Display control device

Abstract

A display control device is provided that can prevent a driver of an own vehicle from having doubts about whether the own vehicle is being accelerated and decelerated appropriately during the execution of an automatic driving device.The display control device (10) displays an image of a target speed range through the display device 30 of the own vehicle during a traveling speed control of automatically accelerating or decelerating the own vehicle (100) so that a traveling speed of the own vehicle is maintained within the target speed range, or displays an image of a target distance range through the display device during an inter-vehicle distance control of automatically accelerating or decelerating the own vehicle so that an inter-vehicle distance between the own vehicle and a surrounding vehicle (200) located around the own vehicle and traveling in the same direction as the own vehicle is maintained within the target distance range.

Description

Technical area

[0001] The invention relates to a display control device. State of the art

[0002] A driving assistance device is known that performs automatic driving to automatically control the own vehicle by automatically controlling the acceleration and deceleration of the own vehicle. For example, a driving assistance device is known that performs cruise control to automatically accelerate and decelerate the own vehicle so that a traveling speed of the own vehicle is maintained at a target speed, and inter-vehicle distance control to automatically accelerate and decelerate the own vehicle so that a distance between the own vehicle and a preceding vehicle is maintained at a target distance.Also known is a driving assistance device that displays an image of the target speed on a display during execution of the vehicle speed control and displays an image of the target distance during execution of the inter-vehicle distance control (see, for example, Patent Document 1). Citation listPatent specifications

[0003] PTL 1: JP 2019-196082 A SUMMARY OF THE INVENTION

[0004] In cruise control, the traveling speed of the own vehicle may be controlled within a certain control range for various reasons, and in inter-vehicle distance control, the distance between the own vehicle and the vehicle ahead may be controlled within a certain control range for various reasons. In such cruise control or inter-vehicle distance control, the traveling speed of the own vehicle is not maintained at the target speed and fluctuates relatively greatly, or the distance between the own vehicle and the vehicle ahead is not maintained at the target distance and increases or decreases relatively greatly.Therefore, if an automatic driving control system such as vehicle speed control or inter-vehicle distance control with a specific control width only displays the image of the target speed on the display or only displays the image of the target distance on the display, a driver of his own vehicle may have doubts as to whether the acceleration and deceleration of his own vehicle are being carried out appropriately by the automatic driving control system.

[0005] The object of the present invention is to provide a display device that can prevent the driver of the own vehicle from having doubts about whether the acceleration and deceleration of the own vehicle are carried out properly during the execution of the automatic driving control.

[0006] A display control device according to the present invention displays an image of a target speed range through a display device of an own vehicle while performing traveling speed control to automatically accelerate or decelerate the own vehicle so that a traveling speed of the own vehicle is maintained within the target speed range, or displays an image of a target distance range through the display device while performing inter-vehicle distance control to automatically accelerate or decelerate the own vehicle so that an inter-vehicle distance between the own vehicle and a surrounding vehicle that is around the own vehicle and traveling in the same direction as the own vehicle is maintained within the target distance range. According to the present invention, the image of the

[0007] The target speed range is displayed by the display device while the vehicle speed control is being executed. Therefore, the driver of the host vehicle can easily understand that the vehicle speed of the host vehicle is being controlled within a range having a certain width while the vehicle speed control is being executed. This can prevent the driver of the host vehicle from having doubts about whether the acceleration and deceleration of the host vehicle are being performed appropriately during the vehicle speed control execution. Likewise, according to the present invention, the image of the target distance range is displayed by the display device during the inter-vehicle distance control execution.Therefore, the driver of the host vehicle can easily understand that the inter-vehicle distance is controlled within a certain width range while the inter-vehicle distance control is being executed. This can prevent the driver of the host vehicle from having doubts about whether the vehicle's acceleration and deceleration are being performed appropriately during the execution of the inter-vehicle distance control.

[0008] It should be noted that in the display device according to the present invention, the target distance range is, for example, a range defined by an upper limit value larger than a target distance by a first value, the target distance being a value obtained by multiplying a target value of the time required for the own vehicle to travel the inter-vehicle distance by the traveling speed of the own vehicle, and a lower limit value smaller than the target distance by a second value.

[0009] According to the present invention, the target distance range is set according to the traveling speed of the host vehicle. This makes it possible to control the inter-vehicle distance to a more appropriate distance through inter-vehicle distance control.

[0010] Further, the display control device according to the present invention may be configured to automatically display an image of a moving range of the own vehicle with acceleration or deceleration during execution of the vehicle speed control as an image of the target speed range by the display device, so that the vehicle speed of the own vehicle is maintained at a speed within the target speed range.

[0011] According to the present invention, the target speed range is expressed in terms of the movement range of the own vehicle. This makes it easier for the driver of the own vehicle to recognize the target speed range.

[0012] Further, the display control device according to the present invention may be configured to display, as the image of the target speed range by the display device, an upper limit speed image and a lower limit speed image of the target speed range during execution of the vehicle speed control.

[0013] According to the present invention, the target speed range is expressed by mapping its upper and lower speed limits. This makes it easier for the driver of the vehicle to recognize the target speed range.

[0014] Further, the display control device according to the present invention may be configured to display, upon acceleration of the own vehicle by the vehicle speed control, the upper speed limit image and the lower speed limit image through the display device such that the upper speed limit image is emphasized more than the lower speed limit image.

[0015] According to the present invention, when the host vehicle is accelerating, the cruise control system highlights the upper speed limit image. Therefore, even if the host vehicle's cruise speed continues to increase toward the upper speed limit, the driver can easily recognize, based on the highlighted upper speed limit image, that the host vehicle's cruise control system is now being specifically controlled to increase the host vehicle's cruise speed toward the upper speed limit. This can more reliably prevent the host vehicle driver from having doubts about whether the host vehicle's acceleration and deceleration are being performed appropriately during cruise control.

[0016] Further, the display control device according to the present invention may be configured to display the upper speed limit image and the lower speed limit image by the display device when the own vehicle decelerates due to the vehicle speed control, such that the lower speed limit image is emphasized more than the upper speed limit image.

[0017] According to the present invention, when the vehicle decelerates due to the cruise control, the lower speed limit image is highlighted. Therefore, even if the vehicle's speed continues to decrease toward the lower speed limit, the driver can easily recognize, thanks to the highlighted lower speed limit, that the vehicle's acceleration and deceleration are now being deliberately controlled so that the vehicle's speed decreases toward the lower speed limit. This can more reliably prevent the driver of the vehicle from having doubts about whether the vehicle's acceleration and deceleration are being performed appropriately during cruise control.

[0018] Further, in the display control device according to the present invention, the vehicle speed control is, for example, control of acceleration of the own vehicle by operating a traveling device of the own vehicle so as to maintain an energy efficiency of the traveling device at or above a predetermined energy efficiency, and of deceleration of the own vehicle by operating the traveling device so as to coast the own vehicle.

[0019] According to the present invention, the vehicle speed control can be carried out with high energy efficiency.

[0020] Further, the display control device according to the present invention may be configured to display, as the image of the target distance range by the display device, an image of a distance upper limit and an image of a distance lower limit of the target distance range during execution of the inter-vehicle distance control.

[0021] According to the present invention, the target distance range is expressed by the maps of its upper and lower distance limits. This makes it easier for the driver of the host vehicle to recognize the target distance range.

[0022] Further, the display control device according to the present invention may be configured to display, when the own vehicle is accelerating by the inter-vehicle distance control, the image of the upper limit distance and the image of the lower limit distance by the display device such that the image of the lower limit distance is emphasized more than the image of the upper limit distance.

[0023] According to the present invention, during the vehicle acceleration, the inter-vehicle distance control highlights the image of the lower limit distance. Therefore, even if the inter-vehicle distance continues to decrease toward the lower limit distance, the driver can easily recognize, thanks to the highlighting of the lower limit distance, that the acceleration and deceleration of the host vehicle are now being deliberately controlled to decrease the inter-vehicle distance toward the lower limit distance. This can more reliably prevent the host vehicle driver from having doubts about whether the acceleration and deceleration of the host vehicle are being performed appropriately during the inter-vehicle distance control.

[0024] Further, the display control device according to the present invention may be configured to display, when the own vehicle decelerates by the inter-vehicle distance control, the image of the upper limit distance and the image of the lower limit distance through the display device such that the image of the upper limit distance is emphasized more than the image of the lower limit distance.

[0025] According to the present invention, when the host vehicle decelerates through inter-vehicle distance control, the image of the upper limit distance is highlighted. Even if the inter-vehicle distance continues to increase toward the upper limit distance, the driver can easily recognize, thanks to the highlighted image of the upper limit distance, that the host vehicle's acceleration and deceleration are now being deliberately controlled to increase the inter-vehicle distance toward the upper limit distance. This can more reliably prevent the host vehicle driver from having doubts about whether the host vehicle's acceleration and deceleration are being performed properly during the execution of the inter-vehicle distance control.

[0026] Further, in the display control device according to the present invention, claim 1, the inter-vehicle distance control is, for example, control of accelerating the own vehicle by operating a traveling device of the own vehicle so that an energy efficiency of the traveling device is maintained at or above a predetermined efficiency, and decelerating the own vehicle by controlling an operation of the traveling device so that the own vehicle coasts.

[0027] According to the present invention, the inter-vehicle distance control can be performed with high energy efficiency.

[0028] Further, the display control device according to the present invention may be configured to display an image of a current traveling speed of the host vehicle on the image of the target distance range displayed by the display device during execution of the traveling speed control by the display device, and to display an image of the surrounding vehicle on the image of the target distance range displayed by the display device during execution of the inter-vehicle distance control by the display device.

[0029] According to the present invention, the image of the current traveling speed of the own vehicle is displayed on the image of the target speed range while the traveling speed control is being executed. Therefore, the driver of the own vehicle can easily recognize a relationship between the current traveling speed of the own vehicle and the target speed range.

[0030] Further, the display control device according to the present invention may be configured to display the image of the surrounding vehicle during execution of the inter-vehicle distance control by the display device such that a position of the image of the surrounding vehicle corresponds to an actual position of the surrounding vehicle relative to the host vehicle on the image of the target distance range displayed by the display device.

[0031] According to the present invention, the image representing the surrounding vehicle is displayed on the image of the target distance range such that the position of the image representing the surrounding vehicle corresponds to the actual position of the surrounding vehicle relative to the host vehicle while the inter-vehicle distance control is being executed. Therefore, the host vehicle driver can easily understand the relationship between the surrounding vehicle and the target distance range.

[0032] Furthermore, in the display control device according to the present invention, the display device is, for example, a device that displays images on a windshield of the own vehicle. In this case, the control device according to the present invention may be configured to, when the surrounding vehicle is a preceding vehicle traveling in front of the own vehicle, display the image of the target distance range on the windshield through the display device so that a positional relationship between the image of the target distance range displayed by the display device and the preceding vehicle corresponds to an actual positional relationship between the target distance range and the preceding vehicle while the inter-vehicle distance control is being executed.

