Drive support control device

Abstract

To provide a drive support control device capable of notifying a driver of ACC control at an appropriate timing.SOLUTION: There is provided a drive support control device capable of executing automatic driving control that automatically controls driving torque of a drive power source and braking torque of a braking device including the drive power source. The drive support control device includes a controller 1 that executes automatic driving control. The controller 1 includes: an execution condition determination unit 2 that determines that a driving environment and a driving state are suitable to a driving environment and driving state for driving under the automatic driving control while the vehicle is being driven without executing automatic driving control; a control proposal unit 3 that proposes to the driver the execution of automatic driving control when determination by the execution condition determination unit 2 is established; an acceptance determination unit 4 that determines that the driver has accepted the execution of automatic driving control; and a control execution unit 5 that executes automatic driving control when the acceptance determination unit 4 determines that the execution of automatic driving control has been accepted.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a driving assistance control device that can automatically control driving force and braking force without the driver having to perform driving operations. [Background technology]

[0002] Patent Document 1 describes a vehicle cruise control device capable of executing adaptive cruise control (ACC) control, which can maintain a target vehicle speed set by the driver while maintaining a predetermined distance or more from a preceding vehicle by automatically controlling driving force and braking force. This control device is configured to be able to set a point at which ACC control ends. Specifically, when a main switch is operated, ACC control goes into a standby state, and when a set switch is operated in this state, the control goes into a mode for setting a cruise section. Then, when the accelerator switch is operated in the state in which the control is in the mode for setting a cruise section, a characteristic point such as an intersection close to the current position, a service area or interchange if traveling on a highway, or a landmark is selected as a candidate for the end point, and further, each time the accelerator switch is operated, a characteristic point farther from the current position is selected as a candidate for the end point. Then, ACC control is executed from the current position to the selected end point. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-99851 Summary of the Invention [Problem to be solved by the invention]

[0004] The control device described in Patent Document 1 sets the execution and end points of ACC control by operating a main switch, a set switch, or an accelerator switch. However, there are users who do not know how to operate ACC control or situations in which ACC control is used, or who are hesitant to use ACC control, so there is a possibility that ACC control cannot be effectively used.

[0005] The present invention has been made in light of the above technical problems, and aims to provide a driving assistance control device that can notify the driver of ACC control at an appropriate timing. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the present invention provides a driving assistance control device capable of executing automatic driving control that automatically controls the driving torque of a driving force source and the braking torque of a braking device including the driving force source, and is equipped with a controller that executes the automatic driving control, and the controller is characterized by being composed of an execution condition determination unit that determines whether the driving environment and driving state are suitable for driving using the automatic driving control when driving without executing the automatic driving control, a control proposal unit that proposes to the driver to execute the automatic driving control when the determination by the execution condition determination unit is established, an acceptance determination unit that determines whether the driver has agreed to the execution of the automatic driving control, and a control execution unit that executes the automatic driving control when the execution of the automatic driving control is agreed to by the acceptance determination unit. Effect of the Invention

[0007] According to the present invention, when the vehicle is traveling without performing automatic driving control, if the execution condition determination unit determines that the driving environment and driving state are suitable for the driving environment and driving state for traveling under automatic driving control, the automatic driving control is proposed to be performed by the driver. In addition, if the driver agrees to the execution of automatic driving control, the automatic driving control is executed. Therefore, the execution of automatic driving control can be notified at an appropriate timing to a user who does not know the situation in which the automatic driving control is used. In addition, the driver can execute the automatic driving control by agreeing to the proposal to execute the automatic driving control, so that even a user who does not know how to operate to execute the automatic driving control or a user who finds the operation to execute the automatic driving control troublesome can easily perform the operation to execute the automatic driving control. As a result, the automatic driving control can be effectively utilized. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram for explaining an example of a configuration of a driving assistance control device according to an embodiment of the present invention. [Diagram 2] 4 is a flowchart illustrating an example of control executed by an ECU. [Diagram 3] 4 is a flowchart for explaining an example of control for encouraging the use of ACC control during traffic congestion. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The driving assistance control device in the embodiment of the present invention is configured to be able to execute automatic driving control that automatically controls the driving force (driving torque) and the braking force (braking torque) without the driver performing a driving operation for accelerating (starting) the vehicle or suppressing deceleration, or a braking operation for decelerating or stopping the vehicle or suppressing acceleration. That is, the driving force source and the brake mechanism are automatically controlled. Such control includes, for example, cruise control control that drives the vehicle so as to maintain a target vehicle speed set by the driver, and active cruise control control (hereinafter referred to as ACC control) that changes the target vehicle speed according to the inter-vehicle distance so as to maintain the distance (inter-vehicle distance) to the preceding vehicle at a predetermined distance or more in addition to maintaining the target vehicle speed. In the following description, the ACC control will be taken as an example.

