VEHICLE CONTROL DEVICE AND VEHICLE CONTROL PROCEDURES

Abstract

Vehicle driving control device comprising: an information acquisition section (25) configured to acquire position information of the current position of a vehicle (100), ahead vehicle information concerning a vehicle (101) traveling in front of the vehicle in question, and road information concerning a road in front of the vehicle in question; a determination section (42) configured to determine whether a special road terrain exists in front of the vehicle in question, based on the road information, whereby energy efficiency for the vehicle in question is improved as a result of speed control for the vehicle in question by utilizing the special road terrain;and a speed control section (43) configured to control the speed of the vehicle in question to a preset vehicle speed, wherein a road zone comprising the special road area is defined as an energy efficiency zone, a road zone in front of the energy efficiency zone is defined as an inter-vehicle distance maintenance zone, and the speed control section is further configured to: when the special road area is not in front of the vehicle in question, but there is a vehicle ahead, perform speed control to control the speed to the preset vehicle speed while maintaining the vehicle in question at least one preset inter-vehicle distance to the vehicle ahead;If the special road area is in front of the vehicle in question, but there is no vehicle ahead, speed control will be carried out to increase or decrease the speed of the vehicle in question with respect to the preset vehicle speed in the energy efficiency zone, so that energy efficiency is improved; and if the special road area is in front of the vehicle in question, there is a vehicle ahead, and it is planned that the speed of the vehicle in question will be increased with respect to the preset vehicle speed in the energy efficiency zone, speed control will be carried out to control the speed of the vehicle in question in the inter-vehicle distance maintenance zone, so that the vehicle in question maintains an inter-vehicle distance to the vehicle ahead that is greater than the preset inter-vehicle distance.

Description

Technical field

[0001] The present disclosure relates to a vehicle driving control device and a Vehicle driving control procedure. Background technologyThis text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0002] JP 2019-023021 A (Patent Publication 1) discloses a vehicle driving control device which is positioned in front of a The vehicle in question noticed the curve and accelerated in accordance with the noticed curve. or slowed down. Summary

[0003] The vehicle driving control device described in patent document 1 does not take into account whether there is a There is a vehicle ahead. If there is no vehicle ahead, a Maintaining a safe distance between vehicles is not necessary, and, for example, a desired acceleration / Slowdown control through vehicle speed correction based on a request from a Fuel-saving control can be implemented. However, if there is a vehicle ahead, a Maintaining a safe distance between vehicles is necessary, and it is unknown how speed control between vehicles can be implemented. Acceleration / deceleration requirements through an inter-vehicle distance maintenance control system and a Fuel-saving control is implemented.

[0004] In view of this, a task of the present disclosure arises in view of the above The problems described, and it consists of a vehicle driving control device and a vehicle driving control procedure to provide a speed control system that is characterized by energy efficiency, in accordance with a [standard / regulation] that was previously [a] the terrain shape or form available to the vehicle in question, even though there is a vehicle ahead.

[0005] The present disclosure applies the following technical features to achieve the above-described To achieve the task.

[0006] According to one aspect of the present disclosure, a vehicle driving control device comprises: a Information acquisition section configured to capture position information of a current position of vehicle in question, vehicle ahead information concerning a vehicle ahead that was in front of the The vehicle in question is driving, and road information concerning a road in front of the vehicle in question; a Determination section configured to determine whether a specific road area lies in front of the relevant The vehicle is available, based on road information, with an energy efficiency rating for the vehicle in question being considered. Consequence of speed control for the vehicle in question through the use of the special road terrain is improved; and a speed control section configured to control a speed of the The vehicle in question is set to a preset vehicle speed. A road zone that specifically The area encompassed by the road surface is defined as an energy efficiency zone. A road zone in front of the energy efficiency zone is defined as... A distance-to-distance zone is defined. The speed control section is further configured. For example: if the specific road terrain is not in front of the vehicle in question, but there is a vehicle driving ahead. The vehicle is giving, performing the speed control to control the speed to the preset value. Vehicle speed while the vehicle in question is in at least one preset The distance between the vehicles is maintained from the vehicle in front; if the special road terrain in front of the If the vehicle in question is present, but there is no vehicle ahead, the speed control will be carried out. to increase or decrease the speed of the vehicle in question with reference to the preset speed Vehicle speed in the energy efficiency zone, so that energy efficiency is improved; and, if the specific The road area in front of the vehicle in question exists, there is a vehicle driving ahead, and it is planned or It is intended that the speed of the vehicle in question will be adjusted with reference to the preset speed. Vehicle speed is increased in the energy efficiency zone, performing speed control to steer. the speed of the vehicle in question in the inter-vehicle distance maintenance zone, so that the the vehicle in question has a distance between the vehicle and the vehicle in front that is longer than the preset distance between vehicles is.This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0007] According to a second aspect of the present disclosure, a vehicle tax procedure is provided by at least a processor was used to control the speed of a vehicle in question. Vehicle driving control procedures include: recording position information of the current position of the vehicle in question. Vehicle, preceding vehicle information concerning a preceding vehicle that was in front of the vehicle in question Vehicle is moving, and road information concerning a road in front of the vehicle in question; Determine, based on on the streets in Information on whether a special road surface exists in front of the vehicle in question, with regard to energy efficiency for the The vehicle in question is improved by using the special road terrain as a result of speed control. is carried out before the vehicle in question travels through the special road terrain; and controls the The speed of the vehicle in question is reduced to a preset vehicle speed. A road zone that... A special street area is defined as an energy efficiency zone. A street zone in front of the energy efficiency zone is defined as an intermediate vehicle spacing zone. Controlling the speed of the vehicle in question Vehicle speed is limited to the preset vehicle speed and includes, in addition: when the specific road terrain is not pre-set the vehicle in question is present, but there is a vehicle ahead, carrying out the Speed ​​control for controlling the speed of the vehicle in question to the preset speed. Vehicle speed while the vehicle in question is in at least one preset The distance between the vehicles is maintained from the vehicle in front; if the special road terrain in front of the If the vehicle in question is present, but there is no vehicle ahead, the speed control will be carried out. to increase or decrease the speed of the vehicle in question with reference to the preset speed Vehicle speed in the energy efficiency zone, so that energy efficiency is improved; if the specific The road area in front of the vehicle in question exists, there is a vehicle driving ahead, and it is planned or It is intended that the vehicle speed will be adjusted in relation to the preset vehicle speed in the Energy efficiency zone is increased, implementing speed control to control the speed of the the vehicle in question is in the inter-vehicle distance maintenance zone, so that the vehicle in question has a The distance between the vehicle and the vehicle in front is longer than the preset distance. The distance between vehicles is; and, if the special road terrain is in front of the vehicle in question, it is a a vehicle is in front, and it is planned or intended that the vehicle speed will be adjusted in relation to the The preset vehicle speed is reduced in the energy efficiency zone, carrying out the Speed ​​control for controlling the speed of the vehicle in question in the Inter-vehicle distance maintenance zone, so that the vehicle in question maintains an inter-vehicle distance to the has a vehicle in front that is shorter than the preset inter-vehicle distance.