[0033] According to the present invention, during the execution of the inter-vehicle distance control, the image of the target distance range is displayed so that the positional relationship between the image of the target distance range and the preceding vehicle corresponds to the actual positional relationship between the target distance range and the preceding vehicle. This makes it easier for the driver of the host vehicle to understand the relationship between the preceding vehicle and the target distance range.

[0034] Further, the display control device according to the present invention may be configured to display an upper limit speed image and a lower limit speed image through the display device such that the upper limit speed image is more prominent than the lower limit speed image when the host vehicle is decelerated by the vehicle speed control; to display the upper limit speed image and the lower limit speed image through the display device such that the lower limit speed image is more prominent than the upper limit speed image when the host vehicle is accelerated by the inter-vehicle distance control; to display an upper limit distance image and a lower limit distance image through the display device;so that the image of the lower limit distance is more prominent than the image of the upper limit distance when the host vehicle is decelerating due to the inter-vehicle distance control, displaying the image of the upper limit distance and the image of the lower limit distance by the display device such that the image of the upper limit distance is more prominent than the image of the lower limit distance. In this case, the display device according to the present invention can be configured to highlight neither the upper limit speed image nor the lower limit distance image when the display device cannot determine whether the host vehicle is accelerating or decelerating during the execution of the inter-vehicle distance control, and when the display device cannot determine whether the host vehicle is accelerating or decelerating during the execution of the inter-vehicle distance control,neither the image of the upper speed limit nor the image of the lower distance limit should be highlighted.

[0035] According to the present invention, during the execution of the vehicle speed control, when it cannot be determined whether the host vehicle is accelerating or decelerating, the upper and lower speed limit images are not highlighted. This can prevent the host vehicle driver from receiving false information about the acceleration / deceleration state of the host vehicle. Furthermore, during the execution of the inter-vehicle distance control, the upper and lower distance limit images are not highlighted when it cannot be determined whether the host vehicle is accelerating or decelerating. This can prevent the host vehicle driver from receiving false information about the acceleration / deceleration state of the host vehicle.

[0036] Furthermore, in the display control device according to the present invention, the target speed range and the target distance range can be changed by an operator of the own vehicle.

[0037] According to the present invention, the operator of the own vehicle can arbitrarily set the target speed range and the target distance range.

[0038] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and associated advantages of the present invention will be readily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an illustration of a control device including a display control device according to an embodiment of the present invention. Fig. 2A is an illustration of a scene in which vehicle speed control is executed. Fig. 2B is an illustration of a scene in which inter-vehicle distance control is performed. Fig. 3 is a diagram showing a relationship between an engine output power and an energy efficiency of an internal combustion engine and a relationship between an engine output power and an energy efficiency of an electric motor. Fig. 4A is a diagram showing a scene in which vehicle speed control is executed when there is a following vehicle. Fig. 4B is a diagram showing a scene in which the inter-vehicle distance control is executed when the following vehicle is present. Fig. 5A is a diagram showing a head-up display when a first vehicle speed control is executed. Fig. 5B is a diagram showing a meter display when the first vehicle speed control is executed. Fig. Figure 5C is a diagram showing an enlarged portion of the Fig. 5B shows the meter display. Fig. 6A is an illustration of the head-up display when a first inter-vehicle distance control is executed. Fig. 6B is an illustration of the meter display when the first inter-vehicle distance control is executed. Fig. Figure 6C is a diagram showing an enlarged portion of the Fig. 6B shows the meter display. Fig. 7A is an illustration of the head-up display when a host vehicle is decelerated by coasting deceleration control while secondary vehicle speed control is being executed. Fig. 7B is a diagram showing the head-up display when the host vehicle is decelerated by coasting deceleration control and a traveling speed of the host vehicle has decreased to a lower limit speed while the second traveling speed control is being executed. Fig. 7C is a diagram showing the head-up display when the own vehicle is accelerated by optimal acceleration control while the second vehicle speed control is executed. Fig. 7D is a diagram showing the head-up display when the own vehicle is accelerated by the optimal acceleration control and the traveling speed of the own vehicle has increased to a speed limit while the second traveling speed control is being executed. Fig. 8 is an illustration of the meter display when the second vehicle speed control is executed. Fig. 9A is a diagram showing a part of the meter display when the host vehicle is decelerated by the coasting deceleration control while the second vehicle speed control is being executed. Fig. 9B is a diagram showing a part of the meter display when the host vehicle is decelerated by the coasting deceleration control and the traveling speed of the host vehicle has decreased to the lower limit speed while the second traveling speed control is being executed. Fig. 9C is a diagram showing a part of the meter display when the host vehicle is accelerated by the optimal acceleration control while the second vehicle speed control is being executed. Fig. 9D is a diagram showing a part of the meter display when the own vehicle is accelerated by the optimal acceleration control and the traveling speed of the own vehicle has increased to the upper limit speed while the second traveling speed control is being executed. Fig. 10A is a diagram showing the head-up display when the host vehicle is decelerated by the coasting deceleration control when a second inter-vehicle distance control is executed. Fig. 10B is a diagram showing the head-up display when the host vehicle is decelerated by the coasting deceleration control and a preceding vehicle has increased its distance to a distance upper limit when the second inter-vehicle distance control is executed. Fig. 10C is a diagram of the head-up display when the own vehicle is accelerated by the optimal acceleration control when the second inter-vehicle distance control is executed. Fig. 10D is a diagram showing the head-up display when the host vehicle is accelerated by the optimal acceleration control and the distance of the preceding vehicle has decreased to a lower limit distance when the second inter-vehicle distance control is executed. Fig. 11 is a diagram showing an image of a target distance range displayed by the head-up display when the second inter-vehicle distance control is executed. Fig. 12 is a diagram showing the meter display when the second inter-vehicle distance control is executed. Fig. 13A is a diagram showing a part of the meter display when the host vehicle is decelerated by the coasting deceleration control when the second inter-vehicle distance control is executed. Fig. 13B is a diagram showing a part of the meter display when the host vehicle is decelerated by the coasting deceleration control and the preceding vehicle distance has increased to the upper limit distance when the second inter-vehicle distance control is executed. Fig. 13C is a diagram showing a part of the meter display when the host vehicle is accelerated by the optimal acceleration control while the second inter-vehicle distance control is being executed. Fig. 13D is a diagram showing a part of the meter display when the host vehicle is accelerated by the optimal acceleration control and the distance of the preceding vehicle has decreased to the lower limit distance while the second inter-vehicle distance control is being executed. Fig. 14 is an illustration of the target distance range displayed on the meter display when the second inter-vehicle distance control is executed. Fig. 15 is a diagram of the control device according to a first modified embodiment of the present invention. Fig. 16 is a diagram of the control device according to a second modified embodiment of the present invention. Fig. 17 is a flowchart showing a routine executed by the control device according to the embodiment of the present invention. Fig. 18 is a flowchart showing a routine executed by the control device according to the embodiment of the present invention. DESCRIPTION OF THE EMBODIMENTS

[0039] Hereinafter, a display control device according to an embodiment of the present invention will be described with reference to the drawings. Hereinafter, the control device 10 will be described using as an example a case where an operator of an own vehicle 100 is a person who gets into and drives the own vehicle 100 (ie, a driver of the own vehicle 100). Therefore, in this embodiment, the control device 10 is mounted on the own vehicle 100 as shown in Fig. 1 shown.

[0040] However, the operator of the own vehicle 100 may also be a person who remotely controls the own vehicle 100 without getting into the own vehicle 100 (ie, a remote operator of the own vehicle 100). When the operator of the own vehicle 100 is the remote operator, the control device 10 is mounted on the own vehicle 100 and on a remote control device installed outside the own vehicle 100 to remotely control the own vehicle 100, and the functions of the control device 10 described below are shared by the control device 10 mounted on the own vehicle 100 and the control device 10 mounted on the remote control device.

[0041] The control device 10 according to the embodiment of the present invention functions as a display control device and a driving device that controls a travel of the own vehicle 100, etc. The control device 10 is equipped with an ECU 90.

[0042] The ECU 90 is an electronic control unit. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the ROM. In this embodiment, the control device 10 has one ECU, but as described below, it can also be configured to have multiple ECUs, and the ECUs share various processes described below.

[0043] The ECU 90 is electrically connected to a driving device 20, a braking device 30, an accelerator operation amount sensor 42, a brake pedal operation amount sensor 44, a vehicle traveling speed detecting device 45, an automatic traveling control request operator 51, a second automatic traveling control request operator 52, an environmental information detecting device 60, and a display device 70. <Automatische Fahrsteuerung>

[0044] The control device 10 executes automatic driving control for automatically controlling the driving of the host vehicle 100. In this embodiment, the control device 10 executes automatic driving control for automatically controlling the acceleration and deceleration of the host vehicle 100 as the automatic driving control for automatically controlling the driving of the host vehicle 100.

[0045] In this embodiment, the automatic driving control includes a first automatic driving control and a second automatic driving control. The first automatic driving control includes a first vehicle speed control (or constant speed automatic driving control) and a first inter-vehicle distance control (or follow-up automatic driving control), and the second automatic driving control includes a second vehicle speed control (or economy vehicle speed control) and a second inter-vehicle distance control (or economy follow-up automatic driving control).

[0046] It should be noted that the control device 10 can control the acceleration and deceleration of the host vehicle 100 by controlling operations of the driving device 20 and / or the braking device 30. The driving device 20 includes an internal combustion engine 21 and an electric motor 22. The braking device 30 includes a hydraulic braking device 31. <Erste Fahrgeschwindigkeitssteuerung>

[0047] The first cruising speed control is a control of automatically controlling the acceleration and deceleration of the host vehicle 100 so that a cruising speed (or a speed V of the host vehicle) of the host vehicle 100 is maintained at a target speed Vtgt. The first cruising speed control is executed when one condition of an automatic cruising control request is satisfied and a second condition of an automatic cruising control request is not satisfied, and there is no preceding vehicle, as shown in Fig. 2A shown.

[0048] The preceding vehicle is a vehicle traveling in its own lane in front of the own vehicle 100 and located at a predetermined distance from the own vehicle 100. The own vehicle's lane is a lane in which the own vehicle 100 is traveling.

[0049] In this embodiment, the control device 10 determines whether the preceding vehicle is present or not based on information (or surroundings detection information IS) acquired by the surroundings detection device 60. The surroundings detection device 60 is a device that acquires information about the surroundings of the host vehicle 100 and is equipped with, for example, camera sensors and radar sensors.

[0050] Further, the control device 10 obtains the own vehicle speed V through the vehicle speed detecting device 45. The vehicle speed detecting device 45 is a device that acquires information about the speed V of the own vehicle and is equipped with, for example, wheel speed sensors installed on each wheel of the own vehicle 100.

