Travel assistance method and travel assistance device

Abstract

The controller (19) sets a stop candidate position on a stop line located on a travel path of the host vehicle, performs deceleration control for decelerating the host vehicle in order to stop the host vehicle before the stop candidate position, and performs deceleration control for decelerating the host vehicle when there is an acceleration operation by a driver of the host vehicle after the stop candidate position has been set. The setting of the stop candidate position is cancelled or the travel of the host vehicle is autonomously controlled so that the host vehicle passes through the stop candidate position in a state where the stop candidate position is set.

Description

Technical Field

[0001] The present invention relates to a driving assistance method and a driving assistance device. Background Art

[0002] The following technology is known: executing deceleration assist control to decelerate the vehicle in front of a deceleration target and risk avoidance control to steer and decelerate the vehicle to avoid dangerous factors, and notifying the driver of the vehicle of the deceleration target while the deceleration assist control and risk avoidance control are simultaneously activated.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: (Japanese) Patent Publication No. 2021-117916 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] However, Patent Document 1 is an invention that performs deceleration control when it is determined based on information obtained from a sensor that the vehicle needs to decelerate relative to a stop line in front of the vehicle. Therefore, in Patent Document 1, when it is difficult to determine whether the vehicle needs to decelerate relative to the stop line or can pass, the vehicle is not decelerated relative to the stop line, so the driver needs to determine whether the acceleration operation can be performed while performing a braking operation, which increases the burden on the driver.

[0008] The technical problem to be solved by the present invention is to provide a driving assistance method and a driving assistance device, which can reduce the burden on the driver even when it is difficult to judge whether the vehicle needs to slow down or can pass the stop line in front of the vehicle.

[0009] Technical solutions for solving technical problems

[0010] The present invention solves the above technical problem by the following manner, namely, a stop candidate position is set at a stop line located on the driving path of the vehicle, and a deceleration control is performed to decelerate the vehicle in order to stop the vehicle in front of the stop candidate position. When an acceleration operation is performed by the driver of the vehicle after the stop candidate position is set, the setting of the stop candidate position is canceled, or when the stop candidate position is set, the driving of the vehicle is autonomously controlled by the vehicle through the stop candidate position.

[0011] Effects of the Invention

[0012] According to the present invention, even when it is difficult to judge whether the vehicle needs to decelerate or can pass the stop line in front of the vehicle, the burden on the driver can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a block diagram showing one embodiment of the driving assistance device of the present invention.

[0014] Figure 2 This is a diagram showing an example of a scene in which the deceleration control according to the present embodiment is executed.

[0015] Figure 3 This is a diagram showing an example of a scenario in which the driving assistance method according to the present embodiment is executed.

[0016] Figure 4 This is a diagram showing an example of a scenario in which the driving assistance method according to the present embodiment is executed.

[0017] Figure 5 This is a flowchart showing an example of the procedure of the driving assistance method according to the present embodiment. DETAILED DESCRIPTION

[0018] Figure 1 1 is a block diagram showing the configuration of a driving assistance device 1 of a vehicle (hereinafter, also referred to as the vehicle) according to the present embodiment. The driving assistance device 1 of the present embodiment is one embodiment of the driving assistance method of the present invention. Figure 1 As shown, the driving assistance device 1 of this embodiment includes a surrounding information detection device 11, a vehicle information detection device 12, a map database 13, an on-board device 14, a navigation device 15, a prompt device 16, an input device 17, a drive control device 18, and a controller 19. These devices are connected through an on-board LAN such as a CAN in order to receive and send information to each other. In addition, in this embodiment, the driving assistance device 1 only needs to include at least the controller 19, and other components are not limited to the above-mentioned components. For example, the map database 13 is not limited to being stored in the driving assistance device 1, and can also be a database outside the driving assistance device 1.

[0019] The surrounding information detection device 11 includes a sensor for detecting the environment around the vehicle. For example, the surrounding information detection device 11 includes a front camera for photographing the front of the vehicle, a rear camera for photographing the rear of the vehicle, a side camera for photographing the left and right sides of the vehicle, and other cameras. In this embodiment, the surrounding information detection device 11 identifies lane boundaries, stop lines, etc. through image recognition based on the images captured by the camera. Lane boundaries include white lines, yellow lines, dotted lines, and double lines. In addition, the surrounding information detection device 11 includes a front radar for detecting obstacles in front of the vehicle, a rear radar for detecting obstacles behind the vehicle, and a side radar for detecting obstacles on the left and right sides of the vehicle. The surrounding information detection device 11 outputs the detection results related to the surrounding environment of the vehicle as surrounding environment information to the controller 19 at a specified period.

[0020] In addition, the surrounding information detection device 11 includes a distance sensor for obtaining the distance to the object. The distance sensor includes a laser sensor or a depth camera. The surrounding information detection device 11 includes a yaw angle sensor for obtaining the yaw angle around the center of gravity axis of the vehicle. The yaw angle sensor obtains the yaw angle generated when the vehicle turns. The surrounding information detection device 11 includes a lateral acceleration sensor for detecting the lateral acceleration of the vehicle.

[0021] In this embodiment, the surrounding information detection device 11 recognizes the stop line based on the image outside the vehicle captured by the front camera, etc., and measures the distance between the vehicle and the stop line. In addition, the surrounding information detection device 11 detects the signal of the traffic light, road signs, and road surface signs located in front of the vehicle in the direction of travel. In addition, as the surrounding information detection device 11, it can be configured to use one of the above-mentioned multiple sensors, or it can be configured to use a combination of two or more sensors.

[0022] The vehicle information detection device 12 includes a sensor for detecting the driving state of the vehicle. For example, the vehicle information detection device 12 includes a speed sensor for detecting the speed of the vehicle. The vehicle information detection device 12 includes a steering angle sensor for detecting the steering angle of the steering wheel. The vehicle information detection device 12 includes a GPS unit, a gyro sensor, a speed sensor, etc. The vehicle information detection device 12 detects radio waves sent from multiple satellite communications through the GPS unit, and periodically obtains the position information of the target vehicle (the vehicle). In addition, the vehicle information detection device 12 detects the current position of the vehicle based on the acquired position information of the vehicle, the angle change information acquired from the gyro sensor, and the speed acquired from the speed sensor. The vehicle information detection device 12 outputs the detected position information of the vehicle to the controller 19 at a specified period.

