Vehicle control device, vehicle control method, and storage medium

Abstract

A vehicle control device includes a determination unit that determines start and release of a travel mode in which the vehicle travels at a speed lower than a target speed set by a driver of the vehicle, and a control unit that controls travel of the vehicle in the travel mode in accordance with a determination result of the determination unit, wherein the determination unit determines start of the travel mode in accordance with a first start operation, and when the control unit controls travel, the determination unit sets release of the travel mode in a reservation state for a prescribed period when a release operation is performed, and the determination unit determines to continue the travel mode when a second start operation different from the first start operation is performed within the prescribed period.

Description

Technical Field

[0001] This invention relates to vehicle control devices, vehicle control methods, and storage media. Background Technology

[0002] For some time now, driving support modes such as Adaptive Cruise Control (hereinafter referred to as "ACC") have been practically used in vehicles, allowing the vehicle to follow other vehicles traveling in front of it. When driving in ACC mode, the driver sets the maximum speed, the distance to other vehicles traveling in front (following), etc., to initiate ACC driving mode. The vehicle then maintains a set distance within the set speed range while following other vehicles. Furthermore, while the vehicle is driving in ACC mode, the ACC driving mode can be deactivated, for example, by the driver pressing the brake pedal (see, for example, Patent Documents 1-3).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-202647

[0006] Patent Document 2: Japanese Patent Application Publication No. 2013-256165

[0007] Patent Document 3: Japanese Patent Application Publication No. 2018-047795 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] However, when driving the vehicle in ACC driving mode, the brake pedal may sometimes be pressed unintentionally. In this case, since ACC driving mode is also deactivated, it is assumed that the driver intends to continue ACC driving mode. However, while the prior art describes the initiation and deactivation of ACC driving mode, it does not consider the possibility of continuing ACC driving mode.

[0010] Therefore, in order to re-engage the vehicle in ACC driving mode after it has been deactivated, the driver needs to re-set the maximum speed, distance from other vehicles, and other parameters. In other words, the driver needs to repeat the steps to restart ACC driving mode. However, re-setting ACC driving mode is cumbersome for the driver.

[0011] The present invention was made in consideration of such circumstances, and one of its objectives is to provide a vehicle control device, vehicle control method, and storage medium that enables the adaptive cruise control driving mode to continue without cumbersome operations after the operation of disengaging the adaptive cruise control driving mode has been performed.

[0012] Solution for solving the problem

[0013] The vehicle control device, vehicle control method, and storage medium of the present invention adopt the following structure.

[0014] (1): A vehicle control device according to one aspect of the present invention includes: a decision unit that determines the start and cancellation of a driving mode that travels at a speed below a target speed set by an operation performed by the driver of the vehicle on an operation unit; and a control unit that controls the driving of the vehicle in the driving mode according to the decision result in the decision unit, wherein the decision unit determines the start of the driving mode based on a first start operation that starts the driving mode, and when the control unit controls the driving in the driving mode, if a cancellation operation that cancels the driving mode is performed, the decision unit sets the cancellation of the driving mode to a reserved state for a predetermined period, and if a second start operation different from the first start operation is performed within the predetermined period, the decision unit decides to continue the driving mode, and if no operation is performed within the predetermined period or the cancellation operation is performed again, the decision unit decides to cancel the driving mode.

[0015] (2): Based on the above (1) scheme, the specified period is the period from when the release operation is performed until the specified time and / or the specified distance is traveled.

[0016] (3): Based on the above (2) scheme, the first start operation includes at least an indication operation to indicate the start of the driving mode and a setting operation to set the target speed, the release operation includes a braking operation on the vehicle's brake pedal, and the second start operation includes any one or more of the following operations: accelerator operation on the vehicle's accelerator pedal, the indication operation, and the setting operation.

[0017] (4): Based on the above (3) scheme, the decision unit determines that the specified period during which the second start operation is performed is different in the throttle operation, the instruction operation and the setting operation.

[0018] (5): Based on the above (4) scheme, the decision unit makes the specified period for determining the throttle operation as the second start operation shorter than the specified period for determining the instruction operation and the setting operation as the second start operation.

[0019] (6): Based on any of the above schemes (1) to (5), if the driving mode corresponding to the release operation is in a reserved state, the decision unit notifies the operation content of the second start operation through the notification unit.

[0020] (7): Based on the above (6) scheme, when the decision unit decides to deactivate the driving mode, it notifies the first start operation of the operation content through the notification unit.

[0021] (8): Based on any of the above schemes (1) to (7), when the driving mode is deactivated and the driving mode is retained, the control unit controls the driving speed of the vehicle to the same speed as before the deactivation operation.

[0022] (9): Based on any of the above schemes (1) to (7), when the driving mode is deactivated and retained, the control unit controls the deceleration of the vehicle's driving speed to be less than the deceleration corresponding to the amount of the vehicle's brake pedal being depressed.

[0023] (10): Based on any of the above schemes (1) to (9), the driving mode is a driving mode that follows other vehicles traveling ahead at a speed below the target speed.

