Vehicle driving assistance device, vehicle driving assistance method, and program

Abstract

The invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a program. The apparatus includes one or a plurality of processors configured to execute control for driving a vehicle while repeating power driving and coasting driving of the vehicle, and to suspend coasting driving of the vehicle when coasting driving of the vehicle is performed and coasting driving suspension conditions are satisfied, and to suspend coasting driving of the vehicle when coasting driving suspension conditions are satisfied when coasting driving of the vehicle is performed. The coasting stop condition is a condition that there is an adjacent traveling vehicle in a coasting stop region including a region of the adjacent lane, the adjacent traveling vehicle being another vehicle traveling on an adjacent lane next to the own lane on which the vehicle travels, and the coasting stop condition being a condition that the adjacent traveling vehicle is the other vehicle traveling on the adjacent lane next to the own lane on which the vehicle travels. The vehicle is configured from a region of the adjacent lane within a first distance forward from the vehicle and a region of the adjacent lane within a second distance rearward from the vehicle.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance devices, vehicle driving assistance methods, and programs (program products). Background Technology

[0002] A vehicle driving assistance device with a control device is known, which performs automatic driving control that repeatedly performs powered driving (forced operation) and inertial driving (coasting) of the vehicle (its own vehicle) while driving the vehicle (for example, see Japanese Patent Application Laid-Open No. 2018-134925). Summary of the Invention

[0003] When performing automatic driving control that repeatedly alternates between powered driving and inertial driving while keeping the vehicle in motion, other vehicles traveling in adjacent lanes (adjacent vehicles) may sometimes be nearby. In this situation, the following scenario may occur: while the vehicle is inertial driving, an adjacent vehicle overtakes it, and then the vehicle begins powered driving and overtakes that adjacent vehicle again. Moreover, if this scenario repeats itself, it may annoy the drivers of adjacent vehicles.

[0004] The present invention provides a vehicle driving assistance device that can suppress the annoyance of drivers of adjacent vehicles caused by the repeated inertial and dynamic driving of the vehicle itself.

[0005] The first technical solution of the present invention relates to a vehicle driving assistance device including one or more processors. The one or more processors are configured to perform automatic driving control while repeatedly performing powered driving and inertial driving of the vehicle, and to stop the inertial driving of the vehicle when an inertial driving stop condition is met. The inertial driving stop condition is that there is an adjacent vehicle in the inertial driving stop area. The adjacent vehicle is another vehicle traveling in the same direction as the vehicle in the adjacent lane next to the vehicle's current driving lane. The inertial driving stop area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a first distance forward from the vehicle and the area of ​​the adjacent lane within a second distance backward from the vehicle.

[0006] When automatic driving control is in operation, if there are adjacent vehicles nearby, the following situation may occur: while the vehicle is inertial motion, an adjacent vehicle overtakes the vehicle, and then the vehicle begins to move with power, overtaking the adjacent vehicle again. Moreover, if such a situation occurs repeatedly, it may annoy the drivers of adjacent vehicles.

[0007] According to the vehicle driving assistance device of the present invention, when automatic driving control is performed, if there is an adjacent vehicle traveling nearby (i.e., when the inertial driving abort condition is met), the inertial driving of the vehicle is stopped. Therefore, the situation described above can be avoided. Therefore, it is possible to suppress the annoyance to drivers of adjacent vehicles caused by the repeated inertial driving and dynamic driving of the vehicle.

[0008] In the above technical solution, the inertial driving abort condition is that there is an adjacent vehicle in the inertial driving abort area and the speed of the adjacent vehicle is within the abort speed range.

[0009] Therefore, it is possible to determine whether to stop the inertial movement of the vehicle while taking into account the speed of adjacent vehicles.

[0010] In the vehicle driving assistance device of the above technical solution, the one or more processors are configured to, when executing the automatic driving control, set an upper limit and a lower limit for the vehicle's driving speed; when executing the automatic driving control, during the period of powered driving of the vehicle, when the vehicle's driving speed increases to reach the upper limit, stop powered driving of the vehicle and start inertial driving of the vehicle; during the period of inertial driving of the vehicle, when the vehicle's driving speed decreases to reach the lower limit, stop inertial driving of the vehicle and start powered driving of the vehicle; the range of the stopping speed is from the upper limit to the lower limit.

[0011] Accordingly, inertial driving control can be suspended only when there is a high probability that the driver of an adjacent vehicle will be annoyed by the repeated inertial driving and dynamic driving of the vehicle through automatic driving control.

[0012] In the vehicle driving assistance device of the above technical solution, the one or more processors are configured such that, when a switching condition is met and a switching prohibition condition is met, the vehicle's driving state is not switched from a state of powered driving to a state of inertial driving. The switching condition is the condition for switching the vehicle's driving state from a state of powered driving to a state of inertial driving. The switching prohibition condition is the condition that there is an adjacent vehicle in the switching prohibition area. The switching prohibition area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a third distance forward from the vehicle and the area of ​​the adjacent lane within a fourth distance backward from the vehicle. The third distance is longer than the first distance, and the fourth distance is longer than the second distance.

[0013] Sometimes, during automatic driving control, adjacent vehicles may be near the inertia-stop zone, even if they are not actually in it. In this situation, the adjacent vehicle might enter the inertia-stop zone shortly after the vehicle's inertia-stopping phase begins. Furthermore, once the adjacent vehicle enters the inertia-stop zone, the vehicle's inertia-stopping phase will cease, and its powered driving will begin. This results in an increase in the energy consumed by the vehicle's movement.

[0014] According to the vehicle driving assistance device of the present invention, when performing automatic driving control, if an adjacent vehicle is near the inertial driving stop zone even though it is not in the zone (i.e., when the switching prohibition condition is met), the vehicle does not begin inertial driving. Therefore, the energy consumed to drive the vehicle can be kept to a low level.

