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

Abstract

To provide a vehicle driving support apparatus allowing an operator of an own vehicle to start first travel control even while second travel control is being executed.SOLUTION: A vehicle driving support apparatus 10 selectively executes first travel control and second travel control as automatic travel control. The first travel control is control for causing an own vehicle to autonomously travel by selectively executing power running control for causing the own vehicle to perform power running and coasting control for causing the own vehicle to coast so that an own vehicle speed is within a set vehicle speed range including a set vehicle speed, or an inter-vehicle distance between the own vehicle and a preceding vehicle is within a set inter-vehicle distance range including a set inter-vehicle distance. The second travel control is control for causing the own vehicle to autonomously travel so that the own vehicle speed is maintained at the set vehicle speed, or the inter-vehicle distance is maintained at the set inter-vehicle distance. The vehicle driving support apparatus starts the first travel control if there is satisfied a prescribed condition that a prescribed operation is performed by an operator of the own vehicle during execution of the second travel control.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] As an automatic driving control for autonomously driving a host vehicle, a vehicle driving assistance device configured to selectively execute a control (first driving control) for autonomously driving the host vehicle by selectively executing a powering control for powering the host vehicle so that the host vehicle's speed (host vehicle speed) falls within a set vehicle speed range including a set vehicle speed or a coasting control for coasting the host vehicle so that the distance between the host vehicle and a preceding vehicle (inter-vehicle distance) falls within a set inter-vehicle distance range including a set inter-vehicle distance, and a control (second driving control) for autonomously driving the host vehicle so that the host vehicle speed is maintained at a set vehicle speed or the inter-vehicle distance is maintained at a set inter-vehicle distance are known (see, for example, Patent Document 1). Also known as such a vehicle driving assistance device is a vehicle driving assistance device configured to interrupt the first driving control and execute the second driving control due to various circumstances related to the host 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 described above interrupts the first driving control and executes the second driving control based on a decision made by the vehicle driving assistance device, but the operator of the vehicle may not want to interrupt the first driving control. In this way, if the operator of the vehicle does not want to interrupt the first driving control, the operator of the vehicle may want to start the first driving control while the second driving control is being executed.

[0005] An object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program that allow an operator of the vehicle to start a first driving control even when a second driving control is being executed.

[0006] A vehicle driving assistance device according to the present invention includes a control device that selectively executes first and second driving controls as automatic driving controls for autonomously driving a host vehicle. The first driving control is a control for autonomously driving the host vehicle by selectively executing a powering control for powering the host vehicle and a coasting control for coasting the host vehicle so that the host vehicle speed, which is the speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed, or so that the inter-vehicle distance, which is the distance between the host vehicle and a preceding vehicle, falls within a set inter-vehicle distance range including a set inter-vehicle distance. The second driving control is a control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance. The control device is configured to start the first driving control when a predetermined condition is met that a predetermined operation has been performed by an operator of the host vehicle while the second driving control is being executed.

[0007] According to the vehicle driving assistance device of the present invention, when the operator of the vehicle performs a predetermined operation while the second driving control is being executed, the first driving control is initiated. Therefore, the operator of the vehicle can start the first driving control by performing a predetermined operation even when the second driving control is being executed.

[0008] In the vehicle driving assistance device according to the present invention, the control device may be configured to start the first driving control by starting the coasting control when the predetermined condition is met.

[0009] According to the vehicle driving assistance device of the present invention, coasting control is executed when a predetermined operation is performed by an operator of the host vehicle, thereby reducing the amount of energy consumed for traveling the host vehicle.

[0010] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to interrupt the first driving control and start the second driving control when an interruption condition is satisfied during execution of the first driving control. In this case, when the interruption condition is satisfied during execution of the first driving control, if the host vehicle speed is lower than the set vehicle speed or the inter-vehicle distance is longer than the set inter-vehicle distance at the time the interruption condition is satisfied, the control device may be configured to interrupt the first driving control and start the second driving control by starting powering of the host vehicle so as to increase the host vehicle speed or shorten the inter-vehicle distance. Furthermore, in this case, when the interruption condition is satisfied during execution of the first driving control and the second driving control is started by starting powering of the host vehicle, if the predetermined condition is satisfied during powering, the control device may be configured to start the first driving control by starting the coasting control.