[0008] According to the vehicle driving control device and the vehicle driving control procedure, if no special If there is road terrain in front of the vehicle in question, but there is a vehicle ahead, a Speed ​​control to regulate the vehicle speed to the preset vehicle speed. carried out while the distance between the vehicles is maintained at a distance from the vehicle in front, which is longer than the preset inter-vehicle distance. If there is a vehicle ahead, this can The vehicle in question therefore travels at a preset vehicle speed during the The inter-vehicle distance is maintained, which is longer than the preset inter-vehicle distance. Furthermore, If the specific road terrain is present and there is no vehicle ahead, a Speed ​​control for increasing or decreasing the speed of the vehicle in question relative to the The test was carried out at a preset vehicle speed, thus increasing energy efficiency in the energy efficiency zone. will be. If there is no vehicle in front, the vehicle in question can therefore proceed with a Driving at a higher vehicle speed increases energy efficiency. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0009] Then, when the special road terrain is present, there is a vehicle driving ahead, and it is planned or It is intended that the vehicle speed will be adjusted relative to the preset vehicle speed in the As the energy efficiency zone is increased, a speed control system will be implemented to increase the distance between vehicles. so that it is longer than the preset inter-vehicle distance in the inter-vehicle distance maintenance zone carried out. In a case where the vehicle speed is relative to the preset vehicle speed in Due to the presence of the vehicle in front, it is necessary to increase the energy efficiency zone. to increase the distance between vehicles. Since, in view of this, the distance between vehicles in the immediate vicinity If the inter-vehicle distance maintenance zone is made longer than the preset inter-vehicle distance, it is to prevent the vehicle in question from colliding with the vehicle in front as a result of a The increase in vehicle speed in the energy efficiency zone is approaching. Regardless of whether it is a vehicle ahead. Whether or not the vehicle has one, it is therefore possible to implement a speed control system that is characterized by energy efficiency. to be implemented in accordance with the specific road terrain located in front of the vehicle in question. List of characters Fig. 1 is a block diagram showing a vehicle system according to a first embodiment. Fig. 2 is a flowchart showing a vehicle speed correction control being performed, when there is no vehicle in front. Fig. 3 is a figure to illustrate an inter-vehicle spacing adjustment range. Fig. 4 is a flowchart illustrating a vehicle speed correction control system based on the presence of shows a vehicle ahead. Fig. 5 is a flowchart illustrating a vehicle speed correction control system according to the implementation of a Fuel saving control is displayed. Figure 6 is a figure to illustrate a fuel-saving control area. Fig. 7 is a time diagram to illustrate a vehicle speed correction control system that is used in a The depression or trough section is carried out. Fig. 8 is a time diagram to illustrate a vehicle speed correction control system based on a is carried out on an ascending road or incline. Fig. 9 is a time diagram to illustrate a vehicle speed correction control system operating in a curve. is carried out. Description of exemplary implementations First embodimentThis text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0010] A first embodiment of the present disclosure is explained with reference to Figures 1 to 9. A vehicle system 20 shown in Fig. 1 is used in an automated driving vehicle (i.e., a relevant vehicle). vehicle (or own vehicle) that is capable of automated driving. As shown in Fig. 1, The vehicle system 20 includes a vehicle control device 21, a vehicle control electronic control unit (Electronic control unit: abbreviated ECU) 31, a localizer or position sensor 33, a map database 34, a Environmental monitoring sensor 35, a communication module 37, a vehicle condition sensor 38, a Manual control section 32, a driving switching section 30 and a vehicle display device 39.

[0011] First, the automated driving vehicle will be explained. The automated driving vehicle has only one To be a vehicle capable of automated driving, as mentioned above. Levels of automation, To represent the levels of automated driving, there are, for example, a variety of levels, such as those defined by SAE. are defined. The automation levels are defined according to the definitions by SAE in the following manner. classified.

[0012] Level 0 is a level at which all driving tasks or functions are performed by a driver without intervention by a The system will be implemented. Driving tasks and functions include, for example, steering and acceleration. / Slowing down. Level 0 is equivalent to so-called manual driving using the Manual control section 32. Stage 1 is a stage at which a system either controls steering or acceleration. / Slowing down is supported. Level 2 is a level at which a system supports both steering and acceleration. Slowing down is supported. Level 1 and level 2 are equivalent to so-called driver assistance or driver support.

[0013] Stage 3 is a stage at which a system performs all driving tasks or functions at certain points such as can implement highways and the like, and a driver performs a driving operation during an emergency. At level 3, it is required that the driver be able to, in a case where the system requests that the driver, Driving takes over, reacting promptly. Level 3 is equivalent to a so-called conditional Automated driving. Level 4 is a level at which a system performs all driving tasks or functions except in certain situations. It can implement situations, such as on roads that are not handled or controlled by the system. can, in extreme environments and the like. Level 4 is equivalent to a so-called advanced Automated driving. Level 5 is a level at which a system can perform all driving tasks or functions in every possible way. environment can implement. Level 5 is equivalent to so-called fully automated driving. This level is equivalent to so-called automated driving.

[0014] For example, the automated driving vehicle according to the present embodiment can be a It can be an automated driving vehicle whose automation level is level 3, or it can be an automated driving- The vehicle must have an automation level of level 4 or higher. Furthermore, the automation level can be... can be switched. In the present embodiment, the automation level can be set to a automated driving at level 3 or higher and switched to manual driving at level 0.

[0015] Next, the configuration of each section or component / part will be explained. The localizer or Position transmitter 33 comprises a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS- The receiver receives positioning signals from a multitude of positioning satellites. The inertial sensor includes for example, a gyroscope and an accelerometer. The localizer or position sensor 33 combines the following: The positioning signals received by the GNSS receiver are combined with measurement results from the inertial sensor, and thus it measures continuously monitors the vehicle position of the vehicle in question. It is assumed that the vehicle position is, for example, represented by latitude / longitude coordinates. It should be noted that in another possible configuration... This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. A vehicle position measurement can use a route traveled, which is determined from signals provided by a The vehicle speed sensor installed on the vehicle continuously outputs the data.

[0016] The map database 34 is a non-volatile memory and contains map data about route / connection data, Node data, road shapes, structures / constructions, and the like are stored. The route / connection data This includes data elements such as connection IDs, which identify connections, and connection lengths, which indicate the length of the Represent connections, connection azimuths, connection travel times, connection types, node coordinates of the Starting points and endpoints of the connections or road attributes or properties. For example, the Connection forms which are represented by coordinate sequences that define the coordinate positions of Represent both ends of each connection and shape interpolation points that represent the shape in between. Examples The street attributes or properties include street names, street types or categories, street widths, Lane count information, representing the number of lanes, speed control values, and the like. Node data includes data elements such as node IDs, which are unique numbers that identify nodes on a map. given or assigned node coordinates, node names, node types or connection route IDs, The connection IDs of connections associated with the node are represented. In another possible In the configuration, the route / connection data can be defined not only for each road zone, but also for each Lane, that is, each lane, may be underdefined.

[0017] It may be possible to determine from lane number information and / or road types or categories what is required by multiple lanes on each side, a single lane on each side, a two-way street without a center line and These correspond to a road zone, namely routes or connections. Roads with oncoming traffic. Roads without a center line do not include one-way streets. Roads with oncoming traffic but without a center line, which The roads mentioned here are exclusively those with oncoming traffic and no center line on local or municipal roads. This represents highways and roads intended for cars.

[0018] The map data can include 3D maps containing point clouds of feature points of road shapes and Structures / constructions are included. In one case, 3D maps that are point clouds of feature points of Street shapes and structures / constructions are included when map data is used, the locator can be used, or In another possible configuration, position sensor 33 does not use the GNSS receiver, but can instead use the 3D- Use maps and sensing results from the environmental monitoring sensor 35, such as a LiDAR (Light). Detection and Ranging (or Laser Imaging Detection and Ranging) or an surrounding environment- Surveillance camera that scans point clouds of feature points of street shapes and structures / constructions, to determine the position of the vehicle in question. It should be noted that the 3D maps may be... generated based on images captured by REM (“Road Experience Management”).

[0019] The environmental monitoring sensor 35 is an autonomous sensor that monitors the environmental environment of the device concerned. The vehicle is monitored. For example, the ambient light monitoring sensor detects 35 objects near the vehicle in question. Vehicles, such as pedestrians, animals other than humans, moving bodies, such as vehicles apart from the vehicle in question, or stationary objects that are fixed in place, such as guardrails, curbs, Trees or objects that have fallen onto roads. Apart from these, the ambient environment monitoring sensor 35 detects This also includes road or lane markings near the vehicle in question, such as lane markings. Examples of The 35-piece environmental monitoring sensor includes an environmental monitoring camera that captures images of a a predetermined area near the vehicle in question, and distance measuring sensors that transmit scanning waves into a predetermined area near the vehicle in question Transmit or radiate, such as millimeter-wave radar, sonar, or LiDAR. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0020] The vehicle condition sensor 38 is a sensor group for sensing or detecting various types of the conditions of the vehicle in question. Examples of the vehicle condition sensor 38 include a Vehicle speed sensor, a steering sensor, an acceleration sensor, a yaw rate sensor and similar. The vehicle speed sensor senses the vehicle speed of the vehicle in question. The The steering sensor senses the steering angle of the vehicle in question. The acceleration sensor senses accelerations such as... for example, the forward / backward accelerations or lateral accelerations of the vehicle in question. An accelerometer can be one that also detects deceleration, which is a negative acceleration. The yaw rate sensor senses the angular velocity of the vehicle in question.