[0023] The vehicle information detection device 12 includes a sensor for detecting the driver's operation on the vehicle. The driver's operation on the vehicle includes acceleration operation and braking operation. For example, the vehicle information detection device 12 includes a sensor for detecting the amount of the driver's stepping on the accelerator pedal. When the vehicle information detection device 12 detects the driver's operation on the accelerator pedal, it outputs operation information including the amount of the accelerator pedal stepping to the controller 19. In addition, the vehicle information detection device 12 can also detect the driver's stepping time on the accelerator pedal.

[0024] In addition, the vehicle information detection device 12 includes a sensor for detecting the amount of the driver's stepping on the brake pedal. When the vehicle information detection device 12 detects the driver's operation on the brake pedal, it outputs operation information including the amount of the stepping on the brake pedal to the controller 19. In addition, the vehicle information detection device 12 can also detect the driver's stepping time on the brake pedal.

[0025] The map database 13 is a database for storing map information including road information. The map database 13 is stored in a memory that can be accessed from the controller 19. In the road information, various locations on the map such as intersections or branch points are saved as nodes, and the road sections between nodes are saved as road links. The road information includes information such as the road type, width, number of lanes, bends and the size of the bends (such as curvature or curvature radius), speed limit set for the road, etc. In addition, the road information includes stop line information. The stop line is, for example, a stop line in front of an intersection with a traffic light, a temporary stop road sign and / or a road surface sign. The stop line information includes the position information of the stop line. The stop line includes an imaginary stop line. The imaginary stop line is a stop line arbitrarily set on the map. For example, an imaginary stop line is set at a position in an intersection where a temporary stop is required to allow oncoming vehicles to pass first.

[0026] The vehicle-mounted devices 14 are various devices installed in the vehicle and are operated by the driver's operation. Examples of such vehicle-mounted devices include a steering wheel, an accelerator pedal, a brake pedal, a direction indicator, a wiper, a light, a horn, and other specific switches. When the vehicle-mounted device 14 is operated by the driver, its operation information is output to the controller 19. For example, when the driver operates the accelerator pedal or the brake pedal, the operation information including the operation amount is output to the controller 19.

[0027] The navigation device 15 obtains the current position information of the vehicle from the vehicle information detection device 12, and displays the position of the vehicle on a display or the like by overlapping the map information for navigation. In addition, the navigation device 15 has a navigation function of setting a driving route to the destination when a destination is set and guiding the driver to the set driving route. The navigation function displays the driving route on a map on the display and notifies the driver of the route by voice or the like.

[0028] The prompting device 16 includes, for example, various displays such as a display provided by the navigation device 15, a display assembled in a rearview mirror, a display assembled in an instrument part, and a head-up display projected on a windshield. In addition, the prompting device 16 includes a device other than a display such as a speaker of an audio device. The prompting device 16 reports various prompting information to the driver according to the control of the controller 19. For example, the prompting device 16 notifies the driver of the setting release information by displaying setting release information indicating that the setting of the stop candidate position has been released on the display and performing voice guidance through the speaker.

[0029] The input device 17 is, for example, a push button switch that can be input by manual operation of the driver, a touch panel arranged on a display screen, or a speaker that can be input by voice of the driver. In the present embodiment, the driver can input setting information for the prompt information prompted by the prompt device 16 by operating the input device 17. In addition, the direction indicator lever of the direction indicator or the switch of other vehicle-mounted equipment 14 can also be used as the input device 17. The input device 17 outputs the input setting information to the controller 19.

[0030] The drive control device 18 autonomously controls the driving of the vehicle based on the target speed and target steering angle output from the controller 19. The control content performed by the drive control device 18 includes autonomous speed control and autonomous steering control. For example, when the vehicle is driving at a set speed through autonomous speed control, the drive control device 18 controls the action of the drive mechanism and the action of the brake in order to maintain acceleration and deceleration and driving speed so that the vehicle reaches the target speed. In addition, when the vehicle follows the preceding vehicle through autonomous speed control, the drive control device 18 also controls the action of the drive mechanism and the brake in the same way. In this embodiment, the drive control device 18 controls the action of the brake when the vehicle is stopped at the stop line. It should be noted that the action control of the drive mechanism includes the action of the internal combustion engine in an engine car, and includes the action of the driving motor in an electric car system. In addition, in a hybrid vehicle, the torque distribution between the internal combustion engine and the driving motor is included.

[0031] In addition, the drive control device 18 controls the action of the steering actuator in addition to the action control of the above-mentioned drive mechanism and brake through autonomous steering control, so as to perform steering control of the vehicle in a manner that the steering angle of the steering wheel of the vehicle follows the target steering angle. For example, the drive control device 18 performs steering control in a manner that the vehicle travels on the target driving trajectory along the lane through autonomous steering control, and controls the driving position (lateral position) in the width direction of the vehicle. The lateral position of the vehicle is the position of the vehicle in the width direction of the lane (the width direction of the vehicle). In the present embodiment, the lateral position of the vehicle includes the lateral position of the vehicle relative to the lane boundary line and the lateral position of the vehicle relative to the target driving trajectory. The lateral position of the vehicle can be any position of the vehicle, for example, the center of gravity position of the vehicle in the width direction of the lane. In addition, as a vehicle control method based on the drive control device 18, other known methods can also be used.

[0032] The controller 19 has a ROM storing a program for autonomously controlling the driving of the vehicle, a CPU executing the program stored in the ROM, and a RAM that functions as an accessible storage device. In addition, as an action circuit, an MPU, a DSP, an ASIC, an FPGA, etc. can be used instead of or together with the CPU. The controller 19 autonomously controls the driving of the vehicle along the driving path through an autonomous speed control function and an autonomous steering control function. The controller 19 generates a target driving trajectory for the vehicle, calculates the target speed and target steering angle of the vehicle along the target driving trajectory, and outputs the calculated target speed and target steering angle to the drive control device 18. In the present embodiment, the autonomous speed control function includes, for example, a deceleration control function for decelerating the vehicle in order to stop the vehicle at a stop candidate position set at a stop line. The controller 19 performs each function by the collaboration of software and hardware for realizing the above-mentioned functions or executing each process. In the present embodiment, the controller 19 performs driving assistance control. The driving assistance control of the controller 19 is described in detail below.

