Vehicle control device and control method

Abstract

The invention provides a vehicle control device and a control method, which can avoid violation of the intention of a driver and restart the driving control of a vehicle. A control device (30) capable of executing travel control for controlling a vehicle (1) so that the travel speed of the vehicle (1) becomes a target speed corresponding to the inter-vehicle distance between the vehicle (1) and a preceding vehicle or a predetermined target speed set by the driver, the control device (30) being configured so that, in the vehicle (1) traveling by the travel control, the travel speed of the vehicle (1) becomes a target speed corresponding to the inter-vehicle distance between the vehicle (1) and the preceding vehicle, the travel speed of the vehicle (1) becomes a target speed corresponding to the inter-vehicle distance between the vehicle (1) and the preceding vehicle or a predetermined target speed set by the driver. A control device (30), which temporarily stops travel control in response to a situation that a driver has operated braking of a vehicle (1) and restarts travel control in response to a situation that the driver has released braking, is provided with a control unit (32) that does not restart travel control when the braking is released in a case where a predetermined condition is satisfied when the braking is released.

Description

Technical Field

[0001] The invention relates to a vehicle control device and a control method. Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems that also take into account vulnerable traffic participants have been active. As one of these efforts, research and development related to driving assistance technology and autonomous driving technology for mobile objects (e.g., vehicles such as automobiles) is being conducted to improve traffic safety and convenience.

[0003] For example, Patent Document 1 below discloses a technology in which, in ACC (Adaptive Cruise Control), when a driver steps on a brake pedal, ACC is temporarily stopped, and when the driver releases the stepping of the brake pedal, ACC is resumed from the temporarily stopped state.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2005-001566 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, in the conventional technology, for example, driving control called ACC (Adaptive Cruise Control) may be restarted against the driver's will, and there is room for improvement in this regard.

[0009] The present invention provides a vehicle control device and a control method, which can avoid restarting driving control against the driver's intention, in which the vehicle is controlled so that the vehicle's driving speed becomes a target speed corresponding to the inter-vehicle distance between the preceding vehicle and the vehicle traveling in front of the vehicle, or a prescribed speed set by the driver. Then, the traffic safety is further improved, and the development of a sustainable transportation system is contributed to.

[0010] Solutions to Solve Problems

[0011] One aspect of the present invention provides a vehicle control device configured to perform travel control in which a vehicle is controlled so that the travel speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a specified speed set by a driver of the vehicle, wherein:

[0012] The vehicle control device is configured to temporarily stop the driving control in response to the driver applying brakes to the vehicle while the vehicle is traveling under the driving control, and to restart the driving control in response to the driver releasing the brakes.

[0013] The vehicle control device includes a control unit configured to prevent the travel control from being restarted when the brake is released, if a predetermined condition is satisfied when the brake is released.

[0014] In addition, another aspect of the present invention provides a control method, which is performed by a computer, the computer being configured to execute driving control, in which a vehicle is controlled so that the driving speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a specified speed set by the driver of the vehicle, wherein:

[0015] The computer is configured to temporarily stop the driving control in response to the driver applying brakes to the vehicle while the vehicle is traveling under the driving control, and to restart the driving control in response to the driver releasing the brakes.

[0016] The computer performs the following processing:

[0017] If a predetermined condition is satisfied when the brake is released, the travel control is not restarted when the brake is released.

[0018] Effects of the Invention

[0019] According to the present invention, a vehicle control device and a control method can be provided, which can avoid restarting driving control against the driver's intention. In this driving control, the vehicle is controlled so that the vehicle's driving speed becomes a target speed corresponding to the inter-vehicle distance between a preceding vehicle traveling in front of the vehicle and the vehicle, or a specified speed set by the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is one embodiment of the vehicle control device of the present invention.

[0021] Figure 2 1 is a diagram showing an example of the operation of the vehicle 1 .

[0022] Figure 3 It is a flowchart showing an example of the process executed by the control device 30 .

[0023] Description of reference numerals:

[0024] 1 Vehicle

[0025] 11a Front camera (camera)

[0026] 11b Rear camera (camera)

[0027] 11c Left side camera (camera)

[0028] 11d Right side camera (camera)

[0029] 14 Vehicle speed sensor

[0030] 30 Control device (vehicle control device)

[0031] 32 Control Unit

[0032] 70 Braking force control system (brake)

[0033] 91 Driver Monitoring Camera

[0034] 92 Turn signal

[0035] 93 Hazard warning lights. DETAILED DESCRIPTION

[0036] Hereinafter, an embodiment of the vehicle control device and control method of the present invention will be described in detail with reference to the accompanying drawings. The accompanying drawings are viewed from the direction of the figure mark. The following embodiments are not limited to the invention described in the technical solution, and all combinations of the features described in the embodiments are not necessary for the invention. Two or more of the multiple features described in the embodiments can be combined arbitrarily. In addition, below, the same or similar elements are marked with the same or similar figure marks, and their descriptions are sometimes appropriately omitted or simplified.

[0037] [Vehicle structure]

[0038] Figure 1 FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is one embodiment of the vehicle control device of the present invention. Figure 1 The vehicle 1 shown is a car having a driving source and wheels (neither of which are shown in the figure), wherein the wheels include driving wheels driven by the power of the driving source and steering wheels capable of turning. For example, the vehicle 1 is a four-wheeled car having a pair of left and right front wheels and rear wheels. The driving source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the driving source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or four wheels, namely a pair of left and right front wheels and rear wheels. Of the front wheels and the rear wheels, either one may be a steering wheel capable of turning, or both may be steering wheels capable of turning.

