Vehicle driving assistance apparatus, vehicle driving assistance method, and vehicle driving assistance program

Abstract

To provide a vehicle driving assistance apparatus which can execute the coasting control without executing the deceleration assistance control or continue executing the coasting control depending on a situation of an own vehicle.SOLUTION: A vehicle driving assistance apparatus 10 executes: a deceleration assistance control of autonomously applying a braking force to an own vehicle 100 to decelerate the own vehicle; and a coasting control of causing the own vehicle to coast. The apparatus executes the coasting control when a predetermined coasting condition becomes satisfied in a situation where the apparatus does not detect a deceleration target which creates a need to decelerate the own vehicle. The vehicle driving assistance apparatus executes the deceleration assistance control when the apparatus detects the deceleration target in a situation where the predetermined coasting condition is not satisfied. The apparatus determines whether to execute the coasting control depending on driving operation information on a driving operation carried out by an operator of the own vehicle when the apparatus detects the deceleration target in a situation where the predetermined coasting condition is satisfied.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] A vehicle driving assistance device is known that is configured to reduce the amount of energy consumed by a drive device of a vehicle by performing coasting control that causes the vehicle to coast when decelerating the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-72044 A Summary of the Invention

[0004] Also known is a vehicle driving assistance device that is configured to execute deceleration assistance control to autonomously decelerate the vehicle when it becomes necessary to decelerate the vehicle, such as when the vehicle gets too close to a preceding vehicle. With such a vehicle driving assistance device, in a situation where the coasting control may be executed or the execution of the coasting control may be continued, the coasting control may not be executed or the coasting control may be stopped, and the deceleration assistance control may be executed.

[0005] An object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program that can execute or continue coasting control without executing deceleration assistance control depending on the situation of the vehicle.

[0006] The vehicle driving assistance device according to the present invention includes a control device that executes deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and coasting control for coasting the host vehicle. The control device is configured to execute the coasting control when a predetermined coasting condition is satisfied in a situation where a deceleration target that creates a need to decelerate the host vehicle is not detected. The control device is also configured to execute the deceleration assistance control when the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied. The control device is also configured to determine whether or not to execute the coasting control in accordance with driving operation information by an operator of the host vehicle when the deceleration target is detected in a situation where the predetermined coasting condition is satisfied.

[0007] When a deceleration target is detected under a situation where a specified coasting condition is satisfied, it may be a situation in which coasting control may be executed instead of deceleration assistance control, or in which execution of coasting control may be continued.

[0008] According to the vehicle driving assistance device of the present invention, when a deceleration target is detected under a situation where a predetermined coasting condition is satisfied, the driving operation information by the operator of the vehicle is taken into consideration to determine whether or not to execute coasting control. Here, the driving operation by the operator of the vehicle reflects the situation of the vehicle at that time. Therefore, it is possible to execute or continue the coasting control without executing the deceleration assistance control depending on the situation of the vehicle. Therefore, it is possible to reduce the amount of energy consumed to run the vehicle.

[0009] The vehicle driving support device according to the present invention includes a control device that executes deceleration support control for autonomously applying a braking force to the host vehicle to decelerate the host vehicle, and coasting control for coasting the host vehicle. The control device is configured to execute the coasting control when a coasting condition is established in which both the accelerator pedal and the brake pedal of the host vehicle are released under a situation in which a deceleration target that creates a need to decelerate the host vehicle is not detected. The control device is also configured to execute the deceleration support control when the deceleration target is detected under a situation in which the coasting condition is not established. The control device is also configured to execute the coasting control when the deceleration of the host vehicle required at the time of detecting the deceleration target is equal to or less than a predetermined coasting deceleration, and execute the deceleration support control when the deceleration is equal to or greater than a predetermined braking deceleration that is greater than the predetermined coasting deceleration.

[0010] When a deceleration target is detected when a coasting condition is met, it may be a situation in which coasting control may be executed instead of deceleration assistance control, or in which execution of coasting control may be continued.

