Deceleration support device, deceleration support method, and deceleration support program

Abstract

To provide a deceleration support device which can prevent an operator of a vehicle from feeling discomfort due to execution of deceleration control when the vehicle travels on a curved road.SOLUTION: A deceleration support device 10 executes, when the vehicle speed of a vehicle 100 is larger than a target vehicle speed set as a target value of the vehicle speed of the vehicle while the vehicle travels on a curved road, deceleration control to decelerate the vehicle. The deceleration support device is configured to increase the target vehicle speed by a specified value when a specified condition that decline in the deceleration of the vehicle is detected while the vehicle travels on the curved road is satisfied, the deceleration control, or not to perform the deceleration control even when the vehicle speed of the vehicle is larger than the target vehicle speed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a deceleration assistance device, a deceleration assistance method, and a deceleration assistance program. [Background technology]

[0002] 2. Description of the Related Art There is known a driving assistance device that automatically controls the acceleration / deceleration of a vehicle when the vehicle is traveling on a curved road, thereby achieving smooth driving of the vehicle on the curved road (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-189199 A Summary of the Invention

[0004] However, when the vehicle operator releases the brake pedal while the vehicle is traveling on a curved road and the deceleration of the vehicle at that time remains, it is highly likely that the vehicle operator does not need to decelerate the vehicle by deceleration control because the vehicle operator judges that the vehicle speed has decreased sufficiently. If deceleration control is executed at this time, it may cause the vehicle operator to feel uncomfortable.

[0005] An object of the present invention is to provide a deceleration assistance device, a deceleration assistance method, and a deceleration assistance program that can suppress the discomfort felt by the vehicle operator due to deceleration control being executed when the vehicle is traveling on a curved road.

[0006] The deceleration assistance device according to the present invention includes a control device that executes deceleration control to decelerate the vehicle when the vehicle speed is higher than a target vehicle speed that is set as a target value for the vehicle speed when the vehicle is traveling on a curved road. The control device is configured to increase the target vehicle speed by a predetermined value or not execute the deceleration control even when the vehicle speed is higher than the target vehicle speed when a predetermined condition is satisfied that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road. Deceleration support device.

[0007] As described above, when the vehicle operator is releasing the brake pedal while the vehicle is traveling on a curved road and the deceleration of the vehicle at that time remains, the vehicle operator judges that the vehicle speed has decreased sufficiently, and therefore there is a high possibility that the vehicle does not need to be decelerated by deceleration control. If deceleration control is executed at this time, the vehicle operator may feel uncomfortable.

[0008] According to the deceleration support device of the present invention, when a predetermined condition is met that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on a curved road, and the operator of the vehicle judges that the vehicle speed has sufficiently decreased, and therefore it is highly likely that deceleration of the vehicle by deceleration control is not required, the target vehicle speed is increased by a predetermined value, or deceleration control is not executed even if the vehicle speed is greater than the target vehicle speed. This makes it possible to suppress the operator of the vehicle from feeling uncomfortable due to the execution of deceleration control when the vehicle is traveling on a curved road.

[0009] In the deceleration assistance device according to the present invention, the predetermined condition may include a condition that the deceleration at the time when a decrease in the deceleration of the vehicle is detected is equal to or greater than a predetermined deceleration.

[0010] According to this, when the deceleration of the vehicle is large and, as a result, there is a high possibility that a sufficient load is applied to the front wheels of the vehicle, the target vehicle speed is increased, which makes it possible to more appropriately prevent the operator of the vehicle from feeling uncomfortable due to the execution of deceleration control when the vehicle is traveling on a curved road.

[0011] In the deceleration assistance device according to the present invention, the predetermined condition may include a condition that a decrease in the deceleration of the vehicle is detected at a time when the vehicle enters the curved road.

