Vehicle control device

Abstract

Vehicle control device configured to perform deceleration support control for decelerating an output vehicle under the condition that a deceleration target requiring deceleration of the output vehicle is ahead in the direction of travel of the output vehicle, wherein the vehicle control device comprises: a controller that is programmed or configured to to calculate a multitude of controlled variables to decelerate the starting vehicle when a multitude of deceleration targets are ahead in the direction of travel of the starting vehicle, in conjunction with the multitude of deceleration targets; to select a delay target from the multitude of delay targets; and to perform the delay support control for the selected delay target, whereby If the controller performs delay support control based on a first controlled variable corresponding to a first delay target as the selected delay target, and if a second controlled variable corresponding to a second delay target that differs from the first delay target is larger than the first controlled variable from the set of delay targets, and the controller is programmed or configured to select the second delay target instead of the first delay target and to perform delay support control for the second delay target, The vehicle control device has an output device configured to output a controlled variable calculated by the controller as a controlled variable according to the second deceleration target when the controller selects the second deceleration target instead of the first deceleration target and performs the deceleration support control for the second deceleration target. wherein the output device is configured to adjust the one controlled variable based on at least one of the first controlled variables and the second controlled variable in such a way that the rate of change per unit time associated with the one controlled variable is less than or equal to a time-change threshold, provided that the rate of change per unit time associated with the one controlled variable is greater than the time-change threshold, and The output device is configured to increase the time change threshold when the controlled variable to toggle is greater than a second predetermined value, compared to when the controlled variable to toggle is less than the second predetermined value.

Description

BACKGROUND 1. Technical field

[0001] Embodiments of the present disclosure relate to a vehicle control device, and in particular to a vehicle control device configured to perform a deceleration support control. 2. Description of the state of the art

[0002] Regarding this type of device, for example, a device has been proposed that is configured to perform a variety of driving assistance functions, wherein, if at least two driving assistance functions are performed within a predetermined time based on a variety of assistance elements, the device is configured to mediate between the at least two driving assistance functions and to prevent two or more driving assistance functions from being performed within the predetermined time (see the international publication WO 2014 / 076759 A1 (Patent 1)). Additionally, a related technology is described in the Japanese patent application publication No. JP 2007-76472A (Patent 2).DE 11 2012 007 124 T5 describes a driver assistance device with an arbitration section that arbitrates between at least two or more driver assistance systems when at least two or more driver assistance systems are implemented within a specified time based on a variety of types of assistance elements.

[0003] Consider a situation in which, while deceleration assistance is being performed with respect to one destination, another destination requiring deceleration assistance is approaching the starting vehicle. In this situation, according to a technology described in the aforementioned patent specification 1, when communication occurs between two driving assistance systems with respect to time, there is a possibility that the deceleration with respect to the other destination will be insufficient if the target of the deceleration assistance is changed from one destination to the other. SUMMARY

[0004] In view of the above problems, it is therefore an objective of embodiments of the present disclosure to provide a vehicle control device that is configured to adequately perform deceleration support even when there are a multitude of objectives relating to deceleration support.

[0005] The problem is solved according to the invention by a vehicle control device according to claim 1. Further features and advantageous embodiments are shown in the dependent claim.

[0006] The aforementioned object of embodiments of the present invention can be achieved by a vehicle control device configured to perform deceleration support control of the deceleration of an output vehicle under the condition that a deceleration target, with respect to which deceleration of the output vehicle is required, is ahead in the direction of travel of the output vehicle, wherein the vehicle control device is equipped with: a calculation device configured to calculate a plurality of controlled variables for decelerating the output vehicle when a plurality of deceleration targets are ahead in the direction of travel of the output vehicle, in conjunction with the plurality of deceleration targets; an output device configured to select and output a controlled variable from the plurality of controlled variables; and a controller,which is programmed or configured to perform delay support control based on the one controlled variable, wherein, if the delay support control is performed based on a first controlled variable which is the one controlled variable, the output device is configured to output a second controlled variable, different from the first controlled variable, from the plurality of controlled variables instead of the first controlled variable as the one controlled variable, provided that the second controlled variable is greater than a toggling controlled variable which has a value greater than the first controlled variable by a predetermined value. The vehicle control device has an output device configured to output a controlled variable calculated by the controller.The output device is configured to output the second delay target as a controlled variable when the controller selects the second delay target instead of the first delay target and performs delay support control for the second delay target. The output device is configured to adjust the one controlled variable based on at least one of the first controlled variables and the second controlled variable such that the rate of change per unit time associated with the one controlled variable is less than or equal to a time-change threshold, provided that the rate of change per unit time associated with the one controlled variable is greater than the time-change threshold. Furthermore, the output device is configured to increase the time-change threshold when the controlled variable is greater than a second predetermined value for switching.if the controlled variable used for switching is smaller than the second predetermined value. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a block diagram illustrating a configuration of a vehicle control device according to an exemplary embodiment; Fig. 2 is a flowchart illustrating a delay support process according to the exemplary implementation; Fig. Figure 3 is a flowchart illustrating a time-change threshold setting process according to the exemplary embodiment; and Fig. Figure 4 is a timing diagram illustrating an example of a delay support control according to the embodiment shown. DETAILED DESCRIPTION OF THE EXECUTION EXAMPLES

