceleration objects". Deceleration objects include, for example, stopped vehicles, pedestrians and bicycles moving on the side of the road, traffic lights, crosswalks, road signs such as "slow down" and "decelerate" signs, intersections, T-junctions, and road curves.

[0052] The radar sensor 14 includes a radar transceiver unit and a signal processing unit (not shown). The radar transceiver unit radiates millimeter-wave radio waves (hereinafter referred to as "millimeter waves") and receives millimeter waves (i.e., reflected waves) reflected by three-dimensional objects (such as other vehicles, bicycles, guardrails, roadside structures, etc.) within the radiation range. Based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from transmitting the millimeter waves to receiving the reflected waves, the signal processing unit acquires information such as the distance between its own vehicle and the three-dimensional object, the relative speed between its own vehicle and the three-dimensional object, and the relative position (direction) of the three-dimensional object relative to its own vehicle at predetermined intervals, and supplies this information to the deceleration assist ECU 10.

[0053] The speed reduction device 20 includes a speed reduction mechanism that controls the speed reduction of the vehicle by means of the vehicle's speed reduction mechanism. Figure 1 The vehicle 50 is shown in the diagram. A braking device 22 (not shown) applies braking force to the wheels to decelerate the vehicle 50, and a deceleration ECU 24 controls the braking device 22. A pressure sensor 26 is connected to the deceleration ECU 24 to detect the master cylinder pressure Pm as the amount of braking operation by the driver. The deceleration ECU 24 normally controls the braking device 22 based on the master cylinder pressure Pm.

[0054] like Figure 1 As shown, vehicle 50 is equipped with acceleration device 40. Acceleration device 40 includes methods for accelerating vehicles to accelerate. Figure 1 The diagram shows a drive unit 42 (not shown) that applies driving force to the drive wheels to accelerate the vehicle 50, and an acceleration ECU 44 that controls the drive unit 42. An accelerator pedal opening sensor 48 is connected to the acceleration ECU 44. The accelerator pedal opening sensor 48 detects the accelerator pedal opening (Acc) as the driver's driving operation by detecting the amount of operation of the accelerator pedal 46. The acceleration ECU 44 normally controls the drive unit 42 based on the accelerator pedal opening (Acc).

[0055] Pressure sensor 26 and accelerator opening sensor 48 detect the braking and driving operations performed by the driver, respectively. Therefore, they function as a brake driving operation detection device for detecting the driver's braking and driving operations (braking and driving operations), and constitute part of the deceleration assist device 100. As a brake operation detection device for detecting the driver's braking operations, a brake light switch can also be used instead of pressure sensor 26.

[0056] Furthermore, the drive unit 42 can be any drive unit known in the art, such as a combination of an internal combustion engine and a transmission like a gasoline engine, a combination of an internal combustion engine and a motor, i.e., a so-called hybrid system, a so-called plug-in hybrid system, a combination of a fuel cell and a motor, or a motor.

[0057] The deceleration assist ECU 30, deceleration ECU 24, and acceleration ECU 44 are electronic control devices with microcomputers as their main components, connected to each other via CAN 52 for sending and receiving information. Each microcomputer includes a CPU, ROM, RAM, non-volatile memory, and interfaces. The CPU executes instructions (programs, routines) stored in the ROM to perform various functions. These ECUs can also be combined into a single ECU.

[0058] In particular, the ROM storage of the deceleration assist ECU 30 has... Figure 2 The flowchart shown corresponds to the deceleration assist control program, and the CPU executes the deceleration assist control according to this program.

[0059] As will be explained in detail later, the deceleration assist ECU 30 performs automatic deceleration control to automatically decelerate the vehicle 50 when the detection device 10 detects a decelerating object and the pressure sensor 26 and accelerator opening sensor 48 do not detect any braking or driving operation performed by the driver. Conversely, even if the detection device 10 detects a decelerating object, the deceleration assist ECU 30 does not perform automatic deceleration control if the pressure sensor 26 and accelerator opening sensor 48 detect any braking or driving operation performed by the driver.

