Vehicle deceleration assistance device

Abstract

A vehicle deceleration assistance device capable of appropriately suggesting a reduction in the assistance level under deceleration assistance control or appropriately autonomously reducing the assistance level under deceleration assistance control. A vehicle deceleration assistance device (10) executes deceleration assistance control that assists deceleration of a vehicle when a distance between the vehicle (100) and a deceleration assistance target (200) becomes equal to or less than a prescribed distance and an operator of the vehicle does not perform an acceleration operation or a deceleration operation. The vehicle deceleration assistance device suggests or autonomously reduces the assistance level under the deceleration assistance control when a weak acceleration operation or a weak deceleration operation that satisfies a prescribed condition in which an acceleration operation or a deceleration operation is performed and the degree of the acceleration operation or the deceleration operation is equal to or less than a prescribed degree is performed for a prescribed number of times or more for a prescribed time.

Description

Technical Field

[0001] This invention relates to a vehicle deceleration assist device. Background Technology

[0002] A vehicle deceleration assist device is known to perform deceleration assist control autonomously to slow down the vehicle when the driver fails to perform an operation that should have been performed to slow down the vehicle. As such a vehicle deceleration assist device, there is a known vehicle deceleration assist device that performs deceleration assist control when the vehicle is traveling on a road, but does not perform deceleration assist control when the vehicle is traveling in a parking lot (for example, see Patent Document 1). Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-114705 Summary of the Invention

[0004] Sometimes, the vehicle deceleration under deceleration assist control is too rapid, or the level of assistance may feel excessive to the driver. Even when the vehicle's deceleration assist system is configured to allow adjustment of the deceleration level, many drivers choose not to change the level and continue using the vehicle at the unchanged level. For such drivers, suggesting or allowing them to manually lower the assistance level would improve convenience.

[0005] The purpose of this invention is to provide a vehicle deceleration assist device that can appropriately suggest reducing the assist level under deceleration assist control or appropriately and autonomously reduce the assist level under deceleration assist control.

[0006] The vehicle deceleration assist device of this invention performs deceleration assist control to assist the vehicle's deceleration when the distance between the vehicle and the object to be decelerated is less than a predetermined distance and the vehicle operator has not performed any acceleration or deceleration operation. Furthermore, the vehicle deceleration assist device of this invention is configured to suggest that the operator reduce or voluntarily reduce the assist level under the deceleration assist control if a predetermined number of weak acceleration or deceleration operations meeting predetermined conditions have been performed, wherein the predetermined conditions refer to the condition that the acceleration or deceleration operation has been performed and the degree of the acceleration or deceleration operation is less than a predetermined degree for a predetermined period of time.

[0007] When the level of assistance under deceleration assist control is excessive for the vehicle operator, the operator may sometimes continuously perform small acceleration or deceleration operations for a period of time. Therefore, if the operator frequently performs small acceleration or deceleration operations for a period of time, the current level of assistance may be excessive for that operator.

[0008] According to the vehicle deceleration assist device of the present invention, when a predetermined condition is met—that a weak acceleration operation or weak deceleration operation has been performed more than a predetermined number of times—the device suggests that the operator reduce the assist level under deceleration assist control or automatically reduce the assist level under deceleration assist control. Therefore, it is possible to appropriately suggest that the operator reduce the assist level under deceleration assist control or appropriately reduce the assist level under deceleration assist control automatically.

[0009] Furthermore, in the vehicle deceleration assist device according to the present invention, the predetermined condition when the acceleration operation is performed while the deceleration assist control is being executed is, for example, a first condition where the acceleration operation is performed and the degree of the acceleration operation is less than or equal to a first degree of the predetermined degree for a first time. Additionally, the predetermined condition when the acceleration operation is performed without the deceleration assist control being executed is, for example, a second condition where the acceleration operation is performed and the degree of the acceleration operation is less than or equal to a second degree of the predetermined degree for a second time, and the vehicle deceleration is less than or equal to the deceleration operation deceleration when not using assist. Furthermore, the predetermined condition when the deceleration operation is performed while the deceleration assist control is being executed is, for example, a third condition where the deceleration operation is performed and the degree of the deceleration operation is less than or equal to a third degree of the predetermined degree for a third time. Furthermore, the specified conditions when the deceleration operation is performed without executing the deceleration assist control include, for example, the deceleration operation is performed, and the degree of the deceleration operation is at least the fourth degree of the specified degree for a fourth time period, and the deceleration of the vehicle is at least the deceleration operation deceleration when not assisted.

[0010] Operators who perceive an excessive level of deceleration assist control will exhibit different weak acceleration or deceleration maneuvers when deceleration assist control is in effect and when it is not. Therefore, to more accurately determine whether an operator perceives an excessive level of deceleration assist control, it is effective to differentiate between the conditions under which the operator is advised to reduce the level of deceleration assist control or to reduce it voluntarily when deceleration assist control is in effect and when it is not.

[0011] According to the vehicle deceleration assist device of the present invention, the prescribed conditions differ when deceleration assist control is being performed and when deceleration assist control is not being performed. Therefore, based on a more accurate determination that the operator feels the level of assist under deceleration assist control is excessive, the device can suggest that the operator reduce the level of assist under deceleration assist control or allow the operator to reduce the level of assist under deceleration assist control independently.

[0012] Furthermore, in the vehicle deceleration assist device according to the present invention, the predetermined condition when the acceleration operation is performed while the deceleration assist control is being executed is, for example, a first condition where the acceleration operation is performed and the degree of the acceleration operation is less than or equal to a first degree of the predetermined degree for a first time. Additionally, the predetermined condition when the acceleration operation is performed while the deceleration assist target is detected but the deceleration assist control is not being executed is, for example, a second condition where the acceleration operation is performed and the degree of the acceleration operation is less than or equal to a second degree of the predetermined degree for a second time, and the vehicle deceleration is less than or equal to the deceleration operation deceleration when not assisting. Furthermore, the predetermined condition when the deceleration operation is performed while the deceleration assist control is being executed is, for example, a third condition where the deceleration operation is performed and the degree of the deceleration operation is less than or equal to a third degree of the predetermined degree for a third time. Furthermore, the specified conditions for the deceleration operation performed when the deceleration assist object was detected but the deceleration assist control was not executed include, for example, the fourth condition: the deceleration operation was performed, the degree of the deceleration operation was at least the fourth degree of the specified degree and lasted for a fourth time as the specified time, and the deceleration of the vehicle was at least the deceleration operation deceleration when not assisted.

[0013] Operators who perceive an excessive level of deceleration assist control will perform different weak acceleration or deceleration maneuvers depending on whether deceleration assist control is being executed or detected but not yet activated. Therefore, to more accurately determine whether an operator perceives an excessive level of deceleration assist control, it is effective to differentiate the conditions under which the operator is advised to reduce or voluntarily reduce the level of deceleration assist control between when deceleration assist control is being executed and when a deceleration assist object is detected but not yet activated.