[0011] According to the vehicle driving assistance device of the present invention, when a deceleration target is detected under a situation where a coasting condition is satisfied, if the deceleration of the host vehicle required at the time when the deceleration target is detected is equal to or less than a predetermined coasting deceleration, coasting control is executed, and if the deceleration is equal to or greater than a predetermined braking deceleration that is greater than the predetermined coasting deceleration, deceleration assistance control is executed. Here, the deceleration of the host vehicle required at the time when the deceleration target is detected reflects the situation of the host vehicle at that time. Therefore, it is possible to execute or continue to execute coasting control without executing deceleration assistance control depending on the situation of the host vehicle. This makes it possible to reduce the amount of energy consumed to run the host vehicle.

[0012] The vehicle driving support method according to the present invention is a method for executing deceleration support control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and coasting control for coasting the host vehicle. The vehicle driving support method according to the present invention includes a step of executing the coasting control when a predetermined coasting condition is satisfied in a situation where a deceleration target that creates a need to decelerate the host vehicle is not detected, a step of executing the deceleration support control when the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied, and a step of determining whether or not to execute the coasting control in accordance with driving operation information by an operator of the host vehicle in a situation where the deceleration target is detected in a situation where the predetermined coasting condition is satisfied.

[0013] According to the vehicle driving support method of the present invention, for the same reason as described above, it is possible to execute or continue the coasting control without executing the deceleration support control depending on the situation of the host vehicle, thereby reducing the amount of energy consumed to run the host vehicle.

[0014] A vehicle driving assistance program according to the present invention is a program for executing deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and coasting control for coasting the host vehicle. The vehicle driving assistance program according to the present invention is configured to execute the coasting control when a predetermined coasting condition is satisfied in a situation where a deceleration target that creates a need to decelerate the host vehicle is not detected, to execute the deceleration assistance control when the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied, and to determine whether or not to execute the coasting control in accordance with driving operation information by an operator of the host vehicle in a situation where the deceleration target is detected in a situation where the predetermined coasting condition is satisfied.

[0015] According to the vehicle driving assistance program of the present invention, for the same reason as described above, it is possible to execute or continue the coasting control without executing the deceleration assistance control depending on the situation of the host vehicle, thereby reducing the amount of energy consumed to run the host vehicle.

[0016] 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]

[0017] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a flowchart illustrating a routine executed by the vehicle driving support device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving assistance 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).

[0019] 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 vehicle driving assistance 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 vehicle driving assistance device 10 described below are shared between the vehicle driving assistance device 10 mounted on the vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation facility.

[0020] As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 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 adapted to realize various functions by executing instructions, programs, or routines stored in a computer-readable storage medium. In particular, in this example, the vehicle driving assistance device 10 stores in the storage medium a program for executing coasting control and deceleration assistance control, which will be described later.

[0021] The host vehicle 100 is also equipped with a drive device 20 and a brake device 30. The drive device 20 is a device that generates a drive force to be applied to the host vehicle 100, and in this example, includes an internal combustion engine 21 and a motor 22. The drive device 20 is electrically connected to an ECU 90. The vehicle driving assistance device 10 can control the drive force applied to the host vehicle 100 by controlling the operation of the drive device 20. The brake device 30 is a device that applies a braking force to the host vehicle 100, and in this example, includes a hydraulic brake device 31. The brake device 30 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the braking force applied to the host vehicle 100 by controlling the operation of the brake device 30.

[0022] The vehicle 100 is also equipped with a turn signal 40, an accelerator pedal 51, a brake pedal 52, a turn signal lever 53, a vehicle information acquisition device 60, an external environment information acquisition device 70, and a map information acquisition device 80.

[0023] The turn signals 40 are devices that indicate the traveling direction of the vehicle 100, and are attached to the left front corner, the right front corner, the left rear corner, and the right rear corner of the vehicle 100. The turn signals 40 are electrically connected to the ECU 90.