[0033] The controller 19 sets a stop candidate position at a stop line on the driving path of the vehicle, and performs a deceleration control to decelerate the vehicle in order to stop the vehicle before the stop candidate position. In addition, the controller 19 autonomously controls the driving of the vehicle based on the determination of whether the vehicle can pass through the stop candidate position. For example, even in the absence of an acceleration operation by the driver described later, when it is determined that the vehicle can pass through the stop candidate position, the controller 19 also terminates the deceleration control for the stop candidate position, and autonomously controls the driving of the vehicle in such a way that the vehicle passes through the stop candidate position.

[0034] In addition, when the controller 19 does not determine that the vehicle can pass through the stop candidate position, the controller 19 performs a deceleration control to decelerate the vehicle in order to stop the vehicle before the stop candidate position. That is, when the stop candidate position is set, as long as it is not determined that the vehicle can pass through the stop candidate position, the controller 19 performs a deceleration control to decelerate the vehicle in order to stop the vehicle before the stop candidate position. In addition, even when it is not determined that the vehicle can pass through the stop candidate position, when there is an acceleration operation performed by the driver, the controller 19 cancels the setting of the stop candidate position and autonomously controls the travel of the vehicle in such a way that the vehicle passes through the stop candidate position.

[0035] The controller 19 is configured to include, as functional blocks, a map information acquisition unit 100, a vehicle information acquisition unit 101, a surrounding information acquisition unit 102, a stop position setting unit 103, a determination unit 104, and a vehicle control unit 105. First, regarding the controller 19, in this embodiment, the functions of the controller 19 are divided into 6 blocks, and the functions of each functional block are described. However, the functions of the controller 19 do not necessarily need to be divided into 6 blocks, and may be divided into 5 or less functional blocks or 7 or more functional blocks.

[0036] The map information acquisition unit 100 acquires map information from the map database 13. The map information includes stop line information of stop lines. The stop lines include virtual stop lines.

[0037] The vehicle information acquisition unit 101 acquires the vehicle information of the vehicle from the vehicle information detection device 12. The vehicle information includes, for example, the current position information of the vehicle. In addition, the vehicle information acquisition unit 101 acquires the operation information of the acceleration operation or the operation information of the braking operation performed by the driver as the vehicle information. The operation information of the acceleration operation includes the amount of depression of the accelerator pedal and / or the depression time of the accelerator pedal. The operation information of the braking operation includes the amount of depression of the brake pedal and / or the depression time of the brake pedal.

[0038] The surrounding information acquisition unit 102 acquires surrounding information representing the surrounding environment of the vehicle from the surrounding information detection device 11. The surrounding information includes surrounding road information. The road information includes, for example, a stop line, a signal of a traffic light, a road sign, and a road surface sign in front of the vehicle in the direction of travel. In addition, the surrounding information includes obstacles around the vehicle.

[0039] The stop position setting unit 103 sets a candidate stop position at a stop line located on the driving path of the vehicle. The candidate stop position is a position where it is necessary to determine whether the vehicle can pass through the candidate stop position. The stop position setting unit 103 determines the stop line located on the driving path based on the stop line information included in the acquired map information, and sets the candidate stop position at the position of the determined stop line. In the case where there are multiple stop lines on the driving path, the stop position setting unit 103 sets the candidate stop position at the positions of the multiple stop lines.

[0040] The determination unit 104 determines whether the vehicle can pass through the stop candidate position set by the stop position setting unit 103. In the present embodiment, at the moment when it is determined that the vehicle can pass through the stop candidate position, the travel of the vehicle is autonomously controlled in such a way that the vehicle passes through the stop candidate position. That is, as long as it is not determined that the vehicle can pass through the stop candidate position, the deceleration control is continued in order to stop the vehicle in front of the stop candidate position. In addition, in the present embodiment, when the vehicle approaches the stop candidate position, the determination unit 104 determines whether the vehicle can pass through the stop candidate position in a certain period. The situation where the vehicle approaches the stop candidate position refers to the situation where it is determined that the vehicle is located within a specified range from the stop candidate position.

[0041] The determination unit 104 determines whether the vehicle can pass through the candidate stop position based on the surrounding information acquired by the surrounding information acquisition unit 102. The determination unit 104 determines that the vehicle can pass through the candidate stop position when the condition ahead of the vehicle in the direction of travel is that the vehicle can pass through the stop line. The condition that the vehicle can pass through the stop line is, for example, a condition where the traffic light at an intersection where the stop line is provided is a signal indicating that passage is permitted. In addition, the condition that the vehicle can pass through the stop line refers to a condition where there is no obstacle that hinders the travel of the vehicle ahead of the vehicle in the direction of travel.

[0042] In addition, the determination unit 104 does not determine that the vehicle can pass through the candidate stop position when the condition ahead of the vehicle in the traveling direction is such that the vehicle cannot pass through the stop line. The condition where the vehicle cannot pass through the stop line is, for example, when a traffic light at an intersection indicates a signal indicating that the vehicle cannot pass through, or when an obstacle that hinders the vehicle's travel exists ahead of the vehicle in the traveling direction.

[0043] In addition, the determination unit 104 does not determine that the vehicle can pass through the stop candidate position when it is difficult to determine whether the vehicle can pass through the stop candidate position based on the surrounding information acquired by the surrounding information acquisition unit 102. For example, when the signal displayed by the traffic light at the intersection where the stop line is set cannot be recognized, the determination unit 104 does not determine that the vehicle can pass through the stop candidate position. In addition, the determination of whether the vehicle can pass through the stop candidate position is not a necessary structure, and can be appropriately set as needed.