[0051] The automatic driving control request state is a state in which execution of automatic driving control is requested. The driver of the host vehicle 100 can request the control device 10 to execute automatic driving control by operating an automatic driving control request operator 51, such as a driving assistance button. The control device 10 determines that execution of automatic driving control is requested when the automatic driving control request operator 51 is operated while automatic driving control is not being executed, and thereafter determines that execution of automatic driving control is requested when the automatic driving control request operator 51 is not operated.On the other hand, the control device 10 determines that the execution of the automatic travel control is not requested when the operator operates to request the automatic travel control 51 while the automatic travel control is being executed.

[0052] The second automatic driving control request state is a state in which execution of the second automatic driving control is requested. The driver of the host vehicle 100 can request the control device 10 to execute the second automatic driving control by operating a second automatic driving control request operator 52 (or an automatic driving control request operator), such as an economy button. When the second automatic driving control request operator 52 is operated while the second automatic driving control is not being executed, the control device 10 determines that execution of the second automatic driving control is requested, and thereafter determines that execution of the second automatic driving control is requested when the second automatic driving control request operator 52 is not operated.On the other hand, if the operator 52 operates to request the second automatic travel control while the second automatic travel control is being executed, the control device 10 determines that the execution of the second automatic travel control is not requested.

[0053] During execution of the first vehicle speed control, the control device 10 accelerates the own vehicle 100 when the own vehicle speed V becomes smaller than the target speed Vtgt, and decelerates the own vehicle 100 when the own vehicle speed V becomes larger than the target speed Vtgt.

[0054] Note that the control device 10 sets the target speed Vtgt to a speed set by the driver of the own vehicle 100 as the target traveling speed of the own vehicle 100. The driver of the own vehicle 100 can arbitrarily set the target traveling speed (ie, the target speed Vtgt) of the own vehicle 100 by operating a traveling speed setting operation member 53 such as a traveling speed setting button. Alternatively, the control device 10 sets the target speed Vtgt to the speed V of the own vehicle at the time the operator operates the automatic traveling control request 51 and the automatic traveling control request condition is satisfied. <Erste Zwischenfahrzeugabstandssteuerung>

[0055] The first inter-vehicle distance control is a control of automatically controlling the acceleration and deceleration of the host vehicle 100 so that a preceding vehicle distance DF is maintained at a target distance Dtgt. The first inter-vehicle distance control is executed when the condition of the automatic driving control request is satisfied and the condition of the second automatic driving control request is not satisfied and the preceding vehicle 200 is present, as shown in Fig. 2B shown.

[0056] The distance DF of the preceding vehicle is a distance between the own vehicle 100 and the preceding vehicle 200, as in Fig. 2B. In this embodiment, the control device 10 obtains the distance DF of the preceding vehicle based on the information acquired by the surrounding information acquisition device 60 (ie, the surrounding detection information IS).

[0057] While the first inter-vehicle distance control is being executed, the control device 10 accelerates the own vehicle 100 when the preceding vehicle distance DF becomes larger than the target distance Dtgt, and decelerates the own vehicle 100 when the preceding vehicle distance DF becomes smaller than the target distance Dtgt.

[0058] Note that the control device 10 may set the preceding vehicle distance DF set by the driver as the target distance Dtgt as it is, but in this embodiment, the target distance Dtgt is set based on the preceding vehicle distance DF set by the driver of the host vehicle 100.

[0059] Specifically, the control device 10 sets an inter-vehicle time T, calculated based on the preceding vehicle distance DF set by the driver, as the target inter-vehicle time Ttgt. The inter-vehicle time T is a time required for the host vehicle 100 to travel the preceding vehicle distance DF, and specifically, it is a value obtained by dividing the preceding vehicle distance DF by the host vehicle speed V (T=DF / V).Therefore, the target inter-vehicle time Ttgt is a target value for the time required for the host vehicle 100 to travel the preceding vehicle distance DF. In this embodiment, the target inter-vehicle time Ttgt is a value obtained by dividing the preceding vehicle distance DF set by the driver of the host vehicle 100 (or a target preceding vehicle distance DFtgt) by the host vehicle speed V (Ttgt = DFtgt / V). The larger the preceding vehicle distance DF, the larger the inter-vehicle time T.

[0060] The control device 10 sets as the target distance Dtgt a value which results from multiplying the set inter-vehicle time Ttgt by the speed V of the own vehicle applicable at that time.

[0061] Note that the driver can arbitrarily set the preceding vehicle distance DF (ie, the target distance DFtgt) by operating an inter-vehicle distance setting control 54, such as an inter-vehicle distance setting button. In this embodiment, the driver can arbitrarily set the preceding vehicle distance DF among a long, medium, and short distance.

[0062] The control device 10 may be configured to set the inter-vehicle distance target time Ttgt to the inter-vehicle time T corresponding to the preceding vehicle distance DF at the time the operator for the automatic travel control request 51 is operated and the condition of the automatic travel control request is satisfied. < second driving speed control >

[0063] The second cruise control is a control for automatically controlling the acceleration and deceleration of the host vehicle 100 so that the host vehicle speed V is maintained within a target speed range RVtgt. The second cruise control is executed when the condition for requesting automatic cruise control is met and the second condition for requesting automatic cruise control is met, and there is no preceding vehicle, as shown in Fig. 2A shown.

[0064] The target speed range RVtgt is a range set to include the target speed Vtgt, and in this embodiment, the target speed range RVtgt is a range that has an upper limit (or upper limit speed Vupper) higher than the target speed Vtgt by a predetermined value (or upper limit speed setting value ΔVupper) and a lower limit (or lower limit speed Vlower) lower than the target speed Vtgt by a predetermined value (or lower limit speed setting value ΔVlower). The upper limit speed setting value ΔVupper and the lower limit speed setting value ΔVlower may be the same value or different values.

[0065] It should be noted that the driver can set the target speed range RVtgt as desired by operating the driving speed adjustment control element 53.

[0066] During execution of the second vehicle speed control, the control device 10 accelerates the own vehicle 100 when the own vehicle speed V becomes smaller than the lower limit speed Vlower, and decelerates the own vehicle 100 when the own vehicle speed V becomes larger than the upper limit speed Vupper.

[0067] When the control device 10 accelerates the own vehicle 100 while the second traveling speed control is executed, the control device 10 accelerates the own vehicle 100 by optimal acceleration control, and when the control device 10 decelerates the own vehicle 100 while the second traveling speed control is executed, the control device 10 decelerates the own vehicle 100 by coasting deceleration control.

[0068] The optimal acceleration control is a control of the acceleration of the host vehicle 100 by controlling the operation of the internal combustion engine 21 and the electric motor 22 such that an energy efficiency of the traveling device 20 is maintained at or above a predetermined efficiency, and in this embodiment, the optimal acceleration control is a control of the acceleration of the host vehicle 100 by controlling the operation of the internal combustion engine 21 and the electric motor 22 such that the energy efficiency of the traveling device 20 is maximized (or at least extremely close to the maximized efficiency). For example, if a relationship between an engine output power Peng and an energy efficiency Eeng of the internal combustion engine 21 is as shown by a line Leng in Fig. 3, and a relationship between a motor output power Pmotor and an energy efficiency Eeng of the electric motor 22 as shown by a line Lmotor in Fig. As shown in Figure 3, the control device 10 operates the engine 21 at an operating point (or an optimal operating point) where the energy efficiency Eeng of the engine 21 reaches its maximum efficiency. Note that the operating point is a point determined by a rotational speed (or the number of revolutions) of the engine 21 and a load of the engine 21. The motor output energy Peng is the power output by the engine 21, and the motor output energy Pmotor is the power output by the electric motor 22.

[0069] When the internal combustion engine 21 is operated at the optimum operating point, its energy efficiency Eeng is the highest (or a maximum efficiency), and the engine output power Peng is a value corresponding to the maximum efficiency (or an optimum engine output power P1) in the Fig. 3. It should be noted that in Fig. 3 a reference symbol P2 is a value of the motor output energy when the energy efficiency Emotor of the electric motor 22 is the highest.

[0070] Coasting deceleration control is a control of the operation of the driving device 20, i.e., the operation of the internal combustion engine 21 and the electric motor 22, so that the host vehicle 100 coasts or coasts. According to coasting deceleration control, the host vehicle 100 is decelerated primarily by air resistance and road resistance. Therefore, it can also be said that coasting deceleration control controls the operation of the driving device 20, i.e., the operation of the internal combustion engine 21 and the electric motor 22, so that the host vehicle 100 is decelerated primarily by air resistance and road resistance.

[0071] It should be noted that, as in Fig. 4A, when a following vehicle 300 is present, the control device 10 may be configured to accelerate the own vehicle 100 through the optimal acceleration control when a distance between the own vehicle 100 and the following vehicle 300 (or a distance DR of the following vehicle) becomes equal to or smaller than a predetermined distance (or a predetermined distance DRth of the following vehicle), even if the speed V of the own vehicle is greater than the lower limit speed Vlower while the second traveling speed control is being executed. In this case, the control device 10 controls the optimal acceleration until the speed V of the own vehicle reaches the upper limit distance Vupper, even if the distance DR of the following vehicle becomes greater than the predetermined following vehicle distance DRth after the start of the optimal acceleration control.

[0072] When the following vehicle 300 is present, the control device 10 may be configured to determine a timing to start the optimal acceleration control while executing the second traveling speed control, taking into account a difference between the speed V of the own vehicle and a traveling speed of the following vehicle 300, so that the own vehicle 100 does not get too close to the following vehicle 300.

[0073] Note that the following vehicle 300 is a vehicle traveling in the own vehicle lane behind the own vehicle 100 and is within a predetermined distance from the own vehicle 100. < second inter-vehicle distance control >

[0074] The second inter-vehicle distance control is a control of the automatic acceleration and deceleration control of the host vehicle 100 such that the distance DF of the preceding vehicle is maintained within a target distance range RDtgt. The second inter-vehicle distance control is executed when the condition of the automatic driving control request is satisfied and the condition of the second automatic driving control request is satisfied and the preceding vehicle 200 is present, as shown in Fig. 2B shown.

[0075] The target distance range RDtgt is a range set to include the target distance Dtgt, and in this embodiment, the target distance range RDtgt is a range having an upper limit (or a distance upper limit Dupper) that is larger than the target distance Dtgt by a predetermined value (or an upper distance setting value ΔDupper) and a lower limit (or a distance lower limit Dlower) that is smaller than the target distance Dtgt by a predetermined value (or a lower distance setting value ΔDlower). In other words, the target distance range RDtgt is a range having an upper limit that is larger by a first value (ie,the distance upper limit setting value ΔDupper) is greater than the target distance Dtgt, which is a target value of the time required for the host vehicle 100 to travel the preceding vehicle distance DF multiplied by the traveling speed of the host vehicle 100, and a lower limit that is smaller than the target distance Dtgt by a second value (i.e., the distance lower limit setting value ΔDlower). Note that the distance upper limit setting value ΔDupper and the distance lower limit setting value ΔDlower may be the same value or different values.

[0076] It should be noted that the driver can set the target distance range RDtgt as desired by operating the inter-vehicle distance setting control element 54.

