Vehicle control device and control method

Abstract

The invention provides a vehicle control device and a control method which enable a user to drive a vehicle at an appropriate or desired speed through a simple operation. A control device (30) is provided with: a detection unit (33) that detects a speed limit on a road on which a vehicle (1) travels, on the basis of information about the surroundings of the vehicle (1) acquired by a sensor group (10) provided in the vehicle (1); a presentation unit (34) that presents to a user, as a recommended speed, either a first speed obtained on the basis of the speed limit detected by the detection unit (33) or a second speed set by the user of the vehicle (1); and a travel control unit (35) that performs travel control for controlling the travel speed of the vehicle (1) using the suggested speed as a target speed in response to the user agreeing the suggested speed presented by the presentation unit (34).

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 actively pursued. As part of this effort, 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, the following patent document 1 discloses the following technology: when there is a leading vehicle that has traveled ahead of the present vehicle, the vehicle control device performs a following driving control for causing the present vehicle to follow the leading vehicle, and when there is no leading vehicle, the vehicle control device performs a constant speed driving control for causing the present vehicle to travel at a predetermined set speed. After the vehicle control device reports the recommended set speed, if it determines that a change instruction indicating a change in the set speed has been obtained, the vehicle control device changes the set speed to the value indicated by the recommended set speed, which is a speed recommended to the driver as the set speed.

[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 prior art, when the running speed of a vehicle is automatically controlled, there is room for improvement from the viewpoint that the user can run the vehicle at an appropriate or desired speed through simple operations.

[0009] The present invention provides a vehicle control device and a control method that enable a user to make a vehicle travel at an appropriate or desired speed through simple operations, and further improves traffic safety and contributes to the development of a sustainable transportation system.

[0010] Solutions to Solve Problems

[0011] One embodiment of the present invention is a vehicle control device for controlling a vehicle, wherein:

[0012] The vehicle control device comprises:

[0013] a detection unit that detects a speed limit of a road on which the vehicle is traveling based on periphery information of the vehicle acquired by an external sensor provided in the vehicle;

[0014] a prompting unit configured to prompt the user, as a recommended speed, either a first speed obtained based on the speed limit detected by the detection unit or a second speed set by a user of the vehicle; and

[0015] The travel control unit performs travel control for controlling the travel speed of the vehicle using the recommended speed as a target speed, based on the user agreeing with the recommended speed presented by the presentation unit.

[0016] Another embodiment of the present invention is a control method, which is a control method performed by a computer controlling a vehicle, wherein:

[0017] The computer performs the following processing:

[0018] detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle;

[0019] presenting to the user, as a suggested speed, either a first speed obtained based on the detected speed limit or a second speed set by the user of the vehicle; and

[0020] In response to the user agreeing to the presented recommended speed, travel control is performed to control the travel speed of the vehicle using the recommended speed as a target speed.

[0021] Effects of the Invention

[0022] According to the present invention, it is possible to provide a vehicle control device and a control method that allow a user to run a vehicle at an appropriate or desired speed through simple operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 2 This is a diagram showing an example of a schematic operation from when the vehicle 1 traveling by ACC interrupts ACC in response to a brake operation by a user to when ACC is restarted.

[0025] Figure 3 1 is a diagram showing a first operation example of the vehicle 1 .

[0026] Figure 4 : is a figure which shows the recommended image G1 which is an example of a recommended image.

[0027] Figure 5 2 is a diagram showing a second operation example of the vehicle 1 .

[0028] Figure 6 FIG. 4 is a diagram showing a recommended image G2 which is another example of a recommended image.

[0029] Figure 7 It is a diagram showing a third operation example of the vehicle 1 .

[0030] Figure 8 It is a diagram showing a fourth operation example of the vehicle 1 .

[0031] Fig. 9 It is a flowchart showing an example of the process executed by the control device 30 .

[0032] Fig.10 : is a flowchart showing an example of the recommended speed determination process.

[0033] Fig.11 It is a diagram showing a fifth operation example of the vehicle 1 .

[0034] Description of reference numerals:

[0035] 1 Vehicle

[0036] 30 Control device (vehicle control device)

[0037] 10 Sensor Group (External Sensors)

[0038] 33. Inspection Department

[0039] 34 Tips

[0040] 35 Driving control unit

[0041] 36 Storage

[0042] R1 road

[0043] R2 road. DETAILED DESCRIPTION

[0044] Hereinafter, an embodiment of the vehicle control device and the 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.

[0045] [Vehicle structure]

[0046] Figure 11 is a diagram showing a vehicle 1 controlled by a control device 30 which is one embodiment of a vehicle control device according to 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.

[0047] 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 , an operation input unit 80 , and an MID (Multi Information Display) 91 .

[0048] 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 so that the control device 30 controls the vehicle 1 (for example, ACC and TSR described later).

[0049] 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.

[0050] 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.

[0051] 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, instead of or in addition to the sonar groups 12a, 12b, 12c and 12d, a radar device may be provided on the vehicle 1, which 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.

[0052] 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 by 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.

[0053] 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, for example, the rotation of the counter shaft of the transmission.

[0054] The operation detection unit 15 detects the operation content performed by the user (for example, the driver who is the passenger driving the vehicle 1, and the same applies hereinafter) by 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, an approval button 81. The approval button 81 is an operating member that is pressed when the user agrees with the recommended speed of the recommendation prompt described later, and is provided on, for example, the steering device 46.

[0055] 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 to receive an operation related to ACC) or the whole of the operation input unit 80 may be shared with an input device of the touch panel 21 described later.

[0056] The navigation device 20 specifies the current position of the vehicle 1 using, for example, a GPS (Global Positioning System) and guides the user 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) having a map information database.

[0057] 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 displays various screens according to the control of the control device 30, or inputs various instructions received from the user to the control device 30. The speaker 22 outputs various guidance by voice according to the control of the control device 30.

[0058] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPSECU (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.

[0059] 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.

[0060] 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 user'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.

[0061] The driving force control system 60 includes a driving ECU 61, and is configured to be able 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 operation of the accelerator pedal 62 provided on the vehicle 1 by the user (hereinafter also referred to as "acceleration operation") and the instruction from the control device 30.

[0062] The braking force control system 70 includes a brake ECU 71 and is configured to be able 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 an operation of a brake pedal 72 provided on the vehicle 1 by a user (hereinafter also referred to as a "brake operation") and an instruction from the control device 30. The brake device of the vehicle 1 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 causes the hydraulic cylinder to generate hydraulic pressure. 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.

[0063] The MID 91 is composed of a display device (e.g., a liquid crystal display) capable of displaying images, and is provided at a position (e.g., in the instrument panel of the vehicle 1) that can be viewed by a user sitting in the driver's seat of the vehicle 1. The MID 91 displays various screens in accordance with the control of the control device 30. The MID 91 may also be shared with the display device of the touch panel 21.

[0064] [Control device]

[0065] 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.