[0060] Furthermore, automatic deceleration control is a control that automatically decelerates the vehicle 50 by controlling the deceleration device 20 to automatically apply braking force to the wheels without requiring driver braking. Moreover, automatic deceleration control is executed by outputting an execution command for automatic deceleration control from the deceleration assist ECU 30 to the deceleration ECU 24.

[0061] Additionally, objects that decelerate but do not obstruct vehicle passage (allowing them to pass without collision) are designated as "specific objects." Examples of specific objects include traffic lights, pedestrian crossings, road signs, pavement markings, intersections, T-junctions, and road curves.

[0062] When the deceleration assist ECU 30 is performing automatic deceleration control, it interrupts the automatic deceleration control when the accelerator opening sensor 48 detects a drive operation. Furthermore, when the automatic deceleration control is interrupted, and the accelerator opening sensor 48 no longer detects a drive operation, the deceleration assist ECU 30 restarts the automatic deceleration control if it determines that the deceleration target is not a specific object. However, if it determines that the deceleration target is a specific object, it terminates the automatic deceleration control instead of restarting it.

[0063] <Deceleration Assist Control Routine>

[0064] Next, refer to Figure 2 The flowchart shown illustrates the deceleration assist control routine in the implementation method. Based on Figure 2 The deceleration assist control shown in the flowchart is repeatedly executed by the CPU of the deceleration assist ECU 30 at a predetermined control cycle when the main switch 32 is turned on. Furthermore, in the following description, the deceleration assist control will be referred to simply as "control".

[0065] First, in step S10, the CPU determines whether automatic deceleration control is being executed. If the CPU makes a positive determination, it proceeds to step S60; if it makes a negative determination, it proceeds to step S20. Furthermore, while automatic deceleration control is being executed, [the CPU can...]. Figure 1 The display device, not shown, shows this situation.

[0066] In step S20, the CPU determines whether a decelerating object has been detected by the camera sensor 12 and / or the radar sensor 14. If the CPU makes a negative determination, it temporarily terminates control; if it makes a positive determination, it proceeds to step S30. Furthermore, when a decelerating object is detected, it can... Figure 1 The display device, not shown, shows this situation.

[0067] In step S30, the CPU determines whether the driver is performing braking or driving operations. If the CPU makes an affirmative determination, it temporarily terminates control; if it makes a negative determination, i.e., no braking or driving operation is being performed by the driver, it proceeds to step S40. Furthermore, a braking operation by the driver can be determined when the master cylinder pressure Pm detected by pressure sensor 26 is above a reference value. Additionally, a driving operation by the driver can be determined when the accelerator opening Acc detected by accelerator opening sensor 48 is above a reference value.

[0068] In step S40, the CPU determines whether the automatic deceleration control is in an interruption. If the CPU makes a negative determination, it proceeds to step S100; if it makes a positive determination, it proceeds to step S50. Furthermore, when the automatic deceleration control is in an interruption, it can... Figure 1 The display device, not shown, shows this situation.

[0069] In step S50, the CPU determines whether the detected decelerating object is a specific object. If the CPU makes a positive determination, it proceeds to step S80; if it makes a negative determination, it proceeds to step S100. Furthermore, when the decelerating object is a specific object, it can... Figure 1 The display device, not shown, shows this situation.

[0070] Furthermore, when multiple deceleration objects are detected, the CPU will make a negative determination if the multiple deceleration objects include objects that are not specific objects, and will make a positive determination if all the multiple deceleration objects are specific objects.

[0071] In step S60, the CPU determines whether the termination condition for automatic deceleration control is met, i.e., whether deceleration is complete. If the CPU makes a positive determination, it proceeds to step S80; if it makes a negative determination, it proceeds to step S70.