[0077] While the second inter-vehicle distance control is being executed, the control device 10 accelerates the own vehicle 100 when the preceding vehicle distance DF becomes larger than the upper limit distance Dupper, and decelerates the own vehicle 100 when the preceding vehicle distance DF becomes smaller than the lower limit distance Dlower.

[0078] When the control device 10 accelerates the own vehicle 100 while the second inter-vehicle distance control is executed, the control device 10 accelerates the own vehicle 100 by the optimal acceleration control, and when the control device 10 decelerates the own vehicle 100 while the second inter-vehicle distance control is executed, the control device 10 decelerates the own vehicle 100 by the coasting deceleration control.

[0079] It should be noted that, as in Fig. 4B, when the following vehicle 300 is present, the control device 10 can be configured to accelerate the host vehicle 100 through the optimal acceleration control when the following vehicle distance DR becomes equal to or smaller than a predetermined following vehicle distance DRth, even if the preceding vehicle distance DF is smaller than the upper limit distance Dupper, while the second inter-vehicle distance control is being executed. In this case, after the optimal acceleration control is started, the control device 10 controls the optimal acceleration control until the preceding vehicle distance DF reaches the lower limit distance Dupper, even if the following vehicle distance DR becomes larger than the predetermined following vehicle distance DRth.

[0080] When the following vehicle 300 is present, the control device 10 may be further configured to determine a timing for starting the optimal acceleration control so that the own vehicle 100 does not approach the following vehicle 300 too closely while executing the second inter-vehicle distance control, taking into account the difference between the speed V of the own vehicle and the traveling speed of the following vehicle 300.

[0081] It should be noted that when the automatic travel control request condition is not satisfied, the control device 10 calculates a required driving force (or a required driving torque) based on an operation amount of an accelerator pedal 41 obtained from the accelerator pedal operation amount sensor 42 and the speed V of the own vehicle, and controls the operation of the travel device 20 so that a driving force corresponding to the required driving force is applied from the travel device 20 to the own vehicle 100.In addition, when the automatic driving control request condition is not satisfied, the control device 10 calculates a required braking force (or a required braking torque) based on an operation amount of a brake pedal 43 obtained by the brake pedal operation amount sensor 44, and controls the operation of the braking device 30 so that a braking force corresponding to the required braking force is applied to the own vehicle 100 by the braking device 30. <Anzeige der steuerungsrelevanten Informationen>

[0082] Further, during execution of the automatic driving control, the control device 10 displays, via the display device 70, information (control-related information) about the traveling speed of the own vehicle 100, which is the subject of the automatic driving control, and / or the distance between the own vehicle 100 and the preceding vehicle 200.

[0083] In this embodiment, the display device 70 includes a head-up display 71 and a meter display 72. The head-up display 71 is a device that provides various information to the driver of the own vehicle 100 by projecting various images onto a windshield 101 of the own vehicle 100 (see, for example, Fig. 5A). The meter display 72 is arranged in front of a driver's seat of the host vehicle 100 and is a device that provides various information to the driver of the host vehicle 100 by displaying various images. In this embodiment, the meter display 72, when activated, displays images of a speedometer 721 and a speedometer 722 (see, for example, Fig. 5B). The speed indicator 722 indicates the current traveling speed of the host vehicle 100 and is displayed at a position on the image of the speedometer 721 that corresponds to the current traveling speed of the host vehicle 100. <Während der ersten Fahrgeschwindigkeitssteuerung>

[0084] While the first vehicle speed control is being executed, the control device 10 displays an image of the target speed Vtgt via the head-up display 71, as shown in Fig. 5A. In addition, during the execution of the first vehicle speed control, the control device 10 displays the image of the target speed Vtgt on the meter display 72, as shown in Fig. 5B and Fig. 5C. Fig. Figure 5C shows an enlarged section of the Fig. 5B shown instrument display 72.

[0085] It should be noted that Fig. 5A to Fig. 5C shows an example where the target speed Vtgt is 80 km / h. <Während der ersten Zwischenfahrzeugabstandssteuerung>

[0086] While the first inter-vehicle distance control is being executed, the control device 10 displays an image of a target distance line LDtgt on the head-up display 71 as shown in Fig. 6A. The image of the target distance line LDtgt is a line-shaped image indicating a location located at the target distance Dtgt in front of the host vehicle 100. While the first inter-vehicle distance control is being executed, the distance DF of the preceding vehicle is controlled to the target distance Dtgt, so that the image of the target distance line LDtgt is displayed near the rear wheels of the preceding vehicle 200.

[0087] In addition, during the execution of the first inter-vehicle distance control, the control device 10 displays an image of a target distance line LDtgt and an image of a vehicle symbol IC on the meter display 72, as shown in Fig. 6B and Fig. 6C. The image of the target distance line LDtgt is a linear image indicating the position of the target distance Dtgt. The image of the vehicle symbol IC is an image representing the preceding vehicle 200. While the first inter-vehicle distance control is being executed, the distance DF of the preceding vehicle is controlled to the target distance Dtgt, so that the image of the target distance line LDtgt is displayed near the rear wheels of the vehicle symbol IC. It should be noted that Fig. 6C shows an enlarged section of the instrument display 72 in Fig. 6B shows. <Während der zweiten automatischen Fahrsteuerung>

[0088] As described above, during execution of the second vehicle speed control, the own vehicle speed V is controlled to be within the target speed range RVtgt. Therefore, the own vehicle speed V fluctuates relatively largely around the target speed Vtgt. For this reason, the driver may have doubts about whether the own vehicle speed V is appropriately controlled by the automatic driving control, that is, whether the own vehicle 100 is appropriately accelerated or decelerated. Similarly, during execution of the second inter-vehicle distance control, the preceding vehicle distance DF is controlled to be within the target distance range RDtgt. Therefore, the preceding vehicle distance DF increases or decreases relatively largely around the target distance Dtgt.For this reason, the driver may have doubts as to whether the preceding vehicle distance DF is appropriately controlled by the automatic driving control, ie whether the own vehicle 100 is appropriately accelerated or decelerated. <Während der zweiten Fahrgeschwindigkeitssteuerung>

[0089] Therefore, while the second vehicle speed control is being executed, the control device 10 displays images of the control-related information via the head-up display 71 and the meter display 72 as follows. <Steuern der Segelverzögerungssteuerung beim Segeln>

[0090] When the control device 10 executes the coasting deceleration control while the second vehicle speed control is executed, the control device 10 displays the image of the target speed Vtgt through the head-up display 71 and displays the image of the target speed range RVtgt below the image of the target speed Vtgt, as shown in Fig. 7A. In this embodiment, the control device 10 displays the images of the lower speed limit Vlower, the upper speed limit Vupper, and a wavy line WL as the target speed range RVtgt. In this embodiment, the image of the lower speed limit Vlower is displayed on the left side of the wavy line WL image, and the image of the upper speed limit Vupper is displayed on the right side of the wavy line WL image.

[0091] Fig. 7A to Fig. 7D shows an example where the target speed Vtgt is 80 kilometers per hour, the lower speed limit Vlower is 75 kilometers per hour and the upper speed limit Vupper is 85 kilometers per hour.

[0092] Furthermore, when the control device 10 executes the coasting deceleration control while executing the second vehicle speed control, the control device 10 displays the lower limit speed image Vlower with emphasis or highlighting. In other words, the control device 10 displays the lower limit speed image Vlower and the upper limit speed image Vupper such that the visibility of the lower limit speed image Vlower (i.e., the visibility of the lower limit speed image Vlower) is higher than the visibility of the upper limit speed image Vupper (i.e., the visibility of the upper limit speed image Vupper).

[0093] Image recognizability is an index value (or recognizability index value) that indicates how easily a person can recognize the content of the image. The higher the image recognizability value, the easier it is for a person to recognize the content of the image.

[0094] In this embodiment, the control device 10 displays the upper speed limit image Vupper with numbers that have only outlines, and displays the lower speed limit image Vlower with numbers that show the entire image instead of numbers that have only outlines, whereby the recognizability of the lower speed limit image Vlower is higher than the recognizability of the upper speed limit image Vupper. In this way, the control device 10 changes the recognizability of the image by changing the configuration of the image.

[0095] It should be noted that the recognizability of the image also depends on the brightness and size of the image. Generally, the brighter the image, the higher the recognizability of the image, and the larger the image, the higher the recognizability of the image. Therefore, the control device 10 can be configured to make the recognizability of the lower speed limit image Vlower higher than the recognizability of the upper speed limit image Vupper by making the brightness of the lower speed limit image Vlower higher than the brightness of the upper speed limit image Vupper, or by making the size of the lower speed limit image Vlower larger than the size of the upper speed limit image Vupper.

[0096] In addition, the recognizability of the image varies depending on its color. For example, a red image is easier to recognize than a white image. Accordingly, the control device 10 can be configured to display the image of the lower speed limit Vlower in red and the image of the upper speed limit Vupper in white, thereby making the lower speed limit Vlower easier to recognize than the upper speed limit Vupper.

[0097] Furthermore, the recognizability of the image also depends on the image's illumination mode. Generally, an image is easier to recognize when displayed flashing than when continuously illuminated. Accordingly, the control device 10 can be configured to display the lower speed limit image Vlower flashing and the upper speed limit image Vupper continuously illuminated, whereby the recognizability of the lower speed limit image Vlower is higher than the recognizability of the upper speed limit image Vupper.

[0098] Furthermore, the recognizability of the image can be increased by surrounding the image with a line drawing, placing a line drawing around the image, or underlining the image. Thus, the control device 10 can be configured to increase the recognizability of the image of the lower speed limit Vlower than the recognizability of the image of the upper speed limit Vlower by surrounding the image of the lower speed limit Vlower with a line image (ie, (iean image representing a line) around the lower speed limit image Vlower and by displaying the speed limit image Vupper without placing a line image around the speed limit image Vupper, or by displaying the lower speed limit image Vlower by placing a line image below the lower speed limit image Vlower and by displaying the speed limit image Vupper without placing a line image below the speed limit image Vupper.

[0099] Moreover, in this embodiment, the control device 10 displays the image of the lower limit speed Vlower and the image of the upper limit speed Vupper such that the visibility of the image of the lower limit speed Vlower is equal to the normal visibility and the visibility of the image of the upper limit speed Vupper is lower than the normal visibility, whereby the visibility of the image of the lower limit speed Vlower is higher than the visibility of the image of the upper limit speed Vupper.

[0100] However, the control device 10 may display the lower limit speed image Vlower and the upper limit speed image Vupper such that the visibility of the lower limit speed image Vlower is higher than the normal visibility and the visibility of the upper limit speed image Vupper is the same as the normal visibility, whereby the visibility of the lower limit speed image Vlower is higher than the visibility of the upper limit speed image Vupper.

[0101] Alternatively, the control device 10 may display the lower speed limit image Vlower and the upper speed limit image Vupper such that the visibility of the lower speed limit image Vlower is higher than the normal visibility and the visibility of the upper speed limit image Vupper is lower than the normal visibility, so that the visibility of the lower speed limit image Vlower is higher than the visibility of the upper speed limit image Vupper.