[0007] A vehicle control device according to an embodiment of the present disclosure is described with reference to Fig. 1 to Fig. 4 explained. (Configuration)

[0008] A configuration of the vehicle control device according to the exemplary embodiment is described with reference to Fig. 1 explained. Fig. Figure 1 is a block diagram illustrating the configuration of the vehicle control device according to the exemplary embodiment.

[0009] In Fig. In the vehicle 1, a vehicle control device 100 is mounted on a vehicle 1. The vehicle control device 100 is configured to perform deceleration support control of the automatic deceleration of the vehicle 1, particularly when a target requiring the deceleration of the vehicle 1 (hereinafter referred to as a "deceleration target," if necessary) is ahead in the direction of travel of the vehicle 1, such as a traffic signal with a red light or a vehicle ahead that is traveling slower than the vehicle 1. The vehicle control device 100 is equipped with a vehicle information reference device 11, an outside world information reference device 12, a support level calculation device 13, a support mediation device 14, and a vehicle control unit 15.

[0010] The vehicle information reference device 11 is configured to obtain vehicle information indicating a state of the vehicle 1, for example from appropriate outputs of a vehicle speed sensor 21, a yaw rate sensor 22, an accelerator sensor 23, a brake sensor 24 and a steering sensor 25.

[0011] The outside world information reference device 12 is configured to obtain outside world information indicating a situation in the vicinity of the vehicle 1, for example, from an image captured by a camera 26 or a detection result from a millimeter-wave radar 27. The outside world information includes, for example, the position and speed of another vehicle or a pedestrian in the vicinity of the vehicle 1, the position and status information (e.g., information indicating a light color) of a traffic light signal, the position and type of a sign or lane marking, and route information (e.g., a shape, etc.). The outside world information reference device 12 is further configured to determine a deceleration target from the obtained outside world information.

[0012] The support level calculation device 13 is configured to calculate a required deceleration to slow down vehicle 1 based on vehicle information and external environment information, for example, in such a way that the speed of vehicle 1 at a target position set according to the deceleration target approximates a target speed when the deceleration target is acquired. If a multitude of deceleration targets are acquired, the support level calculation device 13 is specifically configured to calculate a multitude of required decelerations, each corresponding to the multitude of deceleration targets.

[0013] Regarding the "target position set according to the deceleration target," if, for example, the deceleration target is a traffic light signal, the position of a stop line corresponding to the traffic light signal can be set as the target position. If the deceleration target is a vehicle ahead, a position that is a predetermined distance from the rear of the vehicle ahead can be set as the target position. A method for calculating the required deceleration, i.e., a level of support, is not limited to the above method; various known approaches can be applied.

[0014] When a multitude of required delays, each corresponding to a multitude of delay targets, are calculated by the support level calculation unit 13 based on the acquisition of the multitude of delay targets, the support mediation unit 14 is configured to mediate between the multitude of required delays (as described in detail later). The support mediation unit 14 is configured to output one mediated required delay to the vehicle control unit 15. If only one required delay is calculated by the support level calculation unit 13, the support mediation unit 14 is configured to output the target delay to the vehicle control unit 15 without modification.