[0021] The communication module 37 performs vehicle-to-vehicle communication, which includes sending and receiving of information about wireless communication with a communication module 37 of a vehicle system 20, which is installed on a vehicle located near the vehicle in question. Furthermore, the Communication module 37 performs road-to-vehicle communication, enabling the sending and receiving of Information about wireless communication with a roadside unit installed at the roadside. In this case, the communication module 37 can transmit information about a nearby vehicle to the person concerned. Vehicle, which are sent by a communication module 37 of a vehicle system 20, which is attached to the The unit is installed in a nearby vehicle and receives signals via the roadside unit.

[0022] Furthermore, the communication module 37 can perform long-distance communication, which includes sending and Receiving information via wireless communication with an entity located outside the in question. In a case where information is transmitted between vehicles via a device through a Long-distance communication can send and receive comprehensive information about vehicle positions. sent and received, and the facility can thereby make adjustments so that information about Vehicles in a specific area between vehicles are sent based on vehicle positions and will be received. In cases explained below as examples, the communication module 37 receives Information about a nearby vehicle to the vehicle in question, provided by at least one vehicle- Vehicle communication, road-to-vehicle communication, and long-distance communication.

[0023] Apart from that, the communication module 37 can, for example, transmit map data from an external server be distributed, the map data is distributed, received via long-distance communication, and the map data is in the Save map database 34. In this case, map database 34 can be configured in another possible configuration. volatile memory, and the communication module 37 can store map data of an area according to the position of the continuously record the vehicle in question.

[0024] The manual control section 32 is a part for a driver to operate for driving the vehicle in question. and includes a steering wheel, an accelerator pedal, and a brake pedal. Manual Control Section 32 gives Actuation amounts corresponding to operation by the driver at the driving changeover section 30. Actuation amounts include an accelerator actuation amount, a brake actuation amount, and a steering actuation amount. The vehicle control device 21 issues an instruction value to execute automated driving in the event of a Automated driving mode off.

[0025] The driving switching section 30 switches the driving mode between an automated driving mode, in which a automated driving is performed, and a manual driving mode in which manual driving is performed. will be in order to. In other words, the driving switch section 30 determines whether the right to carry out a Driving operation of the vehicle in question 100 of the vehicle control device 21 or is given to the driver. In in a case where the right to perform a driving operation of the vehicle in question is 100 of the The vehicle control device 21 is given / is given, the driving switch section 30 transmits instruction values ​​which are from the Vehicle control device 21 is output to the vehicle control ECU. In a case where the right to This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. Performing a driving operation of the vehicle in question, 100 is given to the driver, the Driving switch section 30 Actuation amounts to the driving control ECU.

[0026] In accordance with a mode change request, the driving switch section 30 switches the driving mode to the Automated driving mode or manual driving mode. There are two types of mode switching requests. which requires a manual driving mode switchover request to switch ten of the driving mode from the automated driving mode to the manual driving mode and an automated- Driving mode switch request to switch the driving mode from manual driving mode to the These are automated driving modes. For example, mode switching requests are handled by a toggle switch. generated by the driver and entered into driving switch section 30. In addition, for example, the Mode switching requests are generated by provisions of the vehicle control device 21 and sent to the Driving mode switching section 30 is entered. Driving mode switching section 30 switches according to the mode switching requirements. change the driving mode.

[0027] In the automated driving mode, which in the present embodiment is also referred to as adaptive The term "driving control" refers to a set speed that is set by the driver. maintained without him further pressing the accelerator pedal. Furthermore, in the adaptive cruise control, in a In the event that there is a vehicle 101 ahead, a control measure is taken to avoid the vehicle 101 ahead. to follow, while the distance between the vehicles is kept constant to the vehicle 101 in front.

[0028] The adaptive cruise control is started and stopped by the driver according to a switch operation. Furthermore The adaptive cruise control may also end temporarily or completely in a case where different end conditions apply. conditions are met, such as the condition that the driver has pressed the accelerator pedal or the brake pedal. Furthermore, a desired driving speed is set when the adaptive cruise control functionality is activated. is activated by a switch operated by the driver.

[0029] The vehicle control ECU 31 is a vehicle control section and is an electronic control unit that a The vehicle control system of the vehicle in question performs 100 functions. Examples of vehicle control include acceleration / Deceleration control and / or steering control. The driving control ECU 31 includes a steering ECU, which... Steering control, a drive control ECU and a brake ECU, which performs acceleration / Perform deceleration control, and the like. The vehicle control ECU 31 performs vehicle control. Output of control signals to vehicle control devices installed on the vehicle in question, such as such as an electronic control throttle, a brake actuator or an EPS motor (EPS: "Electronic Power Steering").

[0030] The vehicle display device 39 is installed on the vehicle and, for example, on a A combination measuring device or a setup information display device is used. For example, the The combination measuring device displays various types of vehicle information, such as vehicle speed, The engine speed, fuel efficiency while driving, or range. Furthermore, for example, the Device information display device: various types of device information relating to a Car navigation device, car air conditioning device, car audio device and the like.

[0031] In addition, the vehicle display device 39 is controlled by the vehicle control device 21, and displays different types of information. The different types of information also include automated- Driving information relating to automated driving, in addition to the information mentioned above. Automated driving information includes a currently active automated driving mode, a preset vehicle speed set by the driver, a system-set Inter-vehicle distance and notification information. The notification information is information that... This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. which indicate that a speed control system is planned or intended to increase energy efficiency to be implemented or is currently being implemented. Specifically, the notification information. Information indicating that a fuel-saving mode prioritizes automated driving to save fuel, is currently being implemented, or information indicating that it is planned or intended that the Fuel-saving mode in the coming / near future in a specific zone ahead. Implementation is.

[0032] The vehicle control device 21 comprises at least one processor 40, one memory 41, one I / O and one The bus connects these and executes processes related to automated driving by storing a device in memory 41. The stored control program is executed. The memory 41 mentioned here is a non-temporary tangible asset. Storage medium (non-temporary tangible storage medium) that can hold computer-readable programs and data in a stores data in a non-temporary manner. Additionally, the non-temporary physical storage medium is characterized by a semiconductor memory, a magnetic disk or the like.

[0033] Next, the schematic configuration of the vehicle control device 21 is shown using Fig. 1. explained. As shown in Fig. 1. The vehicle control device 21 comprises, as functional blocks, a vehicle position detection section. 19, a sensor information acquisition section 22, a map data acquisition section 23, a Communication information acquisition section 24, a driving environment acquisition section 25 and a Automated Driving Section 26. It should be noted that some or all of the functions controlled by the vehicle control device 21 The functionalities performed may be configured as hardware by using one or more ICs or the like. can. In addition, some or all of the functional blocks included in the vehicle control device 21 can be by a This can be achieved through a combination of software execution by the processor 40 and hardware elements. Vehicle control device 21 has functionalities of a vehicle driving control device that enables driving the controls the vehicle.

[0034] The vehicle position detection section 19 detects or obtains / acquires / procures the vehicle position of the The vehicle in question, 100, is continuously measured by the localizer or position sensor 33. Own vehicle position recording section 19 functions / works as an information recording section that Position information relating to the current position of the vehicle in question is recorded 100 times. For example, the Position information: Information about latitude / longitude coordinates that represent the vehicle's position.

[0035] The sensor information acquisition section 22 acquires or obtains / gains / procures sensor or Sensing information, which are sensor or sensing results, obtained by the environmental monitoring sensor 35 are continuously monitored. Additionally, the sensor information acquisition section 22 records... Vehicle condition information, which are sensor or sensing results obtained by the vehicle condition sensor 38 are continuously monitored. The sensor information acquisition section 22 functions / works as a Information acquisition section, which collects information about a vehicle ahead. 101 is recorded, which is traveling at 100 in front of the vehicle in question. For example, the information about the vehicle ahead is... the distance between the vehicle 101 ahead and the vehicle 100 in question, as well as the Vehicle speed of the vehicle in front: 101.