[0072] For example, when the vehicle being decelerated is a vehicle traveling in front, the automatic deceleration control is considered to have terminated when the relative speed of the vehicle 50 relative to the vehicle in front is less than 0 km / h and the relative distance between the two vehicles is greater than or equal to a reference relative distance determined by the vehicle speed V. When the vehicle being decelerated is a red light signal, a stop sign, or other road markings, the automatic deceleration control is considered to have terminated when the speed V of the vehicle 50 at or near the stop line reaches 0 km / h. When the vehicle being decelerated is an intersection, a T-junction, or similar road, the automatic deceleration control is considered to have terminated when the speed V of the vehicle 50 located immediately before the intersection, T-junction, or similar road reaches the prescribed speed. Furthermore, when the vehicle being decelerated is a curve, the automatic deceleration control is considered to have terminated when the magnitude of the lateral acceleration of the vehicle 50 traveling on the curve is less than or equal to a prescribed value.

[0073] In step S70, the CPU, similar to step S20, determines whether a decelerating object is detected by the camera sensor 12 and / or the radar sensor 14. If the CPU makes a negative determination, it proceeds to step S80; if it makes a positive determination, it proceeds to step S90. Furthermore, in this step, if a decelerating object is detected, it can also... Figure 1 The display device, not shown, shows this situation.

[0074] In step S80, the CPU terminates the automatic deceleration control by outputting a command to the deceleration ECU 24 to end the automatic deceleration control. Therefore, by no longer applying braking force to the wheels, the automatic deceleration of the vehicle 50 ends.

[0075] In step S90, the CPU determines whether the driver is performing the driving operation. If the CPU makes a negative determination, it advances the control to step S100; if it makes a positive determination, it advances the control to step S110.

[0076] In step S100, the CPU executes automatic deceleration control by outputting a command to the deceleration ECU 24 to control the braking device 22 so that the vehicle 50 automatically decelerates. Automatic deceleration control can be performed at any point known in the art. Furthermore, when multiple deceleration targets are detected, automatic deceleration control can be performed based on the highest priority deceleration target.

[0077] For example, when the deceleration object is a preceding vehicle, the host vehicle 50 is automatically decelerated in such a manner that the relative speed of the host vehicle with respect to the preceding vehicle becomes 0 km / h or less and the relative distance between the preceding vehicle and the host vehicle becomes equal to or greater than a reference relative distance determined according to the vehicle speed V. When the deceleration object is a red traffic signal, a temporary stop, etc., the host vehicle is automatically decelerated in such a manner that the vehicle speed V of the vehicle 50 at the stop line position becomes 0 km / h. When the deceleration object is an intersection, a T-junction, etc., the host vehicle is automatically decelerated in such a manner that the vehicle speed V of the vehicle 50 at a position immediately before the intersection, the T-junction, etc. becomes a specified speed. Further, when the deceleration object is a curve on a road, the host vehicle is automatically decelerated in such a manner that the magnitude of the lateral acceleration of the vehicle 50 traveling on the curve becomes equal to or less than a specified value.

[0078] In step S110, the CPU interrupts the automatic deceleration control by outputting an instruction to interrupt the automatic deceleration control to the deceleration ECU 24. Accordingly, the automatic deceleration of the vehicle 50 is interrupted by no longer applying a braking force to the wheels. Further, in this step, the situation may also be displayed on a display device (not shown) while the automatic deceleration control is interrupted. Figure 1 while the automatic deceleration control is interrupted.

[0079] <Operations of the Embodiment>

[0080] Next, operations of the embodiment will be described for various different situations such as whether a deceleration object has been detected, whether the automatic deceleration control is being executed or interrupted, whether the deceleration object is a specific object, and whether a braking drive operation is being performed by the driver.

[0081] <A. Situation where the automatic deceleration control is not interrupted and the automatic deceleration control is not being executed>

[0082] <A1. Situation where a deceleration object has been detected and no braking drive operation is being performed>

[0083] In steps S10, S20, and S30, negative determination, positive determination, and negative determination are respectively made. Since the automatic deceleration control is not interrupted, a negative determination is made in step S40, and the automatic deceleration control is executed in step S100. Accordingly, the vehicle 50 is automatically decelerated regardless of whether the deceleration object is a specific object.