[0024] The host vehicle information acquisition device 60 is a device that acquires information about the host vehicle 100, and in this example, is equipped with an accelerator pedal sensor 61, a brake pedal sensor 62, a turn signal lever sensor 63, a vehicle speed detection device 64, and an acceleration sensor 65.

[0025] The accelerator pedal sensor 61 is a sensor that detects accelerator pedal operation information (information related to the operation of the accelerator pedal 51). The accelerator pedal sensor 61 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the accelerator pedal operation information as host vehicle information IV via the accelerator pedal sensor 61. The accelerator pedal operation information is, for example, information related to whether the accelerator pedal 51 is depressed or not, and the amount of operation of the accelerator pedal 51 (accelerator pedal operation amount AP).

[0026] The brake pedal sensor 62 is a sensor that detects brake pedal operation information (information related to the operation of the brake pedal 52). The brake pedal sensor 62 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the brake pedal operation information as host vehicle information IV by the brake pedal sensor 62. The brake pedal operation information is, for example, information related to whether the brake pedal 52 is depressed or not, and the operation amount of the brake pedal 52 (brake pedal operation amount BP).

[0027] The turn signal lever sensor 63 is a sensor that detects turn signal lever operation information (information related to the operation of the turn signal lever 53). The turn signal lever sensor 63 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the turn signal lever operation information as host vehicle information IV by the turn signal lever sensor 63. When the turn signal lever 53 is operated, the vehicle driving assistance device 10 causes a predetermined turn signal 40 to blink in response to the operation.

[0028] The vehicle speed detection device 64 is a device that detects the traveling speed of the host vehicle 100, and includes, for example, a wheel speed sensor. The vehicle speed detection device 64 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 64. The host vehicle speed V is one of the host vehicle information IV.

[0029] The acceleration sensor 65 is a sensor that acquires the acceleration in the forward / rearward direction of the host vehicle 100. The acceleration sensor 65 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the acceleration in the forward / rearward direction of the host vehicle 100 as a forward / rearward acceleration Gx by the acceleration sensor 65. The forward / rearward acceleration Gx is one of the host vehicle information IV.

[0030] The external environment information acquisition device 70 is a device that acquires information about the periphery of the vehicle 100 as external environment information IS, and in this example, includes an electromagnetic wave sensor 71 and an image sensor 72.

[0031] The electromagnetic wave sensor 71 transmits electromagnetic waves, and when the transmitted electromagnetic waves (transmitted waves) are reflected by an object and reach the electromagnetic wave sensor 71, the electromagnetic wave sensor 71 receives the arriving electromagnetic waves as reflected waves. The electromagnetic wave sensor 71 is, for example, a radar sensor such as a millimeter wave radar. The electromagnetic wave sensor 71 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains information about objects present around the host vehicle 100 as object information IO using the electromagnetic wave sensor 71. The object information IO is one type of external world information IS.

[0032] The image sensor 72 captures an image of the surroundings of the vehicle 100. The image sensor 72 is, for example, a camera sensor. The image sensor 72 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires information on an image of the surroundings of the vehicle 100 as image information IC by the image sensor 72. The image information IC is one piece of external world information IS.

[0033] The map information acquisition device 80 is a device that acquires map information relating to the area around the vehicle 100, and in this example, includes a GPS signal receiver 81 and a map information database .

[0034] The GPS signal receiver 81 is a device that receives a GPS signal. The GPS signal receiver 81 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the current position of the host vehicle 100 based on the GPS signal received by the GPS signal receiver 81.

[0035] The map information database 82 is a device that stores map information. The map information database 82 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires map information related to the area around the vehicle 100 as map information IM from the map information database 82 based on the current position of the vehicle 100 acquired based on a GPS signal.

[0036] <Operation of vehicle driving support device> Next, the operation of the vehicle driving support device 10 will be described. The vehicle driving support device 10 executes the routine shown in Fig. 2 at a predetermined time interval. Therefore, at a predetermined timing, the vehicle driving support device 10 starts the process from step S200 of the routine shown in Fig. 2, advances the process to step S205, and determines whether or not the first coasting condition CC1 is satisfied.