[0102] Note that the normal recognizability is the recognizability of the image of the target speed Vtgt displayed as an image by the head-up display 71 while the first vehicle speed control is being executed (ie, the recognizability of the image of the target speed Vtgt).

[0103] In addition, the control device 10 provides the driver with the control-related information via the instrument panel display 72 during the execution of the second vehicle speed control, as shown in Fig. 8 shown.

[0104] Specifically, when the coasting deceleration control is executed during the execution of the second vehicle speed control, the control device 10 displays an image of a target speed range bar BRV near the speedometer 721 through the meter display 72, as shown in Fig. 9A. In addition, the control device 10 displays the image of the target speed Vtgt on the meter display 72 and displays the image of the target speed range RVtgt below the image of the target speed Vtgt.

[0105] It should be noted that the Fig. 9A to 9D also show an example where the target speed Vtgt is 80 km / h, the lower speed limit Vlower is 75 km / h and the upper speed limit Vupper is 85 km / h.

[0106] In this embodiment, the image of the target speed range bar BRV is displayed from a position corresponding to the position of the speedometer 721 indicating 75 kilometers per hour to a position corresponding to the position of the speedometer 721 indicating 85 kilometers per hour. Therefore, while the second vehicle speed control is being executed, the image of the target speed range bar BRV is displayed at a position overlapping with the speed indicator 722. Therefore, while the second vehicle speed control is being executed, the control device 10 displays, via the meter display 72 (ie, the display device 70), the image of the current vehicle speed of the host vehicle 100 (ie, the current speed V of the host vehicle) on the image of the target speed range bar BRV (ie,the image of the target speed range RVtgt) displayed by the meter display 72 (ie, the display device 70).

[0107] Furthermore, the control device 10 displays the image of the target speed range bar BRV by highlighting or highlighting the portion of the target speed range bar BRV image on the lower speed limit image. In other words, the control device 10 displays the image of the target speed range bar BRV such that the conspicuity of the image of the portion of the target speed range bar BRV image on the lower speed limit image is higher than the conspicuity of the image of the portion of the target speed range bar BRV image on the upper speed limit image.

[0108] In this embodiment, the control device 10 displays the image of the target speed range bar BRV such that the brightness of the portion of the image of the target speed range bar BRV on the lower speed limit Vlower side of the speed display 722 is higher than the brightness of the portion of the image of the target speed range bar BRV on the upper speed limit Vupper side of the speed display 722, whereby the recognizability of the image of the portion of the image of the target speed range bar BRV on the lower speed limit Vlower side is higher than the recognizability of the image of the portion of the image of the target speed range bar BRV on the upper speed limit Vupper side.

[0109] Note that the control device 10 may be configured to highlight the image of the target speed range RVtgt through the meter display 72 or to highlight the image of the lower limit speed Vlower, similar to the image of the target speed range RVtgt displayed by the head-up display 71. <Erreichen der Geschwindigkeitsuntergrenze>

[0110] When the speed V of the own vehicle drops to the lower speed limit Vlower during the execution of the second vehicle speed control, the control device 10 displays the image of the lower speed limit Vlower and displays the image of the target speed range RVtgt below the image of the lower speed limit Vlower via the head-up display 71, as shown in Fig. 7B. At this time, the image of the target speed range RVtgt is displayed by highlighting or emphasizing the image of the lower speed limit Vlower, similarly to the image of the target speed range RVtgt displayed by the head-up display 71 while the coasting deceleration control is being executed.

[0111] When the speed of the own vehicle V decreases to the lower speed limit Vlower while the second vehicle speed control is executed, the control device 10 displays the image of the lower speed limit Vlower, displays the image of the target speed range RVtgt below the image of the lower speed limit Vlower, and displays the image of the target speed range bar BRV near the image of the speedometer 721 through the meter display 72, as shown in FIG. Fig. 9B. Note that at this time, the speed indicator image 722 has moved to the position of the lower speed limit image Vlower on the target speed range bar image BRV. <Bei optimaler Steuerung der Beschleunigung>

[0112] In addition, when the control device 10 executes the optimal acceleration control while the second vehicle speed control is executed, the control device 10 displays the image of the target speed Vtgt through the head-up display 71 and displays the image of the target speed range RVtgt under the image of the target speed Vtgt through the head-up display 71, as shown in Fig. 7C shown.

[0113] Furthermore, when the control device 10 executes the optimal acceleration control while the control device 10 executes the second vehicle speed control, the control device 10 displays the upper speed limit image Vupper by highlighting or making the upper speed limit image Vupper stand out. In other words, the control device 10 displays the lower speed limit image Vlower and the upper speed limit image Vupper such that the visibility of the upper speed limit image Vupper is higher than the visibility of the lower speed limit image Vlower.

[0114] In this embodiment, the control device 10 displays the image of the lower limit speed Vlower with numbers having only outlines, and displays the image of the upper limit speed Vupper with numbers showing the entire image instead of numbers having only outlines, whereby the recognizability of the image of the upper limit speed Vupper is higher than the recognizability of the image of the upper limit speed Vlower.

[0115] It should be noted that, in this embodiment, the control device 10 displays the image of the upper speed limit Vupper and the image of the lower speed limit Vlower such that the recognizability of the image of the upper speed limit Vupper is equal to the normal recognizability and the recognizability of the image of the lower speed limit Vlower is lower than the normal recognizability, whereby the recognizability of the image of the upper speed limit Vupper is higher than that of the lower speed limit Vlower.

[0116] However, the control device 10 may display the image of the upper speed limit Vupper and the image of the lower speed limit Vlower such that the recognizability of the image of the upper speed limit Vupper is higher than the normal recognizability and the recognizability of the image of the lower speed limit Vlower is the same as the normal recognizability, whereby the recognizability of the image of the upper speed limit Vupper is higher than the recognizability of the image of the lower speed limit Vlower.

[0117] Alternatively, the control device 10 may display the upper speed limit image Vupper and the lower speed limit image Vlower such that the visibility of the upper speed limit image Vupper is higher than the normal visibility and the visibility of the lower speed limit image Vlower is lower than the normal visibility, so that the visibility of the upper speed limit image Vupper is higher than the visibility of the lower speed limit image Vlower.

[0118] When the control device 10 executes the optimal acceleration control while the second vehicle speed control is executed, the control device 10 also displays the image of the target speed Vtgt through the meter display 72, displays the image of the target speed range RVtgt below the image of the target speed Vtgt, and displays the image of the target speed range bar BRV near the image of the speedometer 721, as shown in Fig. 9C shown.

[0119] Here, the control device 10 displays the image of the target speed range bar BRV by highlighting or highlighting the portion of the image of the target speed range bar BRV on the upper limit speed Vupper side. In other words, the control device 10 displays the image of the target speed range bar BRV such that the visibility of the image of the portion of the image of the target speed range bar BRV on the upper limit speed Vupper side is higher than the visibility of the portion of the image of the target speed range bar BRV on the lower limit speed Vlower side.

[0120] In this embodiment, the control device 10 displays the image of the target speed range bar BRV such that the brightness of the portion of the image of the target speed range bar BRV on the upper limit speed Vupper side of the speed display 722 is higher than the brightness of the portion of the image of the target speed range bar BRV on the lower limit speed Vlower side of the speed display 722, whereby the recognizability of the image of the portion of the image of the target speed range bar BRV on the upper limit speed Vupper side is higher than the recognizability of the image of the portion of the image of the target speed range bar BRV on the lower limit speed Vlower side.

[0121] Note that the control device 10 may be configured to display the image of the target speed range RVtgt through the meter display 72 by highlighting or emphasizing the image of the upper speed limit Vupper, similarly to the image of the target speed range RVtgt displayed by the head-up display 71. <Erreichen der Geschwindigkeitsobergrenze>

[0122] In addition, when the speed V of the own vehicle increases to the upper limit speed Vupper while the second vehicle speed control is being executed, the control device 10 displays the image of the upper limit speed Vupper and displays the image of the target speed range RVtgt below the image of the upper limit speed Vupper through the head-up display 71, as shown in FIG. Fig. 7D. At this time, the image of the target speed range RVtgt is displayed by highlighting or emphasizing the image of the upper speed limit Vupper, similarly to the image of the target speed range RVtgt displayed by the head-up display 71 while the optimal acceleration control is being executed.

[0123] When the speed V of the own vehicle increases to the upper limit speed Vupper while the second traveling speed control is being executed, the control device 10 displays the image of the upper limit speed Vupper, displays the image of the target speed range RVtgt below the image of the upper limit speed Vupper, and displays the image of the target speed range bar BRV near the image of the speedometer 721 through the meter display 72, as shown in FIG. Fig. 9D. Note that at this time, the speed indicator image 722 has moved to the position of the upper speed limit image Vupper on the target speed range bar BRV. <Während der zweiten Zwischenfahrzeugabstandssteuerung>

[0124] In addition, during the execution of the second inter-vehicle distance control, the control device 10 displays control-related information via the head-up display 71 and the meter display 72 as follows <Steuern der Segelverzögerungssteuerung beim Segeln>

[0125] When the control device 10 executes the coasting deceleration control while the second inter-vehicle distance control is executed, the control device 10 also displays the image of the target distance range RDtgt and an image of an upper distance highlight line LDupper_E through the head-up display 71, as shown in Fig. 10A shown.

[0126] Note that, during the execution of the second inter-vehicle distance control, the control device 10 displays the image of the target distance range RDtgt on the windshield 101 through the head-up display 71 (i.e., the display device 70) so that the positional relationship between the image of the target distance range RDtgt and the image of the preceding vehicle 200 displayed by the head-up display 71 (i.e., the display device 70) corresponds to the actual positional relationship between the target distance range RDtgt and the preceding vehicle 200. Therefore, the image of the target distance range RDtgt is displayed so as to overlap with the preceding vehicle 200.

[0127] As in Fig. As shown in Figure 11, the image of the target distance range RDtgt is displayed as a trapezoidal image. In the image of the target distance range RDtgt, its upper outline (i.e., a distance upper limit line LDupper) indicating a location located within the distance upper limit Dupper in front of the own vehicle 100 is displayed, and its lower outline (i.e., a distance lower limit line LDlower) indicating a position located within the distance lower limit Dlower in front of the own vehicle 100 is displayed.

[0128] Furthermore, the image of the upper-limit distance emphasis line LDupper_E represents a location where the upper-limit distance is located in front of the host vehicle 100. Therefore, the image of the upper-limit distance emphasis line LDupper_E is displayed on the image of the upper-limit distance line LDupper of the target distance range image RDtgt. In this embodiment, the image of the upper-limit distance emphasis line LDupper_E is a thicker image than the image of the upper-limit distance emphasis line LDupper.