[0039] like Figure 1 As shown, the vehicle 1 includes a sensor group 10 , a navigation device 20 , a control device 30 , an EPS system (electric power steering system) 40 , a communication unit 50 , a driving force control system 60 , a braking force control system 70 , and an operation input unit 80 .

[0040] The sensor group 10 acquires various detection values ​​related to the vehicle 1 or the periphery of the vehicle 1. The detection values ​​acquired by the sensor group 10 are sent to the control device 30 and provided to the control device 30 for controlling the vehicle 1 (for example, ACC described later).

[0041] The sensor group 10 includes, for example, a front camera 11a, a rear camera 11b, a left camera 11c, a right camera 11d, a front sonar group 12a, a rear sonar group 12b, a left sonar group 12c, and a right sonar group 12d. These cameras and sonar groups can function as external sensors for acquiring information about the surroundings of the vehicle 1.

[0042] The front camera 11a, the rear camera 11b, the left camera 11c, and the right camera 11d output image data of the surrounding images obtained by photographing the surroundings of the vehicle 1 to the control device 30. The surrounding images photographed by the front camera 11a, the rear camera 11b, the left camera 11c, and the right camera 11d are also referred to as the front image, the rear image, the left image, and the right image, respectively. In addition, the image composed of the left image and the right image is also referred to as the side image.

[0043] The front sonar group 12a, the rear sonar group 12b, the left sonar group 12c, and the right sonar group 12d emit sound waves to the periphery of the vehicle 1 and receive reflected sounds from other objects. The front sonar group 12a includes, for example, four sonars. The sonars constituting the front sonar group 12a are respectively equipped at the left oblique front, the left front, the right front, and the right oblique front of the vehicle 1. The rear sonar group 12b includes, for example, four sonars. The sonars constituting the rear sonar group 12b are respectively equipped at the left oblique rear, the left rear, the right rear, and the right oblique rear of the vehicle 1. The left sonar group 12c includes, for example, two sonars. The sonars constituting the left sonar group 12c are respectively equipped at the left front and the left rear of the vehicle 1. The right sonar group 12d includes, for example, two sonars. The sonars constituting the right sonar group 12d are respectively equipped at the right front and the right rear of the vehicle 1. In addition, a radar device may be installed on the vehicle 1 instead of or in addition to the sonar groups 12a, 12b, 12c and 12d. The radar device transmits radio waves (for example, so-called millimeter wave radio waves) to the periphery of the vehicle 1 and receives reflected waves from other objects.

[0044] The sensor group 10 also includes wheel sensors 13a, 13b, a vehicle speed sensor 14 and an operation detection unit 15. The wheel sensors 13a, 13b respectively detect the rotation angles θa, θb of the wheels (not shown). The wheel sensors 13a, 13b can be composed of angle sensors or displacement sensors. The wheel sensors 13a, 13b output detection pulses every time the wheels rotate a specified angle. The detection pulses output from the wheel sensors 13a, 13b can be used to calculate the rotation angle of the wheel and the rotation speed of the wheel. The moving distance of the vehicle 1 can be calculated based on the rotation angle of the wheel. The wheel sensor 13a detects the rotation angle θa of the left rear wheel, for example. The wheel sensor 13b detects the rotation angle θb of the right rear wheel, for example.

[0045] The vehicle speed sensor 14 detects the running speed of the vehicle 1, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control device 30. The vehicle speed sensor 14 detects the vehicle speed V based on the rotation of the counter shaft of the transmission, for example.

[0046] The operation detection unit 15 detects the operation content performed by the driver using the operation input unit 80, and outputs the detected operation content to the control device 30. The operation input unit 80 includes, for example, a turn signal operating lever 81 that receives an operation to activate a turn signal 92 as a direction indicator of the vehicle 1, and a hazard switch 82 that receives an operation to activate a hazard warning light 93 of the vehicle 1. The turn signal operating lever 81 is configured to receive, for example, an operation to activate the right turn signal of the turn signal 92, that is, a "right turn signal activation operation", and an operation to activate the left turn signal of the turn signal 92, that is, a "left turn signal activation operation".

[0047] In addition, the operation input unit 80 may also include, for example, an operation button or an operation switch, which receives an operation related to ACC, such as an operation to instruct the start and end of ACC described later and an operation to set a target speed. In addition, a part of the operation input unit 80 (for example, an operation button that receives an operation related to ACC) or the entirety may be shared with the touch panel 21 described later.

[0048] The navigation device 20 specifies the current position of the vehicle 1 by using, for example, a GPS (Global Positioning System), and guides the driver on a route from the current position of the vehicle 1 to a destination. The navigation device 20 includes, for example, a storage device (not shown) and is equipped with a map information database.

[0049] In addition, the navigation device 20 includes a touch panel 21 and a speaker 22. The touch panel 21 is configured by integrating a display device (e.g., a liquid crystal display) capable of displaying images and an input device capable of receiving input of information, and functions as a display device controlled by the control device 30 and an input device that receives input of various information to the control device 30. That is, the touch panel 21 can display various screens according to the control of the control device 30, or input various instructions received from the driver to the control device 30. In addition, the speaker 22 outputs various guidance in the form of sound according to the control of the control device 30.

[0050] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects a steering angle θst of a steering device 46. The torque sensor 42 detects a torque TQ applied to the steering device 46. The EPS motor 43 assists the operation of the steering device 46 (in other words, steering) by applying a driving force or a reaction force to a steering column 47 connected to the steering device 46. The resolver 44 detects a rotation angle θm of the EPS motor 43.

