Vehicle driving support apparatus

Abstract

To provide a vehicle driving support apparatus capable of responding to a request for acceleration of an own vehicle or a request for deceleration thereof by an operator of the own vehicle during execution of driving support control.SOLUTION: A vehicle driving support apparatus 10 executes driving support control for causing an own vehicle 100 to autonomously travel while switching travel control between a plurality of types of travel control for causing the own vehicle to travel, including power running control and coasting control. The vehicle driving support apparatus executes at least one of: a first switching process for switching the travel control from the coasting control to the travel control different from the coasting control if a prescribed first operation is input by an operator of the own vehicle during execution of the coasting control; and a second switching process for switching the travel control from the power running control to the travel control different from the power running control if a prescribed second operation is input by the operator during execution of the power running control.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] A vehicle driving assistance device is known that performs driving assistance control to cause the vehicle to drive autonomously while switching driving control between powering control, which powers the vehicle, and coasting control, which coasts the vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-95320 Summary of the Invention

[0004] The vehicle driving assistance device is configured to execute coasting control to decelerate the host vehicle when the host vehicle speed reaches the upper limit of a predetermined vehicle speed range during execution of driving assistance control, and execute powering control to accelerate the host vehicle when the host vehicle speed reaches the lower limit of the predetermined vehicle speed range during execution of driving assistance control. However, during execution of driving assistance control, the driver may wish to accelerate the host vehicle when the host vehicle is coasting due to coasting control, or may wish to decelerate the host vehicle when the host vehicle is powered due to powering control.

[0005] An object of the present invention is to provide a vehicle driving assistance device that can respond to a request by an operator of the vehicle to accelerate or decelerate the vehicle while driving assistance control is being executed.

[0006] A vehicle driving assistance device according to the present invention includes a control device that executes driving assistance control for autonomously driving a host vehicle by switching between a plurality of driving controls for driving the host vehicle, the driving controls including a powering control for powering the host vehicle and a coasting control for coasting the host vehicle. The control device is configured to execute at least one of a first switching process for switching the driving control from the coasting control to a driving control other than the coasting control when a predetermined first operation is input to the control device by an operator of the host vehicle while the coasting control is being executed, and a second switching process for switching the driving control from the powering control to the driving control other than the powering control when a predetermined second operation is input to the control device by the operator while the powering control is being executed.

[0007] The vehicle driving assistance device according to the present invention, when a predetermined first operation is input by the operator of the host vehicle while the host vehicle is coasting, switches the cruise control from coasting control to a cruise control other than coasting control, assuming that the operator is requesting acceleration of the host vehicle, or when a predetermined second operation is input by the operator of the host vehicle while the host vehicle is powered, switches the cruise control from powering control to a cruise control other than powering control, assuming that the operator is requesting deceleration of the host vehicle. Thus, it is possible to respond to a request by the operator of the host vehicle to accelerate or decelerate the host vehicle while driving assistance control is being executed.

[0008] In the vehicle driving assistance device according to the present invention, the driving assistance control is, for example, control for causing the host vehicle to travel autonomously while switching the travel control between the powering control and the coasting control. In this case, the control device may be configured to perform at least one of the following driving assistance controls: vehicle speed control that switches the driving control from the powering control to the coasting control when the vehicle speed of the host vehicle reaches an upper limit of a predetermined vehicle speed range that is set based on a set vehicle speed while the powering control is being executed, and switches the driving control from the coasting control to the powering control when the vehicle speed reaches a lower limit of the predetermined vehicle speed range while the coasting control is being executed; and inter-vehicle distance control that switches the driving control from the powering control to the coasting control when the inter-vehicle distance between the host vehicle and a preceding vehicle reaches a lower limit of a predetermined inter-vehicle distance range that is set based on a set inter-vehicle distance while the coasting control is being executed, and switches the driving control from the coasting control to the powering control when the inter-vehicle distance reaches an upper limit of the predetermined inter-vehicle distance range while the coasting control is being executed. In this case, the first switching process is, for example, a process of switching the driving control from the coasting control to the powering control, and the second switching process is, for example, a process of switching the driving control from the powering control to the coasting control.

[0009] The vehicle driving assistance device according to the present invention switches the cruise control from coasting control to powering control when a predetermined first operation is input by the operator of the host vehicle while the host vehicle is coasting, assuming that the operator is requesting acceleration of the host vehicle, or switches the cruise control from powering control to coasting control when a predetermined second operation is input by the operator of the host vehicle while the host vehicle is powering, assuming that the operator is requesting deceleration of the host vehicle. Thus, it is possible to respond to a request by the operator of the host vehicle to accelerate or decelerate the host vehicle while driving assistance control is being executed.

[0010] In the vehicle driving assistance device according to the present invention, for example, when the vehicle speed control is being performed, the predetermined first operation is an operation for increasing the set vehicle speed.

[0011] Since an operation to increase the set vehicle speed causes the host vehicle to travel at a higher vehicle speed, when an operation to increase the set vehicle speed is performed, it can be determined that the operator desires to accelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation to increase the set vehicle speed is input while the host vehicle is coasting, the driving control is switched from coasting control to powering control. Therefore, it is possible to respond to a request for acceleration of the host vehicle made by the operator of the host vehicle while driving assistance control is being executed.

[0012] In the vehicle driving assistance device according to the present invention, for example, when the vehicle speed control is being performed, the predetermined second operation is an operation to decrease the set vehicle speed.

[0013] Since an operation to decrease the set vehicle speed causes the host vehicle to travel at a lower vehicle speed, when an operation to decrease the set vehicle speed is input, it can be determined that the operator desires to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation to decrease the set vehicle speed is input while the host vehicle is being powered, the driving control is switched from powering control to coasting control. Therefore, it is possible to respond to a request for deceleration of the host vehicle made by the operator of the host vehicle while driving assistance control is being executed.

[0014] In the vehicle driving assistance device according to the present invention, for example, when the inter-vehicle distance control is being performed, the predetermined first operation is an operation to decrease the set inter-vehicle distance.

[0015] Since an operation to decrease the set inter-vehicle distance causes the host vehicle to travel with a shorter inter-vehicle distance, when an operation to decrease the set inter-vehicle distance is performed, it can be determined that the operator desires to accelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation to decrease the set inter-vehicle distance is input while the host vehicle is coasting, the driving control is switched from coasting control to powering control. Therefore, it is possible to respond to a request for acceleration of the host vehicle made by the operator of the host vehicle while driving assistance control is being executed.

[0016] In the vehicle driving assistance device according to the present invention, for example, when the inter-vehicle distance control is being performed, the predetermined second operation is an operation for increasing the set inter-vehicle distance.

[0017] Since an operation to increase the set inter-vehicle distance causes the host vehicle to travel with a longer inter-vehicle distance, when an operation to increase the set inter-vehicle distance is performed, it can be determined that the operator wishes to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation to increase the set inter-vehicle distance is input while the host vehicle is being powered, the driving control is switched from powering control to coasting control. Therefore, a request for deceleration of the host vehicle by the operator of the host vehicle while driving assistance control is being executed can be met.

[0018] Furthermore, in the vehicle driving assistance device according to the present invention, for example, when the vehicle speed control is being executed, the predetermined first operation is an operation that delays the timing at which the vehicle speed reaches an upper limit value of the predetermined vehicle speed range and the driving control is switched from the powering control to the coasting control.

[0019] A delay in the timing at which the cruise control is switched from powering control to coasting control when the vehicle speed reaches the upper limit of the predetermined vehicle speed range means that the upper limit of the predetermined vehicle speed range is higher, and therefore the host vehicle will be driven by powering control until the vehicle speed reaches a higher speed, and therefore it can be determined that the operator desires to accelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation is input to delay the timing at which the cruise control is switched from powering control to coasting control when the vehicle speed reaches the upper limit of the predetermined vehicle speed range, the cruise control is switched from coasting control to powering control. This makes it possible to respond to a request for acceleration of the host vehicle made by the operator of the host vehicle while driving assistance control is being executed.

[0020] In the vehicle driving assistance device according to the present invention, for example, when the vehicle speed control is being executed, the predetermined second operation is an operation that advances the timing at which the vehicle speed reaches an upper limit value of the predetermined vehicle speed range and the driving control switches from the powering control to the coasting control.

[0021] The earlier timing at which the cruise control is switched from powering control to coasting control when the vehicle speed reaches the upper limit of the predetermined vehicle speed range means that the upper limit of the predetermined vehicle speed range is lower, and therefore the cruise control is switched from powering control to coasting control while the vehicle speed is still lower, and it can be determined that the operator wants to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation is input to advance the timing at which the cruise control is switched from powering control to coasting control when the vehicle speed reaches the upper limit of the predetermined vehicle speed range, the cruise control is switched from powering control to coasting control. This makes it possible to respond to a request by the operator of the host vehicle to decelerate the host vehicle while driving assistance control is being executed.

[0022] Furthermore, in the vehicle driving assistance device according to the present invention, for example, when the inter-vehicle distance control is being executed, the predetermined first operation is an operation that delays the timing at which the inter-vehicle distance reaches a lower limit value of the predetermined inter-vehicle distance range and the driving control is switched from the powering control to the coasting control.

[0023] A delay in the timing at which the cruise control is switched from powering control to coasting control when the inter-vehicle distance reaches the lower limit of the predetermined inter-vehicle distance range means that the lower limit of the predetermined inter-vehicle distance range is shortened, and therefore means that the host vehicle will be driven by powering control until the inter-vehicle distance becomes shorter, and therefore it can be determined that the operator wants to accelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation is input to delay the timing at which the cruise control is switched from powering control to coasting control when the inter-vehicle distance reaches the lower limit of the predetermined inter-vehicle distance range, the cruise control is switched from coasting control to powering control. This makes it possible to respond to a request for acceleration of the host vehicle made by the operator of the host vehicle while driving assistance control is being executed.

[0024] Furthermore, in the vehicle driving assistance device according to the present invention, for example, when the inter-vehicle distance control is being executed, the predetermined second operation is an operation that advances the timing at which the inter-vehicle distance reaches the lower limit value of the predetermined inter-vehicle distance range and the driving control is switched from the powering control to the coasting control.

[0025] The earlier timing at which the cruise control is switched from powering control to coasting control when the inter-vehicle distance reaches the lower limit of the predetermined inter-vehicle distance range means that the lower limit of the predetermined inter-vehicle distance range is longer, and therefore means that the cruise control is switched from powering control to coasting control while the inter-vehicle distance is still longer, and it can be determined that the operator wants to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, when an operation is input to advance the timing at which the cruise control is switched from powering control to coasting control when the inter-vehicle distance reaches the lower limit of the predetermined inter-vehicle distance range, the cruise control is switched from powering control to coasting control. This makes it possible to respond to a request by the operator of the host vehicle to decelerate the host vehicle while driving assistance control is being executed.

[0026] Furthermore, in the vehicle driving assistance device according to the present invention, when the control device is configured to perform the first switching process during execution of the vehicle speed control, the control device may be configured not to perform the first switching process if the vehicle speed is higher than a predetermined first vehicle speed within the predetermined vehicle speed range when the predetermined first operation is input to the control device during execution of the coasting control. Furthermore, when the control device is configured to perform the second switching process during execution of the vehicle speed control, the control device may be configured not to perform the second switching process if the vehicle speed is lower than a predetermined second vehicle speed within the predetermined vehicle speed range when the predetermined second operation is input to the control device during execution of the powering control.

[0027] If the coasting control is causing the vehicle speed to decrease, but the vehicle speed is relatively high, and the cruise control is switched from the coasting control to the powering control, the vehicle speed will remain high for a long time. According to the vehicle driving assistance device of the present invention, when the coasting control is being executed and the vehicle speed is higher than a predetermined first vehicle speed within a predetermined vehicle speed range when a predetermined first operation is input during the coasting control, the cruise control is not switched from the coasting control to the powering control. This makes it possible to prevent the vehicle speed from remaining high for a long time.

[0028] Furthermore, if the vehicle speed is increasing due to powering control but the cruise control is switched from powering control to coasting control when the vehicle speed is relatively low, the vehicle speed will remain low for a long time. According to the vehicle driving assistance device of the present invention, when the vehicle speed control is being executed, if the vehicle speed is lower than a predetermined second vehicle speed within a predetermined vehicle speed range when a predetermined second operation is input during powering control, the cruise control will not be switched from powering control to coasting control. This makes it possible to prevent the vehicle speed from remaining low for a long time.

[0029] Furthermore, in the vehicle driving assistance device according to the present invention, when the control device is configured to perform the first switching process during execution of the inter-vehicle distance control, the control device may be configured not to perform the first switching process if the inter-vehicle distance is shorter than a predetermined first inter-vehicle distance within the predetermined inter-vehicle distance range when the predetermined first operation is input to the control device during execution of the coasting control. Furthermore, when the control device is configured to perform the second switching process during execution of the inter-vehicle distance control, the control device may be configured not to perform the second switching process if the inter-vehicle distance is longer than a predetermined second inter-vehicle distance within the predetermined inter-vehicle distance range when the predetermined second operation is input to the control device during execution of the powering control.

