Display control device

Abstract

Provided is a display control device capable of preventing a driver of a host vehicle from feeling suspected of whether or not acceleration and deceleration of the host vehicle are appropriately performed during execution of automatic travel control. A display control device (10) displays an image of a target speed range by means of a display device (30) of a vehicle (100) while executing travel speed control for automatically accelerating and decelerating the vehicle (100) so that the travel speed of the vehicle (100) is maintained at a speed within the target speed range, or displays the image of the target speed range by means of the display device (30) of the vehicle (100). During execution of inter-vehicle distance control in which the own vehicle is automatically accelerated and decelerated such that the inter-vehicle distance, which is the distance between the own vehicle and a peripheral vehicle (200), is maintained within a target distance range, an image is displayed on the target distance range by a display device. The peripheral vehicle is a vehicle in the periphery of the own vehicle and travels in the same direction as the traveling direction of the own vehicle.

Description

Technical Field

[0001] The present invention relates to a display control device. Background Art

[0002] There is known a driving assistance control that performs an automatic driving in which the own vehicle automatically travels by automatically controlling the acceleration and deceleration of the own vehicle. For example, there is known a driving assistance device that executes a traveling speed control in which the traveling speed of the own vehicle is maintained at a target speed and the own vehicle automatically accelerates and decelerates, or executes an inter-vehicle distance control in which the distance between the own vehicle and the preceding vehicle is maintained at a target distance and the own vehicle automatically accelerates and decelerates. In addition, there is also known a display control device that, during the execution of the traveling speed control, displays an image of the target speed on a display, or during the execution of the inter-vehicle distance control, displays an image of the target distance (for example, refer to Patent Document 1). Prior Art Documents Patent Documents

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-196082 Summary of the Invention

[0004] Sometimes, during the execution of the traveling speed control, for various reasons, the traveling speed of the own vehicle is controlled with a certain control amplitude, or during the execution of the inter-vehicle distance control, for various reasons, the distance between the own vehicle and the preceding vehicle is controlled with a certain control amplitude. In such a case where the traveling speed control and the inter-vehicle distance control are performed, the traveling speed of the own vehicle is not maintained at the target speed and varies significantly up and down, and in addition, the distance between the own vehicle and the preceding vehicle is not maintained at the target distance and increases and decreases significantly. Therefore, when performing an automatic driving control such as the traveling speed control and the inter-vehicle distance control with a certain control amplitude, if only the target speed is displayed as an image on the display, or if only the target distance is displayed as an image on the display, it is possible that the driver of the own vehicle may doubt whether the acceleration and deceleration of the own vehicle under the automatic driving control are being appropriately performed.

[0005] An object of the present invention is to provide a display control device that can prevent the driver of the own vehicle from doubting whether the acceleration and deceleration of the own vehicle are being appropriately performed during the execution of the automatic driving control.

[0006] The display control device according to the present invention is configured to, during the execution of driving speed control for automatically accelerating or decelerating the host vehicle so that the driving speed of the host vehicle is maintained within a target speed range, display an image of the target speed range using the display device of the host vehicle, or, during the execution of inter-vehicle distance control for automatically accelerating or decelerating the host vehicle so that the distance between the host vehicle and surrounding vehicles, i.e., the inter-vehicle distance, is maintained within a target distance range, display an image of the target distance range using the display device, where the surrounding vehicles are vehicles around the host vehicle and are traveling in the same direction as the traveling direction of the host vehicle.

[0007] According to the present invention, during the execution of driving speed control, an image of the target speed range is displayed using the display device. Therefore, during the execution of driving speed control, the driver of the host vehicle can easily understand that the driving speed of the host vehicle is controlled within a certain range. Thus, it is possible to prevent the driver of the host vehicle from doubting whether the acceleration or deceleration of the host vehicle is being properly performed during the execution of driving speed control. Similarly, according to the present invention, during the execution of inter-vehicle distance control, an image of the target distance range is displayed using the display device. Therefore, during the execution of inter-vehicle distance control, the driver of the host vehicle can easily understand that the inter-vehicle distance is controlled within a certain range. Thus, it is possible to prevent the driver of the host vehicle from doubting whether the acceleration or deceleration of the host vehicle is being properly performed during the execution of inter-vehicle distance control.

[0008] In addition, in the display control device according to the present invention, the target distance range is, for example, a range having an upper limit value that is a value greater than the target distance by a first value and a lower limit value that is a value less than the target distance by a second value, where the target distance is a value obtained by multiplying the target value of the time required for the host vehicle to travel the inter-vehicle distance by the driving speed of the host vehicle.

[0009] According to the present invention, a target distance range corresponding to the driving speed of the host vehicle is set. Thus, it is possible to control the inter-vehicle distance to a more appropriate distance through inter-vehicle distance control.

[0010] Furthermore, the display control device according to the present invention may also be configured to, during the execution of the driving speed control, use the display device to display an image of the range of movement of the host vehicle when the host vehicle is automatically accelerated or decelerated so that the driving speed of the host vehicle is maintained within the target speed range as the target speed range.

[0011] According to the present invention, the target speed range is represented in the form of the movement range of the host vehicle. Thus, the driver of the host vehicle can easily identify the target speed range.

[0012] In addition, the display control device according to the present invention may also be configured to, during the execution of the driving speed control, display the upper speed and the lower speed of the target speed range on the display device to perform an image display of the target speed range.

[0013] According to the present invention, the target speed range is represented by its upper speed and lower speed. Therefore, the driver of the host vehicle can easily recognize the target speed range.

[0014] In addition, the display control device according to the present invention may also be configured to, when accelerating the host vehicle by the driving speed control, display the upper speed and the lower speed on the display device in a manner that emphasizes the upper speed more than the lower speed.

[0015] According to the present invention, when accelerating the host vehicle by the driving speed control, the upper speed is emphasized in the image display. Therefore, even if the driving speed of the host vehicle continuously increases towards the upper speed, since the upper speed is emphasized, the driver can easily understand that the host vehicle is intentionally controlled to accelerate or decelerate in a manner that the driving speed of the host vehicle increases towards the upper speed. Thus, it is possible to effectively prevent the driver of the host vehicle from doubting whether the acceleration or deceleration of the host vehicle is being appropriately performed during the execution of the driving speed control.

[0016] In addition, the display control device according to the present invention may also be configured to, when decelerating the host vehicle by the driving speed control, display the upper speed and the lower speed on the display device in a manner that emphasizes the lower speed more than the upper speed.

[0017] According to the present invention, when decelerating the host vehicle by the driving speed control, the lower speed is emphasized in the image display. Therefore, even if the driving speed of the host vehicle continuously decreases towards the lower speed, since the lower speed is emphasized, the driver can easily understand that the host vehicle is intentionally controlled to accelerate or decelerate in a manner that the driving speed of the host vehicle decreases towards the lower speed. Thus, it is possible to effectively prevent the driver of the host vehicle from doubting whether the acceleration or deceleration of the host vehicle is being appropriately performed during the execution of the driving speed control.

[0018] In addition, in the display control device according to the present invention, the driving speed control is, for example, the following control: when accelerating the host vehicle, the driving device of the host vehicle is operated in such a manner that the energy efficiency of the driving device is maintained at a specified efficiency or higher to accelerate the host vehicle; when decelerating the host vehicle, the operation of the driving device is controlled in such a manner that the host vehicle coasts to decelerate the host vehicle.

[0019] According to the present invention, driving speed control can be performed with high energy efficiency.

[0020] In addition, the display control device according to the present invention may also be configured to, during the execution of the inter-vehicle distance control, perform image display of the upper limit distance and the lower limit distance of the target distance range by using the display device to perform image display of the target distance range.

[0021] According to the present invention, the target distance range is represented by its upper limit distance and lower limit distance. Therefore, it is easy for the driver of the host vehicle to recognize the target distance range.

[0022] In addition, the display control device according to the present invention may also be configured to, when accelerating the host vehicle by the inter-vehicle distance control, perform image display of the upper limit distance and the lower limit distance by using the display device in such a manner that the lower limit distance is emphasized more than the upper limit distance.

[0023] According to the present invention, when accelerating the host vehicle by the inter-vehicle distance control, the lower limit distance is emphasized in the image display. Therefore, even if the inter-vehicle distance continuously decreases toward the lower limit distance, since the lower limit distance is emphasized, it is easy for the driver to understand that the host vehicle is intentionally controlled to accelerate or decelerate in such a manner that the inter-vehicle distance decreases toward the lower limit distance. Thus, it is possible to more reliably prevent the driver of the host vehicle from doubting whether the acceleration or deceleration of the host vehicle is being appropriately performed during the execution of the inter-vehicle distance control.

[0024] In addition, the display control device according to the present invention may also be configured to, when decelerating the host vehicle by the inter-vehicle distance control, perform image display of the upper limit distance and the lower limit distance by using the display device in such a manner that the upper limit distance is emphasized more than the lower limit distance.

[0025] According to the present invention, when the host vehicle decelerates by controlling the inter-vehicle distance, the upper limit distance is emphasized for image display. Therefore, even if the inter-vehicle distance continuously increases towards the upper limit distance, since the upper limit distance is emphasized, it is easy for the driver to understand that the host vehicle is intentionally controlling the acceleration and deceleration of the host vehicle in such a way that the inter-vehicle distance increases towards the upper limit distance. Thus, it is possible to more effectively prevent the driver of the host vehicle from doubting whether the acceleration and deceleration of the host vehicle are being appropriately performed during the execution of the inter-vehicle distance control.

[0026] In addition, in the display control device according to the present invention, the inter-vehicle distance control is, for example, the following control: when accelerating the host vehicle, the drive device of the host vehicle is operated in such a way that the energy efficiency of the drive device of the host vehicle is maintained at a specified efficiency or higher to accelerate the host vehicle, and when decelerating the host vehicle, the operation of the drive device is controlled in such a way that the host vehicle coasts to decelerate the host vehicle.

[0027] According to the present invention, the inter-vehicle distance control can be performed with high energy efficiency.

[0028] In addition, the display control device according to the present invention may also be configured such that, during the execution of the traveling speed control, the current traveling speed of the host vehicle is displayed as an image on the target speed range where the display device performs image display, and during the execution of the inter-vehicle distance control, an image representing the surrounding vehicle is displayed as an image on the target distance range where the display device performs image display.

[0029] According to the present invention, during the execution of the traveling speed control, the current traveling speed of the host vehicle is displayed as an image on the target speed range. Therefore, it is easy for the driver of the host vehicle to understand the relationship between the current traveling speed of the host vehicle and the target speed range.

[0030] In addition, the display control device according to the present invention may also be configured such that, during the execution of the inter-vehicle distance control, an image representing the surrounding vehicle is displayed as an image on the display device in such a way that the position of the image representing the surrounding vehicle on the target distance range where the display device performs image display corresponds to the actual position of the surrounding vehicle relative to the host vehicle.