[0010] A vehicle that can be driven by such ACC control may be any of an engine vehicle having only an engine as a driving force source, an electric vehicle having only a motor as a driving force source, and a hybrid vehicle having an engine and a motor as driving force sources. That is, in the case of ACC control, when accelerating or suppressing deceleration of the vehicle, the driving force source is controlled to output a driving torque. In addition, in the case of decelerating or stopping the vehicle, or suppressing acceleration, the brake mechanism provided on each wheel is controlled, or the driving force source is controlled so as to generate an engine braking force or a regenerative braking force by rotating the driving force source. That is, the driving force source such as the engine or the motor and the brake mechanism function as a braking device.

[0011] The ACC control is executed by an electronic control unit (hereinafter, referred to as ECU) installed in the vehicle. This ECU, like ECUs installed in conventional vehicles, is mainly composed of a microcomputer and is configured to output command signals for controlling the driving force source and the brake mechanism based on input signals and pre-stored maps and arithmetic expressions.

[0012] Specifically, the ECU receives signals from a vehicle speed sensor that detects the vehicle speed, a radar or lidar that measures the distance from the preceding vehicle, a switch operated by the driver to set a target vehicle speed, etc. Then, for example, the ECU outputs a command signal to a driving force source or a brake mechanism to maintain the target vehicle speed set by the driver. Also, when there is a preceding vehicle, the ECU outputs a command signal to the driving force source or the brake mechanism to make the distance from the preceding vehicle equal to or greater than a distance determined according to the vehicle speed, with the target vehicle speed as the upper limit vehicle speed.

[0013] The driving assistance control device of the present invention is configured to prompt (notify) the driver to execute the above-mentioned ACC control. Specifically, the driving assistance control device is configured to prompt the driver to execute the ACC control when the driving environment of the vehicle is, for example, a road such as an expressway or a motorway where the vehicle can be driven at a relatively constant speed, and the driving state of the vehicle is, for example, when the driver has been driving for a long time or the vehicle is in a traffic jam.

[0014] Fig. 1 shows an example of the configuration of an ECU 1 for prompting a driver to execute ACC control as described above. The ECU 1 shown in Fig. 1 is composed of an execution condition determination unit 2, a control proposal unit 3, an acceptance determination unit 4, and a control execution unit 5. The ECU 1 corresponds to the "controller" in the embodiment of the present invention.

[0015] The execution condition determination unit 2 is configured to determine that no errors have occurred in the devices and apparatuses mounted on the vehicle that are necessary for executing ACC control, such as no malfunctions in radar or LIDAR, etc. Therefore, signals are input to the execution condition determination unit 2 from the devices and apparatuses necessary for executing ACC control.

[0016] The execution condition determination unit 2 is configured to determine whether or not the driving environment or driving state is one in which it is recommended to execute the ACC control. Specifically, the ECU 1 matches map information from a navigation system or the like stored in the ECU 1 with current position information detected by a GPS or a beacon to determine whether or not the driving environment is one in which it is recommended to execute the ACC control, such as whether or not the vehicle is traveling on a highway or a motorway. The execution condition determination unit 2 also determines whether or not the driving state is one in which it is recommended to execute the ACC control, such as whether or not the driver may be feeling tired, for example, if the time since the main switch of the vehicle was switched on or the continuous driving time based on the driving history is longer than a predetermined time, or whether or not the vehicle is traveling in a traffic jam where the accelerator and brake operations are alternately and repeatedly operated.

[0017] The control suggestion unit 3 is configured to suggest to the driver that the ACC control be executed when the driving environment or driving state is such that the execution of the ACC control is recommended. Specifically, the control suggestion unit 3 displays a message proposing the execution of the ACC control on a display unit such as an instrument panel or a head-up display, or issues a voice proposing the execution of the ACC control from an audio device such as a speaker.

[0018] The consent determination unit 4 is configured to determine whether or not the driver consents to the proposal regarding the execution of ACC control made by the control proposal unit 3. Specifically, for example, a switch for issuing a signal indicating consent to the execution of ACC control is provided on the steering wheel or the instrument panel, and the consent determination unit 4 is configured to determine whether or not the driver consents based on the operation of the switch.

[0019] The control execution unit 5 is configured to, when the execution of the ACC control is approved by the approval determination unit 4, output a signal to that effect to the controller that executes the ACC control.