[0030] Although the inter-vehicle distance is increasing due to coasting control, if the cruise control is switched from coasting control to powering control when the inter-vehicle distance is relatively short, the inter-vehicle distance will remain short for a long time. According to the vehicle driving assistance device of the present invention, when the inter-vehicle distance control is being executed, if the inter-vehicle distance is shorter than the predetermined first inter-vehicle distance within the predetermined vehicle speed range when the predetermined first operation is input during execution of the coasting control, the cruise control is not switched from coasting control to powering control. This makes it possible to prevent the inter-vehicle distance from remaining short for a long time.

[0031] Furthermore, if the powering control is used to shorten the inter-vehicle distance, but the inter-vehicle distance is still relatively long, and the cruise control is switched from powering control to coasting control, the inter-vehicle distance will remain long. According to the vehicle driving assistance device of the present invention, when the inter-vehicle distance control is being executed, if the inter-vehicle distance is longer than the predetermined second inter-vehicle distance within the predetermined vehicle speed range when the predetermined second operation is input during the execution of the powering control, the cruise control is not switched from powering control to coasting control. This makes it possible to prevent the inter-vehicle distance from remaining long.

[0032] Furthermore, in the vehicle driving assistance device according to the present invention, when the control device is configured to perform both the first switching process and the second switching process, if the time that has elapsed since the first switching process was performed during execution of the driving assistance control is shorter than a predetermined first time, the control device may be configured not to perform the second switching process even if the predetermined second operation is input to the control device. Furthermore, when the control device is configured to perform both the first switching process and the second switching process, if the time that has elapsed since the second switching process was performed during execution of the driving assistance control is shorter than a predetermined second time, the control device may be configured not to perform the first switching process even if the predetermined first operation is input to the control device.

[0033] If the cruise control is switched from powering control to coasting control within a short period of time after powering control is initiated by the first switching process, the cruise control will be frequently switched between coasting control and powering control. According to the vehicle driving assistance device of the present invention, if the time that has elapsed since the cruise control was switched from coasting control to powering control during execution of driving assistance control is shorter than a predetermined first time, the cruise control will not be switched from powering control to coasting control even if a predetermined second operation is input. This makes it possible to prevent the cruise control from being frequently switched between coasting control and powering control.

[0034] Furthermore, if the cruise control is switched from coasting control to powering control within a short period of time after coasting control is initiated by the second switching process, the cruise control will be frequently switched between coasting control and powering control. According to the vehicle driving assistance device of the present invention, if the time that has elapsed since the cruise control was switched from powering control to coasting control during execution of driving assistance control is shorter than a predetermined second time, the cruise control will not be switched from coasting control to powering control even if a predetermined first operation is input. This makes it possible to prevent the cruise control from being frequently switched between coasting control and powering control.

[0035] In the vehicle driving assistance device according to the present invention, for example, when the vehicle speed control is being performed, the predetermined first operation is an operation to increase the set vehicle speed, and when the vehicle speed control is being performed, the predetermined second operation is an operation to decrease the set vehicle speed. In this case, when the control device is configured to perform the first switching process when the vehicle speed control is being performed, if the amount by which the set vehicle speed is increased by the predetermined first operation is smaller than a predetermined set vehicle speed increase amount when the predetermined first operation is input to the control device during the coasting control, the control device may be configured not to perform the first switching process. When the control device is configured to perform the second switching process when the vehicle speed control is being performed, if the amount by which the set vehicle speed is decreased by the predetermined second operation is smaller than a predetermined set vehicle speed decrease amount when the predetermined second operation is input to the control device during the powering control, the control device may be configured not to perform the second switching process.

[0036] When the amount of increase in the set vehicle speed that the operator is trying to make is small, it can be determined that the operator does not want to accelerate the host vehicle. According to the vehicle driving assistance device of the present invention, even if a predetermined first operation is input during execution of coasting control, if the amount of increase in the set vehicle speed is smaller than the predetermined set vehicle speed increase amount, the driving control is not switched from coasting control to powering control. Therefore, it is possible to appropriately respond to a request for acceleration of the host vehicle made by the operator of the host vehicle during execution of vehicle speed control.

[0037] Furthermore, if the amount of the set vehicle speed that the operator is trying to reduce is small, it can be determined that the operator does not have a request to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, even if a predetermined second operation is input during execution of powering control, if the amount of reduction in the set vehicle speed is smaller than the predetermined set vehicle speed reduction amount, the driving control is not switched from powering control to coasting control. Therefore, it is possible to appropriately respond to a request for deceleration of the host vehicle made by the operator of the host vehicle during execution of vehicle speed control.

[0038] In the vehicle driving assistance device according to the present invention, for example, when the inter-vehicle distance control is being performed, the predetermined first operation is an operation to decrease the set inter-vehicle distance, and when the inter-vehicle distance control is being performed, the predetermined second operation is an operation to increase the set inter-vehicle distance. In this case, when the control device is configured to perform the first switching process when the inter-vehicle distance control is being performed, if the amount by which the set inter-vehicle distance is decreased by the predetermined first operation when the control device is input during coasting control is smaller than a predetermined set inter-vehicle distance decrease amount, the control device may be configured not to perform the first switching process. When the control device is configured to perform the second switching process when the inter-vehicle distance control is being performed, if the amount by which the set inter-vehicle distance is increased by the predetermined second operation when the control device is input during powering control is smaller than a predetermined set inter-vehicle distance increase amount, the control device may be configured not to perform the second switching process.

[0039] When the amount of the set inter-vehicle distance that the operator is trying to reduce is small, it can be determined that the operator does not request that the host vehicle accelerate. According to the vehicle driving assistance device of the present invention, even if a predetermined first operation is input during execution of coasting control, if the amount of reduction in the set inter-vehicle distance is smaller than the predetermined set vehicle speed reduction amount, the driving control is not switched from coasting control to powering control. Therefore, it is possible to appropriately respond to a request for acceleration of the host vehicle made by the operator of the host vehicle during execution of inter-vehicle distance control.

[0040] Furthermore, if the amount of increase in the set inter-vehicle distance that the operator is trying to make is small, it can be determined that the operator has no request to decelerate the host vehicle. According to the vehicle driving assistance device of the present invention, even if a predetermined second operation is input during execution of powering control, if the amount of increase in the set inter-vehicle distance is smaller than the predetermined set vehicle speed increase amount, the driving control is not switched from powering control to coasting control. Therefore, it is possible to appropriately respond to a request for deceleration of the host vehicle made by the operator of the host vehicle during execution of inter-vehicle distance control.

[0041] In the vehicle driving assistance device according to the present invention, the control device may be configured to execute normal vehicle speed control for causing the host vehicle to travel so that the vehicle speed is maintained at the set vehicle speed. In this case, for example, when the vehicle speed control is executed, the predetermined first operation is the same as an operation for increasing the set vehicle speed when the normal vehicle speed control is executed, and the predetermined second operation is the same as an operation for decreasing the set vehicle speed when the normal vehicle speed control is executed.

[0042] According to the vehicle driving assistance device of the present invention, the operator of the vehicle can switch the driving control from coasting control to powering control, or from powering control to coasting control, by performing the same operations as those performed when normal vehicle speed control is being executed during vehicle speed control.

[0043] In the vehicle driving assistance device according to the present invention, the control device may be configured to execute normal inter-vehicle distance control for causing the host vehicle to travel so that the inter-vehicle distance is maintained at the set inter-vehicle distance. In this case, for example, when the inter-vehicle distance control is executed, the predetermined first operation is the same as an operation for decreasing the set inter-vehicle distance when the normal inter-vehicle distance control is executed, and the predetermined second operation is the same as an operation for increasing the set inter-vehicle distance when the normal inter-vehicle distance control is executed.

[0044] According to the vehicle driving assistance device of the present invention, the operator of the vehicle can switch the driving control from coasting control to powering control, or from powering control to coasting control, by performing the same operations as those normally performed when performing inter-vehicle distance control during the execution of inter-vehicle distance control.

[0045] Furthermore, in the vehicle driving assistance device according to the present invention, the powering control is, for example, control that powers the vehicle by operating the internal combustion engine at an optimal operating point where the operating efficiency of the internal combustion engine that provides driving force to the vehicle is maximized or at an operating point where the operating efficiency is approximately maximized.

[0046] According to the vehicle driving assistance device of the present invention, it is possible to execute powering control while keeping the amount of fuel consumed by the internal combustion engine small.

[0047] 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, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0048] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing one form of the operating device. [Figure 3] FIG. 3 is a diagram showing another embodiment of the operating device. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 7] FIG. 7 shows a scene where there is no preceding vehicle. [Figure 8] FIG. 8 shows a scene where a preceding vehicle is present. [Figure 9] FIG. 9 is a diagram showing the relationship between engine output power and energy efficiency of an internal combustion engine, and the relationship between motor output power and energy efficiency of a motor. [Figure 10] FIG. 10 is a diagram showing an example of processing that is performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 11]FIG. 11 is a diagram showing another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 12] FIG. 12 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 13] FIG. 13 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 14] FIG. 14 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 15] FIG. 15 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 16] FIG. 16 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 17] FIG. 17 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 18] FIG. 18 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 19] FIG. 19 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 20]FIG. 20 is a diagram showing yet another example of the processing performed in response to the operation of the increase switch and the decrease switch while the normal vehicle speed control and the eco vehicle speed control are being executed, respectively. [Figure 21] FIG. 21 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 22] FIG. 22 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 23] FIG. 23 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 24] FIG. 24 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0049] 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. 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 into the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0050] 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 for remotely driving 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.

[0051] 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 component. The microcomputer includes a CPU, storage media such as a ROM, a RAM, and a non-volatile memory, as well as an interface. The CPU executes instructions, programs, or routines stored in the storage media to realize various functions. In particular, in this example, the vehicle driving assistance device 10 stores programs in the storage media that realize various controls executed by the vehicle driving assistance device 10.

[0052] The vehicle driving assistance device 10 may be configured so that the program stored in the recording medium can be updated via wireless communication with an external device (for example, via the Internet).

[0053] The host vehicle 100 is also equipped with a drive unit 20, a braking unit 30, and a driving force transmission unit 40.

[0054] The drive device 20 is a device that generates a drive force to be applied to the host vehicle 100 (particularly, the drive wheels of the host vehicle 100), and in this example, includes an internal combustion engine 21 and an electric motor 22. The drive device 20 is electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the drive force output from the host vehicle 100 by controlling the operation of the drive device 20 (more specifically, the operation of the internal combustion engine 21 and the electric motor 22).

[0055] The braking device 30 is a device that applies braking force to the host vehicle 100 (particularly, the wheels of the host vehicle 100), and in this example, includes a hydraulic brake device 31. The braking 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 braking device 30 (more specifically, the operation of the hydraulic brake device 31).

[0056] Furthermore, the driving force transmission device 40 is a device, such as a transmission, that transmits the driving force output from the drive unit 20 to the drive wheels of the host vehicle 100. The driving force transmission device 40 is electrically connected to the ECU 90. By controlling the operation of the driving force transmission device 40, the vehicle driving assistance device 10 can establish a path (driving force transmission path) for transmitting driving force from the drive unit 20 to the drive wheels of the host vehicle 100, thereby transmitting the driving force output from the drive unit 20 to the drive wheels of the host vehicle 100, or can interrupt the driving force transmission path to prevent the driving force from being transmitted from the drive unit 20 to the drive wheels of the host vehicle 100.

[0057] Furthermore, the vehicle 100 is equipped with an operation device 50, a vehicle speed detection device 60, and a surrounding information acquisition device .

[0058] The operating device 50 is a device through which the driver of the vehicle 100 inputs various operations, and in this example, is equipped with a driving assistance switch 51, an eco-assistance switch 52, a vehicle speed setting switch 53, a vehicle speed increase switch 54, and a vehicle speed decrease switch 55.

[0059] 2, the operation device 50 is, for example, a panel 50B having various buttons provided on the steering wheel 105 of the vehicle 100. In the example shown in FIG. 2, the button 51B corresponds to the driving assistance switch 51, the button 52B corresponds to the eco assistance switch 52, the button 53B corresponds to the vehicle speed setting switch 53, the button 54B corresponds to the vehicle speed increase switch 54, and the button 55B corresponds to the vehicle speed decrease switch 55.

[0060] 3, the operation device 50 may be a lever 50L attached to the steering column of the vehicle 100. In the example shown in FIG. 3, for example, a button 51L provided on the lever 50L corresponds to the driving assistance switch 51. Therefore, the operation of pressing the button 51L corresponds to the operation of the driving assistance switch 51. In the example shown in FIG. 3, the operation of pulling the lever 50L toward you (in the direction indicated by the symbol A) corresponds to the operation of the eco assistance switch 52, the operation of pushing the lever 50L away from you (in the direction indicated by the symbol B) corresponds to the operation of the vehicle speed setting switch 53, the operation of pushing the lever 50L upward (in the direction indicated by the symbol C) corresponds to the operation of the vehicle speed increase switch 54, and the operation of pushing the lever 50L downward (in the direction indicated by the symbol D) corresponds to the operation of the vehicle speed decrease switch 55.

[0061] The driving assistance switch 51 is a device operated by the driver, and by operating the driving assistance switch 51, the driver can request the vehicle driving assistance device 10 to execute driving assistance control, which will be described later, or to stop the driving assistance control. The driving assistance switch 51 is electrically connected to the ECU 90. If the driver operates the driving assistance switch 51 when driving assistance control is not being executed, the vehicle driving assistance device 10 determines that execution of driving assistance control has been requested. On the other hand, if the driver operates the driving assistance switch 51 when driving assistance control is being executed, the vehicle driving assistance device 10 determines that stop of driving assistance control has been requested.