[0011] According to the vehicle driving assistance device of the present invention, after the first cruise control is interrupted, if the operator of the host vehicle performs a predetermined operation while the host vehicle is being powered by the second cruise control so as to increase the host vehicle speed or reduce the inter-vehicle distance, coasting control is executed, thereby reducing the amount of energy consumed for the host vehicle to travel.

[0012] Furthermore, in the vehicle driving assistance device according to the present invention, when an interruption condition is met while the first driving control is being executed, the control device may be configured to interrupt the first driving control, set the vehicle speed at the time the interruption condition is met as the set vehicle speed, or set the inter-vehicle distance at the time the first driving control was interrupted as the set inter-vehicle distance, and start the second driving control.

[0013] According to the vehicle driving assistance device of the present invention, when an interruption condition is met while the first cruise control is being executed, the host vehicle speed at the time the interruption condition was met is set to a set vehicle speed, or the inter-vehicle distance at the time the interruption condition was met is set to a set inter-vehicle distance, and the second cruise control is started. Therefore, even if the powering control of the first cruise control is being executed, the powering control can be immediately interrupted.

[0014] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured, when the predetermined condition is met while the first driving control is interrupted and the second driving control is being executed, to start the first driving control by starting the powering control if the powering control was being executed immediately before the first driving control was interrupted, and to start the first driving control by starting the coasting control if the coasting control was being executed immediately before the first driving control was interrupted.

[0015] According to the vehicle driving assistance device of the present invention, the first driving control can be started by restarting the powering control or the coasting control that has been interrupted.

[0016] Furthermore, in the vehicle driving assistance device according to the present invention, when the first driving control is a control for causing the host vehicle to drive autonomously by selectively executing the powering control and the coasting control so that the host vehicle speed falls within the set vehicle speed range, the control device may be configured to start the first driving control by starting the powering control when, at the time the predetermined condition is satisfied, a host vehicle speed upper limit arrival time, which is the time required for the host vehicle speed to reach an upper limit value of the set vehicle speed range, is longer than a host vehicle speed lower limit arrival time, which is the time required for the host vehicle speed to reach a lower limit value of the set vehicle speed range, and to start the first driving control by starting the coasting control when the host vehicle speed lower limit arrival time is longer than the host vehicle speed upper limit arrival time. In this case, the control device may be configured to, when the first driving control is a control for causing the host vehicle to drive autonomously by selectively executing the powering control and the coasting control so that the inter-vehicle distance falls within the set inter-vehicle distance range, start the first driving control by starting the powering control when, at the time the specified condition is met, a vehicle distance lower limit arrival time, which is the time required for the inter-vehicle distance to reach the lower limit value of the set inter-vehicle distance range, is longer than a vehicle distance upper limit arrival time, which is the time required for the inter-vehicle distance to reach the upper limit value of the set inter-vehicle distance range, and to start the first driving control by starting the coasting control when the vehicle distance upper limit arrival time is longer than the inter-vehicle distance lower limit arrival time.

[0017] According to the vehicle driving assistance device of the present invention, the powering control or the coasting control, whichever control has the longer execution time immediately after the start of the first travel control, is executed first, thereby reducing the frequency of switching between the powering control and the coasting control.

[0018] Furthermore, in the vehicle driving assistance device according to the present invention, the predetermined operation is, for example, an operation to increase or decrease the set vehicle speed or an operation to increase or decrease the set inter-vehicle distance. In this case, the control device may be configured to start the first cruise control by starting the powering control when the predetermined operation is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance during execution of the second cruise control, and the predetermined condition is met. In this case, the control device may be configured to start the first cruise control by starting the coasting control when the predetermined operation is an operation to decrease the set vehicle speed or an operation to increase the set inter-vehicle distance during execution of the second cruise control, and the predetermined condition is met.