[0066] The control device 30 includes, for example, an input / output unit 31, a control unit 32, and a storage unit 36. The input / output unit 31 is an interface that performs input and output of data between the inside and outside of the control device 30 under the control of the control unit 32. The storage unit 36 ​​is composed of, for example, a nonvolatile storage medium such as a flash memory, and stores various information (e.g., data, programs) for controlling the operation of the vehicle 1.

[0067] The control unit 32 is composed of a processor such as a CPU (Central Processing Unit), and controls the components of the vehicle 1 by executing a program stored in a storage unit 36, etc. In the present embodiment, the control unit 32 includes a detection unit 33, a prompting unit 34, and a travel control unit 35 as functional units implemented by the processor executing the program.

[0068] The driving control unit 35 has a function of being able to perform constant speed driving / inter-vehicle distance control as an example of driving control in the present invention. Constant speed driving / inter-vehicle distance control is also called "ACC (Adaptive Cruise Control)". In this embodiment, constant speed driving and inter-vehicle distance control are also referred to as "ACC" below.

[0069] More specifically, ACC includes: "constant speed travel control" to control the vehicle 1 so that the vehicle speed V (i.e., the travel speed of the vehicle 1) becomes a predetermined target speed set by the user, and "inter-vehicle distance control" to control the vehicle 1 so that the inter-vehicle distance between the other vehicle traveling in front of the vehicle 1 (hereinafter also referred to as "preceding vehicle") and the vehicle 1 becomes substantially constant. That is, in ACC, if there is no preceding vehicle, the vehicle 1 is controlled so that the vehicle speed V becomes the above-mentioned target speed; if there is a preceding vehicle, the vehicle 1 is controlled so that the inter-vehicle distance with the preceding vehicle is maintained substantially constant and the preceding vehicle is followed.

[0070] For example, the control unit 32 starts ACC executed by the travel control unit 35 in response to receiving an operation instructing to start ACC via the operation input unit 80 , and then ends ACC executed by the travel control unit 35 when receiving an operation instructing to end ACC via the operation input unit 80 .

[0071] In addition, when a brake operation is performed while the vehicle 1 is traveling by ACC, the control unit 32 interrupts the ACC of the traveling control unit 35 and decelerates the vehicle 1 according to the brake operation. Furthermore, the control unit 32 restarts the ACC of the traveling control unit 35 when a predetermined condition (for example, the recommended speed described later is agreed to) is satisfied after the ACC is interrupted.

[0072] The detection unit 33 has a function of detecting the speed limit (hereinafter also referred to as "speed limit") of the road on which the vehicle 1 is traveling based on the surrounding information of the vehicle 1 obtained by the external sensor provided by the vehicle 1. The detection unit 33 recognizes the speed sign set on the road on which the vehicle 1 is traveling from the surrounding image obtained by the front camera 11a, etc., using pattern matching, for example. And when the speed sign set on the road on which the vehicle 1 is traveling is recognized, the detection unit 33 recognizes the speed indicated by the speed sign through image analysis, thereby detecting the speed limit.

[0073] In addition, the detection unit 33 may also recognize traffic signs other than speed signs set on the road on which the vehicle 1 is traveling, and obtain information indicated by the traffic signs. In addition, such a traffic sign recognition function for recognizing traffic signs such as speed signs based on the surrounding information of the vehicle 1 is also referred to as "TSR (Traffic Sign Recognition)". In this embodiment, the traffic sign recognition function is also referred to as "TSR" below.

[0074] The presenting unit 34 has a function of presenting, to the user, as a recommended speed, either a first speed obtained based on the speed limit detected by the detecting unit 33 or a second speed set by the user of the vehicle 1 .

[0075] Here, the first speed can be set to the sum of the speed limit detected by the detection unit 33 (i.e., the speed limit of the road on which the vehicle 1 is traveling) and the offset speed set by the user. In the present embodiment, the user can set a desired offset speed within a range of -10 [km / h] to +10 [km / h] via the operation input unit 80 or the like. For example, when the speed limit detected by the detection unit 33 is 50 [km / h] and the offset speed set by the user is +10 [km / h], the first speed is 50 [km / h] + 10 [km / h] = 60 [km / h].

[0076] In addition, the second speed may be a speed set by the user as the target speed of the last ACC. In the present embodiment, during ACC, the user can set an arbitrary speed as the target speed via the operation input unit 80 or the like, or can set the recommended speed as the target speed by agreeing to the operation of the recommended speed (e.g., pressing the agree button 81) described later.

[0077] For example, when ACC is interrupted or completed and ACC is not performed, the prompting unit 34 prompts the user by causing the MID 91 to display one of the first speed and the second speed as a recommended speed. More specifically, the prompting unit 34 prompts the user by causing the MID 91 to display a recommended image G1 (see Figure 4 ) or recommended image G2 (refer to Figure 6) to prompt the user with the recommended speed. In addition, the prompt of the recommended speed by the prompting unit 34 will be referred to as "recommendation" hereinafter.

[0078] The prompting unit 34 starts recommending at a predetermined start time, and ends the recommendation if the user agrees with the suggested speed (i.e., presses the approval button 81). After the recommendation starts, even if the user does not agree, the prompting unit 34 ends the recommendation at a predetermined end time.

[0079] The recommended start timing can be appropriately determined by the manufacturer of the vehicle 1 or the like, and can be, for example, when any one or two or more of the following (condition 1) to (condition 7) are satisfied.

[0080] (Condition 1) ACC has just been interrupted

[0081] (Condition 2) When an accelerator operation is performed after the ACC is interrupted (it may be further limited to the operation amount of the accelerator pedal 62 and / or the vehicle speed V being greater than a threshold value)

[0082] (Condition 3) When the brake operation is released after ACC is interrupted

[0083] (Condition 4) When the vehicle speed V approaches the target speed set at the last ACC, or when it is predicted that the vehicle speed V will approach the target speed set at the last ACC based on the operation amount of the accelerator pedal 62, the acceleration of the vehicle 1, etc.

[0084] (Condition 5) When the vehicle speed V approaches the speed limit of the road on which the vehicle 1 is traveling, or when it is predicted that the vehicle speed V will approach the speed limit of the road on which the vehicle 1 is traveling based on the amount of operation of the accelerator pedal 62, the acceleration of the vehicle 1, etc.

[0085] (Condition 6) After ACC is interrupted, when the vehicle 1 is recognized to have passed the intersection from the surrounding image obtained by the front camera 11a etc.

[0086] (Condition 7) After ACC is interrupted, the vehicle 1 is estimated to be turning left or right based on the yaw rate, steering angle θst, etc.

[0087] In addition, the recommended end timing can also be appropriately determined by the manufacturer of the vehicle 1, for example, it can be set when any one or two or more of the following (condition 8) to (condition 12) are satisfied. However, it should be noted that the recommended end timing needs to be determined in a manner that matches the recommended start timing.

[0088] (Condition 8) When a certain period of time has passed since the recommendation started

[0089] (Condition 9) When vehicle 1 moves a certain distance after the recommendation starts

[0090] (Condition 10) After the recommendation starts, the vehicle speed V deviates from the recommended speed by more than the threshold value, or the state of deviating from the threshold value continues for a certain period of time, even if there are no speed adjustment factors such as the preceding vehicle or the curve.