[0037] The first coasting condition CC1 is a condition in which both the accelerator pedal 51 and the brake pedal 52 are released. The vehicle driving assistance device 10 determines whether the first coasting condition CC1 is satisfied based on the host vehicle information IV.

[0038] If the result of the determination in step S205 is "No," the vehicle driving assistance device 10 advances the process to step S245, and determines whether or not a first deceleration assistance condition CD1 is satisfied.

[0039] The first deceleration support condition CD1 is a condition that a deceleration target Td is detected. The deceleration target Td is a target T that creates a need to decelerate the host vehicle 100. The target T that can be the deceleration target Td is, for example, a preceding vehicle in front of the host vehicle 100, a traffic light ahead of the host vehicle 100 in the traveling direction, a curve ahead of the host vehicle 100 in the traveling direction, and a stop point ahead of the host vehicle 100 in the traveling direction. The vehicle driving support device 10 detects the deceleration target Td based on the external environment information IS and the map information IM.

[0040] The vehicle driving assistance device 10 determines whether or not the object T is an object that causes the need to decelerate the vehicle 100 based on the distance from the vehicle 100 to the object T, the type and state of the object T (whether the object T is a preceding vehicle, a traffic light, a curve, or a stop point) (the traveling speed of the preceding vehicle, the state of the stop lamps provided at the rear of the preceding vehicle, the state of the traffic lights, the curvature of the curve), and the state of the vehicle 100 (vehicle speed V, longitudinal acceleration Gx, whether the accelerator pedal 51 is pressed, whether the brake pedal 52 is pressed, the accelerator pedal operation amount AP, and the brake pedal operation amount BP).

[0041] The vehicle driving support device 10 acquires the type and state of the object T based on the external information IS and the map information IM. In addition, the vehicle driving support device 10 acquires the state of the host vehicle 100 based on the host vehicle information IV.

[0042] For example, when the forward distance DF (the distance between the vehicle 100 and the preceding vehicle) becomes equal to or shorter than a predetermined forward distance DFth, the vehicle driving assistance device 10 detects the preceding vehicle as a deceleration target Td. When the traffic light distance DS (the distance between the vehicle 100 and the traffic light) becomes equal to or shorter than a predetermined traffic light distance DSth and the traffic light is turning on red, the vehicle driving assistance device 10 detects the traffic light as a deceleration target Td. When the curve distance DC (the distance between the vehicle 100 and the entrance of the curve) becomes equal to or shorter than a predetermined curve distance DCth, the vehicle driving assistance device 10 detects the curve as a deceleration target Td.

[0043] The vehicle driving assistance device 10 acquires the forward vehicle distance DF, the traffic light distance DS, and the curve distance DC based on the external environment information IS and the map information IM, and determines whether the traffic light is turning on red based on the external environment information IS.

[0044] If the result of the determination in step S245 is "Yes," the vehicle driving assistance device 10 advances the process to step S250 and executes the deceleration assistance control. Next, the vehicle driving assistance device 10 advances the process to step S295 and temporarily ends the process of this routine.

[0045] The deceleration assist control is one of the automatic driving controls or autonomous driving controls, and is a control for autonomously applying a braking force to the host vehicle 100 to decelerate the host vehicle 100.

[0046] In this manner, the vehicle driving assistance device 10 is configured to execute the deceleration assistance control when the deceleration target Td is detected in a situation where the first coasting condition CC1 is not satisfied.

[0047] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S245, the process proceeds directly to step S295, and ends the process of this routine for the time being.

[0048] Moreover, if the vehicle driving assistance device 10 determines "Yes" in step S205, the process proceeds to step S210, where it determines whether or not a first deceleration assistance condition CD1 is satisfied.

[0049] If the result of the determination in step S210 is "No," the vehicle driving assistance device 10 advances the process to step S240, where the vehicle driving assistance device 10 executes coasting control. Next, the vehicle driving assistance device 10 advances the process to step S295, where the vehicle driving assistance device 10 temporarily ends the process of this routine.