[0015] The vehicle control unit 15 is programmed or configured to control various actuators (not illustrated) based on the required delay output by the support mediation unit 14. In particular, the vehicle control unit 15 can achieve the required delay, for example, by preventing acceleration control (i.e., by controlling a throttle actuator), by performing braking control (i.e., by controlling a brake actuator), or by performing similar controls. (Delay support process)

[0016] Next, a deceleration support process performed by the vehicle control device 100, configured as described above, will be explained. In particular, the exemplary embodiment will provide an explanation of a deceleration support process when the plurality of deceleration targets are detected while the vehicle 1, to which the vehicle control device 100 is attached, is in motion, with reference to Fig. 2 to Fig. 4 provided.

[0017] In Fig. 2. In step S101, the vehicle information reference unit 11 retrieves the vehicle information. Simultaneously with step S101, the outside world information reference unit 12 retrieves the outside world information (step S102). In step S102, the outside world information reference unit 12 further records the delay target from the outside world information. A large number of delay targets are to be recorded here.

[0018] The support level calculation unit 13 then calculates the multitude of required delays, each corresponding to the multitude of delay targets, based on the vehicle information and the outside world information (step S103). The support mediation unit 14 determines whether or not the delay support control is carried out, i.e., whether or not the various actuators are controlled by the vehicle control unit 15 based on the required delays (step S104).

[0019] In step S104, if it is determined that the delay support control will not be performed (step S104: No), the support mediation unit 14 selects a delay target with the maximum required delay from the multitude of delay targets (step S105). As a result, the support mediation unit 14 outputs the required delay in conjunction with the selected delay target to the vehicle control unit 15. The vehicle control unit 15 controls the various actuators based on the required delay output by the support mediation unit 14, thereby initiating the delay support control with respect to the selected delay target (see step S113 described later).

[0020] The vehicle control device 100 then determines whether or not any control target exists (step S111), for example, based on a detection result of the deceleration target by the outside world information reference device 12. The expression "no control target exists" can mean that the deceleration target no longer exists (e.g., a situation in which there is no other vehicle, which is the deceleration target, ahead in the direction of travel of vehicle 1 due to a route change or the like, or a situation in which the traffic light signal no longer corresponds to the deceleration target because the color of the traffic light signal has changed from red to green, etc.), or that the deceleration support control is unnecessary, for example, because the speed of vehicle 1 has reached the target speed.

[0021] In step S111, if it is determined that no control target exists (step S111: No), the process ends in Fig. 2. Process illustrated. On the other hand, if in step S111 it is determined that a control target exists (step S111: Yes), the support mediation unit 14 outputs information specifying the deceleration target and the required deceleration in conjunction with the deceleration target to the vehicle control unit 15. The vehicle control unit 15 instructs a human-machine interface (HMI) (not illustrated) to display the current deceleration target of the deceleration support control unit based on the information specifying the deceleration target (step S112) and controls the various actuators to achieve the required deceleration, i.e., it instructs the various actuators to achieve the required deceleration (step S113). Subsequently, step S101 is performed again.

[0022] In step S104, when it is determined that delay control is performed (step S104r: Yes), the support mediation unit 14 obtains an active required delay, i.e., the required delay in conjunction with the current delay target of the delay support control (step S106). The support mediation unit 14 then applies a predetermined delay with respect to the active required delay, thereby setting a support target switching threshold (step S107).

[0023] The aforementioned "predetermined deceleration" can be a fixed, preset value or a variable value corresponding to a specific physical quantity or parameter. If the "predetermined deceleration" is a fixed value, it can be adjusted, for example, according to variations in the detection accuracy of different sensors regarding the calculation of the required deceleration, the deceleration generated in vehicle 1 when an accelerator is off and / or when a brake is off, or the like.

[0024] If the "predetermined deceleration" is a variable value, it can be set, for example, according to the active required deceleration. Alternatively, if the "predetermined deceleration" is a variable value, it can be set, for example, according to a relationship between vehicle 1 and the deceleration target (e.g., a distance between vehicle 1 and the deceleration target, a relative speed between vehicle 1 and the deceleration target, a time to collision (TTC), etc.), or according to the execution / non-execution of a braking operation by the driver of vehicle 1.