[0024] (11): In a vehicle control method according to one aspect of the present invention, a computer mounted on a vehicle performs the following processing: when deciding on the start and end of a driving mode that travels at a speed below a target speed set by the driver of the vehicle through an operation unit, the start of the driving mode is determined according to a first start operation that starts the driving mode; when driving in the driving mode, if an end operation that ends the driving mode is performed, the end of the driving mode is set to a reserved state for a predetermined period; if a second start operation different from the first start operation is performed within the predetermined period, it is determined to continue the driving mode; if no operation is performed within the predetermined period, or if the end operation is performed again, it is determined to end the driving mode; and the driving of the vehicle in the driving mode is controlled according to the determination result.

[0025] (12): In one aspect of the present invention, the storage medium stores a program that causes a computer mounted in a vehicle to perform the following processing: when deciding on the start and end of a driving mode that travels at a speed below a target speed set by the driver of the vehicle through an operation unit, the start of the driving mode is determined according to a first start operation that starts the driving mode; when driving in the driving mode, if an end operation that ends the driving mode is performed, the end of the driving mode is set to a reserved state for a predetermined period; if a second start operation different from the first start operation is performed within the predetermined period, it is determined to continue the driving mode; if no operation is performed within the predetermined period, or if the end operation is performed again, it is determined to end the driving mode; and the driving of the vehicle in the driving mode is controlled according to the determination result.

[0026] Invention Effects

[0027] According to the above schemes (1) to (12), after performing the operation of disabling the adaptive cruise control driving mode, the adaptive cruise control driving mode can be continued without complicated operations. Attached Figure Description

[0028] Figure 1 This is a structural diagram of a vehicle system utilizing a vehicle control device according to an implementation method.

[0029] Figure 2 This is a configuration diagram showing an example of the arrangement of the control switches in the steering wheel.

[0030] Figure 3 This is a functional structure diagram of the ACC control unit.

[0031] Figure 4 This is a flowchart illustrating an example of the processing flow performed by the ACC control unit. Detailed Implementation

[0032] Hereinafter, embodiments of the vehicle control device, vehicle control method, and storage medium of the present invention will be described with reference to the accompanying drawings.

[0033] [Overall Structure]

[0034] Figure 1 This is a structural diagram of a vehicle system utilizing the vehicle control device of the embodiment. The vehicle equipped with vehicle system 1 is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electricity generated by a generator connected to the internal combustion engine, or electricity discharged from a secondary battery or fuel cell.

[0035] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) device 14, an object recognition device 16, a vehicle sensor 20, an HMI (Human Machine Interface) 30, a driving control device 40, a driving force output device 50, a braking device 51, and a driving control device 100. These devices and equipment are interconnected via multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, and wireless communication networks. Figure 1 The structure shown is just one example; a part of the structure can be omitted, or other structures can be added.

[0036] Camera 10 is, for example, a digital camera utilizing a solid-state imaging element such as CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor). Camera 10 is mounted anywhere on the vehicle equipped with vehicle system 1 (hereinafter referred to as vehicle M). When photographing the front, camera 10 is mounted on the upper part of the windshield, behind the rearview mirror inside the vehicle, etc. Camera 10, for example, periodically and repeatedly photographs the perimeter of vehicle M. Camera 10 can also be a stereo camera.

[0037] Radar device 12 radiates millimeter-wave or other radio waves around the vehicle M and detects the radio waves (reflected waves) reflected by objects to detect at least the position (distance and orientation) of the objects. Radar device 12 can be installed at any location on the vehicle M. Radar device 12 can also detect the position and speed of objects using FM-CW (Frequency Modulated Continuous Wave) method.

[0038] The LIDAR 14 illuminates the periphery of the vehicle M with light (or electromagnetic waves of a wavelength close to light) and measures the scattered light. The LIDAR 14 detects the distance to an object based on the time from the emission of light to the reception of light. The illuminating light can be, for example, a pulsed laser. The LIDAR 14 can be mounted at any location on the vehicle M.

[0039] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the cameras 10, radar device 12, and LIDAR 14 to identify the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the driving control device 100. The object recognition device 16 may also directly output the detection results from the cameras 10, radar device 12, and LIDAR 14 to the driving control device 100. Alternatively, the object recognition device 16 may be omitted from the vehicle system 1.

[0040] Vehicle sensors 20 include, for example, a vehicle speed sensor to detect the speed of the vehicle M, an acceleration sensor to detect the acceleration, and a distance sensor to detect the distance traveled by the vehicle M. Vehicle sensors 20 output the detection results from each sensor to the driving control device 100.

[0041] HMI30 provides various information to the occupants of vehicle M and accepts input operations performed by the occupants. HMI30 outputs a signal indicating the received input operation to the driving control unit 100. HMI30 includes various display devices, speakers, buzzers, touch panels, switches, buttons, and other components.