[0091] (Condition 11) After the recommendation starts, when the vehicle 1 is recognized to have passed the intersection from the surrounding image obtained by the front camera 11a or the like

[0092] (Condition 12) After the recommendation starts, the vehicle 1 is estimated to be turning left or right based on the yaw rate, steering angle θst, etc.

[0093] By starting the recommendation at the above-mentioned start timing and ending the recommendation at the above-mentioned end timing, the presentation unit 34 can present the recommended speed to the user at an appropriate time and for an appropriate presentation time. For example, if the end timing of the recommendation is set to a timing based on the above-mentioned (condition 10), the recommendation can be ended when the vehicle speed V deviates from the recommended speed presented by the recommendation by more than a threshold value, that is, when it is assumed that the user is unlikely to agree with the recommended speed presented by the recommendation. In this way, it is possible to prevent the recommendation, which may annoy the user, from being performed for a long time.

[0094] When the user agrees to the suggested speed presented by the presentation unit 34, the travel control unit 35 performs ACC with the suggested speed as the target speed. For example, when the user presses the approval button 81 in the recommendation that 50 [km / h] is presented as the suggested speed, the travel control unit 35 performs ACC with 50 [km / h] set as the target speed.

[0095] According to this configuration, if the target speed desired by the user is presented as a suggested speed, the user can run the vehicle 1 at the desired vehicle speed V by simply agreeing to the suggested speed and performing ACC, without performing appropriate acceleration and / or braking operations. Therefore, user convenience can be improved.

[0096] However, in such a configuration, it is important to present the target speed desired by the user as the recommended speed. Therefore, in order to present the recommended speed that is likely to be the target speed desired by the user, the control device 30 controls the vehicle 1 as follows, for example.

[0097] [General description of vehicle operation until ACC is restarted]

[0098] First, use Figure 2 An example of a schematic operation from when the vehicle 1 traveling by ACC interrupts ACC in response to a brake operation by a user to when ACC is restarted will be described.

[0099] exist Figure 2In (a) of FIG. 1 , vehicle 1 is traveling on road R1 using ACC. Figure 2 As shown in (b) of FIG. 1 , when the red light RL of the traffic light at the intersection CS in front of the vehicle 1 on the road R1 is lit and the user performs a brake operation, the ACC in the vehicle 1 is interrupted according to the brake operation, and the vehicle 1 decelerates. Then, as shown in FIG. Figure 2 As shown in (c) in FIG. 1 , the vehicle 1 stops just before the intersection CS.

[0100] Afterwards, if Figure 2 As shown in (d) in FIG. 1 , when the green light GL of the traffic light installed at the intersection CS is lit, the user starts the vehicle 1 by performing an acceleration operation. For example, when the acceleration operation is performed after the ACC is interrupted and the vehicle speed V of the vehicle 1 accelerated by the acceleration operation reaches the threshold value, as shown in FIG. Figure 2 As shown in (e) in FIG. 1 , the control device 30 makes a recommendation through the prompting unit 34. Figure 2 In the example shown in (e), the recommendation is made when the vehicle 1 is traveling on the road R2 before the intersection CS of the road R1. Then, when the user agrees with the recommended speed presented by the recommendation, the control device 30 uses the recommended speed as the target speed and performs ACC through the travel control unit 35.

[0101] In addition, in the example described here, the recommendation is made at a predetermined timing after ACC is interrupted by a braking operation, but the present invention is not limited thereto. For example, as in the example described here, the recommendation may also be made at a predetermined timing after ACC is terminated by an operation instructing to terminate ACC, and if the user agrees with the suggested speed prompted by the recommendation, ACC is performed with the suggested speed as the target speed.

[0102] [First example of vehicle behavior]

[0103] Next, use Figure 3 The first example of the operation of the vehicle 1 is described. Figure 2 The description is of the same parts as the example.

[0104] Figure 3 The first example shown is a case where the speed limit of road R1 and the speed limit of road R2 are different from each other. Figure 3 In (a), the vehicle 1 is traveling on the road R1 using ACC. Figure 3 In the example shown, the speed limit of road R1 is 25 [km / h], and a speed sign RS1 indicating the speed limit of 25 [km / h] is provided on road R1. In this case, when the vehicle 1 is traveling on road R1, the control device 30 detects the speed limit of road R1, 25 [km / h], through the TSR of the detection unit 33. Figure 3In the example shown, the vehicle 1 is traveling on the road R1 by ACC at a target speed of 30 [km / h] which is a small deviation from the speed limit of 25 [km / h] on the road R1.

[0105] Afterwards, if Figure 3 As shown in (b), after the user interrupts (or ends) ACC and stops the vehicle 1 before the intersection CS, the user starts the vehicle 1 by performing an acceleration operation, and the vehicle 1 enters the road R2 located before the intersection CS of the road R1. Figure 3 In the example shown, the speed limit of the road R2 is 50 [km / h], and a speed mark RS2 indicating the speed limit of 50 [km / h] is provided on the road R2. In this case, when the vehicle 1 travels on the road R2, the control device 30 detects the speed limit of 50 [km / h] of the road R2 through the TSR of the detection unit 33.

[0106] After that, the control device 30 (prompting unit 34) makes a recommendation at a predetermined start timing as described above. Figure 3 As shown in the example, when the speed limit of road R2 on which vehicle 1 is traveling at the time of recommendation is different from the speed limit of road R1 when ACC was interrupted or ended last time, control device 30 presents a first speed obtained based on the speed limit of road R2 as a suggested speed to the user for recommendation.

[0107] The recommendation to present the first speed obtained based on the speed limit of the road on which the vehicle 1 is traveling as the recommended speed to the user is made by, for example, causing the MID 91 to display Figure 4 The recommended image G1 shown is used.

[0108] like Figure 4 As shown, the recommended image G1 includes: an image PS1, which indicates that the recommended speed is obtained based on the speed limit of the road on which the vehicle 1 is traveling (i.e., the first speed, Figure 4 In the example shown, it is 50 [km / h]); Explanation image EI, indicating the method of agreeing with the recommended speed (in Figure 4 In the example shown, the consent button 81 provided on the steering device 46 is pressed; and a message MS indicating that ACC can be restarted by consent (in Figure 4 In the example shown, the message "Restoring ACC" is shown).

[0109] If displayed in MID 91 Figure 4 When the user presses the approval button 81 when viewing the recommended image G1 shown in FIG. 8 , it is deemed that the user agrees to the recommended speed of 50 [km / h]. Figure 3 As shown in (c) in FIG. 1 , the control device 30 sets 50 [km / h] as the target speed and performs ACC.

[0110] As described above, on the road on which the vehicle 1 is traveling ( Figure 3 The example shown is road R2) with the same speed limit as the road where ACC was last interrupted or ended (in Figure 3 In the example shown, when the speed limit of the road R1 is different, the presenting unit 34 of the control device 30 presents the first speed obtained based on the speed limit of the road on which the vehicle 1 is traveling to the user as the recommended speed.