[0020] Fig. 2 shows a flowchart for explaining an example of control executed by the ECU 1. In the control example shown in Fig. 2, first, it is determined whether or not a condition for starting ACC control is satisfied (step S1). This step S1 is executed by the execution condition determination unit 2, and it is determined whether or not an error has occurred in the devices or apparatuses for executing ACC control. Therefore, step S1 can be determined based on signals exchanged between the devices or apparatuses and the execution condition determination unit 2.

[0021] If the ACC control start condition is not satisfied and therefore the negative determination is made in step S1, this routine is immediately terminated. In other words, the driver is not prompted to execute ACC control. On the other hand, if the ACC control start condition is satisfied and therefore the positive determination is made in step S1, then it is determined whether or not the vehicle is traveling on a highway or a motorway (step S2). This step S2 is executed by the execution condition determination unit 2, and can be determined by matching pre-stored map information with the current position detected by a GPS, a beacon, or the like.

[0022] When the vehicle is not traveling on a highway or a motorway, the driving environment is not one in which it is recommended to execute ACC control. In other words, if the result of step S2 is negative, the routine is terminated. That is, the driver is not prompted to execute ACC control. On the other hand, if the result of step S2 is positive because the vehicle is traveling on a highway or a motorway, it is determined whether the situation is suitable for driving under ACC control (step S3). This step S3 can be determined based on whether the situation allows driving at a constant vehicle speed, whether the accelerator operation by the driver is almost constant, and the like. Specifically, when the vehicle is ahead and the vehicle speed detected by the vehicle speed sensor is almost constant, and it is estimated that the traffic situation around the vehicle is stable, it is determined that the situation is suitable for driving under ACC control. Alternatively, when the accelerator opening detected by the accelerator opening sensor is within a predetermined change amount based on a predetermined opening, it is determined that the situation is suitable for driving under ACC control.

[0023] If the situation is not suitable for driving under ACC control and thus the negative determination is made in step S3, this routine is immediately terminated. In other words, the driver is not prompted to execute ACC control. On the other hand, if the situation is suitable for driving under ACC control and thus the positive determination is made in step S3, then it is determined whether or not the driving time has elapsed for a predetermined time or more (step S4). The driving time in step S4 is the time counted by the execution condition determination unit 2 described above from when the main switch of the vehicle is switched on, or the time calculated from the driving history. The predetermined time is a time that is equal to or shorter than the time when the driver begins to feel fatigue, and can be determined in advance by experiment or simulation.

[0024] If the driving time has elapsed for a predetermined time or more and thus the answer is affirmative in step S4, a suggestion is made to the driver to execute ACC control (step S5). This step S5 is executed by the control suggestion unit 3. Specifically, a display provided on the instrument panel or head-up display is displayed to allow the driver to select whether or not to execute ACC control, or a voice is generated from the speaker asking whether or not to execute ACC control. The suggestion to execute ACC control is made, for example, by displaying a message such as "Would you like to use radar cruise? Start with the SET switch" on the display unit.

[0025] Next, it is determined whether the driver has accepted the proposal to execute ACC control in step S5 (step S6). This step S6 is executed by the acceptance determination unit 4, and specifically, it can be determined based on a signal from a SET switch provided on the steering wheel, the instrument panel, or the like to issue a signal indicating that the execution of ACC control has been accepted.

[0026] If the driver agrees to execute the ACC control and the result of the affirmative determination in step S6 is negative, the ACC control is started (step S7) and this routine is temporarily terminated. Specifically, a signal is output from the control execution unit 5 to a controller for executing the ACC control. At that time, the vehicle speed at the time when the affirmative determination is made in step S6 is set as the target vehicle speed.

[0027] On the other hand, if the driver has not consented to the execution of ACC control and the result of step S6 is negative, it is determined whether a predetermined time has elapsed since the suggestion to execute ACC control was started (step S8). This predetermined time in step S8 can be set to the time required to determine that the driver has rejected the execution of ACC control, or the time required for the driver to operate a switch to consent to the execution of ACC control.

[0028] If the result of step S8 is negative because a predetermined time has not elapsed since the suggestion to execute ACC control was started, the process returns to step S5. That is, the suggestion to execute ACC control is continued. On the other hand, if the result of step S8 is positive because a predetermined time has elapsed since the suggestion to execute ACC control was started, the suggestion to execute ACC control is terminated (step S9), and this routine is temporarily terminated. That is, the display and sound on the display unit are stopped, and ACC control is not executed.

[0029] On the other hand, if the driving time has not elapsed for a predetermined time or more and the result of step S4 is negative, it is determined whether or not the driving history before the main switch of the vehicle is turned on includes a history of driving on an expressway or a motorway (step S10). This step S10 is a determination step for prompting the execution of ACC control when returning to an expressway or a motorway after parking in a service area or parking lot to take a break.