[0014] According to the vehicle deceleration assist device of the present invention, the prescribed conditions differ when deceleration assist control is being executed and when a deceleration assist target is detected but deceleration assist control is not executed. Therefore, based on a more accurate determination that the operator feels the assist level under deceleration assist control is excessive, the device can suggest that the operator reduce the assist level under deceleration assist control or allow the operator to reduce the assist level under deceleration assist control independently.

[0015] Furthermore, the vehicle deceleration assist device according to the present invention can also be configured such that, when configured to autonomously reduce the assist level when the weak acceleration operation or the weak deceleration operation satisfying the predetermined condition has been performed more than the predetermined number of times, the method of autonomously reducing the assist level when the weak acceleration operation satisfying the first condition has been performed more than the predetermined number of times is different from the method of autonomously reducing the assist level when the weak acceleration operation satisfying the second condition has been performed more than the predetermined number of times. In this case, the vehicle deceleration assist device according to the present invention can also be configured such that the method of autonomously reducing the assist level when the weak deceleration operation satisfying the third condition has been performed more than the predetermined number of times is different from the method of autonomously reducing the assist level when the weak deceleration operation satisfying the fourth condition has been performed more than the predetermined number of times is different.

[0016] The operator's perception of excessive assistance level under deceleration assist control differs depending on whether the operator performs a slight acceleration or deceleration operation while deceleration assist control is in effect, or when the operator performs a slight acceleration or deceleration operation without deceleration assist control being in effect.

[0017] According to the vehicle deceleration assist device of the present invention, the methods for automatically reducing the assist level when a predetermined number of weak acceleration or deceleration operations satisfying the first condition are performed, and the methods for automatically reducing the assist level when a predetermined number of weak acceleration or deceleration operations satisfying the second condition are different. Furthermore, the methods for automatically reducing the assist level when a predetermined number of weak acceleration or deceleration operations satisfying the third condition are performed, and the methods for automatically reducing the assist level when a predetermined number of weak acceleration or deceleration operations satisfying the fourth condition are different. Therefore, it is possible to achieve an automatic reduction of the assist level corresponding to the operator's perception of excess assist level under deceleration assist control.

[0018] In addition, the vehicle deceleration assist device according to the present invention can also be configured to acquire the number of times the weak acceleration operation or the weak deceleration operation is performed during the period when the vehicle is in a drivable state, i.e., the start-up state, and reset the acquired number of times when the vehicle changes from the start-up state to a state where the vehicle cannot drivable, i.e., the non-start-up state.

[0019] The perception of excessive assistance levels under deceleration assist control varies from driver to driver. Therefore, to more accurately determine whether an operator perceives excessive assistance levels under deceleration assist control, it is effective to consider situations where the operator changes due to rotation or other reasons. Furthermore, the operator may change when the vehicle changes from a drivable state to a drivable state.

[0020] According to the vehicle deceleration assist device of the present invention, when the vehicle changes from an active state to a non-active state, the number of weak acceleration or deceleration operations performed is reset. Therefore, it is possible to more appropriately realize the suggestion to reduce the assist level or the autonomous reduction of the assist level in accordance with the operator's perception of excessiveness in the assist level under deceleration assist control.

[0021] Furthermore, the vehicle deceleration assist method of the present invention is a deceleration assist control method that assists in decelerating the vehicle when the distance between the vehicle and the deceleration assist target is less than a predetermined distance and the vehicle operator has not performed an acceleration or deceleration operation. Moreover, the vehicle deceleration assist method of the present invention includes the following step: when a predetermined condition is met—that the acceleration or deceleration operation has been performed and the degree of the acceleration or deceleration operation is less than a predetermined degree—and a predetermined number of weak acceleration or deceleration operations have been performed, the operator is advised to reduce or the operator voluntarily reduces the assist level under the deceleration assist control.

[0022] According to the vehicle deceleration assist method of the present invention, based on the same reasons as previously stated, it is possible to appropriately advise the operator to reduce the assist level under deceleration assist control, or appropriately reduce the assist level under deceleration assist control autonomously.

[0023] Furthermore, the vehicle deceleration assist program of this invention is a deceleration assist control program that assists in decelerating the vehicle when the distance between the vehicle and the object to be decelerated is less than a predetermined distance and the driver has not performed any acceleration or deceleration operation. Moreover, the vehicle deceleration assist program of this invention is configured to, when a predetermined condition is met—that an acceleration or deceleration operation has been performed at a predetermined level or less—and this condition is met by a predetermined number of weak acceleration or deceleration operations, the driver is advised to reduce or voluntarily reduce the level of assistance under the deceleration assist control.

[0024] According to the vehicle deceleration assist program of the present invention, for the same reasons as previously stated, it is possible to appropriately advise the operator to reduce the assist level under deceleration assist control, or to appropriately reduce the assist level under deceleration assist control autonomously.

[0025] The constituent elements of this invention are not limited to the embodiments of the invention described below with reference to the accompanying drawings. Other objects, features, and incidental advantages of the invention can be readily understood from the description of the embodiments of the invention. Attached Figure Description

[0026] Figure 1 This is a diagram illustrating a vehicle control device that includes a vehicle deceleration assist device according to an embodiment of the present invention. Figure 2 This is a diagram illustrating a portion of a vehicle control device according to an embodiment of the present invention. Figure 3 It is a diagram showing the distances of vehicles ahead and between vehicles. Figure 4 This is a flowchart illustrating the routines executed by the vehicle control device according to an embodiment of the present invention. Figure 5 This is a flowchart illustrating the routines executed by the vehicle control device according to an embodiment of the present invention. Figure 6 This is a flowchart illustrating the routines executed by the vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0027] Hereinafter, with reference to the accompanying drawings, a vehicle control device including a vehicle deceleration assist device according to an embodiment of the present invention will be described. Figure 1The image shows a vehicle control device 10 according to an embodiment of the present invention.

[0028] The vehicle control device 10 will be described below using the example of a person who rides in and drives the vehicle 100 (i.e., the driver of the vehicle 100). Therefore, in this example, as... Figure 1 As shown, the vehicle control device 10 is mounted on the vehicle 100.

[0029] However, the operator of vehicle 100 can also be a person who drives vehicle 100 remotely without being in vehicle 100 (i.e., a remote operator of vehicle 100). When the operator of vehicle 100 is a remote operator, vehicle control device 10 is mounted on vehicle 100 and on a remote operation device installed outside vehicle 100 for remote driving of vehicle 100. The functions of vehicle control device 10 described below are performed by vehicle control device 10 mounted on vehicle 100 and vehicle control device 10 mounted on remote operation device respectively.

[0030] <ecu> like Figure 1 As shown, the vehicle control unit 10 includes an ECU 90. The ECU 90 is an electronic control unit (electronic control device). The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and interfaces. The CPU performs various functions by executing instructions, programs, or routines stored in the ROM. In this example, the vehicle control unit 10 has one ECU, but it can also be configured to have multiple ECUs, with each ECU handling different processing tasks.