[0019] When an operation to increase the set vehicle speed or an operation to shorten the set inter-vehicle distance is performed, the operator of the host vehicle desires to increase the host vehicle speed or shorten the inter-vehicle distance. In order to increase the host vehicle speed or shorten the inter-vehicle distance, the host vehicle needs to accelerate. According to the vehicle driving assistance device of the present invention, when the first cruise control is initiated due to an operation to increase the set vehicle speed or shorten the set inter-vehicle distance, powering control is first executed. On the other hand, when an operation to decrease the set vehicle speed or lengthen the set inter-vehicle distance is performed, the operator of the host vehicle desires to decrease the host vehicle speed or lengthen the inter-vehicle distance. In order to decrease the host vehicle speed or lengthen the inter-vehicle distance, the host vehicle needs to decelerate. According to the vehicle driving assistance device of the present invention, when the first cruise control is initiated due to an operation to decrease the set vehicle speed or lengthen the set inter-vehicle distance, coasting control is first executed. Therefore, control that reflects the operator's intention can be performed at the start of the first cruise control.

[0020] In addition, in the vehicle driving assistance device according to the present invention, the control device may be configured not to start the first driving control if an interruption condition is met when the predetermined condition is met.

[0021] According to the vehicle driving assistance device of the present invention, when an interruption condition is met, it is possible to prevent the first driving control from being started due to a predetermined operation being performed by the operator of the vehicle.

[0022] In the vehicle driving assistance device according to the present invention, the interruption condition is, for example, a condition that the execution of the coasting control needs to be prohibited.

[0023] According to the vehicle driving assistance device of the present invention, when it is necessary to prohibit the execution of coasting control, it is possible to prevent the first driving control from being started due to a predetermined operation being performed by the operator of the vehicle.

[0024] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to interrupt the first driving control and start the second driving control when an interruption condition is met during execution of the first driving control. In this case, the interruption condition may include, for example, a first interruption condition that the distance between the host vehicle and the following vehicle is equal to or less than a first threshold distance, and a second interruption condition that the distance between the host vehicle and the following vehicle is equal to or less than a second threshold distance that is longer than the first threshold distance but is still greater than the first threshold distance. In this case, the control device may be configured not to start the first driving control when the first interruption condition is met during execution of the second driving control, even if the predetermined condition is met. Furthermore, in this case, the control device may be configured to start the first driving control when the predetermined condition is met when the second interruption condition is met during execution of the second driving control.

[0025] According to the vehicle driving assistance device of the present invention, when the distance between the host vehicle and the following vehicle is relatively short, the first driving control is not executed, thereby preventing the host vehicle from obstructing the driving of the following vehicle. On the other hand, when the distance between the host vehicle and the following vehicle is relatively long, the first driving control is executed, thereby enabling the host vehicle to execute the first driving control in accordance with the request of the driver of the host vehicle without obstructing the driving of the following vehicle.

[0026] Furthermore, in the vehicle driving assistance device according to the present invention, if the powering control is being executed at the time when the second interruption condition is satisfied during execution of the first driving control, the control device may be configured to interrupt the first driving control and start the second driving control at the time when the second interruption condition is satisfied.

[0027] If powering control is continued in a situation where the condition for interrupting the first travel control is satisfied, an undesirable situation is likely to occur. According to the vehicle driving assistance device of the present invention, if the second interruption condition is satisfied while powering control is being executed, the powering control can be immediately interrupted. Therefore, the occurrence of an undesirable situation can be suppressed.

[0028] Furthermore, in the vehicle driving assistance device according to the present invention, when the coasting control is being executed at the time when the second interruption condition is satisfied during execution of the first driving control, the control device may be configured to not interrupt the first driving control at the time when the second interruption condition is satisfied, but to interrupt the first driving control and start the second driving control at the time when the coasting control is switched to the powering control.

[0029] By executing the coasting control for a longer period of time, the amount of energy consumed for the vehicle to travel can be reduced. According to the vehicle driving assistance device of the present invention, even if the condition for suspending the first travel control is met, when the coasting control is being executed, the first travel control is not suspended until the coasting control is terminated. Therefore, the amount of energy consumed for the vehicle to travel can be reduced.

[0030] A vehicle driving assistance method according to the present invention is a method for selectively executing first and second driving controls as automatic driving controls for autonomously driving a host vehicle. The first driving control is a control for autonomously driving the host vehicle by selectively executing powering control for powering the host vehicle and coasting control for coasting the host vehicle so that the host vehicle speed, which is the speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed, or so that the inter-vehicle distance, which is the distance between the host vehicle and a preceding vehicle, falls within a set inter-vehicle distance range including a set inter-vehicle distance. The second driving control is a control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance. The vehicle driving assistance method according to the present invention includes a step of starting the first driving control when a predetermined condition is met that a predetermined operation has been performed by an operator of the host vehicle during execution of the second driving control.