[0025] If the "predetermined deceleration" is a variable value corresponding to the active required deceleration, and if the active required deceleration is relatively small, the "predetermined deceleration" can be set to be greater than the deceleration set when the active required deceleration is relatively large. Similarly, if the "predetermined deceleration" is a variable value corresponding to the distance between vehicle 1 and the deceleration target, and if the distance is relatively large, the "predetermined deceleration" can be set to be greater than the predetermined deceleration set when the distance is relatively small.If the predetermined deceleration is a variable value corresponding to the relative speed between vehicle 1 and the deceleration target, and if the relative speed is relatively low, the predetermined deceleration may be set to be greater than the predetermined deceleration when the relative speed is relatively high. If the predetermined deceleration is a variable value corresponding to the TTC, and if the TTC is relatively long, the predetermined deceleration may be set to be greater than the predetermined deceleration when the TTC is relatively short. If the predetermined deceleration is a variable value corresponding to the execution / non-execution of the braking operation by the driver, and if the braking operation is performed, the predetermined deceleration may be set to be greater than the predetermined deceleration when the braking operation is not performed.

[0026] The support mediation unit 14 then compares the required delays associated with the delay targets from the multitude of delay targets that differ from the current delay target of the delay support control with the support target switching threshold (step S108). In step S108, if all of the required delays associated with the delay targets that differ from the current delay target of the delay support control are less than the support target switching threshold (step S108: ALL ARE LESS THAN THRESHOLD), the support mediation unit 14 maintains the current delay target of the delay support control (step S109).

[0027] On the other hand, in step S108, if there are some deceleration targets whose required decelerations are greater than or equal to the assist target switching threshold (step S108: SWITCH ASSISTANCE TO TARGET WITH MAXIMUM REQUIRED DECREASE FROM REQUIRED DECREASES LARGER OR EQUAL TO THE THRESHOLD), the assist mediation unit 14 selects the deceleration target with the maximum required deceleration from the deceleration targets whose required decelerations are greater than or equal to the assist target switching threshold (step S110). As a result, the deceleration target of the deceleration assist control is changed. In doing so, the assist mediation unit 14 can limit the magnitude of change per unit of time (i.e., one jerk) of the required deceleration to prevent an abrupt change in the behavior of the vehicle 1 caused by the deceleration assist control.In particular, the support intermediary unit 14 can set a time-change threshold of the controlled variable as a limit value of the change rate per unit of time of the required delay. If the change rate per unit of time of the required delay to be output to the vehicle control unit 15 exceeds the time-change threshold of the controlled variable, the support intermediary unit 14 can adjust the required delay such that the change rate per unit of time becomes less than or equal to the time-change threshold of the controlled variable.

[0028] Now, an example of a procedure for setting the time-change threshold of the controlled variable will be presented with reference to a flowchart in Fig. 3 explained. One in Fig. The illustrated process can be carried out in parallel with the one in Fig. The process illustrated in section 2 will be carried out.

[0029] In Fig. 3. The support intermediary unit 14 obtains the support target switching threshold set in step S107 described above (step S201). The support intermediary unit 14 then determines whether the support target switching threshold is greater than or equal to a predetermined value (step S202).

[0030] In step S202, if it is determined that the support target switching threshold is greater than or equal to the predetermined value (step S202: Yes), the support mediation unit 14 increments the time-change threshold of the controlled variable (step S203). Here, the expression "...increases the time-change threshold of the controlled variable" can mean, for example, making it greater than a current (or initial) value of the time-change threshold of the controlled variable. Alternatively, if there are two candidates for the time-change threshold of the controlled variable, the expression can mean selecting the one with the larger value from the two candidates.

[0031] On the other hand, in step S202, if it is determined that the support target switching threshold is smaller than the predetermined value (step S202: No), the support mediation unit 14 reduces the time-change threshold of the controlled variable (step S204). Here, the expression "...reduces the time-change threshold of the controlled variable" can, for example, mean making it smaller than the current (or initial) value of the time-change threshold of the controlled variable. Alternatively, if there are two candidates for the time-change threshold of the controlled variable, the expression can mean selecting the one with the smaller value from the two candidates.

[0032] When step S110 is performed, in other words, when the deceleration target of the deceleration support control is changed from one deceleration target to another, it is assumed that the required deceleration in conjunction with the other deceleration target is a relatively large deceleration because it is greater than or equal to the support target switching threshold (i.e., a value obtained by applying the predetermined deceleration to the required deceleration in conjunction with the one deceleration target). In other words, when the deceleration target of the deceleration support control is changed from one deceleration target to another, it is assumed that vehicle 1 is relatively close to the other deceleration target.If the time-change threshold of the controlled variable is relatively small, the deceleration generated in vehicle 1 by the deceleration support control may be relatively small. This can relatively increase the probability that vehicle 1 will collide with the other deceleration target. Alternatively, the driver of vehicle 1 is likely to perform a braking operation to avoid a collision with the other deceleration target. On the other hand, if the time-change threshold of the controlled variable is set to a fixed value, and if the support target switching value is relatively small, excessive deceleration may be generated in vehicle 1 when changing the deceleration target because the required deceleration in conjunction with one deceleration target is relatively small, potentially reducing ride comfort.