[0031] <Drive devices, etc.> In addition, such as Figure 1 As shown, the vehicle 100 is equipped with a drive unit 20, a braking unit 30, a transmission unit 40, and a notification unit 50.

[0032] <Drive device> The drive unit 20 is a device that outputs driving force to the vehicle 100, and includes an internal combustion engine and / or at least one electric motor. The drive unit 20 is electrically connected to the ECU 90. The ECU 90 can control the driving force output from the drive unit 20.

[0033] Braking device The braking device 30 is a device that applies braking force to the vehicle 100, and includes a hydraulic braking device, etc. The braking device 30 is electrically connected to the ECU 90. The ECU 90 can control the braking force applied to the vehicle 100 through the braking device 30.

[0034] <Transmission mechanism> The transmission 40 is a device that changes the transmission state of the driving force output from the drive unit 20 to the vehicle 100; in this example, it is the transmission 41. The transmission 41 is electrically connected to the ECU 90. The ECU 90 can set the transmission 41 to any of the following states: forward drive transmission state (drive transmission state), reverse drive transmission state (reverse transmission state), neutral state (neutral state), and parking state (parking state). The drive transmission state is the state in which driving force is transmitted to the vehicle 100 in a way that makes the vehicle 100 move forward; the reverse transmission state is the state in which driving force is transmitted to the vehicle 100 in a way that makes the vehicle 100 move backward; the neutral state is the state in which no driving force is transmitted to the vehicle 100; and the parking state is the state in which the vehicle 100 is kept stationary.

[0035] <Notification Device> The notification device 50 is a device for providing various information to the operator of the vehicle 100. In this example, it includes a display device 51 and an audio device 52.

[0036] <Display Device> Display device 51 is a device for displaying various images, such as a display as part of an instrument cluster, a head-up display, or a display for a navigation device. Display device 51 is mounted in vehicle 100 such that the driver of vehicle 100 can see the images displayed on display device 51. Display device 51 is electrically connected to ECU 90. ECU 90 can use display device 51 to display various images.

[0037] The vehicle control device 10 can suggest that the driver of the vehicle 100 slow down the vehicle 100 by displaying an image (slowdown suggestion image) suggesting that the driver of the vehicle 100 slow down the vehicle 100 using the display device 51.

[0038] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the display device 51 is installed on the remote operation device.

[0039] <Audio Equipment> Additionally, the audio device 52 is a speaker or similar device that outputs various sounds. The audio device 52 is mounted on the vehicle 100 in such a way that the driver of the vehicle 100 can hear the sounds output from it. The audio device 52 is electrically connected to the ECU 90. The ECU 90 can output various sounds from the audio device 52.

[0040] The vehicle control unit 10 can advise the driver of the vehicle 100 to slow down by outputting a sound (slowdown suggestion sound) from the audio device 52.

[0041] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the audio device 52 is mounted on the remote operation device.

[0042] <Starter, etc.> Furthermore, such as Figure 1 As shown, the vehicle 100 is also equipped with a starter 61, an acceleration 62, a deceleration 63, a gear shift 64, an auxiliary level setting device 65, a vehicle speed detection device 66, and a surrounding information detection device 70.

[0043] <Starter> The starter actuator 61 is a switch or similar device operated by the driver to start or stop the ECU 90. The starter actuator 61 is equivalent to an existing ignition switch. The starter actuator 61 is electrically connected to the ECU 90. If the starter actuator 61 is operated when the ECU 90 is in a non-starting state (not in the starting state), the ECU 90 becomes active; if the starter actuator 61 is operated when the ECU 90 is in the starting state, the ECU 90 becomes non-starting.

[0044] Furthermore, when the operator of vehicle 100 is a remote operator of vehicle 100, the starter 61 is mounted on a remote operation device.

[0045] <Acceleration Operation Device> Acceleration control device 62 is a device used by the driver to accelerate the vehicle to 100 km / h, such as... Figure 2 As shown, in this example, it includes an accelerator pedal 621 and an accelerator pedal operation sensor 622.

[0046] The accelerator pedal 621 is a device operated by the driver. The accelerator pedal operation amount sensor 622 is a device that detects the operation amount of the accelerator pedal 621. The accelerator pedal operation amount sensor 622 is electrically connected to the ECU 90. The ECU 90 obtains the operation amount of the accelerator pedal 621 as the accelerator pedal operation amount AP through the accelerator pedal operation amount AP. Based on the accelerator pedal operation amount AP, the ECU 90 calculates the acceleration of the vehicle 100 required by the driver as the driver-required acceleration Ga_driver. When the driver-required acceleration Ga_driver is greater than zero, the ECU 90 controls the driving force output from the drive unit 20 to achieve the driver-required acceleration Ga_driver, except in cases where automatic braking control is performed as described later.

[0047] Furthermore, when the operator of vehicle 100 is a remote operator of vehicle 100, the acceleration operation device 62 is mounted on the remote operation device.

[0048] <Speed ​​reduction operating device> The deceleration control device 63 is a device used by the driver to reduce the vehicle speed by 100 km / h, such as... Figure 2 As shown, in this example, it includes a brake pedal 631 and a brake pedal operation sensor 632.

[0049] The brake pedal 631 is a device operated by the driver. The brake pedal operation amount sensor 632 is a device that detects the operation amount of the brake pedal 631. The brake pedal operation amount sensor 632 is electrically connected to the ECU 90. The ECU 90 obtains the operation amount of the brake pedal 631 as the brake pedal operation amount BP through the brake pedal operation amount sensor 632. Based on the brake pedal operation amount BP, the ECU 90 calculates the deceleration of the vehicle 100 required by the driver as the driver-required deceleration Gd_driver. When the driver-required deceleration Gd_driver is greater than zero, the ECU 90, except when performing automatic braking control as described later, controls the braking force applied to the vehicle 100 from the braking device 30 in a manner that achieves the driver-required deceleration Gd_driver.

[0050] Furthermore, when the operator of vehicle 100 is a remote operator of vehicle 100, the deceleration control device 63 is mounted on the remote operation device.

[0051] <Speed ​​Shifting Device> The transmission control device 64 is a device used by the driver to set the transmission 41's shifting state, such as... Figure 2 As shown, in this example, it includes a gear shift lever 641 and a gear position sensor 642.

[0052] The gear shift lever 641 is a device operated by the driver. The driver can operate the gear shift lever 641 to set its position to any of the following: forward drive position (drive position), reverse drive position (reverse position), neutral position (neutral position), and parking position (parking position). The gear position sensor 642 is electrically connected to the ECU 90. The ECU 90 detects the position of the gear shift lever 641 through the gear position sensor 642. When the gear shift lever 641 is set to the drive position, reverse position, neutral position, and parking position, the ECU 90 sets the transmission 41 to the drive shift state, reverse shift state, neutral state, and parking state, respectively.

[0053] Furthermore, when the operator of vehicle 100 is a remote operator of vehicle 100, the transmission operating device 64 is mounted on a remote operating device.