[0062] The eco-assistance switch 52 is a device operated by the driver, and the driver can request the execution of eco-assistance vehicle speed control, which will be described later, or the stop of eco-assistance vehicle speed control by operating the eco-assistance switch 52. The eco-assistance switch 52 is electrically connected to the ECU 90. If the driver operates the eco-assistance switch 52 when eco-assistance vehicle speed control is not being executed, the vehicle driving assistance device 10 determines that the execution of eco-assistance vehicle speed control has been requested. On the other hand, if the driver operates the eco-assistance switch 52 when eco-assistance vehicle speed control is being executed, the vehicle driving assistance device 10 determines that the stop of eco-assistance vehicle speed control has been requested.

[0063] The vehicle speed setting switch 53 is a device operated by the driver, and the driver can set a set vehicle speed Vset, which will be described later, by operating the vehicle speed setting switch 53. The vehicle speed setting switch 53 is electrically connected to the ECU 90. When the vehicle speed setting switch 53 is operated (i.e., when a vehicle speed setting operation is input to the vehicle driving assistance device 10), the vehicle driving assistance device 10 sets the set vehicle speed Vset.

[0064] The set vehicle speed Vset set at this time may be the traveling speed of the host vehicle 100 at that time, or may be an arbitrary vehicle speed designated by the vehicle speed setting switch 53.

[0065] The vehicle speed increase switch 54 is a device operated by the driver, and the driver can increase the set vehicle speed Vset by operating the vehicle speed increase switch 54. The vehicle speed increase switch 54 is electrically connected to the ECU 90. When the vehicle speed increase switch 54 is operated during execution of driving assistance control, which will be described later, the vehicle driving assistance device 10 increases the set vehicle speed Vset.

[0066] In this example, the set vehicle speed Vset is increased by a predetermined vehicle speed ΔV each time the vehicle speed increase switch 54 is operated. The vehicle speed increase switch 54 may be not only a physically operable switch but also an electrostatic sensing switch.

[0067] The vehicle speed reduction switch 55 is a device operated by the driver, and the driver can reduce the set vehicle speed Vset by operating the vehicle speed reduction switch 55. The vehicle speed reduction switch 55 is electrically connected to the ECU 90. When the vehicle speed reduction switch 55 is operated during execution of driving assistance control, which will be described later, the vehicle driving assistance device 10 reduces the set vehicle speed Vset.

[0068] In this example, the set vehicle speed Vset is reduced by a predetermined vehicle speed ΔV each time the vehicle speed reduction switch 55 is operated. The vehicle speed reduction switch 55 may be not only a physically operable switch but also an electrostatic sensing switch.

[0069] The vehicle speed detection device 60 is a device that detects the traveling speed of the host vehicle 100, and includes, for example, wheel speed sensors provided on each wheel of the host vehicle 100. The vehicle speed detection device 60 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 using the vehicle speed detection device 60.

[0070] The surrounding information acquisition device 70 is a device that acquires information about the surroundings of the host vehicle 100 as surrounding information IS. In this example, the surrounding information acquisition device 70 includes an electromagnetic wave sensor 71 such as a radar sensor and an image sensor 72 such as a camera sensor. The electromagnetic wave sensor 71 and the image sensor 72 are electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires data about targets present in the surroundings of the host vehicle 100 (target information IO) as surrounding information IS using the electromagnetic wave sensor 71. In addition, the vehicle driving assistance device 10 acquires image data (image information IC) of the area ahead of the host vehicle 100 as surrounding information IS using the image sensor 72.

[0071] <Operation of vehicle driving assistance device> Next, an outline of the operation of the vehicle driving assistance device 10 will be described.

[0072] The vehicle driving assistance device 10 executes the routine shown in Fig. 4 at predetermined time intervals to set the set vehicle speed Vset, etc., when the driving assistance execution condition Cassist is satisfied. Furthermore, the vehicle driving assistance device 10 executes the routine shown in Fig. 5 at predetermined time intervals to perform driving assistance control as automatic driving control or autonomous driving control when the driving assistance execution condition Cassist is satisfied. The routines shown in Fig. 4 and Fig. 5 will now be described.

[0073] At a predetermined timing, the vehicle driving assistance device 10 starts processing from step S400 of the routine shown in Fig. 4, and proceeds to step S405 to determine whether the driving assistance execution condition Cassist is satisfied. The driving assistance execution condition Cassist is a condition that indicates that execution of driving assistance control is requested.

[0074] Next, the vehicle driving assistance device 10 proceeds to step S410, where it determines whether or not a vehicle speed setting operation has been performed by the driver (in other words, whether or not a setting operation has been input to the vehicle driving assistance device 10). The vehicle speed setting operation is an operation performed by the driver on the vehicle speed setting switch 53 to set the set vehicle speed Vset.

[0075] If the determination in step S410 is "Yes," the vehicle driving assistance device 10 proceeds to step S415 to set the set vehicle speed Vset. Next, the vehicle driving assistance device 10 proceeds to step S420.

[0076] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S410, the process proceeds directly to step S420.

[0077] When the process proceeds to step S420, the vehicle driving assistance device 10 determines whether or not a vehicle speed increasing operation has been performed (in other words, whether or not a vehicle speed increasing operation has been input to the vehicle driving assistance device 10). The vehicle speed increasing operation (predetermined first operation) is an operation performed by the driver on the vehicle speed increasing switch 54 to increase the set vehicle speed Vset.

[0078] If the determination in step S420 is "Yes," the vehicle driving assistance system 10 proceeds to step S425, where it increases the set vehicle speed Vset in accordance with the vehicle speed increasing operation amount ΔVup_opp. Next, the vehicle driving assistance system 10 proceeds to step S430.

[0079] The vehicle speed increase operation amount ΔVup_opp increases as the number of consecutive operations of the vehicle speed increase switch 54 increases. Therefore, for example, if the set vehicle speed Vset is increased by a predetermined vehicle speed ΔV when the vehicle speed increase switch 54 is operated once, when the vehicle speed increase switch 54 is operated twice, the set vehicle speed Vset is increased by a vehicle speed that is twice the predetermined vehicle speed ΔV in step S425.

[0080] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S420, the process proceeds directly to step S430.

[0081] When the process proceeds to step S430, the vehicle driving assistance device 10 determines whether or not a vehicle speed reduction operation has been performed (in other words, whether or not a vehicle speed reduction operation has been input to the vehicle driving assistance device 10). The vehicle speed reduction operation is an operation performed by the driver on the vehicle speed reduction switch 55 to reduce the set vehicle speed Vset.

[0082] If the determination in step S430 is "Yes," the vehicle driving assistance system 10 proceeds to step S435, where it decreases the set vehicle speed Vset in accordance with the vehicle speed decreasing operation amount ΔVdown_opp. Then, the vehicle driving assistance system 10 proceeds to step S440.

[0083] The vehicle speed reduction operation amount ΔVdown_opp increases as the number of consecutive operations of the vehicle speed reduction switch 55 increases. Therefore, for example, if the set vehicle speed Vset is reduced by the predetermined vehicle speed ΔV when the vehicle speed reduction switch 55 is operated once, when the vehicle speed reduction switch 55 is operated twice, the set vehicle speed Vset is reduced by twice the predetermined vehicle speed ΔV in step S435.

[0084] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S430, the process proceeds directly to step S440.

[0085] When the process proceeds to step S440, the vehicle driving assistance device 10 determines whether or not the eco-assist condition Ceco is satisfied. The eco-assist condition Ceco is a condition that indicates that eco-assistance is required.

[0086] If the determination in step S440 is "Yes," the vehicle driving assistance device 10 proceeds to step S445 and sets a control vehicle speed range ΔVcontrol.

[0087] In this example, the control vehicle speed range ΔVcontrol is set to a predetermined ratio Rv_preset of the set vehicle speed Vset. The predetermined ratio Rv_preset is a value smaller than 1, such as 0.2. The control vehicle speed range ΔVcontrol may also be a constant value ΔVconstant, regardless of the set vehicle speed Vset. In this case, the constant value ΔVconstant is a value smaller than the lower limit of the set vehicle speed Vset that can be set.

[0088] Next, the vehicle driving assistance system 10 proceeds to step S450 to set a lower limit vehicle speed Vlow, which is a value obtained by subtracting a control vehicle speed range ΔVcontrol from the set vehicle speed Vset.

[0089] Next, the vehicle driving assistance device 10 advances the process to step S495 and temporarily ends the process of this routine.

[0090] On the other hand, if the determination in step S440 is "No," the vehicle driving assistance device 10 proceeds directly to step S495 and temporarily ends the processing of this routine.

[0091] Also, if the determination in step S405 is "No," the vehicle driving assistance device 10 proceeds directly to step S495 and temporarily ends the processing of this routine.

[0092] Furthermore, at a predetermined timing, the vehicle driving assistance device 10 starts the processing from step S500 of the routine shown in FIG. 5, and proceeds to step S505 to determine whether the vehicle speed control execution condition Ccc is satisfied.

[0093] The vehicle speed control execution condition Ccc is a condition in which the execution of driving assist control is requested and the preceding vehicle 200 does not exist, as shown in Fig. 7. In other words, the vehicle speed control execution condition Ccc is a condition in which the driving assist execution condition Cassist is satisfied and the preceding vehicle 200 does not exist.

[0094] As shown in Fig. 8, the preceding vehicle 200 is a vehicle traveling ahead of the host vehicle 100 in the host vehicle driving lane LN1, and is present within a predetermined inter-vehicle distance Dth from the host vehicle 100. In other words, the preceding vehicle 200 is a vehicle traveling ahead of the host vehicle 100 in the host vehicle driving lane LN1, and is a vehicle whose distance from the host vehicle 100 (inter-vehicle distance D) is less than or equal to the predetermined inter-vehicle distance Dth. The host vehicle driving lane LN1 is the lane in which the host vehicle 100 is traveling. In this example, the vehicle driving assistance device 10 determines whether the preceding vehicle 200 is present based on the surrounding information IS, and acquires the inter-vehicle distance D based on the surrounding information IS.

[0095] If the determination in step S505 is "Yes," the vehicle driving assistance device 10 proceeds to step S510, where it determines whether the eco-assistance condition Ceco is satisfied. As described above, the eco-assistance condition Ceco is a condition that indicates that eco-assistance is required.

[0096] If the vehicle driving assistance device 10 determines "Yes" in step S510, the process proceeds to step S515, and executes the routine shown in Fig. 6 to perform eco-vehicle speed control, which is one type of driving assistance control. As will be described below, eco-vehicle speed control is a control that causes the host vehicle 100 to travel autonomously while maintaining the host vehicle speed V within a predetermined vehicle speed range Wv. The predetermined vehicle speed range Wv is a vehicle speed range whose upper limit is the set vehicle speed Vset and whose lower limit is the lower limit vehicle speed Vlow.

[0097] When the process proceeds to step S515, the vehicle driving assistance device 10 starts the process from step S600 of the routine shown in FIG. 6, and proceeds to step S605 to determine whether the host vehicle speed V is lower than the set vehicle speed Vset.

[0098] If the determination in step S605 is "No" (ie, if the host vehicle speed V is equal to or greater than the set vehicle speed Vset), the vehicle driving assistance device 10 proceeds to step S650 and executes coasting control.

[0099] Coasting control is control that causes the host vehicle 100 to travel so as to coast. In this example, coasting control is control that blocks a path (driving force transmission path) for transmitting driving force from the drive unit 20 to the drive wheels of the host vehicle 100 by controlling the operation of the driving force transmission device 40. Therefore, according to coasting control, the host vehicle 100 is decelerated mainly by air resistance and road surface resistance. Note that the vehicle driving assistance device 10 may stop the operation of the internal combustion engine 21 or may operate the internal combustion engine 21 in an idling state when executing coasting control.

[0100] Next, the vehicle driving assistance device 10 advances the process to step S595 of the routine shown in FIG. 5 via step S695, and temporarily ends the process of this routine.

[0101] On the other hand, if the vehicle driving assistance device 10 judges "Yes" in step S605 (i.e., if the vehicle speed V is lower than the set vehicle speed Vset), the process proceeds to step S610, where it determines whether the vehicle speed V is higher than the lower limit vehicle speed Vlow.

[0102] If the determination in step S610 is "No" (ie, if the host vehicle speed V is equal to or lower than the lower limit vehicle speed Vlow), the vehicle driving assistance device 10 proceeds to step S655 and executes powering control.

[0103] Powering control is a control for driving the host vehicle 100 while applying a driving force to the host vehicle 100. In this example, when performing powering control, the vehicle driving assistance device 10 may operate the drive unit 20 so that a driving force capable of accelerating the host vehicle 100 is applied to the host vehicle 100, or may perform optimal powering control as the powering control.

[0104] Optimal powering control is a control that powers the vehicle 100 by operating the internal combustion engine 21 at the optimal operating point where the operating efficiency of the internal combustion engine 21 that provides driving force to the vehicle 100 is maximized or at an operating point where the operating efficiency is approximately maximized.