[0031] According to the present invention, during the execution of the inter-vehicle distance control, an image representing the surrounding vehicle is displayed as an image on the target distance range in such a way that the position of the image representing the surrounding vehicle corresponds to the actual position of the surrounding vehicle relative to the host vehicle. Therefore, it is easy for the driver of the host vehicle to understand the relationship between the surrounding vehicle and the target distance range.

[0032] In addition, in the display control device according to the present invention, the display device is, for example, a device that displays an image on the front window glass of the host vehicle. In this case, the display control device according to the present invention may also be configured such that when the surrounding vehicle is a preceding vehicle traveling in front of the host vehicle, during the execution of the inter-vehicle distance control, the relationship between the target distance range for image display using the display device and the position of the preceding vehicle corresponds to the actual relationship between the target distance range and the position of the preceding vehicle, and the display device is used to display an image of the target distance range on the front window glass.

[0033] According to the present invention, during the execution of the inter-vehicle distance control, the target distance range is displayed as an image such that the relationship between the target distance range and the position of the preceding vehicle corresponds to the actual relationship between the target distance range and the position of the preceding vehicle. Therefore, it is easy for the driver of the host vehicle to understand the relationship between the preceding vehicle and the target distance range.

[0034] The display control device according to the present invention may also be configured such that when the host vehicle is accelerated by the driving speed control, the upper limit speed and the lower limit speed are displayed using the display device in a manner that emphasizes the upper limit speed more than the lower limit speed, and when the host vehicle is decelerated by the driving speed control, the upper limit speed and the lower limit speed are displayed using the display device in a manner that emphasizes the lower limit speed more than the upper limit speed. When the host vehicle is accelerated by the inter-vehicle distance control, the upper limit distance and the lower limit distance are displayed using the display device in a manner that emphasizes the lower limit distance more than the upper limit distance, and when the host vehicle is decelerated by the inter-vehicle distance control, the upper limit distance and the lower limit distance are displayed using the display device in a manner that emphasizes the upper limit distance more than the lower limit distance. In this case, the display control device according to the present invention may also be configured such that during the execution of the driving speed control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, the emphasis on the upper limit speed and the lower limit speed is not performed, and during the execution of the inter-vehicle distance control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, the emphasis on the upper limit distance and the lower limit distance is not performed.

[0035] According to the present invention, in the execution of the driving speed control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, the emphasis on the upper limit speed and the emphasis on the lower limit speed are not performed. Thus, it is possible to prevent providing incorrect information to the driver of the host vehicle regarding the acceleration / deceleration state of the host vehicle. Further, in the execution of the inter-vehicle distance control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, the emphasis on the upper limit distance and the emphasis on the lower limit distance are not performed. Thus, it is possible to prevent providing incorrect information to the driver of the host vehicle regarding the acceleration / deceleration state of the host vehicle.

[0036] Further, in the display control device according to the present invention, it may be that the target speed range and the target distance range can be changed by the operator of the host vehicle.

[0037] According to the present invention, the operator of the host vehicle can arbitrarily set the target speed range and the target distance range.

[0038] The constituent elements of the present invention are not limited to the embodiments of the present invention described later with reference to the drawings. Other objects, other features, and attendant advantages of the present invention can be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a diagram showing a control device including a display control device according to an embodiment of the present invention.

[0040] Figure 2A is a diagram showing a scene of executing driving speed control.

[0041] Figure 2B is a diagram showing a scene of executing inter-vehicle distance control.

[0042] Figure 3 is a diagram showing the relationship between the output power of an internal combustion engine and the energy efficiency of the internal combustion engine, and the relationship between the output power of a motor and the energy efficiency of the motor.

[0043] Figure 4A is a diagram showing a scene of executing driving speed control in the presence of a following vehicle.

[0044] Figure 4B is a diagram showing a scene of executing inter-vehicle distance control in the presence of a following vehicle.

[0045] Figure 5A is a diagram showing a head-up display when executing first driving speed control.

[0046] Figure 5B is a diagram showing an instrument display when executing first driving speed control.

[0047] Figure 5Cis a view showing an enlarged part of the instrument display shown in Figure 5B .

[0048] Figure 6A is a view showing the head-up display when performing the first inter-vehicle distance control.

[0049] Figure 6B is a view showing the instrument display when performing the first inter-vehicle distance control.

[0050] Figure 6C is a view showing an enlarged part of the instrument display shown in Figure 6B .

[0051] Figure 7A is a view showing the head-up display when the host vehicle decelerates by coasting deceleration control in the case of performing the second traveling speed control.

[0052] Figure 7B is a view showing the head-up display when the host vehicle decelerates by coasting deceleration control and the traveling speed of the host vehicle drops to the lower limit speed in the case of performing the second traveling speed control.

[0053] Figure 7C is a view showing the head-up display when the host vehicle accelerates by optimal acceleration control in the case of performing the second traveling speed control.

[0054] Figure 7D is a view showing the head-up display when the host vehicle accelerates by optimal acceleration control and the traveling speed of the host vehicle rises to the upper limit speed in the case of performing the second traveling speed control.

[0055] Figure 8 is a view showing the instrument display when performing the second traveling speed control.

[0056] Figure 9A is a view showing a part of the instrument display when the host vehicle decelerates by coasting deceleration control in the case of performing the second traveling speed control.

[0057] Figure 9B is a view showing a part of the instrument display when the host vehicle decelerates by coasting deceleration control and the traveling speed of the host vehicle drops to the lower limit speed in the case of performing the second traveling speed control.

[0058] Figure 9C is a view showing a part of the instrument display when the host vehicle accelerates by optimal acceleration control in the case of performing the second traveling speed control.

[0059] Figure 9DIt is a diagram showing a part of the instrument display when the own vehicle accelerates by optimal acceleration control while executing the second driving speed control and the driving speed of the own vehicle rises to the upper limit speed.

[0060] Figure 10A It is a diagram of the head-up display when the own vehicle decelerates by coasting deceleration control while executing the second inter-vehicle distance control.

[0061] Figure 10B It is a diagram of the head-up display when the own vehicle decelerates by coasting deceleration control while executing the second inter-vehicle distance control and the distance between the preceding vehicles increases to the upper limit distance.

[0062] Figure 10C It is a diagram of the head-up display when the own vehicle accelerates by optimal acceleration control while executing the second inter-vehicle distance control.

[0063] Figure 10D It is a diagram of the head-up display when the own vehicle accelerates by optimal acceleration control while executing the second inter-vehicle distance control and the distance between the preceding vehicles decreases to the lower limit distance.

[0064] Figure 11 It is a diagram showing the target distance range for image display using the head-up display when executing the second inter-vehicle distance control.

[0065] Figure 12 It is a diagram of the instrument display when executing the second inter-vehicle distance control.

[0066] Figure 13A It is a diagram showing a part of the instrument display when the own vehicle decelerates by coasting deceleration control while executing the second inter-vehicle distance control.

[0067] Figure 13B It is a diagram showing a part of the instrument display when the own vehicle decelerates by coasting deceleration control while executing the second inter-vehicle distance control and the distance between the preceding vehicles increases to the upper limit distance.

[0068] Figure 13C It is a diagram showing a part of the instrument display when the own vehicle accelerates by optimal acceleration control while executing the second inter-vehicle distance control.

[0069] Figure 13D It is a diagram showing a part of the instrument display when the own vehicle accelerates by optimal acceleration control while executing the second inter-vehicle distance control and the distance between the preceding vehicles decreases to the lower limit distance.

[0070] Figure 14It is a diagram showing the target distance range for image display on the instrument display when performing the second workshop distance control.

[0071] Figure 15 It is a diagram showing the control device related to the first modification of the embodiment of the present invention.

[0072] Figure 16 It is a diagram showing the control device related to the second modification of the embodiment of the present invention.

[0073] Figure 17 It is a flowchart showing the routine executed by the control device related to the embodiment of the present invention.

[0074] Figure 18 It is a flowchart showing the routine executed by the control device related to the embodiment of the present invention. Detailed Embodiment

[0075] Hereinafter, with reference to the drawings, a display control device according to an embodiment of the present invention will be described. Hereinafter, taking the case where the operator of the host vehicle 100 is a person who rides in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100) as an example, the control device 10 will be described. Therefore, in this example, as Figure 1 shown, the control device 10 is mounted on the host vehicle 100.

[0076] However, the operator of the host vehicle 100 may also be a person who remotely drives the host vehicle 100 without riding in the host vehicle 100 (i.e., the remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the control device 10 is respectively mounted on the host vehicle 100 and a remote operation device provided outside the host vehicle 100 for remotely driving the host vehicle 100, and the functions of the control device 10 described below are respectively shared between the control device 10 mounted on the host vehicle 100 and the control device 10 mounted on the remote operation device.

[0077] The control device 10 functions as a display control device according to an embodiment of the present invention, and also functions as a vehicle travel control device for controlling the travel of the host vehicle 100 and the like. The control device 10 includes an ECU 90.

[0078] The ECU 90 is an electronic control unit (electronic control device). The ECU 90 has a microcomputer as its main part. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, etc. The CPU realizes various functions by executing instructions or programs or routines stored in the ROM. In this example, the control device 10 has one ECU, but as will be described later, it may have multiple ECUs and be configured such that these ECUs respectively share the execution of various processes described later.

[0079] The ECU 90 is electrically connected to a drive device 20, a brake device 30, an accelerator pedal operation amount sensor 42, a brake pedal operation amount sensor 44, a vehicle speed detection device 45, an automatic driving control request operator 51, a second automatic driving control request operator 52, a surrounding information detection device 60, and a display device 70.

[0080] <Automatic driving control>

[0081] The control device 10 executes an automatic driving control for automatically controlling the driving of its own vehicle 100. In this example, as the automatic driving control for automatically controlling the driving of its own vehicle 100, the control device 10 executes an automatic driving control for automatically controlling the acceleration and deceleration of its own vehicle 100.

[0082] In this example, the automatic driving control includes a first automatic driving control and a second automatic driving control. The first automatic driving control includes a first driving speed control (constant speed automatic driving control) and a first inter-vehicle distance control (tracking automatic driving control), and the second automatic driving control includes a second driving speed control (energy-saving driving speed control) and a second inter-vehicle distance control (energy-saving tracking automatic driving control).

[0083] In addition, the control device 10 can control the acceleration and deceleration of its own vehicle 100 by controlling the operation of the drive device 20 and / or the brake device 30. The drive device 20 includes an internal combustion engine 21 and a motor 22. In addition, the brake device 30 includes a hydraulic brake device 31.

[0084] <First driving speed control>

[0085] The first driving speed control is a control for automatically controlling the acceleration and deceleration of its own vehicle 100 in such a way that the driving speed (own vehicle speed V) of its own vehicle 100 is maintained at a target speed Vtgt. The first driving speed control is executed when the automatic driving control request condition is satisfied and the second automatic driving control request condition is not satisfied, and in the case where there is no preceding vehicle as shown in Figure 2A shown.