[0012] According to this, when the deceleration of the vehicle starts to decrease or is decreasing at the time when the vehicle enters the curved road, and therefore when the vehicle speed is likely to be sufficiently decreased for the vehicle operator at the time when the vehicle enters the curved road, the target vehicle speed is increased. This makes it possible to more appropriately prevent the vehicle operator from feeling uncomfortable due to the deceleration control being executed when the vehicle is traveling on the curved road.

[0013] The deceleration support method according to the present invention is a method for executing deceleration control to decelerate the vehicle when the vehicle speed is higher than a target vehicle speed that is set as a target value for the vehicle speed when the vehicle is traveling on a curved road. The deceleration support method according to the present invention includes a step of increasing the target vehicle speed by a predetermined value or not executing the deceleration control even if the vehicle speed of the vehicle is higher than the target vehicle speed when a predetermined condition is established that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road.

[0014] This, for reasons similar to those described above, makes it possible to prevent the vehicle operator from feeling uncomfortable due to deceleration control being executed when the vehicle is traveling on a curved road.

[0015] The deceleration assistance program according to the present invention is a program for executing deceleration control to decelerate the vehicle when the vehicle speed is higher than a target vehicle speed that is set as a target value for the vehicle speed when the vehicle is traveling on a curved road. The deceleration assistance program according to the present invention is configured to increase the target vehicle speed by a predetermined value or not execute the deceleration control even if the vehicle speed is higher than the target vehicle speed when a predetermined condition is satisfied that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road.

[0016] This, for reasons similar to those described above, makes it possible to prevent the vehicle operator from feeling uncomfortable due to deceleration control being executed when the vehicle is traveling on a curved road.

[0017] 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 easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a deceleration support device according to an embodiment of the present invention. [Diagram 2] FIG. 2(A) is a diagram showing a scene in which a vehicle equipped with a deceleration support device according to an embodiment of the present invention enters a curved road, and FIG. 2(B) is a diagram showing a scene in which a vehicle equipped with a deceleration support device according to an embodiment of the present invention is traveling on a curved road. [Diagram 3] FIG. 3 is a flowchart showing a routine executed by the deceleration support device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the deceleration support device according to the embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram showing a region determined by the lateral acceleration and the deceleration of the host vehicle, where the target vehicle speed change condition or the execution prohibition condition is satisfied. [Figure 6] Figure 6 (A) is a diagram similar to Figure 5 and shows an example of changes in lateral acceleration and deceleration of the vehicle when the vehicle turns right on a curved road, and Figure 6 (B) is a diagram showing the changes in target vehicle speed, etc. when the lateral acceleration and deceleration of the vehicle change as shown in Figure 6 (A). [Figure 7] Figure 7(A) is a diagram similar to Figure 5 and shows another example of changes in lateral acceleration and deceleration of the vehicle when the vehicle turns right on a curved road, and Figure 7(B) shows the changes in target vehicle speed, etc. when the lateral acceleration and deceleration of the vehicle change as shown in Figure 7(A). [Figure 8] FIG. 8 is a diagram showing an example of the transition of the target vehicle speed etc. when the lateral acceleration and deceleration of the host vehicle change. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, a deceleration support device, a deceleration support method, and a deceleration support program according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a deceleration support device 10. The deceleration support device 10 is mounted on a host vehicle 100. Hereinafter, the deceleration support device 10 will be described using as an example a case where the operator of the host vehicle 100 is a person who gets in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0020] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the deceleration support device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 in order to remotely drive the vehicle 100, and the functions of the deceleration support device 10 described below are shared between the deceleration support device 10 mounted on the vehicle 100 and the deceleration support device 10 mounted on the remote operation facility.

[0021] As shown in FIG. 1, the deceleration support device 10 includes an ECU (electronic control device) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the deceleration support device 10 stores in the storage medium a program that realizes various controls executed by the deceleration support device 10.

[0022] In this example, the deceleration support device 10 has only one ECU 90, but it may also be configured to have multiple ECUs, with each ECU sharing the functions of the deceleration support device 10 described below.