[0015] In the vehicle driving assistance device of the above technical solution, the one or more processors are configured to, when executing the automatic driving control, set an upper limit and a lower limit for the vehicle's driving speed; when executing the automatic driving control, during the period of powered driving of the vehicle, when the vehicle's driving speed increases to reach the upper limit, stop powered driving and start inertial driving; during the period of inertial driving of the vehicle, when the vehicle's driving speed decreases to reach the lower limit, stop inertial driving and start powered driving. The switching prohibition condition is as follows: there is an adjacent vehicle in the switching prohibition area, and the adjacent vehicle is an adjacent vehicle traveling in front of the vehicle, and the driving speed of the adjacent vehicle is slower than the average of the upper limit and the lower limit; or there is an adjacent vehicle in the switching prohibition area, and the adjacent vehicle is an adjacent vehicle traveling behind the vehicle, and the driving speed of the adjacent vehicle is faster than the average value.

[0016] Therefore, switching the vehicle's driving control from power driving control to inertial driving control can be prohibited only when there is a high probability that adjacent vehicles will enter the inertial driving stop area within a short period of time after the vehicle's driving control has been switched from power driving control to inertial driving control.

[0017] In the vehicle driving assistance device of the above technical solution, the inertial driving stop condition is that there is a following vehicle (a vehicle behind) in the area after the inertial driving stop. The following vehicle is another vehicle traveling in the same direction as the vehicle in the same lane. The inertial driving stop area includes the area of ​​the lane within 5 distances behind the vehicle.

[0018] In the vehicle driving assistance device of the above technical solution, the one or more processors are configured such that, when a switching condition is met and a switching prohibition condition is met, the vehicle's driving state is not switched from a state of powered driving to a state of inertial driving. The switching condition is the condition for switching the vehicle's driving state from a state of powered driving to a state of inertial driving. The switching prohibition condition is the presence of a following vehicle in the area behind the switching prohibition area. The area behind the switching prohibition area includes the area of ​​the vehicle's lane within a sixth distance behind the vehicle, where the sixth distance is longer than the fifth distance.

[0019] The second technical solution of the present invention relates to a vehicle driving assistance method, which is an automatic driving assistance method for driving a vehicle while repeatedly performing powered driving and inertial driving. The method includes: when the vehicle is inertial driving, if an inertial driving abort condition is met, stopping the inertial driving of the vehicle. The inertial driving abort condition is the presence of an adjacent vehicle in the inertial driving abort area. The adjacent vehicle is another vehicle traveling in the same direction as the vehicle in the adjacent lane next to the vehicle's current lane. The inertial driving abort area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a first distance forward from the vehicle and the area of ​​the adjacent lane within a second distance backward from the vehicle. The first distance and the second distance are determined at least based on the speed and acceleration of the vehicle and the speed of the adjacent vehicle.

[0020] The third technical solution of the present invention relates to an automatic driving control program that repeatedly performs powered driving and inertial driving of the vehicle while driving the vehicle, including: when the vehicle is inertial driving, if an inertial driving abort condition is met, stopping the inertial driving of the vehicle, wherein the inertial driving abort condition is that there is an adjacent vehicle in the inertial driving abort area, the adjacent vehicle being another vehicle traveling in the same direction as the vehicle in the adjacent lane next to the vehicle's current lane, the inertial driving abort area including the area of ​​the adjacent lane directly to the side of the vehicle, and including the area of ​​the adjacent lane within a first distance forward from the vehicle and the area of ​​the adjacent lane within a second distance backward from the vehicle, wherein the first distance and the second distance are determined at least based on the speed and acceleration of the vehicle and the speed of the adjacent vehicle.

[0021] The elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and incidental advantages of the invention should be readily understood from the description of the embodiments thereof. Attached Figure Description

[0022] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0023] Figure 1 This is a diagram illustrating a vehicle driving assistance device according to an embodiment of the present invention.

[0024] Figure 2 This is a diagram showing a scenario where there is a vehicle in front.

[0025] Figure 3 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0026] Figure 4 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0027] Figure 5 This is a flowchart illustrating the routines executed by a vehicle driving assistance device according to an embodiment of the present invention.

[0028] Figure 6 This is a diagram showing the area where inertial travel stops.

[0029] Figure 7 This is a diagram showing the switching of prohibited areas.

[0030] Figure 8 This is a diagram showing the area behind the point where inertial travel stops.

[0031] Figure 9 This is a diagram showing the area behind the switch being disabled. Detailed Implementation

[0032] Hereinafter, with reference to the accompanying drawings, the vehicle driving assistance device, vehicle driving assistance method, and vehicle driving assistance program according to embodiments of the present invention will be described. Figure 1 The image shows a vehicle driving assistance device 10 according to an embodiment of the present invention.

[0033] The vehicle driving assistance device 10 is mounted on the vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using the example of a person who rides in and drives the vehicle 100 (i.e., the driver of the vehicle 100). However, the operator of the vehicle 100 can also be a person who drives the vehicle 100 remotely without riding in it (i.e., a remote operator of the vehicle 100). Furthermore, the present invention can also be applied to vehicles that operate autonomously without the need for a driver and / or remote operator.

[0034] like Figure 1 As shown, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 has a microcomputer as its main component. The microcomputer includes a computer-readable storage medium such as a CPU, ROM, RAM, and non-volatile memory, as well as interfaces. The CPU performs various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance device 10 stores programs that implement the various controls performed by the vehicle driving assistance device 10 in the storage medium.

[0035] Furthermore, in this example, the vehicle driving assistance device 10 has only one ECU 90. However, the vehicle driving assistance device 10 may also have multiple ECUs, with each ECU performing the functions of the vehicle driving assistance device 10 described below. In addition, the vehicle driving assistance device 10 may also be configured to update (upgrade) the program stored in the storage medium via wireless communication with an external device (e.g., Internet communication).

[0036] The vehicle 100 is equipped with a power unit 20, a braking device 30, a vehicle speed detection device 40, and a surrounding information detection device 50.