[0105] In other words, the optimal powering control is a control that applies driving force to the host vehicle 100 while controlling the operation of the internal combustion engine 21 and the electric motor 22 so that the energy efficiency of the drive device 20 is maintained at or above a predetermined efficiency, and in this example, it is a control that applies driving force to the host vehicle 100 while controlling the operation of the internal combustion engine 21 and the electric motor 22 so that the energy efficiency of the drive device 20 is maximum efficiency or approximately maximum efficiency (efficiency very close to maximum efficiency). For example, if the relationship between the engine output power Peng (driving force output from the internal combustion engine 21) and the energy efficiency Eeng of the internal combustion engine 21 is the relationship shown by line Leng in Fig. 9, and the relationship between the motor output power Pmotor (driving force output from the electric motor 22) and the energy efficiency Emotor of the electric motor 22 is the relationship shown by line Lmotor in Fig. 9, the vehicle driving assistance device 10 operates the internal combustion engine 21 at an operating point (optimum operating point) where the energy efficiency Eeng (operating efficiency) of the internal combustion engine 21 is maximum efficiency or an operating point where the energy efficiency Eeng is approximately maximum. The operating point is a point determined by the rotation speed (or number of revolutions) of the internal combustion engine 21 and the load of the internal combustion engine 21.

[0106] When the internal combustion engine 21 is operated at the optimum operating point, its energy efficiency Eeng is at its highest value (maximum efficiency), and the engine output power Peng is at a value corresponding to the maximum efficiency (optimum engine output power P1) in the example shown in Fig. 9. In Fig. 9, the symbol P2 denotes the value of the motor output power when the energy efficiency Emotor of the electric motor 22 is at its highest.

[0107] Next, the vehicle driving assistance device 10 advances the process to step S595 of the routine shown in FIG. 5 via step S695, and temporarily ends the process of this routine.

[0108] On the other hand, if the vehicle driving assistance device 10 judges "Yes" in step S615 (i.e., if the vehicle speed V is higher than the lower limit vehicle speed Vlow), the process proceeds to step S615 and determines whether coasting control is currently being executed.

[0109] If the vehicle driving assistance device 10 judges "Yes" in step S615, it proceeds to step S620 and determines whether a vehicle speed increasing operation (i.e., an operation to increase the set vehicle speed Vset) has been performed (in other words, whether a vehicle speed increasing operation has been input to the vehicle driving assistance device 10).

[0110] If the determination in step S620 is "Yes," the vehicle driving assistance device 10 proceeds to step S625 and executes a first switching process. The first switching process is a process for switching the control for driving the host vehicle 100 (driving control) from coasting control to powering control.

[0111] Thus, in this example, when the vehicle speed V is within the predetermined vehicle speed range Wv and coasting control is being executed and a vehicle speed increase operation is input to the vehicle driving assistance device 10, the vehicle driving assistance device 10 determines that the driver of the vehicle 100 has requested that the vehicle 100 accelerate, and switches the driving control from coasting control to powering control to accelerate the vehicle 100.

[0112] The predetermined vehicle speed range Wv is a range of vehicle speeds that is lower than the set vehicle speed Vset and higher than the lower limit vehicle speed Vlow.

[0113] Next, the vehicle driving assistance device 10 advances the process to step S595 of the routine shown in FIG. 5 via step S695, and temporarily ends the process of this routine.

[0114] On the other hand, if the determination in step S620 is "No" (i.e., if a vehicle speed increasing operation is not being performed), the vehicle driving assistance device 10 proceeds to step S630 and continues coasting control. Next, the vehicle driving assistance device 10 proceeds to step S595 of the routine shown in FIG. 5 via step S695 and temporarily ends the processing of this routine.

[0115] Furthermore, if the vehicle driving assistance device 10 judges "No" in step S615 (i.e., if powering control is being executed rather than coasting control), the processing proceeds to step S635 and determines whether a vehicle speed reduction operation (i.e., an operation to reduce the set vehicle speed Vset) has been performed (in other words, whether a vehicle speed reduction operation has been input to the vehicle driving assistance device 10).

[0116] If the determination in step S635 is "Yes," the vehicle driving assistance device 10 proceeds to step S640 and executes a second switching process. The second switching process is a process for switching the control for driving the host vehicle 100 (driving control) from powering control to coasting control.

[0117] In this way, in this example, when the vehicle speed V is within the predetermined vehicle speed range Wv and powering control is being executed and a vehicle speed reduction operation is input to the vehicle driving assistance device 10, the vehicle driving assistance device 10 determines that the driver of the vehicle 100 has requested that the vehicle 100 be decelerated, and is configured to switch the driving control from powering control to coasting control to decelerate the vehicle 100.

[0118] Next, the vehicle driving assistance device 10 advances the process to step S595 of the routine shown in FIG. 5 via step S695, and temporarily ends the process of this routine.

[0119] On the other hand, if the determination in step S635 is "No" (i.e., if the vehicle speed reduction operation is not being performed), the vehicle driving assistance device 10 proceeds to step S645 and continues powering control. Next, the vehicle driving assistance device 10 proceeds to step S595 of the routine shown in Fig. 5 via step S695 and temporarily ends the processing of this routine.

[0120] 5, if the vehicle driving assistance device 10 determines "No" (i.e., the vehicle speed control execution condition Ccc is satisfied but the eco-assist condition Ceco is not satisfied), the process proceeds to step S520, where the vehicle driving assistance device 10 executes normal vehicle speed control, which is one type of driving assistance control. The normal vehicle speed control is a control for driving the vehicle 100 while controlling the acceleration / deceleration of the vehicle 100 so that the vehicle speed V is maintained at the set vehicle speed Vset.

[0121] Next, the vehicle driving assistance device 10 proceeds to step S595 and temporarily ends the processing of this routine.

[0122] If the vehicle driving assistance device 10 determines "No" in step S505 (i.e., if the vehicle speed control execution condition Ccc is not satisfied), the process proceeds to step S525, and if normal vehicle speed control is being executed at this time, the normal vehicle speed control is stopped, and if eco-vehicle speed control is being executed, the eco-vehicle speed control is stopped. Next, the vehicle driving assistance device 10 proceeds to step S595, and temporarily ends the process of this routine.

[0123] The operation of the vehicle driving assistance device 10 is as described above.

[0124] In this way, when the driver inputs a predetermined input to the vehicle driving assistance device 10 while the vehicle 100 is traveling in either an accelerating state or a coasting state at a vehicle speed within a predetermined vehicle speed range Wv including the set vehicle speed Vset, the vehicle driving assistance device 10 is configured to switch the traveling state from one of the accelerating state and the coasting state to the other of the accelerating state and the coasting state.

[0125] More specifically, the vehicle driving assistance device 10 is configured to perform at least one of a first switching process that switches the driving control from coasting control to powering control when a predetermined first operation (vehicle speed increase operation) is input to the vehicle driving assistance device 10 by the driver of the vehicle 100 while coasting control is being executed, and a second switching process that switches the driving control from powering control to coasting control when a predetermined second operation (vehicle speed decrease operation) is input to the vehicle driving assistance device 10 by the driver while powering control is being executed.

[0126] Therefore, when the driver inputs a predetermined first operation (operation to increase vehicle speed) while the host vehicle 100 is coasting, the vehicle driving assistance device 10 determines that the driver is requesting acceleration of the host vehicle 100 and switches the driving control from coasting control to powering control, or when the driver inputs a predetermined second operation (operation to reduce vehicle speed) while the host vehicle 100 is powering, the vehicle driving assistance device 10 determines that the driver is requesting deceleration of the host vehicle 100 and switches the driving control from powering control to coasting control. Therefore, it is possible to respond to a driver's request to accelerate or decelerate the host vehicle 100 while eco-vehicle speed control is being executed.

[0127] As can be seen from the above description, when the vehicle speed increasing operation (predetermined first operation) is performed, the set vehicle speed Vset increases, and the timing at which the cruise control is switched from powering control to coasting control becomes later. Therefore, the vehicle speed increasing operation can also be said to be an operation that delays the timing at which the host vehicle speed V reaches the upper limit value (set vehicle speed Vset) of the predetermined vehicle speed range Wv and the cruise control is switched from powering control to coasting control.

[0128] On the other hand, when a vehicle speed decreasing operation (predetermined second operation) is performed, the set vehicle speed Vset is lowered, and the timing at which the cruise control is switched from powering control to coasting control becomes earlier. Therefore, the vehicle speed decreasing operation can be said to be an operation that accelerates the timing at which the host vehicle speed V reaches the upper limit value (set vehicle speed Vset) of the predetermined vehicle speed range Wv and the cruise control is switched from powering control to coasting control.

[0129] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0130] For example, after determining "Yes" in step S620 of the routine shown in Fig. 6, the vehicle driving assistance device 10 may be configured to determine whether the first switching limit condition Climit_1 is satisfied before proceeding to the next step S625, and if the first switching limit condition Climit_1 is not satisfied, proceed to step S625 to execute the first switching process, and if the first switching limit condition Climit_1 is satisfied, proceed to step S630 to execute the coasting control. In other words, the vehicle driving assistance device 10 may be configured not to execute the first switching process when the first switching limit condition Climit_1 is satisfied.

[0131] Here, the first switching limit condition Climit_1 is a condition that the host vehicle speed V is higher than a first vehicle speed V1. The first vehicle speed V1 is set to an appropriate value that is higher than the lower limit vehicle speed Vlow and lower than the set vehicle speed Vset, and is preferably set to a value intermediate between the lower limit vehicle speed Vlow and the set vehicle speed Vset or a value close to that value.

[0132] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when eco vehicle speed control is being executed and a vehicle speed increasing operation (predetermined first operation) is input to the vehicle driving assistance device 10 during coasting control execution and the vehicle speed V is higher than a predetermined first vehicle speed V1 within the predetermined vehicle speed range Wv.

[0133] According to this, although the vehicle speed V is decreasing due to coasting control, when the vehicle speed V is relatively high, the driving control is switched from coasting control to powering control, thereby preventing the vehicle speed V from remaining high for a long period of time.

[0134] Similarly, after determining "Yes" in step S635 of the routine shown in Fig. 6, the vehicle driving assistance device 10 may be configured to determine whether the second switchover limit condition Climit_2 is satisfied before proceeding to the next step S640, and if the second switchover limit condition Climit_2 is not satisfied, proceed to step S640 to execute the second switchover process, and if the second switchover limit condition Climit_2 is satisfied, proceed to step S645 to continue the powering control. That is, the vehicle driving assistance device 10 may be configured not to execute the second switchover process when the second switchover limit condition Climit_2 is satisfied.

[0135] Here, the second switching limit condition Climit_2 is a condition that the host vehicle speed V is lower than a second vehicle speed V2. The second vehicle speed V2 is set to an appropriate value that is higher than the lower limit vehicle speed Vlow and lower than the set vehicle speed Vset, and is preferably set to an intermediate value between the lower limit vehicle speed Vlow and the set vehicle speed Vset or a value close to that value. The second vehicle speed V2 may be the same value as the first vehicle speed V1 or may be a different value.

[0136] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when the vehicle speed V is lower than a predetermined second vehicle speed V2 within the predetermined vehicle speed range Wv when a vehicle speed reduction operation (a predetermined second operation) is input to the vehicle driving assistance device 10 during execution of the powering control when the eco vehicle speed control is being executed.

[0137] According to this, when the vehicle speed V is increasing due to powering control, but the vehicle speed V is relatively low, the driving control is switched from powering control to coasting control, thereby preventing the vehicle speed V from remaining low for a long period of time.

[0138] Alternatively, the first switching limit condition Climit_1 may be a condition that the coasting elapsed time Tcoast is shorter than a predetermined coasting elapsed time Tcoast_th. The coasting elapsed time Tcoast is the time that has elapsed since the second switching process was executed in step S640 and the travel control was switched from powering control to coasting control. The predetermined coasting elapsed time Tcoast_th is set to an appropriate value.

[0139] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when the time that has elapsed since the second switching process was performed during execution of eco-vehicle speed control is shorter than the predetermined coasting elapsed time Tcoast_th (predetermined second time), even if a vehicle speed increasing operation (predetermined first operation) is input to the vehicle driving assistance device 10.

[0140] This makes it possible to prevent the traveling control from being switched from coasting control to powering control in a short time after the coasting control is started by the second switching process, in other words, to prevent the traveling control from being frequently switched between coasting control and powering control.

[0141] Similarly, the second switching limit condition Climit_2 may be a condition that the powering elapsed time Tpower is shorter than a predetermined powering elapsed time Tpower_th. The powering elapsed time Tpower is the time that has elapsed since the first switching process was executed in step S625 and the traveling control was switched from coasting control to powering control. The predetermined powering elapsed time Tpower_th is set to an appropriate value.

[0142] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when the time that has elapsed since the first switching process was performed during execution of eco-vehicle speed control is shorter than the predetermined powering elapsed time Tpower_th (predetermined first time), even if a vehicle speed reduction operation (predetermined second operation) is input to the vehicle driving assistance device 10.

[0143] This makes it possible to prevent the traveling control from being switched from the powering control to the coasting control in a short time after the powering control is started by the first switching process, in other words, to prevent the traveling control from being frequently switched between the coasting control and the powering control.

[0144] Alternatively, the first switching limiting condition Climit_1 may be a condition that the set vehicle speed increase amount ΔVup is smaller than a predetermined set vehicle speed increase amount ΔVup_th. The set vehicle speed increase amount ΔVup is the amount by which the set vehicle speed Vset is increased by a vehicle speed increasing operation (a predetermined first operation). The predetermined set vehicle speed increase amount ΔVup_th is set to an appropriate value.