[0129] Therefore, when the control device 10 executes the coasting deceleration control while executing the second inter-vehicle distance control, the control device 10 displays the image of the upper limit distance line LDupper prominently or conspicuously. In other words, the control device 10 displays the image of the upper limit distance line LDupper and the image of the lower limit distance line LDlower such that the visibility of the image of the upper limit distance line LDupper (i.e., the visibility of the image representing the upper limit distance line LDupper) is higher than the visibility of the image of the lower limit distance line LDlower (i.e., the visibility of the image representing the lower limit distance line LDlower).

[0130] Thus, in this embodiment, the control device 10 makes the recognizability of the image of the distance upper limit LDupper higher than the recognizability of the image of the distance lower limit LDlower by displaying the image of the distance upper limit LDupper through the head-up display 71 with a thicker image than the image of the distance lower limit LDlower.

[0131] It should be noted that the recognizability of the image changes depending on the configuration of the image. Therefore, the control device 10 can be configured to make the recognizability of the image of the distance upper limit LDupper higher than the recognizability of the image of the distance lower limit LDlower by making the configuration of the image of the distance upper limit LDupper different from the configuration of the image of the distance lower limit LDlower.

[0132] Furthermore, the recognizability of the image depends on the brightness of the image. Generally, the higher the brightness of the image, the higher the recognizability of the image. Therefore, the control device 10 can be configured to make the recognizability of the image at the distance upper limit LDupper higher than the recognizability of the image at the distance lower limit LDlower by making the brightness of the image at the distance upper limit LDupper higher than the brightness of the image at the distance lower limit LDlower.

[0133] Furthermore, the recognizability of the image varies depending on its colors. For example, the recognizability of a red image is higher than that of a black image. Therefore, the control device 10 can be configured to display the image of the distance upper limit LDupper in red and the image of the distance lower limit LDlower in black, so that the recognizability of the image of the distance upper limit LDupper is higher than the recognizability of the image of the distance lower limit LDlower.

[0134] Furthermore, the recognizability of the image also depends on the type of illumination of the image. In general, an image is easier to recognize when displayed flashing than when continuously illuminated. Accordingly, the control device 10 can be configured to display the image of the distance upper limit LDupper flashing and the image of the distance lower limit LDlower continuously illuminated, whereby the recognizability of the image of the distance upper limit LDupper is higher than the recognizability of the image of the distance lower limit LDlower.

[0135] It should be noted that the control device 10 during the execution of the coasting deceleration control of the second inter-vehicle distance control emphasizes or highlights the image of the upper distance line LDupper as shown in Fig. 10B until the preceding vehicle distance DF reaches the upper distance Dupper and the optimal acceleration control is started.

[0136] While the second inter-vehicle distance control is being executed, the control device 10 also provides the driver with the control-relevant information via the meter display 72, as shown in Fig. 12 shown.

[0137] When the coasting deceleration control is executed while the second inter-vehicle distance control is executed, the control device 10 displays the image of the target distance range RDtgt and the image of the upper distance highlight line LDupper_E on the meter display 72, as shown in Fig. 13A. Furthermore, the control device 10 displays the image of the vehicle symbol IC on the meter display 72.

[0138] The vehicle symbol IC is an image representing the preceding vehicle 200. Furthermore, the image of the target distance range RDtgt is displayed so as to overlap with the image of the vehicle symbol IC. Therefore, while the second inter-vehicle distance control is being executed, the control device 10 displays, via the meter display 72 (i.e., the display device 70), the image of the vehicle symbol IC (i.e., an image representing the preceding vehicle 200) on the image of the target distance range RDtgt displayed by the meter display 72 (i.e., the display device 70).

[0139] As in Fig. As shown in Figure 14, the image of the target distance range RDtgt is displayed as a trapezoidal image. In the image of the target distance range RDtgt, the upper outline (i.e., the upper distance limit LDupper) represents the position of the upper distance limit Dupper, and the lower outline (i.e., the lower distance limit LDlower) represents the position of the lower distance limit Dlower.

[0140] In addition, the image of the distance upper limit highlight line LDupper_E represents the position of the distance upper limit. Therefore, the image of the distance upper limit highlight line LDupper_E is displayed on the image of the distance upper limit line LDupper of the target distance range RDtgt. In this embodiment, the image of the distance upper limit highlight line LDupper_E is thicker than the image of the distance upper limit line LDupper.

[0141] Therefore, when the control device 10 executes the coasting deceleration control while executing the second inter-vehicle distance control, the control device 10 displays the image of the upper limit distance line LDupper prominently or conspicuously. In other words, the control device 10 displays the image of the upper limit distance line LDupper and the image of the lower limit distance line LDlower such that the visibility of the image of the upper limit distance line LDupper (i.e., the visibility of the image representing the upper limit distance line LDupper) is higher than the visibility of the image of the lower limit distance line LDlower (i.e., the visibility of the image representing the lower limit distance line LDlower).

[0142] Thus, in this embodiment, the control device 10 makes the recognizability of the distance upper limit image LDupper higher than the recognizability of the distance lower limit image LDlower by displaying the distance upper limit image LDupper on the meter display 72 with a thicker image than the distance lower limit image LDlower.

[0143] It should be noted that the control device 10, while the coasting deceleration control of the second inter-vehicle distance control is being executed, displays the image of the upper distance limit LDupper in a highlighted or highlighted image as shown in Fig. 10D until the preceding vehicle reaches the upper limit distance Dupper and the optimal acceleration control is started. <Bei optimaler Steuerung der Beschleunigung>

[0144] While the control device 10 executes the optimal acceleration control while the second inter-vehicle distance control is executed, the control device 10 displays the image of the target distance range RDtgt through the head-up display 71 and displays the image of the distance lower limit highlight line LDlower_E through the head-up display 71, as shown in Fig. 10C shown.

[0145] The image of the target distance range RDtgt is displayed so as to overlap with the preceding vehicle 200. Furthermore, the image of the distance lower limit emphasis line LDlower_E indicates a location located in the distance lower limit emphasis range Dlower in front of the host vehicle 100. Therefore, the image of the distance lower limit emphasis line LDlower_E is displayed on the image of the distance lower limit line LDlower of the target distance range RDtgt image. In this embodiment, the image of the distance lower limit emphasis line LDlower_E is thicker than the image of the distance lower limit line LDlower.

[0146] Therefore, when the control device 10 executes the optimal acceleration control while executing the second inter-vehicle distance control, the control device 10 displays the distance lower limit image Dupper with emphasis or highlighting. In other words, the control device 10 displays the distance lower limit image Dlower and the distance upper limit image Dupper such that the recognizability of the distance lower limit image Dlower (that is, the recognizability of the image representing the distance lower limit Dlower) is higher than the recognizability of the distance upper limit image Dupper (that is, the recognizability of the image representing the distance upper limit Dupper).

[0147] Thus, in this embodiment, the control device 10 makes the recognizability of the image of the distance lower limit Dlower higher than the recognizability of the image of the distance upper limit Dupper by displaying the image of the distance lower limit LDlower through the head-up display 71 with a thicker line than the image of the distance upper limit LDupper.

[0148] It should be noted that the control device 10, while the optimal acceleration control of the second inter-vehicle distance control is being executed, displays the image of the lower distance limit line LDlower in a highlighted or highlighted manner as shown in Fig. 10D until the preceding vehicle distance DF reaches the lower limit distance Dlower and the sailing deceleration control is started.

[0149] When the control device 10 executes the optimal acceleration control while the second inter-vehicle distance control is executed, the control device 10 also displays the image of the vehicle symbol IC, the image of the target distance range RDtgt, and the image of the distance lower limit highlighting the distance lowering line LDlower_E on the meter display 72, as shown in Fig. 13C shown.

[0150] Here, too, the image of the target distance range RDtgt is displayed so that it overlaps with the image of the vehicle symbol IC. In addition, the image of the distance lower limit highlight line LDlower_E is displayed on the image of the distance lower limit highlight line LDupper of the target distance range RDtgt.

[0151] Therefore, when the control device 10 controls the optimal acceleration while executing the second inter-vehicle distance control, the control device 10 displays the distance lower limit image LDlower prominently or conspicuously. In other words, the control device 10 displays the distance lower limit image Dlower and the distance upper limit image Dupper such that the recognizability of the distance lower limit image Dlower (i.e., the recognizability of the image representing the distance lower limit Dlower) is higher than the recognizability of the distance upper limit image Dupper (i.e., the recognizability of the image representing the distance upper limit Dupper).

[0152] Thus, in this embodiment, the control device 10 makes the recognizability of the image of the distance lower limit Dlow higher than the recognizability of the image of the distance upper limit Dlow by displaying the image of the distance lower limit LDlow by the meter display 72 in a thicker image than the image of the distance upper limit LDlow.

[0153] It should be noted that the control device 10, during the execution of the optimal acceleration control of the second inter-vehicle distance control, displays the image of the lower distance limit line LDlower in a highlighted or highlighted manner as shown in Fig. 13D until the preceding vehicle distance DF reaches the lower limit distance Dlower and the sailing deceleration control is started.

[0154] It should be noted that during execution of the second inter-vehicle distance control, the control device 10 displays the image of the vehicle symbol IC (ie, the image representing the preceding vehicle 200) through the meter display 72 (ie, the display device 70) such that the position of the image of the vehicle symbol IC (ie, the image representing the preceding vehicle 200) on the image of the target distance range RDtgt displayed by the meter display 72 (ie, the display device 70) corresponds to the actual position of the preceding vehicle 200 relative to the host vehicle 100. <effekte>

[0155] According to the control device 10, during the execution of the second cruise control, the image of the target speed range RVtgt is displayed by the head-up display 71 and the meter display 72. Thus, the driver can easily recognize that the speed of the host vehicle V is controlled within a specific range. This can prevent the driver from having doubts about whether the host vehicle 100 is being appropriately accelerated or decelerated by the automatic cruise control.

[0156] Similarly, according to the control device 10, during the execution of the second inter-vehicle distance control, the image of the target distance range RDtgt is displayed on the head-up display 71 and the meter display 72. Therefore, the driver can easily recognize that the distance DF of the preceding vehicle is controlled within a certain range. This can prevent the driver from having doubts about whether the host vehicle 100 is being appropriately accelerated or decelerated by the automatic cruise control.

[0157] Furthermore, according to the control device 10, when executing the coasting deceleration control during the execution of the second vehicle speed control, the image of the lower limit speed Vlower is displayed with emphasis, and when executing the optimal acceleration control during the execution of the second vehicle speed control, the image of the upper limit speed Vupper is displayed with emphasis. Therefore, even if the speed V of the own vehicle continues to decrease beyond the target speed Vtgt, since the image of the lower limit speed Vlower is highlighted, the driver can easily understand that the acceleration and deceleration of the own vehicle 100 are now intentionally controlled so that the speed V of the own vehicle decreases toward the lower limit speed Vlower.Even if the speed V of the host vehicle continues to increase beyond the target speed Vtgt, since the image of the upper speed limit Vupper is highlighted, the driver can easily see that the acceleration and deceleration of the host vehicle 100 are now deliberately controlled so that the speed V of the host vehicle increases toward the upper speed limit Vupper. This can more reliably prevent the driver from having doubts about whether the host vehicle 100 is being appropriately accelerated and decelerated by the automatic driving control.