[0050] The coasting control is a control for causing the host vehicle 100 to coast by interrupting the transmission path of the driving force from the drive unit 20 to the driving wheels of the host vehicle 100.

[0051] In this manner, the vehicle driving assistance device 10 is configured to execute the coasting control when the first coasting condition CC1 is satisfied in a situation where the deceleration target Td is not detected.

[0052] On the other hand, if the vehicle driving assistance device 10 determines "Yes" in step S210, the process proceeds to step S215, where it determines whether or not the second deceleration assistance condition CD2 is satisfied.

[0053] The second deceleration support condition CD2 is a condition that the level of the need to decelerate the host vehicle 100 with respect to the deceleration target Td is equal to or higher than a predetermined level. In other words, the second deceleration support condition CD2 is a condition that the deceleration GD of the host vehicle 100 required at the time when the deceleration target Td is detected is equal to or higher than a predetermined braking deceleration GDb_th.

[0054] For example, when the forward inter-vehicle distance DF becomes extremely short, the level of necessity for decelerating the host vehicle 100 relative to the preceding vehicle becomes equal to or higher than a predetermined level. Also, when another vehicle enters a point ahead of the host vehicle 100 close to the host vehicle 100, the level of necessity for decelerating the host vehicle 100 relative to the other vehicle becomes equal to or higher than a predetermined level.

[0055] The vehicle driving support device 10 determines whether or not the second deceleration support condition CD2 is satisfied based on the host vehicle information IV, the external environment information IS, and the map information IM.

[0056] If the result of the determination in step S215 is "Yes," the vehicle driving assistance device 10 advances the process to step S220 and executes the deceleration assistance control. Next, the vehicle driving assistance device 10 advances the process to step S295 and temporarily ends the process of this routine.

[0057] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S215, the process proceeds to step S225, where it determines whether or not the second coasting condition CC2 is satisfied.

[0058] The second coasting condition CC2 is a condition that the deceleration GD of the host vehicle 100 required at the time when the deceleration target Td is detected is equal to or less than a predetermined coasting deceleration GDc_th that is smaller than a predetermined braking deceleration GDb_th. For example, the second coasting condition CC2 is a condition that at least one of the first condition C1 to the third condition C3 described below is satisfied.

[0059] The first condition C1 is a condition that the driver recognizes the need to decelerate the vehicle 100. In other words, the first condition C1 is a condition that, if deceleration support control is executed, there is a possibility that the driving operation by the driver will be hindered.

[0060] For example, the vehicle driving assistance device 10 determines that the first condition C1 is satisfied when the driver indicates an intention to decelerate (for example, by releasing the accelerator pedal 51) when the forward vehicle distance DF is shorter than a specified forward vehicle distance DFth, or when the driver indicates an intention to decelerate when the preceding vehicle is expected to leave the host vehicle's lane (the lane in which the host vehicle 100 is traveling).

[0061] The vehicle driving assistance device 10 determines whether or not the first condition C1 is satisfied based on the host vehicle information IV, the external environment information IS, and the map information IM.

[0062] The second condition C2 is a condition that the driver may feel danger if the deceleration support control is executed to decelerate the host vehicle 100. In other words, the second condition C2 is a condition that the traffic flow of vehicles behind the host vehicle 100 may be disrupted if the deceleration support control is executed.

[0063] For example, when there are a preceding vehicle and a following vehicle, the vehicle driving assistance device 10 determines that the second condition C2 is satisfied if the following vehicle is near the host vehicle 100 and is traveling faster than the host vehicle 100. More specifically, when there are a preceding vehicle and a following vehicle, the vehicle driving assistance device 10 determines that the second condition C2 is satisfied if the rear inter-vehicle distance DR (the distance between the following vehicle and the host vehicle 100) is equal to or smaller than a predetermined rear inter-vehicle distance DRth and the difference in the traveling speed of the following vehicle relative to the host vehicle speed V is equal to or larger than a predetermined value.