[0086] A preceding vehicle is a vehicle that travels in front of the host vehicle 100 on the host vehicle's travel lane and is a vehicle existing within a specified distance from the host vehicle 100. The host vehicle's travel lane is the lane on which the host vehicle 100 is traveling.

[0087] In this example, the control device 10 determines whether there is a preceding vehicle based on the information (surrounding detection information IS) acquired by the surrounding information detection device 60. The surrounding information detection device 60 is a device that detects information on the surroundings of the host vehicle 100 and includes, for example, a camera sensor and a radar sensor.

[0088] In addition, the control device 10 acquires the host vehicle speed V using the vehicle speed detection device 45. The vehicle speed detection device 45 is a device that acquires information related to the host vehicle speed V and includes, for example, wheel speed sensors provided on each wheel of the host vehicle 100.

[0089] In addition, the automatic driving control requirement condition is a condition that requires the execution of automatic driving control. The driver of the host vehicle 100 can request the control device 10 to execute automatic driving control by operating an automatic driving control request operator 51 such as a driving assistance button. When the automatic driving control requirement operator 51 is operated while the control device 10 is not executing automatic driving control, the control device 10 determines that the execution of automatic driving control is requested. Thereafter, as long as the automatic driving control requirement operator 51 is not operated, it is determined that the execution of automatic driving control is requested. On the other hand, when the automatic driving control requirement operator 51 is operated while the control device 10 is executing automatic driving control, the control device 10 determines that the execution of automatic driving control is not requested.

[0090] In addition, the second automatic driving control requirement condition is a condition that requires the execution of the second automatic driving control. The driver of the host vehicle 100 can request the control device 10 to execute the second automatic driving control by operating a second automatic driving control request operator 52 (energy-saving automatic driving control request operator) such as an energy-saving driving button. When the second automatic driving control requirement operator 52 is operated while the control device 10 is not executing the second automatic driving control, the control device 10 determines that the execution of the second automatic driving control is requested. Thereafter, as long as the second automatic driving control requirement operator 52 is not operated, it is determined that the execution of the second automatic driving control is requested. On the other hand, when the second automatic driving control requirement operator 52 is operated while the control device 10 is executing the second automatic driving control, the control device 10 determines that the execution of the second automatic driving control is not requested.

[0091] In the execution of the first driving speed control, if the own vehicle speed V becomes less than the target speed Vtgt, the control device 10 accelerates the own vehicle 100, and if the own vehicle speed V becomes greater than the target speed Vtgt, the control device 10 decelerates the own vehicle 100.

[0092] In addition, the control device 10 sets the speed set by the driver of the own vehicle 100 as the target driving speed of the own vehicle 100 as the target speed Vtgt. The driver of the own vehicle 100 can arbitrarily set the target driving speed (target speed Vtgt) of the own vehicle 100 by operating a driving speed setting operator 53 such as a driving speed setting button. Alternatively, the control device 10 sets the own vehicle speed V at the moment when the automatic driving control request operator 51 is operated and the automatic driving control request condition is satisfied as the target speed Vtgt.

[0093] <First inter-vehicle distance control>

[0094] The first inter-vehicle distance control is a control that automatically controls the acceleration and deceleration of the own vehicle 100 in such a way that the inter-vehicle distance DF to the preceding vehicle is maintained at the target distance Dtgt. The first inter-vehicle distance control is executed when the automatic driving control request condition is satisfied and the second automatic driving control request condition is not satisfied, in the presence of a preceding vehicle 200 as shown in Figure 2B shown.

[0095] As Figure 2B shown, the inter-vehicle distance DF to the preceding vehicle is the distance between the own vehicle 100 and the preceding vehicle 200. In this example, the control device 10 obtains the inter-vehicle distance DF to the preceding vehicle based on the information (peripheral detection information IS) acquired by the peripheral information detection device 60.

[0096] In the execution of the first inter-vehicle distance control, if the inter-vehicle distance DF to the preceding vehicle becomes greater than the target distance Dtgt, the control device 10 accelerates the own vehicle 100, and if the inter-vehicle distance DF to the preceding vehicle becomes less than the target distance Dtgt, the control device 10 decelerates the own vehicle 100.

[0097] In addition, although the control device 10 may directly set the inter-vehicle distance DF to the preceding vehicle set by the driver as the target distance Dtgt, in this example, the target distance Dtgt is set based on the inter-vehicle distance DF to the preceding vehicle set by the driver of the own vehicle 100.

[0098] More specifically, the control device 10 sets the inter-vehicle time T calculated based on the inter-vehicle distance DF between the preceding vehicles set by the driver as the target inter-vehicle time Ttgt. The inter-vehicle time T is the time required for the host vehicle 100 to travel the inter-vehicle distance DF between the preceding vehicles. Specifically, it is the value obtained by dividing the inter-vehicle distance DF between the preceding vehicles by the host vehicle speed V (T = DF / V). Therefore, the target inter-vehicle time Ttgt is the target value of the time required for the host vehicle 100 to travel the inter-vehicle distance DF between the preceding vehicles. In this example, it is the value obtained by dividing the inter-vehicle distance DF between the preceding vehicles (target inter-vehicle distance DFtgt) set by the driver of the host vehicle 100 by the host vehicle speed V (Ttgt = DFtgt / V). In addition, the larger the inter-vehicle distance DF between the preceding vehicles, the larger the inter-vehicle time T.

[0099] The control device 10 sets the value obtained by multiplying the set target inter-vehicle time Ttgt by the speed of the host vehicle 100 at that moment as the target distance Dtgt.

[0100] In addition, the driver can arbitrarily set the inter-vehicle distance DF between the preceding vehicles (target inter-vehicle distance DFtgt) by operating an inter-vehicle distance setting operator 54 such as an inter-vehicle distance setting button. In this example, the driver can arbitrarily set one of a long inter-vehicle distance, a medium inter-vehicle distance, and a short inter-vehicle distance as the inter-vehicle distance DF between the preceding vehicles.

[0101] Alternatively, the control device 10 may be configured to set the inter-vehicle time T corresponding to the inter-vehicle distance DF at the moment when the automatic driving control request operator 51 is operated and the automatic driving control request condition is satisfied as the target inter-vehicle time Ttgt.

[0102] <Second Driving Speed Control>

[0103] The second driving speed control is a control for automatically controlling the acceleration and deceleration of the host vehicle 100 such that the host vehicle speed V is maintained within the target speed range RVtgt. The second driving speed control is executed when the automatic driving control request condition is satisfied and the second automatic driving control request condition is satisfied, in the case where there is no preceding vehicle as shown in Figure 2A the figure.

[0104] The target speed range RVtgt is a range set to include the target speed Vtgt. In this example, a speed that is a specified value (upper speed setting value ΔVupper) greater than the target speed Vtgt is used as the upper limit value (upper speed Vupper), and a speed that is a specified value (lower speed setting value ΔVlower) less than the target speed Vtgt is used as the lower limit value (lower speed Vlower) to set the range. The upper speed setting value ΔVupper and the lower speed setting value ΔVlower can be the same value or different values.

[0105] In addition, the driver can arbitrarily set the target speed range RVtgt by operating the traveling speed setting operator 53.

[0106] During the execution of the second traveling speed control, if the own vehicle speed V becomes less than the lower speed Vlower, the control device 10 accelerates the own vehicle 100. If the own vehicle speed V becomes greater than the upper speed Vupper, the control device 10 decelerates the own vehicle 100.

[0107] During the execution of the second traveling speed control, when the control device 10 accelerates the own vehicle 100, it accelerates the own vehicle 100 by optimal acceleration control. When decelerating the own vehicle 100, it decelerates the own vehicle 100 by coasting deceleration control.

[0108] The optimal acceleration control is a control that controls the operations of the internal combustion engine 21 and the motor 22 in such a way that the energy efficiency of the drive device 20 is maintained at a specified efficiency or higher to accelerate the own vehicle 100. In this example, it is a control that controls the operations of the internal combustion engine 21 and the motor 22 in such a way that the energy efficiency of the drive device 20 becomes the maximum efficiency (or at least an efficiency extremely close to the maximum efficiency) to accelerate the own vehicle 100. For example, when the relationship between the internal combustion engine output power Peng and the energy efficiency Eeng of the internal combustion engine 21 is in the relationship shown by the line Leng in Figure 3 and the relationship between the motor output power Pmotor and the energy efficiency Emotor of the motor 22 is in the relationship shown by the line Lmotor in Figure 3 the control device 10 causes the internal combustion engine 21 to operate at the operating point (optimal operating point) where the energy efficiency Eeng of the internal combustion engine 21 becomes the maximum efficiency. In addition, the operating point is a point determined based on the rotational speed (or speed) of the internal combustion engine 21 and the load of the internal combustion engine 21. Further, the internal combustion engine output power Peng is the power output by the internal combustion engine 21, and the motor output power Pmotor is the power output by the motor 22.

[0109] When the internal combustion engine 21 operates at the optimal operating point, its energy efficiency Eeng is the highest value (maximum efficiency), and the internal combustion engine output power Peng is in Figure 3In the example shown, it is the value corresponding to this maximum efficiency (optimal internal combustion engine output power P1). In addition, in Figure 3 the value of the motor output power when the energy efficiency Emotor of the motor 22 is the highest.

[0110] The coasting deceleration control controls the operation of the drive device 20, that is, the operation of the internal combustion engine 21 and the motor 22, in such a way that the own vehicle 100 performs so-called coasting driving. Through the coasting deceleration control, the own vehicle 100 decelerates mainly due to air resistance and road surface resistance. Therefore, the coasting deceleration control can also be said to be a control that controls the operation of the drive device 20, that is, the operation of the internal combustion engine 21 and the motor 22, in such a way that the own vehicle 100 decelerates mainly due to air resistance and road surface resistance.

[0111] In addition, in the case where there is a following vehicle 300 as shown in Figure 4A , the control device 10 may also be configured such that, during the execution of the second driving speed control, even when the own vehicle speed V is greater than the lower limit speed Vlower, when the distance between the own vehicle 100 and the following vehicle 300 (following vehicle distance DR) becomes less than a specified distance (specified following vehicle distance DRth), the own vehicle 100 is accelerated by the optimal acceleration control. In this case, after starting the optimal acceleration control, the control device 10 continues the optimal acceleration control until the own vehicle speed V reaches the upper limit speed Vupper even if the following vehicle distance DR becomes greater than the specified following vehicle distance DRth.

[0112] In addition, in the case where there is a following vehicle 300, the control device 10 may also be configured to determine the timing of starting the optimal acceleration control in such a way that the own vehicle 100 does not approach the following vehicle 300 excessively, taking into account the difference between the own vehicle speed V and the traveling speed of the following vehicle 300 during the execution of the second driving speed control.

[0113] In addition, the following vehicle 300 is a vehicle traveling in the own vehicle traveling lane behind the own vehicle 100 and is a vehicle existing within a specified distance from the own vehicle 100.