[0033] The embodiment is therefore configured to achieve (i) proper collision avoidance between vehicle 1 and another deceleration target, and (ii) the ride comfort of vehicle 1, by changing the time-change threshold of the controlled variable according to the result of a comparison between the support target switching threshold and the predetermined value. The “predetermined value” in step S202 can be a value for determining whether or not to increase the time-change threshold of the controlled variable and can be preset as a fixed value or as a variable value corresponding to some physical quantities or parameters. For example, the “predetermined value” can be a relationship between the support target switching threshold and a collision probability (e.g., TTC) between vehicle 1 and another deceleration target (i.e.,(a delay target after the target has been changed) can initially be obtained through experiments, experience, or simulations. Subsequently, based on the relationship, the predetermined value can be set as the support target switching threshold, where the collision probability is an upper limit of an allowable range.

[0034] The time-change threshold of the controlled variable can also be set in a period that differs from the time of change of the delay target.

[0035] The aforementioned delay support process is described in particular with reference to Fig. 4 explained. Here, the delay target is defined as target A and target B. In an upper graph of Fig. 4r, a "dotted line" indicates a time change in the required delay associated with target A, calculated by the support level calculation device 13; a "dashed line" indicates a time change in the required delay associated with target B, calculated by the support level calculation device 13; an "alternating long and short dashed line" indicates a time change in the support target switching threshold; and a "solid line" indicates the required delay output to the vehicle control unit 15 by the support switching device 14 (corresponding to the "active required delay" above). In the upper graph of Fig. 4 corresponds to a difference between the “solid line” and the “alternating long and short dashed line” of the above “predetermined delay”.

[0036] In one of the lower graphs of Fig. In the illustrated example 4, up to time t4, target A is selected as the delay target of the delay support control, and after time t4, target B is selected as the delay target of the delay support control. In other words, in the graph above, Fig. 4. To illustrate, at time t4, the delay target of the delay support control is changed from target A to target B.

[0037] As in the graph above from Fig. As illustrated in Figure 4, during a period between time t1 and time t2, the required delay associated with target B is greater than the required delay associated with target A, but less than the support target switching threshold. Therefore, the process continues from step S108 to step S109, and target A remains as the delay target of the delay support control. Furthermore, as shown in the graph above... Fig. As illustrated in Figure 4, during a period after time t3 and before time t4, the required delay associated with target B is greater than the required delay associated with target A, but less than the support target switching threshold. Therefore, the process continues from step S108 to step S109, and target A remains as the delay target of the delay support control.

[0038] As in the graph above from Fig. As illustrated in Figure 4, at time t4, the required delay associated with target B becomes greater than or equal to the support target switching threshold. Therefore, the process continues from step S108 to step S110, and target B is selected as the delay target for the delay support control.

[0039] A lower graph of Fig. Figure 4 illustrates a time change in the time-change threshold of the controlled variable. In the lower graph of Fig. 4. A “dotted line” indicates a change per unit of time in the required delay in connection with target A or target B, an “alternating long and two short dashed lines” indicates a time change in the support target switching threshold, and a “solid line” indicates a change per unit of time in the required delay issued to the vehicle control 15 by the support switching unit 14 (corresponding to the “active required delay” mentioned above).

[0040] Here, particularly at time t4, when the delay target of the delay support control is changed from target A to target B, the rate of change per unit of time caused by the transition from the required delay associated with target A to the required delay associated with target B exceeds the time change threshold of the controlled variable.The support mediation unit 14 can therefore adjust the required delay output to the vehicle control unit 15 on the basis of the required delay calculated by the support magnitude calculation unit 13 (which here is at least one of the required delay in connection with target A and the required delay in connection with target B) in such a way that the rate of change per unit of time of the required delay output to the vehicle control unit 15 is less than or equal to a time change threshold of the controlled variable.