[0145] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when a vehicle speed increasing operation (a predetermined first operation) is input to the vehicle driving assistance device 10 while coasting control is being executed, and the amount by which the set vehicle speed Vset is increased by the vehicle speed increasing operation is smaller than the predetermined set vehicle speed increase amount ΔVup_th.

[0146] According to this, when the amount by which the driver attempts to increase the set vehicle speed Vset is small and it can be determined that the driver does not request to accelerate the vehicle 100, the travel control is not switched from coasting control to powering control. Therefore, it is possible to appropriately respond to the driver's request to accelerate the vehicle 100 while the vehicle speed control is being executed.

[0147] Similarly, the second switching limit condition Climit_2 may be a condition that the set vehicle speed decrease amount ΔVdown is smaller than a predetermined set vehicle speed decrease amount ΔVdown_th. The set vehicle speed decrease amount ΔVdown is the amount by which the set vehicle speed Vset is decreased by a vehicle speed decreasing operation (a predetermined second operation). The predetermined set vehicle speed decrease amount ΔVdown_th is set to an appropriate value.

[0148] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when a vehicle speed reduction operation (a predetermined second operation) is input to the vehicle driving assistance device 10 while powering control is being executed, and the amount by which the set vehicle speed Vset is reduced by the vehicle speed reduction operation is smaller than the predetermined set vehicle speed reduction amount ΔVdown_th.

[0149] According to this, when the amount by which the driver attempts to reduce the set vehicle speed Vset is small and it can be determined that the driver does not request to decelerate the vehicle 100, the traveling control is not switched from powering control to coasting control. Therefore, it is possible to appropriately respond to a request by the driver to decelerate the vehicle 100 while the vehicle speed control is being executed.

[0150] The vehicle driving assistance device 10 may be configured to, when a speed limit for the host vehicle 100 is detected based on the surrounding information IS, suggest to the driver that the speed limit be set as the set vehicle speed Vset, and when the driver accepts the suggestion, set the speed limit as the set vehicle speed Vset. The vehicle driving assistance device 10 may also be configured to, when a curved road is detected ahead of the host vehicle 100 based on the surrounding information IS, suggest to the driver that the set vehicle speed Vset be reduced, and when the driver accepts the suggestion, reduce the set vehicle speed Vset.

[0151] In this case, the set vehicle speed Vset is increased or decreased, but the vehicle driving assistance device 10 does not execute the first switching process or the second switching process. That is, the vehicle driving assistance device 10 is configured not to execute the first switching process or the second switching process except when the set vehicle speed Vset is increased or decreased by a vehicle speed increasing operation or a vehicle speed decreasing operation. In other words, even if the set vehicle speed Vset is increased or decreased by the driver's will, the vehicle driving assistance device 10 is configured not to execute the first switching process or the second switching process when the set vehicle speed Vset is increased or decreased by the driver's will due to an external factor such as detection of a speed limit or a curve.

[0152] In the above example, one device (i.e., vehicle speed increase switch 54) is provided as a device for inputting a vehicle speed increase operation to vehicle driving assistance device 10, and one device (i.e., vehicle speed decrease switch 55) is provided as a device for inputting a vehicle speed decrease operation to vehicle driving assistance device 10. Vehicle speed increase switch 54 is configured to be able to input one type of operation (vehicle speed increase operation), and vehicle speed decrease switch 55 is also configured to be able to input one type of operation (vehicle speed decrease operation). As shown in Figure 10, when normal vehicle speed control is being performed, an operation on the vehicle speed increase switch 54 is an operation to increase the set vehicle speed Vset (vehicle speed increase operation), and an operation on the vehicle speed decrease switch 55 is an operation to decrease the set vehicle speed Vset (vehicle speed decrease operation), but when eco vehicle speed control is being performed, an operation on the vehicle speed increase switch 54 is an operation to increase the set vehicle speed Vset (vehicle speed increase operation) and is also an operation to execute the first switching process, and an operation on the vehicle speed decrease switch 55 is an operation to decrease the set vehicle speed Vset (vehicle speed decrease operation) and is also an operation to execute the second switching process.

[0153] In this way, when eco vehicle speed control is being executed, the vehicle speed increasing operation (predetermined first operation) is the same operation as the operation that increases the set vehicle speed Vset when normal vehicle speed control is being executed, and the vehicle speed decreasing operation (predetermined second operation) is the same operation as the operation that decreases the set vehicle speed Vset when normal vehicle speed control is being executed.

[0154] However, the present invention is also applicable to a case where the vehicle speed increase switch 54 is configured to be able to input two or more types of operations, and the vehicle speed decrease switch 55 is configured to be able to input two or more types of operations.

[0155] For example, in the present invention, the vehicle speed increase switch 54 is configured to be able to input two types of operations: an operation with a relatively small amount of operation (for example, an operation to briefly press the button 54B shown in FIG. 2, an operation to rotate the lever 50L shown in FIG. 3 upward by a small angle (in the direction indicated by symbol C), or an operation to press the button 54B shown in FIG. 2 only once, which is an operation to increase the vehicle speed); and an operation with a relatively large amount of operation (for example, an operation to press the button 54B shown in FIG. 2 for a long time, an operation to rotate the lever 50L shown in FIG. 3 upward by a large angle (in the direction indicated by symbol C), or an operation to press the button 54B shown in FIG. 2 twice in succession, which is an operation to increase the vehicle speed). This is applicable when the vehicle speed reduction switch 55 is configured to be able to input two types of operations: an operation with a relatively small amount of operation (for example, a small vehicle speed reduction operation such as a short press of the button 55B shown in Figure 2, an operation of rotating the lever 50L shown in Figure 3 downward by a small angle (in the direction indicated by symbol D), or an operation of pressing the button 55B shown in Figure 2 only once), and an operation with a relatively large amount of operation (for example, a large vehicle speed reduction operation such as a long press of the button 55B shown in Figure 2, an operation of rotating the lever 50L shown in Figure 3 downward by a large angle (in the direction indicated by symbol D), or an operation of pressing the button 55B shown in Figure 2 twice in succession).

[0156] In this case, for example, as shown in Figure 11, when normal vehicle speed control is being executed, the small vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), but when eco vehicle speed control is being executed, the small vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), and is an operation that executes the first switching process.

[0157] Similarly, when normal vehicle speed control is being executed, the small decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), but when eco vehicle speed control is being executed, the small decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), and is an operation that executes the second switching process.

[0158] As shown in FIG. 12, when eco-vehicle speed control is being executed, the small vehicle speed increase operation may be set to an operation of increasing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the large vehicle speed increase operation may be set to only an operation of executing the first switching process, without including an operation of increasing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0159] Similarly, when eco-vehicle speed control is being executed, the small decrease operation may be set to an operation that decreases the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the large decrease operation may be set to only an operation that executes the second switching process, without including an operation that decreases the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0160] Alternatively, as shown in FIG. 13, when normal vehicle speed control is being executed, the small vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), but when eco vehicle speed control is being executed, the small vehicle speed increase operation may be set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h) and executing the first switching process, and the large vehicle speed increase operation may be set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h).

[0161] Similarly, when normal vehicle speed control is executed, the small decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the large decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h), but when eco vehicle speed control is executed, the small decrease operation may be set to an operation of decreasing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h) and executing the second switching process, and the large decrease operation may be set to an operation of decreasing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0162] As shown in FIG. 14, when eco-vehicle speed control is being executed, the small vehicle speed increase operation may be set to only the operation of executing the first switching process, without including the operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large vehicle speed increase operation may be set to the operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h).

[0163] Similarly, when eco-vehicle speed control is being executed, the small decrease operation may be set to only an operation that executes the second switching process, without including an operation that decreases the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the large decrease operation may be set to an operation that decreases the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0164] Alternatively, as shown in FIG. 15, when normal vehicle speed control is being executed, the small vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the large vehicle speed increase operation is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), but when eco vehicle speed control is being executed, the small vehicle speed increase operation may be set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h) and an operation that executes the first switching process, and the large vehicle speed increase operation may be set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h) and an operation that executes the first switching process.

[0165] Similarly, when normal vehicle speed control is being executed, the small decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the large decrease operation is set to an operation of decreasing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h), but when eco vehicle speed control is being executed, the small decrease operation may be set to an operation of decreasing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h) and an operation that causes the second switching process to be executed, and the large decrease operation may be set to an operation of decreasing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h) and an operation that causes the second switching process to be executed.

[0166] In addition, the present invention can also be applied to a case where multiple devices are provided as devices for inputting vehicle speed increase operations to the vehicle driving assistance device 10, and multiple devices are provided as devices for inputting vehicle speed decrease operations to the vehicle driving assistance device 10.

[0167] For example, the present invention is applicable when a vehicle speed increase switch 54 (small vehicle speed increase switch) that is operated to increase the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h), a vehicle speed increase switch 54 (large vehicle speed increase switch) that is operated to increase the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h), a vehicle speed decrease switch 55 (small vehicle speed decrease switch) that is operated to decrease the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h), and a vehicle speed decrease switch 55 (large vehicle speed decrease switch) that is operated to decrease the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h) are provided.

[0168] In this case, for example, as shown in Figure 16, when normal vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h), and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h), but when eco vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h), and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h), and is an operation that executes the first switching process.

[0169] Similarly, when normal vehicle speed control is being executed, operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h), and operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h), but when eco vehicle speed control is being executed, operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h), and operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h), and is an operation that executes the second switching process.

[0170] As shown in FIG. 17, when eco-vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) may be set to an operation that increases the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) may be set to only an operation that executes the first switching process, without including an operation that increases the set vehicle speed Vset by a relatively large value (for example, 5 km / h).

[0171] Similarly, when eco-vehicle speed control is being executed, the operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) may be set to an operation that reduces the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), and the operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) may be set to only an operation that executes the second switching process, without including an operation that reduces the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0172] Alternatively, as shown in FIG. 18, when normal vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h), and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h), but when eco vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) may be set to an operation of increasing the set vehicle speed Vset by relatively small values ​​(for example, 1 km / h) and executing the first switching process, and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) may be set to an operation of increasing the set vehicle speed Vset by relatively large values ​​(for example, 5 km / h).

[0173] Similarly, when normal vehicle speed control is being executed, operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h), and operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h), but when eco vehicle speed control is being executed, operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) may be set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h) and executing the second switching process, and operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) may be set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h).

[0174] As shown in FIG. 19, when eco-vehicle speed control is being executed, the operation of the small vehicle speed increase switch (small vehicle speed increase operation) does not include an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), but may be set to only an operation of executing the first switching process, and the operation of the large vehicle speed increase switch (large vehicle speed increase operation) may be set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h).

[0175] Similarly, when eco vehicle speed control is being executed, the operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) does not include an operation of reducing the set vehicle speed Vset by a relatively small value (e.g., 1 km / h), but may be set to only an operation of executing the second switching process, and the operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) may be set to an operation of reducing the set vehicle speed Vset by a relatively large value (e.g., 5 km / h).

[0176] Alternatively, as shown in FIG. 20, when normal vehicle speed control is being executed, an operation of the small vehicle speed increase switch (small vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h), and an operation of the large vehicle speed increase switch (large vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h), but when eco vehicle speed control is being executed, an operation of the small vehicle speed increase switch (small vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by a relatively small value (for example, 1 km / h) and an operation that executes the first switching process, and an operation of the large vehicle speed increase switch (large vehicle speed increase operation) is set to an operation of increasing the set vehicle speed Vset by a relatively large value (for example, 5 km / h) and an operation that executes the first switching process.

[0177] Similarly, when normal vehicle speed control is being executed, an operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h), and an operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) is set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h), but when eco vehicle speed control is being executed, an operation of the small vehicle speed reduction switch (small vehicle speed reduction operation) may be set to an operation of reducing the set vehicle speed Vset by relatively small values ​​(e.g., 1 km / h) and an operation that executes the second switching process, and an operation of the large vehicle speed reduction switch (large vehicle speed reduction operation) may be set to an operation of reducing the set vehicle speed Vset by relatively large values ​​(e.g., 5 km / h) and an operation that executes the second switching process.

[0178] The present invention is also applicable to a case where the vehicle driving assistance device 10 is configured to perform inter-vehicle control as driving assistance control.

[0179] In this case, as shown in FIG. 21, the vehicle 100 is further equipped with an inter-vehicle distance setting switch 56, an inter-vehicle distance increasing switch 57, and an inter-vehicle distance decreasing switch 58 as the operation device 50.

[0180] The inter-vehicle distance setting switch 56 is a device operated by the driver, and the driver can set a set inter-vehicle distance Dset, which will be described later, by operating the inter-vehicle distance setting switch 56. The inter-vehicle distance setting switch 56 is electrically connected to the ECU 90. When the inter-vehicle distance setting switch 56 is operated (i.e., when an operation to set an inter-vehicle distance is input to the vehicle driving assistance device 10), the vehicle driving assistance device 10 sets the set inter-vehicle distance Dset.

[0181] The set inter-vehicle distance Dset set at this time may be an arbitrary inter-vehicle distance designated by the inter-vehicle distance setting switch 56, or may be the inter-vehicle distance D at that time.