[0023] Furthermore, the deceleration assistance device 10 may be configured so that the program stored in the storage medium can be updated through wireless communication with an external device (for example, Internet communication).

[0024] <Running gear> The host vehicle 100 is equipped with a traveling device 20. The traveling device 20 includes a drive device 21, a braking device 22, and a steering device 23.

[0025] The drive device 21 is a device that outputs a drive force (drive torque) applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The deceleration assistance device 10 can control the drive force output from the drive device 21 by controlling the operation of the drive device 21.

[0026] The braking device 22 is a device that outputs a braking force (braking torque) applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The deceleration assistance device 10 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0027] The steering device 23 is a device that outputs a steering force (steering torque) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The deceleration assistance device 10 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0028] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a stop switch 33, a brake pedal 34, a brake pedal operation amount sensor 35, a steering wheel 36, a steering shaft 37, a steering angle sensor 38, a vehicle speed detection device 41, a vertical acceleration sensor 42, a lateral acceleration sensor 43, a yaw rate sensor 44, a surrounding information detection device 70, and a vehicle position information detection device 80.

[0029] The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31, and is electrically connected to the ECU 90. The deceleration support device 10 acquires the operation amount of the accelerator pedal 31 as an accelerator pedal operation amount AP by the accelerator pedal operation amount sensor 32. The deceleration support device 10 acquires a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the traveling speed of the host vehicle 100, and controls the operation of the drive device 21 so that a driving force equivalent to the required driving force is applied from the drive device 21 to the host vehicle 100.

[0030] The stop switch 33 is a sensor (brake sensor) that detects the operation of the brake pedal 34 by the driver of the host vehicle 100, and is electrically connected to the ECU 90. The deceleration assistance device 10 detects the operation of the brake pedal 34 by the driver of the host vehicle 100 through the stop switch 33.

[0031] The brake pedal operation amount sensor 35 is a sensor that detects the operation amount of the brake pedal 34, and is electrically connected to the ECU 90. The deceleration support device 10 acquires the operation amount of the brake pedal 34 as a brake pedal operation amount BP by the brake pedal operation amount sensor 35. The deceleration support device 10 acquires a required braking force (required braking torque) based on the brake pedal operation amount BP, and controls the operation of the braking device 22 so that a braking force equivalent to the required braking force is applied from the braking device 22 to the host vehicle 100.

[0032] The steering angle sensor 38 is a sensor that detects the rotation angle of the steering shaft 37 with respect to the neutral position, and is electrically connected to the ECU 90. The deceleration assistance device 10 obtains the rotation angle of the steering shaft 37 from the steering angle sensor 38 as a steering angle θ.

[0033] The deceleration assistance device 10 obtains a required steering force (required steering torque) based on the steering angle θ and the traveling speed of the vehicle 100, and controls the operation of the steering device 23 so that a steering force equivalent to the required steering force is applied from the steering device 23 to the vehicle 100.

[0034] The vehicle speed detection device 41 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 41 is electrically connected to the ECU 90. The deceleration assistance device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 41.

[0035] The vertical acceleration sensor 42 is a sensor that detects acceleration in the front-rear direction (longitudinal direction) of the host vehicle 100. The vertical acceleration sensor 42 is electrically connected to the ECU 90. The deceleration assistance device 10 acquires the acceleration in the front-rear direction of the host vehicle 100 by the vertical acceleration sensor 42 as vertical acceleration Gx.

[0036] The lateral acceleration sensor 43 is a sensor that detects acceleration in the width direction (lateral direction) of the host vehicle 100. The lateral acceleration sensor 43 is electrically connected to the ECU 90. The deceleration assistance device 10 acquires the acceleration in the width direction of the host vehicle 100 by the lateral acceleration sensor 43 as lateral acceleration Gy.