[0111] That is, when the speed limit of the road on which the vehicle 1 is currently traveling is different from the speed limit of the road on which the ACC was interrupted or ended last time, the first speed obtained based on the speed limit of the road on which the vehicle 1 is currently traveling is more likely to be the target speed currently desired by the user than the second speed set by the user at the last ACC. Therefore, when the speed limit of the road on which the vehicle 1 is currently traveling is different from the speed limit of the road on which the ACC was interrupted or ended last time, by presenting the first speed that is more likely to be the target speed desired by the user as the suggested speed, the user can make the vehicle 1 travel at the desired speed by a simple operation of agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0112] [Second example of vehicle behavior]

[0113] Next, use Figure 5 The second example of the operation of the vehicle 1 is described. Figure 2 or Figure 3 The description is of the same parts as the example.

[0114] Figure 5 The second example shown is a case where the speed limit on road R1 is the same as the speed limit on road R2. Figure 5 In (a), the vehicle 1 is traveling on the road R1 at a target speed of 30 [km / h] using ACC.

[0115] Afterwards, if Figure 5 As shown in (b), after the user interrupts (or ends) ACC and stops the vehicle 1 before the intersection CS, the user starts the vehicle 1 by performing an acceleration operation, and the vehicle 1 enters the road R2 located before the intersection CS of the road R1. Figure 5 In the example shown, the speed limit of the road R2 is also 25 [km / h] like the road R1, and a speed sign RS2 indicating that the speed limit is 25 [km / h] is provided on the road R2. In this case, when the vehicle 1 travels on the road R2, the control device 30 detects the speed limit of the road R2 25 [km / h] through the TSR of the detection unit 33.

[0116] After that, the control device 30 (prompting unit 34) makes a recommendation at a predetermined start timing as described above. Figure 5 As shown in the example, when the speed limit of the road R2 on which the vehicle 1 is traveling at the time of recommendation is the same as the speed limit of the road R1 when the ACC was interrupted or ended last time, the control device 30 recommends presenting the second speed, which was the target speed of the last ACC, to the user as the suggested speed.

[0117] The second speed, which is the target speed of the last ACC, is presented to the user as a recommended speed, for example, by causing the MID 91 to display Figure 6 The recommended image G2 is shown.

[0118] like Figure 6 As shown, the recommended image G2 includes: an image PS2 indicating that the recommended speed is the target speed of the last ACC (ie, the second speed, Figure 6 30 [km / h] in the example shown); and the above-mentioned explanatory image EI and message MS.

[0119] If displayed in MID 91 Figure 6 When the user presses the approval button 81 when viewing the recommended image G2 shown in FIG. 8 , it is deemed that the user agrees to the recommended speed of 30 [km / h]. Figure 5 As shown in (c) in FIG. 1 , the control device 30 sets 30 [km / h] as the target speed and performs ACC.

[0120] As described above, on the road on which the vehicle 1 is traveling ( Figure 5 The example shown is road R2) with the same speed limit as the road where ACC was last interrupted or ended (in Figure 5 In the example shown, when the speed limits of the road R1 are the same, the presenting unit 34 of the control device 30 presents the second speed, which is the target speed of the previous ACC, to the user as the recommended speed.

[0121] That is, when the speed limit of the road currently traveled by the vehicle 1 is the same as the speed limit of the road where the ACC was interrupted or ended last time, the second speed that is the same as the last ACC is more likely to be the target speed currently desired by the user than the first speed obtained based on the speed limit of the road currently traveled by the vehicle 1. Therefore, when the speed limit of the road traveled by the vehicle 1 is the same as the speed limit of the road where the ACC was interrupted or ended last time, by presenting the second speed that is more likely to be the target speed desired by the user as the recommended speed, the user can make the vehicle 1 travel at the desired speed by a simple operation of agreeing to the recommended speed. Therefore, the convenience of the user can be improved.

[0122] [Third example of vehicle behavior]

[0123] Next, use Figure 7 The third example of the operation of the vehicle 1 is described. Figure 2 or Figure 3 The description is of the same parts as the example.

[0124] Figure 7 The third example shown is another example in which the speed limit of the road R1 and the speed limit of the road R2 are different from each other. Figure 7 In (a), the vehicle 1 is traveling on the road R1 by ACC at a target speed of 65 [km / h] which is a large deviation from the speed limit of 25 [km / h] on the road R1.

[0125] Afterwards, if Figure 7 As shown in (b), after the user interrupts (or ends) ACC and stops the vehicle 1 before the intersection CS, the user starts the vehicle 1 by performing an acceleration operation, and the vehicle 1 enters the road R2 located before the intersection CS of the road R1. Figure 7 In the example shown, the speed limit of the road R2 is 50 [km / h], and a speed mark RS2 indicating the speed limit of 50 [km / h] is provided on the road R2. In this case, when the vehicle 1 travels on the road R2, the control device 30 detects the speed limit of 50 [km / h] of the road R2 through the TSR of the detection unit 33.

[0126] In addition, Figure 7 In the example shown, the above-mentioned offset speed is set to +10 [km / h]. In this case, the first speed of the vehicle 1 traveling on the road R2 is 50 [km / h] + 10 [km / h] = 60 [km / h]. The first speed of 60 [km / h] is lower than the second speed of 65 [km / h] which is the target speed of the last ACC.

[0127] In such a case, Figure 7 As shown in (c) in FIG. 1 , even when the speed limit of the road R1 and the speed limit of the road R2 are different from each other, the control device 30 (i.e., the presenting unit 34) presents the second speed (here, 65 [km / h]) which is the target speed of the previous ACC to the user as a recommended speed for recommendation. Furthermore, if the user presses the approval button 81 when making the recommendation, it is deemed that the user agrees to the recommended speed of 65 [km / h], and the control device 30 sets 65 [km / h] as the target speed and performs ACC.

[0128] As described above, even if the speed limit of the road R2 on which the vehicle 1 is traveling is different from the speed limit of the road R1 when the ACC was last interrupted or ended, if the target speed of the last ACC (i.e., the second speed) deviates from the speed limit of the road R1 when the ACC was last interrupted or ended by a prescribed value (e.g., 15 [km / h]) or more, the prompting unit 34 of the control device 30 prompts the user with the second speed as the recommended speed.

[0129] That is, when the last ACC caused the vehicle 1 to travel at a target speed that deviated from the speed limit of the road at that time by more than a prescribed value, it is considered that the user wishes to travel the vehicle 1 at the speed that does not comply with the speed limit of the road due to some circumstances. Therefore, when the second speed that is the target speed of the last ACC deviates from the speed limit of the road when the last ACC was interrupted or ended by more than a prescribed value (in other words, when it is lower than the speed limit by more than a prescribed value, or when it is higher than the speed limit by more than a prescribed value), the second speed that is more likely to be the target speed desired by the user is presented to the user as a suggested speed, and the user can travel the vehicle 1 at the desired speed by a simple operation of agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0130] In particular, when the last ACC caused the vehicle 1 to travel at a target speed higher than the speed limit of the road at that time by a predetermined value, it is considered that the user strongly desires to travel the vehicle 1 at the speed without complying with the speed limit. Therefore, for example, when the second speed, which is the target speed of the last ACC, is higher than the speed limit of the road when the last ACC was interrupted or ended by a predetermined value, the prompting unit 34 of the control device 30 prompts the user with the second speed, which is more likely to be the target speed desired by the user, as a suggested speed. Thus, the user can travel the vehicle 1 at the desired speed by a simple operation of agreeing to the suggested speed.

