Vehicle control device

Abstract

The invention provides a vehicle control device capable of reducing the possibility that acceleration of a host vehicle brings a sense of discomfort to a driver when the driver predicts that the host vehicle will decelerate. The vehicle control device performs automatic acceleration / deceleration control for automatically controlling the acceleration / deceleration of the host vehicle such that a speed acceleration for matching the host vehicle speed with a target vehicle speed set to a desired set vehicle speed matches the acceleration of the host vehicle, and stores the set vehicle speed when the automatic acceleration / deceleration control ends. The vehicle control device sets the target vehicle speed as the stored set vehicle speed when the driver performs a restart operation for restarting the automatic acceleration / deceleration control. When the driver performs the restart operation, the vehicle control device sets the target vehicle speed to a near vehicle speed that is lower than the set vehicle speed when there is a deceleration target object that requires deceleration in front of the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle control device for performing automatic acceleration and deceleration control, which automatically controls the acceleration and deceleration (acceleration, deceleration) of the vehicle in such a way that the vehicle speed, which represents the speed of the vehicle, is consistent with a target vehicle speed set as desired by the driver. Background Technology

[0002] Previously, vehicle control devices that perform automatic acceleration and deceleration control were known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") obtains the minimum value among the ACC vehicle speed, stop line vehicle speed, limit vehicle speed, and turning deceleration vehicle speed at a time point after a predetermined time has elapsed from the current time point as the target vehicle speed. The conventional device controls the acceleration and deceleration of the vehicle in a manner that makes the vehicle speed match the target vehicle speed.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2019 / 008647 Summary of the Invention

[0006] Automatic acceleration and deceleration control is, for example, a control called ACC (Adaptive Cruise Control). In this control, when there is no preceding vehicle, acceleration and deceleration are controlled in a way that makes the vehicle speed match the target speed set to the desired speed. When there is a preceding vehicle, acceleration and deceleration are controlled in a way that makes the distance between the vehicle and the preceding vehicle match a preset distance.

[0007] The existing device, when the preceding vehicle stops, can accelerate the vehicle to the set speed before the vehicle begins to decelerate in a manner that makes the inter-vehicle distance consistent with the set distance (before the vehicle reaches position x0 shown in Figure 11 of Patent Document 1).

[0008] When the driver visually confirms that a vehicle ahead has stopped, the driver anticipates that the vehicle will decelerate. However, existing systems may cause the vehicle to accelerate to a speed that is the set speed. Such acceleration could feel unnatural to the driver.

[0009] The present invention was made to address the aforementioned problems. Specifically, one of the objectives of the present invention is to provide a vehicle control device that reduces the likelihood of a driver experiencing a sense of unease when the vehicle accelerates in a situation where the driver anticipates that the vehicle will decelerate.

[0010] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") performs automatic acceleration and deceleration control to automatically control the acceleration and deceleration of the vehicle, so that the vehicle speed (Vs), which represents the speed of the vehicle, is consistent with the target vehicle speed (Vtgt), which is set to the set vehicle speed (Vset) desired by the driver of the vehicle, and the acceleration of the vehicle is consistent with the acceleration of the vehicle (steps 500-595).

[0011] The vehicle control device described above is configured such that, upon termination of the automatic acceleration / deceleration control (step 330 "Yes"), it stores the set vehicle speed (step 335).

[0012] If, after the aforementioned automatic acceleration / deceleration control has ended, the driver performs a restart operation to resume the aforementioned automatic acceleration / deceleration control (step 345 "Yes"), the target vehicle speed is set to the stored set vehicle speed (step 350).

[0013] If the driver initiates the restart operation as described above (step 345 "Yes"), determine whether there is an object in front of the vehicle in the lane in which the vehicle is traveling that requires the vehicle to slow down (step 355).

[0014] If the aforementioned deceleration target exists (step 355 "Yes"), the target vehicle speed is set to a near speed (Vap) that is less than the set vehicle speed (step 555).

[0015] Furthermore, the device of the present invention is configured such that,

[0016] In the automatic acceleration / deceleration control, if there is a preceding vehicle in the same lane in which the vehicle is traveling (step 525 "Yes"), the acceleration / deceleration of the vehicle is automatically controlled so that the acceleration of the vehicle is the smaller of the acceleration for speed and the acceleration for distance to make the inter-vehicle distance between the preceding vehicle and the vehicle consistent with a preset set distance (Dset) (steps 530 to 540).

