Vehicle driving assistance device

Abstract

Provided is a vehicle driving assistance device that can prevent the driving speed of a host vehicle from temporarily falling below a legal minimum speed while performing driving assistance control for inertial running of the host vehicle. A vehicle driving assistance device (10) performs first driving assistance control for causing a host vehicle (100) to run by autonomously alternately repeating powered running and inertial running of the host vehicle in such a way as to maintain the running speed of the host vehicle within a range between an upper target speed and a lower target speed. The vehicle driving assistance device sets, as the upper target speed, a speed obtained by adding a predetermined upper limit amplitude to a set speed set as a target value for the running speed of the host vehicle by a user of the host vehicle, and sets, as the lower target speed, a speed obtained by subtracting a predetermined lower limit amplitude from the set speed, and changes the predetermined lower limit amplitude so that the lower target speed is equal to or higher than a legal minimum speed applied to the host vehicle when the lower target speed is lower than the legal minimum speed applied to the host vehicle while the first driving assistance control is being performed.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance devices. Background Technology

[0002] A known vehicle driving assistance device performs driver assistance control by autonomously accelerating and decelerating the vehicle while maintaining its own speed at a set speed. Here, "own speed" refers to the vehicle's travel speed. Furthermore, the set speed is a speed set by the vehicle's driver as a target value for the vehicle's speed.

[0003] As a vehicle driving assistance device, there is also a known vehicle driving assistance device that changes the set vehicle speed to a speed above the legal minimum speed when the set vehicle speed is lower than the legal minimum speed (see, for example, Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. WO2013 / 69130 Summary of the Invention

[0007] Furthermore, a known vehicle driving assistance device performs driving assistance control by autonomously alternating between powered driving and inertial driving while maintaining its own speed within a predetermined range. In addition, within such a vehicle driving assistance device, there is another known device that sets the value obtained by adding a predetermined upper limit to a set speed as the upper limit of the predetermined range, and the value obtained by subtracting a predetermined lower limit from the set speed as the lower limit of the predetermined range. In such a vehicle driving assistance device, if the set speed is lower than the legal minimum speed, even if the set speed is changed to a speed above the legal minimum speed, the vehicle speed may temporarily fall below the legal minimum speed while inertial driving.

[0008] The purpose of this invention is to provide a vehicle driving assistance device that, while performing driving assistance control for the inertial driving of the vehicle, can also prevent the vehicle's speed from temporarily falling below the legal minimum speed.

[0009] The vehicle driving assistance device according to the present invention includes a control device that performs a first driving assistance control by alternately and autonomously performing powered driving and inertial driving of the vehicle to maintain the vehicle's driving speed within a range between a target upper limit speed and a target lower limit speed. The control device is configured to set the target upper limit speed as a speed obtained by adding a predetermined upper limit margin to a set speed that is a target value for the vehicle's driving speed, and to set the target lower limit speed as a speed obtained by subtracting a predetermined lower limit margin from the set speed. Furthermore, the control device is configured to, when the first driving assistance control is executed, change the predetermined lower limit margin so that the target lower limit speed becomes a speed above the legal minimum speed if the target lower limit speed is lower than a legally applicable minimum speed for the vehicle.

[0010] According to the present invention, when the target lower limit speed is lower than the statutory minimum speed, the target lower limit speed is changed to a speed higher than or equal to the statutory minimum speed. Therefore, when performing the first driving assistance control as a driving assistance control for the inertial driving of the vehicle, it is also possible to prevent the vehicle's driving speed from temporarily falling below the statutory minimum speed.

[0011] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to, when the difference between the target lower limit speed set according to the predetermined lower limit range after the change and the target upper limit speed is less than a predetermined value, terminate the first driving assistance control and execute a second driving assistance control that autonomously accelerates and decelerates the vehicle to make the vehicle move in a manner that maintains the vehicle's speed at the set speed or maintains the distance between the vehicle and the preceding vehicle at a predetermined distance.

[0012] When the difference between the target lower speed limit and the target upper speed limit is small, the distance the vehicle can travel due to inertia becomes shorter, and the energy efficiency used to propel the vehicle may actually decrease. According to the present invention, when the difference between the target lower speed limit and the target upper speed limit is less than a predetermined value, the first driver assistance control is aborted. Therefore, the decrease in energy efficiency used to propel the vehicle can be suppressed.

[0013] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to change the predetermined upper limit range in such a way that the difference between the target lower limit speed set according to the predetermined lower limit range after the change is less than a predetermined value, within a range where the target upper limit speed is maintained at a speed below the legal maximum speed, so that the difference becomes a value above the predetermined value.

[0014] As described above, when the difference between the target lower speed limit and the target upper speed limit is small, the distance the vehicle can travel due to inertia becomes shorter, and the energy efficiency used to propel the vehicle may actually decrease. According to the present invention, when the difference between the target lower speed limit and the target upper speed limit is less than a predetermined value, this difference is increased. Therefore, the decrease in energy efficiency used to propel the vehicle can be suppressed.

[0015] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured such that, when the speed of the leading vehicle is lower than the set speed, and the value obtained by subtracting the target lower limit speed set according to the predetermined lower limit range after the change from the speed of the leading vehicle is less than a predetermined value, the first driving assistance control is terminated, and a second driving assistance control is executed to enable the vehicle to drive by autonomously accelerating and decelerating the vehicle in a manner that maintains the speed of the vehicle itself at the set speed or maintains the distance between the vehicle itself and the leading vehicle at a predetermined distance.

[0016] When the difference between the target lower limit speed and the speed of the preceding vehicle is small, the distance that the vehicle can travel by inertia becomes shorter, and the energy efficiency used to propel the vehicle may actually decrease. According to the present invention, when the difference between the target lower limit speed and the speed of the preceding vehicle is less than a predetermined value, the first driver assistance control is aborted. Therefore, the decrease in energy efficiency used to propel the vehicle can be suppressed.

[0017] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured such that, when the speed of the leading vehicle is lower than the average speed of the vehicle itself achieved by the first driving assistance control, a value obtained by adding half of the sum of the predetermined upper limit and the predetermined lower limit to the speed of the leading vehicle is set as the target upper limit speed, and a value obtained by subtracting half of the sum of the predetermined upper limit and the predetermined lower limit from the speed of the leading vehicle is set as the target lower limit speed. In this case, the control device may be configured such that, when the first driving assistance control is executed, if the speed of the leading vehicle is lower than the average speed of the vehicle itself achieved by the first driving assistance control, and if the target lower limit speed is lower than the statutory minimum speed, the target lower limit speed is changed in such a way that the target lower limit speed becomes a speed above the statutory minimum speed. Furthermore, in this case, the control device may be configured to, if the value obtained by subtracting the target lower limit speed after the change from the target upper limit speed is less than a predetermined value, terminate the first driving assistance control and execute a second driving assistance control that autonomously accelerates and decelerates the vehicle to maintain the vehicle's speed at the set speed or the distance between the vehicle and the preceding vehicle at a predetermined distance, thereby enabling the vehicle to move.

[0018] As described above, when the difference between the target lower speed limit and the target upper speed limit is small, the distance the vehicle can travel due to inertia becomes shorter, and the energy efficiency used to propel the vehicle may actually decrease. According to the present invention, when the difference between the target lower speed limit and the target upper speed limit is less than a predetermined value, the first driver assistance control is aborted. Therefore, the decrease in energy efficiency used to propel the vehicle can be suppressed.

[0019] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to, when the first driving assistance control is executed, determine the extent to which the predetermined lower limit range is changed based on the statutory minimum speed obtained from information about the statutory minimum speed included in information related to the road on which the vehicle is traveling.