[0114] <Inter-vehicle distance control>

[0115] The inter-vehicle distance control is a control that automatically controls the acceleration and deceleration of the own vehicle 100 in such a way that the inter-vehicle distance DF to the preceding vehicle is maintained within the target distance range RDtgt. The inter-vehicle distance control is executed in the case where there is a preceding vehicle 200 as shown in Figure 2B when the automatic driving control requirement condition is satisfied and the second automatic driving control requirement condition is satisfied.

[0116] The target distance range RDtgt is set as a range that includes the target distance Dtgt. In this example, a distance greater than the target distance Dtgt by a specified value (upper limit distance setting value ΔDupper) is set as the upper limit value (upper limit distance Dupper), and a distance smaller than the target distance Dtgt by a specified value (lower limit distance setting value ΔDlower) is set as the lower limit value (lower limit distance Dlower). In other words, the target distance range RDtgt is a range where a value greater than the target distance Dtgt by a first value (upper limit distance setting value ΔDupper), which is obtained by multiplying the target value of the time required for the inter-vehicle distance DF of the preceding vehicle to travel by the traveling speed of the host vehicle 100, is set as the upper limit value, and a value smaller than the target distance Dtgt by a second value (lower limit distance setting value ΔDlower) is set as the lower limit value. In addition, the upper limit distance setting value ΔDupper and the lower limit distance setting value ΔDlower can be the same value or different values.

[0117] In addition, the driver can arbitrarily set the target distance range RDtgt by operating the inter-vehicle distance setting operator 54.

[0118] During the execution of the second inter-vehicle distance control, if the inter-vehicle distance DF of the preceding vehicle becomes greater than the upper limit distance Dupper, the control device 10 accelerates the host vehicle 100. If the inter-vehicle distance DF of the preceding vehicle becomes smaller than the lower limit distance Dlower, the control device 10 decelerates the host vehicle 100.

[0119] During the execution of the second inter-vehicle distance control, when the control device 10 accelerates the host vehicle 100, it accelerates the host vehicle 100 through optimal acceleration control. When the control device 10 decelerates the host vehicle 100, it decelerates the host vehicle 100 through coasting deceleration control.

[0120] In addition, in the case where there is a following vehicle 300 as shown in Figure 4B , the control device 10 can also be configured such that during the execution of the second inter-vehicle distance control, even when the inter-vehicle distance DF of the preceding vehicle is smaller than the upper limit distance Dupper, if the inter-vehicle distance DR of the following vehicle becomes equal to or less than a specified following vehicle inter-vehicle distance DRth, it accelerates the host vehicle 100 through optimal acceleration control. In this case, after the control device 10 starts the optimal acceleration control, even if the inter-vehicle distance DR of the following vehicle becomes greater than the specified following vehicle inter-vehicle distance DRth, it continues the optimal acceleration control until the inter-vehicle distance DF of the preceding vehicle reaches the lower limit distance Dlower.

[0121] In addition, in the presence of a following vehicle 300, the control device 10 may also be configured to, during the execution of the second inter-vehicle distance control, consider the difference between its own vehicle speed V and the traveling speed of the following vehicle 300, and determine the timing to start the optimal acceleration control in such a way that its own vehicle 100 does not approach the following vehicle 300 excessively.

[0122] Furthermore, when the requirements for the automatic driving control are not satisfied, the control device 10 calculates a required driving force (required driving torque) based on the operation amount of the accelerator pedal 41 obtained through the accelerator pedal operation amount sensor 42 and its own vehicle speed V, and controls the operation of the drive device 20 so as to apply a driving force equivalent to the required driving force to its own vehicle 100 from the drive device 20. In addition, when the requirements for the automatic driving control are not satisfied, the control device 10 calculates a required braking force (required braking torque) based on the operation amount of the brake pedal 43 obtained through the brake pedal operation amount sensor 44, and controls the operation of the braking device 30 so as to apply a braking force equivalent to the required braking force to its own vehicle 100 through the braking device 30.

[0123] <Display of control-related information>

[0124] Furthermore, during the execution of the automatic driving control, the control device 10 uses the display device 70 to display information (control-related information) related to the traveling speed of its own vehicle 100, which is the object of control by the automatic driving control, and / or the distance between its own vehicle 100 and the preceding vehicle 200.

[0125] In this example, the display device 70 includes a head-up display 71 and an instrument display 72. The head-up display 71 is a device that projects various images onto the front window glass 101 of its own vehicle 100 to provide various information to the driver of its own vehicle 100 (for example, refer to Figure 5A ). In addition, the instrument display 72 is a device that is arranged in front of the driver's seat of its own vehicle 100 and provides various information to the driver of its own vehicle 100 by displaying various images. In this example, during its startup period, the instrument display 72 displays images on the speed meter 721 and the speed pointer 722 (for example, refer to Figure 5B ). The speed pointer 722 indicates the current traveling speed of its own vehicle 100 and is displayed at the position of the speed meter 721 corresponding to the current traveling speed of its own vehicle 100.

[0126] <During the execution of the first traveling speed control>

[0127] During the execution of the first traveling speed control, the control device 10 is as Figure 5AAs shown, the head-up display 71 is used to display the target speed Vtgt in an image. Furthermore, during the execution of the first driving speed control, the control device 10 is as Figure 5B and Figure 5C shown, the meter display 72 is used to display the target speed Vtgt in an image. Figure 5C A part of the meter display 72 shown in Figure 5B is enlarged and shown.

[0128] In addition, Figures 5A to 5C an example where the target speed Vtgt is 80 km / h is shown.

[0129] <During the execution of the first inter-vehicle distance control>

[0130] On the other hand, during the execution of the first inter-vehicle distance control, the control device 10 is as Figure 6A shown, the head-up display 71 is used to display the target distance line LDtgt in an image. The target distance line LDtgt is a linear image showing the position of the target distance Dtgt from the own vehicle 100 forward. During the execution of the first inter-vehicle distance control, the inter-vehicle distance DF between the preceding vehicles is controlled to the target distance Dtgt, so the target distance line LDtgt is displayed in an image near the rear wheels of the preceding vehicle 200.

[0131] Furthermore, during the execution of the first inter-vehicle distance control, the control device 10 is as Figure 6B and Figure 6C shown, the meter display 72 is used to display the target distance line LDtgt and the vehicle icon IC in an image. The target distance line LDtgt is a linear image showing the position of the target distance Dtgt. The vehicle icon IC is an image representing the preceding vehicle 200. During the execution of the first inter-vehicle distance control, the inter-vehicle distance DF between the preceding vehicles is controlled to the target distance Dtgt, so the target distance line LDtgt is displayed in an image near the rear wheels of the vehicle icon IC. In addition, Figure 6C A part of the meter display 72 shown in Figure 6B is enlarged and shown.

[0132] <During the execution of the second automatic driving control>

[0133] As described above, during the execution of the second driving speed control, the own vehicle speed V is controlled so as to be within the target speed range RVtgt. Therefore, the own vehicle speed V fluctuates significantly up and down with the target speed Vtgt as the center. Thus, it is possible that the driver doubts whether the own vehicle speed V is being appropriately controlled by the autonomous driving control, that is, whether the acceleration and deceleration of the own vehicle 100 are being appropriately performed. Similarly, during the execution of the second inter-vehicle distance control, the inter-vehicle distance DF to the preceding vehicle is controlled so as to be within the target distance range RDtgt. Therefore, the inter-vehicle distance DF to the preceding vehicle increases and decreases significantly with the target distance Dtgt as the center. Thus, it is possible that the driver doubts whether the inter-vehicle distance DF to the preceding vehicle is being appropriately controlled by the autonomous driving control, that is, whether the acceleration and deceleration of the own vehicle 100 are being appropriately performed.

[0134] <During the execution of the second driving speed control>

[0135] Therefore, during the execution of the second driving speed control, the control device 10 displays the control-related information as an image using the head-up display 71 and the meter display 72 as follows.

[0136] <During the execution of the coasting deceleration control>

[0137] During the execution of the second driving speed control, when the control device 10 executes the coasting deceleration control, as Figure 7A shown, the target speed Vtgt is displayed as an image using the head-up display 71, and the target speed range RVtgt is displayed as an image below the target speed Vtgt. In this example, as the target speed range RVtgt, the control device 10 displays the lower limit speed Vlower, the upper limit speed Vupper, and the wavy line WL as images. In this example, the lower limit speed Vlower is displayed to the left of the wavy line WL, and the upper limit speed Vupper is displayed to the right of the wavy line WL.

[0138] In addition, Figures 7A to 7D An example is shown in which the target speed Vtgt is 80 km / h, the lower limit speed Vlower is 75 km / h, and the upper limit speed Vupper is 85 km / h.

[0139] Further, during the execution of the second driving speed control, when the control device 10 executes the coasting deceleration control, the lower limit speed Vlower is displayed in a manner that emphasizes or highlights it. In other words, the control device 10 displays the lower limit speed Vlower and the upper limit speed Vupper in such a way that the recognizability of the lower limit speed Vlower (the recognizability of the image of the lower limit speed Vlower) is higher than the recognizability of the upper limit speed Vupper (the recognizability of the image of the upper limit speed Vupper).

[0140] The recognizability of an image is an index value (recognizability index value) indicating the ease with which a person can recognize the content of the image. The higher the recognizability of the image, the easier it is for a person to recognize the content of the image.

[0141] In this example, the control device 10 makes the recognizability of the lower limit speed Vlower higher than that of the upper limit speed Vupper by displaying the upper limit speed Vupper as a numeral with only an outline and displaying the lower limit speed Vlower as a numeral presenting the whole rather than a numeral with only an outline. In this way, the control device 10 changes the recognizability of the image by changing the design of the image.

[0142] In addition, the recognizability of an image also varies according to the brightness and size of the image. Generally, the higher the brightness of the image, the higher the recognizability of the image, and the larger the size of the image, the higher the recognizability of the image. Therefore, the control device 10 can also be configured to make the recognizability of the lower limit speed Vlower higher than that of the upper limit speed Vupper by making the brightness of the image of the lower limit speed Vlower higher than that of the image of the upper limit speed Vupper, or by making the size of the image of the lower limit speed Vlower larger than that of the image of the upper limit speed Vupper.

[0143] In addition, the recognizability of an image also varies according to color. For example, the recognizability of a red image is higher than that of a white image. Therefore, the control device 10 can also be configured to make the recognizability of the lower limit speed Vlower higher than that of the upper limit speed Vupper by displaying the lower limit speed Vlower in red and displaying the upper limit speed Vupper in white.

[0144] In addition, the recognizability of an image also varies according to the lighting mode of the image. Generally, the recognizability of the image is higher when the image is displayed in a blinking manner than when the image is displayed continuously. Therefore, the control device 10 can also be configured to make the recognizability of the lower limit speed Vlower higher than that of the upper limit speed Vupper by making the image of the lower limit speed Vlower blink and making the image of the upper limit speed Vupper be displayed continuously.