[0017] If the preceding vehicle no longer exists (step 415 "No" and step 420 "Yes", step 415 "Yes" and step 435 "No"), determine whether there is a decelerating object (steps 425 and 440).

[0018] If the object to be decelerated is present (step 425 "Yes", step 440 "Yes"), the target vehicle speed is set to a near speed (Vap) that is less than the set vehicle speed (step 555).

[0019] The device of the present invention has a higher probability of accelerating the vehicle to match the set speed when the driver restarts the operation or when there is no longer a preceding vehicle. According to the device of the present invention, in such situations where there is an object decelerating, the target speed is set to a speed close to the set speed, which is lower than the set speed. In this case, even if the vehicle accelerates, the vehicle speed is lower and the acceleration is slower compared to when the target speed is set to the set speed. Therefore, the device of the present invention can reduce the possibility of the driver experiencing a sense of unease due to the vehicle accelerating when the driver anticipates deceleration. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the vehicle control device according to an embodiment of the present invention.

[0021] Figure 2 This is an explanatory diagram of the vehicle itself, the preceding vehicle, and the vehicle being decelerated.

[0022] Figure 3 yes Figure 1 The flowchart shown is a start and end determination routine executed by the CPU of the ECU.

[0023] Figure 4 yes Figure 1 The flowchart shown is of the lead vehicle disengagement determination routine executed by the CPU of the ECU.

[0024] Figure 5 yes Figure 1 The flowchart shown is of the ACC routine executed by the CPU of the ECU.

[0025] Figure 6 This is an explanatory diagram of a speedometer.

[0026] Explanation of reference numerals in the attached figures

[0027] 10…Vehicle control unit, 20…ECU, 22…Camera, 24…Millimeter-wave radar, 34…Res button, 36…Powertrain actuator, 38…Brake actuator. Detailed Implementation

[0028] like Figure 1 As shown, the vehicle control device (hereinafter referred to as "this device 10") according to this embodiment is applied to the vehicle VA and has Figure 1 The constituent elements shown.

[0029] ECU20 performs the aforementioned automatic acceleration / deceleration control. Automatic acceleration / deceleration control is a type of autonomous driving. ACC (Adaptive Cruise Control) is an example of automatic acceleration / deceleration control.

[0030] The ECU20 is an electronic control device with a microcomputer as its main component. The ECU20 is also referred to as a control unit, controller, or computer. The microcomputer includes a CPU (processor), ROM, RAM, and interfaces (I / F). The functions performed by the ECU20 can also be achieved through multiple ECUs.

[0031] Camera 22 acquires image data by capturing images of the scene in front of the vehicle VA. Millimeter-wave radar 24 acquires object data related to an object by receiving the reflected wave of a millimeter wave sent in front of the vehicle VA and then reflected by that object.

[0032] ECU 20 acquires image data from camera 22 and object data from millimeter-wave radar 24. Based on the image data, ECU 20 identifies the lane SL in which the vehicle VA is traveling (see reference). Figure 2 Based on image data and object data, ECU20 determines the position of an object in front of the vehicle VA relative to the vehicle VA, as well as the relative speed of the object relative to the vehicle VA.

[0033] Vehicle speed sensor 26 measures the vehicle speed (vehicle speed) Vs, which represents the speed of the vehicle VA. Acceleration sensor 28 measures the longitudinal acceleration G of the vehicle VA. ECU 20 acquires the measurements from these sensors.

[0034] The ACC button 30 is operated by the driver to initiate ACC. The setting button 32 is operated by the driver to set the set speed Vset used in ACC to the desired speed. Additionally, the driver also operates the setting button 32 when setting the set distance Dset to the desired distance. The Res (Resume) button 34 is operated by the driver to start (restart) ACC by inheriting the set speed Vset used in the previous ACC session. Sometimes, operating the Res button 34 is referred to as "restarting operation".

[0035] The powertrain actuator 36 alters the driving force generated by the drive unit (e.g., internal combustion engine and / or electric motor) of the vehicle VA. The brake actuator 38 controls the braking force applied to the wheels of the vehicle VA.