[0020] According to the present invention, a predetermined lower limit is adjusted based on the legal minimum speed obtained from information about the legal minimum speed contained in information related to the road on which the vehicle is traveling. Therefore, it is possible to more effectively prevent the vehicle's speed from temporarily falling below the legal minimum speed.

[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 this invention will readily be understood from the description of embodiments thereof. Attached Figure Description

[0022] Figure 1 This is a diagram illustrating a vehicle driving assistance device according to an embodiment of the present invention.

[0023] Figure 2 This is a diagram illustrating a scenario where a preceding vehicle exists.

[0024] Figure 3 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0025] Figure 4 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0026] Figure 5 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0027] Figure 6 It is a timeline used to illustrate the control of the vehicle's speed when the target lower limit speed is changed but the first speed control continues.

[0028] Figure 7 It is a timeline used to illustrate the control of the vehicle's speed when the first speed control is terminated.

[0029] Figure 8 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0030] Figure 9 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0031] Figure 10 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0032] Figure 11 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0033] Figure 12 It shows an alternative Figure 8 The flowchart shows the processing steps of the routine, such as S810.

[0034] Figure 13This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0035] Figure 14 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0036] Figure 15 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures

[0038] 10…Vehicle driving assistance device, 20…Drive device, 30…Braking device, 61…Driving assistance operator, 62…Speed ​​setting operator, 63…Speed ​​range setting operator, 90…ECU, 100…Own vehicle, 200…Leader vehicle. Detailed Implementation

[0039] Hereinafter, with reference to the accompanying drawings, the vehicle driving assistance device according to the embodiments of the present invention will be described. Figure 1 The diagram shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on a vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using the case where the operator or user of the vehicle 100 is the driver of the vehicle 100 (i.e., a person who rides in the vehicle 100 and drives it). However, the operator or user of the vehicle 100 can also be a remote operator of the vehicle 100 (i.e., a person who drives the vehicle 100 remotely without riding in it). Furthermore, in the following description, the driver of the vehicle 100 will sometimes be abbreviated as "driver".

[0040] 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 CPU, a computer-readable storage medium, and an interface. The storage medium is ROM, RAM, or non-volatile memory, etc. 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 in the storage medium that implement the various controls performed by the vehicle driving assistance device 10.

[0041] Furthermore, in this example, the vehicle driving assistance device 10 has only one ECU 90, but it may also have multiple ECUs, and be configured such that each ECU separately undertakes the functions of the vehicle driving assistance device 10 described below.

[0042] Alternatively, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (such as Internet communication).

[0043] In addition, the vehicle driving assistance device 10 can be applied not only to vehicles driven manually by an operator, but also to vehicles driven autonomously.

[0044] like Figure 1 As shown, the vehicle 100 is equipped with a drive unit 20, a braking unit 30, a drive force transmission device 40, and a notification device 50.

[0045] The drive unit 20 is a device that generates driving force applied to the vehicle 100 (particularly the drive wheels of the vehicle 100). In this example, the drive unit 20 includes an internal combustion engine 21 and an electric motor 22. The drive 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 drive unit 20 (i.e., the internal combustion engine 21 and the electric motor 22).

[0046] Braking device 30 is a device that applies braking force to its own vehicle 100 (particularly the wheels of its own vehicle 100). In this example, braking device 30 includes hydraulic braking device 31. Braking device 30 is electrically connected to ECU 90. Vehicle driving assistance device 10 can control the braking force applied to its own vehicle 100 by controlling the operation of braking device 30 (more specifically, the operation of hydraulic braking device 31).

[0047] The drive force transmission device 40 is a device that transmits the driving force output from the drive unit 20 to the drive wheels of the vehicle 100. The drive force transmission device 40 is, for example, a transmission. The drive force transmission device 40 is electrically connected to the ECU 90. By controlling the operation of the drive force transmission device 40, the vehicle driving assistance device 10 can establish a drive force transmission path to transmit the driving force output from the drive unit 20 to the drive wheels of the vehicle 100. The drive force transmission path is the path from the drive unit 20 to the drive wheels of the vehicle 100. Alternatively, the vehicle driving assistance device 10 can also control the operation of the drive force transmission device 40 to cut off the drive force transmission path, thereby preventing the transmission of driving force from the drive unit 20 to the drive wheels of the vehicle 100.

[0048] The notification device 50 is a device for giving various notifications to the driver. In this example, the notification device 50 includes a display device 51 and an audio device 52.

[0049] Display device 51 is a device for displaying various images. Display device 51 includes, for example, a monitor. Display device 51 is electrically connected to ECU 90. Vehicle driving assistance device 10 displays various images via display device 51.

[0050] The audio device 52 is a device that outputs various sounds and / or voices. The audio device 52 includes, for example, a speaker. The audio device 52 is electrically connected to the ECU 90. The vehicle driving assistance device 10 outputs various sounds and / or voices through the audio device 52.

[0051] The vehicle 100 is also equipped with a driver assistance controller 61, a speed setting controller 62, a speed range setting controller 63, a vehicle distance setting controller 64, a speed detection device 65, a surrounding information detection device 70, a GPS signal receiver 81, and a map database 82.

[0052] The driver assistance controller 61 is a machine operated by the driver. By operating the driver assistance controller 61, the driver can request the execution or cessation of the driver assistance controls described later. The driver assistance controller 61 is electrically connected to the ECU 90. If the driver assistance controller 61 is operated when driver assistance control is not being executed, the vehicle driver assistance device 10 determines that the execution of driver assistance control has been requested. On the other hand, if the driver assistance controller 61 is operated while driver assistance control is being executed, the vehicle driver assistance device 10 determines that the cessation of driver assistance control has been requested.

[0053] The speed setting device 62 is a machine operated by the driver. By operating the speed setting device 62, the driver can set a target speed Vset for use in the driver assistance control described later. The target speed Vset is the speed set by the driver as a target value for the vehicle's own speed V1. The vehicle's own speed V1 is the vehicle's current speed of 100.

[0054] The vehicle speed setting operator 63 is a machine operated by the driver. By operating the vehicle speed setting operator 62, the driver can set the vehicle speed setting range WVset used in the driver assistance control described later.

[0055] The vehicle distance setting operator 64 is a machine operated by the driver. By operating the vehicle distance setting operator 64, the driver can set the vehicle distance Dset used in the driver assistance control described later. In this example, the driver can set any of the following distances as the vehicle distance setting operator 64: long distance, medium distance, and short distance. When a long distance is set as the vehicle distance Dset, the longer distance Dlong is set as the vehicle distance Dset. Similarly, when a medium distance is set as the vehicle distance Dset, the medium distance Dmid is set as the vehicle distance Dset. When a short distance is set as the vehicle distance Dset, the shorter distance Dshort is set as the vehicle distance Dset. The vehicle distance Dset is set to be longer the higher the vehicle speed V1. Furthermore, at the same vehicle speed V1, the longer distance Dlong is longer than the medium distance Dmid. Additionally, given the same vehicle speed V1, the distance Dmid for a medium-range vehicle is shorter than the distance Dshort for a medium-range vehicle.

[0056] The vehicle speed detection device 65 is used to detect its own vehicle speed V1. The vehicle speed detection device 65 may include, for example, wheel speed sensors installed on each wheel of the vehicle 100. The vehicle speed detection device 65 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains its own vehicle speed V1 through the vehicle speed detection device 65.

[0057] The surrounding information detection device 70 is a device used to detect information about the surroundings of its own vehicle 100. In this example, the surrounding information detection device 70 includes multiple electromagnetic wave sensors 71 and multiple image sensors 72.