[0131] In addition, the above-mentioned prescribed value is, for example, a value greater than the deviation speed. That is, when the second speed, which is the target speed of the last ACC, is higher than the speed limit of the road when the last ACC was interrupted or ended by more than the deviation speed set by the user, it is considered that the user wants to drive the vehicle at this speed. Therefore, when the second speed, which is the target speed of the last ACC, is higher than the speed limit of the road when the last ACC was interrupted or ended by more than the deviation speed set by the user, the second speed, which is more likely to be the target speed desired by the user, is presented to the user as the recommended speed, and the user can drive the vehicle 1 at the desired speed by a simple operation of agreeing to the recommended speed. Therefore, the convenience of the user can be improved.

[0132] [Fourth example of vehicle behavior]

[0133] Next, use Figure 8 The fourth example of the operation of the vehicle 1 is described. Figure 2 , Figure 3 or Figure 7 The description is of the same parts as the example.

[0134] Different from Figure 7 The third example shown, in Figure 8 In the fourth example shown, the first speed of the vehicle 1 traveling on the road R2 is greater than the second speed which is the target speed set by the user at the time of the previous ACC.

[0135] That is, in Figure 8 In (a), the vehicle 1 is traveling on the road R1 by ACC at a target speed of 40 [km / h] which is a large deviation from the speed limit of 25 [km / h] on the road R1.

[0136] Afterwards, if Figure 8 As shown in (b), after the user interrupts (or ends) ACC and stops the vehicle 1 before the intersection CS, the user starts the vehicle 1 by performing an acceleration operation, and the vehicle 1 enters the road R2 located before the intersection CS of the road R1. Figure 8 In the example shown, the speed limit of the road R2 is 40 [km / h], and a speed mark RS2 indicating that the speed limit is 40 [km / h] is provided on the road R2. In this case, when the vehicle 1 travels on the road R2, the control device 30 detects the speed limit of the road R2 40 [km / h] through the TSR of the detection unit 33.

[0137] In addition, Figure 8 In the example shown, the offset speed is set to +10 [km / h]. In this case, the first speed of the vehicle 1 traveling on the road R2 is 40 [km / h] + 10 [km / h] = 50 [km / h]. The first speed of 50 [km / h] is greater than the second speed of 40 [km / h] which is the target speed set by the user at the last ACC.

[0138] In such a case, Figure 8 As shown in (c) in FIG. 1 , the control device 30 (i.e., the presenting unit 34) presents the first speed (here, 50 [km / h]) obtained based on the speed limit of the road R2 on which the vehicle 1 is traveling at the time of recommendation to the user as a recommended speed for recommendation. Furthermore, if the user presses the approval button 81 when making the recommendation, it is deemed that the user agrees with the recommended speed of 50 [km / h], and the control device 30 sets 50 [km / h] as the target speed and performs ACC.

[0139] As described above, when the speed limit of the road R2 on which the vehicle 1 is traveling is different from the speed limit of the road R1 when the ACC was interrupted or ended last time, and when the target speed of the last ACC (i.e., the second speed) deviates from the speed limit of the road R1 when the ACC was interrupted or ended last time by more than a prescribed value (e.g., 15 [km / h]) and is lower than the first speed obtained based on the speed limit of the road R2 on which the vehicle 1 is traveling when the recommendation is made, the prompting unit 34 of the control device 30 prompts the user with the first speed as the suggested speed.

[0140] That is, when the first speed is higher than the second speed, the user is more likely to want the first speed as the target speed than the second speed. Therefore, when the first speed is higher than the second speed, by presenting the first speed to the user as the recommended speed, the user can make the vehicle 1 travel at the desired speed by simply agreeing to the recommended speed.

[0141] [Recommended speed prompt time]

[0142] Next, the presentation time of the recommended suggested speed is described. The presentation unit 34 of the control device 30 preferably makes the presentation time of the suggested speed (for example, the display time of the recommended image G1 or the recommended image G2) different according to the difference between the vehicle speed V (i.e., the traveling speed of the vehicle 1) when the suggested speed is presented to the user through recommendation and the suggested speed in the recommendation.

[0143] For example, when the vehicle speed V deviates from the recommended speed when the recommended speed is presented (for example, when the difference between the vehicle speed V and the recommended speed is greater than a threshold), it is considered that the possibility that the user agrees with the recommended speed (i.e., the possibility of allowing the vehicle to travel at the recommended speed) is low. Therefore, in such a case, the presentation unit 34 shortens the presentation time of the recommended speed, thereby quickly ending the presentation of the recommended speed with a low possibility of user agreement. In this way, it is possible to prevent the recommended speed presentation, which may annoy the user, from continuing for a long time.

[0144] On the other hand, when the vehicle speed V is close to the recommended speed when the recommended speed is presented (for example, when the difference between the vehicle speed V and the recommended speed is less than a threshold), it is considered that the user is likely to agree with the recommended speed. Therefore, in such a case, the presentation unit 34 extends the presentation time of the recommended speed. In this way, it is possible to prevent the user from failing to agree with the recommended speed, thereby reliably allowing the user to agree with the recommended speed and start ACC.

[0145] In addition, when the vehicle speed V is higher than the recommended speed when the recommended speed is prompted, it is considered that the user is less likely to agree with the recommended speed; on the contrary, when the vehicle speed V is lower than the recommended speed when the recommended speed is prompted, it is considered that the user is more likely to agree with the recommended speed. Therefore, when the difference between the vehicle speed V and the recommended speed is large when the recommended speed is prompted to the user, the prompting unit 34 may also shorten the prompting time compared to when the difference between the vehicle speed V and the recommended speed is small when the recommended speed is prompted to the user. In this way, it is possible to prevent the recommended speed prompt from continuing for a long time, which may annoy the user.

[0146] As described above, the control device 30 (prompting unit 34) extends the prompting time of the recommended speed when it is assumed that the user is more likely to agree to the recommended speed, and shortens the prompting time of the recommended speed when it is assumed that the user is less likely to agree to the recommended speed, thereby being able to prompt the user with the recommended speed at an appropriate prompting time.

[0147] [Processing of the control device]

[0148] Next, refer to Fig. 9 and Fig.10 An example of the processing executed by the control device 30 will be described. In addition, the control device 30 executes, for example, during the startup of the vehicle 1 (for example, while the ignition power is turned on). Fig. 9 as well as Fig.10 Processing shown.