[0182] The inter-vehicle distance increase switch 57 is a device operated by the driver, and the driver can increase the set inter-vehicle distance Dset by operating the inter-vehicle distance increase switch 57. The inter-vehicle distance increase switch 57 is electrically connected to the ECU 90. When the inter-vehicle distance increase switch 57 is operated during execution of driving assist control, the vehicle driving assist device 10 increases the set inter-vehicle distance Dset.

[0183] In this example, every time the inter-vehicle distance increase switch 57 is operated, the set inter-vehicle distance Dset is increased by a predetermined distance ΔD.

[0184] The inter-vehicle distance decrease switch 58 is a device operated by the driver, and the driver can decrease the set inter-vehicle distance Dset by operating the inter-vehicle distance decrease switch 58. The inter-vehicle distance decrease switch 58 is electrically connected to the ECU 90. When the inter-vehicle distance decrease switch 58 is operated during execution of driving assist control, the vehicle driving assistance device 10 decreases the set inter-vehicle distance Dset.

[0185] In this example, every time the inter-vehicle distance decrease switch 58 is operated, the set inter-vehicle distance Dset is decreased by a predetermined distance ΔD.

[0186] The vehicle driving assistance device 10 is configured to execute the routines shown in Figures 22 and 23 at predetermined time intervals. In this example, the vehicle driving assistance device 10 is also configured to execute the routines shown in Figures 4 and 5 at predetermined time intervals.

[0187] At a predetermined timing, the vehicle driving assistance device 10 starts processing from step S2200 of the routine shown in Fig. 22, and proceeds to step S2205 to determine whether the driving assistance execution condition Cassist is satisfied. As described above, the driving assistance execution condition Cassist is a condition that indicates that execution of driving assistance control is requested.

[0188] Next, the vehicle driving assistance device 10 proceeds to step S2210, where it determines whether or not the driver has performed an operation to set the following distance (in other words, whether or not the setting operation has been input to the vehicle driving assistance device 10). The following distance setting operation is an operation performed by the driver on the following distance setting switch 56 to set the set following distance Dset.

[0189] If the determination in step S2210 is "Yes," the vehicle driving assistance device 10 proceeds to step S2215 to set the set inter-vehicle distance Dset. Next, the vehicle driving assistance device 10 proceeds to step S2220.

[0190] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S2210, the process proceeds directly to step S2220.

[0191] When the process proceeds to step S2220, the vehicle driving assistance device 10 determines whether an operation to increase the inter-vehicle distance has been performed (in other words, whether an operation to increase the inter-vehicle distance has been input to the vehicle driving assistance device 10). The operation to increase the inter-vehicle distance is an operation performed by the driver on the inter-vehicle distance increase switch 57 to increase the set inter-vehicle distance Dset.

[0192] If the determination in step S2220 is "Yes," the vehicle driving assistance system 10 proceeds to step S2225, where it increases the set inter-vehicle distance Dset in accordance with the inter-vehicle distance increasing operation amount ΔDup_opp. Next, the vehicle driving assistance system 10 proceeds to step S2230.

[0193] The inter-vehicle distance increase operation amount ΔDup_opp increases as the number of consecutive operations of the inter-vehicle distance increase switch 57 increases. Therefore, for example, if the set inter-vehicle distance Dset is increased by a predetermined distance ΔD when the inter-vehicle distance increase switch 57 is operated once, when the inter-vehicle distance increase switch 57 is operated twice, the set inter-vehicle distance Dset is increased by twice the predetermined distance ΔD in step S2225.

[0194] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S2220, the process proceeds directly to step S2230.

[0195] When the process proceeds to step S2230, the vehicle driving assistance device 10 determines whether or not an operation to decrease the inter-vehicle distance has been performed (in other words, whether or not an operation to decrease the inter-vehicle distance has been input to the vehicle driving assistance device 10). The operation to decrease the inter-vehicle distance is an operation performed by the driver on the inter-vehicle distance decrease switch 58 to decrease the set inter-vehicle distance Dset.

[0196] If the determination in step S2230 is "Yes," the vehicle driving assistance system 10 proceeds to step S2235, where it decreases the set inter-vehicle distance Dset in accordance with the inter-vehicle distance decreasing operation amount ΔDdown_opp. Then, the vehicle driving assistance system 10 proceeds to step S2240.

[0197] The inter-vehicle distance decrease operation amount ΔDdown_opp increases as the number of consecutive operations of the inter-vehicle distance decrease switch 58 increases. Therefore, for example, if the set inter-vehicle distance Dset is decreased by the predetermined distance ΔD when the inter-vehicle distance decrease switch 58 is operated once, when the inter-vehicle distance decrease switch 58 is operated twice, the set inter-vehicle distance Dset is decreased by twice the predetermined distance ΔD in step S2235.

[0198] On the other hand, if the determination in step S2230 is "No," the vehicle driving assistance device 10 proceeds directly to step S2240.

[0199] When the process proceeds to step S2240, the vehicle driving assistance device 10 determines whether the eco-assist condition Ceco is satisfied. As described above, the eco-assist condition Ceco is a condition that indicates that eco-assistance is required.

[0200] If the determination in step S2240 is "Yes", the vehicle driving assistance device 10 proceeds to step S2245 and sets the control inter-vehicle distance range ΔDcontrol.

[0201] In this example, the control inter-vehicle distance range ΔDcontrol is set to a predetermined ratio Rd_preset of the set inter-vehicle distance Dset. Note that the predetermined ratio Rd_preset is a value smaller than 1, such as 0.2. Alternatively, the control inter-vehicle distance range ΔDcontrol may be a constant value ΔDconstant, regardless of the set inter-vehicle distance Dset.

[0202] Next, the vehicle driving assistance device 10 proceeds to step S2250 to set the upper inter-vehicle distance limit Dupper. The upper inter-vehicle distance limit Dupper is a value obtained by adding the control inter-vehicle distance width ΔDcontrol to the set inter-vehicle distance Dset.

[0203] Next, the vehicle driving assistance device 10 proceeds to step S2295 and temporarily ends the processing of this routine.

[0204] On the other hand, if the determination in step S2240 is "No," the vehicle driving assistance device 10 proceeds directly to step S2295, and temporarily ends the processing of this routine.

[0205] Also, if the determination in step S2205 is "No," the vehicle driving assistance device 10 proceeds directly to step S2295 and temporarily ends the processing of this routine.

[0206] Furthermore, at a predetermined timing, the vehicle driving assistance device 10 starts processing from step S2300 of the routine shown in FIG. 23, and proceeds to step S2305 to determine whether the inter-vehicle distance control execution condition Cacc is satisfied.

[0207] The inter-vehicle distance control execution condition Cacc is a condition in which the execution of driving assist control is requested and the preceding vehicle 200 is present, as shown in Fig. 8. In other words, the inter-vehicle distance control execution condition Cacc is a condition in which the driving assist execution condition Cassist is satisfied and the preceding vehicle 200 is present.

[0208] If the determination in step S2305 is "Yes," the vehicle driving assistance device 10 proceeds to step S2310, where it determines whether the eco-assistance condition Ceco is satisfied. As described above, the eco-assistance condition Ceco is a condition that indicates that eco-assistance is required.

[0209] If the vehicle driving assistance device 10 determines "Yes" in step S2310, the process proceeds to step S2315, and executes the routine shown in Figure 24 to perform eco-friendly inter-vehicle distance control, which is one type of driving assistance control. As will be described below, eco-friendly inter-vehicle distance control is a control that causes the host vehicle 100 to travel autonomously while maintaining the inter-vehicle distance D within a predetermined inter-vehicle distance range Wd. The predetermined inter-vehicle distance range Wd is a range of inter-vehicle distances with the upper limit inter-vehicle distance Dupper as its upper limit and the set inter-vehicle distance Dset as its lower limit.

[0210] When the process proceeds to step S2315, the vehicle driving assistance device 10 starts the process from step S2400 of the routine shown in FIG. 24, and proceeds to step S2405 to determine whether the inter-vehicle distance D is longer than the set inter-vehicle distance Dset (lower limit inter-vehicle distance Dlow). In this example, the set inter-vehicle distance Dset is set to the lower limit inter-vehicle distance Dlow, but the value obtained by subtracting the control inter-vehicle distance width ΔDcontrol from the set inter-vehicle distance Dset may also be set to the lower limit inter-vehicle distance Dlow. In this case, however, when the control inter-vehicle distance width ΔDcontrol is a constant value regardless of the set inter-vehicle distance Dset, the control inter-vehicle distance width ΔDcontrol needs to be a value smaller than the lower limit of the set inter-vehicle distance Dset that can be set.

[0211] If the determination in step S2405 is "No" (ie, if the inter-vehicle distance D is equal to or less than the set inter-vehicle distance Dset), the vehicle driving assistance device 10 proceeds to step S2450 and executes coasting control.

[0212] Next, the vehicle driving assistance device 10 advances the process to step S2395 of the routine shown in FIG. 23 via step S2495, and temporarily ends the process of this routine.

[0213] On the other hand, if the vehicle driving assistance device 10 judges "Yes" in step S2405 (i.e., if the inter-vehicle distance D is longer than the set inter-vehicle distance Dset), the process proceeds to step S2410, where it determines whether the inter-vehicle distance D is shorter than the upper limit inter-vehicle distance Dupper.

[0214] If the determination in step S2410 is "No" (ie, if the inter-vehicle distance D is equal to or greater than the upper inter-vehicle distance limit Dupper), the vehicle driving assistance device 10 proceeds to step S2455 and executes powering control.

[0215] Next, the vehicle driving assistance device 10 advances the process to step S2395 of the routine shown in FIG. 23 via step S2495, and temporarily ends the process of this routine.

[0216] On the other hand, if the vehicle driving assistance device 10 determines "Yes" in step S2415 (i.e., if the inter-vehicle distance D is shorter than the upper limit inter-vehicle distance Dupper), the process proceeds to step S2415, where it determines whether coasting control is currently being executed.

[0217] If the vehicle driving assistance device 10 judges "Yes" in step S2415, it proceeds to step S2420 and determines whether an operation to decrease the inter-vehicle distance (i.e., an operation to decrease the set inter-vehicle distance Dset) has been performed (in other words, whether an operation to decrease the inter-vehicle distance has been input to the vehicle driving assistance device 10).

[0218] If the determination in step S2420 is "Yes," the vehicle driving assistance device 10 proceeds to step S2425 and executes the first switching process. As described above, the first switching process is a process for switching the control for driving the host vehicle 100 (driving control) from coasting control to powering control.

[0219] In this way, in this example, when the inter-vehicle distance D is within the predetermined inter-vehicle distance range Wd and coasting control is being executed and an operation to decrease the inter-vehicle distance is input to the vehicle driving assistance device 10, the vehicle driving assistance device 10 determines that the driver of the vehicle 100 has requested that the vehicle 100 accelerate, and switches the driving control from coasting control to powering control to accelerate the vehicle 100.

[0220] The predetermined inter-vehicle distance range Wd is a range of inter-vehicle distances that is longer than the set inter-vehicle distance Dset and shorter than the upper inter-vehicle distance limit Dupper.

[0221] Next, the vehicle driving assistance device 10 advances the process to step S2395 of the routine shown in FIG. 23 via step S2495, and temporarily ends the process of this routine.

[0222] On the other hand, if the determination in step S2420 is "No" (i.e., if an operation to reduce the inter-vehicle distance is not being performed), the vehicle driving assistance device 10 proceeds to step S2430 and continues coasting control. Next, the vehicle driving assistance device 10 proceeds to step S2395 of the routine shown in Figure 23 via step S2495 and temporarily ends the processing of this routine.

[0223] Furthermore, if the vehicle driving assistance device 10 judges "No" in step S2415 (i.e., if powering control is being executed rather than coasting control), the processing proceeds to step S2435 and determines whether an operation to increase the inter-vehicle distance (i.e., an operation to increase the set inter-vehicle distance Dset) has been performed (in other words, whether an operation to increase the inter-vehicle distance has been input to the vehicle driving assistance device 10).

[0224] If the determination in step S2435 is "Yes," the vehicle driving assistance device 10 proceeds to step S2440 and executes the second switching process. As described above, the second switching process is a process for switching the control for driving the host vehicle 100 (driving control) from powering control to coasting control.

[0225] In this way, in this example, when the inter-vehicle distance D is within the predetermined inter-vehicle distance range Wd and powering control is being executed and an operation to increase the inter-vehicle distance is input to the vehicle driving assistance device 10, the vehicle driving assistance device 10 determines that the driver of the vehicle 100 has requested that the vehicle 100 be decelerated, and switches the driving control from powering control to coasting control to decelerate the vehicle 100.

[0226] Next, the vehicle driving assistance device 10 advances the process to step S2395 of the routine shown in FIG. 23 via step S2495, and temporarily ends the process of this routine.

[0227] On the other hand, if the determination in step S2435 is "No" (i.e., if an operation to increase the inter-vehicle distance is not being performed), the vehicle driving assistance device 10 proceeds to step S2445 and continues powering control. Next, the vehicle driving assistance device 10 proceeds to step S2395 of the routine shown in Figure 23 via step S2495 and temporarily ends the processing of this routine.