[0042] In vehicle system 1, as HMI30 associated with Adaptive Cruise Control (hereinafter referred to as "ACC"), multiple operating switches are installed on the steering wheel of vehicle M. Figure 2 This is a configuration diagram showing an example of the arrangement of the control switches in the steering wheel. Figure 2 An example of a steering wheel SW is shown, which has various operating switches on the driver's right-hand side for indicating the driving support of the vehicle M based on ACC (hereinafter referred to as "ACC driving mode"). Figure 2The diagram shows an example of a circular steering wheel SW, but the steering wheel SW does not necessarily have to be circular; it can also be an irregularly shaped steering wheel, a lever, a button, etc. The operating switch SA is operated (pressed) by the driver when requesting the start (activation) of ACC driving mode. The operating switches SU and SD are operated (pressed) by the driver when setting a target speed (hereinafter referred to as "target speed") based on the maximum speed at which the vehicle M is traveling in ACC driving mode. The driver increases the target speed by pressing the operating switch SU and decreases the target speed by pressing the operating switch SD. The operating switch SS is operated (pressed) by the driver when determining the target speed set by operating the operating switches SU and SD and indicating the start (activation) of ACC driving mode. The operating switch SC is operated (pressed) by the driver when requesting or indicating the deactivation (disengagement) of ACC driving mode. In addition to the aforementioned operating switches, an operating switch for setting the distance (inter-vehicle distance) between the target vehicle M and other vehicles V when the vehicle M is following another vehicle (hereinafter referred to as other vehicle V) in ACC driving mode may also be provided on the steering wheel SW. For example, the operating switches SU and SD may also be structures whose functions are changed to set the inter-vehicle distance. The HMI30 accepts the driver's input operations on each operating switch and outputs signals indicating the received input operations on each operating switch to the driving control device 100. ACC driving mode is an example of a "driving mode".

[0043] Return to Figure 1 The driving control unit 40 includes, for example, a steering wheel, an accelerator pedal, a brake pedal, a gear lever, and other control components. Sensors are installed in the driving control unit 40 to detect the presence or amount of operation by the driver of the vehicle M on each control component. The detection results are output to some or all of the driving control unit 100, the driving force output device 50, and the braking device 51. For example, an accelerator pedal opening sensor is installed on the accelerator pedal, and the detection result obtained by detecting the amount of pressure applied to the accelerator pedal is output to the driving control unit 100 or the driving force output device 50. Similarly, a brake pedal pressure sensor is installed on the brake pedal, and the detection result obtained by detecting the amount of pressure applied to the brake pedal is output to the driving control unit 100 or the braking device 51.

[0044] The driving force output device 50 outputs driving force (torque) to the drive wheels to propel the vehicle M. The driving force output device 50 may include, for example, a combination of an internal combustion engine, an electric motor, and a transmission, as well as an ECU (Electronic Control Unit) that controls them. The ECU controls the aforementioned structure according to information input from the driving control device 100 (including the ACC control unit 120) or from the driving operation device 40.

[0045] Braking device 51 is, for example, an electronically controlled hydraulic braking device comprising a brake caliper, a hydraulic cylinder for transmitting hydraulic pressure to the brake caliper, an electric motor for generating hydraulic pressure in the hydraulic cylinder, and a braking ECU. The braking ECU controls the electric motor according to information input from the driving control unit 100 (including the ACC control unit 120) or from the driving operation unit 40, and outputs braking torque corresponding to the driver's depressing operation (braking operation) of the brake pedal included in the driving operation unit 40 to each wheel. Braking device 51 may also include a mechanism for transmitting hydraulic pressure generated by the driver's operation of the brake pedal to the hydraulic cylinder via the master hydraulic cylinder as a backup. Braking device 51 is not limited to the structure described above, and may also be an electronically controlled hydraulic braking device that controls the actuator according to information input from the driving control unit 100 (including the ACC control unit 120) and transmits hydraulic pressure from the master hydraulic cylinder to the hydraulic cylinder.

[0046] The driving control device 100 includes at least an ACC control unit 120. The components of the ACC control unit 120 and the driving control device 100 are implemented, for example, by executing programs (software) using a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can also be implemented using hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or through the coordinated use of software and hardware. The program can be pre-stored in a storage device such as an HDD or flash memory (a storage device with a non-transitory storage medium) of the driving control device 100, or it can be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving control device 100 by assembling the storage medium (non-transitory storage medium) into the drive unit. The ACC control unit 120 (or the driving control device 100 including the ACC control unit 120) is an example of a "vehicle control device".

[0047] [Structure of the driving control device]

[0048] Figure 3 This is a functional structure diagram of the ACC control unit 120. The ACC control unit 120 includes, for example, an ACC driving decision unit 130 and an ACC driving control unit 140. The ACC driving decision unit 130 is an example of a "decision unit", and the ACC driving control unit 140 is an example of a "control unit".

[0049] The ACC driving mode determination unit 130 determines the start and deactivation of the ACC driving mode based on the input operation signal from the HMI 30 to the ACC-associated operation switch mounted on the steering wheel SW, and the information indicating the amount of operation output to the driving force output device 50 and the braking device 51, i.e., the presence and amount of the driver's operation on the accelerator pedal and brake pedal. In addition to this information, the ACC driving mode determination unit 130 may also include information from the detection results output by the vehicle sensor 20 when determining the start and deactivation of the ACC driving mode. The ACC driving mode determination unit 130 outputs information indicating the determined start and deactivation of the ACC driving mode to the ACC driving control unit 140. The ACC driving mode determination unit 130 includes, for example, an operation determination unit 132 and a notification processing unit 134. The ACC-associated operation switch, accelerator pedal, and brake pedal mounted on the steering wheel SW are examples of an "operation unit".