[0145] In addition, the recognizability of the image can also be improved by, for example, arranging a line drawing around the image such as surrounding the image with a line drawing or adding an underline to the image. Therefore, the control device 10 may also be configured to display the lower limit speed Vlower by arranging a line image (an image representing a line) around the image of the lower limit speed Vlower, and not arranging a line image around the image of the upper limit speed Vupper to display the upper limit speed Vupper, or to display the lower limit speed Vlower by arranging a line image below the image of the lower limit speed Vlower, and not arranging a line image below the image of the upper limit speed Vupper to display the upper limit speed Vupper, so that the recognizability of the lower limit speed Vlower is higher than that of the upper limit speed Vupper.

[0146] In addition, in this example, the control device 10 displays the lower limit speed Vlower and the upper limit speed Vupper in such a way that the recognizability of the lower limit speed Vlower becomes the same as the normal recognizability, and the recognizability of the upper limit speed Vupper becomes lower than the normal recognizability, so that the recognizability of the lower limit speed Vlower is higher than that of the upper limit speed Vupper.

[0147] However, the control device 10 may also display the lower limit speed Vlower and the upper limit speed Vupper in such a way that the recognizability of the lower limit speed Vlower becomes higher than the normal recognizability, and the recognizability of the upper limit speed Vupper becomes the same as the normal recognizability, so that the recognizability of the lower limit speed Vlower is higher than that of the upper limit speed Vupper.

[0148] Alternatively, the control device 10 may also display the lower limit speed Vlower and the upper limit speed Vupper in such a way that the recognizability of the lower limit speed Vlower becomes higher than the normal recognizability, and the recognizability of the upper limit speed Vupper becomes lower than the normal recognizability, so that the recognizability of the lower limit speed Vlower is higher than that of the upper limit speed Vupper.

[0149] In addition, the normal recognizability is the recognizability of the target speed Vtgt (the recognizability of the image of the target speed Vtgt) displayed using the head-up display 71 during the execution of the first driving speed control.

[0150] Furthermore, during the execution of the second driving speed control, the control device 10, as Figure 8 shown, provides control-related information to the driver using the meter display 72.

[0151] Specifically, in the execution of the second traveling speed control, when the control device 10 executes the coasting deceleration control, as Figure 9A shown, the control device 10 uses the meter display 72 to perform an image display of the target speed range bar BRV near the speed meter 721. Further, the control device 10 uses the meter display 72 to perform an image display of the target speed Vtgt, and performs an image display of the target speed range RVtgt below the target speed Vtgt.

[0152] In addition, Figures 9A to 9D an example is also shown where the target speed Vtgt is 80 km / h, the lower limit speed Vlower is 75 km / h, and the upper limit speed Vupper is 85 km / h.

[0153] In this example, the target speed range bar BRV is image-displayed in a manner that extends from the position corresponding to the position of the speed meter 721 indicating 75 km / h to the position corresponding to the position of the speed meter 721 indicating 85 km / h. Therefore, in the execution of the second traveling speed control, the target speed range bar BRV is image-displayed at a position overlapping with the speed pointer 722. Therefore, in the execution of the second traveling speed control, the control device 10 uses the meter display 72 (display device 70) to perform an image display of the current traveling speed (current own vehicle speed V) of its own vehicle 100 on the target speed range bar BRV (target speed range RVtgt) that is image-displayed using the meter display 72 (display device 70).

[0154] Further, the control device 10 performs an image display of the target speed range bar BRV in a manner that emphasizes or highlights the part of the target speed range bar BRV on the lower limit speed Vlower side. In other words, the control device 10 performs an image display of the target speed range bar BRV in a manner that makes the part of the target speed range bar BRV on the lower limit speed Vlower side more recognizable than the part of the target speed range bar BRV on the upper limit speed Vupper side.

[0155] In this example, the control device 10 performs an image display of the target speed range bar BRV by making the brightness of the image part of the target speed range bar BRV on the lower limit speed Vlower side of the speed pointer 722 higher than the brightness of the image part of the target speed range bar BRV on the upper limit speed Vupper side of the speed pointer 722, thereby making the part of the target speed range bar BRV on the lower limit speed Vlower side more recognizable than the part of the target speed range bar BRV on the upper limit speed Vupper side.

[0156] In addition, the control device 10 may also be configured to display the target speed range RVtgt on the instrument display 72 in a manner that emphasizes or highlights the lower limit speed Vlower, similar to the target speed range RVtgt displayed using the head-up display 71.

[0157] <When the lower limit speed is reached>

[0158] In addition, during the execution of the second driving speed control, when the vehicle speed V of the control device 10 drops to the lower limit speed Vlower, as Figure 7B shown, the lower limit speed Vlower is displayed visually using the head-up display 71, and the target speed range RVtgt is displayed visually below the lower limit speed Vlower. At this time, the target speed range RVtgt is displayed visually in a manner that emphasizes or highlights the lower limit speed Vlower, similar to the target speed range RVtgt displayed using the head-up display 71 during the execution of the coasting deceleration control.

[0159] Furthermore, during the execution of the second driving speed control, when the vehicle speed V of the control device 10 drops to the lower limit speed Vlower, as Figure 9B shown, the lower limit speed Vlower is displayed visually using the instrument display 72, the target speed range RVtgt is displayed visually below the lower limit speed Vlower, and the target speed range bar BRV is displayed visually near the speed meter 721. In addition, at this time, the speed pointer 722 moves to the position of the lower limit speed Vlower of the target speed range bar BRV.

[0160] <During the execution of the optimal acceleration control>

[0161] In addition, during the execution of the second driving speed control, when the control device 10 executes the optimal acceleration control, as Figure 7C shown, the target speed Vtgt is displayed visually using the head-up display 71, and the target speed range RVtgt is displayed visually below the target speed Vtgt.

[0162] In addition, during the execution of the second driving speed control, when the control device 10 executes the optimal acceleration control, it is displayed visually in a manner that emphasizes or highlights the upper limit speed Vupper. In other words, the control device 10 displays the lower limit speed Vlower and the upper limit speed Vupper in such a way that the recognizability of the upper limit speed Vupper is higher than that of the lower limit speed Vlower.

[0163] In this example, the control device 10 makes the upper limit speed Vupper more recognizable than the lower limit speed Vlower by displaying the lower limit speed Vlower as a numeral with only an outline and displaying the upper limit speed Vupper as a numeral presenting the whole rather than a numeral with only an outline.

[0164] In addition, in this example, the control device 10 displays the upper limit speed Vupper and the lower limit speed Vlower in such a way that the recognizability of the upper limit speed Vupper is the same as the normal recognizability and the recognizability of the lower limit speed Vlower is lower than the normal recognizability, thereby making the upper limit speed Vupper more recognizable than the lower limit speed Vlower.

[0165] However, the control device 10 can also display the upper limit speed Vupper and the lower limit speed Vlower in such a way that the recognizability of the upper limit speed Vupper becomes higher than the normal recognizability and the recognizability of the lower limit speed Vlower is the same as the normal recognizability, thereby making the upper limit speed Vupper more recognizable than the lower limit speed Vlower.

[0166] Alternatively, the control device 10 can also display the upper limit speed Vupper and the lower limit speed Vlower in such a way that the recognizability of the upper limit speed Vupper becomes higher than the normal recognizability and the recognizability of the lower limit speed Vlower is lower than the normal recognizability, thereby making the upper limit speed Vupper more recognizable than the lower limit speed Vlower.

[0167] Furthermore, during the execution of the second driving speed control, when the control device 10 executes the optimal acceleration control, as Figure 9C shown, it displays the target speed Vtgt on the instrument display 72, displays the target speed range RVtgt below the target speed Vtgt, and displays the target speed range bar BRV near the speed meter 721.

[0168] At this time, the control device 10 displays the target speed range bar BRV in a way that emphasizes or highlights the part of the target speed range bar BRV on the upper limit speed Vupper side. In other words, the control device 10 displays the target speed range bar BRV in such a way that the recognizability of the part of the target speed range bar BRV on the upper limit speed Vupper side is higher than the recognizability of the part of the target speed range bar BRV on the lower limit speed Vlower side.

[0169] In this example, the control device 10 performs image display of the target speed range bar BRV by making the brightness of the image portion of the target speed range bar BRV on the upper limit speed Vupper side of the speed ratio pointer 722 higher than the brightness of the image portion of the target speed range bar BRV on the lower limit speed Vlower side of the speed ratio pointer 722, so that the recognizability of the portion of the target speed range bar BRV on the upper limit speed Vupper side is higher than that of the portion of the target speed range bar BRV on the lower limit speed Vlower side.

[0170] In addition, the control device 10 may be configured to perform image display of the target speed range RVtgt on the instrument display 72 in a manner that emphasizes or highlights the upper limit speed Vupper, in the same way as the target speed range RVtgt that is image - displayed using the head - up display 71.

[0171] <When the upper limit speed is reached>

[0172] In addition, during the execution of the second driving speed control, when the vehicle speed V of the control device 10 rises to the upper limit speed Vupper, as Figure 7D shown, the upper limit speed Vupper is image - displayed using the head - up display 71, and the target speed range RVtgt is image - displayed below the upper limit speed Vupper. At this time, the target speed range RVtgt is image - displayed in a manner that emphasizes or highlights the upper limit speed Vupper, in the same way as the target speed range RVtgt that is image - displayed using the head - up display 71 during the execution of the optimal acceleration control.

[0173] Furthermore, during the execution of the second driving speed control, when the vehicle speed V of the control device 10 rises to the upper limit speed Vupper, as Figure 9D shown, the upper limit speed Vupper is image - displayed using the instrument display 72, the target speed range RVtgt is image - displayed below the upper limit speed Vupper, and the target speed range bar BRV is image - displayed near the speed meter 721. In addition, at this time, the speed pointer 722 moves to the position of the upper limit speed Vupper of the target speed range bar BRV.

[0174] <During the execution of the second inter - vehicle distance control>

[0175] In addition, during the execution of the second inter - vehicle distance control, the control device 10 displays control - related information using the head - up display 71 and displays control - related information using the instrument display 72 as follows.

[0176] <During the execution of the coasting deceleration control>

[0177] In the execution of the inter-vehicle distance control in the second workshop, when the control device 10 executes the coasting deceleration control, as Figure 10A shown, the head-up display 71 is used to display images of the target distance range RDtgt and the upper limit distance emphasis line LDupper_E.

[0178] In addition, in the execution of the inter-vehicle distance control in the second workshop, the control device 10 uses the head-up display 71 (display device 70) to display an image of the target distance range RDtgt on the front window glass 101 in such a way that the positional relationship between the target distance range RDtgt displayed by the head-up display 71 (display device 70) and the position of the preceding vehicle 200 corresponds to the actual positional relationship between the target distance range RDtgt and the preceding vehicle 200. Therefore, the target distance range RDtgt is displayed as overlapping the preceding vehicle 200.