[0228] 23 (i.e., the inter-vehicle distance control execution condition Cacc is satisfied but the eco-assistance condition Ceco is not satisfied), the vehicle driving assistance device 10 proceeds to step S2320 and executes normal inter-vehicle distance control, which is one of the driving assistance controls. The normal inter-vehicle distance control is a control in which the host vehicle 100 travels while controlling the acceleration / deceleration of the host vehicle 100 so that the inter-vehicle distance D is maintained at the set inter-vehicle distance Dset.

[0229] Next, the vehicle driving assistance system 10 proceeds to step S2395 and temporarily ends the processing of this routine.

[0230] If the vehicle driving assistance device 10 determines "No" in step S2305 (i.e., if the inter-vehicle distance control execution condition Cacc is not satisfied), the process proceeds to step S2325, where, if normal inter-vehicle distance control is being executed, the normal inter-vehicle distance control is stopped, and if eco inter-vehicle distance control is being executed, the eco inter-vehicle distance control is stopped. Next, the vehicle driving assistance device 10 proceeds to step S2395, where the process of this routine is temporarily terminated.

[0231] In this way, the vehicle driving assistance device 10 is configured to switch the driving state from one of the accelerating state and the coasting state to the other of the accelerating state and the coasting state when the driver provides a predetermined input to the vehicle driving assistance device 10 while the vehicle 100 is traveling in either an accelerating state or a coasting state at a vehicle-to-vehicle distance within a predetermined vehicle-to-vehicle distance range Wd that includes the set vehicle distance Dset.

[0232] More specifically, the vehicle driving assistance device 10 is configured to perform at least one of a first switching process that switches the driving control from coasting control to powering control when a predetermined first operation (operation to decrease the distance between vehicles) is input to the vehicle driving assistance device 10 by the driver of the vehicle 100 while coasting control is being performed, and a second switching process that switches the driving control from powering control to coasting control when a predetermined second operation (operation to increase the distance between vehicles) is input to the vehicle driving assistance device 10 by the driver while powering control is being performed.

[0233] Therefore, when the driver inputs a predetermined first operation (operation to decrease the inter-vehicle distance) while the host vehicle 100 is coasting, the vehicle driving assistance device 10 determines that the driver is requesting acceleration of the host vehicle 100 and switches the driving control from coasting control to powering control, or when the driver inputs a predetermined second operation (operation to increase the inter-vehicle distance) while the host vehicle 100 is powering, the vehicle driving assistance device 10 determines that the driver is requesting deceleration of the host vehicle 100 and switches the driving control from powering control to coasting control. Therefore, it is possible to respond to a driver's request to accelerate or decelerate the host vehicle 100 while eco-vehicle speed control is being executed.

[0234] The vehicle driving assistance device 10 may be configured to perform at least one of normal vehicle speed control and normal inter-vehicle distance control as driving assistance control. The normal vehicle speed control is control that autonomously controls the host vehicle speed V to a set vehicle speed Vset. The normal inter-vehicle distance control is control that controls the inter-vehicle distance D to a set inter-vehicle distance Dset. In this case, when the normal vehicle speed control and the normal inter-vehicle distance control are each considered to be driving controls, the vehicle driving assistance device 10 may be configured to perform at least one of a first switching process that switches the driving control from coasting control to normal vehicle speed control or normal inter-vehicle distance control when a predetermined first operation (inter-vehicle distance decrease operation) is input to the vehicle driving assistance device 10 by the driver of the host vehicle 100 while coasting control is being performed, and a second switching process that switches the driving control from powering control to normal vehicle speed control or normal inter-vehicle distance control when a predetermined second operation (inter-vehicle distance increase operation) is input to the vehicle driving assistance device 10 while powering control is being performed.

[0235] In this way, when the vehicle driving assistance device 10 is configured to perform driving control other than powering control and coasting control as driving control for driving the host vehicle 100, the vehicle driving assistance device 10 can be configured to perform driving assistance control for autonomously driving the host vehicle while switching between a plurality of driving controls for driving the host vehicle, the driving controls including a powering control for powering the host vehicle and a coasting control for coasting the host vehicle. In this case, the vehicle driving assistance device 10 can be configured to perform at least one of a first switching process for switching the driving control from the coasting control to a driving control other than the coasting control when a predetermined first operation (operation to decrease the inter-vehicle distance) is input to the vehicle driving assistance device 10 by the driver of the host vehicle 100 while the coasting control is being performed, and a second switching process for switching the driving control from the powering control to a driving control other than the powering control when a predetermined second operation (operation to increase the inter-vehicle distance) is input to the vehicle driving assistance device 10 while the powering control is being performed.

[0236] As can be seen from the above description, when an operation to decrease the inter-vehicle distance (predetermined first operation) is performed, the set inter-vehicle distance Dset becomes shorter, and the timing at which the cruise control is switched from powering control to coasting control becomes later. Therefore, the operation to decrease the inter-vehicle distance can be said to be an operation that delays the timing at which the inter-vehicle distance D reaches the lower limit value (set inter-vehicle distance Dset) of the predetermined inter-vehicle distance range Wd and the cruise control is switched from powering control to coasting control.

[0237] Furthermore, when an operation to increase the inter-vehicle distance (predetermined second operation) is performed, the set inter-vehicle distance Dset becomes longer, and the timing at which the cruise control is switched from powering control to coasting control becomes earlier. Therefore, the operation to increase the inter-vehicle distance can be said to be an operation that advances the timing at which the inter-vehicle distance D reaches the lower limit value (set inter-vehicle distance Dset) of the predetermined inter-vehicle distance range Wd and the cruise control is switched from powering control to coasting control.

[0238] 24, the vehicle driving assistance device 10 may be configured to determine whether the first switching limit condition Climit_1 is satisfied before proceeding to the next step S2425, and if the first switching limit condition Climit_1 is not satisfied, proceed to step S2425 to execute the first switching process, and if the first switching limit condition Climit_1 is satisfied, proceed to step S2430 to execute the coasting control. That is, the vehicle driving assistance device 10 may be configured not to execute the first switching process when the first switching limit condition Climit_1 is satisfied.

[0239] Here, the first switching restriction condition Climit_1 is a condition that the inter-vehicle distance D is shorter than the first inter-vehicle distance D1. The first inter-vehicle distance D1 is set to an appropriate value that is shorter than the upper limit inter-vehicle distance Dupper and longer than the set inter-vehicle distance Dset, and is preferably set to a value intermediate between the upper limit inter-vehicle distance Dupper and the set inter-vehicle distance Dset or a value close to that value.

[0240] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when eco-interval control is being performed and an operation to decrease the inter-vehicle distance (a predetermined first operation) is input to the vehicle driving assistance device 10 while coasting control is being performed, and the inter-vehicle distance D is shorter than a predetermined first inter-vehicle distance D1 within the predetermined inter-vehicle distance range Wd.

[0241] According to this, although the inter-vehicle distance D is increasing due to coasting control, when the inter-vehicle distance D is relatively short, the driving control is switched from coasting control to powering control, thereby preventing the inter-vehicle distance D from remaining short for a long period of time.

[0242] Similarly, after making a "Yes" determination in step S2435 of the routine shown in Fig. 24, the vehicle driving assistance device 10 may be configured to determine whether the second switchover limit condition Climit_2 is satisfied before proceeding to the next step S2440, and if the second switchover limit condition Climit_2 is not satisfied, proceed to step S2440 to execute the second switchover process, and if the second switchover limit condition Climit_2 is satisfied, proceed to step S2445 to execute powering control. That is, the vehicle driving assistance device 10 may be configured not to execute the second switchover process when the second switchover limit condition Climit_2 is satisfied.

[0243] Here, the second switching limit condition Climit_2 is a condition that the inter-vehicle distance D is longer than the second inter-vehicle distance D2. The second inter-vehicle distance D2 is set to an appropriate value that is shorter than the upper limit inter-vehicle distance Dupper and longer than the set inter-vehicle distance Dset, and is preferably set to an intermediate value between the upper limit inter-vehicle distance Dupper and the set inter-vehicle distance Dset or a value close to that. Furthermore, the second inter-vehicle distance D2 may be the same value as the first inter-vehicle distance D1 or may be a different value.

[0244] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when eco-interval control is being executed and an operation to increase the inter-vehicle distance (a predetermined second operation) is input to the vehicle driving assistance device 10 while powering control is being executed, and the inter-vehicle distance D is longer than a predetermined second inter-vehicle distance D2 within the predetermined inter-vehicle distance range Wd.

[0245] According to this, the inter-vehicle distance D is becoming shorter due to powering control, but when the inter-vehicle distance D is relatively long, the driving control is switched from powering control to coasting control, thereby preventing the inter-vehicle distance D from remaining long.

[0246] Alternatively, the first switching limit condition Climit_1 may be a condition that the coasting elapsed time Tcoast is shorter than a predetermined coasting elapsed time Tcoast_th. The coasting elapsed time Tcoast is the time that has elapsed since the second switching process was executed in step S2440 and the travel control was switched from powering control to coasting control. The predetermined coasting elapsed time Tcoast_th is set to an appropriate value.

[0247] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when the time elapsed since the second switching process was performed during execution of eco-vehicle distance control is shorter than the predetermined coasting elapsed time Tcoast_th (predetermined second time), even if an operation to decrease the vehicle distance (predetermined first operation) is input to the vehicle driving assistance device 10.

[0248] This makes it possible to prevent the traveling control from being switched from coasting control to powering control in a short time after the coasting control is started by the second switching process, in other words, to prevent the traveling control from being frequently switched between coasting control and powering control.

[0249] Similarly, the second switching limit condition Climit_2 may be a condition that the powering elapsed time Tpower is shorter than a predetermined powering elapsed time Tpower_th. The powering elapsed time Tpower is the time that has elapsed since the first switching process was executed in step S2425 and the traveling control was switched from coasting control to powering control. The predetermined powering elapsed time Tpower_th is set to an appropriate value.

[0250] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when the time that has elapsed since the first switching process was performed during execution of eco-vehicle distance control is shorter than the predetermined powering elapsed time Tpower_th (predetermined first time), even if an operation to increase the vehicle distance (predetermined second operation) is input to the vehicle driving assistance device 10.

[0251] This makes it possible to prevent the traveling control from being switched from the powering control to the coasting control in a short time after the powering control is started by the first switching process, in other words, to prevent the traveling control from being frequently switched between the coasting control and the powering control.

[0252] Alternatively, the first switching limiting condition Climit_1 may be a condition that the set inter-vehicle distance reduction amount ΔDdown is smaller than a predetermined set inter-vehicle distance reduction amount ΔDdown_th. The set inter-vehicle distance reduction amount ΔDdown is the amount by which the set inter-vehicle distance Dset is reduced by an inter-vehicle distance reducing operation (a predetermined first operation). The predetermined set inter-vehicle distance reduction amount ΔDdown_th is set to an appropriate value.

[0253] In this way, the vehicle driving assistance device 10 may be configured not to perform the first switching process when an operation to reduce the inter-vehicle distance (a predetermined first operation) is input to the vehicle driving assistance device 10 while coasting control is being executed, and the amount by which the set inter-vehicle distance Dset is reduced by the operation to reduce the inter-vehicle distance is smaller than the predetermined set inter-vehicle distance reduction amount ΔDdown_th.

[0254] According to this, when the amount by which the driver attempts to reduce the set inter-vehicle distance Dset is small and it can be determined that the driver does not request to accelerate the host vehicle 100, the travel control is not switched from coasting control to powering control. Therefore, it is possible to appropriately respond to the driver's request to accelerate the host vehicle 100 while the inter-vehicle distance control is being executed.

[0255] Similarly, the second switching limit condition Climit_2 may be a condition that the set inter-vehicle distance increase amount ΔDup is smaller than the predetermined set inter-vehicle distance increase amount ΔDup_th. The set inter-vehicle distance increase amount ΔDup is the amount by which the set inter-vehicle distance Dset is increased by an inter-vehicle distance increasing operation (the predetermined second operation). Furthermore, the predetermined set inter-vehicle distance increase amount ΔDup_th is set to an appropriate value.

[0256] In this way, the vehicle driving assistance device 10 may be configured not to perform the second switching process when an operation to increase the inter-vehicle distance (a predetermined second operation) is input to the vehicle driving assistance device 10 while powering control is being executed, and the amount by which the set inter-vehicle distance Dset is increased by the operation to increase the inter-vehicle distance is smaller than the predetermined set inter-vehicle distance increase amount ΔDup_th.

[0257] According to this, when the amount by which the driver attempts to increase the set inter-vehicle distance Dset is small and it can be determined that the driver does not require deceleration of the host vehicle 100, the traveling control is not switched from powering control to coasting control. Therefore, it is possible to appropriately respond to a request by the driver to decelerate the host vehicle 100 while the inter-vehicle distance control is being executed.

[0258] In the above example, two or more switches that are provided separately may be combined into one switch.

[0259] For example, the vehicle speed setting switch 53 and the following distance setting switch 56 may be combined into one setting switch, and the vehicle driving assistance device 10 may have a vehicle speed setting mode and a following distance setting mode as its functions, and the vehicle driving assistance device 10 may be configured so that when a predetermined operation is performed on the setting switch while the vehicle driving assistance device 10 is in the vehicle speed setting mode, the set vehicle speed Vset is set, and when a predetermined operation is performed on the setting switch while the vehicle driving assistance device 10 is in the following distance setting mode, the set following distance Dset is set.