[0149] like Fig. 9 As shown, the control device 30 first waits until it is determined that ACC is interrupted or ended (step S1: No loop). If it is determined that ACC is interrupted or ended (step S1: Yes), the control device 30 waits until it is determined that the recommended start time has been reached (step S2: No loop). When it is determined that the recommended start time has been reached (step S2: Yes), the control device 30 enters Fig.10 The recommended speed determination process is shown (step S3).

[0150] like Fig.10 As shown, in the recommended speed determination process (step S3), the control device 30 first determines whether the speed limit of the road on which the vehicle 1 is traveling is different from the speed limit of the road when the ACC was interrupted or ended last time (step S31). When it is determined that the speed limit of the road on which the vehicle 1 is traveling is the same as the speed limit of the road when the ACC was interrupted or ended last time (step S31: No), the control device 30 proceeds to the process of step S35 described later.

[0151] On the other hand, when it is determined that the speed limit of the road on which the vehicle 1 is traveling is different from the speed limit of the road when the ACC was interrupted or ended last time (step S31: Yes), the control device 30 determines whether the target speed of the last ACC is higher than the speed limit of the road when the ACC was interrupted or ended last time by a predetermined value or more (step S32). As a result, when it is determined that the target speed of the last ACC is not higher than the speed limit of the road when the ACC was interrupted or ended last time by a predetermined value or more (step S32: No), the control device 30 proceeds to the processing of step S34.

[0152] On the other hand, when it is determined that the target speed of the last ACC is higher than the speed limit of the road when the last ACC was interrupted or ended by a predetermined value or more (step S32: Yes), the control device 30 determines whether the target speed of the last ACC is higher than a first speed obtained by adding the speed limit of the road on which the vehicle 1 is traveling and the offset speed (step S33). As a result, when it is determined that the target speed of the last ACC is not higher than the first speed obtained by adding the speed limit of the road on which the vehicle 1 is traveling and the offset speed (step S33: No), the control device 30 uses the first speed obtained by adding the speed limit of the road on which the vehicle 1 is traveling and the offset speed as the recommended speed (step S34), and ends the recommended speed determination process of this time.

[0153] On the other hand, when it is determined that the target speed of the previous ACC is higher than the first speed obtained by adding the speed limit of the road on which the vehicle 1 is traveling and the offset speed (step S33: Yes), the control device 30 uses the second speed that is the target speed of the previous ACC as the recommended speed (step S35), and ends the recommended speed determination process of this time.

[0154] In execution Fig.10 After the recommended speed determination process (step S3) shown in FIG. Fig. 9 In the process of step S4, the control device 30 starts recommendation (step S4). For example, as described above, the control device 30 makes a recommendation by causing the MID 91 to display the recommended image G1 or the recommended image G2, and presents the recommended speed determined by the most recent recommended speed determination process (step S3) to the user.

[0155] Next, the control device 30 determines whether the user agrees with the recommended speed (for example, whether the approval button 81 is pressed) (step S5). If it is determined that the user agrees with the recommended speed (step S5: Yes), the control device 30 sets the recommended speed as the target speed, starts ACC (step S7), and ends the recommendation (step S8). Fig. 9 A series of processing is shown.

[0156] On the other hand, if it is determined that the user does not agree with the recommended speed (step S5: No), the control device 30 determines whether the recommended end time has been reached (step S6). If it is determined that the recommended end time has not been reached (step S6: No), the control device 30 returns to the process of step S5. On the other hand, if it is determined that the recommended end time has been reached (step S6: Yes), the control device 30 proceeds to the process of step S8 to end the recommendation, and ends. Fig. 9 A series of processing is shown.

[0157] As described above, the control device 30 presents the user with either the first speed obtained based on the speed limit of the road on which the vehicle 1 is traveling or the second speed set by the user of the vehicle 1 as a recommended speed (see step S34, step S35, step S4, etc.), and, in response to the user agreeing to the recommended speed (see the branch from step S5: Yes), starts ACC with the recommended speed as the target speed (see step S8). Thus, the user can make the vehicle 1 travel at an appropriate or desired speed by a simple operation of agreeing to the suggested recommended speed.

[0158] In contrast, for example, it is also considered that an operation switch for setting the first speed as the target speed and an operation switch for setting the second speed as the target speed are provided in the vehicle 1, and that the operation switch is independent of the first speed and the second speed, respectively, so that the user can set the first speed as the target speed or the second speed as the target speed by distinguishing between these operation switches. However, in such a case, it is necessary to distinguish between the use of multiple operation switches, which may cause confusion to the user. In this regard, according to the structure of the present embodiment, the operation burden of the user for setting the target speed can be reduced during ACC, and the use of ACC can be promoted. Therefore, it is possible to improve the convenience of the user and the safety of the vehicle 1, further improve the safety of traffic, and contribute to the development of a sustainable transportation system.

[0159] However, for example, after merging from an intersection of a highway, the vehicle 1 may restart ACC after interrupting or ending ACC when there is a leading vehicle ahead. In such a situation, many users give priority to following the leading vehicle rather than complying with the speed limit of the road on which the vehicle 1 is traveling. As described above, since ACC includes inter-vehicle distance control, in this situation, even if the first speed or the second speed is recommended, it is impossible to follow the leading vehicle, and the user who wants to follow the leading vehicle may have the trouble of resetting the target speed of ACC (operation). Therefore, in order to suppress the occurrence of such trouble, the control device 30 may also control the vehicle 1 as follows.

[0160] Fig.11FIG. 2 shows an example of the operation of the vehicle 1 when there is a preceding vehicle traveling in front of the vehicle 1. Fig.11 In (a), the vehicle 1 is traveling on the road R1 using the ACC. The speed limit indicated by the speed sign RS1 on the road R1 is 40 [km / h], whereas the target speed (second speed) of the ACC is set to 60 [km / h].

[0161] Afterwards, if Fig.11 As shown in (b), after the user interrupts (or ends) ACC and stops the vehicle 1 before the intersection CS, the user starts the vehicle 1 by performing an acceleration operation, and the vehicle 1 enters the road R2 located before the intersection CS of the road R1. Fig.11 In the example shown, the speed limit of the road R2 is 40 [km / h] as is the case with the road R1, and a speed sign RS2 indicating that the speed limit is 40 [km / h] is provided on the road R2. In this case, when the vehicle 1 travels on the road R2, the control device 30 detects the speed limit of the road R2 40 [km / h] through the TSR of the detection unit 33.

[0162] In addition, if Fig.11 As shown in (c) in FIG. 1 , there is a preceding vehicle 100 traveling in front of the vehicle 1 on the road R2. The preceding vehicle 100 is traveling at 62 [km / h]. In such a situation, even if the first speed (here, 40 [km / h] + offset speed) obtained based on the speed limit of the road R2 on which the vehicle 1 is traveling and the second speed (here, 60 [km / h]) which is the target speed of the last ACC are recommended, it is impossible to follow the preceding vehicle 100 while maintaining the inter-vehicle distance at the recommended speed prompted by the recommendation.