[0044] In addition, the determination unit 104 determines whether there is an acceleration operation performed by the driver of the vehicle. When the determination unit 104 obtains the operation information of the acceleration operation performed by the driver, it determines that there is an acceleration operation performed by the driver. In addition, when the determination unit 104 does not obtain the operation information of the acceleration operation performed by the driver, it determines that there is no acceleration operation performed by the driver of the vehicle. For example, when it is difficult to determine whether the vehicle can pass through the stop candidate position based on the surrounding information, that is, when it is not determined that the vehicle can pass through the stop candidate position, the determination unit 104 determines whether there is an acceleration operation performed by the driver of the vehicle.

[0045] In addition, when the host vehicle is decelerating to stop before the stop candidate position, the determination unit 104 determines whether there is an acceleration operation. In addition, when the host vehicle is located within a prescribed range from the stop candidate position, the determination unit 104 determines whether there is an acceleration operation. Within the prescribed range from the stop candidate position refers to a range within a prescribed distance from the stop candidate position, or a range within a prescribed time taken for the host vehicle to reach the stop candidate position.

[0046] In addition, the determination unit 104 may also determine that there is an acceleration operation when operation information including a stepping amount of the accelerator pedal that is less than the stepping amount of the accelerator pedal by the driver for accelerating the vehicle is obtained. The stepping amount of the accelerator pedal by the driver for accelerating the vehicle is a predetermined prescribed stepping amount. Usually, the accelerator pedal is configured such that acceleration control is not performed if the driver does not step on the accelerator pedal more than the prescribed stepping amount from the start of stepping. In the present embodiment, in the case of an acceleration operation that is not an acceleration operation that is more than the prescribed stepping amount for normal acceleration control, but an acceleration operation that is less than the prescribed stepping amount for canceling the setting of the stop candidate position, the determination unit 104 determines that there is an acceleration operation. That is, in the present embodiment, the acceleration operation is divided into an acceleration operation for normal acceleration and an acceleration operation for canceling the setting of the stop candidate position.

[0047] In addition, the determination unit 104 may determine that there is an acceleration operation when operation information including a stepping time of the accelerator pedal that is less than the stepping time of the driver for accelerating the vehicle is obtained. The stepping time of the accelerator pedal by the driver for accelerating the vehicle is a predetermined stepping time. In the present embodiment, the determination unit 104 determines that there is an acceleration operation when the acceleration operation is not an acceleration operation of more than the predetermined stepping time for normal acceleration control but an acceleration operation of less than the predetermined stepping time set for canceling the stop candidate position.

[0048] In addition, after canceling the setting of the stop candidate position, the determination unit 104 determines whether there is a brake operation. When the determination unit 104 obtains the operation information of the brake operation performed by the driver, it determines that there is a brake operation performed by the driver. In addition, when the determination unit 104 does not obtain the operation information of the brake operation performed by the driver, it determines that there is no brake operation performed by the driver of the vehicle.

[0049] In addition, in the present embodiment, similarly to the acceleration operation, in the determination of the presence or absence of the braking operation, when the braking operation is not a braking operation of a predetermined stepping amount for normal deceleration control but a braking operation of a predetermined stepping amount for canceling the reset of the stop candidate position, the determination unit 104 determines that the braking operation is present. In addition, the determination unit 104 may determine that the braking operation is present when the braking operation is performed for a stepping time less than the predetermined stepping time for canceling the reset of the stop candidate position.

[0050] The vehicle control unit 105 performs a deceleration control to decelerate the vehicle in order to stop the vehicle before the stop candidate position when the stop candidate position is set. The vehicle control unit 105 starts the deceleration control of the vehicle in order to stop the vehicle before the stop candidate position when the vehicle reaches the specified deceleration start position. The specified deceleration start position is a position that is away from the stop candidate position by the distance required to properly stop the vehicle before the stop candidate position. In the present embodiment, after the stop candidate position is set, the vehicle control unit 105 performs a deceleration control on the set stop candidate position in principle. In addition, in the case where it is determined that it can pass or there is an acceleration operation, the vehicle control unit 105 may not stop before the stop candidate position, but autonomously control the travel of the vehicle in a way that passes through the stop candidate position. In addition, in the case where it is determined that it can pass, the structure of autonomously controlling the travel of the vehicle in a way that passes through the stop candidate position is not a necessary structure, and it can also be appropriately set as needed. That is, the vehicle control unit 105 may not determine whether it can pass, but perform a deceleration control on the set stop candidate position.

[0051] Here, use Figure 2 An example of a scenario in which the deceleration control according to the present embodiment is executed will be described. Figure 2 FIG. 1 is a diagram showing an example of a scene in which the deceleration control according to the present embodiment is executed. Figure 2In the figure, there is a stop line SL and a traffic light TS in front of the vehicle V1 in the direction of travel. A stop candidate position SP is set at the stop line SL. When it is not determined that the vehicle can pass through the stop candidate position, the controller 19 performs a deceleration control of the vehicle V1 in such a way that the vehicle V1 stops in front of the stop candidate position SP. For example, when it is difficult to determine that the signal of the traffic light TS cannot be recognized, the vehicle stops in front of the stop candidate position SP even when the signal of the traffic light TS indicates that passage is allowed.

[0052] In addition, the vehicle control unit 105 autonomously controls the travel of the vehicle based on the determination result of the determination unit 104. When the vehicle control unit 105 determines that the vehicle can pass through the stop candidate position, the setting of the stop candidate position is canceled so that the vehicle autonomously controls the travel of the vehicle through the stop candidate position. That is, the vehicle control unit 105 allows the vehicle to pass through the stop candidate position without stopping. For example, the vehicle control unit 105 cancels the setting of the stop candidate position so that the vehicle autonomously controls the travel of the vehicle in a manner of traveling at a set speed. The set speed is a pre-set speed. The set speed can be either a speed set by the driver or a speed set based on road information. Road information can be, for example, information such as a speed limit indicated by a road sign detected by the surrounding information detection device 11, or a speed limit set for a road obtained from the map database 13.

[0053] In addition, the vehicle control unit 105 performs a deceleration control to decelerate the vehicle in order to stop the vehicle before the stop candidate position when it is not determined that the vehicle can pass the stop candidate position. That is, the vehicle control unit 105 continues to perform the deceleration control as long as it is not determined that the vehicle can pass the stop candidate position. For example, the vehicle control unit 105 performs the deceleration control when the vehicle cannot pass the stop candidate position in front of the vehicle in the traveling direction, or when it is difficult to determine whether the vehicle can pass the stop candidate position.