[0054] <Assistance Level Setting Device> The assist level setting device 65 is a device used by the driver to set the assist level under the deceleration assist control described later. It is a switch on the steering wheel of the vehicle 100 or a touch panel on the navigation device, etc.

[0055] The level of assistance under deceleration assist control is the level of assistance provided to the driver in order to reduce the vehicle to 100 km / h. In this example, the driver can set one of the following three levels as the level of assistance: low level (weak assistance level), medium level (medium assistance level), and high level (strong assistance level).

[0056] When the deceleration assist control is the automatic braking control described later, (1) when the assist level is weak, the target deceleration Gd_tgt and the target deceleration rise rate R_tgt are set to relatively small deceleration and rise rate, respectively; (2) when the assist level is medium, the target deceleration Gd_tgt and the target deceleration rise rate R_tgt are set to relatively medium deceleration and rise rate, respectively; and (3) when the assist level is strong, the target deceleration Gd_tgt and the target deceleration rise rate R_tgt are set to relatively large deceleration and rise rate, respectively. Therefore, the deceleration and rise rate of the vehicle 100 during the execution of the deceleration assist control change according to the assist level.

[0057] Furthermore, when the deceleration assist control is the deceleration notification control described later, (1) when the assist level is weak, the deceleration suggestion image described later is displayed in a way that is less likely to be recognized by the driver by changing its hue, brightness, etc., and the deceleration suggestion sound described later is output in a way that is less likely to be recognized by the driver by changing its volume, etc. (2) when the assist level is medium, the deceleration suggestion image is displayed in a way that is moderately likely to be recognized by the driver by changing its hue, brightness, etc., and the deceleration suggestion sound is output in a way that is moderately likely to be recognized by the driver by changing its volume, etc. (3) when the assist level is strong, the deceleration suggestion image is displayed in a way that is more likely to be recognized by the driver by changing its hue, brightness, etc., and the deceleration suggestion sound is output in a way that is more likely to be recognized by the driver by changing its volume, etc. Thus, the deceleration suggestion method of the vehicle 100 during the execution of the deceleration assist control changes according to the assist level.

[0058] Furthermore, (1) when the assistance level is weak, the distances from the auxiliary start workshop to Df_start and from the auxiliary start location to Dp_start (described later) are set to relatively short distances; (2) when the assistance level is medium, the distances from the auxiliary start workshop to Df_start and from the auxiliary start location to Dp_start are set to medium distances; and (3) when the assistance level is strong, the distances from the auxiliary start workshop to Df_start and from the auxiliary start location to Dp_start are set to relatively long distances. Therefore, the timing of the deceleration assistance control start changes according to the assistance level.

[0059] Furthermore, when the operator of vehicle 100 is a remote operator of vehicle 100, the assistance level setting device 65 is mounted on the remote operation device.

[0060] <Vehicle speed detection device> The vehicle speed detection device 66 is a device for detecting the driving speed of the vehicle 100, and includes, for example, wheel speed sensors installed on each wheel of the vehicle 100. The vehicle speed detection device 66 is electrically connected to the ECU 90. The ECU 90 obtains the driving speed of the vehicle 100 as its own speed V through the vehicle speed detection device 66.

[0061] <Surrounding Information Detection Device> The surrounding information detection device 70 is a device for acquiring information related to the conditions around the vehicle 100. In this example, it includes an image sensor 71, an electromagnetic wave sensor 72, and a GPS device 73.

[0062] Image sensor 71 is a sensor that captures image data of the surroundings of vehicle 100, such as a camera sensor. Image sensor 71 is electrically connected to ECU 90. ECU 90 obtains image data from image sensor 71 as surroundings detection information IS.

[0063] In particular, the ECU 90 is able to detect curves, traffic lights, and stop lines in front of the vehicle 100 based on image data, which serves as peripheral detection information IS.

[0064] Electromagnetic wave sensor 72 is a sensor that acquires data (target data) related to objects around the vehicle 100, such as electromagnetic wave sensors like radar sensors (millimeter-wave radar), acoustic wave sensors like ultrasonic sensors (gap sonar), and optical sensors like lidar (LiDAR). Electromagnetic wave sensor 72 emits electromagnetic waves and receives these electromagnetic waves (reflected waves) when they are reflected by objects. Target data is information related to these emitted and reflected electromagnetic waves. Electromagnetic wave sensor 72 is electrically connected to ECU 90. ECU 90 obtains target data from electromagnetic wave sensor 72 as ambient detection information IS.

[0065] Especially in cases like Figure 3 When a vehicle 200 is present, the ECU 90 can detect the vehicle 200 based on target data, which is the surrounding detection information IS. Furthermore, it obtains the distance (inter-vehicle distance Df) between the vehicle 200 and the vehicle 100. The vehicle 200 is another vehicle traveling in front of the vehicle 100 at a predetermined distance, and is another vehicle traveling in the lane that the vehicle 100 is currently traveling in.

[0066] GPS device 73 is a device that receives GPS signals to obtain the current location of vehicle 100 and map information of the surrounding area of ​​vehicle 100. In this example, it includes a GPS receiver 731 and a map database 732. The map information of the surrounding area of ​​vehicle 100 includes information related to the road on which vehicle 100 is traveling.

[0067] GPS receiver 731 receives GPS signals. GPS receiver 731 is electrically connected to ECU 90. ECU 90 obtains the current location of vehicle 100 as surrounding detection information IS based on the GPS signals received by GPS receiver 731.

[0068] Map database 732 is a device for storing map information. Map database 732 is electrically connected to ECU 90. ECU 90 obtains map information of the surrounding area of ​​vehicle 100 from map database 732 based on the current location of vehicle 100 as surrounding area detection information IS.

[0069] In particular, ECU 90 is able to detect curves, traffic lights, and stop lines in front of vehicle 100 based on map information, which serves as peripheral detection information IS.

[0070] In addition, the surrounding information detection device 70 may also include a device for receiving road-related information wirelessly transmitted from a device located on the side of the road, configured to acquire the information as surrounding detection information IS and detect curves, traffic lights and stop lines in front of the vehicle 100 based on the surrounding detection information IS.

[0071] <Operation of Vehicle Deceleration Assist Device> Next, the operation of the vehicle control device 10 will be explained. When the vehicle 100 approaches a vehicle ahead or a curve, the driver operates the brake pedal 631 to decelerate the vehicle 100. In such scenarios where the driver decelerates the vehicle 100, the vehicle control device 10 performs deceleration assistance control to assist the driver's deceleration operation.

[0072] In this example, the deceleration assist control includes automatic braking control and deceleration notification control, but it may also include only either automatic braking control or deceleration notification control.

[0073] Automatic braking control is the following control: when a specified condition (assistance start condition C_start) is met, the vehicle 100 is decelerated autonomously by applying braking force to the vehicle 100 or autonomously reducing or reducing the driving force applied to the vehicle 100 to zero.