[0084] <A2. Situation where a deceleration object has been detected but a braking operation or a drive operation is being performed>

[0085] In steps S10 and S20, a negative determination and an affirmative determination are respectively made, and in step S30, an affirmative determination is made. Therefore, step S100 is not executed, so the automatic deceleration control is not executed. Accordingly, the vehicle 50 decelerates or accelerates according to the braking drive operation performed by the driver.

[0086] <B. Case where the automatic deceleration control is interrupted, a deceleration target is detected, and no braking drive operation is being performed>

[0087] <B1. Case where the deceleration target is a non-specific target>

[0088] In steps S10, S20, and S30, a negative determination, an affirmative determination, and a negative determination are respectively made. Since the automatic deceleration control is interrupted, an affirmative determination is made in step S40, but since the deceleration target is a non-specific target, a negative determination is made in step S50. Therefore, in step S100, the automatic deceleration control restarts, and the vehicle 50 automatically decelerates.

[0089] As will be described later, in a situation where a non-specific deceleration target is detected, when a drive operation is performed by the driver, the automatic deceleration control is interrupted (C4). Further, in a situation where the automatic deceleration control is interrupted, when the driver no longer performs a drive operation, since the deceleration target is a non-specific target, the automatic deceleration control restarts.

[0090] For example, Figure 5 A situation is shown in which the automatic deceleration control of the host vehicle 50 is interrupted and the host vehicle 50 is approaching other vehicles 60 and 62 that have stopped due to congestion in front of it. Since the other vehicles 60 and 62 are non-specific targets, when the driver no longer performs a drive operation, the automatic deceleration control restarts.

[0091] In addition, in Figure 5 the deceleration targets are the other vehicles 60 and 62 that are non-specific targets. However, as shown in Figure 6 when there are multiple deceleration targets such as the other vehicles 60 that are non-specific targets and, for example, a crosswalk 64 that is a specific target, and a non-specific target object is included among these deceleration targets, the automatic deceleration control also restarts.

[0092] <B2. Case where the deceleration target is a specific target>

[0093] Similarly to the case of B1 above, in steps S10, S20, and S30, negative determination, positive determination, and negative determination are respectively performed. In step S40, positive determination is performed. Since the deceleration target is a specific target, in step S50, positive determination is performed, and in step S80, the automatic deceleration control does not start again but ends. Therefore, the vehicle 50 does not automatically decelerate against the driver's will.

[0094] For example, in a situation where the automatic deceleration control is interrupted (C4), when the driver no longer performs a driving operation, since the deceleration target is a specific target, the automatic deceleration control ends.

[0095] Figure 7 The situation where the automatic deceleration control of the host vehicle 50 is interrupted and the host vehicle 50 is approaching a crosswalk 64 in front of it is shown. Since the crosswalk is a specific target, when the driver no longer performs a driving operation, the automatic deceleration control ends.

[0096] In addition, in Figure 7 the deceleration target is a specific target. However, as shown in Figure 8 for example, when there are multiple deceleration targets such as a crosswalk 64 and a traffic signal 66 and all of these deceleration targets are specific targets, the automatic deceleration control also ends.

[0097] <C. Case where automatic deceleration control is being executed>

[0098] <C1. Case where automatic deceleration control has been completed>

[0099] In steps S10 and S60, positive determination is performed. Therefore, in step S80, the automatic deceleration control ends.

[0100] <C2. Case where automatic deceleration control has not been completed and no deceleration target has been detected>

[0101] In steps S10 and S60, positive determination and negative determination are respectively performed. Since no deceleration target has been detected, in step S70, negative determination is performed. Therefore, similar to the case of C1 above, in step S80, the automatic deceleration control ends.

[0102] <C3. Case where automatic deceleration control has not been completed, a deceleration target has been detected, and no driving operation is being performed>

[0103] In steps S10, S60, and S70, positive determination, negative determination, and positive determination are respectively performed. Since no driving operation is being performed, in step S90, negative determination is performed, and in step S100, the automatic deceleration control is executed.