[0037] The yaw rate sensor 44 is a sensor that detects the yaw rate of the host vehicle 100. The yaw rate sensor 44 is electrically connected to the ECU 90. The deceleration assistance device 10 obtains the yaw rate of the host vehicle 100 by the yaw rate sensor 44 as a yaw rate YR.

[0038] The surrounding information detection device 70 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes an image sensor 72.

[0039] The image sensor 72 is, for example, a camera, and is electrically connected to the ECU 90. The deceleration assistance device 10 obtains image information relating to the periphery of the host vehicle 100 by the image sensor 72 as periphery detection information IS.

[0040] The vehicle position information detection device 80 includes a GPS device 81 and a map information database 82 .

[0041] The GPS device 81 is a device that receives so-called GPS signals, and is electrically connected to the ECU 90. The deceleration assistance device 10 can acquire the GPS signals via the GPS device 81, and identify (acquire) the position of the host vehicle 100 based on the acquired GPS signals.

[0042] The map information database 82 is a database that stores the map information IM, and is electrically connected to the ECU 90. The deceleration assistance device 10 can identify where the host vehicle 100 is located on the map indicated by the map information IM, based on the position of the host vehicle 100 identified from the GPS signal and the map information IM.

[0043] <Operation of deceleration support device> Next, the operation of the deceleration support device 10 will be described. As shown in Fig. 2A and Fig. 2B, when the host vehicle 100 is traveling on a curved road Rcurve and the host vehicle speed V is greater than the target vehicle speed Vtgt, the deceleration support device 10 controls the operation of the braking device 22 to execute deceleration control to decelerate the host vehicle 100. In other words, when the host vehicle speed V is greater than the target vehicle speed Vtgt that is set as a target value for the host vehicle speed V when the host vehicle 100 is traveling on the curved road Rcurve, the deceleration support device 10 executes deceleration control to decelerate the host vehicle 100.

[0044] More specifically, the deceleration support device 10 is configured to execute deceleration control when a certain condition is satisfied by executing the routine shown in Fig. 3 at predetermined time intervals. Therefore, at a predetermined timing, the deceleration support device 10 starts processing from step S300 of the routine shown in Fig. 3, advances the processing to step S305, and determines whether a target vehicle speed change condition C1 (predetermined condition) is satisfied.

[0045] The target vehicle speed change condition C1 is a condition that a decrease in the deceleration Gd of the host vehicle 100 is detected when the host vehicle 100 enters the curved road Rcurve and the deceleration Gd at that time is equal to or greater than a predetermined deceleration Gd_th.

[0046] Whether the vehicle 100 has entered the curved road Rcurve is determined based on the lateral acceleration Gy, and when the lateral acceleration Gy is greater than zero or greater than a predetermined value that is greater than zero but relatively small, the vehicle 100 is determined to have entered the curved road Rcurve. However, whether the vehicle 100 has entered the curved road Rcurve may be determined based on the steering angle θ or the yaw rate YR. Alternatively, whether the vehicle 100 has entered the curved road Rcurve may be determined based on the surrounding detection information IS, or based on the position of the vehicle 100 identified from the GPS signal and the map information IM.

[0047] In addition, the deceleration Gd of the host vehicle 100 is detected by the vertical acceleration sensor 42. At this time, the acceleration detected by the vertical acceleration sensor 42 takes a positive value when the host vehicle 100 is accelerating, and takes a negative value when the host vehicle 100 is decelerating. Therefore, the deceleration Gd of the host vehicle 100 is the absolute value of the negative vertical acceleration Gx detected by the vertical acceleration sensor 42.

[0048] Furthermore, even if it is not possible to obtain the deceleration Gd of the host vehicle 100, if it is detected that the brake pedal 34 has been released by the driver at the time when the host vehicle 100 enters the curved road Rcurve or immediately thereafter, there is a high probability that the deceleration Gd has started to decrease or has already decreased at the time when the host vehicle 100 enters the curved road Rcurve, so the target vehicle speed change condition C1 may be a condition that the brake pedal 34 has been released by the driver at the time when the host vehicle 100 enters the curved road Rcurve or immediately thereafter.