[0074] When a forward vehicle 200 is detected as the target of deceleration assistance, the assistance start condition C_start is that the inter-vehicle distance Df is less than or equal to the specified distance (assistance start inter-vehicle distance Df_start) that serves as the assistance start distance D_start, and neither the accelerator pedal 621 nor the brake pedal 631 is operated.

[0075] In addition, when a location such as a curved road, traffic light, or stop line that is the target of deceleration assistance is detected, the assistance start condition C_start is that the distance to the target location (target location distance Dp) is less than or equal to the specified distance (assistance start location distance Dp_start) that is the assistance start distance D_start, and neither the accelerator pedal 621 nor the brake pedal 631 is operated.

[0076] The vehicle control device 10 is configured to set the auxiliary start distance Df_start according to the vehicle speed V. At least when the vehicle speed V is high, the auxiliary start distance Df_start is set to a larger value compared to when the vehicle speed V is low. In particular, the larger the vehicle speed V is, the larger the auxiliary start distance Df_start is set to.

[0077] Similarly, the vehicle control device 10 is configured to set the distance to the auxiliary start point Dp_start according to the vehicle speed V, at least when the vehicle speed V is large, the distance to the auxiliary start point Dp_start is set to a larger value compared to when the vehicle speed V is small, and in particular, the larger the vehicle speed V is, the larger the distance to the auxiliary start point Dp_start is set to.

[0078] In addition, when the vehicle control device 10 detects that the preceding vehicle 200 is a deceleration assistance target and performs automatic braking control, it sets a target value for the deceleration of the vehicle 100 (target deceleration Gd_tgt) and a target value for the speed at which the deceleration of the vehicle 100 increases to the target deceleration Gd_tgt (target deceleration increase speed R_tgt). The vehicle 100 decelerates at a speed equivalent to the increase speed of the target deceleration Gd_tgt, so that the vehicle 100 decelerates until the inter-vehicle distance Df becomes greater than the assistance start inter-vehicle distance Df_start.

[0079] In addition, the vehicle control device 10 can also be configured to set the target deceleration rate R_tgt to a predetermined constant speed when automatic braking control is performed when the preceding vehicle 200 is detected as a deceleration assistance object.

[0080] On the other hand, when the vehicle control device 10 detects objects such as curved roads, traffic lights, and stop lines as objects for deceleration assistance, it performs automatic braking control. It sets a target deceleration rate Gd_tgt and a target deceleration rate increase rate R_tgt such that the vehicle speed V becomes below a predetermined speed when the vehicle 100 reaches the object location. The vehicle 100 decelerates at a rate equivalent to the increase rate of the target deceleration rate R_tgt, so that the vehicle 100 decelerates.

[0081] In addition, the vehicle control device 10 can also be configured to set the target deceleration rate R_tgt to a predetermined constant speed when automatic braking control is performed when objects such as curved roads, traffic lights and stop lines are detected as objects for deceleration assistance.

[0082] Alternatively, the vehicle control device 10 can be configured to, when performing automatic braking control, set a target deceleration Gd_tgt and a target deceleration increase rate R_tgt, regardless of whether the vehicle speed V is below a predetermined speed at the moment the vehicle 100 arrives at the target location, and cause the vehicle 100 to decelerate at a rate equivalent to the increase rate of the target deceleration increase rate R_tgt, so that the vehicle 100 decelerates.

[0083] In this way, the vehicle control device 10 is one of the devices for performing automatic or autonomous driving of the vehicle 100.

[0084] On the other hand, the deceleration notification control is as follows: when the assist start condition C_start is met, a notification is provided to the driver of vehicle 100 via notification device 50, suggesting that vehicle 100 decelerate (deceleration suggestion notification). More specifically, the deceleration notification control is as follows: an image suggesting that vehicle 100 decelerate is displayed via display device 51 (e.g., a deceleration suggestion image such as a pop-up window), and / or an audio sound suggesting that vehicle 100 decelerate is output from audio device 52 (deceleration suggestion sound).

[0085] <Settings Change Suggestions and Settings Changes> There are situations where, after the automatic braking control is initiated, although the vehicle 100 decelerates automatically, the driver may feel that the deceleration of the vehicle 100 is too great, or the driver may feel that the timing of the automatic braking control is too early. In such cases, the driver may sometimes operate the brake pedal 631 or the accelerator pedal 621 multiple times with a small amount of operation.

[0086] In addition, there may be cases where the driver has previously felt that the deceleration of the vehicle 100 under automatic braking control was too great, or that the timing of the start of automatic braking control was too early. In such cases, the driver may sometimes operate the brake pedal 631 or the accelerator pedal 621 multiple times with small amounts of force when automatic braking control is not being executed (especially just before automatic braking control is about to start).

[0087] Similarly, there are situations where, when deceleration notification control is executed, the driver feels that the deceleration suggestion notification is too strong, or the driver feels that the timing of the deceleration notification control is too early. In such cases, the driver may sometimes operate the brake pedal 631 or the accelerator pedal 621 multiple times with a small amount of operation.

[0088] In addition, there are cases where the driver has previously felt that the deceleration suggestion notification under the deceleration notification control was too strong, or that the timing of the deceleration notification control start was too early. In such cases, the driver may sometimes operate the brake pedal 631 or accelerator pedal 621 multiple times with small amounts of operation when the automatic braking control is not being executed (especially just before the automatic braking control is about to start).

[0089] Therefore, the vehicle control device 10 is configured to, when a weak acceleration operation or weak deceleration operation satisfying the specified condition C_set has been performed a specified number of times N_th or more, execute a suggested control to reduce the assist level under the deceleration assist control or a control to autonomously reduce the assist level under the deceleration assist control. The specified condition C_set refers to the condition that the operation of the accelerator pedal 621 (acceleration operation) or the operation of the brake pedal 631 (deceleration operation) has been performed, and the degree of operation of the accelerator pedal 621 (degree of acceleration operation) or the degree of operation of the brake pedal 631 (degree of deceleration operation) is below the specified degree and has lasted for a specified time T_th (or more than the specified time T_th).

[0090] Furthermore, in this example, the specified number of times N_th is set to an integer greater than or equal to 1. Additionally, while it is possible to count the number of weak acceleration operations and the number of weak deceleration operations separately, and to determine whether the specified number of times N_th and the specified number of times N_th of weak acceleration operations have been performed are determined separately, in this example, the determination is made based on whether the total number of times the weak acceleration and weak deceleration operations have been performed is greater than or equal to the specified number of times N_th.

[0091] In addition, more specifically, in this example, the condition C_set is set as follows.

[0092] <First condition> The specified condition C_set for the case where the accelerator pedal 621 is operated while deceleration assist control is being executed is that the accelerator pedal 621 is operated at a level below the first level for a first time T1 (or more than the first time T1) (first condition C1). In this case, if the operation of the accelerator pedal 621 (weak acceleration operation) satisfying the first condition C1 occurs for the first time N1 or more, setting change suggestion control or setting change control is executed.