[0163] Therefore, when the travel speed of the preceding vehicle 100 is higher than the first speed and the second speed, the control device 30 (presentation unit 34) presents the third speed obtained based on the travel speed of the preceding vehicle 100 to the user as the recommended speed. Fig.11 In the example shown, the control device 30 recommends 65 [km / h] as the third speed, which is higher than 62 [km / h], which is the travel speed of the leading vehicle 100. Thus, even when the travel speed of the leading vehicle 100 is higher than the first speed and the second speed, the user can drive the vehicle 1 so as not to be left behind by the leading vehicle 100 by a simple operation of agreeing to the recommended speed presented by the recommendation. Therefore, the convenience of the user can be improved.

[0164] In addition, the control method described in this embodiment can be implemented by executing a pre-prepared program with a computer. This 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, this program can be provided in the form of being stored in 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 this 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.

[0165] 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.

[0166] For example, 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 be a two-wheeled automobile (so-called motorcycle).

[0167] In the above-mentioned embodiment, an example in which the driving control in the present invention is ACC is described, but the present invention is not limited thereto. For example, the driving control in the present invention may be constant speed driving control (cruise control) without inter-vehicle distance control.

[0168] In this specification, at least the following matters are described. In addition, although the corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0169] (1) A vehicle control device (control device 30) for controlling a vehicle 1, wherein:

[0170] The vehicle control device comprises:

[0171] a detection unit (detection unit 33) for detecting a speed limit of a road (road R2) on which the vehicle is traveling, based on periphery information of the vehicle acquired by an external sensor (sensor group 10) provided in the vehicle;

[0172] a prompting unit (prompting unit 34 ) that prompts the user, as a recommended speed, any one of a first speed obtained based on the speed limit detected by the detection unit and a second speed set by a user of the vehicle; and

[0173] A travel control unit (travel control unit 35 ) performs travel control for controlling the travel speed of the vehicle using the recommended speed as a target speed, based on the user agreeing to the recommended speed presented by the presentation unit.

[0174] According to (1), either a first speed obtained based on the speed limit of the road on which the vehicle is traveling or a second speed set by the user of the vehicle can be presented to the user as a recommended speed, and based on the user's agreement to the recommended speed, the vehicle's travel control is performed with the recommended speed as the target speed. Thus, the user can make the vehicle travel at an appropriate or desired speed by simply agreeing to the suggested recommended speed. Therefore, the safety of the vehicle and the convenience of the user can be improved. Furthermore, the safety of traffic can be further improved, contributing to the development of a sustainable transportation system.

[0175] (2) The vehicle control device according to (1), wherein:

[0176] When the speed limit of the road on which the vehicle is traveling is different from the speed limit of the road (road R1 ) when the travel control was interrupted or ended last time, the presenting unit presents the first speed to the user as the recommended speed.

[0177] When the speed limit of the road on which the vehicle is currently traveling is different from the speed limit of the road when the driving control was interrupted or ended last time, the first speed is more likely to be the target speed currently desired by the user than the second speed. According to (2), when the speed limit of the road on which the vehicle is currently traveling is different from the speed limit of the road when the driving control was interrupted or ended last time, the first speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, so that the user can make the vehicle travel at the desired speed by simply agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0178] (3) The vehicle control device according to (1), wherein:

[0179] The second speed is a target speed of the previous travel control.

[0180] The presenting unit presents the second speed as the recommended speed to the user when the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous traveling control was interrupted or ended.

[0181] When the speed limit of the road on which the vehicle is currently traveling is the same as the speed limit of the road on which the driving control was interrupted or ended last time, the second speed is more likely to be the target speed currently desired by the user than the first speed. According to (3), when the speed limit of the road on which the vehicle is currently traveling is the same as the speed limit of the road on which the driving control was interrupted or ended last time, the second speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, whereby the user can make the vehicle travel at the desired speed by simply agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0182] (4) The vehicle control device according to (1), wherein:

[0183] The second speed is a target speed of the previous travel control.

[0184] The presenting unit presents the second speed as the recommended speed to the user when the second speed deviates by a predetermined value or more from the speed limit of the road when the previous travel control was interrupted or ended.

[0185] In the case where the last driving control caused the vehicle to travel at a target speed that deviated from the speed limit of the road by more than a prescribed value, it is considered that the user wishes to drive the vehicle at the speed that does not comply with the speed limit of the road due to some circumstances. According to (4), in the case where the second speed that is the target speed of the last driving control deviates from the speed limit of the road when the last driving control was interrupted or ended by more than a prescribed value, the second speed that is likely to be the target speed desired by the user is presented to the user as a suggested speed, so that the user can drive the vehicle at the desired speed by simply agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0186] (5) The vehicle control device according to (4), wherein:

[0187] The presenting unit presents the second speed as the recommended speed to the user when the second speed is higher than the speed limit of the road at the time when the previous travel control was interrupted or ended by the predetermined value or more.

[0188] In the case where the last driving control caused the vehicle to travel at a target speed higher than the speed limit of the road by a predetermined value, it is considered that the user wishes to drive the vehicle at the speed that does not comply with the speed limit of the road due to some circumstances. According to (5), in the case where the second speed that is the target speed of the last driving control is higher than the speed limit of the road when the last driving control was interrupted or ended by a predetermined value, the second speed that is likely to be the target speed desired by the user is presented to the user as a suggested speed, so that the user can drive the vehicle at the desired speed by simply agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0189] (6) The vehicle control device according to (5), wherein:

[0190] The prescribed value is greater than the offset speed set by the user.

[0191] When the second speed, which is the target speed of the last driving control, is higher than the speed limit of the road when the last driving control was interrupted or ended by more than the offset speed set by the user, it is considered that the user wants to drive the vehicle at this speed. According to (6), when the second speed, which is the target speed of the last driving control, is higher than the speed limit of the road when the last driving control was interrupted or ended by more than the offset speed set by the user, the second speed with a high probability of being the target speed desired by the user is presented to the user as a suggested speed, so that the user can drive the vehicle at the desired speed by a simple operation of agreeing to the suggested speed. Therefore, the convenience of the user can be improved.

[0192] (7) The vehicle control device according to (6), wherein:

[0193] The first speed is the sum of the speed limit of the road on which the vehicle is traveling and the offset speed.

[0194] When the second speed is higher than the speed limit of the road on which the last travel control was interrupted or ended by the predetermined value or more and higher than the first speed, the presenting unit presents the second speed as the recommended speed to the user.

[0195] On the other hand, when the second speed is higher than the speed limit of the road when the previous travel control was interrupted or ended by the predetermined value or more and lower than the first speed, the presenting unit presents the first speed to the user as the recommended speed.

[0196] According to (7), the higher of the first speed and the second speed is presented to the user as the recommended speed, so the user can run the vehicle at a desired speed by simply agreeing to the recommended speed. Therefore, user convenience can be improved.

[0197] (8) The vehicle control device according to (1), wherein:

[0198] The presenting unit varies the presentation time of the recommended speed according to a difference between the running speed of the vehicle and the recommended speed when presenting the recommended speed to the user.