[0260] Similarly, the vehicle speed increase switch 54 and the following distance increase switch 57 may be combined into one increase switch, and the vehicle speed decrease switch 55 and the following distance decrease switch 58 may be combined into one decrease switch.

[0261] Alternatively, the vehicle speed setting switch 53, the vehicle speed increase switch 54, and the vehicle speed decrease switch 55 may be combined into a single vehicle speed switch, and the vehicle driving assistance device 10 may have a vehicle speed setting mode and a vehicle speed change mode as its functions, so that when a predetermined operation is performed on the vehicle speed switch while the vehicle driving assistance device 10 is in the vehicle speed setting mode, the set vehicle speed Vset is set, when a predetermined first operation is performed on the vehicle speed switch while the vehicle driving assistance device 10 is in the vehicle speed change mode, the set vehicle speed Vset is increased, and when a predetermined second operation different from the predetermined first operation is performed on the vehicle speed switch while the vehicle driving assistance device 10 is in the vehicle speed change mode, the set vehicle speed Vset is decreased.

[0262] Alternatively, the vehicle driving assistance device 10 may be configured so that the inter-vehicle distance setting switch 56, the inter-vehicle distance increase switch 57, and the inter-vehicle distance decrease switch 58 are combined into a single inter-vehicle distance switch, and the inter-vehicle distance switch is configured so that the specified inter-vehicle distance cycles each time a predetermined operation is performed on the inter-vehicle distance switch, and the specified inter-vehicle distance is set as the set inter-vehicle distance Dset.

[0263] Here, the specified following distance circulating means, for example, that in a case where the following distances that can be specified are short following distance (relatively short following distance), medium following distance (medium following distance), and long following distance (relatively long following distance), when the following distance switch is operated the first time, a short following distance is specified, when the following distance switch is operated the second time, a medium following distance is specified, when the following distance switch is operated the third time, a long following distance is specified, and when the following distance switch is operated the fourth time, a short following distance is specified again.

[0264] In the above example, one device (i.e., inter-vehicle distance increase switch 57) is provided as a device for inputting an operation to increase the inter-vehicle distance to vehicle driving assistance device 10, and one device (i.e., inter-vehicle distance decrease switch 58) is provided as a device for inputting an operation to decrease the inter-vehicle distance to vehicle driving assistance device 10. Inter-vehicle distance increase switch 57 is configured to be able to input one type of operation (inter-vehicle distance increase operation), and inter-vehicle distance decrease switch 58 is also configured to be able to input one type of operation (inter-vehicle distance decrease operation). When normal inter-vehicle distance control is being performed, an operation on the inter-vehicle distance increase switch 57 is an operation to increase the set inter-vehicle distance Dset (inter-vehicle distance increase operation), and an operation on the inter-vehicle distance decrease switch 58 is an operation to decrease the set inter-vehicle distance Dset (inter-vehicle distance decrease operation), but when eco inter-vehicle distance control is being performed, an operation on the inter-vehicle distance increase switch 57 is an operation to increase the set inter-vehicle distance Dset (inter-vehicle distance increase operation) and also an operation to execute the second switching process, and an operation on the inter-vehicle distance decrease switch 58 is an operation to decrease the set inter-vehicle distance Dset (vehicle speed decrease operation) and also an operation to execute the first switching process.

[0265] In this way, when eco inter-vehicle distance control is being executed, the operation to decrease the inter-vehicle distance (predetermined first operation) is the same as the operation to decrease the set inter-vehicle distance Dset when normal inter-vehicle distance control is being executed, and the operation to increase the inter-vehicle distance (predetermined second operation) is the same as the operation to increase the set inter-vehicle distance Dset when normal inter-vehicle distance control is being executed.

[0266] Furthermore, as explained with reference to Figures 11 to 15 regarding the vehicle speed increase switch 54 and the vehicle speed decrease switch 55, the present invention is also applicable to cases where the vehicle distance increase switch 57 is configured to be able to input two or more types of operations, and the vehicle distance decrease switch 58 is configured to be able to input two or more types of operations.

[0267] Furthermore, as explained with reference to Figures 16 to 20 regarding the vehicle speed increase switch 54 and the vehicle speed decrease switch 55, the present invention is also applicable to a case where multiple devices are prepared as devices for inputting an operation to increase the inter-vehicle distance to the vehicle driving assistance device 10, and multiple devices are prepared as devices for inputting an operation to decrease the inter-vehicle distance to the vehicle driving assistance device 10. [Explanation of symbols]

[0268] 10...vehicle driving assistance device, 50...operation device, 53...vehicle speed setting switch, 54...vehicle speed increase switch, 55...vehicle speed decrease switch, 56...inter-vehicle distance setting switch, 57...inter-vehicle distance increase switch, 58...inter-vehicle distance decrease switch, 90...ECU, 100...host vehicle

Claims

1. A control device is provided which executes driving assistance control for autonomously driving the host vehicle while switching between a plurality of driving controls for driving the host vehicle, the driving controls including a powering control for powering the host vehicle and a coasting control for coasting the host vehicle. In a vehicle driving assistance device, The control device a first switching process for switching the driving control from the coasting control to a driving control other than the coasting control when a predetermined first operation is input to the control device by an operator of the host vehicle while the coasting control is being executed; and a second switching process for switching the traveling control from the powering control to a traveling control other than the powering control when a predetermined second operation is input to the control device by the operator during execution of the powering control; configured to perform at least one of Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, the driving assistance control is control for causing the host vehicle to travel autonomously while switching the travel control between the powering control and the coasting control, The control device, as the driving assistance control, a vehicle speed control that switches the traveling control from the powering control to the coasting control when the vehicle speed of the host vehicle reaches an upper limit value of a predetermined vehicle speed range that is set based on a set vehicle speed during execution of the powering control, and switches the traveling control from the coasting control to the powering control when the vehicle speed reaches a lower limit value of the predetermined vehicle speed range during execution of the coasting control; and an inter-vehicle distance control that switches the traveling control from the powering control to the coasting control when the inter-vehicle distance between the host vehicle and a preceding vehicle reaches a lower limit value of a predetermined inter-vehicle distance range that is set based on a set inter-vehicle distance during execution of the powering control, and switches the traveling control from the coasting control to the powering control when the inter-vehicle distance reaches an upper limit value of the predetermined inter-vehicle distance range during execution of the coasting control; and configured to perform at least one of the first switching process is a process of switching the traveling control from the coasting control to the powering control, The second switching process is a process of switching the traveling control from the powering control to the coasting control. Vehicle driving assistance device.

3. The vehicle driving assistance device according to claim 1, When the vehicle speed control is being executed, the predetermined first operation is an operation to increase the set vehicle speed. Vehicle driving assistance device.

4. The vehicle driving assistance device according to claim 1, When the vehicle speed control is being executed, the predetermined second operation is an operation to decrease the set vehicle speed. Vehicle driving assistance device.

5. The vehicle driving assistance device according to claim 1, When the inter-vehicle distance control is being performed, the predetermined first operation is an operation to decrease the set inter-vehicle distance. Vehicle driving assistance device.

6. The vehicle driving assistance device according to claim 1, When the inter-vehicle distance control is being performed, the predetermined second operation is an operation to increase the set inter-vehicle distance. Vehicle driving assistance device.

7. 3. The vehicle driving assistance device according to claim 2, During execution of the vehicle speed control, the predetermined first operation is an operation for delaying a timing at which the vehicle speed reaches an upper limit value of the predetermined vehicle speed range and the traveling control is switched from the powering control to the coasting control. Vehicle driving assistance device.

8. 3. The vehicle driving assistance device according to claim 2, During execution of the vehicle speed control, the predetermined second operation is an operation for advancing a timing at which the vehicle speed reaches an upper limit value of the predetermined vehicle speed range and the traveling control is switched from the powering control to the coasting control. Vehicle driving assistance device.

9. 3. The vehicle driving assistance device according to claim 2, During execution of the inter-vehicle distance control, the predetermined first operation is an operation for delaying a timing at which the inter-vehicle distance reaches a lower limit value of the predetermined inter-vehicle distance range and the traveling control is switched from the powering control to the coasting control. Vehicle driving assistance device.

10. 3. The vehicle driving assistance device according to claim 2, During execution of the inter-vehicle distance control, the predetermined second operation is an operation for advancing the timing at which the inter-vehicle distance reaches a lower limit value of the predetermined inter-vehicle distance range and the traveling control is switched from the powering control to the coasting control. Vehicle driving assistance device.

11. 3. The vehicle driving assistance device according to claim 2, the control device is configured to perform the first switching process when the vehicle speed control is being executed, and not to perform the first switching process if the vehicle speed is higher than a predetermined first vehicle speed within the predetermined vehicle speed range when the predetermined first operation is input to the control device during execution of the coasting control, When the control device is configured to perform the second switching process during execution of the vehicle speed control, the control device is configured not to perform the second switching process if the vehicle speed is lower than a predetermined second vehicle speed within the predetermined vehicle speed range when the predetermined second operation is input to the control device during execution of the powering control. Vehicle driving assistance device.

12. 3. The vehicle driving assistance device according to claim 2, the control device is configured to perform the first switching process when the inter-vehicle distance control is being executed, and not to perform the first switching process if the inter-vehicle distance is shorter than a predetermined first inter-vehicle distance within the predetermined inter-vehicle distance range when the predetermined first operation is input to the control device during execution of the coasting control, When the control device is configured to perform the second switching process during execution of the inter-vehicle distance control, the control device is configured not to perform the second switching process if the inter-vehicle distance is longer than a predetermined second inter-vehicle distance within the predetermined inter-vehicle distance range when the predetermined second operation is input to the control device during execution of the powering control. Vehicle driving assistance device.

13. The vehicle driving assistance device according to claim 1, In a case where the control device is configured to perform both the first switching process and the second switching process, if the time that has elapsed since the first switching process was performed during execution of the driving assist control is shorter than a predetermined first time, the control device is configured not to perform the second switching process even if the predetermined second operation is input to the control device, or In a case where the control device is configured to perform both the first switching process and the second switching process, when a time that has elapsed since the second switching process was performed during execution of the driving assistance control is shorter than a predetermined second time, the control device is configured not to perform the first switching process even if the predetermined first operation is input to the control device. Vehicle driving assistance device.

14. 3. The vehicle driving assistance device according to claim 2, During execution of the vehicle speed control, the predetermined first operation is an operation to increase the set vehicle speed, during execution of the vehicle speed control, the predetermined second operation is an operation to decrease the set vehicle speed, the control device is configured to perform the first switching process when the vehicle speed control is being executed, and when the predetermined first operation is input to the control device during execution of the coasting control, if the amount by which the set vehicle speed is increased by the predetermined first operation is smaller than a predetermined set vehicle speed increase amount, not to perform the first switching process; When the control device is configured to perform the second switching process during execution of the vehicle speed control, the control device is configured not to perform the second switching process if the amount of the set vehicle speed reduced by the predetermined second operation is smaller than a predetermined set vehicle speed reduction amount when the predetermined second operation is input to the control device during execution of the powering control. Vehicle driving assistance device.

15. 3. The vehicle driving assistance device according to claim 2, during execution of the inter-vehicle distance control, the predetermined first operation is an operation to decrease the set inter-vehicle distance, during execution of the inter-vehicle distance control, the predetermined second operation is an operation to increase the set inter-vehicle distance, the control device is configured to perform the first switching process when the inter-vehicle distance control is being executed, and when the predetermined first operation is input to the control device during execution of the coasting control, if the amount by which the set inter-vehicle distance is reduced by the predetermined first operation is smaller than a predetermined set inter-vehicle distance reduction amount, not to perform the first switching process; When the control device is configured to perform the second switching process during execution of the inter-vehicle distance control, the control device is configured not to perform the second switching process if, when the predetermined second operation is input to the control device during execution of the powering control, the amount by which the set inter-vehicle distance is increased by the predetermined second operation is smaller than a predetermined set inter-vehicle distance increase amount. Vehicle driving assistance device.

16. 3. The vehicle driving assistance device according to claim 2, the control device is configured to execute normal vehicle speed control to cause the host vehicle to travel so that the vehicle speed is maintained at the set vehicle speed, during execution of the vehicle speed control, the predetermined first operation is the same as an operation that increases the set vehicle speed during execution of the normal vehicle speed control, When the vehicle speed control is being executed, the predetermined second operation is the same as the operation of reducing the set vehicle speed when the normal vehicle speed control is being executed. Vehicle driving assistance device.

17. 3. The vehicle driving assistance device according to claim 2, the control device is configured to execute a normal inter-vehicle distance control for causing the host vehicle to travel so that the inter-vehicle distance is maintained at the set inter-vehicle distance, during execution of the inter-vehicle distance control, the predetermined first operation is the same as the operation that reduces the set inter-vehicle distance during execution of the normal inter-vehicle distance control, When the inter-vehicle distance control is being executed, the predetermined second operation is the same as the operation for increasing the set inter-vehicle distance when the normal inter-vehicle distance control is being executed. Vehicle driving assistance device.

18. The vehicle driving assistance device according to any one of claims 1 to 17, The powering control is a control for powering the host vehicle by operating the internal combustion engine at an optimal operating point where the operating efficiency of the internal combustion engine that provides driving force to the host vehicle is maximized or at an operating point where the operating efficiency is substantially maximized. Vehicle driving assistance device.

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