[0036] <acc>

[0037] ECU 20 sets the target vehicle speed Vtgt to the set vehicle speed Vset. When there is no preceding vehicle while ACC is activated, the target acceleration Gtgt is set to the speed acceleration Gvt used to make the current vehicle speed Vs match the target vehicle speed Vtgt. On the other hand, when there is a preceding vehicle while ACC is activated, ECU 20 sets the target acceleration Gtgt to the smaller of the speed acceleration Gvt and the distance acceleration Gdt used to make the distance D between the current vehicle VA and the preceding vehicle match the set distance Dset. ECU 20 controls the powertrain actuator 36 and the brake actuator 38 (i.e., controls the acceleration and deceleration of the current vehicle VA) in a manner that makes the acceleration G of the current vehicle VA match the target acceleration Gtgt.

[0038] (Job Summary)

[0039] When Res button 34 is operated, the set speed Vset from the previous ACC is used, so ACC starts without waiting for input of the set speed Vset. If the vehicle speed Vs at the time Res button 34 is operated is lower than the set speed Vset, the vehicle's VA accelerates when Res button 34 is operated again to match the target speed Vtgt set to the set speed Vset. For example, if the driver operates the brake pedal (not shown) when the vehicle VA enters an intersection, ACC ends. The driver then operates Res button 34 after turning left or right at the intersection, restarting ACC. In this case, there is a very high probability that the vehicle speed Vs at the time Res button 34 is operated is lower than the set speed Vset, and the vehicle VA accelerates after ACC restarts.

[0040] When a lead vehicle is present, this vehicle VA follows the lead vehicle in a manner that makes the distance between the two vehicles D consistent with the set distance Dset. If the speed of the lead vehicle is lower than the set speed Vset, and there is no longer a lead vehicle, this vehicle VA will accelerate in order to make its speed Vs consistent with the "target speed Vtgt set to the set speed Vset".

[0041] When there is a vehicle (VST) in front of this vehicle (VA) that requires deceleration (VA), refer to... Figure 2 When the VA of this vehicle accelerates as described above under the condition of "), the driver will feel a sense of incongruity.

[0042] In addition, ECU20 will determine the distance Ds from the vehicle VA at lane SL (refer to...) Figure 2 Other vehicles located within a certain range and with a speed below a threshold speed Vth are identified as deceleration target vehicles (VST). For example, deceleration target vehicles (VST) are other vehicles that are stationary or traveling at extremely low speeds. Therefore, the threshold speed Vth is set to a value smaller than the set vehicle speed Vset. The ECU 20 determines whether an object is a vehicle based on image data. The ECU 20 determines the speed of other vehicles based on the relative speeds (VA) of other vehicles relative to the vehicle itself, determined from the image data and object data, and the vehicle's own speed (Vs).

[0043] Furthermore, ECU20 will determine the distance Dp from the vehicle VA to the vehicle located in lane SL (refer to...). Figure 2 Other vehicles within a certain range are identified as priority vehicles. Distance Ds is set to be longer than distance Dp.

[0044] In this embodiment, the ECU 20 determines whether a vehicle VST (vehicle speed target) exists when the Res button 34 is activated or when there is no preceding vehicle. If a vehicle VST exists, the ECU 20 executes ACC (Adaptive Cruise Control) using a "closer speed Vap that is smaller than the set speed Vset". Specifically, the ECU 20 sets the target speed Vtgt to the closer speed Vap.

[0045] Therefore, when there is a high probability that the vehicle's VA will accelerate via ACC, and there is a vehicle VST that is about to decelerate, ACC is executed using an approach speed Vap that is smaller than the set speed Vset. Thus, when the driver anticipates that the vehicle's VA will decelerate, the probability of "the vehicle's VA accelerating rapidly, its speed Vs increasing, and then rapidly decelerating as the vehicle's VA approaches the vehicle VST" is reduced. Therefore, the possibility of the driver experiencing a sense of incongruity with the acceleration of the vehicle's VA is reduced.

[0046] In particular, if the ACC terminates when the vehicle's VA enters the intersection and then restarts ACC by pressing the Res button 34 after passing through the intersection, and there is a vehicle VST that is decelerating, the acceleration of the vehicle's VA is suppressed. This reduces the possibility of the driver experiencing a sense of unease due to the acceleration of the vehicle's VA after the Res button 34 has been pressed following the passage of the intersection. Similarly, if there is a vehicle VST that is decelerating when there is no longer a vehicle with an overtaking vehicle, the acceleration of the vehicle's VA is suppressed. This reduces the possibility of the driver experiencing a sense of unease due to the acceleration of the vehicle's VA when there is no longer a vehicle with an overtaking vehicle.