[0199] When the vehicle's running speed is close to the recommended speed when the suggested speed is prompted, it is considered that the user is more likely to agree to the recommended speed. On the other hand, when the vehicle's running speed deviates from the recommended speed when the suggested speed is prompted, it is considered that the user is less likely to agree to the recommended speed. According to (8), the prompting time of the recommended speed is made different according to the difference between the vehicle's running speed when the recommended speed is prompted to the user and the recommended speed. Thus, when it is assumed that the user is more likely to agree to the recommended speed, the prompting time of the recommended speed is extended, thereby preventing the user from successfully agreeing to the recommended speed. On the other hand, when it is assumed that the user is less likely to agree to the recommended speed, the prompting time of the recommended speed is shortened, thereby preventing the recommended speed prompt, which may annoy the user, from continuing for a long time.

[0200] (9) The vehicle control device according to (8), wherein:

[0201] When the difference between the running speed of the vehicle and the recommended speed is large when the recommended speed is presented to the user, the presenting unit shortens the presenting time compared to when the difference between the running speed of the vehicle and the recommended speed is small when the recommended speed is presented to the user.

[0202] The greater the difference (i.e., deviation) between the vehicle's running speed and the recommended speed when the recommended speed is prompted, the lower the possibility that the user agrees with the recommended speed. According to (9), the greater the difference between the vehicle's running speed and the recommended speed when the recommended speed is prompted, the shorter the time for prompting the recommended speed is, thereby preventing the recommended speed prompt from continuing for a long time, which may annoy the user.

[0203] (10) The vehicle control device according to (8), wherein:

[0204] When the traveling speed of the vehicle is higher than the recommended speed when presenting the recommended speed to the user, the presenting unit shortens the presentation time compared to when the traveling speed of the vehicle is lower than the recommended speed.

[0205] When the vehicle's running speed is higher than the recommended speed when the recommended speed is prompted, it is considered that the user is less likely to agree with the recommended speed. According to (10), when the vehicle's running speed is higher than the recommended speed when the recommended speed is prompted, shortening the time for prompting the recommended speed can prevent the recommended speed prompt from continuing for a long time, which may annoy the user.

[0206] (11) The vehicle control device according to (1), wherein:

[0207] When there is a preceding vehicle traveling ahead of the vehicle and the speed of the preceding vehicle is higher than the first speed and the second speed, the presenting unit presents a third speed obtained based on the speed of the preceding vehicle to the user as a recommended speed.

[0208] According to (11), when the speed of the preceding vehicle is higher than the first speed and the second speed, the third speed obtained based on the speed of the preceding vehicle is presented to the user as a recommended speed, so that the user can drive the vehicle in a manner that does not cause the preceding vehicle to be left behind by simply agreeing to the recommended speed. Therefore, user convenience can be improved.

[0209] (12) A control method, which is a control method performed by a computer controlling a vehicle, wherein:

[0210] The computer performs the following processing:

[0211] detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle;

[0212] presenting to the user, as a suggested speed, either a first speed obtained based on the detected speed limit or a second speed set by the user of the vehicle; and

[0213] In response to the user agreeing to the presented recommended speed, travel control is performed to control the travel speed of the vehicle using the recommended speed as a target speed.

[0214] According to (12), either a first speed obtained based on the speed limit of the road on which the vehicle is traveling or a second speed set by the user of the vehicle can be presented to the user as a recommended speed, and based on the user's agreement to the recommended speed, the vehicle's travel control is performed with the recommended speed as the target speed. Thus, the user can make the vehicle travel at an appropriate or desired speed by simply agreeing to the suggested recommended speed. Therefore, the safety of the vehicle and the convenience of the user can be improved. Furthermore, the safety of traffic can be further improved, contributing to the development of a sustainable transportation system.

Claims

1. A vehicle control device for controlling a vehicle, wherein: The vehicle control device comprises: a detection unit that detects a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a prompting unit configured to prompt the user, as a recommended speed, any one of a first speed obtained based on the speed limit detected by the detection unit and a second speed set by a user of the vehicle; as well as The travel control unit performs travel control for controlling the travel speed of the vehicle using the recommended speed as a target speed, based on the user agreeing with the recommended speed presented by the presentation unit.

2. The vehicle control device according to claim 1, wherein: When the speed limit of the road on which the vehicle is traveling is different from the speed limit of the road when the travel control was interrupted or ended last time, the presenting unit presents the first speed to the user as the recommended speed.

3. The vehicle control device according to claim 1, wherein: The second speed is a target speed of the previous travel control. The presenting unit presents the second speed as the recommended speed to the user when the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous traveling control was interrupted or ended.

4. The vehicle control device according to claim 1, wherein: The second speed is a target speed of the previous travel control. The presenting unit presents the second speed as the recommended speed to the user when the second speed deviates by a predetermined value or more from the speed limit of the road when the previous travel control was interrupted or ended.

5. The vehicle control device according to claim 4, wherein: The presenting unit presents the second speed as the recommended speed to the user when the second speed is higher than the speed limit of the road at the time when the previous travel control was interrupted or ended by the predetermined value or more.

6. The vehicle control device according to claim 5, wherein: The prescribed value is greater than the offset speed set by the user.

7. The vehicle control device according to claim 6, wherein: The first speed is the sum of the speed limit of the road on which the vehicle is traveling and the offset speed. When the second speed is higher than the speed limit of the road on which the previous travel control was interrupted or ended by the predetermined value or more and higher than the first speed, the presenting unit presents the second speed to the user as the recommended speed. On the other hand, when the second speed is higher than the speed limit of the road when the previous travel control was interrupted or ended by the predetermined value or more and lower than the first speed, the presenting unit presents the first speed as the recommended speed to the user.

8. The vehicle control device according to claim 1, wherein: The presenting unit varies the presentation time of the recommended speed according to a difference between the running speed of the vehicle and the recommended speed when presenting the recommended speed to the user.

9. The vehicle control device according to claim 8, wherein: When the difference between the running speed of the vehicle and the recommended speed is large when the recommended speed is presented to the user, the presenting unit shortens the presenting time compared to when the difference between the running speed of the vehicle and the recommended speed is small when the recommended speed is presented to the user.

10. The vehicle control device according to claim 8, wherein: When the traveling speed of the vehicle is higher than the recommended speed when presenting the recommended speed to the user, the presenting unit shortens the presentation time compared to when the traveling speed of the vehicle is lower than the recommended speed.

11. The vehicle control device according to claim 1, wherein: When there is a preceding vehicle traveling ahead of the vehicle and the speed of the preceding vehicle is higher than the first speed and the second speed, the presenting unit presents a third speed obtained based on the speed of the preceding vehicle to the user as a recommended speed.

12. A control method, which is a control method performed by a computer controlling a vehicle, wherein: The computer performs the following processing: detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; Prompting the user, as a suggested speed, either a first speed obtained based on the detected speed limit or a second speed set by the user of the vehicle; as well as In response to the user agreeing to the presented recommended speed, travel control is performed to control the travel speed of the vehicle using the recommended speed as a target speed.

Images