[0058] Electromagnetic wave sensor 71 is electrically connected to ECU 90. Electromagnetic wave sensor 71 is, for example, a radar sensor such as millimeter-wave radar. The vehicle driving assistance device 10 obtains information (object information IO) about objects existing around its own vehicle 100 through electromagnetic wave sensor 71, as surrounding information IS.

[0059] Image sensor 72 is electrically connected to ECU 90. Image sensor 72 is, for example, a camera sensor. The vehicle driving assistance device 10 obtains image information IC related to the surroundings of its own vehicle 100 through image sensor 72, as surrounding information IS.

[0060] GPS signal receiver 81 is a device that receives GPS signals. GPS signal receiver 81 is electrically connected to ECU 90. Vehicle driving assistance device 10 receives GPS signals via GPS signal receiver 81. Vehicle driving assistance device 10 obtains the current location of its own vehicle 100 based on the GPS signals.

[0061] Map database 82 is a device that stores map information IM. Map database 82 is electrically connected to ECU 90. Vehicle driving assistance device 10 obtains road information IR based on the current location of its own vehicle 100 and map information IM. Road information IR is information related to the road on which its own vehicle 100 is traveling.

[0062] Next, the operation of the vehicle driving assistance device 10 will be explained. The vehicle driving assistance device 10 executes at predetermined time intervals. Figure 3 The routines shown are as follows. Thus, the vehicle driving assistance device 10 performs driving assistance control when predetermined conditions are met. In this example, the driving assistance control includes a first driving assistance control and a second driving assistance control.

[0063] The first driver assistance control includes the first driving speed control and the first inter-vehicle distance control.

[0064] The first speed control is implemented when there is no preceding vehicle (200 km / h). For example... Figure 2 As shown, the lead vehicle 200 refers to other vehicles traveling in front of its own vehicle 100 in its own vehicle's driving lane LN1, and existing within a predetermined distance Dth in front of its own vehicle 100. The lead vehicle 200 detects other vehicles based on surrounding information IS.

[0065] The first driving speed control is achieved by autonomously and alternately performing power driving and inertial driving of the vehicle 100 to maintain its own speed V1 within the target speed range RVtgt, thereby controlling the vehicle 100 to move. In other words, the first driving speed control is achieved by autonomously and alternately performing power driving control and inertial driving control to maintain its own speed V1 within the target speed range RVtgt, thereby controlling the vehicle 100 to move.

[0066] Powered driving control is the control that enables the vehicle 100 to perform powered driving. When the vehicle driving assistance device 10 executes powered driving control, it applies a driving force from the drive unit 20 to the vehicle 100, thereby enabling the vehicle 100 to perform powered driving. Furthermore, optimal powered driving control can also be employed as powered driving control. Optimal powered driving control enables the vehicle 100 to perform powered driving by applying a driving force from the drive unit 20 to the vehicle 100 while controlling the operation of the drive unit 20 in a manner that maximizes driving energy efficiency. Driving energy efficiency is the energy efficiency of the drive unit 20 when generating driving force.

[0067] Inertial driving control is the control that enables the vehicle 100 to maintain inertial driving. When inertial driving control is executed, the vehicle driving assistance device 10 stops applying driving force from the drive unit 20 to the vehicle 100, thereby enabling the vehicle 100 to maintain inertial driving. In this example, when inertial driving control is executed, the vehicle driving assistance device 10 stops applying driving force from the drive unit 20 to the vehicle 100 by cutting off the driving force transmission path. As described above, the driving force transmission path is the path from the drive unit 20 to the vehicle 100 where driving force is applied. The vehicle driving assistance device 10 cuts off the driving force transmission path by controlling the operation of the driving force transmission device 40.

[0068] When the vehicle driving assistance device 10 executes the first driving speed control, if its own vehicle speed V1 increases and reaches the target upper limit speed Vtgt_max due to the execution of power driving control, it terminates power driving control and starts inertial driving control. The target upper limit speed Vtgt_max is the upper limit of the target vehicle speed range RVtgt. The target upper limit speed Vtgt_max is the value obtained by adding a predetermined upper limit amplitude ΔVmax to the set vehicle speed Vset. In this example, the predetermined upper limit amplitude ΔVmax is zero except in the exceptions described later. Therefore, in this example, except in the exceptions described later, the set vehicle speed Vset set by the driver is set to the target upper limit speed Vtgt_max (Vtgt_max=Vset).

[0069] On the other hand, when the vehicle driving assistance device 10 executes the first driving speed control, if its own vehicle speed V1 decreases due to the execution of inertial driving control and reaches the target lower limit speed Vtgt_min, it ends the inertial driving control and starts the power driving control. The target lower limit speed Vtgt_min is the lower limit of the target vehicle speed range RVtgt. The target lower limit speed Vtgt_min is the speed obtained by subtracting the predetermined lower limit amplitude ΔVmin from the set vehicle speed Vset. In this example, the predetermined lower limit amplitude ΔVmin is the target vehicle speed amplitude WVtgt. Therefore, in this example, the value obtained by subtracting the target vehicle speed amplitude WVtgt from the target upper limit speed Vtgt_max is set as the target lower limit speed Vtgt_min. In addition, except for the exceptions described later, the set vehicle speed amplitude WVset set by the driver is always set as the target vehicle speed amplitude WVtgt.

[0070] The first-stage distance control is executed when a preceding vehicle 200 is present. The first-stage distance control involves autonomously and alternately performing both powered and inertial driving of the vehicle 100 to maintain the distance D within the target distance range RDtgt, thereby controlling the movement of the vehicle 100. In other words, the first-stage distance control involves autonomously and alternately performing powered driving control and inertial driving control to maintain the distance D within the target distance range RDtgt, thereby controlling the movement of the vehicle 100.

[0071] The vehicle-to-vehicle distance D is the distance between the vehicle itself (100) and the preceding vehicle (200). The vehicle-to-vehicle distance D is obtained based on the surrounding information IS.

[0072] When the vehicle driving assistance device 10 executes the first inter-vehicle distance control, if the inter-vehicle distance D decreases due to the execution of power driving control and reaches the target lower limit inter-vehicle distance Dtgt_min, then the power driving control ends and inertial driving control begins. The target lower limit inter-vehicle distance Dtgt_min is the lower limit of the target inter-vehicle distance range RDtgt. In this example, the set inter-vehicle distance Dset set by the driver is set to the target lower limit inter-vehicle distance Dtgt_min (Dtgt_min = Dset).

[0073] On the other hand, when the vehicle driving assistance device 10 executes the first inter-vehicle distance control, if the inter-vehicle distance D increases due to the execution of inertial driving control and reaches the target upper limit inter-vehicle distance Dtgt_max, it ends the inertial driving control and starts the power driving control. The target upper limit inter-vehicle distance Dtgt_max is the upper limit of the target inter-vehicle distance range RDtgt. In this example, the value obtained by adding the target lower limit inter-vehicle distance Dtgt_min to the target inter-vehicle distance amplitude WDtgt is set as the target upper limit inter-vehicle distance Dtgt_max (Dtgt_max = Dtgt_min + WDtgt). In this example, the target inter-vehicle distance amplitude WDtgt is set according to the set inter-vehicle distance Dset and the vehicle speed V1.

[0074] Furthermore, during the execution of power driving control, if the vehicle speed V1 reaches the target upper speed Vtgt_max before the vehicle distance D reaches the target lower limit Dtgt_min, power driving control continues to maintain the vehicle speed V1 at the target upper speed Vtgt_max. Conversely, during the execution of inertial driving control, if the vehicle speed V1 reaches the target lower limit Vtgt_min before the vehicle distance D reaches the target upper limit Dtgt_max, inertial driving control ends, and power driving control is executed to maintain the vehicle speed V1 at the target lower speed Vtgt_min.