[0030] Therefore, if the driving history does not include a history of driving on an expressway or a motorway and thus a negative determination is made in step S10, this routine is immediately terminated. In other words, the driver is not prompted to execute ACC control. On the other hand, if the driving history includes a history of driving on an expressway or a motorway and thus a positive determination is made in step S10, then it is determined whether or not a predetermined time has elapsed since the start of driving (step S11). The predetermined time in step S11 can be set to the time required to return from a service area or a parking lot to the main line of the expressway or a motorway. The time elapsed since the start of driving can be determined in the same manner as in step S4.

[0031] If the predetermined time has elapsed since the start of driving and therefore the answer is affirmative in step S11, the process proceeds to step S5. That is, a suggestion is made to the driver that ACC control should be executed. On the other hand, if the predetermined time has not elapsed since the start of driving and therefore the answer is negative in step S11, the routine is immediately terminated. That is, the driver is not prompted to execute ACC control.

[0032] As described above, when the driving environment or driving state is suitable for executing ACC control, the driver is suggested to execute ACC control. Therefore, a user who does not know the situation in which ACC control is to be used can be notified of the execution of ACC control at an appropriate timing. In addition, the driver can execute ACC control by simply operating the SET switch in response to the suggestion to execute ACC control. Therefore, even for a user who does not know how to operate to execute ACC control or a user who finds the operation to execute ACC control troublesome, the operation to execute ACC control can be made easy. As a result, the ACC control can be effectively utilized.

[0033] It is also effective to execute ACC control in order to reduce the fatigue of the driver when driving in a traffic jam. Therefore, the driving assistance control device in the embodiment of the present invention may be configured to suggest the execution of ACC control to the driver when driving in a traffic jam. Figure 3 shows a flowchart for explaining the control example. Note that the same steps as those in the control example shown in Figure 2 are given the same step numbers and their explanations are omitted.

[0034] In the control example shown in FIG. 3, if the start condition of the ACC control is satisfied and the result of the affirmative determination in step S1 is met, it is determined whether or not the all-speed ACC control is supported (step S31). This control example recommends that the ACC control be performed when driving in a traffic jam, including stopping and starting operations, so in step S31, it is determined whether or not the all-speed ACC control that can automatically control the stopping and starting operations is supported. Therefore, step S31 can be determined based on the control contents stored in the ECU1. Note that this control example may be configured to be executed only when a control device capable of executing the all-speed ACC control is installed, and in that case, step S31 does not need to be executed.

[0035] If the answer to step S31 is negative because the vehicle is not compatible with the full-speed ACC control, the routine ends. In other words, the driver is not prompted to execute the ACC control. On the other hand, if the answer to step S31 is positive because the vehicle is compatible with the full-speed ACC control, the routine proceeds to step S2.

[0036] If the answer to step S2 is YES because the vehicle is traveling on a highway or a motorway, it is determined whether the vehicle is traveling in a traffic jam (step S32). In step S32, for example, if there is a vehicle ahead and the average vehicle speed for a predetermined period is equal to or lower than a predetermined vehicle speed, it can be determined that the vehicle is traveling in a traffic jam.

[0037] If the vehicle is not in a congested state and the answer to step S32 is negative, the routine is terminated. In other words, the driver is not prompted to execute the ACC control.

[0038] As described above, by suggesting to the driver that ACC control be executed when driving in a traffic jam on a highway or a motorway, users who are hesitant to use ACC control can be notified at an appropriate time and ACC control can be executed by a simple means, thereby promoting the use of ACC control. [Explanation of symbols]

[0039] 1. Electronic Control Unit (ECU) 2 Execution condition determination section 3. Control Proposal Section 4 Acceptance Judgment Department 5 Control execution unit

Claims

[Claim 1] A driving assistance control device capable of performing automatic driving control for automatically controlling a driving torque of a driving force source and a braking torque of a braking device including the driving force source, A controller that executes the automatic driving control, The controller: an execution condition determination unit that determines, when the vehicle is traveling without executing the automatic driving control, whether a driving environment and a driving state are suitable for the driving environment and the driving state for traveling under the automatic driving control; a control suggestion unit that suggests to a driver that the automatic driving control be executed when the determination by the execution condition determination unit is satisfied; an approval determination unit that determines whether the driver has approved the execution of the automatic driving control; and a control execution unit that executes the automatic driving control when the execution of the automatic driving control is approved by the approval determination unit. A driving assistance control device comprising:

Images