[0179] As Figure 11 shown, the target distance range RDtgt is displayed as a trapezoidal image. In the image of the target distance range RDtgt, the upper contour line (upper limit distance line LDupper) is displayed in such a way as to show the position where it is separated from the host vehicle 100 by the upper limit distance Dupper towards the front, and the lower contour line (lower limit distance line LDlower) is displayed in such a way as to show the position where it is separated from the host vehicle 100 by the lower limit distance Dlower towards the front.

[0180] In addition, the upper limit distance emphasis line LDupper_E shows the position where it is separated from the host vehicle 100 by the upper limit distance Dupper towards the front. Therefore, the upper limit distance emphasis line LDupper_E is displayed on the upper limit distance line LDupper of the target distance range RDtgt. In this example, the image of the upper limit distance emphasis line LDupper_E is a thicker image than the image of the upper limit distance line LDupper.

[0181] Therefore, in the execution of the inter-vehicle distance control in the second workshop, when the control device 10 executes the coasting deceleration control, it displays an image in a way that emphasizes or highlights the upper limit distance line LDupper. In other words, the control device 10 displays the upper limit distance Dupper and the lower limit distance Dlower in such a way that the recognizability of the upper limit distance Dupper (the recognizability of the image representing the upper limit distance Dupper) is higher than the recognizability of the lower limit distance Dlower (the recognizability of the image representing the lower limit distance Dlower).

[0182] In this way, in this example, the control device 10 makes the upper limit distance Dupper more recognizable than the lower limit distance Dlower by displaying an image of the upper limit distance line LDupper on the head-up display 71 using an image that is thicker than the image of the lower limit distance line LDlower.

[0183] In addition, the recognizability of an image also varies according to the design of the image. Therefore, the control device 10 can also be configured to make the upper limit distance Dupper more recognizable than the lower limit distance Dlower by making the design of the image of the upper limit distance line LDupper different from the design of the image of the lower limit distance line LDlower.

[0184] Furthermore, the recognizability of an image also varies according to the brightness of the image. Generally, the higher the brightness of the image, the higher the recognizability of the image. Therefore, the control device 10 can also be configured to make the upper limit distance Dupper more recognizable than the lower limit distance Dlower by making the brightness of the image of the upper limit distance line LDupper higher than the brightness of the image of the lower limit distance line LDlower.

[0185] Moreover, the recognizability of an image also varies according to color. For example, the recognizability of a red image is higher than that of a black image. Therefore, the control device 10 can also be configured to make the upper limit distance Dupper more recognizable than the lower limit distance Dlower by displaying an image of the upper limit distance line LDupper in red and displaying an image of the lower limit distance line LDlower in black.

[0186] In addition, the recognizability of an image also varies according to the lighting method of the image. Generally, the recognizability of an image is higher when the image is displayed blinking than when the image is displayed continuously lit. Therefore, the control device 10 can also be configured to make the upper limit distance Dupper more recognizable than the lower limit distance Dlower by displaying the image of the upper limit distance line LDupper blinking and displaying the image of the lower limit distance line LDlower continuously lit.

[0187] In addition, during the execution of the coasting deceleration control in the second inter-vehicle distance control, as Figure 10B shown, until the inter-vehicle distance DF to the preceding vehicle reaches the upper limit distance Dupper and the optimal acceleration control starts, the control device 10 displays the image in a way that emphasizes or highlights the upper limit distance line LDupper.

[0188] Furthermore, during the execution of the second inter-vehicle distance control, the control device 10, as Figure 12As shown, the control-related information is provided to the driver using the instrument display 72.

[0189] Specifically, during the execution of the second inter-vehicle distance control, when the control device 10 executes the coasting deceleration control, as Figure 13A shown, the target distance range RDtgt and the upper limit distance emphasis line LDupper_E are displayed as images using the instrument display 72. Furthermore, the control device 10 displays the vehicle icon IC as an image using the instrument display 72.

[0190] The vehicle icon IC is an image representing the preceding vehicle 200. In addition, the target distance range RDtgt is displayed as an image in an overlapping manner with the vehicle icon IC. Therefore, during the execution of the second inter-vehicle distance control, the control device 10 displays the vehicle icon IC (an image representing the preceding vehicle 200) as an image on the target distance range RDtgt that is displayed as an image using the instrument display 72 (display device 70).

[0191] As Figure 14 shown, the target distance range RDtgt is displayed as a trapezoidal image. In the image of the target distance range RDtgt, the upper outer contour line (upper limit distance line LDupper) represents the position of the upper limit distance Dupper, and the lower outer contour line (lower limit distance line LDlower) represents the position of the lower limit distance Dlower.

[0192] In addition, the upper limit distance emphasis line LDupper_E represents the position of the upper limit distance Dupper. Therefore, the upper limit distance emphasis line LDupper_E is displayed as an image on the upper limit distance line LDupper of the target distance range RDtgt. In this example, the image of the upper limit distance emphasis line LDupper_E is a thicker image than the image of the upper limit distance line LDupper.

[0193] Therefore, during the execution of the second inter-vehicle distance control, when the control device 10 executes the coasting deceleration control, the upper limit distance line LDupper is displayed in a way that emphasizes or highlights it. In other words, the control device 10 displays the upper limit distance Dupper and the lower limit distance Dlower in such a way that the recognizability of the upper limit distance Dupper (the recognizability of the image representing the upper limit distance Dupper) is higher than the recognizability of the lower limit distance Dlower (the recognizability of the image representing the lower limit distance Dlower).

[0194] In this way, in this example, the control device 10 makes the upper limit distance Dupper more recognizable than the lower limit distance Dlower by displaying an image of the upper limit distance line LDupper on the meter display 72 using an image that is thicker than the image of the lower limit distance line LDlower.

[0195] In addition, during the execution of the coasting deceleration control in the second inter-vehicle distance control, as Figure 10D shown, until the inter-vehicle distance DF to the preceding vehicle reaches the upper limit distance Dupper and the optimal acceleration control starts, the control device 10 performs image display in a manner that emphasizes or highlights the upper limit distance line LDupper.

[0196] <During the execution of the optimal acceleration control>

[0197] On the other hand, during the execution of the second inter-vehicle distance control, when the control device 10 executes the optimal acceleration control, as Figure 10C shown, it performs image display of the target distance range RDtgt and the lower limit distance emphasis line LDlower_E using the head-up display 71.

[0198] The target distance range RDtgt is displayed in an overlapping manner with the preceding vehicle 200. In addition, the lower limit distance emphasis line LDlower_E shows a position that is the lower limit distance Dlower away from the host vehicle 100 in the forward direction. Therefore, the lower limit distance emphasis line LDlower_E is displayed on the lower limit distance line LDlower of the target distance range RDtgt. In this example, the image of the lower limit distance emphasis line LDlower_E is an image that is thicker than the image of the lower limit distance line LDlower.

[0199] Therefore, during the execution of the second inter-vehicle distance control, when the control device 10 executes the optimal acceleration control, it performs image display in a manner that emphasizes or highlights the lower limit distance line LDlower. In other words, the control device 10 displays the lower limit distance Dlower and the upper limit distance Dupper in such a way that the recognizability of the lower limit distance Dlower (the recognizability of the image representing the lower limit distance Dlower) is higher than the recognizability of the upper limit distance Dupper (the recognizability of the image representing the upper limit distance Dupper).

[0200] In this way, in this example, the control device 10 makes the lower limit distance Dlower more recognizable than the upper limit distance Dupper by displaying an image of the lower limit distance line LDlower on the head-up display 71 using a line that is thicker than the image of the upper limit distance line LDupper.

[0201] In addition, during the execution of the optimal acceleration control in the second inter-vehicle distance control, asFigure 10D As shown, until the inter-vehicle distance DF to the preceding vehicle reaches the lower limit distance Dlower and the coasting deceleration control starts, the control device 10 performs image display in a manner that emphasizes or highlights the lower limit distance line LDlower.

[0202] Furthermore, during the execution of the following vehicle distance control, when the control device 10 executes the optimal acceleration control, as Figure 13C shown, the instrument display 72 is used to display the vehicle icon IC, the target distance range RDtgt, and the lower limit distance emphasis line LDlower_E.

[0203] Here, the target distance range RDtgt is also displayed in an image overlapping the vehicle icon IC. In addition, the lower limit distance emphasis line LDlower_E is displayed in an image on the upper limit distance line LDupper of the target distance range RDtgt.

[0204] Therefore, during the execution of the following vehicle distance control, when the control device 10 executes the optimal acceleration control, it performs image display in a manner that emphasizes or highlights the lower limit distance line LDlower. In other words, the control device 10 displays the lower limit distance Dlower and the upper limit distance Dupper in such a way that the recognizability of the lower limit distance Dlower (the recognizability of the image representing the lower limit distance Dlower) is higher than the recognizability of the upper limit distance Dupper (the recognizability of the image representing the upper limit distance Dupper).

[0205] In this way, in this example, the control device 10 makes the recognizability of the lower limit distance Dlower higher than that of the upper limit distance Dupper by displaying the lower limit distance line LDlower on the instrument display 72 with an image that is thicker than the image of the upper limit distance line LDupper.

[0206] In addition, during the execution of the optimal acceleration control in the following vehicle distance control, as Figure 13D shown, until the inter-vehicle distance DF to the preceding vehicle reaches the lower limit distance Dlower and the coasting deceleration control starts, the control device 10 performs image display in a manner that emphasizes or highlights the lower limit distance line LDlower.

[0207] In addition, during the execution of the following vehicle distance control, the control device 10 uses the instrument display 72 (display device 70) to display the vehicle icon IC (image representing the preceding vehicle 200) in such a way that the position of the vehicle icon IC on the target distance range RDtgt displayed using the instrument display 72 (display device 70) corresponds to the actual position of the preceding vehicle 200 relative to its own vehicle 100.

[0208] <Effect>

[0209] According to the control device 10, during the execution of the second vehicle speed control, the target speed range RVtgt is displayed as an image using the head-up display 71 and the meter display 72. Therefore, the driver can easily understand that their vehicle speed V is controlled within a certain range. Thus, it is possible to prevent the driver from doubting whether their own vehicle 100 is appropriately accelerating or decelerating through the automatic driving control.

[0210] Similarly, according to the control device 10, during the execution of the second inter-vehicle distance control, the target distance range RDtgt is displayed as an image using the head-up display 71 and the meter display 72. Therefore, the driver can easily understand that the inter-vehicle distance DF to the preceding vehicle is controlled within a certain range. Thus, it is possible to prevent the driver from doubting whether their own vehicle 100 is appropriately accelerating or decelerating through the automatic driving control.

[0211] Furthermore, according to the control device 10, during the execution of the second vehicle speed control, when the coasting deceleration control is executed, the lower limit speed Vlower is emphasized and displayed, and when the optimal acceleration control is executed, the upper limit speed Vupper is emphasized and displayed. Therefore, even if the vehicle speed V exceeds the target speed Vtgt and continues to decrease, since the lower limit speed Vlower is emphasized, the driver can easily understand that the acceleration and deceleration of their own vehicle 100 are intentionally controlled in such a way that the current vehicle speed V is decreasing toward the lower limit speed Vlower. In addition, even if the vehicle speed V exceeds the target speed Vtgt and continues to increase, since the upper limit speed Vupper is emphasized, the driver can easily understand that the acceleration and deceleration of their own vehicle 100 are intentionally controlled in such a way that the current vehicle speed V is increasing toward the upper limit speed Vupper. Thus, it is possible to more effectively prevent the driver from doubting whether their own vehicle 100 is appropriately accelerating or decelerating through the automatic driving control.