[0054] In addition, the vehicle control unit 105 cancels the setting of the stop candidate position when an acceleration operation is performed after the stop candidate position is set, so that the vehicle autonomously controls the travel of the vehicle by means of the stop candidate position. For example, when the determination unit 104 determines that an acceleration operation is performed, the vehicle control unit 105 cancels the setting of the stop candidate position so that the vehicle autonomously controls the travel of the vehicle by means of the set vehicle speed. In addition, in the present embodiment, when an acceleration operation is performed after the stop candidate position is set, the control performed by the vehicle control unit 105 is not limited to canceling the setting of the stop candidate position so that the vehicle autonomously controls the travel of the vehicle by means of the stop candidate position. The vehicle control unit 105 may also autonomously control the travel of the vehicle by means of the stop candidate position when an acceleration operation is performed after the stop candidate position is set, in the state where the stop candidate position is set. After the stop candidate position is set, if there is an acceleration operation before the deceleration control is started, the vehicle control unit 105 does not start the deceleration control for the set stop candidate position, but autonomously controls the travel of the vehicle so that the vehicle passes through the stop candidate position. In addition, after the stop candidate position is set, if there is an acceleration operation during the deceleration control, the vehicle control unit 105 cancels the deceleration control being executed so that the vehicle autonomously controls the travel of the vehicle so that the vehicle passes through the stop candidate position.

[0055] The vehicle control unit 105 may also cancel the setting of the stop candidate position when the vehicle is decelerating in order to stop in front of the stop candidate position, or when the vehicle is located within a specified range from the stop candidate position, when an acceleration operation is performed. In addition, the conditions for limiting the setting of the stop candidate position as described above are not a necessary structure, and may be appropriately set as needed. For example, the vehicle control unit 105 may also cancel the setting of the stop candidate position when the vehicle is not decelerating in order to stop in front of the stop candidate position, or when the vehicle is located outside a specified range from the stop candidate position, when an acceleration operation is performed.

[0056] In addition, the acceleration operation may also be an acceleration operation for canceling the setting of the stop candidate position, that is, an acceleration operation including a stepping amount or a stepping time of the accelerator pedal that is less than the stepping amount or a stepping time of the accelerator pedal used to accelerate the vehicle. The vehicle control unit 105 autonomously controls the travel of the vehicle in a manner that causes the vehicle to pass through the stop candidate position when there is an acceleration operation including a stepping amount or a stepping time for canceling the setting of the stop candidate position. In addition, the vehicle control unit 105 may also autonomously control the travel of the vehicle in a manner that causes the vehicle to pass through the stop candidate position when there is an acceleration operation including a stepping amount and a stepping time for canceling the setting of the stop candidate position. It should be noted that, as described above, limiting the acceleration operation to an acceleration operation including a stepping amount or a stepping time for canceling the setting of the stop candidate position is not a necessary structure, and may also be appropriately set as needed.

[0057] In addition, the vehicle control unit 105 may also autonomously control the travel of the vehicle in a manner that the vehicle passes through the stop candidate position at a set speed when an acceleration operation is performed after the deceleration control is started. The set speed is, for example, the set speed of the vehicle before the deceleration control is started. In the present embodiment, the vehicle control unit 105 autonomously controls the travel of the vehicle in a manner that the vehicle runs at a set speed before the deceleration control is started. For example, the vehicle control unit 105 autonomously controls the travel of the vehicle in a manner that the vehicle runs at a set speed while the vehicle is running on the driving path until the deceleration start position is reached. In the case of an acceleration operation after the deceleration control is started, the vehicle control unit 105 autonomously controls the travel of the vehicle based on the set speed of the vehicle before the deceleration control is started. That is, the vehicle control unit 105 starts the travel of the vehicle based on the set speed before the deceleration control is started again. In addition, such autonomous control is not a necessary structure and may be appropriately set as needed.

[0058] In addition, the vehicle control unit 105 may also autonomously control the travel of the vehicle in a manner that the vehicle continues to travel based on the set speed when an acceleration operation is performed before the deceleration control is started. That is, the vehicle control unit 105 autonomously controls the travel of the vehicle in a manner that the vehicle continues to travel at the set speed before the deceleration control is started, and when an acceleration operation is performed, the deceleration control is not started, but the travel of the vehicle is autonomously controlled in a manner that the vehicle maintains the current set speed. In addition, such autonomous control is not a necessary configuration and may be appropriately set as needed. In addition, the acceleration operation may also be an acceleration operation that includes a set stepping amount and stepping time for releasing the stop candidate position.

[0059] Here, use Figure 3An example of a scenario in which the driving support method according to the present embodiment is executed will be described. Figure 3 FIG. 2 is a diagram showing an example of a scenario in which the driving support method according to the present embodiment is executed. Figure 3 In, with Figure 2 Similarly, in the scenario of FIG. 1 , there are a stop line SL and a traffic light TS ahead of the vehicle V1 in the traveling direction. Figure 3 is Figure 2 In a scenario in which an acceleration operation is performed during deceleration for stopping the vehicle in front of the stop candidate position, the stop candidate position set at the position of the stop line SL is released. In such a case, the controller 19 autonomously controls the travel of the vehicle V1 in such a way that the vehicle V1 passes through the stop line SL without stopping. For example, when the driver visually recognizes that the signal of the traffic light TS is a signal indicating that passage is allowed and performs an acceleration operation, the vehicle passes through without stopping in front of the stop line. In a case where it is difficult to determine whether the vehicle can pass through the stop candidate position based on the surrounding information, the vehicle autonomously decelerates, so the driver does not need to perform a braking operation and can focus on determining whether the vehicle can pass through the stop candidate position by visually confirming the surroundings.