[0051] The EPS ECU 45 is configured to include, for example, an input / output unit, a computing unit, and a storage unit (none of which are shown in the figure), and is responsible for overall control of the EPS system 40. In addition, the EPS ECU 45 outputs information indicating the steering angle θst of the steering device 46 detected by the steering angle sensor 41 to the control device 30. Furthermore, the EPS ECU 45 may also output information indicating the steering speed ω of the steering device 46 to the control device 30. The steering speed ω is obtained, for example, by performing time differentiation on the steering angle θst.

[0052] The communication unit 50 is a communication interface that communicates with the external device 2 according to the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 50. As the external device 2, for example, a driver's terminal device (for example, a smartphone) and a server device managed by the manufacturer of the vehicle 1 can be cited. In addition, in the communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, WI-FI (registered trademark), bluetooth (registered trademark), etc. can be used.

[0053] The driving force control system 60 includes a driving ECU 61 and is configured to control the driving force of the vehicle 1. The driving ECU 61 is configured to include, for example, an input / output unit, a computing unit, and a storage unit (none of which are shown in the figure), and controls the driving force of the vehicle 1 by controlling the driving source of the vehicle 1, that is, the internal combustion engine, the electric motor, etc., based on the driver's operation of the accelerator pedal 62 provided on the vehicle 1 (hereinafter also referred to as "acceleration operation") and the instruction from the control device 30.

[0054] The braking force control system 70 includes a brake ECU 71 and is configured to control the braking force of the vehicle 1. The brake ECU 71 is configured to include, for example, an input / output unit, a computing unit, and a storage unit (none of which are shown in the figure), and controls the braking force of the vehicle 1 by controlling a brake device (not shown) of the vehicle 1 based on the driver's operation of a brake pedal 72 provided on the vehicle 1 (hereinafter, also referred to as "brake operation") and an instruction from the control device 30. Here, the brake device is configured to include, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the hydraulic cylinder. Then, based on the brake operation and the instruction from the control device 30, the brake ECU 71 controls the electric motor of the brake device to generate a braking force corresponding to the brake operation.

[0055] The driver monitoring camera 91 is installed in the vehicle 1 so as to be able to capture the position and orientation of the driver, i.e., the occupant sitting in the driver's seat of the vehicle 1. Then, the driver monitoring camera 91 outputs image data of the interior image obtained by capturing the interior of the vehicle 1 to the control device 30.

[0056] The turn signal lamp 92 is a direction indicator, and is composed of lamps (lamp bodies) and the like that are respectively provided on the left side (e.g., left front and left rear) and right side (e.g., right front and right rear) of the vehicle 1 so as to be visually confirmed from the outside of the vehicle 1. The turn signal lamp 92 is turned on or off according to the operation of the turn signal operating lever 81 described above. In addition, the lamps that constitute the turn signal lamp 92, that is, the lamps that are respectively provided on the left side and right side of the vehicle 1, can also function as the hazard warning lamp 93 by flashing simultaneously. In addition, in the present embodiment, the hazard warning lamp 93 is implemented by the turn signal lamp 92, but the hazard warning lamp 93 may also be implemented by a lamp different from the turn signal lamp 92.

[0057] [Control device]

[0058] The control device 30 is a device (computer) that centrally controls the entire vehicle 1 based on information input from the sensor group 10 , the navigation device 20 , the EPS system 40 , the communication unit 50 , the driving force control system 60 , the braking force control system 70 , and the like.

[0059] The control device 30 includes, for example, an input / output unit 31, a control unit 32, and a storage unit 35. The input / output unit 31 is an interface that performs data input and output between the inside and outside of the control device 30 under the control of the control unit 32. The storage unit 35 is configured to include, for example, a non-volatile storage medium such as a flash memory, and stores various information (for example, data, programs) for controlling the operation of the vehicle 1. The control unit 32 is configured to include, for example, a processor such as a CPU (Central Processing Unit), and controls the various components of the vehicle 1 by executing programs stored in the storage unit 35 or the like.

[0060] In the present embodiment, the control unit 32 is configured to be able to execute "constant speed travel and inter-vehicle distance control" as an example of travel control in the present invention. Constant speed travel and inter-vehicle distance control is generally also referred to as "ACC (Adaptive Cruise Control)". In the present embodiment, constant speed travel and inter-vehicle distance control will also be referred to as "ACC" below.

[0061] In ACC, the vehicle 1 is controlled so that the running speed of the vehicle 1 becomes a target speed corresponding to the inter-vehicle distance between the other vehicle (hereinafter also referred to as "preceding vehicle") running ahead of the vehicle 1 or a predetermined target speed set by the driver of the vehicle 1. More specifically, ACC includes "constant speed travel control" and "inter-vehicle distance control". In "constant speed travel control", the vehicle 1 is controlled so that the running speed of the vehicle 1 (i.e., vehicle speed V) becomes a predetermined target speed set by the driver, and in "inter-vehicle distance control", the vehicle 1 is controlled so that the inter-vehicle distance between the preceding vehicle and the vehicle 1 becomes substantially constant. That is, in ACC, if there is no preceding vehicle, the vehicle 1 is controlled to become the target speed set by the driver, and if there is a preceding vehicle, the vehicle 1 is controlled to keep the inter-vehicle distance with the preceding vehicle substantially constant and follow the preceding vehicle. In addition, the target speed in ACC may also be set to a speed corresponding to the road on which the vehicle 1 is running. As an example, the control device 30 may also recognize a speed sign of the road on which the vehicle 1 is running from the peripheral image of the vehicle 1, and set the speed limit indicated by the speed sign as the target speed of ACC.