[0050] The operation determination unit 132 determines the ACC-related operation performed by the driver. More specifically, the operation determination unit 132 determines whether an instruction to start or de-start the ACC driving mode has been given based on the input operation signal output from the HMI 30. Here, an example of the operation steps of the various operation switches installed on the steering wheel SW when the driver instructs the start or de-start of the ACC driving mode will be described.

[0051] With the driver indicating the start of ACC driving mode, operate each control switch according to the following steps.

[0052] (Step S-1): First, the driver presses the operation switch SA. This causes the HMI30 to display an image indicating the target speed setting in ACC on a display device such as the LCD (Liquid Crystal Display) installed in the instrument panel or dashboard of the vehicle M. Step S-1 is an example of an "instruction operation".

[0053] (Step S-2): The driver presses the operation switch SU and operation switch SD to change the target speed while referring to the target speed information displayed on the display device by HMI30.

[0054] (Step S-3): When the target speed information displayed on the display device becomes the desired target speed, the driver presses the operation switch SS. This sets (determines) the target speed in ACC driving mode. The driver can also press the operation switch SS without performing step S-2. In this case, the target speed can be changed (adjusted) by the driver pressing the accelerator pedal (including lightly or gently). In this situation, the current driving speed of the vehicle M is set (determined) as the target speed in ACC driving mode. In step S-2, the target speed can also be set (determined) after the driver finishes changing the target speed, i.e., when the operation switches SU and SD are no longer pressed. Step S-3 (including step S-2) is an example of a "setting operation".

[0055] Through these steps, the driver indicates the initiation of ACC driving mode. The indication of initiation of ACC driving mode based on the above steps is the normal start operation in ACC (hereinafter referred to as "ACC start operation"). The ACC start operation may also include setting the inter-vehicle distance with other vehicles V following in the vehicle M. The ACC start operation in a vehicle is not limited to the above steps and may include other operating steps corresponding to the vehicle's specifications and the structure of the operating switches provided with the vehicle. The ACC start operation is an example of a "first start operation".

[0056] On the other hand, when the vehicle M is driving in ACC driving mode, there are two possible operations when the driver instructs the driver to disengage the ACC driving mode. One is for the driver to press the operation switch SC. The other is for the driver to depress the brake pedal, i.e., apply the brakes. The operation of disengaging the ACC driving mode based on the driver pressing the operation switch SC and depressing the brake pedal is the normal disengagement operation in ACC (hereinafter referred to as "ACC disengagement operation"). The ACC disengagement operation is an example of the "disengagement operation". The operation of depressing the brake pedal is an example of the "braking operation".

[0057] The ACC driving decision unit 130 determines whether to start or deactivate the ACC driving mode based on the determination result of the driver's operation related to ACC determined by the operation determination unit 132. More specifically, the ACC driving decision unit 130 decides to start the ACC driving mode when the operation determination unit 132 determines that the driver has performed an ACC start operation. On the other hand, the ACC driving decision unit 130 decides to deactivate the ACC driving mode when the operation determination unit 132 determines that the driver has performed an ACC deactivation operation.

[0058] However, consider the possibility that while the vehicle M is driving in ACC driving mode, the driver unintentionally instructs the ACC driving mode to be disengaged. For example, consider a situation where the driver presses the operation switch SC to operate the audio device on the vehicle M. Or consider a situation where another vehicle enters between the following vehicle V and the vehicle M, causing the driver to feel danger and depress the brake pedal (even lightly or gently). In this case, the operation determination unit 132 also determines that the ACC driving mode has been disengaged. However, since such disengagement of the ACC driving mode is unintentional, it is assumed that the driver immediately instructs the ACC driving mode to be restarted. The target speed (inter-vehicle distance) in the ACC driving mode at this time is the previously set target speed (inter-vehicle distance). Therefore, when the ACC driving mode is disengaged, the ACC driving determination unit 130 keeps the disengagement of the ACC driving mode in a reserved state for a specified period. The specified period is, for example, the period from when the ACC driving mode is disengaged until a specified time has elapsed, or the period from when the ACC driving mode is disengaged until the vehicle M has traveled a specified distance. For example, the specified time can be confirmed using a timer (which can be a countdown timer or a forward timer). The specified distance can be confirmed using the detection result of a distance sensor included in vehicle sensor 20. The specified period can be either the earlier or later of the period up to the elapsed specified time and the period up to the time the vehicle M has traveled the specified distance. Then, if the driver performs a specific operation different from the ACC start operation within the specified period, the ACC driving decision unit 130 cancels the deactivation of the ACC driving mode that was set to a reserved state and allows the ACC driving mode to continue (restart).