[0041] Not only when the delay target of the delay support control is changed from target A to target B, but also when the required delay exceeds the time-change threshold of the controlled variable, the support mediation unit 14 can adjust the required delay output to the vehicle control 15 based on the required delay calculated by the support magnitude calculation unit 13 (which here is the required delay in connection with target A or the required delay in connection with target B) in such a way that the rate of change per unit time of the required delay output to the vehicle control 15 is less than or equal to the time-change threshold of the controlled variable (see a period represented by a dashed circle c in the graph in the lower graph of Fig. 4 is surrounded). (Technical effect)

[0042] In the vehicle control device 100, if one target is the deceleration target of the deceleration support control, it is determined whether the deceleration target of the deceleration support control is changed from one target to another based on a result of the comparison between the required deceleration in conjunction with the other deceleration target and the support target switching threshold, which is a value obtained by applying the predetermined deceleration to the required deceleration in conjunction with one deceleration target.

[0043] If the deceleration target of the deceleration assist control is changed based on a relationship between the required deceleration associated with one deceleration target and the required deceleration associated with another deceleration target, without introducing the assist target switching threshold, the deceleration target is likely to change relatively frequently, and oscillation in vehicle behavior is likely to occur. Furthermore, when the deceleration target of the deceleration assist control is changed, the HMI display (see step S112 described above) also changes. Therefore, if the deceleration target changes relatively frequently, the driver may feel uncomfortable.

[0044] In the graph above, Fig.As illustrated in example 4, if the delay target of the delay support control is changed based on a magnitude relationship between the required delay associated with target A and the required delay associated with target B, the delay target will be changed from target A to target B at time t1, from target B to target A at time t2, and from target A to target B at time t3.

[0045] If the second change to the deceleration target is prevented at a predetermined time after the first change, in order to prevent frequent changes to the deceleration support control's deceleration target, the change to the deceleration target may be delayed by a considerable amount of time. This delayed change to the deceleration target can result in a relatively sharp deceleration, which may cause discomfort to the driver.

[0046] However, in the vehicle control device 100, as described above, if a deceleration target is the deceleration target of the deceleration support control, the change in the deceleration target is determined based on the result of a comparison between the required deceleration in conjunction with another deceleration target and the support target switching threshold. It is therefore possible to prevent the deceleration target of the deceleration support control from being changed frequently, and likewise to prevent the change in the deceleration target from being delayed from the appropriate time.

[0047] Various aspects of embodiments of the present disclosure, derived from the embodiment described above, are explained below.

[0048] A vehicle control device according to one aspect of embodiments of the present disclosure is a vehicle control device configured to perform deceleration support control of the deceleration of an output vehicle under a condition that a deceleration target, which is a target with respect to a deceleration of the output vehicle, is ahead in the direction of travel of the output vehicle, wherein the vehicle control device is equipped with: a computation device configured to calculate a plurality of controlled variables for decelerating the output vehicle when a plurality of deceleration targets are ahead in the direction of travel of the output vehicle, in conjunction with the plurality of deceleration targets; an output device configured to select and output a controlled variable from the plurality of controlled variables;and a controller programmed or configured to perform delay-assist control based on the one controlled variable, wherein, if the delay-assist control is performed based on a first controlled variable which is the one controlled variable, the output device is configured to output a second controlled variable, different from the first controlled variable, from the plurality of controlled variables instead of the first controlled variable as the first controlled variable, provided that the second controlled variable is greater than a toggling controlled variable which is a value greater than the first controlled variable by a predetermined value.

[0049] In the preceding embodiment, the “support level calculation device 13” corresponds to an example of the “calculation device”, the “support mediation device 14” corresponds to an example of the “output device”, and the “vehicle control 15” corresponds to an example of the “control”. In the preceding embodiment, the “support target switching threshold”, the “predetermined delay”, the “required delay in connection with target A”, and the “required delay in connection with target B” correspond to the “controlled variable for switching”, the “first predetermined value”, the “first controlled variable”, and the “second controlled variable”, respectively.

[0050] In the vehicle control device, the "change between the first controlled variable and the second controlled variable" is not based on a comparison between the first controlled variable and the second controlled variable, but rather on a comparison between the second controlled variable and the variable used for switching. Therefore, it is possible to prevent frequent changes between the deceleration target according to the first controlled variable and the deceleration target according to the second controlled variable in the vehicle control device.Additionally, it is possible to prevent a change in the deceleration target from being delayed from the appropriate time in the vehicle control device, compared to a device according to a comparative example where the second change in the deceleration target is prevented at a predetermined time after the first change in the deceleration target, in order to prevent frequent changes to the deceleration target. Therefore, deceleration support control can be carried out appropriately according to the vehicle control device even if a large number of deceleration targets are present.