[0093] More specifically, the first condition C1 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is the upper limit accelerator pedal operation amount AP_up or the lower limit accelerator pedal operation amount AP_low (the degree of operation of the accelerator pedal 621 is below the first degree) and this condition lasts for the first time T1 (or the first time T1 or more).

[0094] In other words, the first condition C1 is that the accelerator pedal 621 is operated and the accelerator pedal operation amount AP is within the specified accelerator pedal operation amount range Rap (the degree of operation of the accelerator pedal 621 is below the first degree) continues for a first time T1 (or more than the first time T1).

[0095] In addition, the accelerator pedal operation range Rap is defined as the range between the upper limit accelerator pedal operation amount AP_up and the lower limit accelerator pedal operation amount AP_low.

[0096] Furthermore, the accelerator pedal operation range Rap is set to a narrow range around the acceleration requirement judgment threshold AP_th. Additionally, the vehicle control unit 10 obtains the accelerator pedal operation amount AP by setting the accelerator pedal operation amount AP, which corresponds to the acceleration requirement judgment threshold AP_th, to zero. Therefore, during periods when the accelerator pedal operation amount AP is less than the acceleration requirement judgment threshold AP_th, the accelerator pedal operation amount AP obtained by the vehicle control unit 10 is zero; when the accelerator pedal operation amount AP is greater than or equal to the acceleration requirement judgment threshold AP_th, the accelerator pedal operation amount AP obtained by the vehicle control unit 10 is greater than zero.

[0097] <Second Condition> Furthermore, the specified condition C_set for cases where the accelerator pedal 621 is operated without deceleration assist control being executed (especially when a deceleration assist object is detected but deceleration assist control is not executed) is that the accelerator pedal 621 is operated, and the degree of operation of the accelerator pedal 621 is at least the second degree for a second time T2 (or more than the second time T2), and the deceleration of the vehicle 100 is at least the specified deceleration (the deceleration during acceleration operation without assistance) (second condition C2). In this case, if the operation of the accelerator pedal 621 (weak acceleration operation) satisfying the second condition C2 occurs for a second number N2 or more, a setting change suggestion control or a setting change control is executed.

[0098] More specifically, the second condition C2 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is the upper limit accelerator pedal operation amount AP_up or lower limit accelerator pedal operation amount AP_low or higher (the degree of operation of accelerator pedal 621 is the second degree or lower) lasts for the second time T2 (or more than the second time T2), and the deceleration of vehicle 100 is the non-assisted acceleration operation deceleration Gd_a or lower.

[0099] In other words, the second condition C2 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is within the specified accelerator pedal operation amount range Rap (the degree of operation of the accelerator pedal 621 is less than the second degree) lasts for a second time T2 (or more than the second time T2), and the deceleration of the vehicle 100 is less than the non-assisted acceleration operation deceleration Gd_a.

[0100] Furthermore, in this example, the deceleration Gd_a for non-assisted acceleration operations is set to a small value.

[0101] <Third Condition> Furthermore, the specified condition C_set for the case where the brake pedal 631 is operated while deceleration assist control is being executed is that the brake pedal 631 is operated at a level of less than the third level for a third time T3 (or more than the third time T3) (third condition C3). In this case, if the operation of the brake pedal 631 (weak deceleration operation) satisfying the third condition C3 occurs for the third time N3 or more, setting change suggestion control or setting change control is executed.

[0102] More specifically, the third condition C3 is the condition that the brake pedal 631 is operated and the brake pedal operation amount BP is greater than or equal to the specified brake pedal operation amount BP_th, but the rate of increase of the brake pedal operation amount BP is less than or equal to the specified rate (the specified rate of increase of the brake pedal operation amount Rbp_th) (the degree of operation of the brake pedal 631 is less than the third degree) continues for a third time T3 (or more than the third time T3).

[0103] <Fourth condition> Furthermore, the specified condition C_set for cases where the brake pedal 631 is operated without deceleration assist control being executed (especially when a deceleration assist object is detected but deceleration assist control is not executed) is that the brake pedal 631 is operated, and the degree of operation of the brake pedal 631 is at least the fourth degree, lasting for a fourth time T4 (or more than the fourth time T4), and the deceleration of the vehicle 100 is at least the specified deceleration (the deceleration operation deceleration Gd_d when not assisted) (fourth condition C4). In this case, if the operation of the brake pedal 631 (weak acceleration operation) satisfying the fourth condition C4 is performed for the fourth time N4 or more, setting change suggestion control or setting change control is executed.

[0104] More specifically, the fourth condition C4 is the condition that the brake pedal 631 has been operated, and the brake pedal operation amount BP is greater than or equal to the specified brake pedal operation amount BP_th, but the rate of increase of the brake pedal operation amount BP is less than or equal to the specified rate of increase of the brake pedal operation amount Rbp_th (the degree of operation of the brake pedal 631 is less than the fourth degree), which lasts for a fourth time T4 (or more than the fourth time T4), and the deceleration of the vehicle 100 is less than or equal to the deceleration rate Gd_d during non-assisted deceleration operation.

[0105] Furthermore, in this example, the deceleration Gd_d during non-assisted deceleration is set to a relatively small value.

[0106] According to the vehicle control device 10, if a specified number of N_th instances of weak acceleration or deceleration operations satisfying the specified condition C_set have been performed, the driver is advised to reduce the level of assistance under the deceleration assist control, or may reduce the level of assistance under the deceleration assist control voluntarily. The specified condition C_set refers to the condition that the operation of the accelerator pedal 621 (acceleration operation) or the operation of the brake pedal 631 (deceleration operation) is below a specified level for a specified time T_th. Therefore, it is possible to appropriately advise the driver to reduce the level of assistance under the deceleration assist control, or to appropriately reduce the level of assistance under the deceleration assist control voluntarily.

[0107] Furthermore, drivers who perceive an excessive level of assistance under deceleration assist control will exhibit different types of weak acceleration or deceleration maneuvers when deceleration assist control is in effect and when it is not (especially when a deceleration assist target is detected but no deceleration assist is applied). Therefore, to more accurately determine whether a driver perceives an excessive level of assistance under deceleration assist control, it is effective to differentiate between the conditions under which the driver is advised to reduce the level of assistance under deceleration assist control or to reduce the level of assistance voluntarily when deceleration assist control is in effect and when it is not (especially when a deceleration assist target is detected but no deceleration assist is applied).

[0108] According to the vehicle control device 10, the specified condition C_set differs when deceleration assist control is being executed and when it is not (especially when a deceleration assist target is detected but deceleration assist control is not executed). Therefore, it is possible to more accurately determine whether the driver feels that the level of assist under deceleration assist control is excessive, and to suggest that the driver reduce the level of assist under deceleration assist control, or to allow the driver to reduce the level of assist under deceleration assist control voluntarily.

[0109] <Setting the method of change> Furthermore, the driver's perception of excessive assistance levels under deceleration assist differs depending on whether the driver performs a slight acceleration or deceleration operation while deceleration assist is in effect or when the driver performs a slight acceleration or deceleration operation without deceleration assist being in effect (especially just before deceleration assist is about to start).