[0037] The power unit 20 is a device that generates driving force applied to the vehicle 100 (specifically, the drive wheels of the vehicle 100). In this example, the power unit 20 includes an internal combustion engine 21 and an electric motor 22. The power unit 20 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the driving force applied to the vehicle 100 by controlling the operation of the internal combustion engine 21 and the electric motor 22.

[0038] The braking device 30 is a device that applies braking force to the vehicle 100 (particularly, the wheels of the vehicle 100). In this example, the braking device 30 includes a hydraulic braking device 31. The braking device 30 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the braking force applied to the vehicle 100 by controlling the operation of the hydraulic braking device 31.

[0039] The vehicle speed detection device 40 is a device for detecting the driving speed of the vehicle 100. The vehicle speed detection device 40 may be, for example, a wheel speed sensor installed on each wheel of the vehicle 100. The vehicle speed detection device 40 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains the driving speed of the vehicle 100 as its own speed (Vego) through the vehicle speed detection device 40.

[0040] The surrounding information detection device 50 is a device for detecting information about the surroundings of the vehicle 100. In this example, the surrounding information detection device 50 includes an electromagnetic wave sensor 51 and an image sensor 52. The surrounding information detection device 50 is electrically connected to the ECU 90. The electromagnetic wave sensor 51 is, for example, a radar sensor such as millimeter-wave radar. The vehicle driving assistance device 10 obtains information related to objects existing around the vehicle 100 as surrounding information IS through the electromagnetic wave sensor 51. Additionally, the image sensor 52 is, for example, a camera sensor. The vehicle driving assistance device 10 obtains image information related to the surroundings of the vehicle 100 as surrounding information IS through the image sensor 52.

[0041] In such Figure 2 When a preceding vehicle 200 is present as shown, the vehicle driving assistance device 10 obtains the distance between the preceding vehicle 200 and the vehicle 100 based on the surrounding information IS as the preceding vehicle distance Dfw. Furthermore, the preceding vehicle 200 is another vehicle traveling directly in front of (immediately in front of) the vehicle 100 in lane LN_O, and is another vehicle existing within a predetermined distance Dfw_th of the vehicle 100 in lane LN_O.

[0042] <The operation of vehicle driving assistance devices>

[0043] Next, the operation of the vehicle driving assistance device 10 will be described. The vehicle driving assistance device 10 is configured to perform automatic driving control upon request from the driver of the vehicle 100. The automatic driving control includes a first automatic driving control and a second automatic driving control.

[0044] When the driver requests the execution of the first automatic driving control, the vehicle driving assistance device 10 initiates the first automatic driving control. The first automatic driving control includes first vehicle speed control and first inter-vehicle distance control.

[0045] The first speed control is one type of automatic driving control that repeatedly performs powered driving and inertial driving while keeping the vehicle 100 moving. In this example, the first speed control is a control that repeatedly alternates between powered driving control and inertial driving control to maintain the vehicle's speed (Vego) within a predetermined speed range (RV) while keeping the vehicle 100 moving. More specifically, the first speed control stops powered driving control and starts inertial driving control when the vehicle's speed (Vego) increases and reaches the upper limit of the predetermined speed range (RV, upper limit speed Vmax) during the execution of powered driving control. Additionally, the first speed control stops inertial driving control and starts powered driving control when the vehicle's speed (Vego) decreases and reaches the lower limit of the predetermined speed range (RV, lower limit speed Vmin) during the execution of inertial driving control. Furthermore, the first speed control is executed when there is no preceding vehicle 200 when the first automatic driving control is requested.

[0046] The first inter-vehicle distance control is also one of the automatic driving controls that repeatedly performs powered driving and inertial driving while keeping the vehicle 100 moving. In this example, the first inter-vehicle distance control is a control that repeatedly alternates between powered driving control and inertial driving control to keep the preceding inter-vehicle distance Dfw within a predetermined inter-vehicle distance range RD while keeping the vehicle 100 moving. More specifically, the first inter-vehicle distance control stops powered driving control and starts inertial driving control when the preceding inter-vehicle distance Dfw decreases and reaches the lower limit (lower limit inter-vehicle distance Dmin) of the predetermined inter-vehicle distance range RD during the execution of powered driving control. Additionally, the first inter-vehicle distance control stops inertial driving control and starts powered driving control when the preceding inter-vehicle distance Dfw increases and reaches the upper limit (upper limit inter-vehicle distance Dmax) of the predetermined inter-vehicle distance range RD during the execution of inertial driving control. Furthermore, the first inter-vehicle distance control is executed when a preceding vehicle 200 is present when the first automatic driving control is requested.

[0047] Furthermore, when a preceding vehicle 200 is present, and the upper limit speed Vmax and lower limit speed Vmin are set as described later, the first inter-vehicle distance control can also be configured such that, during the execution of power driving control, if the preceding inter-vehicle distance Dfw decreases and reaches the lower limit inter-vehicle distance Dmin, but the vehicle's own speed Vego reaches the upper limit speed Vmax, then power driving control is stopped and inertial driving control is started. Alternatively, the first inter-vehicle distance control can also be configured such that, during the execution of inertial driving control, if the preceding inter-vehicle distance Dfw increases and reaches the upper limit inter-vehicle distance Dmax, but the vehicle's own speed Vego reaches the lower limit speed Vmin, then inertial driving control is stopped and power driving control is started.

[0048] On the other hand, when the driver requests the execution of the second automatic driving control, the vehicle driving assistance device 10 begins to perform the second automatic driving control. The second automatic driving control includes second vehicle speed control and second inter-vehicle distance control.

[0049] The second speed control is the control that maintains the vehicle's speed (Vego) at a set speed (Vset) when there is no vehicle ahead at 200 km / h. Therefore, the second speed control is what is known as constant speed driving control. Furthermore, the set speed (Vset) is the speed set by the driver as the target value of the vehicle's speed (Vego) in automatic driving control.