[0104] <C4. When the automatic deceleration control is not completed, a deceleration object is detected, and a driving operation is in progress>

[0105] In steps S10, S60, and S70, affirmative determinations, negative determinations, and affirmative determinations are made respectively. Since a driving operation is in progress, an affirmative determination is made in step S90. Therefore, in step S110, the automatic deceleration control is interrupted. As a result, the vehicle 50 does not decelerate automatically against the driver's will.

[0106] [Correction example]

[0107] Figure 3 is a flowchart showing the main part of the deceleration assist control routine in the correction example. In addition, in Figure 3 for steps that are the same as the steps shown in Figure 2 the same step numbers as the step numbers marked in Figure 2 are marked.

[0108] In the correction example, when the CPU makes a negative determination in step 50, the control proceeds to step S100, and when it makes an affirmative determination, the control proceeds to step S55.

[0109] In step S55, the CPU calculates the reference distance Lc by referring to the map shown in Figure 4 . As shown in Figure 4 , the reference distance Lc is variably set according to the vehicle speed V such that it becomes larger as the vehicle speed V increases.

[0110] Furthermore, in step S55, the CPU determines whether the distance L from the vehicle 50 to the deceleration object (specific object) is equal to or greater than the reference distance Lc. When the CPU makes a negative determination, the control proceeds to step S80, and the automatic deceleration control ends without restarting. In contrast, when the CPU makes an affirmative determination, the control proceeds to step S100, and the automatic deceleration control restarts. Therefore, in a situation where the automatic deceleration control is interrupted, even if a specific object is detected, the automatic deceleration control can be executed when the distance L from the vehicle 50 to the specific object is equal to or greater than the reference distance Lc. In addition, in the case where there are multiple specific objects, the distance L is the distance from the vehicle 50 to the nearest specific object.

[0111] From the above description, according to the embodiment and the correction example, in a situation where the automatic deceleration control is interrupted (S40), when the accelerator opening sensor 48 no longer detects a driving operation (S30), and when it is determined that the deceleration object is not a specific object (S50), the automatic deceleration control restarts (S100), but when it is determined that the deceleration object is a specific object (S50), the automatic deceleration control ends without restarting (S80).

[0112] Therefore, when no further driving operation is detected and the object being decelerated is determined to be a non-specific object, automatic deceleration control resumes execution. Thus, the vehicle can be slowed down through automatic deceleration control to prevent collisions. Conversely, when no further driving operation is detected and the object being decelerated is determined to be a specific object, automatic deceleration control does not resume but terminates. This prevents the driver from becoming annoyed by the automatic deceleration restarting. Furthermore, in the latter case, the driver can also accelerate or decelerate the vehicle according to their own will through braking and driving operations.

[0113] Furthermore, according to the implementation method and the modified example, when the object detection device 10 detects multiple objects that require vehicle deceleration and the automatic deceleration control is interrupted, when no more driving operation is detected, if it is determined that there are objects that are not specific objects among the multiple objects, the automatic deceleration control will start again. However, if it is determined that all the multiple objects are specific objects, the automatic deceleration control will not start again.

[0114] Therefore, when multiple objects include non-specific objects, automatic deceleration control restarts, thus slowing the vehicle down and preventing collisions with non-specific objects. Conversely, when all multiple objects are specific objects, automatic deceleration control does not restart. This prevents the driver from becoming annoyed by the automatic deceleration restarting.

[0115] Furthermore, according to the implementation method and the modified example, the specific object is an object that will not move relative to the road on which the vehicle 50 travels, and an object that the vehicle can pass through without collision. Therefore, it is possible to prevent objects that are stationary on the road, such as vehicles stopped on the road, objects fallen on the road, or fallen trees, from being identified as specific objects, even though they are objects that will not move relative to the road on which the vehicle travels.

[0116] Furthermore, according to the implementation method and the modified example, when the automatic deceleration control is interrupted (S40), and the brake drive operation detection device no longer detects drive operation (S30), and if it is determined that the object is not the specific object (S50), the automatic deceleration control restarts (S100). Therefore, the vehicle can be decelerated by automatic deceleration control to prevent the vehicle from colliding with objects that are not specific objects.