[0110] Therefore, in this example, the method of autonomously reducing the auxiliary level under deceleration assist control when the weak acceleration operation satisfying the first condition C1 has been performed for the first time N1 or more times, and the method of autonomously reducing the auxiliary level under deceleration assist control when the weak acceleration operation satisfying the second condition C2 has been performed for the second time N2 or more times, are different from each other.

[0111] More specifically, when the weak acceleration operation satisfying the first condition C1 has been performed for the first time (N1 times or more), the target deceleration Gd_tgt and the target deceleration rise rate R_tgt in the automatic braking control are reduced by setting change control. Furthermore, the display method of the deceleration suggestion image and the output method of the deceleration suggestion sound in the deceleration notification control are made less likely for the driver to recognize. On the other hand, when the weak acceleration operation satisfying the second condition C2 has been performed for the second time (N2 times or more), the distance from the auxiliary start point to the auxiliary start location to the auxiliary start point ...

[0112] Furthermore, in this example, the method of autonomously reducing the auxiliary level under deceleration auxiliary control when the weak deceleration operation satisfying the third condition C3 has been performed for the third time N3 or more is different from the method of autonomously reducing the auxiliary level under deceleration auxiliary control when the weak deceleration operation satisfying the fourth condition C4 has been performed for the fourth time N4 or more.

[0113] More specifically, when the weak deceleration operation satisfying the third condition C3 has been performed for the third time (N3 times or more), by setting a change control, the target deceleration Gd_tgt in the automatic braking control is reduced, or the target deceleration acceleration R_tgt is reduced. Furthermore, the display method of the deceleration suggestion image and the output method of the deceleration suggestion sound in the deceleration notification control are made less likely for the driver to recognize. On the other hand, when the weak deceleration operation satisfying the fourth condition C4 has been performed for the fourth time (N4 times or more), by setting a change control, the auxiliary start distance Df_start is increased, and the auxiliary start distance D_start is also increased.

[0114] Therefore, the methods for automatically reducing the assistance level when a weak acceleration or deceleration operation satisfying the first condition C1 has been performed for the first time (N1 times or more) are different from the methods for automatically reducing the assistance level when a weak acceleration or deceleration operation satisfying the second condition C2 has been performed for the second time (N2 times or more). Furthermore, the methods for automatically reducing the assistance level when a weak acceleration or deceleration operation satisfying the third condition C3 has been performed for the third time (N3 times or more) are different from the methods for automatically reducing the assistance level when a weak acceleration or deceleration operation satisfying the fourth condition C4 has been performed for the fourth time (N4 times or more). Thus, the system achieves an automatic reduction in the assistance level in response to the driver's perception of excessive assistance level under deceleration assist control.

[0115] <Timing of Deceleration Assist Control> Furthermore, in this example, the setting change suggestion control and setting change control are executed when the vehicle speed V becomes zero, or when the gear shift lever 641 is set to the parking position, or when the starter 61 is operated and the ECU 90 is in a non-starting state. That is, the setting change suggestion control and setting change control are executed when the execution condition C_exe (the vehicle speed V becomes zero), the execution condition C_exe (the gear shift lever 641 is set to the parking position), or the execution condition C_exe (the starter 61 is operated and the ECU 90 is in a non-starting state) is met.

[0116] <Resetting the number of weak acceleration and weak deceleration operations> Furthermore, the perception of excessive assistance level under deceleration assist control varies from driver to driver of vehicle 100. Therefore, to more accurately determine whether a driver perceives excessive assistance level under deceleration assist control, it is effective to consider the possibility that the driver of vehicle 100 may have changed to another driver due to rotation or other reasons. Moreover, if the vehicle 100 changes from a drivable state to a drivable state, the driver of vehicle 100 may have changed to another driver.

[0117] Therefore, while the vehicle control device 10 acquires the number of times the weak acceleration operation satisfying the first condition C1 (weak acceleration operation count), the number of times the weak acceleration operation satisfying the second condition C2 (weak acceleration operation count), the number of times the weak deceleration operation satisfying the third condition C3 (weak deceleration operation count), and the number of times the weak deceleration operation satisfying the fourth condition C4 (weak deceleration operation count) are performed during the period when the vehicle 100 is in a drivable state (i.e., in a non-starting state), it resets these acquired weak acceleration operation counts and weak deceleration operation counts (i.e., makes them zero) when the vehicle 100 changes from the start-up state to the non-start-up state (i.e., when the reset condition C_reset is met). In other words, the acquired weak acceleration operation counts and weak deceleration operation counts are reset on a per-stroke basis.

[0118] Alternatively, the vehicle control device 10 can be configured to reset the number of weak acceleration operations and weak deceleration operations when the vehicle 100 has traveled a specified distance.

[0119] Therefore, when vehicle 100 changes from an active state to a non-active state, the number of weak acceleration and weak deceleration operations is reset. This allows for a more appropriate reduction of the assistance level, either as a suggestion or an autonomous reduction, in response to the driver's perceived excessive level of assistance under deceleration assist control.

[0120] Furthermore, in this example, the vehicle control device 10 is configured not to determine that a weak acceleration or weak deceleration operation has been performed when the driver's requested deceleration Gd_driver during the execution of automatic braking control is the same as or equal to the target deceleration Gd_tgt under automatic braking control.

[0121] <The specific operation of vehicle deceleration assist device> Next, the specific operation of the vehicle control device 10 will be explained. The vehicle control device 10 executes operations at predetermined intervals. Figure 4 The routine is shown. Therefore, when the specified time arrives, the vehicle control unit 10... Figure 4 The routine shown begins processing from step S400, and the process proceeds to step S405, where it is determined whether a deceleration assist object has been detected.

[0122] If the determination in step S405 is "yes", the vehicle control device 10 proceeds to step S410 to determine whether the assist start condition C_start is met. If the determination in step S410 is "yes", the vehicle control device 10 proceeds to step S415 to execute deceleration assist control. Afterwards, the vehicle control device 10 proceeds to step S495 to temporarily end the processing of this routine.

[0123] On the other hand, if the determination in step S410 is "no", the vehicle control device 10 advances the process to step S420, and if deceleration assist control is being performed at this time, the deceleration assist control is stopped. Afterwards, the vehicle control device 10 advances the process to step S495, and temporarily ends the processing of this routine.

[0124] Additionally, if the determination in step S405 is "no", the vehicle control device 10 also proceeds to step S420, where deceleration assist control is stopped if it is being performed. Afterwards, the vehicle control device 10 proceeds to step S495, temporarily ending the processing of this routine.

[0125] Furthermore, the vehicle control device 10 executes at predetermined calculation intervals. Figure 5 The routine is shown. Therefore, when the specified time arrives, the vehicle control unit 10... Figure 5 The routine shown begins processing from step S500, and the process proceeds to step S505, where it is determined whether the weak acceleration or weak deceleration operation has been performed more than the specified number of times N_th.