[0050] Furthermore, the second vehicle distance control maintains the preceding vehicle distance Dfw at a set vehicle distance Dset when a vehicle 200 is present. Therefore, the second vehicle distance control is what is known as follow-along driving control. Follow-along driving control refers to the control that identifies the vehicle ahead and maintains a predetermined distance corresponding to the vehicle's speed while driving. Moreover, the set vehicle distance Dset is a distance set by the driver as the target value for the preceding vehicle distance Dfw in automatic driving control.

[0051] The vehicle driving assistance device 10 executes at predetermined time intervals. Figure 3 The illustrated routine sets the upper limit inter-vehicle distance Dmax and the lower limit inter-vehicle distance Dmin, or sets the upper limit vehicle speed Vmax and the lower limit vehicle speed Vmin, based on the conditions established during the execution of the first automatic driving control. Furthermore, the vehicle driving assistance device 10 executes at predetermined time intervals... Figure 4 The routine shown selectively executes power driving control and inertial driving control, or suspends inertial driving control, or prohibits the switching of driving control of the vehicle 100 from power driving control to inertial driving control, depending on the conditions established during the execution of the first automatic driving control.

[0052] Therefore, when the predetermined timing arrives, the vehicle driving assistance device 10 activates... Figure 3 The routine shown begins processing at step S300. The process proceeds to step S305, where it is determined whether the first automatic driving control is being executed. If the vehicle driving assistance device 10 determines "no" in step S305, the process proceeds directly to step S395, temporarily terminating the processing of this routine.

[0053] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S305, the process proceeds to step S310 to determine whether there is a preceding vehicle 200. Furthermore, the vehicle driving assistance device 10 determines the presence of a preceding vehicle 200 based on surrounding information IS.

[0054] If the vehicle driving assistance device 10 determines "yes" in step S310, the process proceeds to step S315 to obtain the target vehicle distance Dfw_tgt and the target vehicle distance range Wd.

[0055] The target workshop distance Dfw_tgt can be equal to the set workshop distance Dset, but in this example, it is obtained by subtracting a predetermined distance ΔD from the set workshop distance Dset (Dfw_tgt = Dset - ΔD). The predetermined distance ΔD can be a constant distance. Alternatively, the predetermined distance ΔD can be a distance corresponding to the set workshop distance Dset. Furthermore, the target workshop distance range Wd determines the range within which the previous workshop distance Dfw is controlled when the first workshop distance control is performed. The target workshop distance range Wd can be a constant value. Alternatively, the target workshop distance range Wd can be a value corresponding to the set workshop distance Dset.

[0056] Next, the vehicle driving assistance device 10 initiates step S320, setting the upper limit inter-vehicle distance Dmax and the lower limit inter-vehicle distance Dmin. Then, the vehicle driving assistance device 10 initiates step S395, temporarily terminating the processing of this routine.

[0057] In this example, the lower limit shop distance Dmin is the target shop distance Dfw_tgt (Dmin = Dfw_tgt). The upper limit shop distance Dmax is the distance obtained by adding the target shop distance Dfw_tgt to the target shop distance magnitude Wd (Dmax = Dfw_tgt + Wd).

[0058] Furthermore, the vehicle driving assistance device 10 can also be configured such that, in step S320, in addition to setting the upper limit inter-vehicle distance Dmax and the lower limit inter-vehicle distance Dmin, an upper limit vehicle speed Vmax and a lower limit vehicle speed Vmin are also preset. In this case, the upper limit vehicle speed Vmax is the target vehicle speed Vtgt (Vmax = Vtgt). The lower limit vehicle speed Vmin is the speed obtained by subtracting the target vehicle speed amplitude Wv from the target vehicle speed Vtgt (Vmin = Vtgt - Wv).

[0059] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S310, the process proceeds to step S325 to obtain the target vehicle speed Vtgt and the target vehicle speed amplitude Wv.

[0060] The target vehicle speed Vtgt can be a speed equal to the set vehicle speed Vset. In this example, the target vehicle speed Vtgt is the speed obtained by subtracting a predetermined speed ΔV from the set vehicle speed Vset (Vtgt = Vset - ΔV). The predetermined speed ΔV can be a constant speed. Alternatively, the predetermined speed ΔV can also be a speed corresponding to the set vehicle speed Vset. Furthermore, the target vehicle speed range Wv determines the range within which the vehicle's own speed Vego is controlled when the first speed control is executed. The target vehicle speed range Wv can be a constant value. Alternatively, the target vehicle speed range Wv can also be a value corresponding to the set vehicle speed Vset.

[0061] Next, the vehicle driving assistance device 10 initiates step S330, setting the upper limit vehicle speed Vmax and the lower limit vehicle speed Vmin. Then, the vehicle driving assistance device 10 initiates step S395, temporarily terminating the processing of this routine.

[0062] In this example, the upper limit speed Vmax is the target speed Vtgt (Vmax = Vtgt). The lower limit speed Vmin is the speed obtained by subtracting the target speed magnitude Wv from the target speed Vtgt (Vmin = Vtgt - Wv).

[0063] Additionally, when the predetermined time arrives, the vehicle driving assistance device 10 activates from... Figure 4 The routine shown begins processing at step S400. The process proceeds to step S405, where it is determined whether the first automatic driving control is being executed. If the vehicle driving assistance device 10 determines "no" in step S405, the process proceeds directly to step S495, temporarily terminating the processing of this routine.

[0064] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S405, the process proceeds to step S410 to determine whether inertial driving control is being performed. If the vehicle driving assistance device 10 determines "yes" in step S410, the process proceeds to step S415 to determine whether the inertial driving abort condition C1 is met.

[0065] The inertial driving abort condition C1 is used to determine whether to abort inertial driving control. In this example, the inertial driving abort condition C1 is the presence of an adjacent vehicle 300 in the inertial driving abort region AS. Here, the adjacent vehicle 300 is defined as follows: Figure 6 Other vehicles traveling in the same direction as vehicle 100 in the adjacent lane LN_N, as shown. The adjacent lane LN_N is the lane next to (adjacent to) this lane LN_O. This lane LN_O is the lane in which vehicle 100 is currently traveling.