[0062] For example, the control unit 32 starts ACC in response to the driver performing an operation to instruct the start of ACC (i.e., receiving an operation to instruct the start of ACC). Then, when the driver operates the brakes of the vehicle 1 (e.g., when the brake device of the vehicle 1 is operated by performing the aforementioned brake operation) while the vehicle 1 is traveling by ACC, the control unit 32 temporarily stops ACC and decelerates the vehicle 1. In addition, when the brakes of the vehicle 1 are released (e.g., the aforementioned brake operation) while the ACC is temporarily stopped, the control unit 32 can restart ACC.

[0063] Thus, by adopting a structure in which ACC is temporarily stopped and the vehicle 1 is decelerated in response to the driver's brake operation, when the vehicle 1 traveling by ACC is decelerated, the driver can decelerate the vehicle 1 to a desired speed (for example, 0 [km / h]) by simply operating the brake. Furthermore, by adopting a structure in which ACC can be restarted in response to the release of the brake, when ACC is restarted, the driver can restart ACC by simply releasing the brake, which can reduce the driver's effort and improve convenience compared to a case in which another operation is required to restart ACC.

[0064] However, if ACC is necessarily restarted in response to the release of the brake, it is also possible to restart ACC against the driver's will. For example, it is also possible to consider a case where the driver temporarily stops the vehicle 1 that has been traveling by ACC on a shoulder of the road, etc., and then takes his foot off the brake pedal 72 when he wants to take out the cargo placed on the rear seat, thereby releasing the brake. If ACC is restarted in this case, ACC is restarted against the driver's will who stopped the vehicle 1, and the vehicle 1 travels. In this way, restarting ACC against the driver's will is not preferable from the perspective of safety and convenience of the vehicle 1.

[0065] Therefore, when the prescribed condition (hereinafter also referred to as "restart prohibition condition") is satisfied when the brake is released, the control unit 32 does not restart ACC when the brake is released. As a result, ACC can be prevented from being restarted in a scenario where it is desired to avoid restarting ACC, and on the other hand, ACC can be restarted in other scenarios. Therefore, ACC can be appropriately executed, and the safety and convenience of the vehicle 1 can be improved. In addition, the restart prohibition condition is pre-set in the control device 30 by, for example, the manufacturer of the vehicle 1. In addition, the driver can appropriately change the restart prohibition condition.

[0066] [Vehicle Movement]

[0067] Here, refer to Figure 2An example of the operation of the vehicle 1 is described below. Figure 2 The example shown is an example of a case where the vehicle 1 is stationary (ie, the vehicle speed V is 0) and the driver operates the hazard lights 93 of the vehicle 1 when the brakes of the vehicle 1 are released, which is set as the ACC restart prohibition condition.

[0068] exist Figure 2 In (a), the vertical axis represents the vehicle speed V, and the horizontal axis represents the time. Figure 2 In (b) of FIG. 1 , the vertical axis represents the amount of operation on the accelerator pedal 62 (i.e., the acceleration operation), and the horizontal axis represents the time. Figure 2 In (c), the vertical axis represents the amount of operation on the brake pedal 72 (ie, the braking operation), and the horizontal axis represents the time. Figure 2 (d) in FIG. 1 represents the operation (e.g., lighting or flashing) and non-operation (e.g., extinguishing) of the hazard warning light 93 at each moment. Then, Figure 2 (f) in FIG. 1 represents the opening and closing of ACC at each time.

[0069] like Figure 2 As shown, it is assumed that a braking operation is performed at time t1 in the vehicle 1 traveling by ACC. In this case, the control device 30 temporarily stops ACC from time t1, and generates a braking force corresponding to the braking operation (more specifically, the amount of operation on the brake pedal 72) via the braking force control system 70, thereby decelerating the vehicle 1.

[0070] Then, it is considered that at time t2 after time t1, the braking operation is released (i.e., the operation amount of the brake pedal 72 becomes 0). At time t2, the vehicle 1 is not stopped (i.e., the vehicle speed V>0), and the hazard warning light 93 is not working. In such a case, at time t2, the ACC restart prohibition condition is not satisfied. Therefore, in such a case, the control device 30 restarts ACC from time t2. That is, the control device 30 accelerates the vehicle 1 from time t2, for example, in such a way that the vehicle speed V becomes a predetermined target speed. Then, at Figure 2 In the example shown, the vehicle speed V reaches the target speed at time t3 after time t2.

[0071] Then, it is assumed that the vehicle 1 running by ACC has a brake operation again at time t4. In this case, the control device 30 temporarily stops ACC from time t4 and generates a braking force corresponding to the brake operation via the braking force control system 70 to decelerate the vehicle 1.

[0072] Then, it is considered that the brake operation is released at time t5 after time t4. At time t5, unlike the aforementioned time t2, the vehicle 1 is stopped (that is, the vehicle speed V is 0), and the hazard warning light 93 is also operating. In such a case, at time t5, the restart prohibition condition of ACC is satisfied. Therefore, in such a case, even if the brake operation is released, the control device 30 does not restart ACC.

[0073] Then, at time t6 after time t5 , when an accelerator operation is performed, control device 30 generates a driving force corresponding to the accelerator operation (more specifically, the amount of operation on accelerator pedal 62 ) via driving force control system 60 , thereby accelerating vehicle 1 .

[0074] As described above, the situation that the vehicle 1 is stopped and the hazard warning lights 93 are working when the brakes are released is set as a restart prohibition condition for ACC. ACC is not restarted when such a restart prohibition condition is met, thereby avoiding restarting ACC against the driver's intention to park the vehicle 1.