[0126] If the determination in step S505 is "yes", the vehicle control device 10 has completed counting the number of weak acceleration or weak deceleration operations. Then, the process proceeds to step S510 to determine whether the execution permission condition C_exe is met. If the determination in step S510 is "yes", the vehicle control device 10 proceeds to step S515 to execute the setting change suggestion control or setting change control. Then, the vehicle control device 10 proceeds to step S595, temporarily ending the processing of this routine.

[0127] On the other hand, if the determination in step S510 is "no", the vehicle control device 10 causes the process to proceed directly to step S595 and temporarily ends the processing of this routine.

[0128] In addition, if the determination is "no" in step S505, the vehicle control device 10 also causes the process to proceed directly to step S595, temporarily ending the processing of this routine.

[0129] Furthermore, the vehicle control device 10 executes at predetermined calculation intervals. Figure 6 The routine is shown. Therefore, when the specified time arrives, the vehicle control unit 10... Figure 6 The routine shown begins processing from step S600, and the process proceeds to step S605 to determine whether the reset condition C_reset is met.

[0130] If the determination in step S605 is "yes", the vehicle control device 10 proceeds to step S610 to reset the number of weak acceleration operations and the number of weak deceleration operations. Then, the vehicle control device 10 proceeds to step S695 to temporarily end the processing of this routine.

[0131] On the other hand, if the determination in step S605 is "no", the vehicle control device 10 causes the process to proceed directly to step S695 and temporarily ends the processing of this routine.

[0132] The above describes the specific operation of the vehicle control device 10.

[0133] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention. Explanation of reference numerals in the attached figures

[0134] 10…Vehicle control device, 20…Drive device, 30…Brake device, 40…Transmission device, 50…Notification device, 61…Starting device, 62…Acceleration device, 63…Deceleration device, 64…Transmission device, 65…Assist level setting device, 70…Surrounding information detection device, 90…ECU, 100…Vehicle, 200…Forward vehicle.< / ecu>

Claims

1. A vehicle deceleration assist device, wherein when the distance between the vehicle and the object to be decelerated becomes less than a predetermined distance, and the operator of the vehicle does not perform an acceleration or deceleration operation, deceleration assist control is performed to assist in decelerating the vehicle, wherein... The vehicle deceleration assist device is configured to, when a specified number of weak acceleration or deceleration operations have been performed under specified conditions, suggest that the operator reduce or voluntarily reduce the assist level under the deceleration assist control. The specified conditions refer to the condition that the acceleration or deceleration operation has been performed and the degree of the acceleration or deceleration operation is below a specified degree for a specified period of time.

2. The vehicle deceleration assist device according to claim 1, wherein, The specified condition for the acceleration operation performed while the deceleration assist control is being executed is that the acceleration operation was performed and the degree of the acceleration operation was below a first degree, defined as the specified degree, lasted for a first time as the specified time. The specified condition for the acceleration operation performed without the deceleration assist control being executed is that the acceleration operation was performed, and the degree of the acceleration operation was at or below the second degree of the specified degree for a second time, and the deceleration of the vehicle was at or below the deceleration during the non-assistance acceleration operation. The specified condition for a deceleration operation performed while the deceleration assist control is being executed is that the deceleration operation was performed and the degree of the deceleration operation was at least the third degree of the specified degree, which lasted for a third time, which was also the specified time. The specified condition when the deceleration operation is performed without the deceleration assist control is that the deceleration operation is performed, the degree of the deceleration operation is at least the fourth degree of the specified degree and lasts for a fourth time as the specified time, and the deceleration of the vehicle is at least the deceleration operation deceleration when not assisted.

3. The vehicle deceleration assist device according to claim 1, wherein, The specified condition for the acceleration operation performed while the deceleration assist control is being executed is that the acceleration operation was performed and the degree of the acceleration operation was below a first degree, defined as the specified degree, lasted for a first time as the specified time. The specified condition for the acceleration operation performed when the deceleration assist object was detected but the deceleration assist control was not executed is that the acceleration operation was performed, and the degree of the acceleration operation was at or below the second degree of the specified degree for a second time period, and the deceleration of the vehicle was below the deceleration rate of the non-assisted acceleration operation. The specified condition for a deceleration operation performed while the deceleration assist control is being executed is that the deceleration operation was performed and the degree of the deceleration operation was at least the third degree of the specified degree, which lasted for a third time, which was also the specified time. The specified condition for performing the deceleration operation when the deceleration assist object is detected but the deceleration assist control is performed when the deceleration operation is performed, and the degree of the deceleration operation is at least the fourth degree of the specified degree for a fourth time period, and the deceleration of the vehicle is at least the deceleration operation deceleration when it is not assisted.

4. The vehicle deceleration assist device according to claim 2 or 3, wherein, Configured as follows: When configured to automatically reduce the assistance level after the specified number of weak acceleration or deceleration operations that meet the specified conditions have been performed, the following conditions are met: The method of automatically reducing the assistance level when the weak acceleration operation satisfying the first condition has been performed more than the predetermined number of times, and the method of automatically reducing the assistance level when the weak acceleration operation satisfying the second condition has been performed more than the predetermined number of times, are different from each other. The method of automatically reducing the assistance level when the weak deceleration operation that satisfies the third condition has been performed more than the specified number of times, and the method of automatically reducing the assistance level when the weak deceleration operation that satisfies the fourth condition has been performed more than the specified number of times, are different from each other.

5. The vehicle deceleration assist device according to claim 1, wherein, Configured as follows: During the period when the vehicle is in a drivable state, i.e., in the start-up state, the number of times the weak acceleration operation or the weak deceleration operation is performed is recorded. The number of times obtained is reset when the vehicle changes from the started state to a non-started state where the vehicle cannot drive.

6. A vehicle deceleration assistance method, wherein when the distance between the vehicle and the object to be decelerated becomes less than a predetermined distance and the driver of the vehicle has not performed an acceleration or deceleration operation, deceleration assistance control is executed to assist in decelerating the vehicle, wherein... If a specified number of weak acceleration or deceleration operations are performed under the specified conditions, it is recommended that the operator reduce or voluntarily reduce the assistance level under the deceleration assistance control. The specified conditions refer to the condition that the acceleration or deceleration operation is performed and the degree of the acceleration or deceleration operation is below the specified degree for a specified period of time.

7. A vehicle deceleration assistance program, wherein when the distance between the vehicle and the object to be decelerated falls below a predetermined distance, and the driver of the vehicle has not performed any acceleration or deceleration operation, deceleration assistance control is executed to assist in decelerating the vehicle, wherein... The vehicle deceleration assist program is configured to suggest that the operator reduce or manually reduce the assist level under the deceleration assist control if a specified number of weak acceleration or deceleration operations that meet specified conditions have been performed. The specified conditions refer to the condition that the acceleration or deceleration operation has been performed and the degree of the acceleration or deceleration operation is below a specified degree for a specified period of time.

Images