[0047] (Work Example)

[0048] Reference Figure 2 An example of ECU20 operation is explained.

[0049] Because other vehicle VB is located within a distance Dp of vehicle VA in lane SL, ECU 20 identifies other vehicle VB as a priority vehicle. Subsequently, other vehicle VB changes lanes to the right of lane SL, therefore ECU 20 no longer identifies other vehicle VB as a priority vehicle (i.e., ECU 20 determines that there is no priority vehicle). Specifically, if the distance between ECU 20 and other vehicle VB on the center line of lane SL is greater than a threshold distance, ECU 20 will not identify that other vehicle VB as a priority vehicle.

[0050] If ECU20 determines that there are no more vehicles traveling in the same direction, it then determines whether there is a "vehicle VST that is decelerating and located within a distance Ds of the vehicle's VA in lane SL and at a speed below the threshold speed Vth". Figure 2 In the example shown, because there is a vehicle VST that is decelerating, ECU20 sets the target vehicle speed Vtgt to a speed close to Vap.

[0051] (Specific tasks)

[0052] The CPU of ECU20 executes every predetermined time. Figures 3 to 5 The routines are illustrated in the flowchart.

[0053] <Start / End Judgment Routine>

[0054] If the appropriate time arrives, the CPU will then... Figure 3 The process begins at step 300 and proceeds to step 305. In step 305, the CPU determines whether the execution flag Xexe is "0".

[0055] The execution flag Xexe is set to "1" when ACC starts and "0" when ACC ends. The execution flag Xexe is set to "0" in the initialization routine. The initialization routine is executed by the CPU when the ignition key switch (not shown) on the vehicle's VA changes from the off position to the on position.

[0056] If the execution flag Xexe is "0", the CPU determines "yes" in step 305 and proceeds to step 310. In step 310, the CPU determines whether the ACC button 30 has been operated.

[0057] When the ACC button 30 is operated, the CPU determines "yes" in step 310 and proceeds to step 315. In step 315, the CPU determines whether the input vehicle speed Vin used to set the vehicle speed Vset has been input to the ECU 20. As an example, if the driver operates the setting button 32 while operating the accelerator pedal (not shown) and the brake pedal (not shown) to make the current vehicle speed Vs the desired speed, then the vehicle speed at this time is input to the ECU 20 as the input vehicle speed Vin.

[0058] If the input vehicle speed Vin is not input to ECU20, the CPU determines "no" in step 315 and executes step 315 again.

[0059] When the vehicle speed Vin is input to ECU20, the CPU determines "yes" in step 315 and executes steps 320 and 325.

[0060] Step 320: The CPU sets the set vehicle speed Vset to the input vehicle speed Vin.

[0061] Step 325: The CPU sets the execution flag Xexe to "1".

[0062] After that, the process proceeds to step 395, and the CPU temporarily terminates this routine.

[0063] If the execution flag Xexe is "1" when proceeding to step 305, the CPU determines "No" in step 305 and proceeds to step 330. In step 330, the CPU determines whether "at least one of the first condition, 'whether the brake pedal is operated,' and the second condition, 'whether the vehicle VA stops,' is met."

[0064] If neither condition 1 nor condition 2 is met, the CPU determines "No" in step 330. In this case, the process proceeds to step 395, temporarily terminating the current routine.

[0065] If at least one of the first and second conditions is met, the CPU determines "yes" in step 330 and executes steps 335 and 340.

[0066] Step 335: CPU stores the vehicle speed setting Vset.

[0067] Step 340: The CPU sets the execution flag Xexe to "0" and the proximity flag Xap to "0".

[0068] The approach flag Xap is set to "1" when using the approach speed Vap and to "0" when not using the approach speed Vap. Furthermore, the approach flag Xap is set to "0" in the initialization routine.

[0069] After that, the process proceeds to step 395, and the CPU temporarily terminates this routine.

[0070] If the ACC button 30 is not activated when proceeding to step 310, the CPU determines "No" in step 310 and proceeds to step 345. In step 345, the CPU determines whether the Res button 34 has been activated. If the Res button 34 has not been activated, the CPU determines "No" in step 345. In this case, the process proceeds to step 395, and the CPU temporarily terminates the current routine. On the other hand, if the Res button 34 has been activated, the CPU determines "Yes" in step 345 and executes steps 350 and 355.

[0071] Step 350: The CPU will set the set vehicle speed Vset stored at the end of the last ACC to the set vehicle speed Vset.