[0066] In addition, the inertial driving stop area AS includes the area of ​​the adjacent lane LN_N directly to the side of the vehicle 100, which is composed of the area of ​​the adjacent lane LN_N within a first distance D1 forward from the vehicle 100 (especially the front end of the vehicle 100) and the area of ​​the adjacent lane LN_N within a second distance D2 backward from the vehicle 100 (especially the front end of the vehicle 100).

[0067] In this example, the first distance D1 is the distance obtained by adding the first basic distance D11 to the first stop distance D12 (D1 = D11 + D12). In this example, the first basic distance D11 is set to a constant distance. The first stop distance D12 is set based on the vehicle's own speed Vego, maximum speed Vmax, acceleration Gego, and the speed of the adjacent vehicle ahead Vnext_fw, for example, calculated using Equation 1 below. Furthermore, acceleration Gego is the acceleration of the vehicle 100 when it is traveling under power driving control, or the acceleration of the vehicle 100 when it is traveling under inertial driving control and its acceleration Gego is positive. Additionally, the speed of the adjacent vehicle ahead Vnext_fw is the speed of the adjacent vehicle 300 traveling ahead of the vehicle 100.

[0068] D12=((Vmax-Vego) / Gego)·((Vego+Vmax) / 2-Vnext_fw)…(1)

[0069] In this example, the second distance D2 is the distance obtained by adding the second basic distance D21 to the second stopping distance D22 (D2 = D21 + D22). In this example, the second basic distance D21 is set to a constant distance. The second stopping distance D22 is set based on the vehicle's own speed Vego, maximum speed Vmax, acceleration Gego, and the speed of the adjacent vehicle behind it, for example, calculated using Equation 2 below. Furthermore, the speed of the adjacent vehicle behind it, Vnext_rw, is the speed of the adjacent vehicle 300 traveling behind this vehicle 100.

[0070] D22=((Vmax-Vego) / Gego)·(Vnext_rw-(Vego+Vmax) / 2)…(2)

[0071] Furthermore, the first distance D1 and the second distance D2 can be equal. Alternatively, the first distance D1 and the second distance D2 can be different.

[0072] In addition, in this example, besides the inertial travel stop zone AS, a switching prohibition zone AF is also set. For example... Figure 7As shown, the switching prohibition zone AF includes the area of ​​the adjacent lane LN_N directly to the side of the vehicle 100, which is composed of the area of ​​the adjacent lane LN_N within a third distance D3 forward from the vehicle 100 (especially the front end of the vehicle 100) and the area of ​​the adjacent lane LN_N within a fourth distance D4 backward from the vehicle 100 (especially the front end of the vehicle 100). The third distance D3 is longer than the first distance D1, and the fourth distance D4 is longer than the second distance D2.

[0073] In this example, the third distance D3 is the distance obtained by adding the third prohibited distance D31 to the first distance D1 (D3 = D1 + D31). The third prohibited distance D31 is set based on the upper limit vehicle speed Vmax, the lower limit vehicle speed Vmin, the speed of the adjacent vehicle ahead Vnext_fw, and the minimum inertial travel time Tmin, and is calculated, for example, by the following formula 3. Furthermore, the minimum inertial travel time Tmin is the shortest time that inertial travel control is desired to continue when switching the driving control of the vehicle 100 from power driving control to inertial driving control, from the viewpoint of minimizing the energy consumed to make the vehicle 100 move.

[0074] D31=-(Vnext_fw-(Vmax+Vmin) / 2)·Tmin...(3)

[0075] Furthermore, if the speed of the adjacent vehicle ahead, Vnext_fw, is greater than or equal to the vehicle's average speed, Vego_ave, the third prohibition distance D31 calculated using Equation 3 becomes a value below zero. In this case, the third prohibition distance D31 is set to zero. Additionally, the average vehicle speed, Vego_ave, represents the vehicle's speed (Vego) during the period when the vehicle travels at 100 km / h using inertial driving control; it is the average of the upper speed limit Vmax and the lower speed limit Vmin (Vego_ave = (Vmax + Vmin) / 2).

[0076] In this example, the fourth distance D4 is the distance obtained by adding the fourth prohibited distance D41 to the second distance D2 (D4 = D2 + D41). The fourth prohibited distance D41 is set based on the upper limit speed Vmax, the lower limit speed Vmin, the speed of the adjacent vehicle behind Vnext_rw, and the minimum inertial travel time Tmin, and is calculated, for example, by the following formula 4.

[0077] D41=(Vnext_rw-(Vmax+Vmin) / 2)·Tmin...(4)

[0078] Furthermore, if the speed of the adjacent vehicle behind, Vnext_rw, is less than or equal to the vehicle's average speed, Vego_ave, the fourth prohibition distance D41 calculated using Equation 4 becomes a value less than or equal to zero. In this case, the fourth prohibition distance D41 is set to zero.

[0079] Furthermore, the third distance D3 and the fourth distance D4 can be equal. Alternatively, the third distance D3 and the fourth distance D4 can be different.

[0080] Alternatively, the inertial driving abort condition C1 can also be a condition where there is an adjacent vehicle 300 in the inertial driving abort region AS and the speed of that adjacent vehicle 300 is within the abort speed range RS. In this case, the abort speed range RS is, for example, a range with an upper limit vehicle speed Vmax as the upper limit and a lower limit vehicle speed Vmin as the lower limit. That is, the abort speed range RS is the range from the upper limit vehicle speed Vmax to the lower limit vehicle speed Vmin. With the inertial driving abort condition C1 set in this way, the inertial driving control can be aborted only when there is a high probability that the driver of the adjacent vehicle 300 will be annoyed by the repeated inertial driving and dynamic driving of the vehicle 100 through the first automatic driving control.