[0075] Therefore, the first-stage distance control can also be described as controlling the movement of the vehicle 100 by alternately and autonomously performing the power driving and the inertial driving of the vehicle 100 in a way that keeps its own speed V1 within the range between the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min.

[0076] The second driver assistance control includes the second driving speed control and the second inter-vehicle distance control.

[0077] The second driving speed control is executed when there is no preceding vehicle 200. The second driving speed control is the control of the vehicle 100 to drive by autonomously accelerating and decelerating its own vehicle 100 in a way that keeps its own vehicle speed V1 at a set vehicle speed Vset.

[0078] The second vehicle-to-vehicle distance control is executed when there is a preceding vehicle 200. The second vehicle-to-vehicle distance control is a control method that autonomously accelerates and decelerates the vehicle 100 to keep the vehicle-to-vehicle distance D at a set distance Dset, thereby controlling the vehicle 100 to move.

[0079] When the predetermined time is reached, the vehicle driving assistance device 10 starts from... Figure 3 The routine shown begins processing from step S300. Then, the vehicle driving assistance device 10 advances the processing to step S305, determining whether the assistance request condition C1 is met. The assistance request condition C1 is met when the execution of driving assistance control is requested.

[0080] If the vehicle driving assistance device 10 determines "yes" in step S305, the process proceeds to step S310 to determine whether the preceding vehicle condition C2 is met. The preceding vehicle condition C2 is met when the preceding vehicle 200 exists.

[0081] If the vehicle driving assistance device 10 determines "no" in step S310, the process proceeds to step S315 and execution is performed. Figure 4 The routine shown. Therefore, when the vehicle driving assistance device 10 advances the processing to step S315, from Figure 4 The routine shown begins processing from step S400. Then, the vehicle driving assistance device 10 advances the processing to step S405, determining whether the target value setting condition C3 is met.

[0082] The target value setting condition C3 is established when the driver sets or changes the set vehicle speed Vset by operating the vehicle speed setting operator 62. Furthermore, the target value setting condition C3 is also established when the driver sets or changes the set vehicle speed range WVset by operating the vehicle speed range setting operator 63.

[0083] If the vehicle driving assistance device 10 determines "yes" in step S405, the process proceeds to step S410, where the target upper limit speed Vtgt_max, the target vehicle speed range WVtgt, and the target lower limit speed Vtgt_min are set.

[0084] In step S410, the set vehicle speed Vset set by the driver is set to the target upper speed limit Vtgt_max (Vtgt_max = Vset). Additionally, the set vehicle speed range WVset set by the driver is set to the target vehicle speed range WVtgt. Furthermore, the value obtained by subtracting the target vehicle speed range WVtgt from the target upper speed limit Vtgt_max is set to the target lower speed limit Vtgt_min (Vtgt_min = Vtgt_max - WVtgt).

[0085] Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S320 of the routine shown.

[0086] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S405, the process proceeds to step S415 to determine whether the minimum speed change condition C4 is met.

[0087] The minimum speed change condition C4 applies when the statutory minimum speed Vlaw_min changes. The statutory minimum speed Vlaw_min is the legally required minimum speed for a vehicle.

[0088] The statutory minimum speed Vlaw_min is obtained based on information related to the road on which the vehicle 100 is traveling. The information related to the road on which the vehicle 100 is traveling is at least one of road information IR, surrounding information IS (particularly image information IC), and destination information of the ECU 90 (i.e., information about the destination of the vehicle 100). Therefore, the statutory minimum speed Vlaw_min is obtained based on the statutory minimum speed information contained in the road information IR. Alternatively, the statutory minimum speed Vlaw_min is obtained based on information indicating a statutory minimum speed obtained from the surrounding information IS (particularly image information IC). Alternatively, the statutory minimum speed Vlaw_min is obtained based on information about the statutory minimum speed set at the destination of the ECU 90 obtained from the destination information of the ECU 90. Furthermore, the highest of the statutory minimum speeds obtained from the road information IR, the road sign information, and the destination information of the ECU 90 may also be used as the statutory minimum speed Vlaw_min.

[0089] If the vehicle driving assistance device 10 determines "yes" in step S415, the process proceeds to step S420, where the target upper limit speed Vtgt_max, the target vehicle speed range WVtgt, and the target lower limit speed Vtgt_min are set.

[0090] In step S420, the currently set vehicle speed Vset is set to the target upper speed limit Vtgt_max (Vtgt_max = Vset). Additionally, the currently set vehicle speed range WVset is set to the target vehicle speed range WVtgt. Furthermore, the value obtained by subtracting the target vehicle speed range WVtgt from the target upper speed limit Vtgt_max is set to the target lower speed limit Vtgt_min (Vtgt_min = Vtgt_max - WVtgt).

[0091] Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S320 of the routine shown.

[0092] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S415, the processing proceeds directly to... Figure 3 Step S320 of the routine shown.

[0093] When the vehicle driving assistance device 10 causes the processing to proceed to step S320, it executes... Figure 5 The routine shown. Therefore, when the vehicle driving assistance device 10 advances the processing to step S320, from Figure 5 The routine shown begins processing from step S500. Then, the vehicle driving assistance device 10 advances the processing to step S505, determining whether the minimum speed condition C5 is met. The minimum speed condition C5 is met when the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min.

[0094] If the vehicle driving assistance device 10 determines "yes" in step S505, the process proceeds to step S510, whereby the target lower limit speed Vtgt_min is changed to a speed above the legal minimum speed Vlaw_min. In this example, the legal minimum speed Vlaw_min is set to the target lower limit speed Vtgt_min.

[0095] In this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0096] Furthermore, as described above, the statutory minimum speed Vlaw_min is obtained based on the statutory minimum speed information contained in the information related to the road on which the vehicle 100 is traveling. Therefore, in this example, when the first driving speed control is executed, the magnitude of the change in the predetermined lower limit ΔVmin is determined based on the statutory minimum speed Vlaw_min obtained from the statutory minimum speed information contained in the information related to the road on which the vehicle 100 is traveling.

[0097] In addition, in step S510, the value obtained by adding a predetermined value ΔV to the statutory minimum speed Vlaw_min can also be set as the target lower limit speed Vtgt_min.

[0098] A predetermined value ΔV is set to a suitable value, thereby setting the target lower speed limit Vtgt_min such that power driving control begins at a timing when the vehicle speed V1 can increase while maintaining a speed not lower than the legal minimum speed Vlaw_min. Specifically, the predetermined value ΔV is set to the minimum of these suitable values. The predetermined value ΔV is set to a value that increases as the vehicle's acceleration capability decreases. Furthermore, the predetermined value ΔV is set to a value that increases as the vehicle's acceleration responsiveness decreases. Moreover, the greater the vehicle acceleration achieved through power driving control, the greater the vehicle's acceleration capability. Additionally, the shorter the time from the start of power driving control to the actual start of vehicle acceleration, the higher the vehicle's acceleration responsiveness.

[0099] Furthermore, in step S510, the set vehicle speed Vset is not changed. Therefore, the target upper limit speed Vtgt_max is also not changed.

[0100] Next, the vehicle driving assistance device 10 advances the processing to step S515 to determine whether the minimum vehicle speed range condition C6 is met.