[0064] The vehicle driving assistance device 10 determines whether or not the second condition C2 is satisfied based on the host vehicle information IV, the external environment information IS, and the map information IM.

[0065] The third condition C3 is a condition that, if the deceleration assist control is executed and the host vehicle 100 is decelerated, the driver feels that the execution of the deceleration assist control is unnecessary.

[0066] For example, when there are multiple available lanes (lanes on which the vehicle 100 can travel) before an entrance intersection (an intersection where the vehicle 100 is about to enter) and the driver indicates an intention to decelerate (for example, by releasing the accelerator pedal 51 or activating the turn signal 40 of the vehicle 100), the vehicle driving assistance device 10 determines that the third condition C3 is satisfied. Alternatively, when the driver indicates an intention to decelerate when the vehicle 100 does not need to stop when turning right or left at the entrance intersection, the vehicle driving assistance device 10 determines that the third condition C3 is satisfied. Alternatively, when the driver indicates an intention to decelerate when the vehicle 100 can pass a traffic light before the traffic light turns red even if coasting control is executed, the vehicle driving assistance device 10 determines that the third condition C3 is satisfied. Alternatively, the vehicle driving assistance device 10 determines that the third condition C3 is satisfied when the driver indicates an intention to decelerate after the host vehicle 100 passes a point with the greatest curvature while the host vehicle 100 is traveling on a curve. Alternatively, the vehicle driving assistance device 10 determines that the third condition C3 is satisfied when the driver indicates an intention to decelerate while a preceding vehicle and a following vehicle are present and the host vehicle 100 is traveling on a curve and the fluctuation range of the forward inter-vehicle distance DF, the fluctuation range of the rear inter-vehicle distance DR, the fluctuation range of the difference in the traveling speed of the preceding vehicle relative to the host vehicle speed V, and the fluctuation range of the difference in the traveling speed of the following vehicle relative to the host vehicle speed V are each equal to or smaller than a reference value.

[0067] The vehicle driving assistance device 10 determines whether or not the third condition C3 is satisfied based on the host vehicle information IV, the external environment information IS, and the map information IM.

[0068] If the answer is "Yes" in step S225, the vehicle driving assistance device 10 proceeds to step S230 and executes coasting control. Next, the vehicle driving assistance device 10 proceeds to step S295 and ends this routine.

[0069] On the other hand, if the result of the determination in step S225 is "No," the vehicle driving assistance device 10 advances the process to step S235 and executes normal control. Next, the vehicle driving assistance device 10 advances the process to step S295 and temporarily ends the process of this routine.

[0070] The normal control is a control that applies a driving force corresponding to the accelerator pedal operation amount AP to the host vehicle 100 and also applies a braking force corresponding to the brake pedal operation amount BP to the host vehicle 100. Therefore, when the normal control is executed, a transmission path of the driving force from the drive device 20 to the drive wheels of the host vehicle 100 is established. Therefore, if the accelerator pedal 51 and the brake pedal 52 are released when the normal control is executed, the running energy of the host vehicle 100 is input to the drive device 20, and the host vehicle 100 is largely decelerated compared to when the coasting control is executed.

[0071] In this way, when the vehicle driving assistance device 10 detects the deceleration target Td when the first coasting condition CC1 is satisfied, it is configured to determine whether or not to execute coasting control based on driving operation information by the driver (information regarding the driving operation by the driver, for example, releasing the accelerator pedal 51).

[0072] In other words, when the vehicle driving assistance device 10 detects a deceleration target Td when the first coasting condition CC1 is satisfied, the vehicle driving assistance device 10 is configured to execute coasting control if the deceleration GD of the vehicle 100 required at the time the deceleration target Td is detected is equal to or less than a predetermined coasting deceleration GDc_th, and to execute deceleration assistance control if the deceleration GD is equal to or greater than a predetermined braking deceleration GDb_th that is greater than the predetermined coasting deceleration GDc_th.

[0073] The operation of the vehicle driving assistance device 10 has been described above.