[0081] Furthermore, the inertial travel abort region AS can also include the region ASR following the inertial travel abort. For example... Figure 8 As shown, the inertial travel abort zone ASR is the area within a 5th distance D5 behind the vehicle 100 (specifically, the front end of the vehicle 100) in the same lane LN_O. In this case, the inertial travel abort condition C1 is the presence of an adjacent vehicle 300 or a following vehicle 400 in the inertial travel abort zone AS. The following vehicle 400 is another vehicle traveling directly behind (immediately behind) the vehicle 100 in the same lane LN_O, and is another vehicle existing within a predetermined distance Drw_th from the vehicle 100 in the same lane LN_O.

[0082] In this example, the fifth distance D5 is the distance obtained by adding the fifth basic distance D51 and the fifth stopping distance D52 (D5 = D51 + D52). In this example, the fifth basic distance D51 is set to a constant distance. Furthermore, the fifth stopping distance D52 is set based on the vehicle's own speed Vego, maximum speed Vmax, acceleration Gego, and the following vehicle's speed Vrw, for example, calculated using Equation 5 below. Additionally, the following vehicle's speed Vrw is the speed of the following vehicle at 400.

[0083] D52=((Vmax-Vego) / Gego)·(Vrw-(Vego+Vmax) / 2)…(5)

[0084] Furthermore, the fifth distance D5 can be the same as the second distance D2. The fifth distance D5 can also be a different distance from the second distance D2.

[0085] Additionally, switching the prohibited area (AF) can also include switching the area behind the prohibited area (AFR). For example... Figure 9 As shown, the Rear Restricted Area (AFR) is the area within the lane LN_O of the vehicle 100 (especially the front of the vehicle 100) at a distance of 6 from the rear, where the 6th distance D6 is longer than the 5th distance D5.

[0086] In this example, the sixth distance D6 is the distance obtained by adding the sixth prohibited distance D61 to the fifth distance D5 (D6 = D5 + D61). The sixth prohibited distance D61 is set based on the following vehicle speed Vrw, the upper limit vehicle speed Vmax, the lower limit vehicle speed Vmin, and the minimum inertial travel time Tmin, and is calculated, for example, by the following formula 6.

[0087] D61=(Vrw-(Vmax+Vmin) / 2)·Tmin...(6)

[0088] Furthermore, when the following vehicle's speed Vrw is less than or equal to its average speed Vego_ave, the sixth prohibitory distance D61 calculated using Equation 6 becomes a value less than or equal to zero. In this case, the sixth prohibitory distance D61 is set to zero.

[0089] In addition, the sixth distance D6 can be the same as the fourth distance D4, or it can be a different distance from the fourth distance D4.

[0090] In addition, the vehicle driving assistance device 10 determines whether the inertial driving abort condition C1 is met based on the surrounding information IS.

[0091] If the vehicle driving assistance device 10 determines "yes" in step S415, it proceeds to step S420 to suspend inertial driving control. Next, the vehicle driving assistance device 10 proceeds to step S425 to begin the second automatic driving control. Then, the vehicle driving assistance device 10 proceeds to step S495 to temporarily terminate the current routine.

[0092] Thus, when the vehicle driving assistance device 10 causes the vehicle 100 to move inertial motion, if the inertial motion abort condition C1 is met, the inertial motion of the vehicle 100 will be stopped.

[0093] Furthermore, if the vehicle driving assistance device 10 starts the second automatic driving control in step S425, the second automatic driving control will continue as long as the driver does not request the execution of the first automatic driving control again.

[0094] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S415, the process proceeds to step S430 to determine whether the switching condition C2 is met.

[0095] The switching condition C2 in step S430 is that, while performing the first inter-vehicle distance control, the forward inter-vehicle distance Dfw increases, thus reaching the upper limit inter-vehicle distance Dmax. The switching condition C2 in step S430 is that, while performing the first vehicle speed control, the vehicle's own speed Vego decreases, thus reaching the lower limit vehicle speed Vmin. Furthermore, in step S430, the vehicle driving assistance device 10 determines whether the switching condition C2 is met based on the surrounding information IS.

[0096] If the vehicle driving assistance device 10 determines "yes" in step S430, it proceeds to step S435, stopping inertial driving control and starting power driving control. That is, the vehicle driving assistance device 10 switches the driving control of the vehicle 100 from inertial driving control to power driving control. Next, the vehicle driving assistance device 10 proceeds to step S495, temporarily ending the processing of this routine.

[0097] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S430, it proceeds to step S440 to continue inertial driving control. Then, the vehicle driving assistance device 10 proceeds to step S495, temporarily terminating the current routine.

[0098] Additionally, if the vehicle driving assistance device 10 determines "no" in step S410, the processing will proceed. Figure 5 In step S505 of the illustrated routine, it is determined whether the switching condition C2 is met. The switching condition C2 in step S505 is that, while performing the first inter-vehicle distance control, the forward inter-vehicle distance Dfw decreases, reaching the lower limit inter-vehicle distance Dmin. Additionally, the switching condition C2 in step S505 is that, while performing the first vehicle speed control, the vehicle's own speed Vego increases, reaching the upper limit vehicle speed Vmax. Furthermore, in step S505, the vehicle driving assistance device 10 determines whether the switching condition C2 is met based on the surrounding information IS.

[0099] If the vehicle driving assistance device 10 determines "yes" in step S505, the process proceeds to step S510 to determine whether the switching prohibition condition C3 is met.

[0100] The switching prohibition condition C3 is used to determine whether to switch the driving control of this vehicle 100 from power driving control to inertial driving control. In this example, it is the condition that there is an adjacent vehicle 300 in the switching prohibition area AF.