[0036] The map data acquisition section 23 acquires or obtains map data that is in the Map database 34 are stored. According to the vehicle position of the vehicle in question 100, which is located at the If the vehicle position recording section 19 is recorded, the map data recording section 23 can record map data from a Record the location of the vehicle in question. Map data acquisition section 23 preferably records this location. Map data of an area larger than the sensor or detection range of the environmental monitoring sensor 35. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. The map data acquisition section 23 functions / operates as an information acquisition section that Road information relating to a road or carriageway located in front of the vehicle in question (100) is recorded. For example, the road information includes the gradient or slope of a road ahead, which Curvature of the road and the cross slope or gradient (superelevation) of the road.

[0037] The communication information acquisition section 24 acquires or obtains / gains / procures information from which Communication module 37, information about nearby vehicles related to the vehicle in question. Examples of Information about nearby vehicles includes, for example, identification information about the nearby vehicles. Vehicles, information about speeds, information about accelerations, information about the Yaw rates, position information, and the like. The identification information is information about Identifying individual vehicles.

[0038] The driving environment detection section 25 detects or obtains / gains / procures a driving environment of the The vehicle in question is 100 and generates a virtual space that represents the captured driving environment for the automated system. Driving section 26 is simulated. Specifically, the driving environment detection section 25 recognizes the driving environment of the vehicle in question 100 from the vehicle position of vehicle in question 100, which is located at the own vehicle position- The sensor or sensing information and the vehicle condition information are recorded in detection section 19. at sensor information acquisition section 22, the map data that is recorded at the map data- Recording section 23 will be used to record information about nearby vehicles that are at the Communication information capture section 24 is captured, and the like. For example, the Driving environment detection section 25 uses these information elements to determine the position, shape, and... Movement conditions and the like of a nearby object to the vehicle in question 100, the position and such as a nearby road marking to the vehicle in question 100, and so on, and it produces a virtual space that reproduces the actual driving environment.

[0039] From the sensor or sensing information that is received at the sensor information acquisition device Section 22 can be recorded, and the driving environment detection section 25, as the driving environment, can also be used to measure the distance to a nearby object to the vehicle in question 100, the relative speed of the nearby object relative to the vehicle in question, 100, recognize the shape and size of the nearby object and the like. Additionally, the driving environment detection section 25 can be used in a case where the communication information- The detection section 24 can capture information about nearby vehicles and be configured to detect the Driving environment by using information about nearby vehicles. For example, the Driving environment detection section 25 from information such as position, speed, acceleration or the yaw rate of a nearby vehicle, the position, speed, acceleration, the It can detect the yaw rate and similar characteristics of a nearby vehicle. Furthermore, it can... Identification information about the nearby vehicle; performance information about the nearby vehicle. such as maximum deceleration or maximum acceleration can be detected. For example, in a possible configuration by storing correspondences between identification information and Performance information in the memory 41 of the drive control device 21 in advance. Performance information from Identification information can be recognized by referring to the corresponding entries.

[0040] The driving environment detection section 25 preferably detects nearby objects that are attached to the The environmental monitoring sensor 35 can be sensed or detected, with distinctions made in this regard. It can be determined whether the nearby objects are moving bodies or stationary objects. Additionally, the Driving environment detection section 25 preferably nearby objects, with distinctions regarding their type Decisions can be made. For example, the types of nearby objects can be recognized, with distinctions made. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. A match can be made between these by performing a pattern match using captured images of the The environmental surveillance camera is used. The types that can be detected and between which Distinctions can be made, for example, between structures / constructions such as guardrails, on Streets like objects, pedestrians, bicycles, motorcycles, cars and the like.

[0041] The automated driving section 26 performs a process relating to driving operation or a Driving operation is carried out by a system that replaces the driver. As shown in Fig. 1, this includes Automated driving section 26, a determination section 42 and a speed control section 43 as Function blocks.

[0042] By using the driver environment detected at the driving environment detection section 25, the following is implemented Automated Driving section 26 a vehicle control system to cause the vehicle in question to 100 to Driving through automated driving. The automated driving section 26 causes the vehicle control ECU 31 to automatically performing acceleration / deceleration and / or steering to enable driving control or... to carry out driving operations in place of the driver, namely to carry out automated driving. In the case of In the present embodiment, the automated driving section 26 introduces the aforementioned adaptive Driving regulations off.

[0043] Determination section 42 uses the road information to determine whether a specific Road terrain that contributes to increased energy efficiency as a result of speed control, ahead The special road terrain is a terrain designed to improve energy efficiency as a result of contributes to a speed control that is carried out before the vehicle in question enters the special enters road terrain. In other words, the energy efficiency of the vehicle in question can be improved by using the Special road terrain can be improved by controlling the speed of the vehicle in question. before the vehicle in question reaches the special road area. The special road area is such a terrain or area where energy consumption is lower compared to a situation where the vehicle in question is operating with the Driving at a constant preset vehicle speed, the speed can be further reduced if an acceleration / The deceleration control is adjusted relative to a preset vehicle speed. The special feature... Road areas are also referred to as fuel-saving control implementation areas. For example, the Special road terrain includes a depression or gully section. In a depression or gully section, the relevant The vehicle accelerated downhill beforehand and prepared for uphill driving by gaining inertia. This can lead to to contribute to improved energy efficiency. An increase or improvement in energy efficiency is a synonym. for a reduction in combustion consumption in the case of a petrol / fuel-powered car and is a synonym For reducing the consumption of electrical power in the case of an electric car. A speed control system. To increase energy efficiency, in some In these cases, referred to below as fuel-saving control. Additionally, there is a road zone that features a special [design / feature / etc.]. The street area is defined as an energy efficiency zone. The energy efficiency zone includes the specific The road area has predetermined zones before and after it, for example zones with lengths equal to 500m. are. A predetermined zone is defined in front of the specific road area at such a distance or length, that the degree or extent of a contribution to increasing energy efficiency made by implementing a Acceleration / deceleration control based on fuel-saving control is achieved, which is high. Consequently, the necessary acceleration / deceleration control cannot be adequately implemented. This will happen if the predetermined zone has a length of only several meters, because its starting point is too close to the specific road terrain; additionally, the degree or extent of a contribution from an acceleration / This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. Slowdown control is low if the predetermined zone has a length equal to several kilometers, since The starting point is too far from the specific road area. Additionally, there is a road zone in front of the Energy efficiency zone defined as an inter-vehicle distance maintenance zone.

[0044] The speed control section 43 controls the speed of the vehicle 100 in question based on a preset vehicle speed that was set in advance, and a preset The inter-vehicle distance, which was preset. The speed control section 43 controls the preset vehicle speed and preset inter-vehicle distance, so that the preset Vehicle speed has a tolerance of ± several km / h, the preset distance between vehicles a exhibits a tolerance of approximately ± several dozen meters, and energy efficiency within the tolerance ranges. is increased.

[0045] In a case where there are no vehicles 101 ahead, maintaining an intermediate vehicle distance is not necessary, and desired acceleration / deceleration control can be achieved through a Vehicle speed correction based on a request from a fuel-saving control system can be implemented. However, in the event that there is a vehicle 101 ahead, it is also necessary to have a to maintain the distance between vehicles, and in some cases a conflict arises between acceleration / Slowdown requirements through an inter-vehicle distance maintenance control system and a Fuel saving control activated.

[0046] In view of this, a tolerance of approximately ± several is added to the preset inter-vehicle distance. A dozen meters is given or granted, as described above. In a case where it is expected that the When the vehicle in question enters a road with a special road surface, the distance between vehicles will be Artificially adjusted in advance within the tolerance of the preset inter-vehicle distance, a conflict is avoided. between an acceleration / deceleration request by a Inter-vehicle distance control and fuel-saving control were avoided, and an increase will occur. Energy efficiency is achieved. For example, control is implemented in such a way that the distance between vehicles is... In a case where an acceleration requirement is expected in the specific road terrain, increased in advance The distance between vehicles will be increased in a case where a slowdown requirement exists in the specific road terrain. is expected to be reduced in advance, and so on. The tolerances of the preset inter-vehicle distance and The preset vehicle speed is changed at any time to values ​​that take into account Information about surrounding traffic is set up by the ambient environment monitoring sensor 35. to be obtained, for example, about a situation relating to the following vehicles and the like, in order to thereby also to carefully consider nearby vehicles.