[0049] In this case, whether or not the brake pedal 34 has been released by the driver is detected by the stop switch 33. That is, when the operation of the brake pedal 34 is no longer detected by the stop switch 33, it is determined that the brake pedal 34 has been released by the driver. However, whether or not the brake pedal 34 has been released by the driver may also be determined based on the brake pedal operation amount BP. In this case, when the brake pedal operation amount BP becomes zero, it is determined that the brake pedal 34 has been released by the driver. Alternatively, whether or not the brake pedal 34 has been released by the driver may also be determined based on the brake hydraulic pressure of the hydraulic brake device. In this case, when the brake hydraulic pressure becomes zero or a predetermined value or less, it is determined that the brake pedal 34 has been released by the driver.

[0050] If the deceleration support device 10 determines "Yes" in step S305, the process proceeds to step S310, where the deceleration support device 10 increases the target vehicle speed Vtgt by a predetermined value ΔV. In other words, the deceleration support device 10 sets a vehicle speed that is higher than the current target vehicle speed Vtgt by the predetermined value ΔV as a new target vehicle speed Vtgt. Next, the deceleration support device 10 proceeds to step S325.

[0051] The predetermined value ΔV may be a constant value, or may be a variable value that is set based on at least one of the vehicle speed V, the yaw rate YR, the curvature of the curved road Rcurve, and the like.

[0052] On the other hand, if the deceleration support device 10 determines "No" in step S305, the process proceeds to step S315, where it determines whether or not the target vehicle speed return condition C2 is satisfied. The target vehicle speed return condition C2 is a condition that, after the vehicle 100 enters a curved road Rcurve and the steering wheel 36 is rotated away from its neutral position, the steering wheel 36 is rotated toward the neutral position and the steering angle θ becomes equal to or smaller than a predetermined angle θth.

[0053] When the deceleration support device 10 judges "Yes" in step S315, the process proceeds to step S320, and when the target vehicle speed Vtgt is set to a vehicle speed that is larger by a predetermined value ΔV in step S310, the deceleration support device 10 reduces the target vehicle speed Vtgt by the predetermined value ΔV. In other words, when the target vehicle speed Vtgt is set to a vehicle speed that is larger by a predetermined value ΔV in step S310, the deceleration support device 10 sets a vehicle speed that is smaller than the current target vehicle speed Vtgt by the predetermined value ΔV as a new target vehicle speed Vtgt. That is, the deceleration support device 10 returns the target vehicle speed Vtgt to the original target vehicle speed Vtgt. Next, the deceleration support device 10 proceeds to step S325.

[0054] On the other hand, if the deceleration assistance device 10 determines "No" in step S315, the process proceeds directly to step S325.

[0055] Next, the deceleration support device 10 advances the process to step S325 and determines whether or not a deceleration control execution condition C3 is satisfied. The deceleration control execution condition C3 is a condition that the host vehicle speed V is greater than the target vehicle speed Vtgt.

[0056] If the deceleration assistance device 10 determines "Yes" in step S325, the process proceeds to step S330, where it executes deceleration control. The deceleration control is terminated when the host vehicle speed V becomes equal to or lower than the target vehicle speed Vtgt.

[0057] Next, the deceleration assistance device 10 advances the process to step S395, and temporarily ends the process of this routine.

[0058] On the other hand, if the deceleration assistance device 10 determines "No" in step S325, the process proceeds directly to step S395, and the process of this routine ends for the time being.

[0059] According to the routine shown in FIG. 3, the target vehicle speed Vtgt is increased when the target vehicle speed change condition C1 is satisfied. However, in the present invention, the target vehicle speed Vtgt only needs to be increased after the target vehicle speed change condition C1 is satisfied and before the deceleration Gd becomes zero.