[0101] In addition, the switching prohibition condition C3 can also be the condition that there is an adjacent vehicle 300 in the switching prohibition area AF, and the adjacent vehicle 300 is traveling in front of the vehicle 100, and the speed of the adjacent vehicle 300 (the speed of the adjacent vehicle in front Vnext_fw) is slower than its average speed Vego_ave; or the condition that there is an adjacent vehicle 300 in the switching prohibition area AF, and the adjacent vehicle 300 is traveling behind the vehicle 100, and the speed of the adjacent vehicle 300 (the speed of the adjacent vehicle behind Vnext_rw) is faster than its average speed Vego_ave.

[0102] With the switching prohibition condition C3 set in this way, the switching of the driving control of the vehicle 100 from power driving control to inertial driving control can be prohibited only when there is a high probability that the adjacent vehicle 300 will enter the inertial driving stop area AS within a short period of time after the driving control of the vehicle 100 is switched from power driving control to inertial driving control.

[0103] In addition, the vehicle driving assistance device 10 determines whether the switching prohibition condition C3 is met based on the surrounding information IS.

[0104] If the vehicle driving assistance device 10 determines "yes" in step S510, it proceeds to step S515, suspending the first automatic driving control. That is, the vehicle driving assistance device 10 prohibits the switching of driving control of the vehicle 100 from power driving control to inertial driving control. Next, the vehicle driving assistance device 10 proceeds to step S520, initiating the second automatic driving control. Then, the vehicle driving assistance device 10 proceeds to step S595, temporarily terminating the processing of this routine.

[0105] Thus, when switching condition C2 is met and switching prohibition condition C3 is met, the vehicle driving assistance device 10 will not switch the driving state of the vehicle 100 from a state of powered driving to a state of inertial driving. Switching condition C2 is the condition for switching the driving state of the vehicle 100 from a state of powered driving to a state of inertial driving.

[0106] Furthermore, if the vehicle driving assistance device 10 starts the second automatic driving control in step S520, the second automatic driving control will continue as long as the driver does not request the execution of the first automatic driving control again.

[0107] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S510, it proceeds to step S525, stopping power driving control and starting inertial driving control. That is, the vehicle driving assistance device 10 switches the driving control of the vehicle 100 from power driving control to inertial driving control. Then, the vehicle driving assistance device 10 proceeds to step S595, temporarily ending the processing of this routine.

[0108] Furthermore, if the vehicle driving assistance device 10 determines "no" in step S505, it proceeds to step S535 to continue power driving control. Next, the vehicle driving assistance device 10 proceeds to step S595, temporarily terminating the current routine.

[0109] The above describes the operation of the vehicle driving assistance device 10.

[0110] Thus, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when automatic driving control is executed and there is no preceding vehicle 200, an upper limit (upper limit speed Vmax) and a lower limit (lower limit speed Vmin) for the vehicle 100's driving speed are set. Furthermore, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when automatic driving control is executed and there is no preceding vehicle 200, when the vehicle 100's driving speed increases to reach the aforementioned upper limit (upper limit speed Vmax) during powered driving, powered driving of the vehicle 100 is stopped, and inertial driving of the vehicle 100 begins. Furthermore, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when executing automatic driving control, if there is no preceding vehicle 200, when the driving speed of the vehicle 100 is reduced during the inertial driving period and reaches the aforementioned lower limit value (lower limit vehicle speed Vmin), the inertial driving of the vehicle 100 is stopped and the powered driving of the vehicle 100 begins.

[0111] Furthermore, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when automatic driving control is executed and a preceding vehicle 200 is present, an upper limit value (upper limit vehicle distance Dmax) and a lower limit value (lower limit vehicle distance Dmin) of the preceding vehicle distance Dfw are set. Additionally, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when automatic driving control is executed and a preceding vehicle 200 is present, when the preceding vehicle distance Dfw is shortened during the powered driving of the vehicle 100 to reach the aforementioned lower limit value (lower limit vehicle distance Dmin), powered driving of the vehicle 100 is stopped, and inertial driving of the vehicle 100 begins. Furthermore, the vehicle driving assistance device 10 is configured such that, as long as the inertial driving abort condition C1 and the switching prohibition condition C3 are not met, when automatic driving control is executed, if there is a preceding vehicle 200, when the inertial driving distance Dfw of the vehicle 100 increases during the inertial driving period and reaches the above-mentioned upper limit value (upper limit inter-vehicle distance Dmax), the inertial driving of the vehicle 100 is stopped and the powered driving of the vehicle 100 is started.

[0112] In addition, according to the vehicle driving assistance device 10, it is possible to suppress the annoyance of the driver of the adjacent vehicle 300 caused by the repeated inertial driving and dynamic driving of the vehicle 100.

[0113] That is, when the first automatic driving control is executed, if there is an adjacent vehicle 300 nearby, the following situation may occur: while the vehicle 100 is moving with inertia, the adjacent vehicle 300 overtakes the vehicle 100, and then the vehicle 100 begins to move with power, and the vehicle 100 overtakes the adjacent vehicle 300 again. Moreover, if such a situation occurs repeatedly, it may annoy the drivers of the adjacent vehicles 300.

[0114] According to the vehicle driving assistance device 10, when the first automatic driving control is executed, if there is an adjacent vehicle 300 in the vicinity of the vehicle 100 (i.e., when the inertial driving abort condition C1 is met), the inertial driving of the vehicle 100 is stopped. Therefore, the situation described above can be avoided. Therefore, it is possible to suppress the annoyance to the drivers of adjacent vehicles 300 caused by the repeated inertial driving and dynamic driving of the vehicle 100.

[0115] Furthermore, according to the vehicle driving assistance device 10, the energy consumed to drive the vehicle 100 can be kept to a low level.

[0116] That is, sometimes when the first automatic driving control is executed, the adjacent vehicle 300 may be near the inertial driving stop region AS, even if it is not in the inertial driving stop region AS. In this case, the adjacent vehicle 300 may enter the inertial driving stop region AS just after the inertial driving of the vehicle 100 has begun. Moreover, when the adjacent vehicle 300 enters the inertial driving stop region AS, the inertial driving of the vehicle 100 will stop, and the powered driving of the vehicle 100 will begin. As a result, the energy consumed by the vehicle 100 to drive will actually increase.