[0047] In particular, the speed control section 43 sequentially corrects a preset Vehicle speed Vset and a preset inter-vehicle distance &dgr;set based on a Fuel saving requirement and a requirement to follow a vehicle ahead 101, and it calculates a Target vehicle speed Vref and a target inter-vehicle distance &dgr;ref. Then a control is carried out, so that the target vehicle speed and the actual speed match or correspond and the actual distance between vehicles becomes equal to or greater than the target distance between vehicles. It should be noted that that tolerances Σ and Σ, which are the preset vehicle speed and the preset A distance between vehicles is given or granted, to ± several km / h and ± several dozen meters. The settings are adjusted, and variables are determined according to the situation regarding nearby vehicles. This will Surrounding traffic was carefully considered.

[0048] Next, a process of the automated driving section 26 is described based on one shown in Fig. 2. Flowchart described. The process of Fig. 2 is described by the automated - This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. Driving section 26 is started when the process progresses to step S19 in Fig. 4, as described below. The process shown in Fig. 2 is a process for correcting an initial vehicle speed relative to a preset vehicle speed, if required. Additionally, the process shown in Fig. 2 is a process that This is carried out if there is no preceding vehicle 101.

[0049] In step S1, position information of the vehicle 100 in question is recorded, and the process proceeds to S2. forward. In step S2, information is collected about a road located in front of the vehicle in question (100). and the process progresses to step S3. In step S3, the road information is used to determine, whether or not a special road surface exists in front of the vehicle in question. In a case where a special If road terrain is present, the process proceeds to step S4, and in the event that no specific road terrain is present If this condition is met, the process proceeds to step S6. In step S6, the preset vehicle speed is determined. The process was discontinued because there is no specific road area, and this process ends.

[0050] In step S4, a gradient or slope correction is implemented because of the special road terrain, and the process then proceeds to step S5. In step S4, an optimal vehicle speed is determined. Improving energy efficiency is calculated according to the specific road terrain. For example, in a case where the The vehicle in question is traveling downhill in a depression or hollow section, and the target vehicle speed is adjusted accordingly. that it is increased, and in the event that the vehicle in question then travels uphill, the The target vehicle speed is corrected to decrease it. Such a correction serves to increase the Target vehicle speed when driving downhill and efficient uphill driving by utilizing inertia. Since the If the actual vehicle speed decreases uphill, it would be necessary to change a driving or drive component of the relevant part. to activate the vehicle promptly if the target vehicle speed remains unchanged after descending a hill. By However, reducing the target vehicle speed when driving uphill can involve activating the driving or drive component. Once inertia is effectively utilized, energy efficiency can be increased. Additionally, during the In step S4, the correction was carried out within the tolerance range, as described above.

[0051] In step S5, a curvature correction and an exaggeration correction are implemented, the The preset vehicle speed is displayed after correction, and this process ends. In step S5, the optimal vehicle speed in step S4, which is characterized by energy efficiency, to a vehicle speed, where the vehicle in question can drive safely, corrected based on the curvature and superelevation. An example is given in a case where skidding or sideways sliding occurs when the vehicle in question is in Step S4 calculated vehicle speed drives, the vehicle speed to a vehicle speed to Preventing skidding or lateral slippage is corrected. During the correction in step S5, the correction is... carried out within the tolerance range, as described above.

[0052] In this way, the speed control section 43, when a special road terrain is in front of the the vehicle in question is present and there is no vehicle 101 ahead, a speed control of this kind by the fact that the speed of the vehicle in question is 100 relative to the preset vehicle speed increases or decreases, thus improving energy efficiency in the energy efficiency zone.

[0053] Next, a speed control is described which is carried out when there is a vehicle ahead. Vehicle 101 exists. In the event that there is a preceding vehicle 101, as shown in Fig. 3, a Target speed calculation for maintaining a suitable distance between vehicles and the vehicle in front. Vehicle 101 was carried out in an inter-vehicle spacing adjustment zone. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0054] Here, assuming that the inter-vehicle time is h, the minimum inter-vehicle distance Δmin is calculated. The speed of the vehicle ahead is 101 Vp, and the position of the vehicle ahead is 101 Xp. the speed of the vehicle in question is 100 Vh and the position of the vehicle in question is 100 Xh, which The inter-vehicle distance �dgr; is represented by the following formula (1): �dgr;=Xp-Xh

[0055] Additionally, the target inter-vehicle distance ☐ is represented by the following formula (2). ☐ ref=h⋅Vh+&dgr;min

[0056] The inter-vehicle spacing adjustment range is a zone represented by ≤ ref, as as shown in Fig. 3. Additionally, if the vehicle in question is expected to have a special function, prepare the necessary documentation. Road terrain that is compatible with a fuel-saving control system. or corresponds, such as a gradient or slope change in the coming / near future, the relevant The vehicle features a fuel-saving control system by increasing the distance between the vehicle and the vehicle in front by 101. It is pre-adjusted to provide space for acceleration / deceleration control.

[0057] Next, a speed control is implemented depending on whether there is a vehicle 101 driving ahead, This is explained using a flowchart in Fig. 4. A process depicted in Fig. 4 is represented by the Automated driving section 26 is executed repeatedly in a short period of time. The process shown in Fig. 4 is a Process for correcting an initial vehicle speed relative to a preset vehicle speed.

[0058] In step S11, information about the vehicle ahead is acquired, and the process proceeds to step S12. ahead. The ahead vehicle information is information obtained through the sensor information- Data collection section 22 is recorded, and information relating to the distance between the vehicles is collected. the preceding vehicle 101 and the vehicle in question 100, the vehicle speed of the preceding vehicle Vehicle 101 and the like.

[0059] In step S12, it is determined, based on the preceding vehicle information, whether there is a preceding vehicle Whether or not vehicle 101 exists. If there is a preceding vehicle 101, the process proceeds to step S13. And if there is no preceding vehicle 101, the process proceeds to step S19. In step S19, the following is done: The flowchart shown in Fig. 2 implements the process described above, and this process ends.

[0060] In step S13, position information of the vehicle 100 in question is recorded, since it is the preceding vehicle. Vehicle 101 is present, and the process proceeds to step S14. In step S14, information about a self-contained vehicle is collected. The road ahead is detected, and the process progresses to step S15.

[0061] In step S15, based on the information about the road ahead, it is determined whether a special Road terrain exists. In a case where special road terrain exists, the process proceeds to step S16. forward, and in the event that no specific road terrain is present, the process proceeds to step S110. In a In the event that a specific road surface is located within a predetermined distance or route on a route ahead If the vehicle is located, for example, within 100m, it is determined that a special road area must be maintained in front of the The vehicle in question is present. The predetermined distance or route used to determine whether a Special road terrain exists, such a distance or route is such that, for example, if an acceleration / Deceleration control within a tolerable acceleration at a point of the predetermined distance or The route is carried out in front of the special road area; this control system is designed to improve energy efficiency. would contribute. If the predetermined distance or route is several meters in front of the specific road surface, This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. Accordingly, the contribution to improving energy efficiency would be minimal, and if the predetermined distance or a stretch of 1km or similar before the specific road area would be a contribution to improving the Energy efficiency is also low.

[0062] In step S16, the inter-vehicle time h is corrected because of the special road terrain, and the process proceeds to step S17. The correction of the intermediate vehicle time h is within the tolerance range Σ relative. to the preset intermediate vehicle spacing &dgr;set, so that the target intermediate vehicle segment &dgr; ref is implemented, which prioritizes fuel-saving control.

[0063] In step S17, it is determined that a fuel-saving control system is currently being implemented / is being implemented. waits or is not yet implemented. If the fuel-saving control is currently being implemented, the process continues. The process progresses to step S111. While the fuel-saving control is waiting to be implemented, the process continues. The process continues to step S118. If the fuel-saving control is not implemented, the process proceeds to... Step S110 forward.

[0064] In step S111, the intermediate vehicle time h is corrected because the fuel saving control is being implemented. / is, and the process proceeds to step S18. In step S110, the intermediate vehicle time is set to a standard time. This is stopped because the fuel-saving control is not currently implemented, and the process proceeds to step S18. Next. In step S18, an inter-vehicle distance maintenance correction control is implemented, which is shown below. is described, and this process ends.