[0060] Alternatively, the deceleration support device 10 may execute the routine shown in Fig. 4 at a predetermined time interval, and execute deceleration control when a certain condition is satisfied. In this case, at a predetermined timing, the deceleration support device 10 starts the process from step S400 of the routine shown in Fig. 4, and advances the process to step S405, where it is determined whether or not the execution prohibition condition C4 is satisfied. In this example, the execution prohibition condition C4 is the same condition as the target vehicle speed change condition C1.

[0061] If the deceleration support device 10 determines "Yes" in step S405, the process proceeds to step S410, and sets the value of the execution prohibition flag X to "1." Next, the deceleration support device 10 proceeds to step S425. This prohibits the execution of deceleration control. Therefore, even if the host vehicle speed V is greater than the target vehicle speed Vtgt, the deceleration control is not executed.

[0062] On the other hand, if the deceleration support device 10 determines "No" in step S405, the process proceeds to step S415, where it determines whether the execution permission condition C5 is satisfied. In this example, the execution permission condition C5 is the same as the target vehicle speed return condition C2.

[0063] If the deceleration support device 10 determines "Yes" in step S415, the process proceeds to step S420, where the deceleration support device 10 sets the value of the execution prohibition flag X to "0." Next, the deceleration support device 10 proceeds to step S425. This releases the prohibition on the execution of deceleration control.

[0064] On the other hand, if the deceleration assistance device 10 determines "No" in step S415, the process proceeds directly to step S425.

[0065] Next, when the process proceeds to step S425, the deceleration assistance device 10 determines whether the value of the execution prohibition flag X is set to "0".

[0066] If the deceleration assistance device 10 determines "Yes" in step S425, the process proceeds to step S430, where it determines whether or not a deceleration control execution condition C3 is satisfied.

[0067] If the deceleration support device 10 determines "Yes" in step S430, the deceleration support device 10 advances the process to step S435 and executes deceleration control. Next, the deceleration support device 10 advances the process to step S495 and temporarily ends the process of this routine.

[0068] On the other hand, if the deceleration assistance device 10 determines "No" in step S425 or step S430, the process proceeds directly to step S495, and the process of this routine is temporarily terminated.

[0069] According to the routine shown in FIG. 4, the execution of deceleration control is prohibited when the execution prohibition condition C4 is satisfied. However, in the present invention, the execution of deceleration control may be prohibited only after the execution prohibition condition C4 is satisfied and before the deceleration Gd becomes zero.

[0070] The operation of the deceleration assistance device 10 has been described above.

[0071] If a decrease in the deceleration Gd of the host vehicle 100 is detected when the host vehicle 100 enters the curved road Rcurve and the deceleration Gd at that time remains, it is highly likely that there is no need to decelerate the host vehicle 100 by deceleration control, because the driver has determined that the speed of the host vehicle 100 has decreased sufficiently and a sufficient load remains on the front wheels of the host vehicle 100. If deceleration control is executed at this time, it may cause the driver to feel uncomfortable.

[0072] According to the deceleration support device 10, for example, as shown in FIG. 5, when the deceleration Gd, which has increased to a certain value Gd_1 greater than a predetermined deceleration Gd_th, decreases within the area AREA_R or the area AREA_L after the host vehicle 100 enters a curved road Rcurve, the target vehicle speed Vtgt is increased by a predetermined value ΔV or the execution of deceleration control is prohibited.

[0073] In the graph shown in Fig. 5, the horizontal axis represents lateral acceleration Gy, and the vertical axis represents deceleration Gd. In addition, in the graph shown in Fig. 5, positive values ​​on the horizontal axis represent lateral acceleration Gy when the host vehicle 100 turns right, and negative values ​​on the horizontal axis represent lateral acceleration Gy when the host vehicle 100 turns left.