[0212] Similarly, according to the control device 10, during the execution of the second workshop distance control, when the coasting deceleration control is executed, the upper limit distance Dupper is emphasized and displayed, and when the optimal acceleration control is executed, the lower limit distance Dlower is emphasized and displayed. Therefore, even if the distance DF between the preceding vehicles exceeds the target distance Dtgt and continues to increase, since the upper limit distance Dupper is emphasized, it is easy for the driver to understand that the acceleration and deceleration of the own vehicle 100 are currently being intentionally controlled in such a way that the distance DF between the preceding vehicles increases toward the upper limit distance Dupper. In addition, even if the distance DF between the preceding vehicles exceeds the target distance Dtgt and continues to decrease, since the lower limit distance Dlower is emphasized, it is easy for the driver to understand that the acceleration and deceleration of the own vehicle 100 are currently being intentionally controlled in such a way that the distance DF between the preceding vehicles decreases toward the lower limit distance Dlower. Thus, it is possible to more effectively prevent the driver from doubting whether the own vehicle 100 is appropriately accelerating and decelerating through the autonomous driving control.

[0213] In addition, during the execution of the autonomous driving control, the control device 10 uses both the head-up display 71 and the instrument display 72 to display the image of the control-related information, but it may also be configured to use either the head-up display 71 or the instrument display 72 to display the image of the control-related information.

[0214] In addition, the control device 10 may also be configured to, during the execution of the second driving speed control, use the display device 70 to display the target speed range RVtgt in the same manner as the target distance range RDtgt. That is, the control device 10 may also be configured to, during the execution of the second driving speed control, use the display device 70 to display the target speed range RVtgt in the same manner as the display modes shown in FIGS. 10 and 13.

[0215] In this case, during the execution of the second driving speed control, the control device 10 uses the display device 70 to display the moving range of the own vehicle 100 (own vehicle moving range) when the own vehicle 100 automatically accelerates and decelerates in such a way that its own vehicle speed V is maintained within the target speed range RVtgt as the target speed range RVtgt. In this case, the line of the own vehicle moving range corresponding to the upper limit distance line LDupper of the target distance range RDtgt is the line representing the upper limit speed Vupper (upper limit speed line), and the line of the own vehicle moving range corresponding to the lower limit distance line LDlower of the target distance range RDtgt is the line representing the lower limit speed Vlower (lower limit speed line).

[0216] Furthermore, in this case, during the execution of the coasting control in the second vehicle speed control, the control device 10 displays the target speed range RVtgt on the head-up display 71 in such a manner that the upper speed line of the target speed range RVtgt gradually moves away from the host vehicle 100. During the execution of the optimal acceleration control in the second vehicle speed control, the control device 10 displays the target speed range RVtgt on the head-up display 71 in such a manner that the upper speed line of the target speed range RVtgt gradually approaches the host vehicle 100. In addition, at this time, during the execution of the coasting control in the second vehicle speed control, the control device 10 displays a line similar to the lower distance emphasis line LDlower_E on the lower speed line of the target speed range RVtgt on the head-up display 71. During the execution of the optimal acceleration control in the second vehicle speed control, the control device 10 displays a line similar to the upper distance line LDupper on the upper speed line of the target speed range RVtgt.

[0217] In addition, in this case, during the execution of the second vehicle speed control, the control device 10 uses the meter display 72 to display the vehicle icon IC as an image representing the host vehicle 100. During the execution of the coasting control in the second vehicle speed control, the control device 10 displays the target speed range RVtgt on the meter display 72 in such a manner that the upper speed line of the target speed range RVtgt gradually moves away from the vehicle icon IC. During the execution of the optimal acceleration control in the second vehicle speed control, the control device 10 displays the target speed range RVtgt on the meter display 72 in such a manner that the upper speed line of the target speed range RVtgt gradually approaches the vehicle icon IC. In addition, at this time, during the execution of the coasting control in the second vehicle speed control, the control device 10 displays a line similar to the lower distance emphasis line LDlower_E on the lower speed line of the target speed range RVtgt on the meter display 72. During the execution of the optimal acceleration control in the second vehicle speed control, the control device 10 displays a line similar to the upper distance line LDupper on the upper speed line of the target speed range RVtgt.

[0218] In addition, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0219] <First Modification Example>

[0220] For example, as a first modification example of the embodiment of the present invention, it is also possible to, as Figure 15 shown, the control device 10 includes two ECUs, namely the first ECU 91 (ACC control ECU) and the second ECU 92 (meter ECU), as an alternative to the ECU 90.

[0221] In Figure 15In the example shown, the first ECU 91 is electrically connected to the drive device 20, the braking device 30, the accelerator pedal operation amount sensor 42, the brake pedal operation amount sensor 44, the vehicle speed detection device 45, the automatic driving control request operator 51, the second automatic driving control request operator 52, and the surrounding information detection device 60. On the other hand, the second ECU 92 is electrically connected to the display device 70.

[0222] Moreover, during the execution of the automatic driving control, the first ECU 91 provides information related to the current own vehicle speed V, whether there is a preceding vehicle 200, whether it is in the execution of the optimal acceleration control or in the execution of the coasting deceleration control, the upper limit speed Vupper, the lower limit speed Vlower, the upper limit distance Dupper, and the lower limit distance Dlower to the second ECU 92.

[0223] During the execution of the automatic driving control, the second ECU 92, based on the above information provided by the first ECU 91, uses the head-up display 71 and the instrument display 72 to perform image display of the target speed range RVtgt, the target distance range RDtgt, etc. as described above.

[0224] <Second Variant Example>

[0225] Alternatively, as a second variant example of the embodiment of the present invention, it may be as Figure 16 shown, the control device 10 includes three ECUs, namely the first ECU 91 (ACC control ECU), the second ECU 92 (instrument ECU), and the third ECU 93 (vehicle ECU), as an alternative to the ECU 90.

[0226] In Figure 16 the example shown, the first ECU 91 is electrically connected to the automatic driving control request operator 51, the second automatic driving control request operator 52, and the surrounding information detection device 60. On the other hand, the second ECU 92 is electrically connected to the display device 70, and the third ECU 93 is electrically connected to the drive device 20, the braking device 30, the accelerator pedal operation amount sensor 42, the brake pedal operation amount sensor 44, and the vehicle speed detection device 45.

[0227] Moreover, during the execution of the automatic driving control, the first ECU 91 provides information related to whether there is a preceding vehicle 200, the target speed Vtgt, and the target distance Dtgt to the second ECU 92. In addition, the third ECU 93 provides information related to the current own vehicle speed V to the second ECU 92.

[0228] In the execution of the autonomous driving control, the second ECU 92 sets the upper limit speed Vupper and the lower limit speed Vlower, or the upper limit distance Dupper and the lower limit distance Dlower, based on the information provided from the first ECU 91 (especially the information related to the target speed Vtgt and the target distance Dtgt). Further, in the second modification, the control device 10 may also be configured to provide the information related to the upper limit speed Vupper, the lower limit speed Vlower, the upper limit distance Dupper, and the lower limit distance Dlower from the first ECU 91 to the second ECU 92.

[0229] Furthermore, in the execution of the autonomous driving control, the second ECU 92 determines whether it is in the execution of the optimal acceleration control or the coasting deceleration control based on the information provided from the third ECU 93.

[0230] Then, the second ECU 92 performs image display of the target speed range RVtgt, the target distance range RDtgt, etc. on the head-up display 71 and the meter display 72 as described above, based on the set upper limit speed Vupper, etc. and the determination result of whether it is in the execution of the optimal acceleration control or the coasting deceleration control.

[0231] According to the second modification, the amount of information provided from the first ECU 91 to the second ECU 92 can be reduced, and the communication load from the first ECU 91 to the second ECU 92 can be decreased.

[0232] In addition, in the second modification, when the control device 10 successfully determines whether it is in the execution of the optimal acceleration control or the coasting deceleration control, it performs image display emphasizing the upper limit speed Vupper or the lower limit speed Vlower, or the upper limit distance Dupper or the lower limit distance Dlower as described above. However, when it cannot determine whether it is in the execution of the optimal acceleration control or the coasting deceleration control, it does not perform image display emphasizing the upper limit speed Vupper or the lower limit speed Vlower, or the upper limit distance Dupper or the lower limit distance Dlower. In addition, when it cannot determine whether it is in the execution of the optimal acceleration control or the coasting deceleration control, the control device 10 may also perform image display emphasizing both the upper limit distance Dupper and the lower limit distance Dlower on the head-up display 71. That is, the control device 10 may also perform image display of both the upper limit distance emphasis line LDupper_E and the lower limit distance emphasis line LDlower_E on the head-up display 71.

[0233] In addition, since the headway distance control controls the acceleration and deceleration of its own vehicle 100 in such a way that the distance DF between the preceding vehicles is maintained at the target distance Dtgt, it is a control targeting the preceding vehicle 200, but it can also be a control targeting the following vehicle 300. That is, the headway distance control can also be a control that automatically controls the acceleration and deceleration of its own vehicle 100 in such a way that the distance DR between the following vehicles is maintained at the target distance Dtgt.

[0234] Similarly, since the following headway distance control controls the acceleration and deceleration of its own vehicle 100 in such a way that the distance DF between the preceding vehicles is maintained within the target distance range RDtgt, it is a control targeting the preceding vehicle 200, but it can also be a control targeting the following vehicle 300. That is, the following headway distance control can also be a control that automatically controls the acceleration and deceleration of its own vehicle 100 in such a way that the distance DR between the following vehicles is maintained within the target distance range RDtgt.

[0235] Furthermore, the preceding vehicle 200 is a vehicle traveling in the same direction as the traveling direction of its own vehicle 100 in front of its own vehicle 100, and the following vehicle 300 is a vehicle traveling in the same direction as the traveling direction of its own vehicle 100 behind its own vehicle 100. Therefore, the preceding vehicle 200 and the following vehicle 300 are vehicles in the vicinity of its own vehicle 100 and are vehicles traveling in the same direction as the traveling direction of its own vehicle 100, that is, surrounding vehicles.

[0236] Therefore, the headway distance control is a control that automatically accelerates and decelerates its own vehicle 100 in such a way that the distance between its own vehicle 100 and the surrounding vehicle, that is, the headway distance, is maintained at the target distance Dtgt, and the following headway distance control is a control that automatically accelerates and decelerates its own vehicle 100 in such a way that the distance between its own vehicle 100 and the surrounding vehicle, that is, the headway distance, is maintained within the target distance range RDtgt.