[0101] The minimum speed range condition C6 is satisfied when the target speed range WVtgt is lower than the minimum speed range WVmin. In other words, the minimum speed range condition C6 is satisfied when the difference between the target lower speed limit Vtgt_min and the target upper speed limit Vtgt_max is less than the minimum speed range WVmin. The minimum speed range WVmin is the minimum value of the target speed range WVtgt that ensures an improvement in drive energy efficiency above a predetermined value through the execution of the first driver assistance control. Furthermore, the minimum speed range WVmin is determined based on vehicle characteristics (especially the characteristics of the drive unit's drive energy efficiency), the vehicle's average speed, and the gradient of the road on which the vehicle is traveling.

[0102] Furthermore, during the execution of the first driver assistance control, there is a tendency for a larger target vehicle speed range WVtgt to result in higher drive energy efficiency. However, during the execution of the first driver assistance control, if the target vehicle speed range WVtgt is too small, the drive energy efficiency may sometimes become lower than that achieved through the second driver assistance control. Therefore, during the execution of the first driver assistance control, the vehicle driver assistance device 10 determines whether the minimum vehicle speed range condition C6 is met in order to ensure high drive energy efficiency.

[0103] If the vehicle driving assistance device 10 determines "No" in step S515, it proceeds to step S520 to execute or continue the first driving speed control. If the second driving speed control is in progress, it stops the second driving speed control and executes the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0104] Furthermore, the vehicle driving assistance device 10 may also be configured to provide a continued notification when the first driving speed control continues in step S520. In this example, the continued notification is a message to the driver stating, "Although the first driving speed control continues, the vehicle speed V1 may be lower than the legal minimum speed Vlaw_min." Alternatively, the continued notification could be a notification that although the first driving speed control continues, the vehicle speed V1 may be lower than the legal minimum speed Vlaw_min, thus prompting the driver to be careful not to let the vehicle speed V1 fall below the legal minimum speed Vlaw_min. Alternatively, the continued notification could be a notification that although the first driving speed control continues, the vehicle speed V1 may be lower than the legal minimum speed Vlaw_min, thus advising the driver to change the set vehicle speed Vset or the set vehicle speed range WVset.

[0105] Continued notification is achieved through notification device 50. More specifically, continued notification is achieved by displaying a predetermined image using display device 51 and / or outputting a predetermined voice using audio device 52.

[0106] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S515, it advances the process to step S525 to execute or continue the second driving speed control. At this time, if the first driving speed control is being executed, it stops the first driving speed control and executes the second driving speed control. Next, the vehicle driving assistance device 10 advances the process to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0107] In this example, if the difference between the target lower speed limit Vtgt_min and the target upper speed limit Vtgt_max (target speed range WVtgt) set according to the modified predetermined lower speed limit range ΔVmin is less than the predetermined value (minimum speed range WVmin), the first driving speed control is terminated and the second driving speed control is executed.

[0108] Furthermore, the vehicle driving assistance device 10 can also be configured to issue a stop notification when the first driving speed control is stopped in step S525. In this example, the stop notification is to inform the driver that "although the first driving speed control has been stopped, if you want to resume the first driving speed control, you need to change the set vehicle speed Vset or the set vehicle speed range WVset". Alternatively, the stop notification can simply inform the driver that "the first driving speed control has been stopped".

[0109] The suspension notification is delivered via notification device 50. More specifically, the suspension notification is delivered by displaying a predetermined image using display device 51 and / or by outputting a predetermined voice using audio device 52.

[0110] Furthermore, if the vehicle driving assistance device 10 determines "no" in step S505, it proceeds to step S530 to execute or continue the first driving speed control. At this time, if the second driving speed control is being executed, it stops the second driving speed control and executes the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0111] In addition, the vehicle driving assistance device 10 is Figure 3 If the step S305 of the example shown is determined to be "no" or in Figure 3 If the determination in step S310 of the example is "yes", the process proceeds directly to step S395, and the processing of this example is temporarily terminated.

[0112] Based on the control described above, the vehicle's own speed V1 is controlled as follows: Figure 6 or Figure 7 That's how you control it.

[0113] That is, in Figure 6 In the example shown, at time t60, the statutory minimum speed Vlaw_min increases, resulting in the target lower limit speed Vtgt_min becoming lower than the statutory minimum speed Vlaw_min. Therefore, the target lower limit speed Vtgt_min is set to the same speed as the statutory minimum speed Vlaw_min. At this time, the target speed range WVtgt is above the minimum speed range WVmin. Therefore, with the target lower limit speed Vtgt_min set to the same speed as the statutory minimum speed Vlaw_min, the first driving speed control continues. In other words, the state of "allowing the vehicle to continue its inertial movement by 100%" continues.

[0114] On the other hand, Figure 7In the example shown, at time t70, the statutory minimum speed Vlaw_min increases, resulting in the target lower limit speed Vtgt_min becoming lower than the statutory minimum speed Vlaw_min. Therefore, the target lower limit speed Vtgt_min is set to the same speed as the statutory minimum speed Vlaw_min. At this time, the target speed range WVtgt becomes less than the minimum speed range WVmin. Therefore, the first speed control is terminated. In other words, the inertial movement of the vehicle 100 is prohibited.

[0115] Thus, according to the vehicle driving assistance device 10, when the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min, the target lower limit speed Vtgt_min is changed to a speed higher than or equal to the statutory minimum speed Vlaw_min. Therefore, during the execution of the first driving assistance control for the inertial driving of the vehicle 100, it is also possible to prevent the vehicle speed V1 from temporarily falling below the statutory minimum speed Vlaw_min.

[0116] In addition, it can also replace Figure 5 The routine shown is executed. Figure 8 The routine shown. In this case, the vehicle driving assistance device 10 will advance the processing to... Figure 3 After step S320 of the routine shown, from Figure 8 The routine shown begins processing from step S800. Then, the vehicle driving assistance device 10 advances the processing to step S805, determining whether the minimum speed condition C5 is met.

[0117] If the vehicle driving assistance device 10 determines "yes" in step S805, the process proceeds to step S810, whereby the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are changed. Here, the value obtained by adding the target vehicle speed range WVtgt to the legal minimum speed Vlaw_min is set as the target upper limit speed Vtgt_max (Vtgt_max = Vlaw_min + WVtgt). Furthermore, the value obtained by subtracting the target vehicle speed range WVtgt from the target upper limit speed Vtgt_max is set as the target lower limit speed Vtgt_min (Vtgt_min = Vtgt_max - WVtgt).

[0118] Furthermore, in step S805, although the target upper limit speed Vtgt_max is changed, the set vehicle speed Vset is not changed.

[0119] As in this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0120] Next, the vehicle driving assistance device 10 advances the process to step S812, determining whether the maximum speed condition C7 is met. The maximum speed condition C7 is met when the target upper limit speed Vtgt_max is higher than the legal maximum speed Vlaw_max. The legal maximum speed Vlaw_max is the legally limited upper limit of the vehicle's driving speed.

[0121] The legal maximum speed, Vlaw_max, is also obtained based on information related to the road on which the vehicle 100 is traveling. This information related to the road on which the vehicle 100 is traveling is at least one of road information IR and surrounding information IS (particularly image information IC). Therefore, the legal maximum speed, Vlaw_max, is obtained based on the legal maximum speed information contained in the road information IR. Alternatively, the legal maximum speed, Vlaw_max, is obtained based on information from road signs indicating the legal maximum speed obtained from the surrounding information IS (particularly image information IC).

[0122] If the vehicle driving assistance device 10 determines "no" in step S812, the process proceeds directly to step S815.