[0060] In addition, the vehicle control unit 105 may also accelerate the vehicle according to the amount of the accelerator pedal stepped on when there is an acceleration operation at a time other than when the vehicle is decelerating in order to stop in front of the stop candidate position. The acceleration operation is an acceleration operation used for normal acceleration control. The time other than when the vehicle is decelerating in order to stop in front of the stop candidate position is, for example, when the vehicle is normally traveling. In addition, such a moment refers to the situation where the vehicle is decelerating in order to avoid other moving bodies. The vehicle is not decelerating toward the stop candidate position, but decelerating to avoid other moving bodies such as pedestrians crossing the road in front of the vehicle. After checking the surroundings and confirming that other moving bodies can be avoided, the driver performs the acceleration operation for normal acceleration control. In such a case, the vehicle control unit 105 accelerates the vehicle according to the amount of the driver's stepping on the accelerator pedal. In addition, the above-mentioned structure is not a necessary structure and can also be appropriately set as needed.

[0061] Furthermore, even if an acceleration operation is performed to cancel the setting of the stop candidate position at a time other than when the vehicle is decelerating to stop in front of the stop candidate position, the vehicle control unit 105 does not cancel the setting of the stop candidate position and continues the deceleration control for stopping the vehicle in front of the stop candidate position. Figure 2 In the scenario, when a pedestrian is moving from the sidewalk to the front of the vehicle in the direction of travel, when decelerating to avoid the pedestrian, the vehicle control unit 105 does not cancel the setting of the stop candidate position even if an acceleration operation is performed at this moment to cancel the setting of the stop candidate position.

[0062] In addition, the vehicle control unit 105, when there are a plurality of stop lines on the travel path, cancels the setting of the stop candidate position for the stop line at the position closest to the host vehicle when there is an acceleration operation. The vehicle control unit 105 determines the stop line closest to the host vehicle in the front of the traveling direction of the host vehicle from a plurality of stop lines, and cancels the stop candidate position set at the stop line. In addition, the above structure is not a necessary structure, and can also be appropriately set as required.

[0063] In addition, when the driver performs a braking operation after canceling the setting of the stop candidate position, the vehicle control unit 105 resets the stop candidate position at the stop line and restarts the control of stopping the vehicle in front of the stop candidate position. In the case of operation information of an acceleration operation or a braking operation, the vehicle control unit 105 switches the cancellation and reset of the stop candidate position. In addition, the above-mentioned structure is not a necessary structure and can be appropriately set as needed.

[0064] In addition, during the cancellation of the setting of the stop candidate position, the vehicle control unit 105 notifies the driver of the setting cancellation information indicating that the setting of the stop candidate position is cancelled via the prompting device 16. For example, the vehicle control unit 105 causes the display of the prompting device 16 to display an image indicating the setting cancellation information. In addition, the vehicle control unit 105 may output sound information including the setting cancellation information via the speaker of the prompting device 16. In addition, the above-mentioned structure is not necessarily a structure, and it may be appropriately provided as needed.

[0065] Here, use Figure 4 An example of a scenario in which the driving support method according to the present embodiment is executed will be described. Figure 4 FIG. 2 is a diagram showing an example of a scenario in which the driving support method according to the present embodiment is executed. Figure 4 In the embodiment, at an intersection, a plurality of candidate stop positions are set on a plurality of stop lines including an imaginary stop line. Candidate stop positions SP1, SP2, and SP3 are set on the travel path TL of the vehicle V1. Candidate stop position SP1 is set at a stop line drawn on the road surface. Candidate stop positions SP2 and SP3 are set at imaginary stop lines in the intersection. The imaginary stop line set with candidate stop position SP2 is a position where the vehicle needs to stop in order to allow oncoming vehicles to have priority in passing through the intersection. In addition, the imaginary stop line set with candidate stop position SP3 is a position where the vehicle needs to stop in order to allow pedestrians to have priority in walking on the crosswalk PC.

[0066] In this embodiment, if Figure 4As shown, when the acceleration operation is performed before the host vehicle V1 enters the intersection, the controller 19 cancels the stop candidate position SP1 closest to the host vehicle. In addition, when the acceleration operation is further performed after the stop candidate position SP1 is canceled, the controller 19 cancels the stop candidate position SP2. In addition, similarly, when the acceleration operation is further performed after the stop candidate position SP2 is canceled, the controller 19 cancels the stop candidate position SP3. As described above, the controller 19 cancels the stop candidate positions in sequence starting from the stop candidate position closest to the host vehicle through the acceleration operation.

[0067] Next, use Figure 5 The flowchart of FIG. 1 illustrates the steps of the driving assistance method according to the present embodiment. Figure 5 1 is a flowchart showing an example of the procedure of the driving assistance method according to the present embodiment. In the present embodiment, after the driving route of the host vehicle is set before the start of driving of the host vehicle, the controller 19 starts the process from step S1.

[0068] In step S1, the controller 19 obtains the stop line information including the position of the stop line from the map database 13. In step S2, the controller 19 sets the stop candidate position according to the position of the stop line obtained in step S1. In step S3, the controller 19 autonomously controls the travel of the vehicle in a manner of starting the travel of the vehicle. In addition, step S3 can also be implemented before step S1 or before step S2. In step S4, the controller 19 determines whether the vehicle is close to the stop candidate position. For example, when the vehicle arrives within a specified range from the stop candidate position, the controller 19 determines that the vehicle is close to the stop candidate position.

[0069] If it is determined that the vehicle is approaching the stop candidate position, the controller 19 proceeds to step S5. If it is not determined that the vehicle is approaching the stop candidate position, the controller 19 returns to step S4 and repeats the following process. In step S5, the controller 19 determines whether the vehicle can pass through the stop candidate position. For example, if the signal identified as a traffic light based on surrounding information is a signal indicating that passage is allowed, the controller 19 determines that the vehicle can pass through the stop candidate position. If it is determined that the vehicle can pass through the stop candidate position, the controller 19 proceeds to step S12. In addition, if the signal that cannot be identified as a traffic light is a signal indicating that passage is allowed, or if the signal of the traffic light can be identified, the controller 19 does not determine that the vehicle can pass through the stop candidate position. If it is not determined that the vehicle can pass through the stop candidate position, the controller 19 proceeds to step S6.