[0031] According to the vehicle driving assistance method of the present invention, when the operator of the host vehicle performs a predetermined operation while the second driving control is being executed, the first driving control is initiated. Therefore, the operator of the host vehicle can start the first driving control by performing a predetermined operation even when the second driving control is being executed.

[0032] A vehicle driving assistance program according to the present invention is a program that selectively executes first driving control and second driving control as automatic driving control for autonomously driving a host vehicle. The first driving control is control for autonomously driving the host vehicle by selectively executing powering control for powering the host vehicle and coasting control for coasting the host vehicle so that the host vehicle speed, which is the speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed, or so that the inter-vehicle distance, which is the distance between the host vehicle and a preceding vehicle, falls within a set inter-vehicle distance range including a set inter-vehicle distance. The second driving control is control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance. The vehicle driving assistance program according to the present invention is configured to start the first driving control when a predetermined condition is met that a predetermined operation has been performed by the operator of the host vehicle while the second driving control is being executed.

[0033] According to the vehicle driving assistance program of the present invention, when the operator of the vehicle performs a predetermined operation while the second driving control is being executed, the first driving control is started. Therefore, even when the second driving control is being executed, the operator of the vehicle can start the first driving control by performing a predetermined operation.

[0034] 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]

[0035] [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 shows a scene in which a preceding vehicle and a following vehicle exist. [Figure 3] FIG. 3 shows a scene where there are no preceding or following vehicles. [Figure 4]FIG. 4 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 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 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by a vehicle driving assistance device according to a modified embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0036] 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).

[0037] 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.

[0038] 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.

[0039] 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).

[0040] As shown in FIG. 1, the vehicle 100 is equipped with a drive unit 20, a braking unit 30, and a driving force transmission unit 40.

[0041] 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).

[0042] 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).

[0043] 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.

[0044] Furthermore, the vehicle 100 is equipped with an operation device 50, a vehicle speed detection device 60, and a surrounding information acquisition device .

[0045] 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, a vehicle speed decrease switch 55, a vehicle distance setting switch 56, a vehicle distance increase switch 57, and a vehicle distance decrease switch 58.

[0046] 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 automatic driving control, which will be described later, or to stop the automatic driving control. The driving assistance switch 51 is electrically connected to the ECU 90. If the driver operates the driving assistance switch 51 when automatic driving control is not being executed, the vehicle driving assistance device 10 determines that execution of automatic driving control has been requested. On the other hand, if the driver operates the driving assistance switch 51 when automatic driving control is being executed, the vehicle driving assistance device 10 determines that stop of automatic driving control has been requested.

[0047] The eco-assist switch 52 is a device operated by the driver, and the driver can request the execution of a first driving control (described later) or the stop of the first driving control by operating the eco-assist switch 52. The eco-assist switch 52 is electrically connected to the ECU 90. If the driver operates the eco-assist switch 52 when the first driving control is not being executed, the vehicle driving assistance device 10 determines that the execution of the first driving control has been requested. On the other hand, if the driver operates the eco-assist switch 52 when the first driving control is being executed, the vehicle driving assistance device 10 determines that the stop of the first driving control has been requested.

[0048] 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. The set vehicle speed Vset may be the traveling speed of the host vehicle 100 at that time, or may be any vehicle speed specified by the vehicle speed setting switch 53.

[0049] 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 automatic driving control, which will be described later, the vehicle driving assistance device 10 increases the set vehicle speed Vset. Note that 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.

[0050] 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 automatic driving control, which will be described later, the vehicle driving assistance device 10 reduces the set vehicle speed Vset. Note that 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.

[0051] The inter-vehicle distance setting switch 56 is a device operated by the driver, and the driver can set a set inter-vehicle distance DFset, 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 DFset. The set vehicle speed Vset that is set at this time may be an arbitrary inter-vehicle distance specified by the vehicle speed setting switch 53, or may be the inter-vehicle distance DF at that time.

[0052] The forward inter-vehicle distance DF is the distance between the host vehicle 100 and the preceding vehicle 200. In this example, the vehicle driving assistance device 10 determines whether or not the preceding vehicle 200 exists based on surrounding information IS, which will be described later, and if the preceding vehicle 200 exists, acquires the forward inter-vehicle distance DF based on the surrounding information IS.