[0117] Furthermore, when the automatic deceleration control is interrupted (S40), and the brake drive operation detection device no longer detects drive operation (S30), and if the target is determined to be the specific target (S50), the automatic deceleration control does not restart but ends (S80). Therefore, it is possible to prevent the driver from becoming annoyed by the automatic deceleration restarting.

[0118] Furthermore, according to the revised example, if the object to be decelerated is determined to be a specific object (S50), and if the distance L from the vehicle to the object to be decelerated is determined to be a reference distance Lc or more (S55), the automatic deceleration control restarts (S100). Even if the automatic deceleration control is interrupted and a specific object is detected, and the distance from the vehicle to the object to be decelerated is a reference distance or more, and the driver is not performing any driving operations, the driver will not feel annoyed by the automatic deceleration restarting.

[0119] In particular, when the distance L from the vehicle 50 to the object to be decelerated is large, and the driver temporarily performs a drive operation and then releases it, it is difficult to determine whether the drive operation was performed to prevent the automatic deceleration control from starting or for other purposes. Therefore, it is preferable to restart the automatic deceleration control.

[0120] In contrast, if a specific object is detected but no driving operation is detected (S30, S50), and the distance L from the vehicle to the object being decelerated is determined to be less than the reference distance Lc (S55), the automatic deceleration control ends. Therefore, it prevents the driver from becoming annoyed by the automatic deceleration restarting.

[0121] Furthermore, according to the implementation method and the modified example, when the automatic deceleration control is interrupted (S40), if a specific object is detected and no driving operation is detected (S30, S50), the automatic deceleration control ends (S80). Therefore, it is possible to prevent the automatic deceleration control from restarting when a specific object is detected and the driver is not performing driving operation, thus preventing the driver from becoming annoyed by the automatic deceleration restarting.

[0122] Furthermore, according to the revised example, the reference distance Lc is set variably according to the vehicle speed, such that the higher the vehicle speed V is, the greater the distance Lc becomes (S55). Therefore, when it is determined that the object to be decelerated is a specific object, it is possible to appropriately determine whether automatic deceleration control should be performed, regardless of the vehicle speed.

[0123] The present invention has been described in detail above with respect to specific embodiments, but the present invention is not limited to the above embodiments, and various other embodiments can be implemented within the scope of the present invention, which is self-evident to those skilled in the art.

[0124] For example, in the above-described embodiments and modifications, when the accelerator opening Acc detected by the accelerator opening sensor 48 is above a reference value, it is determined that the driver is performing a driving operation. However, it is also possible that a switch that is turned on when the driver operates the accelerator pedal 46 is provided on the accelerator pedal, and it is determined that the driver is performing a driving operation when the switch is turned on.

[0125] In addition, in the above-mentioned modified example, the reference distance Lc is set variably according to the vehicle speed, such that the higher the vehicle speed V is, the larger it becomes, but it can also be a constant value.

[0126] [Explanation of reference numerals in the attached figures]

[0127] 10…Object detection device, 12…Camera sensor, 14…Radar sensor, 20…Deceleration device, 22…Brake device, 24…Deceleration ECU, 26…Pressure sensor, 30…Deceleration assist ECU, 32…Main switch, 40…Acceleration device, 42…Drive device, 44…Acceleration ECU, 46…Accelerator opening sensor, 50…Vehicle, 100…Deceleration assist device