[0065] As shown in step S110, the speed control section 43, if no special There is road terrain ahead, and there is also a vehicle 101 driving ahead, a Speed ​​control by controlling the vehicle speed to the preset vehicle speed, while the The vehicle in question is kept at an inter-vehicle distance that is longer than the preset distance. The distance between vehicles is...

[0066] Next, an inter-vehicle distance maintenance correction control system will be explained. A system shown in Fig. 5 The process shown is started when step S18 in Fig. 4 is reached. In step S21, it is determined whether a Fuel-saving control is currently implemented or not. In the event that fuel-saving control is currently implemented, Once implemented, the process proceeds to step S23. In the event that a fuel-saving control system is currently in place... If it is not implemented, the process proceeds to step S22.

[0067] In step S22, a vehicle speed correction is performed based on an acceleration / deceleration in Direction of the target inter-vehicle distance is implemented, as the fuel-saving control is not currently implemented. / is, but is waiting to be implemented, or is not currently being implemented, and this process ends. In Step S23 will perform the vehicle speed correction based solely on a deceleration in the direction of travel. Target inter-vehicle distance implemented, as fuel-saving control is / is implemented, and this ends Occurrence.

[0068] In this way, a deceleration is only carried out if the distance between the vehicles is shorter than the target inter-vehicle distance while fuel-saving control is being implemented, and a Acceleration is not performed if the distance between vehicles is equal to or greater than the The target distance between vehicles is determined. Since fuel-saving control is prioritized, only one functionality of the Maintaining a safe distance between vehicles to avoid collisions is enabled or activated. This makes it possible to... to maintain a safe distance between vehicles while prioritizing fuel-saving control. Additionally, this text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. If fuel-saving control is not implemented, an acceleration / deceleration control will be used. carried out so that a normal target inter-vehicle distance and a normal target vehicle speed are maintained This makes it possible to ensure that the vehicle speed is close to the target vehicle speed. while following the vehicle 101 ahead.

[0069] Next, a special vehicle speed control using a timing diagram is described. described. As shown in Fig. 6, there is an inter-vehicle distance maintenance control range and a Fuel-saving control range set or defined according to an intermediate vehicle distance. That is, if the If the distance between vehicles is equal to or shorter than the target distance between vehicles, the vehicle in question is subject to the following conditions: the inter-vehicle distance control range, and, if the inter-vehicle distance is longer than the If the target distance between vehicles is exceeded, the vehicle in question is subject to the fuel-saving tax scheme. In this The inter-vehicle distance control range uses an acceleration / deceleration control system. Maintaining the distance between vehicles is implemented. A fuel-saving tax control feature is also implemented. Acceleration / deceleration control is implemented to achieve fuel savings. In other words... If the distance between vehicles is equal to or less than the target distance between vehicles, a safety precaution is taken. Inter-vehicle distance maintenance control is prioritized, but will be disabled if the inter-vehicle distance is longer than the The target distance between vehicles is prioritized for fuel-saving control.

[0070] A time diagram shown in Fig. 7 represents a case in which a special road terrain exists which a The depression or trough section is located in front of the vehicle in question, and there is also a vehicle traveling ahead of it. The vehicle is located at position P1, which is the special road terrain suitable for fuel-saving control. Terrain change assessment not detected or noticed, and a preset intermediate vehicle time (h) is used. STANDARD used, which is a preset value. Here, the terrain change assessment arrow in Fig. 7 is equivalent to a special road terrain sensor / sensing area. The terrain change assessment evaluates whether a special Road terrain is present within the sensor / sensing area in front of the vehicle.

[0071] Then, at position P2, the special road surface suitable for fuel-saving control is located in the Terrain change assessment is sensed or noticed. Accordingly, a long intermediate vehicle time h is expected. LONG longer than the preset intermediate vehicle time h, than the intermediate vehicle time in preparation for a STANDARD future acceleration is used. This artificially increases the distance between vehicles. Additionally, since the special road terrain was sensed or noticed, a zone encompassing the special road terrain, as a Energy efficiency zone established or defined. Additionally, street zones before and after the energy efficiency zone are designated as... Inter-vehicle distance maintenance zones have been set or defined.

[0072] Then, as the distance between vehicles increases and the energy efficiency zone is reached at position P3, the The inter-vehicle distance control range transitions into the fuel-saving control range, and then a Control measures were implemented to maintain the minimum distance between vehicles, which is necessary for collision avoidance. is necessary. In the fuel-saving tax area, the intermediate vehicle time is reduced to a short intermediate vehicle time h set to a time shorter than the preset intermediate vehicle time h. This is used to set the SHORT STANDARD Target inter-vehicle distance to the minimum inter-vehicle distance necessary to avoid collisions, and ensuring the longest fuel-saving tax range. In other words, this is a Speed ​​control for minimizing an area of ​​interference with a requirement to follow the This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. preceding vehicle 101. This makes the target vehicle speed a value greater than the The vehicle speed is preset, and acceleration is enabled by the downhill section before the The uphill climb is being exploited.

[0073] The vehicle in question then drives to position P4 in the energy efficiency zone, and the Fuel-saving control continues. Since the vehicle in question is at position P4, coming from a downhill or downhill state. has driven out while the target vehicle speed is set to a speed slower than When driving downhill or on a descent, the vehicle in question moves due to inertia. Since inertia When used, deceleration by braking to reach the target vehicle speed is not performed. In other words, speed control is used to improve energy efficiency by means of the Inertia is implemented. After that, at position P5, the special road terrain is used for fuel-saving control. suitable, is not detected or noticed in the terrain change assessment, and the energy efficiency zone is included in the The inter-vehicle distance maintenance zone has been transitioned to the fuel-saving tax area in the Inter-vehicle distance maintenance control range over, and a control to normal Inter-vehicle distance maintenance was performed.

[0074] A time diagram shown in Fig. 8 represents a situation in which a special road terrain exists which an uphill road or incline that is located in front of the vehicle in question, and it is also a There is a vehicle ahead. At position P11, there is a special road area equipped with a fuel-saving control system. It fits together or corresponds, is not perceived or noticed in a terrain change assessment, and is therefore The preset intermediate vehicle time h is used, which is a preset value. STANDARD

[0075] Then, at position P12, a special road surface is created that is compatible with the fuel-saving control system. or agrees, is sensed or noticed in the terrain change assessment. Accordingly, a long Intermediate vehicle time h is set as the intermediate vehicle time in preparation for a future acceleration. LONG This artificially increases the distance between vehicles. Additionally, because the specific road terrain is sensed... or was noticed, a street zone encompassing the specific street area was designated as an energy efficiency zone. or defined. In addition, street zones before and after the energy efficiency zone are designated as Inter-vehicle distance maintenance zones have been set or defined.

[0076] Then, as the distance between vehicles increases and the energy efficiency zone is reached at position P13, the inter-vehicle distance control range transitions into the fuel-saving control range, and then a Control measures were implemented to maintain the minimum distance between vehicles, which is necessary for collision avoidance. is necessary. In the fuel-saving tax area, the intermediate vehicle time is reduced to a short intermediate vehicle time h This is used to set the target inter-vehicle distance to the minimum inter-vehicle distance. SHORT which is necessary for collision avoidance, and ensuring the largest possible fuel-saving control range. This results in the target vehicle speed being a value greater than the preset vehicle speed. is, and an acceleration within the tolerance before entering the rising road or incline is enabled. or activated.

[0077] The vehicle in question then drives into the energy efficiency zone at position P14, and the Fuel-saving control further implemented. Accordingly, the vehicle in question will, thanks to / because of this, The acceleration performed in advance generated inertia driving uphill, and the target vehicle speed is reached. The vehicle speed is set to a preset speed or less. This is because the vehicle in question... It climbs due to inertia. After that, at position P15 there is a special road profile that is linked to the Fuel-saving control is compatible or consistent, but not detected in the terrain change assessment. is noticed, and the energy efficiency zone has transitioned into the inter-vehicle distance maintenance zone, which Fuel Saving Tax This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. richly into the inter-vehicle distance control range, and becomes a control for normal Inter-vehicle distance maintenance was performed.