[0075] In other words, the control device 30 can restart ACC, for example, when the brakes are released, even if the vehicle 1 stops and the hazard warning lights 93 are not working. As a result, for example, ACC can be restarted when the vehicle 1 stops at an intersection or the like starts, thereby improving the convenience of the vehicle 1. In addition, in order to avoid sudden acceleration that is not intended by the driver when ACC is restarted, how the vehicle 1 is accelerated when ACC is restarted (for example, the acceleration when ACC is restarted) is pre-set in the control device 30 by, for example, the manufacturer of the vehicle 1.

[0076] In addition, the control device 30 can restart ACC, for example, when the brakes are released, even if the hazard lights 93 are turned on and the vehicle 1 is not stopped. Thus, for example, even if the "lighting of the hazard lights 93 to thank the following vehicle for giving way to the vehicle ahead during lane change or merging" is performed as is customary in Japan, ACC can be restarted, thereby improving the convenience of the vehicle 1.

[0077] In addition, if Figure 2 As shown in (e) of FIG. 1 , the restart prohibition condition may also include that the gear position of the vehicle 1 is "parking" ( Figure 2 The figure shows "P gear is on"), or the parking brake of the vehicle 1 (not shown) is in operation ( Figure 2 In the figure, it is shown as "parking BRK open"). In this way, it becomes possible to control the vehicle 1 in a manner that more accurately reflects the driver's intention to park the vehicle 1.

[0078] [Processing of the control device]

[0079] Next, refer to Figure 3 , an example of the processing executed by the control device 30 will be described. In addition, when the control device 30 starts ACC or restarts ACC that has been temporarily stopped, for example, in response to an operation instructing the start of ACC, the control device 30 executes Figure 3 Processing shown.

[0080] like Figure 3 As shown, the control device 30 first determines whether there is a brake operation by the driver (step S1). When it is determined that there is no brake operation (step S1: No), the control device 30 repeatedly performs the process of step S1 until there is a brake operation. Then, when it is determined that there is a brake operation (step S1: Yes), the control device 30 temporarily stops ACC (step S2), and the brake device generates a braking force corresponding to the brake operation to decelerate the vehicle 1.

[0081] Furthermore, when ACC is temporarily stopped, the control device 30 may notify the driver that ACC is temporarily stopped or that ACC can be restarted, for example, via the touch panel 21 or the speaker 22. In this way, the driver can be prevented from performing unnecessary operations, thereby reducing the driver's effort.

[0082] Next, the control device 30 determines whether the driver's brake operation is released (step S3). If it is determined that the brake operation is not released (step S3: No), the control device 30 repeats the process of step S3 until the brake operation is released. Then, if it is determined that the brake operation is released (step S3: Yes), the control device 30 determines whether the vehicle speed V is 0, that is, whether the vehicle 1 is stationary (step S4).

[0083] If it is determined that the vehicle speed V is not 0, that is, the vehicle 1 is not stopped (step S4: No), the control device 30 determines that the ACC restart prohibition condition is not satisfied, and restarts ACC (step S10). In addition, if the control device 30 restarts ACC by the processing of step S10, it executes the Figure 3 Processing shown.

[0084] In addition, when it is determined that the vehicle speed V is 0, that is, the vehicle 1 is stopped (step S4: Yes), the control device 30 determines whether the hazard warning light 93 is operating (step S5). Then, when it is determined that the hazard warning light 93 is not operating (step S5: No), the control device 30 determines whether the turn signal lamp 92 is operating (step S6).

[0085] When it is determined that the turn signal lamp 92 is in operation (step S6: Yes), the control device 30 determines whether the current parking time is a predetermined time (e.g., 5 [min]) or longer (step S7). Here, the current parking time can be, for example, the time elapsed from the last stop of the vehicle 1 to the present.

[0086] In addition, when processing step S7, the control device 30 can, for example, obtain the time when the surrounding image captured by the camera (front camera 11a, etc.) constituting the sensor group 10 does not change substantially as the parking time, or obtain the time when the vehicle speed V detected by the vehicle speed sensor 14 is 0 as the parking time.

[0087] If it is determined that the parking time is less than the prescribed time (step S7: No), the control device 30 determines that the ACC restart prohibition condition is not satisfied, enters the aforementioned step S10, and restarts ACC. That is, if the turn signal 92 is working and the parking time is less than the prescribed time, it is considered that the vehicle 1 is only waiting to turn left or right and stopped, and the driver has no intention of parking. Therefore, in such a case, ACC is restarted according to the release of the brake operation, thereby eliminating the need for the driver to perform an additional operation to instruct the start of ACC, thereby achieving improved convenience.

[0088] In addition, when it is determined that the turn signal lamp 92 is not working (step S6: No), the control device 30 determines whether the posture of the driver is normal (step S8). In the process of step S8, the control device 30 determines that the posture of the driver is abnormal when, for example, the driver is not facing the direction of travel of the vehicle 1 or the driver is not holding the steering wheel 46 based on the analysis result of the in-vehicle image captured by the driver monitoring camera 91. On the other hand, when the control device 30 detects that the driver is facing the direction of travel of the vehicle 1 and holding the steering wheel 46, it determines that the posture of the driver is normal.

[0089] When it is determined that the posture of the driver is normal (step S7: Yes), the control device 30 determines that the ACC restart prohibition condition is not satisfied, enters the processing of the aforementioned step S10, and restarts ACC. That is, when the posture of the driver is normal, in other words, when the driver takes a posture suitable for driving the vehicle 1, it is considered that the driver has no intention of parking. Therefore, in such a case, ACC is restarted according to the release of the brake operation, thereby, for example, it is possible to restart ACC as the vehicle 1 stopped at an intersection or the like starts, and the driver does not need to perform an operation to instruct the start of ACC, thereby achieving improved convenience.