[0072] Step 355: The CPU determines whether there is a vehicle VST that is decelerating.

[0073] If there is no vehicle VST that is decelerating, the CPU determines "no" in step 355 and proceeds to step 325.

[0074] If a vehicle VST is decelerating when processing proceeds to step 355, the CPU determines "yes" in step 355 and proceeds to step 360. In step 360, the CPU sets the proximity flag Xap to "1". Then, processing proceeds to step 325.

[0075] <Pre-train disengagement procedure>

[0076] If the appropriate time arrives, the CPU will then... Figure 4 Processing begins at step 400 and proceeds to step 405. In step 405, the CPU determines whether the execution flag Xexe is "1". If the execution flag Xexe is "0", the CPU determines "No" in step 405. In this case, processing proceeds to step 495, and the CPU temporarily terminates this routine.

[0077] If the execution flag Xexe is "1", the CPU determines "yes" in step 405 and proceeds to step 410. In step 410, the CPU determines whether the proximity flag Xap is "0". If the proximity flag Xap is "0", the CPU determines "yes" in step 410 and proceeds to step 415.

[0078] In step 415, the CPU determines whether a preceding vehicle exists. If no preceding vehicle exists, the CPU determines "No" in step 415, and the process proceeds to step 420. In step 420, the CPU determines whether a preceding vehicle existed previously. If no preceding vehicle existed previously, the CPU determines "No" in step 420. In this case, the process proceeds to step 495, and the CPU temporarily terminates the current routine.

[0079] If a preceding vehicle existed when processing step 420, it means that no preceding vehicle exists this time. In this case, the CPU determines "yes" in step 420 and proceeds to step 425. In step 425, the CPU determines whether a vehicle VST (vehicle decelerating) exists.

[0080] If there is no vehicle VST (vehicle approaching the target vehicle), the CPU determines "No" in step 425. In this case, processing proceeds to step 495, and the CPU temporarily terminates the current routine. On the other hand, if there is a vehicle VST, the CPU determines "Yes" in step 425, and processing proceeds to step 430. In step 430, the CPU sets the proximity flag Xap to "1". Afterward, processing proceeds to step 495, and the CPU temporarily terminates the current routine.

[0081] If a preceding vehicle exists when processing to proceed to step 415, the CPU determines "yes" in step 415 and proceeds to step 435. In step 435, the CPU determines, based on image data, whether the previous preceding vehicle is the same as the current preceding vehicle.

[0082] If the previous lead vehicle is different from the current lead vehicle, it is possible that during the period from the last execution of this routine by the CPU to the current execution, the previous lead vehicle no longer exists, and a new lead vehicle exists. In this case, if the new lead vehicle is the vehicle VST that is decelerating, the approach flag Xap needs to be set to "1".

[0083] If the previous lead vehicle is different from the current lead vehicle, the CPU determines "no" in step 435 and proceeds to step 440. In step 440, the CPU determines whether the current lead vehicle is the vehicle VST that is decelerating.

[0084] If the preceding vehicle is the vehicle VST that is decelerating, the CPU determines "yes" in step 440 and proceeds to step 430. On the other hand, if the preceding vehicle is not the vehicle VST that is decelerating, the CPU determines "no" in step 440. In this case, the process proceeds to step 495, and the CPU temporarily terminates this routine.

[0085] On the other hand, when the lead vehicle in the previous time is the same as the lead vehicle in this time when the process enters step 435, the CPU determines "Yes" in step 435. In this case, the process enters step 495, and the CPU temporarily ends this routine.

[0086] When the approach flag Xap is "1" when the process enters step 410, the CPU determines "No" in step 410, and the process enters step 445. In step 445, the CPU determines whether there is a deceleration target vehicle VST.

[0087] When there is a deceleration target vehicle VST, the CPU determines "Yes" in step 445. In this case, the process enters step 495, and the CPU temporarily ends this routine.

[0088] When there is no deceleration target vehicle VST, the CPU determines "No" in step 445, and the process enters step 450. In step 450, the CPU sets the approach flag Xap to "0". After that, the process enters step 495, and the CPU temporarily ends this routine.

[0089] <ACC routine>

[0090] When an appropriate time point arrives, the CPU starts processing from Figure 5 step 500, and the process enters step 505. In step 505, the CPU determines whether the execution flag Xexe is "1". When the execution flag Xexe is "0", the CPU determines "No" in step 505. In this case, the process enters step 595, and the CPU temporarily ends this routine.