[0078] A time diagram shown in Fig. 9 represents a case in which a special road terrain exists which a The curve is located in front of the vehicle in question, and there is also a vehicle ahead. At position P21 A special road surface, compatible with or corresponding to the fuel-saving control system, will be used in a Terrain change assessment not scanned or perceived, and therefore the preset value is used. Inter-vehicle time h is used, which is a preset value. STANDARD

[0079] Then, at position P22, a special road surface is created that is compatible with the fuel-saving control system. or agrees, is sensed or noticed in the terrain change assessment. Accordingly, the Interval time set to the short interval time h, so that the interval between vehicles at time SHORT The deceleration before the curve is not too long in the future. This artificially increases the distance between vehicles. reduced. Additionally, since the specific road terrain was detected or noticed, a road zone will be established that... Special road areas are designated as an energy efficiency zone. Additionally, Road zones before and after the energy efficiency zone have been set as intermediate vehicle spacing zones. determined.

[0080] Then, as the distance between vehicles decreases and the energy efficiency zone is reached at position P23, the inter-vehicle distance control range transitions into the fuel-saving control range, and then a Control measures were implemented to maintain the minimum distance between vehicles, which is necessary for collision avoidance. is necessary. In the fuel-saving tax area, the intermediate vehicle time on the short route is also taken into account. Intermediate vehicle time h is set and held. This is used to set the target intermediate vehicle distance to the SHORT minimum inter-vehicle distance necessary to avoid collisions, and ensuring the greatest possible Fuel saving tax area.

[0081] Then, at position P24, the vehicle in question enters the energy efficiency zone, and the Fuel-saving control has been further implemented. This results in deceleration when driving along a curve. a deceleration control system that is characterized by energy efficiency through a machine braking functionality implemented by shutting off a fuel supply or by implementing a braking function to restore driving energy. Then, at position P25, there is a special road area that is compatible with the fuel-saving control system. which is consistent, is not detected or noticed in the terrain change assessment, and the energy efficiency zone is included in the The inter-vehicle distance maintenance zone has been transitioned to the fuel-saving tax area in the Inter-vehicle distance maintenance control range over, and a control to normal Inter-vehicle distance maintenance was performed.

[0082] In the manner described above, as shown in Fig. 4, the vehicle control device performs 21 according to the present embodiment, if no special road terrain is present and there is additionally A preceding vehicle 101 transmits the speed control signal, so that the vehicle speed is adjusted to the preset vehicle speed is maintained while the vehicle in question is at an intermediate vehicle distance is held for a distance longer than the preset inter-vehicle distance. This allows the vehicle in question to If there is a vehicle 101 ahead, drive at a preset vehicle speed while the The vehicle in question is kept at an inter-vehicle distance that is longer than the preset distance. The distance between vehicles is...

[0083] Additionally, if a special road terrain is present ahead and there is no vehicle 101 driving ahead, As shown in Fig. 2, the speed control is used to increase or decrease the speed of the [This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.] The vehicle in question was measured at 100 degrees relative to the preset vehicle speed, so that the Energy efficiency is improved in the energy efficiency zone. This allows, if there is no vehicle ahead, 101 The vehicle in question should be driven at a vehicle speed to improve energy efficiency.

[0084] If a special road terrain is present ahead, there is a vehicle 101 driving ahead, and it is planned or It is intended that the vehicle speed will be adjusted relative to the preset vehicle speed in the When the energy efficiency zone is increased, as illustrated in Fig. 7, the speed control is then carried out so that the inter-vehicle distance in the inter-vehicle distance maintenance zone is longer than the The preset distance between vehicles is maintained. In a case where the vehicle speed is relative to the If the preset vehicle speed is increased in the energy efficiency zone, it is necessary to adjust the Intermediate vehicle The distance to the vehicle must be increased because of the vehicle 101 ahead. Therefore, the distance between vehicles in the closer inter-vehicle spacing maintenance zone is longer than the preset inter-vehicle spacing If this is done, it is possible to prevent the vehicle in question from being involved in an accident due to an increase in speed. Energy efficiency zone as the vehicle in front approaches 101. Regardless of whether it is a vehicle in front. Whether or not 101 exists, is it possible to have a speed control that is characterized by energy efficiency? to be implemented according to a specific road surface located in front of the vehicle.

[0085] Additionally, if the special road terrain is present in advance, there is a vehicle 101 driving ahead, and It is planned or intended that the vehicle speed will be adjusted relative to the preset vehicle speed in The energy efficiency zone is reduced, as shown in Fig. 9, and the speed control is carried out. so that the distance between vehicles in the distance-to-vehicle maintenance zone is shorter than the preset distance. The distance between vehicles is adjusted. In a case where the vehicle speed is relative to the preset speed, the following applies: When vehicle speed is reduced in the energy efficiency zone, it is necessary to prevent the The distance between vehicles increases too much at the time the vehicle in front 101 slows down, because it There is a vehicle 101 ahead. Because of this, the distance between the vehicles in the immediate vicinity... The inter-vehicle spacing maintenance zone is made shorter than the preset inter-vehicle spacing. It is possible to implement a fuel-saving control system while the vehicle in question is experiencing a Vehicle speed reduction in the energy efficiency zone brought closer to the vehicle in front, vehicle 101. becomes.

[0086] In addition, in the present embodiment, as explained with reference to Fig. 5, when the vehicle in question is driving in the energy efficiency zone and there is a vehicle 101 ahead of it, which Speed ​​control to improve energy efficiency compared to speed control for Maintaining the preset distance between vehicles is prioritized. This makes it It is possible to improve energy efficiency, as fuel saving control is prioritized in the energy efficiency zone.

[0087] Furthermore, in the present embodiment, as explained with reference to Fig. 6, when the distance between vehicles has become shorter than the minimum distance between vehicles, which is shorter than the The preset inter-vehicle distance is set when the vehicle in question is driving in the energy efficiency zone, and when there is a vehicle 101 ahead, the speed control to keep the vehicle in question in a Inter-vehicle distance that is longer than the minimum inter-vehicle distance, compared to the Speed ​​control is prioritized to improve energy efficiency. The minimum distance between vehicles is a Synonym for the safe distance between vehicles. This makes it possible to determine the minimum distance between vehicles. to ensure this while fuel-saving control is being implemented. This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.

[0088] In addition, in the present embodiment, notification information is displayed indicating that It is planned or intended that the speed control will be implemented to improve energy efficiency, or this is carried out, output to another device which, in the present embodiment, Vehicle display device 39 is present when the inter-vehicle distance is relative to the preset The distance between vehicles is increased or decreased to improve energy efficiency, or when the Vehicle speed is increased or decreased relative to the preset vehicle speed in order to... To improve energy efficiency. This allows the driver to control the speed setting through the Understanding notification information. Accordingly, the driver can recognize a reason why the The distance between vehicles is shorter than a normal distance between vehicles, or identify a reason why. The actual vehicle speed is higher than a preset vehicle speed. This can cause the Drivers are given a feeling of safety.

[0089] In the present embodiment, the notification information is provided by the Vehicle display device 39 is output; such a configuration is not the only example. For example Can the notification information be output via sound, or via a device worn by the driver? be issued via a mobile information terminal or by another device attached to the The vehicle is installed and capable of outputting notification information.

[0090] In addition, in the vehicle control device 21 according to the present embodiment, the processor 40 a vehicle driving control procedure for controlling the vehicle speed of the vehicle. According to the Vehicle driving control method according to the present embodiment, as it was before As described above, it is possible to implement a speed control system that is characterized by energy efficiency, according to to execute a terrain shape or form that is located in front of the vehicle, regardless of whether it is a preceding vehicle Whether vehicle 101 exists or not. Further examples of implementation

[0091] While preferred embodiments of the present disclosure have been explained up to this point, the The present disclosure is not at all limited by the embodiments described above, and It can be modified in various ways within the scope that does not deviate from the basic idea of ​​the present one. Revelation differs, it will be implemented.

[0092] The structures of the embodiments described above are shown only as examples, and the scope of the present disclosure is not limited to the scope of the descriptions. The scope of the The present disclosure is presented by the description of the patent claims and also includes all Changes within the meaning and scope that are equivalent to the description of the patent claims.