[0123] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S812, it proceeds to step S814 to change the target upper limit speed Vtgt_max. Specifically, the vehicle driving assistance device 10 changes the target upper limit speed Vtgt_max to a speed below the legal maximum speed Vlaw_max. In this example, the legal maximum speed Vlaw_max is set as the target upper limit speed Vtgt_max. Next, the vehicle driving assistance device 10 proceeds to step S815.

[0124] When the vehicle driving assistance device 10 advances the processing to step S815, it determines whether the minimum vehicle speed range condition C6 is met.

[0125] If the vehicle driving assistance device 10 determines "no" in step S815, the process proceeds to step S820, and... Figure 5Similarly, in step S520 of the routine shown, the first driving speed control is executed or continued. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0126] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S815, the process proceeds to step S825, and... Figure 5 Similarly, in step S525 of the routine shown, the second driving speed control is executed or continued. At this time, if the first driving speed control is being executed, the first driving speed control is stopped, and the second driving speed control is executed. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0127] As in this example, if the difference between the target lower speed limit Vtgt_min and the target upper speed limit Vtgt_max (target speed range WVtgt) set according to the changed predetermined lower speed limit range ΔVmin is less than the predetermined value (minimum speed range WVmin), the first driving speed control is terminated and the second driving speed control is executed.

[0128] Furthermore, if the vehicle driving assistance device 10 determines "no" in step S805, it proceeds to step S830 to execute or continue the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0129] Alternatively, it can be replaced Figure 5 The routine shown is executed. Figure 9 The routine shown. In this case, the vehicle driving assistance device 10 will advance the processing to... Figure 3 After step S320 of the routine shown, from Figure 9 The routine shown begins processing at step S900. Then, the vehicle driving assistance device 10 advances the processing to step S905, determining whether the minimum speed condition C5 is met.

[0130] If the vehicle driving assistance device 10 determines "yes" in step S905, the process proceeds to step S910, whereby the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are changed. Here, with... Figure 8 Similarly, in step S810 of the example shown, the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are set.

[0131] As in this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0132] Next, the vehicle driving assistance device 10 advances the processing to step S912 to determine whether the maximum speed condition C7 is met.

[0133] If the vehicle driving assistance device 10 determines "no" in step S912, the process proceeds to step S920, and... Figure 5 Similarly, in step S520 of the routine shown, the first driving speed control is executed or continued. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0134] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S912, the process proceeds to step S925, and... Figure 5 Similarly, in step S525 of the routine shown, the second driving speed control is executed or continued. At this time, if the first driving speed control is being executed, the first driving speed control is stopped, and the second driving speed control is executed. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0135] Furthermore, if the vehicle driving assistance device 10 determines "no" in step S905, it proceeds to step S930 to execute or continue the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0136] Alternatively, it can be replaced Figure 5 The routine shown is executed. Figure 10 The routine shown. In this case, the vehicle driving assistance device 10 will advance the processing to... Figure 3 After step S320 of the routine shown, from Figure 10 The routine shown begins processing from step S1000. Then, the vehicle driving assistance device 10 advances the processing to step S1005, determining whether the minimum speed condition C5 is met.

[0137] If the vehicle driving assistance device 10 determines "yes" in step S1005, the process proceeds to step S1010, whereby the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are changed. Here, with... Figure 8 Similarly, in step S810 of the example shown, the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are set.

[0138] As in this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0139] Next, the vehicle driving assistance device 10 advances the processing to step S1020, and... Figure 5 Similarly, in step S520 of the routine shown, the first driving speed control is executed or continued. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0140] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S1005, it proceeds to step S1030 to execute or continue the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0141] Alternatively, it can also be in Figure 8 The minimum speed condition C5 used in step S805 of the illustrated routine is set to be a condition that occurs when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the statutory minimum speed Vlaw_min becoming higher. Furthermore, the vehicle driving assistance device 10 can also be configured to abort the first driving speed control and execute the second driving speed control when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the driver reducing the set vehicle speed Vset.

[0142] In this case, Figure 8 The routine shown becomes Figure 11 The routine shown. In this case, the vehicle driving assistance device 10 proceeds to... Figure 3 After step S320 of the routine shown, from Figure 11The routine shown begins processing from step S1100. Then, the vehicle driving assistance device 10 advances the processing to step S1105, determining whether the first minimum speed condition C51 is met. The first minimum speed condition C51 is met when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the statutory minimum speed Vlaw_min being changed to a higher speed.

[0143] If the vehicle driving assistance device 10 determines "yes" in step S1105, the process proceeds to step S1110, whereby the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are changed. Here, with... Figure 8 Similarly, in step S810 of the example shown, the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min are set.

[0144] As in this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0145] Next, the vehicle driving assistance device 10 advances the processing to step S1112 to determine whether the maximum speed condition C7 is met.

[0146] If the vehicle driving assistance device 10 determines "no" in step S1112, the process proceeds directly to step S1115.

[0147] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S1112, the process proceeds to step S1114, and the target upper limit speed Vtgt_max is changed. Here, with... Figure 8 Similarly, in step S812 of the illustrated routine, the target upper speed limit Vtgt_max is set. Next, the vehicle driving assistance device 10 advances the processing to step S1115.

[0148] After the vehicle driving assistance device 10 advances the processing to step S1115, it determines whether the minimum vehicle speed range condition C6 is met.

[0149] If the vehicle driving assistance device 10 determines "no" in step S1115, the process proceeds to step S1120, and... Figure 5 Similarly, in step S520 of the routine shown, the first driving speed control is executed or continued. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3Step S395 of the example shown temporarily ends the processing of this example.

[0150] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S1115, the process proceeds to step S1125, and... Figure 5 Similarly, in step S525 of the routine shown, the second driving speed control is executed or continued. At this time, if the first driving speed control is being executed, the first driving speed control is stopped, and the second driving speed control is executed. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0151] As in this example, if the difference between the target lower speed limit Vtgt_min and the target upper speed limit Vtgt_max (target speed range WVtgt) set according to the changed predetermined lower speed limit range ΔVmin is less than the predetermined value (minimum speed range WVmin), the first driving speed control is terminated and the second driving speed control is executed.

[0152] Furthermore, if the vehicle driving assistance device 10 determines "no" in step S1105, the process proceeds to step S1127 to determine whether the second minimum speed condition C52 is met. The second minimum speed condition C52 is met when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the set vehicle speed Vset being changed to a lower speed.

[0153] If the vehicle driving assistance device 10 determines "yes" in step S1127, the process proceeds to step S1129, and... Figure 5 Similarly, in step S525 of the routine shown, the second driving speed control is executed or continued. At this time, if the first driving speed control is being executed, the first driving speed control is stopped, and the second driving speed control is executed. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0154] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S1127, it proceeds to step S1130 to execute or continue the first driving speed control. Next, the vehicle driving assistance device 10 proceeds to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0155] Similarly, it is also possible to... Figure 9 Step S905 of the routine shown Figure 10The minimum speed condition C5 used in step S1005 of the routine shown is set as the first minimum speed condition C51. Furthermore, the vehicle driving assistance device 10 can also be configured to abort the first driving speed control and execute the second driving speed control when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the driver reducing the set vehicle speed Vset.

[0156] Similarly, it is also possible to... Figure 5 The minimum speed condition C5 used in step S505 of the routine shown is set as the first minimum speed condition C51. Furthermore, the vehicle driving assistance device 10 can also be configured to abort the first driving speed control and execute the second driving speed control when the target lower limit speed Vtgt_min becomes lower than the statutory minimum speed Vlaw_min due to the driver reducing the set vehicle speed Vset.