[0237] In addition, the control device 10 can also be configured such that, during the execution of the second automatic driving control, when an interruption event such as its own vehicle 100 is traveling on a curve or there are many other vehicles in the vicinity of its own vehicle 100 occurs, the second automatic driving control is temporarily interrupted, and when such an interruption event is eliminated, the second automatic driving control is restarted. In this case, during the period when the control device 10 temporarily interrupts the second automatic driving control, the same image display using the head-up display 71 and the meter display 72 as during the execution of the first automatic driving control is performed.

[0238] In addition, the present invention can also be applied to a case where the control device 10 is configured to control its own vehicle speed V with a certain control amplitude in the same manner as the second traveling speed control during the occurrence of a specified event in the execution of the first traveling speed control. In addition, the present invention can also be applied to a case where the control device 10 is configured to control the distance DF between the preceding vehicles with a certain control amplitude in the same manner as the second inter-vehicle distance control during the occurrence of a specified event in the execution of the first inter-vehicle distance control.

[0239] <Specific operation of the control device>

[0240] Next, the specific operation of the control device 10 will be described. The control device 10 executes Figure 17 the routine shown. Therefore, when a specified timing is reached, the control device 10 starts processing from Figure 17 step S1700 of the routine shown, and advances its processing to step S1705 to determine whether the automatic driving control requirement conditions are satisfied.

[0241] When the control device 10 determines "yes" in step S1705, it advances the processing to step S1710 to determine whether the second automatic driving control requirement conditions are satisfied. When the control device 10 determines "no" in step S1710, it advances the processing to step S1715 to determine whether there is a preceding vehicle 200. When the control device 10 determines "yes" in step S1715, it advances the processing to step S1720 to execute the first inter-vehicle distance control. Next, the control device 10 advances the processing to step S1795 to temporarily end the processing of this routine.

[0242] On the other hand, when the control device 10 determines "no" in step S1715, it advances the processing to step S1725 to execute the first traveling speed control. Next, the control device 10 advances the processing to step S1795 to temporarily end the processing of this routine.

[0243] In addition, when the control device 10 determines "yes" in step S1710, it advances the processing to step S1730 to determine whether there is a preceding vehicle 200. When the control device 10 determines "yes" in step S1730, it advances the processing to step S1735 to execute the second inter-vehicle distance control. Next, the control device 10 advances the processing to step S1795 to temporarily end the processing of this routine.

[0244] On the other hand, when the control device 10 determines "no" in step S1730, it advances the processing to step S1740 to execute the second traveling speed control. Next, the control device 10 advances the processing to step S1795 to temporarily end the processing of this routine.

[0245] In addition, when the control device 10 determines "No" in step S1705, the process directly advances to step S1705, and the processing of this routine is temporarily ended.

[0246] Furthermore, the control device 10 executes Figure 18 the routine shown. Therefore, when a predetermined timing is reached, the control device 10 starts processing from Figure 18 step S1800 of the routine shown, advances the process to step S1805, and determines whether the second automatic driving control is being executed. When the control device 10 determines "Yes" in step S1805, the process advances to step S1810 to determine whether the second inter-vehicle distance control is being executed.

[0247] When the control device 10 determines "Yes" in step S1810, the process advances to step S1815 to obtain the target distance range RDtgt. Next, the control device 10 advances the process to step S1820 to obtain the current position of the host vehicle 100 relative to the preceding vehicle 200. Next, the control device 10 advances the process to step S1825 to obtain the acceleration / deceleration state of the host vehicle 100. That is, the control device 10 obtains whether the optimal acceleration control is being executed or the coasting deceleration control is being executed. Next, the control device 10 advances to step S1830, and based on the obtained "target distance range RDtgt, the current position of the host vehicle 100 relative to the preceding vehicle 200, and the acceleration / deceleration state of the host vehicle 100", image-display control-related information such as the target distance range RDtgt using the head-up display 71 and the meter display 72 as described above. Next, the control device 10 advances the process to step S1895, and temporarily ends the processing of this routine.

[0248] On the other hand, when the control device 10 determines "No" in step S1810, the process proceeds to step S1835 to obtain the target speed range RVtgt. Next, the control device 10 advances the process to step S1840 to obtain the current own vehicle speed V. Next, the control device 10 advances the process to step S1845 to obtain the acceleration / deceleration state of the host vehicle 100. That is, the control device 10 obtains whether the optimal acceleration control is being executed or the coasting deceleration control is being executed. Next, the control device 10 advances the process to step S1850, and based on the obtained "target speed range RVtgt, current own vehicle speed V, and acceleration / deceleration state of the host vehicle 100", image-display control-related information such as the target speed range RVtgt using the head-up display 71 and the instrument display 72 as described above. Next, the control device 10 advances the process to step S1895 to temporarily end the processing of this routine.

[0249] The above is the specific operation of the control device 10. Description of Reference Numerals

[0250] 10... control device (display control device), 20... drive device, 30... brake device, 70... display device, 71... head-up display, 72... instrument display, 90... ECU, 100... host vehicle, 200... preceding vehicle, 300... following vehicle, RVtgt... target speed range, BRI... target speed range bar, Vupper... upper limit speed, Vlower... lower limit speed, RDtgt... target distance range, Dupper... upper limit distance, Dlower... lower limit distance, LDupper... upper limit distance line, LDlower... lower limit distance line, LDupper_E... upper limit distance emphasis line, LDlower_E... lower limit distance emphasis line.

Claims

1. A display control device configured to, during the execution of a driving speed control for automatically accelerating or decelerating the host vehicle in such a manner that the driving speed of the host vehicle is maintained within a target speed range, display an image of the target speed range using a display device of the host vehicle, or, during the execution of a inter-vehicle distance control for automatically accelerating or decelerating the host vehicle in such a manner that the distance between the host vehicle and a surrounding vehicle, i.e., the inter-vehicle distance, is maintained within a target distance range, display an image of the target distance range using the display device, where the surrounding vehicle is a vehicle surrounding the host vehicle and traveling in the same direction as the traveling direction of the host vehicle.

2. The display control device according to claim 1, wherein, the target distance range is a range having a value greater than the target distance by a first value as an upper limit value and a value smaller than the target distance by a second value as a lower limit value, and the target distance is a value obtained by multiplying a target value of the time required for the host vehicle to travel the inter-vehicle distance by the driving speed of the host vehicle.

3. The display control device according to claim 1, wherein, the display control device is configured to, during the execution of the driving speed control, use, as the target speed range, a moving range of the host vehicle when the host vehicle is automatically accelerated or decelerated in such a manner that the driving speed of the host vehicle is maintained within the target speed range, and display an image using the display device.

4. The display control device according to claim 1, wherein, the display control device is configured to, during the execution of the driving speed control, display an image of the target speed range by displaying an upper limit speed and a lower limit speed of the target speed range using the display device.

5. The display control device according to claim 4, wherein, the display control device is configured to, when accelerating the host vehicle by the driving speed control, display the upper limit speed and the lower limit speed using the display device in such a manner that the upper limit speed is emphasized more than the lower limit speed.

6. The display control device according to claim 4 or 5, wherein, the display control device is configured to, when decelerating the host vehicle by the driving speed control, display the upper limit speed and the lower limit speed using the display device in such a manner that the lower limit speed is emphasized more than the upper limit speed.

7. The display control device according to claim 1, wherein, the driving speed control is a control in which, when accelerating the host vehicle, the driving device is operated to accelerate the host vehicle in such a manner that the energy efficiency of the driving device of the host vehicle is maintained at a specified efficiency or higher, and when decelerating the host vehicle, the driving device is controlled to operate in such a manner that the host vehicle coasts to decelerate.

8. The display control device according to claim 1, wherein, The display control device is configured to, during the execution of the inter-vehicle distance control, perform image display of the target distance range by using the display device to perform image display of the upper limit distance and the lower limit distance of the target distance range.

9. The display control device according to claim 8, wherein, the display control device is configured to, when accelerating the host vehicle by the inter-vehicle distance control, perform image display of the upper limit distance and the lower limit distance by using the display device in a manner that emphasizes the lower limit distance more than the upper limit distance.

10. The display control device according to claim 8 or 9, wherein, the display control device is configured to, when decelerating the host vehicle by the inter-vehicle distance control, perform image display of the upper limit distance and the lower limit distance by using the display device in a manner that emphasizes the upper limit distance more than the lower limit distance.

11. The display control device according to claim 1, wherein, the inter-vehicle distance control is a control in which, when accelerating the host vehicle, the drive device of the host vehicle is operated to accelerate the host vehicle in such a manner that the energy efficiency of the drive device is maintained at a specified efficiency or higher, and when decelerating the host vehicle, the operation of the drive device is controlled in such a manner that the host vehicle coasts to decelerate the host vehicle.

12. The display control device according to claim 1, wherein, the display control device is configured to, during the execution of the traveling speed control, perform image display of the current traveling speed of the host vehicle on the target speed range where image display is performed by using the display device, during the execution of the inter-vehicle distance control, perform image display of an image representing the surrounding vehicle on the target distance range where image display is performed by using the display device.

13. The display control device according to claim 12, wherein, the display control device is configured to, during the execution of the inter-vehicle distance control, perform image display of the image representing the surrounding vehicle by using the display device in such a manner that the position of the image representing the surrounding vehicle on the target distance range where image display is performed by using the display device corresponds to the actual position of the surrounding vehicle relative to the host vehicle.

14. The display control device according to claim 1, wherein, the display device is a device that displays an image on the front window glass of the host vehicle, the display control device is configured to, when the surrounding vehicle is a preceding vehicle traveling in front of the host vehicle, during the execution of the inter-vehicle distance control, perform image display of the target distance range on the front window glass by using the display device in such a manner that the positional relationship between the target distance range where image display is performed by using the display device and the preceding vehicle corresponds to the actual positional relationship between the target distance range and the preceding vehicle.

15. The display control device according to claim 1, wherein, The display control device is configured to, when accelerating the host vehicle by the driving speed control, use the display device to perform image display of the upper speed and the lower speed in a manner that emphasizes the upper speed more than the lower speed, when decelerating the host vehicle by the driving speed control, use the display device to perform image display of the upper speed and the lower speed in a manner that emphasizes the lower speed more than the upper speed, when accelerating the host vehicle by the inter-vehicle distance control, use the display device to perform image display of the upper distance and the lower distance in a manner that emphasizes the lower distance more than the upper distance, when decelerating the host vehicle by the inter-vehicle distance control, use the display device to perform image display of the upper distance and the lower distance in a manner that emphasizes the upper distance more than the lower distance, during the execution of the driving speed control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, do not perform the emphasis on the upper speed and the emphasis on the lower speed, during the execution of the inter-vehicle distance control, when it is impossible to determine whether the host vehicle is accelerating or decelerating, do not perform the emphasis on the upper distance and the emphasis on the lower distance.

16. The display control device according to claim 1, wherein, the target speed range and the target distance range can be changed by an operator of the host vehicle.

Images