[0091] When the execution flag Xexe is "1", the CPU determines "Yes" in step 505, and the process enters step 510. In step 510, the CPU determines whether the approach flag Xap is "0".

[0092] When the approach flag Xap is "0", the CPU determines "Yes" in step 510, and executes steps 515 to 525.

[0093] Step 515: The CPU sets the target vehicle speed Vtgt to the set vehicle speed Vset.

[0094] Step 520: The CPU obtains the acceleration for speed Gvt such that the current vehicle speed Vs matches the target vehicle speed Vtgt.

[0095] Specifically, the CPU obtains the vehicle speed deviation ΔV by subtracting the current vehicle speed Vs from the target vehicle speed Vtgt, and obtains the acceleration for speed Gvt by applying the vehicle speed deviation ΔV to Equation (1).

[0096] Gvt=k1×ΔVs···(1)

[0097] In equation (1) above, k1 is the predetermined gain (coefficient).

[0098] Step 525: The CPU determines whether there is a preceding vehicle.

[0099] If there is a preceding vehicle, the CPU determines "yes" in step 525 and executes steps 530 to 540.

[0100] Step 530: The CPU obtains the distance using acceleration Gdt such that the inter-vehicle distance D between the current vehicle VA and the preceding vehicle is consistent with the set distance Dset.

[0101] In detail, the CPU obtains the distance deviation ΔD by subtracting the set distance Dset from the workshop distance D, and obtains the distance acceleration Gdt by applying the distance deviation ΔD to equation (2).

[0102] Gdt=ka1×(k2×ΔD+k3×Vr)…(2)

[0103] In equation (2) above, ka1, k2, and k3 are predetermined gains (coefficients). Vr represents the relative speed of the leading vehicle with respect to the vehicle VA.

[0104] Step 535: The CPU sets the target acceleration Gtgt to the minimum acceleration among the velocity acceleration Gvt and the distance acceleration Gdt.

[0105] Step 540: The CPU controls the powertrain actuator 36 and the brake actuator 38 in a manner that makes the acceleration G consistent with the target acceleration Gtgt. The CPU accelerates the vehicle VA when the target acceleration Gtgt is positive, and decelerates the vehicle VA when the target acceleration Gtgt is negative.

[0106] After that, the process proceeds to step 595, and the CPU temporarily terminates this routine.

[0107] If no preceding vehicle is present when proceeding to step 525, the CPU determines "No" in step 525 and proceeds to step 545. In step 545, the CPU sets the target acceleration Gtgt to the velocity acceleration Gvt. Then, the process proceeds to step 540.

[0108] If the proximity flag Xap is "1" when processing to enter step 510, the CPU determines "No" in step 510 and executes steps 550 and 555.

[0109] Step 550: The CPU applies the inter-vehicle distance D between the vehicle VA and the vehicle VST being decelerated to... Figure 6 The approximate speedometer shown is used to obtain the approximate speed Vap.

[0110] like Figure 6 As shown, the approach speedometer specifies the relationship between the inter-vehicle distance D and the approach speed Vap. The shorter the inter-vehicle distance D, the smaller the approach speed Vap. When the approach flag Xap is set to "1", the CPU sets the upper and lower limits of the approach speed Vap on the approach speedometer. The upper limit speed is set to the set speed Vset, and the lower limit speed is set to the current vehicle speed Vs when the approach flag Xap is set to "1".

[0111] Step 555: The CPU sets the target vehicle speed Vtgt to a speed close to the vehicle speed Vap.

[0112] Then, proceed with the processing after step 520.

[0113] As described above, when the Res button 34 is activated or when there is a vehicle VST that is decelerating but there is no preceding vehicle, the target vehicle speed Vtgt is set to a speed close to Vap. Therefore, when there is a vehicle VST that is decelerating but the likelihood of the vehicle VA accelerating is high, the target vehicle speed Vtgt is set to a speed close to Vap. Thus, compared to when the target vehicle speed Vtgt is set to the set vehicle speed Vset, the vehicle speed Vs is smaller and the acceleration is slower. Therefore, the possibility of the driver experiencing a sense of unease due to the vehicle VA accelerating when the driver anticipates that the vehicle VA will decelerate is reduced.