[0093] While the preset vehicle speed in the first described above In this example, where the driver adjusts the setting, such a method of adjustment is not the only one. Example. For example, the preset vehicle speed can be set according to a legally permitted speed. a street can be automatically set.

[0094] While special road surfaces in the first embodiment described above are characterized by a Such features include a depression or hollow section, an ascending road or incline and a curve. Sites are not the only examples. As long as there are zones or areas where energy efficiency can be increased, this text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. For example, a change in the environment with regard to road surfaces could be considered. A change in legally permissible speeds is being considered, and the degree or extent can be used to overcome a blockage or congestion that is already present.

[0095] Functionalities provided by the vehicle control device 21 in the first operation described above The exemplary implementation can be realized through hardware and software that differ from those described above, or a combination of these. For example, the Vehicle control unit 21 communicates with another control unit that performs some or all of the processes can execute. In a case where the control device is implemented by an electronic circuit, the electronic circuit by a digital circuit comprising a large number of logic circuits, or a An analog circuit must be implemented.

[0096] While the vehicle control device 21 in the first embodiment described above is in a When the vehicle is used, the vehicle control device 21 can be used not only in a state in which it is installed on a vehicle, but also in a state in which the vehicle control device 21 at least is not always installed on a vehicle.

[0097] A vehicle driving control device comprises an information acquisition section (25); a Determination section (42), which is configured to determine whether a specific road area in front of a relevant vehicle (100) is present; and a speed control section (43) configured to control a Speed ​​of the vehicle in question (100). The speed control section (42) is further configured to: if the special road terrain is in front of the vehicle in question (100), but there is no vehicle ahead (101) gives, carrying out speed control to increase or decrease the speed of the vehicle concerned Vehicle with reference to a preset vehicle speed in the energy efficiency zone, so that the Energy efficiency is improved; and, if the specific road terrain is present and there is a vehicle ahead, (101) and it is planned that the speed of the vehicle in question (100) will be increased in the energy efficiency zone will be, carrying out the speed control to control the speed of the vehicle concerned (100) in an inter-vehicle spacing maintenance zone, so that the vehicle in question (100) maintains a The distance between the vehicle and the vehicle in front (101) is longer than a preset The distance between vehicles is... QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was generated automatically and is solely for the purpose of Included for the better information of the reader. The list is not part of the German patent or... Utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2019023021 A

[0002]

Claims

1. Vehicle driving control device with: an information acquisition section (25) that is configured to acquire position information of a current Position of a vehicle in question (100), vehicle ahead information concerning a vehicle ahead vehicle (101) traveling in front of the vehicle in question, and road information relating to a road in front of the vehicle in question; a determination section (42) configured to determine whether a special road area in front of the The vehicle in question is available, based on road information, with an energy efficiency rating for the vehicle in question. Vehicle as a result of speed control for the vehicle in question by using the special road surface is improved; and a speed control section (43) which is configured to control a speed of the relevant vehicle to a preset vehicle speed, whereby a street zone that includes the specific street area is defined as an energy efficiency zone, a road zone in front of the energy efficiency zone is defined as an inter-vehicle distance maintenance zone, and the speed control section is further configured to: if the specific road terrain is not in front of the vehicle in question, but there is a vehicle driving ahead The vehicle is giving, performing the speed control to control the speed to the preset value. Vehicle speed while the vehicle in question is in at least one preset The distance between vehicles is maintained from the vehicle in front; if the specific road terrain is in front of the vehicle in question, but there is no vehicle ahead, Performing speed control to increase or decrease the speed of the vehicle in question. with reference to the preset vehicle speed in the energy efficiency zone, so that the energy efficiency is improved; and if the specific road terrain is in front of the vehicle in question, there is a vehicle driving ahead, and The plan is to adjust the speed of the vehicle in question in relation to the preset value. Vehicle speed is increased in the energy efficiency zone, performing speed control to steer. the speed of the vehicle in question in the inter-vehicle distance maintenance zone, so that the the vehicle in question has a distance between the vehicle and the vehicle in front that is longer than the The preset distance between vehicles is...

2. Vehicle driving control device according to claim 1, wherein the speed control section is further configured for the: if the specific road terrain is in front of the vehicle in question, there is a vehicle driving ahead, and The plan is for the vehicle speed to be adjusted in relation to the preset vehicle speed in the Energy efficiency zone is reduced, implementing speed control to control the speed of the the vehicle in question is in the inter-vehicle distance maintenance zone, so that the vehicle in question has a The distance between the vehicle and the vehicle in front is shorter than the preset distance. The distance between vehicles is...

3. Vehicle driving control device according to claim 1 or 2, wherein the speed control section is further configured is to: If the vehicle in question is driving in the energy efficiency zone and there is a vehicle ahead, prioritization of the Speed ​​control to improve energy efficiency compared to speed control to maintain the The vehicle in question is at the preset distance between the vehicle in front and the vehicle ahead.

4. Vehicle driving control device according to one of claims 1 to 3, wherein the speed control section further comprises is configured for: if the vehicle in question is driving in the energy efficiency zone, there is a vehicle in front of it, and that The vehicle in question has a distance between the vehicle and the vehicle in front that is less than [This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality.] The safer inter-vehicle distance is shorter than the preset inter-vehicle distance; prioritizing the Speed ​​control to keep the vehicle in question at least at a safe distance between vehicles compared to speed control to improve energy efficiency.

5. Vehicle driving control device according to one of claims 1 to 4, wherein the speed control section further comprises is configured for: when the distance between vehicles to a vehicle in front is in relation to the preset The distance between vehicles is increased or decreased to improve energy efficiency, or when the Increased the speed of the vehicle in question in relation to the preset vehicle speed or reduced to improve energy efficiency, output of notification information that indicates, that the speed control is planned to improve energy efficiency, or that the speed control to improve energy efficiency is currently being carried out, to another device (39).

6. Vehicle driving control method, which is carried out by at least one processor (40) to determine a speed to control a vehicle (100) in question, wherein the vehicle driving control procedure includes: Capturing position information of the current position of the vehicle in question, the vehicle ahead. Information concerning a vehicle (101) traveling ahead of the vehicle in question, and Road information concerning a road in front of the vehicle in question; Determine, based on road information, whether a specific road terrain exists in front of the vehicle in question. This is present, whereby energy efficiency for the vehicle in question is achieved through the use of the specific road terrain as a result. a speed control is improved, which is carried out before the vehicle in question passes through the special road terrain; and Controlling the speed of the vehicle in question to a preset vehicle speed, whereby a street zone that includes the specific street area is defined as an energy efficiency zone, a road zone in front of the energy efficiency zone is defined as an intermediate vehicle spacing maintenance zone, Controlling the speed of the vehicle in question to the preset vehicle speed additionally includes: if the specific road terrain is not in front of the vehicle in question, but there is a vehicle driving ahead This involves performing speed control to regulate the speed of the vehicle in question. preset vehicle speed while the vehicle in question is in at least one preset The distance between vehicles is maintained from the vehicle in front; if the specific road terrain is in front of the vehicle in question, but there is no vehicle ahead, Performing speed control to increase or decrease the speed of the vehicle in question. with reference to the preset vehicle speed in the energy efficiency zone, so that the energy efficiency is improved; if the specific road terrain is in front of the vehicle in question, there is a vehicle driving ahead, and The plan is for the vehicle speed to be adjusted in relation to the preset vehicle speed in the Energy efficiency zone is increased, implementing speed control to control the speed of the the vehicle in question is in the inter-vehicle distance maintenance zone, so that the vehicle in question has a The distance between the vehicle and the vehicle in front is longer than the preset distance. The distance between vehicles is; and if the specific road terrain is in front of the vehicle in question, there is a vehicle driving ahead, and The plan is for the vehicle speed to be adjusted in relation to the preset vehicle speed in the Energy efficiency zone is reduced, implementing speed control to control the speed of the This text has been copied by the DPMA from the original sources. It does not contain any drawings. The tables and formulas may be of unsatisfactory quality. the vehicle in question is in the inter-vehicle distance maintenance zone, so that the vehicle in question has a The distance between the vehicle and the vehicle in front is shorter than the preset distance. The distance between vehicles is...

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