[0059] Therefore, the operation determination unit 132 also determines a specific operation performed by the driver within a specified period to continue the ACC driving mode (hereinafter referred to as "ACC continuation operation"). ACC continuation operation includes, for example, pressing any operation switch associated with ACC other than operation switch SC such as operation switch SA, operation switch SU, and operation switch SS, or pressing the accelerator pedal (including pressing it lightly or gently). That is, ACC continuation operation is an operation with fewer steps than ACC initiation operation. ACC continuation operation can also be a combination of any one or more of these operations. The determination of ACC continuation operation in the operation determination unit 132 can also differ in the specified period between pressing an operation switch other than operation switch SC and pressing the accelerator pedal. For example, the operation determination unit 132 may determine that the specified period for determining the operation of pressing the accelerator pedal as ACC continuation operation is shorter than the specified period for determining the operation of pressing an operation switch other than operation switch SC as ACC continuation operation. For example, the operation determination unit 132 may also determine that the specified period for determining the operation of pressing the accelerator pedal as ACC continuation operation is longer than the specified period for determining the operation of pressing an operation switch other than operation switch SC as ACC continuation operation. Continuing to operate ACC is an example of "second-start operation". Pressing the accelerator pedal is an example of "accelerator operation".

[0060] If the operation determination unit 132 determines that the driver has continued to operate ACC within a specified period, the ACC driving decision unit 130 decides to continue the ACC driving mode, that is, not to deactivate the ACC driving mode. If the operation determination unit 132 does not determine that the driver has continued to operate ACC within the specified period, or determines that the driver has again deactivated ACC within the specified period, the ACC driving decision unit 130 decides to deactivate the ACC driving mode. The ACC driving decision unit 130 outputs information indicating the result of its decision regarding the ACC driving mode (determination result) to the ACC driving control unit 140. The determination result output by the ACC driving decision unit 130 to the ACC driving control unit 140 also includes information indicating that the deactivation of the ACC driving mode is set to a reserved state.

[0061] The notification processing unit 134 notifies the driver by outputting operation content related to ACC (e.g., operation method) and information for notifying the current ACC status (hereinafter referred to as "notification information") to the HMI 30. The notification information can be image information for displaying an image on the display device of the HMI 30, or sound information for emitting sound from the speaker (sound-emitting device) of the HMI 30. For example, when the driver presses the operation switch SA, the notification processing unit 134 outputs image and sound information to the HMI 30 to guide the driver to perform the operations described in steps S-2 and S-3 above, i.e., to guide the subsequent operations to indicate the start of the ACC driving mode. For example, when the ACC driving mode is deactivated and for a specified period, the notification processing unit 134 outputs image and sound information (e.g., "Pressing the operation switch SA will continue ACC," "Pressing the accelerator pedal will continue ACC") to the HMI 30 to guide the ACC continuation operation (e.g., "Pressing the operation switch SA will continue ACC," "Pressing the accelerator pedal will continue ACC") to the HMI 30. For example, if the ACC driving mode is deactivated and within a specified period, the notification processing unit 134 may output notifications that the ACC driving mode has been deactivated, as well as image and sound information (e.g., "ACC driving will end in 3 seconds," "If you press the operation switch SC, you can immediately end ACC driving," "If you press the brake pedal again, you can immediately end ACC driving," etc.) to the HMI 30. For example, if the ACC driving mode is deactivated and ACC operation is not performed within a specified period, the notification processing unit 134 may output image and sound information (e.g., "If you press the operation switch SA, you can drive in ACC," etc.) to the HMI 30, guiding the start of ACC operation from step S-1 described above. For example, if LEDs (Light Emitting Diodes) or similar light-emitting devices are installed in the operation switches mounted on the steering wheel SW, the notification processing unit 134 may also output light-emitting information to the HMI 30 to illuminate the LEDs corresponding to the notification content. For example, when the driver presses the operation switch SA, the notification processing unit 134 may output light emission information to the HMI 30, based on or replacing the aforementioned image and sound information, to cause the LEDs installed in the operation switches corresponding to steps S-2 and S-3 to light up in the order of operation. For example, when the ACC driving mode is deactivated and for a specified period, the notification processing unit 134 may also output light emission information to the HMI 30, based on or replacing the aforementioned image and sound information, to cause the LEDs installed in the operation switches corresponding to the ACC continued operation to light up.For example, if the ACC driving mode is deactivated and within a specified period, the notification processing unit 134 may output light emission information to the HMI 30, based on or replacing the aforementioned image and sound information, to activate the LED installed in the operation switch SC. For example, if the ACC driving mode is deactivated and ACC operation is not continued within a specified period, the notification processing unit 134 may output light emission information to the HMI 30, based on or replacing the aforementioned image and sound information, to activate the LED installed in the operation switch SA, which is operated first when ACC operation begins. The HMI 30, or a display device that displays image information, a sound-emitting device that emits sound information, and a light emission device that emits light based on light emission information, are examples of a "notification unit".