[0117] According to the vehicle driving assistance device 10, when the first automatic driving control is executed, if an adjacent vehicle 300 is near the inertial driving stop area AS even though it is not in the inertial driving stop area AS (i.e., when the switching prohibition condition C3 is met), the inertial driving of the vehicle 100 will not begin. Therefore, the energy consumed to drive the vehicle 100 can be kept to a low level.

[0118] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

Claims

1. A vehicle driving assistance device, characterized in that, Includes one or more processors, The one or more processors are configured to, The system performs automatic driving control that repeatedly combines powered and inertial driving of the vehicle while simultaneously propelling it forward. If the inertial driving abort condition is met while the vehicle is being driven by inertia, then the inertial driving of the vehicle shall be stopped. The inertial driving abort condition is the presence of adjacent vehicles in the inertial driving abort area. The adjacent vehicles are other vehicles traveling in the same direction as the vehicle in the adjacent lane next to the lane in which the vehicle is traveling. The inertial driving stop area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a first forward distance from the vehicle and the area of ​​the adjacent lane within a second backward distance from the vehicle.

2. The vehicle driving assistance device according to claim 1, characterized in that, The inertial driving abort condition is that there is an adjacent vehicle in the inertial driving abort area and the speed of the adjacent vehicle is within the abort speed range.

3. The vehicle driving assistance device according to claim 2, characterized in that, The one or more processors are configured to, When executing the automatic driving control, the upper and lower limits of the vehicle's driving speed are set. When executing the automatic driving control, when the vehicle's speed increases to the upper limit during powered driving, powered driving is stopped, and inertial driving begins. When executing the automatic driving control, when the vehicle's speed is reduced to the lower limit during inertial driving, the inertial driving of the vehicle is stopped, and the vehicle's powered driving begins. The range of stopping speeds is the range from the upper limit value to the lower limit value.

4. The vehicle driving assistance device according to claim 1, characterized in that, The one or more processors are configured such that, when a switching condition is met and a switching prohibition condition is met, they do not switch the vehicle's driving state from a state of powered driving to a state of inertial driving. The switching condition is the condition for switching the driving state of the vehicle from a state in which the vehicle is powered to a state in which the vehicle is driven by inertia. The switching prohibition condition is the presence of the adjacent driving vehicle in the switching prohibition area. The switching prohibition zone includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a third distance forward from the vehicle and the area of ​​the adjacent lane within a fourth distance backward from the vehicle, wherein the third distance is longer than the first distance and the fourth distance is longer than the second distance.

5. The vehicle driving assistance device according to claim 4, characterized in that, The one or more processors are configured to, When executing the automatic driving control, the upper and lower limits of the vehicle's driving speed are set. When executing the automatic driving control, when the vehicle's speed increases to the upper limit during powered driving, powered driving is stopped, and inertial driving begins. When the vehicle's speed is reduced to the lower limit during inertial driving, the inertial driving of the vehicle stops, and the vehicle's powered driving begins. The switching prohibition condition is as follows: The adjacent driving vehicle exists in the switching prohibition zone, and The adjacent vehicle is the vehicle traveling in front of this vehicle, and The speed of the adjacent vehicle is slower than the average of the upper limit and the lower limit, or There are adjacent vehicles in the switching prohibition zone, and The adjacent vehicle is the vehicle traveling behind this vehicle, and The speed of the adjacent vehicle is faster than the average.

6. The vehicle driving assistance device according to claim 1, characterized in that, The condition for stopping inertial driving is that there is a following vehicle in the area after the inertial driving stops. The following vehicle is another vehicle traveling in the same direction as the vehicle in this lane. The inertial driving stop area includes the area of ​​the lane within a 5-distance radius to the rear of the vehicle.

7. The vehicle driving assistance device according to claim 6, characterized in that, The one or more processors are configured such that, when a switching condition is met and a switching prohibition condition is met, they do not switch the vehicle's driving state from a state of powered driving to a state of inertial driving. The switching condition is the condition for switching the driving state of the vehicle from a state in which the vehicle is powered to a state in which the vehicle is driven by inertia. The switching prohibition condition is that the following vehicle exists in the area behind the switching prohibition. The area behind which the switching is prohibited includes the area of ​​the vehicle within a 6th distance behind it in the same lane, where the 6th distance is longer than the 5th distance.

8. A vehicle driving assistance method, which is an automatic driving assistance method that repeatedly performs powered driving and inertial driving of the vehicle while driving the vehicle, characterized in that, include: exist If the inertial driving condition is met when the vehicle is allowed to continue moving, then the inertial driving of the vehicle shall be stopped. The inertial driving abort condition is the presence of adjacent vehicles in the inertial driving abort area. The adjacent vehicles are other vehicles traveling in the same direction as the vehicle in the adjacent lane next to the lane in which the vehicle is traveling. The inertial travel abort area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a first forward distance from the vehicle and the area of ​​the adjacent lane within a second backward distance from the vehicle. The first distance and the second distance are determined at least based on the speed and acceleration of the vehicle and the speed of the adjacent vehicles.

9. A program for automatic driving control that repeatedly performs powered driving and inertial driving of the vehicle while driving the vehicle, characterized in that, include: exist If the inertial driving condition is met when the vehicle is allowed to continue moving, then the inertial driving of the vehicle shall be stopped. The inertial driving abort condition is the presence of adjacent vehicles in the inertial driving abort area. The adjacent vehicles are other vehicles traveling in the same direction as the vehicle in the adjacent lane next to the lane in which the vehicle is traveling. The inertial travel abort area includes the area of ​​the adjacent lane directly to the side of the vehicle, and includes the area of ​​the adjacent lane within a first forward distance from the vehicle and the area of ​​the adjacent lane within a second backward distance from the vehicle. The first distance and the second distance are determined at least based on the speed and acceleration of the vehicle and the speed of the adjacent vehicles.

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