[0074] For example, when the host vehicle 100 enters a curved road Rcurve and turns right, the deceleration Gd increases to a certain value Gd_1 as shown by line L1 in FIG. 6A, and then the deceleration Gd begins to decrease when the host vehicle 100 enters the curved road Rcurve. If the deceleration Gd decreases while the lateral acceleration Gy increases along line L2 shown in FIG. 6B, the target vehicle speed Vtgt is increased by a predetermined value ΔV as shown in FIG. 6C.

[0075] 6C, the deceleration Gd starts to increase at time t60, then reaches a certain value Gd_1 that is greater than the predetermined deceleration Gd_th, and then at time t61, the vehicle 100 enters the curved road Rcurve, the lateral acceleration Gy starts to increase, and the deceleration Gd starts to decrease, and then at time t62, the deceleration Gd becomes zero. Note that the lateral acceleration Gy continues to increase between time t61 and time t63, and remains constant after time t63.

[0076] In this case, at time t61 when the vehicle 100 enters the curved road Rcurve, a decrease in the deceleration Gd is detected and a predetermined condition (target vehicle speed change condition C1) is satisfied that the deceleration Gd at that time is equal to or greater than a predetermined deceleration Gd_th. Therefore, at that time, the target vehicle speed Vtgt is changed from the value Vtgt_1 to a value Vtgt_2 which is larger by a predetermined value ΔV.

[0077] In addition, when the vehicle 100 enters a curved road Rcurve and turns right, if the deceleration Gd increases to a certain value Gd_1 as shown by line L1 in Figure 7(A) and then decreases as shown by line L3, and the vehicle 100 enters the curved road Rcurve and the lateral acceleration Gy increases and the deceleration Gd decreases along line L4 shown in Figure 7(B), the target vehicle speed Vtgt is increased by a predetermined value ΔV as shown in Figure 7(C).

[0078] 7C, the deceleration Gd starts to increase at time t70, then reaches a certain value Gd_1 that is greater than the predetermined deceleration Gd_th, then starts to decrease at time t71, then at time t72 when the deceleration Gd is equal to or greater than the predetermined deceleration Gd_th, the host vehicle 100 enters the curved road Rcurve and the lateral acceleration Gy starts to increase, then at time t73 the deceleration Gd becomes zero. Note that the lateral acceleration Gy continues to increase between time t72 and time t74, and remains constant after time t74.

[0079] In this case, at time t72 when the vehicle 100 enters the curved road Rcurve, a decrease in the deceleration Gd is detected and a predetermined condition (target vehicle speed change condition C1) is satisfied that the deceleration Gd at that time is equal to or greater than a predetermined deceleration Gd_th. Therefore, at that time, the target vehicle speed Vtgt is changed from the value Vtgt_1 to the value Vtgt_2 which is larger by a predetermined value ΔV.

[0080] In this way, according to the deceleration support device 10, when the vehicle 100 enters the curved road Rcurve, a decrease in the deceleration Gd of the vehicle 100 is detected and the deceleration Gd at that time is equal to or greater than the predetermined deceleration Gd_th, and the driver judges that the vehicle speed V has sufficiently decreased, so that it is highly likely that deceleration of the vehicle 100 by deceleration control is not required. Therefore, even if the target vehicle speed Vtgt is increased by the predetermined value ΔV or the vehicle speed V is greater than the target vehicle speed Vtgt, it is possible to suppress the driver from feeling uncomfortable due to the deceleration control being executed when the vehicle 100 is traveling on the curved road Rcurve.

[0081] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0082] For example, the target vehicle speed change condition C1 may be a condition that after the vehicle 100 enters the curved road Rcurve, a deceleration of the deceleration Gd is detected while the vehicle 100 is traveling on the curved road Rcurve, and the deceleration Gd at that time is greater than or equal to a predetermined deceleration Gd_th.