[0070] In step S6, the controller 19 performs deceleration control. In step S7, the controller 19 determines whether there is an acceleration operation. The acceleration operation is, for example, an acceleration operation for canceling the setting of the stop candidate position. When it is determined that there is an acceleration operation, the controller 19 proceeds to step S8. When it is determined that there is no acceleration operation, the controller 19 controls the vehicle in a manner such that the vehicle continues the deceleration control and stops in front of the stop candidate position, and ends the control process. In the present embodiment, when the operation information of the acceleration operation is obtained, the controller 19 determines that there is an acceleration operation. In addition, when the operation information of the acceleration operation is not obtained, the controller 19 determines that there is no acceleration operation.

[0071] In step S8, the controller 19 cancels the setting of the stop candidate position. In step S9, the controller 19 autonomously controls the travel of the vehicle at the set vehicle speed. In step S10, the controller 19 determines whether there is a brake operation. In the case where it is determined that there is a brake operation, the controller 19 proceeds to step S11. In step S11, the controller 19 resets the stop candidate position canceled in step S8. After resetting the stop candidate position, the controller 19 returns to step S6 and repeats the following process.

[0072] If it is determined that there is no braking operation, the controller 19 autonomously controls the driving of the vehicle by continuing the driving control at the set vehicle speed and passing the stop line, and ends the control process. In the present embodiment, if the operation information of the braking operation is obtained, the controller 19 determines that there is a braking operation. In addition, if the operation information of the braking operation is not obtained, the controller 19 determines that there is no braking operation. In step S12, the controller 19 autonomously controls the driving of the vehicle by passing the stop candidate position.

[0073] In addition, in the present embodiment, the controller 19 performs deceleration control after determining whether the vehicle can pass through the stop candidate position, but is not limited to this. In the case where the stop candidate position is set, the deceleration control can be started when the vehicle reaches the deceleration start position, and in the deceleration control, it is determined whether the vehicle can pass through the stop candidate position. In addition, in the present embodiment, the deceleration control, the determination of whether it can pass through, and the determination of whether there is an acceleration operation can be performed in parallel when the vehicle approaches the stop candidate position. In addition, in the present embodiment, the controller 19 determines whether there is an acceleration operation in the deceleration control after starting the deceleration control, but is not limited to this. It can also be determined before the vehicle starts the deceleration control, for example, when the vehicle is located within a specified range from the stop candidate position. In addition, the controller 19 can also perform the determination of whether there is an acceleration operation in parallel with the above-mentioned control process. After it is determined in step S4 that the vehicle is close to the stop candidate position, before step S6, it is determined that there is an acceleration operation, and the control after step S8 is performed.

[0074] As described above, in the present embodiment, the controller is a system that sets a stop candidate position at a stop line located on the driving path of the vehicle, and executes a deceleration control to decelerate the vehicle in order to stop the vehicle in front of the stop candidate position. After the stop candidate position is set, in the case of an acceleration operation performed by the driver of the vehicle, the setting of the stop candidate position is canceled or the stop candidate position is set, so that the vehicle autonomously controls the travel of the vehicle by means of the stop candidate position. Thus, even in the case where it is difficult to judge whether it is necessary to decelerate the vehicle relative to the stop line in front of the vehicle, the burden on the driver can be reduced. In addition, in the present embodiment, the controller can also maintain the setting of the stop candidate position unchanged, not execute the deceleration control, or cancel the deceleration control in execution, so that the vehicle autonomously controls the travel of the vehicle by means of the stop candidate position, in the case of an acceleration operation performed by the driver of the vehicle after the stop candidate position is set.

[0075] In addition, in the present embodiment, when the vehicle decelerates to stop in front of the stop candidate position, or when the vehicle is within a specified range from the stop candidate position, the controller cancels the setting of the stop candidate position when an acceleration operation is performed, or autonomously controls the travel of the vehicle in a manner that the vehicle passes through the stop candidate position when the stop candidate position is set. Thus, when the vehicle decelerates relative to the stop line, or when the vehicle approaches the stop line, the travel of the vehicle can be autonomously controlled in a manner that the vehicle passes through the stop candidate position without stopping in front of the stop candidate position.

[0076] In addition, in the present embodiment, the controller cancels the setting of the stop candidate position when there is an acceleration operation including a stepping amount of the accelerator pedal that is less than the stepping amount of the accelerator pedal by the driver for accelerating the vehicle, or autonomously controls the travel of the vehicle so that the vehicle passes through the stop candidate position when the stop candidate position is set. Thus, when a stepping amount of the accelerator pedal with a clearance amount is detected, the vehicle is usually not accelerated, but even with this stepping amount, the travel of the vehicle can be autonomously controlled so that the vehicle passes through the stop line.

[0077] In addition, in the present embodiment, the controller cancels the setting of the stop candidate position when there is an acceleration operation including a shorter accelerator pedal depression time than the driver's accelerator pedal depression time for accelerating the vehicle, or autonomously controls the travel of the vehicle so that the vehicle passes through the stop candidate position when the stop candidate position is set. Thus, when a short-term accelerator pedal depression amount is detected, the acceleration control is usually performed only during the accelerator pedal operation, but even in a short-term acceleration operation, the travel of the vehicle can be autonomously controlled so that the vehicle passes through the stop line.

[0078] In addition, in the present embodiment, when the vehicle is accelerated at a time other than when it is decelerating in order to stop in front of the stop candidate position, the controller accelerates the vehicle according to the amount of depression of the accelerator pedal. Thus, when the vehicle is accelerated at a time other than when it is decelerating relative to the stop candidate position, the vehicle can be driven according to the driver's intention by performing acceleration control according to the amount of operation of the driver.

[0079] In addition, in the present embodiment, when there are a plurality of stop lines on the driving path, the controller cancels the setting of the stop candidate position for the stop line located closest to the vehicle when the operation information is obtained, or autonomously controls the driving of the vehicle in a manner such that the vehicle does not stop in front of the stop candidate position but passes through the stop candidate position when the stop candidate position is set. Thus, even in a scenario where there are a plurality of stop lines continuously on the driving path of the vehicle, by canceling the setting of the stop candidate positions in sequence starting from the stop line located closest to the vehicle, it is possible to prevent the plurality of stop lines from being canceled against the driver's intention.