[0157] Alternatively, it can be used as a substitute Figure 8 The routine shown is executed by processing step S810. Figure 12 The process is shown. In this case, the vehicle driving assistance device 10... Figure 8 If step S805 of the example shown is "yes", the process proceeds to... Figure 12 In step S1205 of the example shown, the target lower limit speed Vtgt_min is changed. Here, with... Figure 5 Similarly, in step S510 of the example shown, the target lower limit speed Vtgt_min is set.

[0158] Next, the vehicle driving assistance device 10 advances the processing to step S1210 to determine whether the minimum vehicle speed range condition C6 is met.

[0159] If the vehicle driving assistance device 10 determines "yes" in step S1210, the process proceeds to step S1215, where the target upper limit speed Vtgt_max is changed. Here, the value obtained by adding the target vehicle speed range WVtgt to the statutory minimum speed Vlaw_min is set as the target upper limit speed Vtgt_max (Vtgt_max = Vlaw_min + WVtgt). Furthermore, in this step S1215, the target lower limit speed Vtgt_min is not changed.

[0160] Next, the vehicle driving assistance device 10 advances the processing to... Figure 8 Step S812 of the routine shown.

[0161] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S1210, the process proceeds to step S1220, and... Figure 5Similarly, in step S520 of the routine shown, the first driving speed control is executed or continued. Next, the vehicle driving assistance device 10 advances the processing to... Figure 3 Step S395 of the example shown temporarily ends the processing of this example.

[0162] In this example, if the difference between the target lower speed limit Vtgt_min and the target upper speed limit Vtgt_max (target speed range WVtgt) set according to the modified predetermined lower speed limit range ΔVmin is less than a predetermined value (minimum speed range WVmin), the predetermined upper speed limit range ΔVmax is changed in such a way that the difference (target speed range WVtgt) becomes a value above the predetermined value (minimum speed range WVmin) within the range where the target upper speed limit Vtgt_max is maintained below the legal maximum speed Vlaw_max.

[0163] Similarly, it can also be used as a substitute Figure 9 , Figure 10 and Figure 11 The routine shown is executed by processing steps S910, S1010, and S1110. Figure 12 The processing shown.

[0164] Furthermore, when the vehicle driving assistance device 10 reaches a predetermined time, it... Figure 13 The routine shown begins processing at step S1300. Then, the vehicle driving assistance device 10 advances the processing to step S1305, determining whether the assistance requirement condition C1 is met.

[0165] If the vehicle driving assistance device 10 determines "yes" in step S1305, the process proceeds to step S1310 to determine whether the preceding vehicle condition C2 is met.

[0166] If the vehicle driving assistance device 10 determines "yes" in step S1310, the process proceeds to step S1312 to determine whether the low-speed condition C8 of the preceding vehicle is met.

[0167] The leading vehicle low speed condition C8 is established when the leading vehicle's speed V2 is lower than the set speed Vset. For example, the leading vehicle low speed condition C8 is established when vehicle 100 is traveling on a congested road. The leading vehicle speed V2 is the speed of the leading vehicle 200. The leading vehicle speed V2 is obtained based on the surrounding information IS.

[0168] Alternatively, the low-speed condition C8 for the leading vehicle can be set to occur when the leading vehicle's speed V2 is lower than its average speed Vave. The average speed Vave is the average of its own speed V1, achieved through the first-stage inter-vehicle distance control. In this example, the average speed Vave is half the value obtained by adding the target lower speed Vtgt_min to the current target upper speed limit Vtgt_max (Vave = (Vtgt_max + Vtgt_min) / 2).

[0169] If the vehicle driving assistance device 10 determines "no" in step S1312, the process proceeds to step S1315 and execution is performed. Figure 4 The routine is shown. Next, the vehicle driving assistance device 10 advances the processing to step S1320, and executes... Figure 5 and Figures 8 to 11 One of the routines shown. Next, the vehicle driving assistance device 10 advances the processing to step S1395, temporarily ending the processing of this routine.

[0170] On the other hand, if the vehicle driving assistance device 10 determines "yes" in step S1312, the process proceeds to step S1325 and executes... Figure 14 The routine shown. Therefore, when the vehicle driving assistance device 10 advances the processing to step S1325, from Figure 14 The routine shown begins processing at step S1400. Then, the vehicle driving assistance device 10 advances the processing to step S1405, where a target vehicle speed range RVtgt is set.

[0171] In step S1405, the target vehicle speed range RVtgt is set by setting the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min in the following manner.

[0172] That is, the vehicle driving assistance device 10 sets the target upper limit speed Vtgt_max (Vtgt_max = V2 + WVtgt / 2) as the value obtained by adding half of the target speed range WVtgt to the speed of the preceding vehicle V2. In other words, the vehicle driving assistance device 10 sets the target upper limit speed Vtgt_max (Vtgt_max = V2 + (ΔVmax + ΔVmin) / 2) as the value obtained by adding half of the sum of the predetermined upper limit range ΔVmax and the predetermined lower limit range ΔVmin to the speed of the preceding vehicle V2.

[0173] Furthermore, the vehicle driving assistance device 10 sets the target lower speed limit Vtgt_min (Vtgt_min = V2 - WVtgt / 2) as the value obtained by subtracting half of the target speed range WVtgt from the speed of the preceding vehicle V2. In other words, the vehicle driving assistance device 10 sets the target lower speed limit Vtgt_min (Vtgt_min = V2 - (ΔVmax + ΔVmin) / 2) as the value obtained by subtracting half of the sum of the predetermined upper speed range ΔVmax and the predetermined lower speed range ΔVmin from the speed of the preceding vehicle V2.

[0174] Then, the vehicle driving assistance device 10 sets the target vehicle speed range WVtgt to the range specified by the target upper limit speed Vtgt_max and the target lower limit speed Vtgt_min.

[0175] Next, the vehicle driving assistance device 10 advances the processing to step S1410 to determine whether the minimum speed condition C5 is met.

[0176] If the vehicle driving assistance device 10 determines "yes" in step S1410, the process proceeds to step S1415, and... Figure 5 Similarly, in step S510 of the routine shown, the target lower limit speed Vtgt_min is changed to a speed above the statutory minimum speed Vlaw_min.

[0177] As in this example, when the first driving speed control is executed, if the target lower limit speed Vtgt_min is lower than the statutory minimum speed Vlaw_min applied to the vehicle 100, the predetermined lower limit magnitude ΔVmin is changed in such a way that the target lower limit speed Vtgt_min becomes a speed above the statutory minimum speed Vlaw_min.

[0178] Next, the vehicle driving assistance device 10 advances the processing to step S1420 to determine whether the minimum vehicle speed range condition C6 is met.

[0179] If the vehicle driving assistance device 10 determines "no" in step S1420, the process proceeds to step S1425, and... Figure 5 Similarly, in step S520 of the routine shown, the first inter-vehicle distance control is performed or continued. Next, the vehicle driving assistance device 10 advances the process to step S1495, temporarily ending the processing of this routine.

[0180] Like this, in this example, the execution of the inter-vehicle distance control in the first workshop (especially the coasting control) is allowed at least when the speed V2 of the preceding vehicle is greater than or equal to a value obtained by adding half of the target speed range WVtgt to the legal minimum speed Vlaw_min (V2≥Vlaw_min + WVtgt / 2).

[0181] Furthermore, in this example, the execution of the inter-vehicle distance control in the first workshop (especially the coasting control) is allowed when the speed V2 of the preceding vehicle is greater than or equal to a value obtained by adding half of the minimum speed range WVmin to the legal minimum speed Vlaw_min (V2≥Vlaw_min + WVmin / 2).