Claims

1. A deceleration assist device, comprising: an object detection device for detecting an object at least in front of the vehicle; a brake drive operation detection device for detecting a brake drive operation performed by a driver; a deceleration device for decelerating the vehicle; and a control unit for controlling the deceleration device, the control unit being configured to, when the object detection device detects an object requiring deceleration of the vehicle and the brake drive operation detection device does not detect a brake drive operation, execute automatic deceleration control by controlling the deceleration device to automatically decelerate the vehicle; and, while the automatic deceleration control is being executed, interrupt the automatic deceleration control when a drive operation is detected by the brake drive operation detection device, wherein... The control unit is configured to designate objects that require vehicle deceleration and are located in positions that do not obstruct the vehicle's passage as specific objects. When the automatic deceleration control is interrupted and the brake drive operation detection device no longer detects drive operation, if the object is determined to be not the specific object, the automatic deceleration control will restart. However, if the object is determined to be the specific object, the automatic deceleration control will not restart. The control unit is configured to, when the object detection device detects multiple objects that require the vehicle to decelerate and the automatic deceleration control is interrupted, and when the brake drive operation detection device no longer detects drive operation, restart the automatic deceleration control if it is determined that the multiple objects include objects that are not the specific object, but do not restart the automatic deceleration control if it is determined that all of the multiple objects are the specific object.

2. The deceleration assist device according to claim 1, wherein, The specific object is an object that will not shift relative to the road on which the vehicle travels, and is an object that the vehicle can pass through without colliding with.

3. The deceleration assist device according to claim 1 or 2, wherein, The control unit is configured to, when the automatic deceleration control is interrupted and the brake drive operation detection device no longer detects drive operation, restart the automatic deceleration control if it is determined that the object is not the specific object, and terminate the automatic deceleration control if it is determined that the object is the specific object.

4. The deceleration assist device according to claim 3, wherein, The control unit is configured to, when it is determined that the object is the specific object, restart the automatic deceleration control when it is determined that the distance from the vehicle to the object is greater than the reference distance, and terminate the automatic deceleration control when it is determined that the distance from the vehicle to the object is less than the reference distance.

5. The deceleration assist device according to claim 4, wherein, The control unit is configured to variably set the reference distance based on the vehicle speed, such that the higher the vehicle speed, the greater the reference distance.

6. A deceleration assistance method, comprising: When an object detection device that detects objects at least in front of the vehicle detects an object that requires the vehicle to decelerate, and a brake drive operation detection device that detects brake drive operations performed by the driver does not detect a brake drive operation, an automatic deceleration control step that causes the vehicle to decelerate automatically is executed. And, while the automatic deceleration control is being executed, when a drive operation is detected by the brake drive operation detection device, the step of interrupting the automatic deceleration control, wherein, The deceleration assistance method includes the following steps: The object requiring vehicle deceleration, and which is located in a position that will not obstruct the vehicle's passage, is designated as a specific object. When the automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects drive operation, if it is determined that the object is not the specific object, the automatic deceleration control is restarted. However, if it is determined that the object is the specific object, the automatic deceleration control is not restarted. When the object detection device detects multiple objects that require the vehicle to decelerate and the automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects a drive operation, the automatic deceleration control is restarted if it is determined that the multiple objects include objects that are not the specific object. However, if it is determined that all of the multiple objects are the specific object, the automatic deceleration control is not restarted.

7. A non-volatile storage medium storing a deceleration assist program that causes an electronic control unit mounted on a vehicle to perform: an automatic deceleration control step of automatically decelerating the vehicle when an object detection device that detects an object requiring deceleration of the vehicle is detected, and a brake drive operation detection device that detects a brake drive operation performed by the driver does not detect a brake drive operation; and a step of interrupting the automatic deceleration control when a drive operation is detected by the brake drive operation detection device while the automatic deceleration control is being performed, wherein... The deceleration assistance program causes the electronic control device to perform the following steps: The object requiring vehicle deceleration, and which is located in a position that will not obstruct the vehicle's passage, is designated as a specific object. When the automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects drive operation, if it is determined that the object is not the specific object, the automatic deceleration control is restarted. However, if it is determined that the object is the specific object, the automatic deceleration control is not restarted. When the object detection device detects multiple objects that require the vehicle to decelerate and the automatic deceleration control is interrupted, and the brake drive operation detection device no longer detects a drive operation, the automatic deceleration control is restarted if it is determined that the multiple objects include objects that are not the specific object. However, if it is determined that all of the multiple objects are the specific object, the automatic deceleration control is not restarted.

8. A vehicle comprising the deceleration assist device according to any one of claims 1 to 5.

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