[0090] On the other hand, when it is determined that the hazard warning light 93 is in operation (step S5: Yes), when it is determined that the turn signal 92 is in operation and the parking time is longer than the prescribed time (step S6: Yes, step S7: Yes), or when it is determined that the driver's posture is abnormal (step S8: No), the control device 30 determines that the ACC restart prohibition condition is satisfied and does not restart ACC. Then, the control device 30 proceeds to the process of step S9.

[0091] Next, the control device 30 determines whether there is a restart operation instructing the restart of ACC (step S9). Here, the restart operation can be set to at least one operation that may be performed when starting the vehicle 1, such as an operation to disable the hazard warning light 93, an operation to disable the turn signal 92, an operation to enable the turn signal 92 on the side opposite to the road shoulder, or an acceleration operation.

[0092] If it is determined that there is no restart operation (step S9: No), the control device 30 does not restart ACC and directly ends the operation. Figure 3 On the other hand, when it is determined that there is a restart operation (step S9: Yes), the control device 30 proceeds to the process of the above-mentioned step S10 to restart ACC.

[0093] As described above, the control device 30 (for example, the control unit 32) does not restart ACC if the ACC restart prohibition condition is satisfied when the brake is released and ACC is temporarily stopped in the vehicle 1 traveling by ACC in response to the driver's application of the brakes of the vehicle 1. This prevents the ACC from being restarted against the driver's intention to park the vehicle 1.

[0094] More specifically, for example, when the brake operation is released, the vehicle 1 is stopped, and the hazard warning light 93 is working, the control device 30 considers that the ACC restart prohibition condition is satisfied and does not restart ACC. That is, when the vehicle 1 is stopped and the hazard warning light 93 is working, it is considered that the driver wants to park the vehicle 1. Therefore, when the brake operation is released, the vehicle 1 is stopped, and the hazard warning light 93 is working, the control device 30 does not restart ACC, thereby preventing ACC from being restarted against the driver's intention to park the vehicle 1.

[0095] In addition, when the brake operation is released, for example, the control device 30 considers that the ACC restart prohibition condition is satisfied and does not restart ACC when the driver's posture is abnormal. That is, starting the vehicle 1 to travel even if the driver's posture is abnormal is not preferable from the perspective of safety. Therefore, the control device 30 does not restart ACC when the vehicle 1 is stopped and the driver's posture is abnormal, thereby preventing ACC from being restarted when the driver cannot prepare to travel the vehicle 1.

[0096] In addition, when the brake operation is released, for example, the control device 30 considers that the ACC restart prohibition condition is satisfied and does not restart ACC when the vehicle 1 is parked, the turn signal 92 is working, and the current parking time is longer than the prescribed time. That is, when the vehicle 1 is parked for longer than the prescribed time with the turn signal 92 working, there is a high possibility that the vehicle 1 is parked on the shoulder of the road, etc. Therefore, the control device 30 does not restart ACC when the vehicle 1 is parked, the turn signal 92 is working, and the current parking time is longer than the prescribed time, thereby preventing the ACC from being restarted against the driver's intention in the parked vehicle 1. On the other hand, when the vehicle 1 is parked for only a short time (in other words, less than the prescribed time) with the turn signal 92 working, there is a high possibility that the vehicle 1 is temporarily parked due to waiting for a left or right turn at an intersection, etc. In such a case, the control device 30 can automatically restart ACC and improve convenience.

[0097] In addition, the control device 30 obtains the parking time based on the detection result of the vehicle speed sensor 14 and / or the image captured by the camera (for example, the front camera 11a, the rear camera 11b, the left camera 11c, and the right camera 11d) that can capture the surroundings of the vehicle 1, and determines whether the parking time is longer than the prescribed time. Thus, even when the vehicle 1 is stopped and the hazard warning lights 93 and the turn signal lights 92 are not working, the parking time can be obtained with high accuracy.

[0098] In addition, the control device 30 restarts ACC, for example, even when restarting ACC can be avoided, when the brake operation is released and there is a restart operation for starting the vehicle 1. Thus, ACC can be restarted when the driver performs an operation for starting the vehicle 1, so ACC can be restarted while reducing the driver's effort compared to a case where a dedicated operation is required to restart ACC.

[0099] In addition, the control device 30 notifies the driver that ACC is temporarily stopped or that ACC can be restarted when ACC is temporarily stopped, thereby preventing the driver from performing unnecessary operations to restart ACC when ACC is temporarily stopped, thereby reducing the driver's effort.

[0100] In addition, the control method described in the present embodiment can be implemented by executing a pre-prepared program with a computer. The program is stored in a storage medium that can be read by a computer, and is executed by reading it from the storage medium. In addition, the program can be provided in the form of a non-volatile (non-temporary) storage medium such as a flash memory, or can be provided via a network such as the Internet. The computer that executes the program can be included in the vehicle 1, or can be included in an external device 2 (for example, a server device) that can communicate with the vehicle 1.

[0101] Above, an embodiment of the present invention has been described, but the present invention is certainly not limited to this embodiment. Obviously, those skilled in the art can think of various variations or modifications within the scope of the technical solution, and it should be understood that these variations and modifications also belong to the technical scope of the present invention. In addition, within the scope of not departing from the gist of the invention, the various constituent elements in the aforementioned embodiment can also be arbitrarily combined.