[0158] Similarly, according to the control device 10, when executing the coasting deceleration control during the execution of the second inter-vehicle distance control, the image of the distance upper limit Dupper is displayed with emphasis, and when executing the optimal acceleration control during the execution of the second inter-vehicle distance control, the image of the distance lower limit Dlower is displayed with emphasis. Therefore, even if the preceding vehicle distance DF continues to increase beyond the target distance Dtgt, the driver can easily understand that the acceleration and deceleration of the host vehicle 100 are now intentionally controlled so that the preceding vehicle distance DF increases toward the distance upper limit Dupper, since the image of the upper limit distance Dupper is highlighted.Even if the preceding vehicle distance DF continues to decrease beyond the target distance Dtgt, since the image of the lower distance Dlower is highlighted, the driver can easily see that the acceleration and deceleration of the host vehicle 100 are now deliberately controlled so that the preceding vehicle distance DF decreases toward the lower distance Dlower. This can more reliably prevent the driver from having doubts about whether the host vehicle 100 is being appropriately accelerated and decelerated by the automatic driving control.

[0159] Note that, during execution of the automatic driving control, the control device 10 displays the images of the control-related information through both the head-up display 71 and the meter display 72, but may be configured to display the images of the control-related information through either the head-up display 71 or the meter display 72.

[0160] Furthermore, during the execution of the second vehicle speed control, the control device 10 may be configured to display the image of the target speed range RVtgt through the display device 70 in a similar form to the image of the target distance range RDtgt. That is, during the execution of the second vehicle speed control, the control device 10 may be configured to display the image of the target speed range RVtgt through the display device 70 in a similar form to the image shown in Fig. 10 and Fig. 13 to display the display form shown.

[0161] In this case, while the second vehicle speed control is being executed, the control device 10 displays, through the display device 70, an image of a range of movement of the host vehicle 100 (ie, a movement range of the host vehicle 100) when the host vehicle 100 is automatically accelerated or decelerated so that the speed V of the host vehicle is maintained at a speed within the target speed range RVtgt, as the target speed range image RVtgt. In this case, a line of the image of the movement range of the host vehicle corresponding to the image of the distance upper limit LDupper of the image of the target distance range RDtgt is a line representing the speed upper limit Vupper (ie, a line representing the upper speed upper limit Vupper (iea line for the upper speed lower limit), and a line of the moving area of ​​the own vehicle corresponding to the image of the distance upper limit LDlower of the image of the target distance range RDtgt is a line representing the speed lower limit Vlower (ie, a line for the lower speed lower limit).

[0162] Further, in this case, the control device 10 displays the image of the target speed range RVtgt through the head-up display 71 so that the upper limit speed image of the target speed range RVtgt image moves away from the host vehicle 100 while the coasting control of the second vehicular speed control is being executed, and displays the image of the target speed range RVtgt through the head-up display 71 so that the upper limit speed image of the target speed range RVtgt image moves closer to the host vehicle 100 while the optimal acceleration control of the second vehicular speed control is being executed.Moreover, at this time, the control device 10 may display an image of a line similar to the image of the distance lower limit highlight line LDlower_E on the image of the speed lower limit of the image of the target speed range RVtgt through the head-up display 71 while the speed control of the second vehicle speed control is being executed, and may display an image of a line similar to the image of the distance upper limit LDupper on the image of the speed upper limit of the image of the target speed range RVtgt while the optimal acceleration control of the second vehicle speed control is being executed.

[0163] Further, in this case, the control device 10 displays the image of the vehicle symbol IC as an image representing the host vehicle 100 on the meter display 72 during the execution of the second vehicle speed control, and the control device 10 displays the image of the target speed range RVtgt on the meter display 72 such that the image of the upper speed line of the target speed range RVtgt moves away from the image of the vehicle symbol IC during the execution of the follow-up control of the second vehicle speed control, and the control device 10 displays the image of the target speed range RVtgt through the meter display 72 such that the image of the upper speed line of the image of the target speed range RVtgt moves closer to the image of the vehicle symbol IC while the optimal acceleration control of the second vehicle speed control is being executed.Moreover, at this time, the control device 10 may display an image of a line similar to the image of the distance lower limit highlight line LDlower_E on the image of the lower limit speed line of the image of the target speed range RVtgt through the meter display 72 while the speed under control of the second vehicle speed control is being executed, and may display an image of a line similar to the image of the distance upper limit line LDupper on the image of the speed upper limit line of the image of the target distance range RVtgt through the meter display 72 while the optimal acceleration control of the second vehicle speed control is being executed.

[0164] Furthermore, the present invention is not limited to the above embodiment, and various modified examples can be adopted within the scope of the present invention. <Erstes modifiziertes Beispiel>

[0165] As a first modified embodiment of the present invention, as shown in Fig. 15, the control device 10 may, for example, include two ECUs, ie, a first ECU 91 (or an ACC control ECU) and a second ECU 92 (or a counter ECU) instead of the ECU 90.

[0166] In a Fig. In the example shown in FIG. 15, the first ECU 91 is electrically connected to the traveling device 20, the braking device 30, the accelerator operation amount sensor 42, the brake pedal operation amount sensor 44, the vehicle traveling speed detection device 45, the automatic traveling control request operator 51, the second automatic traveling control request operator 52, and the surrounding information detection device 60. On the other hand, the second ECU 92 is electrically connected to the display device 70.

[0167] Then, while the automatic driving control is being executed, the first ECU 91 supplies the second ECU 92 with information about the current speed of the own vehicle V, whether the preceding vehicle 200 is present or not, whether the optimal acceleration control or the coasting deceleration control is being executed, the upper speed limit Vupper, the lower speed limit Vlower, the lower speed limit Dupper, and the lower distance limit Dlower.

[0168] While the automatic driving control is executed, the second ECU 92 displays the images of the target speed range RVtgt and the target distance range RDtgt, etc., via the head-up display 71 and the meter display 72 based on the above-described information provided from the first ECU 91. <Zweites modifiziertes Beispiel>

[0169] As a second modified embodiment of the present invention, as shown in Fig. 16, the control device 10 may also include three ECUs, namely the first ECU 91 (or the ACC control ECU), the second ECU 92 (or the counter ECU), and a third ECU 93 (or a vehicle ECU), instead of the ECU 90.

[0170] In a Fig. In the example shown in Fig. 16, the first ECU 91 is electrically connected to the automatic travel control request operator 51, the second automatic travel control request operator 52, and the surrounding information acquisition device 60. On the other hand, the second ECU 92 is electrically connected to the display device 70, and the third ECU 93 is electrically connected to the travel device 20, the brake device 30, the accelerator pedal operation sensor 42, the brake pedal operation sensor 44, and the vehicle travel speed acquisition device 45.

[0171] Then, while the automatic cruise control is being executed, the first ECU 91 supplies the second ECU 92 with information about whether the preceding vehicle 200 is present or not, the target speed Vtgt, and the target distance Dtgt. In addition, the third ECU 93 also supplies the second ECU 92 with information about the current speed V of the host vehicle.

[0172] While the automatic cruise control is being executed, the second ECU 92 sets the upper speed limit Vupper and the lower speed limit Vlower, or the upper speed limit Dupper and the lower speed limit Dlower based on the information provided from the first ECU 91 (specifically, the information about the target speed Vtgt and the target distance Dtgt). It should be noted that in the second modified example, the control device 10 may be configured to provide the information about the upper speed limit Vupper, the lower speed limit Vlower, the upper distance limit Dupper, and the lower distance limit Dlower from the first ECU 91 to the second ECU 92.

[0173] In addition, during the execution of the automatic cruise control, the second ECU 92 determines whether the optimal acceleration control or the coasting deceleration control is executed based on the information provided from the third ECU 93.

[0174] Then, the second ECU 92 displays the image of the target speed range RVtgt and the image of the target distance range RDtgt, etc. through the head-up display 71 and the meter display 72 based on the set upper limit distance Vupper, etc., and the determination result of whether the optimal acceleration control or the coasting deceleration control is executed as described above.

[0175] According to the second modified example, an amount of information supplied from the first ECU 91 to the second ECU 92 can be reduced, and a communication load from the first ECU 91 to the second ECU 92 can be reduced.

[0176] It should be noted that in the second modified example, when the device 10 can determine whether the optimal acceleration control or the coasting deceleration control is being executed, the control device 10 displays the image of the upper speed limit Vupper, the lower speed limit Vlower, the upper distance limit Dupper, or the lower distance limit Dlower in a highlighted manner as described above. However, when the control device 10 cannot determine whether the optimal acceleration control or the coasting deceleration control is being executed, the control device 10 displays the image of the upper speed limit Vupper, the lower distance limit Vlower, the upper distance limit Dupper, or the lower distance limit Dlower without highlighting.When the control device 10 cannot determine whether the optimal acceleration control or the coasting deceleration control is being executed, the control device 10 may highlight both the upper limit distance image (Dupper_E) and the lower limit distance image (Dlower_E) via the head-up display 71. That is, the control device 10 may display both the upper limit distance image highlighting the LDupper_E line and the lower limit distance image highlighting the LDlower_E line on the head-up display panel 71.

[0177] Furthermore, the first inter-vehicle distance control is a control of the acceleration and deceleration of the host vehicle 100 so that the preceding vehicle distance DF is maintained at the target distance Dtgt, and is therefore a control aimed at the preceding vehicle 200, but it may also be a control aimed at the following vehicle 300. In other words, the first inter-vehicle distance control may be a control that automatically controls the acceleration and deceleration of the host vehicle 100 so that the following vehicle distance DR is maintained at the target distance Dtgt.

[0178] Similarly, the second inter-vehicle distance control is a control of the acceleration and deceleration of the host vehicle 100 so that the distance DF of the preceding vehicle is maintained at a distance within the target distance range RDtgt, and is therefore a control aimed at the preceding vehicle 200, but it may also be a control aimed at the following vehicle 300. In other words, the second inter-vehicle distance control may be a control that automatically controls the acceleration and deceleration of the host vehicle 100 so that the distance DR of the following vehicle is maintained within the target distance range RDtgt.

[0179] It should be noted that the preceding vehicle 200 is a vehicle traveling in front of the own vehicle 100 in the same direction as the own vehicle 100, and the following vehicle 300 is a vehicle traveling behind the own vehicle 100 in the same direction as the own vehicle 100. Thus, the preceding vehicle 200 and the following vehicle 300 are surrounding vehicles that are located around the own vehicle 100 and traveling in the same direction as the own vehicle 100.

[0180] Therefore, the first inter-vehicle distance control is a control for automatically accelerating or decelerating the own vehicle 100 so that the inter-vehicle distance between the own vehicle 100 and the surrounding vehicle is maintained at the target distance Dtgt, and the second inter-vehicle distance control is a control for automatically accelerating or decelerating the own vehicle 100 so that the inter-vehicle distance between the own vehicle 100 and the surrounding vehicle is maintained at a distance within the target distance range RDtgt.