[0053] The inter-vehicle distance increase switch 57 is a device operated by the driver, and the driver can increase the set inter-vehicle distance DFset 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 automatic driving control, the vehicle driving assistance device 10 increases the set inter-vehicle distance DFset. Note that in this example, the set inter-vehicle distance DFset is increased by a predetermined distance ΔD each time the inter-vehicle distance increase switch 57 is operated.

[0054] The following distance reduction switch 58 is a device operated by the driver, and the driver can reduce the set following distance DFset by operating the following distance reduction switch 58. The following distance reduction switch 58 is electrically connected to the ECU 90. When the following distance reduction switch 58 is operated during execution of automatic driving control, the vehicle driving assistance device 10 reduces the set following distance DFset. Note that in this example, the set following distance DFset is reduced by a predetermined distance ΔD each time the following distance reduction switch 58 is operated.

[0055] 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 from the vehicle speed detection device 60 as the host vehicle speed Vego.

[0056] 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.

[0057] <Operation of vehicle driving assistance device> Next, we will explain the operation of the vehicle driving assistance device 10. The vehicle driving assistance device 10 is configured to selectively execute a first driving control and a second driving control as an automatic driving control or an automatic operation control when a predetermined condition is met.

[0058] The first driving control includes a first inter-vehicle distance control and a first vehicle speed control.

[0059] 2, the first inter-vehicle distance control is a control that causes the host vehicle 100 to travel autonomously by selectively executing powering control and coasting control so that the forward inter-vehicle distance DF falls within a set inter-vehicle distance range RDFset that includes the set inter-vehicle distance DFset when the preceding vehicle 200 is present. In other words, the first inter-vehicle distance control is a control that causes the host vehicle 100 to travel autonomously so as to follow the preceding vehicle 200.

[0060] In this example, the set inter-vehicle distance range RDFset is a range in which the set inter-vehicle distance DFset has a lower limit value DFlower and the upper limit inter-vehicle distance DFlimit has an upper limit value DFupper. The upper limit inter-vehicle distance DFlimit is a value obtained by adding a control inter-vehicle distance width ΔDcontrol to the set inter-vehicle distance DFset. The control inter-vehicle distance width ΔDcontrol is set to a predetermined proportion Rd_preset of the set inter-vehicle distance DFset. Note that the predetermined proportion Rd_preset is a value smaller than "1", such as "0.2". Furthermore, the control inter-vehicle distance width ΔDcontrol may be a constant value ΔDconstant regardless of the set inter-vehicle distance DFset.

[0061] As shown in Figure 3, the first vehicle speed control is a control that allows the vehicle 100 to travel autonomously by selectively performing powering control and coasting control when there is no preceding vehicle 200 so that the vehicle speed Vego falls within a set vehicle speed range RVset that includes the set vehicle speed Vset.

[0062] In this example, the set vehicle speed range RVset is a range in which the set vehicle speed Vset has an upper limit value Vupper and the lower limit vehicle speed Vlimit has a lower limit value Vlower. The lower limit vehicle speed Vlimit is a value obtained by subtracting a control vehicle speed range ΔVcontrol from the set vehicle speed Vset. The control vehicle speed range ΔVcontrol is set to a predetermined proportion Rv_preset of the set vehicle speed Vset. Note that the predetermined proportion Rv_preset is a value smaller than "1", such as "0.2". Alternatively, the control vehicle speed range ΔVcontrol may 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 value of the set vehicle speed Vset that can be set.

[0063] The preceding vehicle 200 is a vehicle traveling in the host vehicle driving lane LN1 ahead of the host vehicle 100, and is a vehicle that is present within a predetermined forward inter-vehicle distance DFth from the host vehicle 100. In other words, the preceding vehicle 200 is a vehicle traveling in the host vehicle driving lane LN1 ahead of the host vehicle 100, and has a forward inter-vehicle distance DF that is equal to or less than the predetermined forward inter-vehicle distance DFth. The host vehicle driving lane LN1 is the lane in which the host vehicle 100 is traveling.

[0064] Powering control is control for powering the host vehicle 100. More specifically, it is control for causing the host vehicle 100 to travel while applying 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.