[0114] Approach speed Vap decreases as the distance between the vehicle's VA and the vehicle being decelerated, VST, decreases. This prevents the vehicle's VA from accelerating as it approaches the vehicle being decelerated, reducing the likelihood of a feeling of unease for the driver.

[0115] Because the upper limit of the approach speed Vap is set to the set vehicle speed Vset, it is possible for the approach speed Vap to be smaller than the set vehicle speed Vset. Furthermore, the lower limit of the approach speed Vap is set to the vehicle speed Vs when a vehicle VST is detected as a decelerating target. This reduces the possibility of the approach speed Vap being too low, which might cause the driver a sense of unease.

[0116] Furthermore, even if the lead train in the previous instance is the same as the lead train in this instance ( Figure 4 As shown in step 435 ("Yes"), the CPU can also determine whether the preceding vehicle is the vehicle VST that is decelerating. This is because, due to the deceleration of the preceding vehicle, the preceding vehicle may become the vehicle VST that is decelerating.

[0117] In the above embodiments, when there is a vehicle VST that needs to be decelerated, the target vehicle speed Vtgt is set to a speed close to Vap, but it is not limited to this. For example, when there is a "stop signal" or stop line that requires the vehicle VA to decelerate instead of the vehicle VST, the target vehicle speed Vtgt can also be set to a speed close to Vap. Such a vehicle VST, "stop signal", and stop line are referred to as deceleration objects.

[0118] The sensor used to detect objects is not limited to camera 22 and millimeter-wave radar 24. Equations (1) and (2) above are examples, and the acquisition of velocity using acceleration Gvt and distance using acceleration Gdt is not limited to these.

[0119] This device 10 can be applied to vehicles such as engine vehicles, hybrid vehicles, plug-in vehicles, fuel cell vehicles, and electric vehicles, and can also be applied to autonomous vehicles.< / acc>

Claims

1. A vehicle control device that performs automatic acceleration / deceleration control, the automatic acceleration / deceleration control automatically controlling the acceleration / deceleration of the vehicle such that the vehicle speed, used to make the vehicle speed, which represents the speed of the vehicle, match a target vehicle speed set as desired by the driver of the vehicle, and the acceleration of the vehicle is the same. The vehicle control device is configured as follows: When the automatic acceleration / deceleration control is terminated, the set vehicle speed is stored. If, after the automatic acceleration / deceleration control has ended, the driver performs a restart operation to resume the automatic acceleration / deceleration control, the target vehicle speed is set to the stored preset speed. If the driver initiates the restart operation, determine whether there is an obstacle in front of the vehicle in the lane in which the vehicle is currently traveling that requires the vehicle to slow down. In the presence of the object to be decelerated, the target vehicle speed is set to a speed close to the vehicle speed that is smaller than the set vehicle speed.

2. A vehicle control device that performs automatic acceleration / deceleration control, the automatic acceleration / deceleration control automatically controlling the acceleration / deceleration of the vehicle such that the vehicle speed, used to match the vehicle speed as a representation of the vehicle's speed, matches the vehicle's acceleration using a speed acceleration that matches the target vehicle speed set to a preset speed desired by the driver of the vehicle. The vehicle control device is configured as follows: In the automatic acceleration / deceleration control, when there is a preceding vehicle in the same lane in which the vehicle is currently traveling, the vehicle's acceleration / deceleration is automatically controlled so that the smaller of the speed acceleration and the distance acceleration is consistent with the vehicle's acceleration. The distance acceleration is used to ensure that the inter-vehicle distance between the preceding vehicle and the vehicle is consistent with a preset distance. If there are no longer any vehicles traveling in the lead, determine whether there is an object in front of the vehicle in the current lane that requires the vehicle to slow down. In the presence of the object to be decelerated, the target vehicle speed is set to a speed close to the vehicle speed that is smaller than the set vehicle speed.

3. The vehicle control device according to claim 1 or 2, The vehicle control device is configured to set the target vehicle speed as the approach speed decreases as the distance between the vehicle and the object being decelerated becomes shorter.

4. The vehicle control device according to claim 3, The vehicle control device is configured to set the upper limit of the approach speed to the set speed, and set the lower limit of the approach speed to the speed of the vehicle at the time point at which the deceleration target is determined to exist.

5. The vehicle control device according to claim 1 or 2, The vehicle control device is configured to determine the presence of a vehicle that is a deceleration target if it is located in front of the vehicle in the same lane and its speed is below a threshold speed.

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