[0182] On the other hand, when the vehicle driving assistance device 10 determines "Yes" in step S1420, the process proceeds to step S1430, and similar to step S525 of the Figure 5 routine shown, the second inter-vehicle distance control is executed or continued. At this time, when the first inter-vehicle distance control is being executed, the first inter-vehicle distance control is aborted and the second inter-vehicle distance control is executed. Next, the vehicle driving assistance device 10 makes the process proceed to step S1495 to temporarily end the process of this routine.

[0183] Like this, in this example, the execution of the inter-vehicle distance control in the first workshop (especially the coasting control) is prohibited when the speed V2 of the preceding vehicle is less than a value obtained by adding half of the minimum speed range WVmin to the legal minimum speed Vlaw_min (V2 < Vlaw_min + WVmin / 2).

[0184] In addition, in this example, when the difference (target speed range WVtgt) between the target lower limit speed Vtgt_min and the target upper limit speed Vtgt_max set according to the changed predetermined lower limit range ΔVmin is less than a predetermined value (minimum speed range WVmin), the first inter-vehicle distance control is aborted and the second inter-vehicle distance control is executed.

[0185] In addition, in this example, when the speed V2 of the preceding vehicle is less than the set speed Vset, and the value obtained by subtracting the target lower limit speed Vtgt_min set according to the changed predetermined lower limit range ΔVmin from the speed V2 of the preceding vehicle is less than a predetermined value (minimum speed range WVmin) (V2 - Vtgt_min < WVmin), the first inter-vehicle distance control is aborted and the second inter-vehicle distance control is executed.

[0186] In addition, in this example, when the value obtained by subtracting the changed target lower speed Vtgt_min from the target upper speed Vtgt_max is less than a predetermined value (minimum vehicle speed range WVmin) (Vtgt_max - Vtgt_min < WVmin), the first inter-vehicle distance control is aborted and the second inter-vehicle distance control is executed.

[0187] In addition, when the vehicle driving assistance device 10 determines "No" in step S1410, the process proceeds to step S1435 to execute or continue the first inter-vehicle distance control. Next, the vehicle driving assistance device 10 advances the process to step S1495 to temporarily end the processing of this routine.

[0188] In addition, when the vehicle driving assistance device 10 Figure 13 determines "No" in step S1305 or step S1310 of the routine shown, the process directly advances to step S1395 to temporarily end the processing of this routine.

[0189] In addition, instead of Figure 14 the routine shown, Figure 15 the routine shown may be executed. In this case, after the vehicle driving assistance device 10 advances the process to Figure 13 step S1325 of the routine shown, the process starts from Figure 15 step S1500 of the routine shown. Then, the vehicle driving assistance device 10 advances the process to step S1505 and sets the target vehicle speed range RVtgt in the same manner as Figure 14 step S1405 of the routine shown.

[0190] Next, the vehicle driving assistance device 10 advances the process to step S1510 to determine whether the minimum speed condition C5 is satisfied.

[0191] When the vehicle driving assistance device 10 determines "Yes" in step S1510, the process advances to step S1530 to execute or continue the second inter-vehicle distance control in the same manner as Figure 5 step S525 of the routine shown. At this time, when the first inter-vehicle distance control is being executed, the first inter-vehicle distance control is aborted and the second inter-vehicle distance control is executed. Next, the vehicle driving assistance device 10 advances the process to step S1595 to temporarily end the processing of this routine.

[0192] In this way, in this example, the execution of the first inter-vehicle distance control (especially the coasting driving control) is prohibited when the speed V2 of the preceding vehicle is lower than the value obtained by adding half of the target vehicle speed range WVtgt to the legal minimum speed Vlaw_min (V2 < Vlaw_min + WVtgt / 2).

[0193] On the other hand, if the vehicle driving assistance device 10 determines "no" in step S1510, it proceeds to step S1535 to execute or continue the first inter-vehicle distance control. Next, the vehicle driving assistance device 10 proceeds to step S1595 and temporarily terminates the processing of this routine.

[0194] In this example, the execution of the first vehicle distance control (specifically inertial driving control) is permitted when the leading vehicle speed V2 is above the value obtained by adding half of the target speed range WVtgt to the statutory minimum speed Vlaw_min (V2 ≥ Vlaw_min + WVtgt / 2).

[0195] 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, comprising a control device that performs a first driving assistance control by alternately and autonomously performing powered driving and inertial driving of the vehicle to maintain the vehicle's driving speed within a range between a target upper speed limit and a target lower speed limit. The control device is configured such that, The target upper limit speed is obtained by adding a predetermined upper limit to a set speed that serves as the target value for the vehicle's travel speed, and the target lower limit speed is obtained by subtracting a predetermined lower limit from the set speed. When the first driver assistance control is executed, if the target lower limit speed is lower than the legal minimum speed applied to the vehicle itself, the predetermined lower limit range is changed in such a way that the target lower limit speed becomes a speed above the legal minimum speed.

2. The vehicle driving assistance device according to claim 1, The control device is configured to, when the difference between the target lower limit speed and the target upper limit speed, set according to the predetermined lower limit range after the modification, is less than a predetermined value, terminate the first driving assistance control and execute a second driving assistance control that autonomously accelerates and decelerates the vehicle to maintain the vehicle's speed at the set speed or maintains the distance between the vehicle and the preceding vehicle at a predetermined distance, thereby enabling the vehicle to move.

3. The vehicle driving assistance device according to claim 1, The control device is configured to, when the difference between the target lower limit speed and the target upper limit speed, set according to the predetermined lower limit range after the change, is less than a predetermined value, change the predetermined upper limit range in such a way that the difference becomes a value above the predetermined value, within a range where the target upper limit speed is maintained below the legally maximum speed.

4. The vehicle driving assistance device according to claim 1, The control device is configured such that, when the speed of the lead vehicle is lower than the set speed, and the value obtained by subtracting the target lower limit speed (set according to the modified predetermined lower limit range) from the speed of the lead vehicle is less than a predetermined value, the first driving assistance control is terminated, and a second driving assistance control is executed to autonomously accelerate and decelerate the vehicle to maintain the speed of the vehicle itself at the set speed or the distance between the vehicle itself and the lead vehicle at a predetermined distance, thereby enabling the vehicle itself to move.

5. The vehicle driving assistance device according to claim 1, The control device is configured such that, If the speed of the lead vehicle is lower than the average speed of the vehicle itself as achieved by the first driver assistance control, the target upper limit speed is set to the value obtained by adding half of the sum of the predetermined upper limit and the predetermined lower limit to the speed of the lead vehicle, and the target lower limit speed is set to the value obtained by subtracting half of the sum of the predetermined upper limit and the predetermined lower limit from the speed of the lead vehicle. When the first driver assistance control is executed, if the speed of the leading vehicle is lower than the average speed of the vehicle itself achieved through the first driver assistance control, and if the target lower limit speed is lower than the statutory minimum speed, the target lower limit speed is changed in a manner that makes the target lower limit speed a speed above the statutory minimum speed. If the value obtained by subtracting the modified target lower limit speed from the target upper limit speed is less than a predetermined value, the first driving assistance control is terminated, and a second driving assistance control is executed to autonomously accelerate and decelerate the vehicle in a manner that maintains the vehicle's speed at the set speed or maintains the distance between the vehicle and the preceding vehicle at a predetermined distance, thereby enabling the vehicle to move.

6. The vehicle driving assistance device according to claim 1, The control device is configured to, when the first driver assistance control is executed, determine the extent to which the predetermined lower limit will be changed based on the statutory minimum speed obtained from information about the statutory minimum speed included in information related to the road on which the vehicle is traveling.

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