[0074] When a deceleration target Td is detected when the first coasting condition CC1 is satisfied, it may be a situation in which coasting control may be executed instead of deceleration assistance control, or in which execution of coasting control may be continued.

[0075] According to the vehicle driving assistance device 10, when the deceleration target Td is detected under a situation where the first coasting condition CC1 is satisfied, the driving operation information by the driver is taken into consideration to determine whether or not to execute the coasting control. In other words, when the deceleration target Td is detected under a situation where the first coasting condition CC1 is satisfied, if the deceleration GD of the host vehicle 100 required at the time when the deceleration target Td is detected is equal to or less than a predetermined coasting deceleration GDc_th, the coasting control is executed, and if the deceleration GD is equal to or more than a predetermined braking deceleration GDb_th that is greater than the predetermined coasting deceleration GDc_th, the deceleration assistance control is executed.

[0076] Here, the driving operation by the driver reflects the situation of the host vehicle 100 at that time. Also, the deceleration GD of the host vehicle 100 required at the time when the deceleration target Td is detected reflects the situation of the host vehicle 100 at that time. Therefore, according to the vehicle driving assistance device 10, it is possible to execute or continue the coasting control without executing the deceleration assistance control depending on the situation of the host vehicle 100. Therefore, it is possible to reduce the amount of energy consumed to run the host vehicle 100.

[0077] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0078] 10...vehicle driving assistance device, 20...drive device, 30...braking device, 51...accelerator pedal, 52...brake pedal, 60...own vehicle information acquisition device, 70...external environment information acquisition device, 80...map information acquisition device, 90...ECU, 100...own vehicle

Claims

1. A vehicle driving assistance device including a control device that executes a deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and a coasting control for coasting the host vehicle, The control device includes: When a predetermined coasting condition is satisfied in a situation where a deceleration target that causes a need to decelerate the host vehicle is not detected, the coasting control is executed; When the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied, the deceleration support control is executed. when the deceleration target is detected under a situation where the predetermined coasting condition is satisfied, determining whether or not to execute the coasting control in accordance with driving operation information by an operator of the host vehicle. It is configured as follows: Vehicle driving assistance device.

2. A vehicle driving assistance device including a control device that executes a deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and a coasting control for coasting the host vehicle, The control device includes: When a coasting condition is established in which both the accelerator pedal and the brake pedal of the host vehicle are released under a situation in which a deceleration target that creates a need to decelerate the host vehicle is not detected, the coasting control is executed; When the deceleration target is detected in a situation where the coasting condition is not satisfied, the deceleration support control is executed. When the deceleration target is detected under the situation where the coasting condition is satisfied, if the deceleration of the host vehicle requested at the time of detecting the deceleration target is equal to or less than a predetermined coasting deceleration, the coasting control is executed, and if the deceleration is equal to or greater than a predetermined braking deceleration that is greater than the predetermined coasting deceleration, the deceleration support control is executed. It is configured as follows: Vehicle driving assistance device.

3. A vehicle driving assistance method for executing a deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and a coasting control for coasting the host vehicle, comprising: executing the coasting control when a predetermined coasting condition is established in a situation where a deceleration target that causes a need to decelerate the host vehicle is not detected; executing the deceleration support control when the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied; determining whether or not to execute the coasting control in response to driving operation information by an operator of the host vehicle when the deceleration target is detected under a situation in which the predetermined coasting condition is satisfied; A vehicle driving assistance method comprising:

4. A vehicle driving assistance program that executes a deceleration assistance control for autonomously applying a braking force to a host vehicle to decelerate the host vehicle, and a coasting control for coasting the host vehicle, When a predetermined coasting condition is satisfied in a situation where a deceleration target that causes a need to decelerate the host vehicle is not detected, the coasting control is executed; When the deceleration target is detected in a situation where the predetermined coasting condition is not satisfied, the deceleration support control is executed. when the deceleration target is detected under a situation where the predetermined coasting condition is satisfied, determining whether or not to execute the coasting control in accordance with driving operation information by an operator of the host vehicle. A vehicle driving assistance program configured to:

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