[0080] In addition, in the present embodiment, when the driver performs a brake operation after the setting of the stop candidate position is canceled, the controller resets the stop candidate position at the stop line and restarts the deceleration control. Thus, even if the brake is not continuously stepped on, the deceleration control according to the driver's intention, such as deceleration by the brake pedal, can be performed, thereby reducing the driver's operating burden.

[0081] In addition, in the present embodiment, the stop line includes a virtual stop line. Thus, even in a place (crosswalk, etc.) where the stop line does not actually exist but the stop control is required, the vehicle can be decelerated by virtually setting the stop line.

[0082] In addition, in this embodiment, the controller notifies the driver of setting cancellation information indicating that the setting of the stop candidate position is cancelled during the cancellation of the setting of the stop candidate position, so that the driver can understand that the setting of the stop candidate position is cancelled and the vehicle is controlled to pass the stop line.

[0083] In addition, in the present embodiment, the controller autonomously controls the travel of the vehicle in such a manner that the vehicle travels at a preset speed before the deceleration control is started, autonomously controls the travel of the vehicle in such a manner that the vehicle passes through the stop candidate position at the set speed when an acceleration operation is performed after the deceleration control is started, and autonomously controls the travel of the vehicle in such a manner that the vehicle continues to travel at the set speed when an acceleration operation is performed before the deceleration control is started. Thus, the travel of the vehicle can be autonomously controlled by the set speed when an acceleration operation is performed by the driver.

[0084] In addition, the above-described embodiments are recorded for easy understanding of the present invention, and are not recorded for limiting the present invention. Therefore, each element disclosed in the above-described embodiments also includes all design changes and equivalents belonging to the technical scope of the present invention. In addition, each structure recorded in the above-described embodiments can also be appropriately combined as needed, and the combination of each structure is not particularly limited.

[0085] Description of Reference Numerals

[0086] 1… Driving assistance device

[0087] 19…Controller

[0088] 100…Map information acquisition unit

[0089] 101…Vehicle information acquisition department

[0090] 102…Surrounding information acquisition unit

[0091] 103 ... Stop position setting unit

[0092] 104…Judgment Department

[0093] 105…Vehicle Control Unit

Claims

1. A driving assistance method, executed by a controller, wherein a stop candidate position is set at a stop line located on a driving path of a host vehicle, and a deceleration control is executed to decelerate the host vehicle in order to stop the host vehicle in front of the stop candidate position, wherein the driving assistance method is characterized in that: For the controller, when there is an acceleration operation performed by the driver of the vehicle after the stop candidate position is set, the controller cancels the setting of the stop candidate position, or when the stop candidate position is set, the controller autonomously controls the travel of the vehicle in such a way that the vehicle passes through the stop candidate position.

2. The driving assistance method according to claim 1, characterized in that: In a case where the vehicle decelerates in order to stop before the stop candidate position, or when the vehicle is located within a specified range from the stop candidate position, when the acceleration operation is performed, the controller autonomously controls the travel of the vehicle in such a manner that the vehicle passes through the stop candidate position while releasing the setting of the stop candidate position or, in a state where the stop candidate position is set.

3. The driving assistance method according to claim 1 or 2, characterized in that: In the case of the acceleration operation including a depression amount of the accelerator pedal that is less than the depression amount of the accelerator pedal by the driver for accelerating the vehicle, the controller cancels the setting of the stop candidate position, or in the state where the stop candidate position is set, the controller autonomously controls the travel of the vehicle in such a manner that the vehicle passes through the stop candidate position.

4. The driving assistance method according to any one of claims 1 to 3, characterized in that: In the case of the acceleration operation including a depression time of the accelerator pedal that is less than the depression time of the accelerator pedal by the driver for accelerating the vehicle, the controller cancels the setting of the stop candidate position, or in the state where the stop candidate position is set, the controller autonomously controls the travel of the vehicle in such a manner that the vehicle passes through the stop candidate position.

5. The driving assistance method according to any one of claims 1 to 4, characterized in that: When the acceleration operation is performed at a time other than when the host vehicle is decelerating in order to stop before the candidate stop position, the controller accelerates the host vehicle according to the depression amount of the accelerator pedal.

6. The driving assistance method according to any one of claims 1 to 5, characterized in that: When the acceleration operation is performed in the presence of a plurality of stop lines located on the driving path, the controller cancels the setting of the stop candidate position for the stop line located closest to the vehicle, or, in a state where the stop candidate position is set, the controller autonomously controls the driving of the vehicle in such a manner that the vehicle passes through the stop candidate position.

7. The driving assistance method according to any one of claims 1 to 6, characterized in that: The controller resets the candidate stop position at the stop line and restarts the deceleration control when the driver performs a brake operation after the setting of the candidate stop position is cancelled.

8. The driving assistance method according to any one of claims 1 to 7, characterized in that: The stop line includes an imaginary stop line.

9. The driving assistance method according to any one of claims 1 to 8, characterized in that: While the setting of the candidate stop position is being canceled, the controller notifies the driver of setting cancellation information indicating that the setting of the candidate stop position is canceled.

10. The driving assistance method according to any one of claims 1 to 9, characterized in that: The controller autonomously controls the travel of the host vehicle so that the host vehicle travels at a preset vehicle speed before starting the deceleration control. When the acceleration operation occurs after the deceleration control is started, the controller autonomously controls the travel of the host vehicle so that the host vehicle passes through the candidate stop position at the set vehicle speed. When the acceleration operation occurs before the deceleration control is started, the controller autonomously controls the travel of the host vehicle so that the host vehicle continues to travel at the set vehicle speed.

11. A driving assistance device, comprising a controller, the controller setting a stop candidate position at a stop line located on a driving path of a host vehicle, and executing a deceleration control for decelerating the host vehicle in order to stop the host vehicle in front of the stop candidate position, wherein the driving assistance device is characterized in that: When an acceleration operation is performed by the driver of the vehicle after the stop candidate position is set, the controller cancels the setting of the stop candidate position, or when the stop candidate position is set, the controller autonomously controls the travel of the vehicle in such a way that the vehicle passes through the stop candidate position.

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