[0062] The ACC driving control unit 140 controls the driving of the vehicle M based on the ACC driving mode, based on the decision result related to the ACC driving mode output by the ACC driving decision unit 130 and the information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. More specifically, when the ACC driving control unit 140 receives information from the ACC driving decision unit 130 indicating the start of the ACC driving mode, it controls the driving force output device 50 and the braking device 51 to make the vehicle M drive in the ACC driving mode. When the ACC driving control unit 140 receives information from the ACC driving decision unit 130 indicating the deactivation of the ACC driving mode, it terminates the driving of the vehicle M based on the ACC driving mode. That is, it terminates the control of the driving force output device 50 and the braking device 51 by the ACC driving control unit 140. When the ACC driving control unit 140 receives information from the ACC driving decision unit 130 indicating a decision to retain the ACC driving mode release, it controls the driving force output device 50 and the braking device 51 to maintain the driving speed of the vehicle M based on the ACC driving mode, that is, to keep the vehicle M at the same driving speed (e.g., within ±5 km / h) as before the driver performed the ACC release operation. Alternatively, when the ACC driving control unit 140 receives information from the ACC driving decision unit 130 indicating a decision to retain the ACC driving mode release, it controls the driving force output device 50 and the braking device 51 to ensure that the deceleration of the vehicle M based on the ACC driving mode is less than the deceleration corresponding to the amount of time the driver depresses the brake pedal. For example, the ACC driving control unit 140 may also apply braking force to the vehicle M that is weaker than the braking force corresponding to the amount of time the driver depresses the brake pedal, similar to engine braking.

[0063] In addition, the ACC driving control unit 140 may also include (refer to) information from the detection results output by the vehicle sensor 20 to control the driving of the vehicle M based on the ACC driving mode.

[0064] [Handling ACC Driving Mode]

[0065] Figure 4 This is a flowchart illustrating an example of the processing flow performed by the ACC control unit 120. The processing in this flowchart is repeated, for example, during periods when the vehicle M's travel speed is at or above the speed at which ACC can be performed (e.g., 60 km / h). In the following description, the ACC driving decision unit 130 sets the specified period for deactivating the ACC driving mode to a hold state as a specified time.

[0066] First, the ACC driving decision unit 130 checks whether the operation decision unit 132 has determined whether the ACC start operation performed by the driver (step S100). In step S100, if it is confirmed that the operation decision unit 132 has not determined whether the ACC start operation has been performed, the ACC driving decision unit 130 repeats the process of step S100.

[0067] On the other hand, in step S100, if it is confirmed that the operation determination unit 132 has determined that ACC start operation has been performed, the ACC driving decision unit 130 decides to start the ACC driving mode (step S102). Then, the ACC driving decision unit 130 outputs information indicating the decision result indicating the start of the ACC driving mode to the ACC driving control unit 140. As a result, the ACC driving control unit 140 performs driving control according to the decision result indicating the start of the ACC driving mode output by the ACC driving decision unit 130, so that the vehicle M travels at a speed below the target speed.

[0068] Subsequently, the ACC driving decision unit 130 confirms whether the operation decision unit 132 has performed an ACC disengagement operation performed by the driver (step S104). In step S104, if it is confirmed that the operation decision unit 132 has not performed an ACC disengagement operation, the ACC driving decision unit 130 returns to step S102 and decides to continue in ACC driving mode, that is, to continue driving in ACC driving mode. As a result, driving control in ACC driving mode based on ACC driving control unit 140 continues, and the vehicle M continues to drive in ACC mode.

[0069] On the other hand, in step S104, if it is confirmed that the operation determination unit 132 has performed an ACC deactivation operation, the ACC driving decision unit 130 temporarily changes the ACC driving mode deactivation to a hold state (step S106). Then, the ACC driving decision unit 130 outputs information indicating the decision result of setting the ACC driving mode deactivation to a hold state to the ACC driving control unit 140. As a result, the ACC driving control unit 140 controls the driving of the vehicle M according to the decision result output by the ACC driving decision unit 130 indicating that the ACC driving mode deactivation is set to a hold state, so as to maintain the driving speed based on the ACC driving mode, or decelerate with a smaller amount of deceleration.

[0070] The ACC driving decision unit 130, for example, starts the timer (step S108). Then, the ACC driving decision unit 130 causes the notification processing unit 134 to output notification information indicating that the ACC driving mode can continue to the HMI 30 (step S110). As a result, the HMI 30 guides the driver to continue the ACC driving mode by using images, sounds, and light emission devices based on the notification information output by the notification processing unit 134.

[0071] The ACC driving decision unit 130 checks whether the timed operation has exceeded the predetermined time (step S112). In step S112, if it is confirmed that the timed operation has not exceeded the predetermined time (the predetermined time has not elapsed), the ACC driving decision unit 130 checks whether the operation determination unit 132 has determined whether the ACC operation performed by the driver should continue (step S114). In step S114, if it is confirmed that the operation determination unit 132 has not determined whether the ACC operation should continue, the ACC driving decision unit 130 returns the processing to step S110 and continues to repeat the processing of steps S110 to S114.