[0181] It should be noted that the control device 10 can be configured to temporarily suspend the second automatic driving control when an interruption event occurs while the second automatic driving control is being executed, such as when the host vehicle 100 is traveling on a curved road or when there are many other vehicles around the host vehicle 100, and to resume the second automatic driving control when the interruption event is resolved. In this case, while the second automatic driving control is temporarily suspended, the control device 10 displays images on the head-up display 71 and the meter display 72 in the same manner as during the execution of the first automatic driving control.

[0182] Furthermore, the present invention can be applied to a case where the control device 10 is configured to control the host vehicle speed V with a certain control width, similar to the second vehicle speed control, while a specified event occurs while the first inter-vehicle distance control is being executed. Furthermore, the present invention can also be applied to the case where the control device 10 is configured to control the preceding vehicle distance DF with a certain control width, similar to the second inter-vehicle distance control, while a specified event occurs while the first inter-vehicle distance control is being executed. <Spezifische Operation der Steuerungsvorrichtung>

[0183] Next, a specific operation of the control device 10 will be described. The control device 10 performs a Fig. 17 in a predetermined calculation cycle. Therefore, at a predetermined time, the control device 10 starts a process from step S1700 of the Fig. 17 and proceeds to a step S1705 to determine whether an automatic travel control request condition is satisfied.

[0184] If the control device 10 determines "Yes" in step S1705, the control device 10 proceeds to step S1710 to determine whether a second automatic driving control request condition is satisfied. If the control device 10 determines "No" in step S1710, the control device 10 proceeds to step S1715 to determine whether the preceding vehicle 200 is present. If the control device 10 determines "Yes" in step S1715, the control device 10 proceeds to step S1720 to perform the first inter-vehicle distance control. Subsequently, the control device 10 proceeds to step S1795 and terminates the process of this routine once.

[0185] On the other hand, if the control device 10 determines "No" in step S1715, the control device 10 proceeds to step S1725 to perform the first vehicle speed control. Then, the control device 10 proceeds to step S1795 and terminates the process of this routine once.

[0186] If the control device 10 determines "Yes" in step S1710, the control device 10 proceeds to step S1730 to determine whether the preceding vehicle 200 is present or not. If the control device 10 determines "Yes" in step S1730, the control device 10 proceeds to step S1735 to perform the second inter-vehicle distance control. Subsequently, the control device 10 proceeds to step S1795 and terminates the process of this routine once.

[0187] On the other hand, if the control device 10 determines "No" in step S1730, the control device 10 proceeds to step S1740 to perform the second vehicle speed control. Then, the control device 10 proceeds to step S1795 and terminates the process of this routine once.

[0188] If the control device 10 determines "No" in step S1705, the control device 10 proceeds the process directly to step S1795 and ends the process of this routine once.

[0189] Furthermore, the control device 10 carries out a Fig. 18 in a predetermined calculation cycle. Therefore, at a predetermined time, the control device 10 starts a process from a step S1800 of the Fig. 18 and proceeds to a step S1805 to determine whether the second automatic driving control is being executed. If the control device 10 determines "Yes" in step S1805, the control device 10 proceeds to a step S1810 to determine whether the second inter-vehicle distance control is being executed.

[0190] If the control device 10 determines "Yes" in step S1810, the control device 10 proceeds to step S1815 to acquire the target distance range RDtgt. Next, the control device 10 proceeds to step S1820 to acquire a current position of the host vehicle 100 relative to the preceding vehicle 200. Next, the control device 10 proceeds to step S1825 to acquire the acceleration / deceleration state of the host vehicle 100. That is, the control device 10 acquires whether the optimal acceleration control or the coasting deceleration control is being executed.Next, the control device 10 proceeds to step S1830 to display the images of the control-related information such as the target distance range RDtgt through the head-up display 71 and the meter display 72 as described above based on "the detected target distance range RDtgt, the detected current position of the host vehicle 100 relative to the preceding vehicle 200, and the detected acceleration / deceleration state of the host vehicle 100." Then, the control device 10 proceeds to step S1895 and terminates the process of this routine once.

[0191] On the other hand, if the control device 10 determines "No" in step S1810, the control device 10 proceeds to a step S1835 to acquire the target speed range RVtgt. Next, the control device 10 proceeds to a step S1840 to acquire the current speed V of the own vehicle. Next, the control device 10 proceeds to a step S1845 to acquire the acceleration / deceleration state of the own vehicle 100. That is, the control device 10 acquires whether the optimal acceleration control or the coasting deceleration control is being executed.Next, the control device 10 proceeds to step S1850 to display the images of the control-related information such as the target speed range RVtgt through the head-up display 71 and the meter display 72 as described above based on "the acquired target speed range RVtgt, the acquired current speed V of the own vehicle, and the acquired acceleration / deceleration state of the own vehicle 100." Then, the control device 10 proceeds to step S1895 and terminates the process of this routine once.

[0192] This is the specific operation of the control device 10. LIST OF REFERENCE SYMBOLS

[0193] 10...Control device (display control device), 20...Driving device, 30...Braking device, 70...Display device, 71...Head-up display, 72...Meter display, 90...ECU, 100...Own vehicle, 200...Preceding vehicle, 300...Following vehicle, RVtgt...Target speed range, BRI...Target speed range bar, Vupper...Upper speed limit, Vlower...Lower speed limit, RDtgt...Target distance range, Dupper...Upper speed limit range, Dlower...Lower speed limit range, LDupper...Upper speed limit, LDlower...Lower distance limit, LDupper_E...Upper distance limit highlight line, LDlower_E...Lower distance limit highlight line QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-196082 A

[0003] < / effekte>

Claims

[1] A display control device that displays an image of a target speed range through a display device of an own vehicle while performing traveling speed control to automatically accelerate or decelerate the own vehicle so that a traveling speed of the own vehicle is maintained within the target speed range, or displays an image of a target distance range through the display device while performing inter-vehicle distance control to automatically accelerate or decelerate the own vehicle so that an inter-vehicle distance between the own vehicle and a surrounding vehicle that is around the own vehicle and traveling in the same direction as the own vehicle is maintained within the target distance range. [2] The display control device according to claim 1, wherein the target distance range is a range defined by an upper limit value larger than a target distance by a first value, the target distance being a value defined by multiplying a target value of the time required for the host vehicle to cover the inter-vehicle distance at the traveling speed of the host vehicle and a lower limit value smaller than the target distance by a second value. [3] The display control device according to claim 1, wherein during execution of the vehicle speed control, the display device is configured to display, as the image of the target speed range, through the display device, an image of a moving range of the own vehicle which is automatically accelerated or decelerated so that the vehicle speed of the own vehicle is maintained at a speed within the target speed range. [4] The display control device according to claim 1, wherein during execution of the vehicle speed control, the display control device is configured to display, as the image of the target speed range, an upper limit speed image and a lower limit speed image of the target speed range through the display device. [5] The display control device according to claim 4, wherein, when the host vehicle is accelerated by the vehicle speed control, the display control device is configured to display, through the display device, the upper limit speed image and the lower limit speed image such that the upper limit speed image is emphasized more than the lower limit speed image. [6] The display control device according to any one of claims 4 and 5, wherein, when the host vehicle is decelerated by the vehicle speed control, the display control device is configured to display, through the display device, the upper limit speed image and the lower limit speed image such that the lower limit speed image is emphasized more than the upper limit speed image. [7] The display control device according to claim 1, wherein the traveling speed control is a control of acceleration of the own vehicle by operating a traveling device of the own vehicle so that an energy efficiency of the traveling device is maintained at or above a predetermined efficiency, and deceleration of the own vehicle by operating the traveling device so that the own vehicle coasts. [8] The display control device according to claim 1, wherein during execution of the inter-vehicle distance control, the display control device is configured to display, as the image of the target distance range, an image of a distance upper limit and an image of a distance lower limit of the target distance range through the display device. [9] The display control device according to claim 8, wherein, when the host vehicle is accelerated by the inter-vehicle distance control, the display control device is configured to display the upper limit distance image and the lower limit distance image through the display device so that the lower limit distance image is emphasized more than the upper limit distance image. [10] The display control device according to any one of claims 8 and 9, wherein, when the host vehicle is decelerated by the inter-vehicle distance control, the display control device is configured to display the image of the upper limit distance and the image of the lower limit distance by the display device so that the image of the upper limit distance is emphasized more than the image of the lower limit distance. [11] The display device according to claim 1, wherein the inter-vehicle distance control is a control of acceleration of the own vehicle by operating a traveling device of the own vehicle so as to maintain an energy efficiency of the traveling device at or above a predetermined energy efficiency, and deceleration of the own vehicle by controlling an operation of the traveling device so as to coast the own vehicle. [12] The display control device according to claim 1, wherein the display control device is configured to display, by the display device, an image of a current traveling speed of the own vehicle on the image of the target distance range displayed by the display device while the traveling speed control is being executed, and to display, by the display device, an image of the surrounding vehicle on the image of the target distance range displayed by the display device while the inter-vehicle distance control is being executed. [13] The display control device according to claim 12, wherein, during execution of the inter-vehicle distance control, the display control device is configured to display, through the display device, the image of the surrounding vehicle such that a position of the image of the surrounding vehicle corresponds to an actual position of the surrounding vehicle relative to the own vehicle on the image of the target distance range displayed by the display device. [14] Display control device according to claim 1, wherein the display device is a device that displays images on a windshield of the own vehicle, and wherein, when the surrounding vehicle is a preceding vehicle traveling in front of the own vehicle, the display control device is configured to display the image of the target distance range on the windshield through the display device such that a positional relationship between the image of the target distance range displayed by the display device and the preceding vehicle corresponds to an actual positional relationship between the target distance range and the preceding vehicle while the inter-vehicle distance control is executed. [15] The display control device according to claim 1, wherein the display control device is configured to: when the own vehicle is accelerated by the vehicle speed control, display an upper speed limit image and a lower speed limit image through the display device in such a way that the upper speed limit image is more prominent than the lower speed limit image; when the own vehicle is decelerated by the vehicle speed control, display the upper speed limit image and the lower speed limit image through the display device in such a way that the lower speed limit image is more prominent than the upper speed limit image; when the own vehicle is accelerated by the inter-vehicle distance control, display an upper limit distance image and a lower limit distance image by the display device such that the lower limit distance image is emphasized more than the upper limit distance image; when the own vehicle is decelerated by the inter-vehicle distance control, display the upper limit distance image and the lower limit distance image through the display device so that the upper limit distance image is more prominent than the lower limit distance image; if the display control device cannot determine whether the host vehicle is accelerating or decelerating during the execution of the vehicle speed control, neither the upper speed limit image nor the lower speed limit image is highlighted; and If the display device cannot determine whether the host vehicle is accelerating or decelerating while the inter-vehicle distance control is being executed, neither the upper limit distance image nor the lower limit distance image should be highlighted. [16] The display control device according to claim 1, wherein the target speed range and the target distance range can be changed by a driver of the own vehicle.

Images