[0102] For example, in the above-mentioned embodiment, when the turn signal lamp 92 is working when the brake is released and the current parking time is longer than the prescribed time, ACC is not restarted, but the present invention is not limited thereto. For example, even when the turn signal lamp 92 and the hazard warning lamp 93 are not working when the brake is released, ACC may not be restarted if the current parking time is longer than the prescribed time.

[0103] That is, when the vehicle 1 is parked for a long time, the possibility that the vehicle 1 is parked is high. Therefore, when the vehicle 1 is parked for a predetermined time or longer without releasing the brake operation, ACC may not be restarted regardless of whether the turn signal lamp 92 and the hazard warning lamp 93 are working. Even so, in the parked vehicle 1, restarting ACC against the driver's will can be avoided.

[0104] In addition, the control device 30 may not restart ACC when the brakes are released, when the vehicle 1 is stopped and the driver of the vehicle 1 is recognized to be performing an action unrelated to the driving of the vehicle 1 based on the image captured by the driver monitoring camera 91. For example, it is not preferable from the viewpoint of safety to start the driving of the vehicle 1 even if the driver is performing an action unrelated to the driving of the vehicle 1, such as operating a smartphone. Therefore, when the vehicle 1 is stopped and the driver is recognized to be performing an action unrelated to the driving of the vehicle 1, the control device 30 does not restart ACC when the brakes are released, thereby avoiding restarting ACC when the driver cannot prepare to drive the vehicle 1. In addition, the control device 30 may combine the above-mentioned judgment using the parking time, and when the vehicle 1 is stopped for more than a predetermined time and the driver is recognized to be performing an action unrelated to the driving of the vehicle 1, it may judge that the driver intends to park the vehicle 1, and does not restart ACC even if the brakes of the vehicle 1 are released.

[0105] In addition, in the above-mentioned embodiment, a four-wheeled automobile is exemplified as the vehicle, but the present invention is not limited thereto. The vehicle to which the technology of the present disclosure can be applied may also be a two-wheeled automobile (so-called motorcycle).

[0106] In the above-mentioned embodiment, an example is described in which the driving control in the present invention is set to ACC, but the present invention is not limited to this. For example, the driving control in the present invention may be a constant speed driving control (cruise control) without inter-vehicle distance control.

[0107] In this specification, at least the following matters are described. In addition, although corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0108] (1) A vehicle control device (control device 30) configured to execute travel control in which a vehicle (vehicle 1) is controlled so that the travel speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling ahead of the vehicle, or a predetermined speed set by a driver of the vehicle, wherein:

[0109] The vehicle control device is configured to temporarily stop the driving control in response to the driver operating the brakes (braking force control system 70) of the vehicle while the vehicle is traveling under the driving control, and to restart the driving control in response to the driver releasing the brakes.

[0110] The vehicle control device includes a control unit (control unit 32 ) configured to prevent the travel control from being restarted when the brake is released, if a predetermined condition is satisfied when the brake is released.

[0111] According to (1), when the brake is released and the prescribed conditions are satisfied, the driving control is not restarted, so it is possible to avoid restarting the driving control in a scene where it is desired to avoid restarting the driving control, and on the other hand, it is possible to restart the driving control in other scenes. Therefore, the driving control can be appropriately performed, and the safety and convenience of the vehicle can be improved. Then, the safety of traffic can be further improved, thereby contributing to the development of a sustainable transportation system.

[0112] (2) The vehicle control device according to (1), wherein:

[0113] If the vehicle is stationary when the brake is released and the driver is operating the hazard lights (hazard lights 93 ) of the vehicle, the control unit does not resume the travel control when the brake is released.

[0114] When the vehicle is stopped and the hazard warning lights are on (e.g., lit), it is considered that the driver intends to park the vehicle. According to (2), when the vehicle brakes are released and the vehicle is stopped and the driver has turned on the hazard warning lights of the vehicle, the driving control is not restarted, thereby preventing the driving control from being restarted against the driver's intention to park the vehicle.

[0115] (3) The vehicle control device according to (1), wherein:

[0116] If the vehicle is stationary and the driver's posture is abnormal when the brake is released, the control unit does not restart the travel control when the brake is released.

[0117] Starting the vehicle to travel even when the driver's posture is abnormal is not preferable from the perspective of safety. According to (3), when the vehicle brakes are released while the vehicle is stationary and the driver's posture is abnormal, the travel control is not restarted, thereby preventing the restart of the travel control when the driver is unable to prepare for driving the vehicle.

[0118] (4) The vehicle control device according to (1), wherein:

[0119] The vehicle is provided with a driver monitoring camera (driver monitoring camera 91) capable of photographing the driver.

[0120] If the vehicle is stationary when the brake is released and the driver is recognized to be performing behavior unrelated to driving the vehicle based on an image captured by the driver monitoring camera, the control unit does not resume the travel control when the brake is released.

[0121] It is not preferable from the viewpoint of safety to start the vehicle running even when the driver is performing an action unrelated to the driving of the vehicle. According to (4), when the vehicle brakes are released and the vehicle is stationary, and it is recognized that the driver is performing an action unrelated to the driving of the vehicle, the driving control is not restarted, thereby preventing the restart of the driving control when the driver is unable to prepare for driving the vehicle.

[0122] (5) The vehicle control device according to (1), wherein:

[0123] When the vehicle is stationary when the brake is released, the driver operates a turn signal of the vehicle, and the current parking time is longer than a predetermined time, the control unit does not resume the travel control when the brake is released.