[0072] On the other hand, in step S114, if it is confirmed that the operation determination unit 132 has determined to continue ACC operation, the ACC driving decision unit 130 decides to cancel (cancel) the release of the ACC driving mode, which has been temporarily set to a reserved state, and allows the ACC driving mode to continue (step S116). Then, the ACC driving decision unit 130 outputs information indicating that the decision to continue the ACC driving mode, that is, not to release the ACC driving mode, to the ACC driving control unit 140. As a result, the ACC driving control unit 140 continues the driving control in the ACC driving mode according to the decision result indicating the continuation of the ACC driving mode output by the ACC driving decision unit 130, and the vehicle M continues to drive with ACC. At this time, the ACC driving control unit 140 performs driving control according to the decision result indicating the release of the ACC driving mode and setting it to a reserved state, so that the vehicle M decelerates with a small amount of deceleration, and also accelerates the vehicle M, and controls the vehicle M to travel at a speed below the target speed indicated by the decision result indicating the start of the ACC driving mode.

[0073] On the other hand, in step S112, if it is confirmed that the timeout period has exceeded the predetermined time (the predetermined time has elapsed), the ACC driving decision unit 130 decides to deactivate the ACC driving mode (step S118). Then, the ACC driving decision unit 130 outputs information indicating the decision to deactivate the ACC driving mode to the ACC driving control unit 140. As a result, the ACC driving control unit 140 terminates the driving control of the vehicle M based on the ACC driving mode according to the decision result output by the ACC driving decision unit 130 indicating the deactivation of the ACC driving mode. Then, the ACC driving decision unit 130 terminates the processing of this flowchart in the driving control of the vehicle M in this ACC driving mode. At this time, the ACC driving decision unit 130 may also cause the notification processing unit 134 to output notification information to the HMI 30 that the ACC driving mode has been deactivated, or that the ACC start operation needs to be performed again when driving in ACC driving mode. As a result, the HMI 30 guides the driver to start ACC by performing the ACC start operation based on the notification information output by the notification processing unit 134 through images, sounds, and the illumination of light-emitting devices.

[0074] Through the above-described processing, when the vehicle M is driving in ACC driving mode, the ACC control unit 120 temporarily changes the ACC driving mode deactivation to a held state if the driver performs an ACC deactivation operation. Therefore, even if the driver unintentionally deactivates ACC, they can resume driving in ACC driving mode by performing an ACC continuation operation within a specified time. Furthermore, since the ACC continuation operation requires fewer steps than the ACC initiation operation, the driver can resume driving in ACC driving mode even if it was unintentionally deactivated, with easier steps than the ACC initiation operation.

[0075] exist Figure 4 In one example of the processing in the ACC control unit 120 shown, the case where the ACC driving mode deactivation and retention period set by the ACC driving mode determination unit 130 is a specified time is described. However, the specified period can also be a specified distance traveled by the vehicle M from the moment the ACC driving mode is deactivated, or both a specified time and a specified distance. In this case, the processing of the ACC control unit 120 only needs to... Figure 4 The specified time in one example of the processing in the ACC control unit 120 shown can be replaced with a specified distance, or both a specified time and a specified distance, to make it an equivalent processing example to the above processing.

[0076] As described above, according to the ACC control unit 120 of the embodiment, the ACC driving decision unit 130 temporarily changes the deactivation of the ACC driving mode corresponding to the ACC deactivation operation from the driver to a held state. Then, in the ACC control unit 120 of the embodiment, if the driver performs an ACC continue operation within a specified period, the ACC driving mode set to the held state continues; if no operation from the driver is performed within the specified period, or if an ACC deactivation operation is performed again, the ACC driving mode set to the held state is deactivated. Thus, in the ACC control unit 120 of the embodiment, when the driver unintentionally performs an ACC deactivation operation, the ACC driving mode can continue without cumbersome operations. On the other hand, in the ACC control unit 120 of the embodiment, when the driver intentionally performs an ACC deactivation operation, the ACC driving mode can be deactivated without cumbersome operations.

[0077] The ACC control unit 120 of the embodiment can also be used in vehicles equipped with autonomous driving functions. For example, the driving control device 100 of the embodiment can also be a control device that executes autonomous driving functions. In this case, even if an ACC deactivation operation is performed while the vehicle is driving with the ACC function included in the autonomous driving function, if there is no reason other than ACC that would stop the autonomous driving function, the ACC function can continue by the driver performing an ACC continuation operation, that is, driving based on the autonomous driving function can continue.

[0078] The implementation methods described above can be performed as follows.

[0079] A vehicle control device, comprising:

[0080] A storage device containing a program; and

[0081] Hardware processor,

[0082] The hardware processor executes the program stored in the storage device to perform the following processing:

[0083] When deciding to start and deactivate a driving mode that operates at a speed below a target speed set by the driver's operation of the control unit,

[0084] The start of the driving mode is determined based on the first start operation that initiates the driving mode.

[0085] When driving in the aforementioned driving mode, if a deactivation operation is performed to deactivate the driving mode,

[0086] The driving mode will be set to a reserved state for a specified period after it has been deactivated.

[0087] If a second start operation, different from the first start operation, is performed during the specified period, it is decided to continue the driving mode.

[0088] If no operation is performed within the specified period, or if the deactivation operation is performed again, it is determined that the driving mode will be deactivated.

[0089] The vehicle's driving in the driving mode is controlled according to the decision result.