[0051] According to one aspect of the vehicle control device, the output device is configured to adjust the one controlled variable based on at least one of the first controlled variables and the second controlled variable in such a way that the rate of change per unit time associated with the one controlled variable is less than or equal to a time-change threshold, provided that the rate of change per unit time associated with the one controlled variable is greater than the time-change threshold when the second variable, instead of the first controlled variable, is output as the one controlled variable. According to this aspect, it is possible to prevent an abrupt change in vehicle behavior when changing the deceleration target. In the preceding embodiment, the "time-change threshold of the controlled variable" corresponds to an example of the "time-change threshold".

[0052] According to this aspect, the output device is configured to increase the time-change threshold when the controlled variable for switching is greater than a second predetermined value, compared to when the controlled variable for switching is less than the second predetermined value. Such a configuration makes it possible to (i) avoid a collision between the output vehicle and a post-change deceleration target (i.e., the deceleration target corresponding to the second controlled variable) and (ii) maintain the ride comfort of the output vehicle. In the preceding embodiment, the “predetermined value” in step S202 corresponds to an example of the “second predetermined value”.

[0053] The present disclosure can be applied not only to a vehicle operated by a driver, but also to an automatically driven vehicle.

[0054] The present disclosure may be embodied in other specific forms without departing from its spirit or essential characteristics. The present embodiments and examples are therefore intended to be illustrative and not limiting in all respects, the scope of the disclosure being defined more by the appended claims than by the foregoing description, and all modifications that fall within the meaning and scope of equivalence of the claims being intended to be included therein.

[0055] A vehicle control device is equipped with: a calculating unit configured to calculate a plurality of controlled variables for decelerating an output vehicle when a plurality of deceleration targets are ahead in the direction of travel of the output vehicle, in conjunction with the plurality of deceleration targets; an output unit configured to select and output one controlled variable from the plurality of controlled variables; and a controller programmed to perform the deceleration support control based on the one controlled variable.If delay support control is performed based on a first controlled variable as the one controlled variable, the output device outputs a second controlled variable, different from the first controlled variable, from the multitude of controlled variables instead of the first controlled variable as the one controlled variable, provided that the second controlled variable is greater than a controlled variable for switching.

Claims

[1] Vehicle control device configured to perform deceleration support control for decelerating an output vehicle under the condition that a deceleration target requiring deceleration of the output vehicle is ahead in the direction of travel of the output vehicle, wherein the vehicle control device comprises: a controller that is programmed or configured to to calculate a multitude of controlled variables to decelerate the starting vehicle when a multitude of deceleration targets are ahead in the direction of travel of the starting vehicle, in conjunction with the multitude of deceleration targets; to select a delay target from the multitude of delay targets; and to perform the delay support control for the selected delay target, whereby If the controller performs delay support control based on a first controlled variable corresponding to a first delay target as the selected delay target, and if a second controlled variable corresponding to a second delay target that differs from the first delay target is larger than the first controlled variable from the set of delay targets, and the controller is programmed or configured to select the second delay target instead of the first delay target and to perform delay support control for the second delay target, The vehicle control device has an output device configured to output a controlled variable calculated by the controller as a controlled variable according to the second deceleration target when the controller selects the second deceleration target instead of the first deceleration target and performs the deceleration support control for the second deceleration target. wherein the output device is configured to adjust the one controlled variable based on at least one of the first controlled variables and the second controlled variable in such a way that the rate of change per unit time associated with the one controlled variable is less than or equal to a time-change threshold, provided that the rate of change per unit time associated with the one controlled variable is greater than the time-change threshold, and The output device is configured to increase the time change threshold when the controlled variable to toggle is greater than a second predetermined value, compared to when the controlled variable to toggle is less than the second predetermined value. [2] Vehicle control device according to claim 1, wherein if the controller performs the deceleration support control based on the first controlled variable, and if the second controlled variable is greater than a toggling controlled variable which is greater than the first controlled variable by a first predetermined value, the controller is programmed or configured to select the second deceleration target instead of the first deceleration target and to perform the deceleration support control for the second deceleration target.

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