[0124] If the vehicle stops for more than a specified time with the turn signal on (e.g., lit), there is a high possibility that the vehicle is parked on the shoulder of the road, etc. According to (5), if the vehicle is parked when the brakes of the vehicle are released, the driver turns the turn signal on, and the current parking time is more than the specified time, the driving control is not restarted, so that the driving control can be avoided from being restarted against the driver's intention in the parked vehicle. On the other hand, if the vehicle stops for only a short time (in other words, less than the specified time) with the driver turning the turn signal on, there is a high possibility that the vehicle is temporarily stopped due to waiting for a left or right turn at an intersection, etc. According to (5), in such a case, the driving control can be automatically restarted based on the fact that the brakes of the vehicle are released, and convenience can be improved.

[0125] (6) The vehicle control device according to (1), wherein:

[0126] When the vehicle is stopped when the brake is released and the current parking time is longer than a predetermined time, the control unit does not restart the travel control when the brake is released,

[0127] The control unit determines whether the parking time is longer than the predetermined time based on a detection result of a vehicle speed sensor capable of detecting a running speed of the vehicle and / or an image captured by a camera capable of capturing images of the surroundings of the vehicle.

[0128] According to (6), even when the vehicle is stopped and the hazard lights and turn signals are not operating, the parking time can be acquired with high accuracy.

[0129] (7) The vehicle control device according to any one of (1) to (6), wherein:

[0130] Furthermore, when temporarily stopping the travel control, the control unit reports to the driver that the travel control is temporarily stopped or that the travel control can be restarted.

[0131] According to (7), when the travel control is temporarily stopped, it is possible to suppress the driver from performing unnecessary operations to restart the travel control, thereby reducing the driver's effort.

[0132] (8) The vehicle control device according to any one of (1) to (6), wherein:

[0133] the control unit restarts the travel control in response to the brake being released and the driver performing a predetermined restart operation,

[0134] The restart operation is an operation for starting the vehicle.

[0135] According to (8), when the driver performs an operation for starting the vehicle, the travel control can be restarted, so that the travel control can be restarted while reducing the driver's effort, compared with a case where a dedicated operation is required to restart the travel control.

[0136] (9) A control method, performed by a computer (control device 30) configured to execute driving control in which a vehicle (vehicle 1) is controlled so that the driving speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a predetermined speed set by a driver of the vehicle, wherein:

[0137] The computer is configured to temporarily stop the driving control when the driver operates the brakes (braking force control system 70) of the vehicle while the vehicle is traveling under the driving control, and to restart the driving control when the driver releases the brakes.

[0138] The computer performs the following processing:

[0139] If a predetermined condition is satisfied when the brake is released, the travel control is not restarted when the brake is released.

[0140] According to (9), when the brake is released and the prescribed conditions are satisfied, the driving control is not restarted, so it is possible to avoid restarting the driving control in a scenario where it is desired to avoid restarting the driving control, and on the other hand, it is possible to restart the driving control in other scenarios. Therefore, the driving control can be appropriately performed, and the safety and convenience of the vehicle can be improved. Then, the safety of traffic can be further improved, thereby contributing to the development of a sustainable transportation system.

Claims

1. A vehicle control device, configured to perform travel control in which a vehicle is controlled so that the travel speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a prescribed speed set by a driver of the vehicle, wherein: The vehicle control device is configured to temporarily stop the driving control in response to the driver applying brakes to the vehicle while the vehicle is traveling under the driving control, and to restart the driving control in response to the driver releasing the brakes. The vehicle control device includes a control unit configured to prevent the travel control from being restarted when the brake is released, if a predetermined condition is satisfied when the brake is released.

2. The vehicle control device according to claim 1, wherein: If the vehicle is stationary and the driver is operating hazard lights of the vehicle when the brake is released, the control unit does not resume the travel control when the brake is released.

3. The vehicle control device according to claim 1, wherein: If the vehicle is stationary and the driver's posture is abnormal when the brake is released, the control unit does not restart the travel control when the brake is released.

4. The vehicle control device according to claim 1, wherein: The vehicle is provided with a driver monitoring camera capable of photographing the driver, If the vehicle is stationary when the brake is released and the driver is recognized to be performing behavior unrelated to driving the vehicle based on an image captured by the driver monitoring camera, the control unit does not resume the travel control when the brake is released.

5. The vehicle control device according to claim 1, wherein: When the vehicle is stationary when the brake is released, the driver operates a turn signal of the vehicle, and the current parking time is longer than a predetermined time, the control unit does not resume the travel control when the brake is released.

6. The vehicle control device according to claim 1, wherein: When the vehicle is stopped when the brake is released and the current parking time is longer than a predetermined time, the control unit does not restart the travel control when the brake is released, The control unit determines whether the parking time is longer than the predetermined time based on a detection result of a vehicle speed sensor capable of detecting a running speed of the vehicle and / or an image captured by a camera capable of capturing images of the surroundings of the vehicle.

7. The vehicle control device according to any one of claims 1 to 6, wherein: Furthermore, when temporarily stopping the travel control, the control unit reports to the driver that the travel control is temporarily stopped or that the travel control can be restarted.

8. The vehicle control device according to any one of claims 1 to 6, wherein: the control unit restarts the travel control in response to the brake being released and the driver performing a predetermined restart operation, The restart operation is an operation for starting the vehicle.

9. A control method, performed by a computer, the computer being configured to execute driving control, in which a vehicle is controlled so that the driving speed of the vehicle becomes a target speed corresponding to the inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a prescribed speed set by a driver of the vehicle, wherein: The computer is configured to temporarily stop the driving control in response to the driver applying brakes to the vehicle while the vehicle is traveling under the driving control, and to restart the driving control in response to the driver releasing the brakes. The computer performs the following processing: If a predetermined condition is satisfied when the brake is released, the travel control is not restarted when the brake is released.

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