[0090] The present invention has been described above using embodiments, but the present invention is not limited to such embodiments in any way, and various modifications and substitutions can be applied without departing from the spirit of the present invention.

[0091] Symbol explanation:

[0092] 1. Vehicle System

[0093] 10. Camera

[0094] 12··· Radar Device

[0095] 14···LIDAR

[0096] 16. Object Recognition Device

[0097] 20. Vehicle Sensors

[0098] 30···HMI

[0099] 40··· Driving Controls

[0100] 50··· Driving drive force output device

[0101] 51. Braking device

[0102] 100··· Driving control device

[0103] 120···ACC Control Department

[0104] 130···ACC Driving Decision Department

[0105] 140···ACC Driving Control Unit

[0106] 132··· Operation Judgment Department

[0107] 134 Notification Processing Department

Claims

1. A vehicle control device, wherein, The vehicle control device includes: The decision unit determines the initiation and deactivation of a driving mode that operates at a speed below a target speed set by the driver's operation of the control unit; and The control unit controls the vehicle's movement in the driving mode according to the decision result from the decision unit. The decision unit determines the start of the driving mode based on a first start operation that initiates the driving mode. When the control unit controls driving in the driving mode, if a deactivation operation to deactivate the driving mode is performed... The decision unit sets the cancellation of the driving mode to a reserved state for a specified period. If a second start operation, different from the first start operation, is performed during the specified period, the decision unit determines to continue the driving mode. The second start operation includes any one or more of the following: accelerator operation on the vehicle's accelerator pedal, instruction operation indicating the start of the driving mode, and setting operation setting the target speed. If no operation is performed within the specified period, or if the deactivation operation is performed again, the decision unit decides to deactivate the driving mode. The decision unit determines that the specified period during which the second start operation is performed is different in the throttle operation, the instruction operation, and the setting operation.

2. The vehicle control device according to claim 1, wherein, The specified period is the period from the time the release operation is performed until the specified time and / or the specified distance has been traveled.

3. The vehicle control device according to claim 2, wherein, The first start operation includes at least the instruction operation and the setting operation. The release operation includes braking the vehicle's brake pedal.

4. The vehicle control device according to claim 3, wherein, The decision unit makes the specified period for determining the throttle operation as the second start operation shorter than the specified period for determining the instruction operation and the setting operation as the second start operation.

5. The vehicle control device according to any one of claims 1 to 4, wherein, When the driving mode corresponding to the release operation is in a reserved state, the decision unit notifies the second start operation of the operation content through the notification unit.

6. The vehicle control device according to claim 5, wherein, When the decision unit decides to deactivate the driving mode, it notifies the first start operation of the operation details through the notification unit.

7. The vehicle control device according to claim 1, wherein, When the driving mode is deactivated and retained, the control unit controls the vehicle's speed to the same speed as before the deactivation operation.

8. The vehicle control device according to claim 1, wherein, When the driving mode is deactivated and retained, the control unit controls the deceleration of the vehicle's speed to be less than the deceleration corresponding to the amount of the brake pedal being depressed.

9. The vehicle control device according to claim 1, wherein, The driving mode is a driving mode that follows other vehicles traveling ahead at a speed below the target speed.

10. A vehicle control method, wherein, The computer installed in the vehicle performs the following processing: When deciding to start and deactivate a driving mode that operates at a speed below a target speed set by the driver's operation of the control unit, The start of the driving mode is determined based on the first start operation that initiates the driving mode. When driving in the aforementioned driving mode, if a deactivation operation is performed to deactivate the driving mode, The driving mode will be set to a reserved state for a specified period after it has been deactivated. If a second start operation, different from the first start operation, is performed during the specified period, and it is determined that the driving mode should continue, the second start operation includes one or more of the following operations: accelerator operation on the vehicle's accelerator pedal, indication operation indicating the start of the driving mode, and setting operation setting the target speed. If no operation is performed within the specified period, or if the deactivation operation is performed again, it is determined that the driving mode will be deactivated. The specified period during which the second start operation is determined to have been performed differs from the throttle operation, the indication operation, and the setting operation. The vehicle's driving in the driving mode is controlled according to the decision result.

11. A storage medium storing a program, wherein, The program causes the computer mounted in the vehicle to perform the following processes: When deciding to start and deactivate a driving mode that operates at a speed below a target speed set by the driver's operation of the control unit, The start of the driving mode is determined based on the first start operation that initiates the driving mode. When driving in the aforementioned driving mode, if a deactivation operation is performed to deactivate the driving mode, The driving mode will be set to a reserved state for a specified period after it has been deactivated. If a second start operation, different from the first start operation, is performed during the specified period, and it is determined that the driving mode should continue, the second start operation includes one or more of the following operations: accelerator operation on the vehicle's accelerator pedal, indication operation indicating the start of the driving mode, and setting operation setting the target speed. If no operation is performed within the specified period, or if the deactivation operation is performed again, it is determined that the driving mode will be deactivated. The specified period during which the second start operation is determined to have been performed differs from the throttle operation, the indication operation, and the setting operation. The vehicle's driving in the driving mode is controlled according to the decision result.

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