[0083] In this case, the target vehicle speed Vtgt is increased by a predetermined value ΔV as shown in Fig. 8. That is, in the example shown in Fig. 8, the deceleration Gd starts to increase at time t80, and then reaches a certain value Gd_1 that is greater than the predetermined deceleration Gd_th, and then, at time t81, the host vehicle 100 enters the curved road Rcurve and the lateral acceleration Gy starts to increase, and then, at time t82, the deceleration Gd, which is greater than or equal to the predetermined deceleration Gd_th, starts to decrease, and then, at time t83, the deceleration Gd becomes zero. Note that the lateral acceleration Gy continues to increase between time t81 and time t84, and remains constant after time t84.

[0084] In this case, after the host vehicle 100 enters the curved road Rcurve at time t81, a decrease in the deceleration Gd is detected at time t82 while the host vehicle 100 is traveling on the curved road Rcurve, and the deceleration Gd at that time is equal to or greater than the predetermined deceleration Gd_th. Therefore, the target vehicle speed change condition C1 is satisfied at that time, and the target vehicle speed Vtgt is changed from the value Vtgt_1 to a value Vtgt_2 which is larger by a predetermined value ΔV.

[0085] Therefore, in the present invention, the target vehicle speed change condition C1 may be a condition that a decrease in the deceleration Gd is detected when the vehicle 100 is traveling on a curved road Rcurve and the deceleration Gd at that time is equal to or greater than a predetermined deceleration Gd_th.

[0086] In the present invention, the target vehicle speed change condition C1 may be at least a condition that a decrease in the deceleration Gd is detected when the host vehicle 100 is traveling on a curved road Rcurve.

[0087] The present invention is also applicable to vehicles that can be driven by manual driving operations and automatic driving control, and to vehicles that are driven only by manual driving operations. When the present invention is applied to such vehicles, it is used when the vehicle is driven by manual driving operations. Manual driving operations are driving operations that an operator performs himself / herself to drive the vehicle. Automatic driving control is control in which a control device such as an ECU automatically drives the vehicle without the operator performing driving operations to drive the vehicle himself / herself. [Explanation of symbols]

[0088] 10... deceleration support device, 22... braking device, 33... stop switch, 34... brake pedal, 35... brake pedal operation amount sensor, 70... surrounding information detection device, 71... image sensor, 80... host vehicle position detection device, 81... GPS receiver, 82... map database, 90... ECU, 100... host vehicle

Claims

1. A deceleration support device including a control device that executes deceleration control to decelerate a vehicle when the vehicle speed is higher than a target vehicle speed that is set as a target value of the vehicle speed when the vehicle is traveling on a curved road, comprising: The control device is configured to increase the target vehicle speed by a predetermined value or not execute the deceleration control even if the vehicle speed is higher than the target vehicle speed when a predetermined condition is satisfied that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road. Deceleration support device.

2. 2. The deceleration assistance device according to claim 1, The predetermined condition includes a condition that the deceleration at a time point when a decrease in the deceleration of the vehicle is detected is equal to or greater than a predetermined deceleration. Deceleration support device.

3. The deceleration support device according to claim 1 or 2, The predetermined condition includes a condition that a decrease in deceleration of the vehicle is detected at a time when the vehicle enters the curved road. Deceleration support device.

4. 1. A deceleration support method for executing deceleration control to decelerate a vehicle when a vehicle speed of the vehicle is higher than a target vehicle speed that is set as a target value of the vehicle speed when the vehicle is traveling on a curved road, comprising: and a step of increasing the target vehicle speed by a predetermined value or not executing the deceleration control even when the vehicle speed is higher than the target vehicle speed when a predetermined condition is satisfied that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road. Deceleration support method.

5. A deceleration support program for executing deceleration control to decelerate a vehicle when the vehicle speed is higher than a target vehicle speed that is set as a target value of the vehicle speed when the vehicle is traveling on a curved road, comprising: When a predetermined condition is satisfied that a decrease in the deceleration of the vehicle is detected while the vehicle is traveling on the curved road, the target vehicle speed is increased by a predetermined value, or the deceleration control is not executed even if the vehicle speed of the vehicle is higher than the target vehicle speed. Deceleration assistance program.

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