[0065] 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.

[0066] 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. 4, 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. 4, 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.

[0067] 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. 4. In Fig. 4, 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.

[0068] Coasting control is control for coasting the host vehicle 100. In this example, coasting control is control for blocking a path (driving force transmission path) for transmitting driving force from the drive unit 20 to the driving 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.

[0069] The second driving control includes a second inter-vehicle distance control and a second vehicle speed control.

[0070] The second inter-vehicle distance control is a control for autonomously driving the host vehicle 100 so that the inter-vehicle distance DF ahead is maintained at the set inter-vehicle distance DFset.

[0071] The second vehicle speed control is a control for autonomously driving the host vehicle 100 so that the host vehicle speed Vego is maintained at the set vehicle speed Vset.

[0072] Furthermore, the vehicle driving assistance device 10 is configured to interrupt the first driving control and execute the second driving control when a predetermined interruption condition, which will be described later, is satisfied during the execution of the first driving control. Furthermore, the vehicle driving assistance device 10 is configured to resume (start) the first driving control when a predetermined resumption condition, which will be described later, is satisfied during the execution of the second driving control after the first driving control is interrupted.

[0073] By executing the routines shown in Figures 5 to 8, the vehicle driving assistance device 10 executes the first driving control or the second driving control depending on the established condition, or interrupts the first driving control and executes the second driving control, or terminates the second driving control and resumes the first driving control.

[0074] Specifically, the vehicle driving assistance device 10 executes the routine shown in Fig. 5 at predetermined time intervals. Therefore, at a predetermined timing, the vehicle driving assistance device 10 starts processing from step S500 of the routine shown in Fig. 5, and proceeds to step S505 to determine whether the automatic driving control execution condition Cacc is satisfied. The automatic driving control execution condition Cacc is a condition that indicates that execution of automatic driving control is requested.

[0075] If the automatic driving control execution condition Cacc is not satisfied, the vehicle driving assistance device 10 determines "No" in step S505, proceeds to step S530, and stops the automatic driving control if it is being executed. Next, the vehicle driving assistance device 10 proceeds to step S535, and sets the values ​​of the interruption flag Xstop and the restart operation detection flag Xrestart to "0." Next, the vehicle driving assistance device 10 proceeds to step S595, and temporarily ends the processing of this routine.

[0076] That is, if the execution of automatic driving control is not requested, automatic driving control is not executed, and if automatic driving control is being executed, the automatic driving control is stopped.

[0077] The interruption flag Xstop is a flag that indicates that the first driving control is interrupted when its value is "1", and indicates that the first driving control is not interrupted when its value is "0".

[0078] When the restart operation detection flag Xrestart has a value of "1", it indicates that a restart operation has been detected by the vehicle driving assistance device 10, and when the value is "0", it indicates that a restart operation has not been detected by the vehicle driving assistance device 10.

[0079] In this example, the restart operations are (1) a set vehicle speed decrease operation performed when the first driving control is in an interrupted state, (2) a set vehicle speed increase operation performed when the first driving control is in an interrupted state, (3) a set vehicle distance increase operation performed when the first driving control is in an interrupted state, and (4) a set vehicle distance decrease operation performed when the first driving control is in an interrupted state.

[0080] However, the restart operation may be one or more operations selected from (1) a set vehicle speed decrease operation performed when the first driving control is in an interrupted state, (2) a set vehicle speed increase operation performed when the first driving control is in an interrupted state, (3) a set vehicle distance increase operation performed when the first driving control is in an interrupted state, and (4) a set vehicle distance decrease operation performed when the first driving control is in an interrupted state.

[0081] The set vehicle speed decrease operation is an operation by the driver to decrease the set vehicle speed Vset (i.e., an operation by the driver of the vehicle speed decrease switch 55). The set vehicle speed increase operation is an operation by the driver to increase the set vehicle speed Vset (i.e., an operation by the driver of the vehicle speed increase switch 54). The set inter-vehicle distance increase operation is an operation by the driver to increase the set inter-vehicle distance DFset (i.e., an operation by the driver of the inter-vehicle distance increase switch 57). The set inter-vehicle distance decrease operation is an operation by the driver to decrease the set inter-vehicle distance DFset (i.e., an operation by the driver of the inter-vehicle distance decrease switch 58).

[0082] The vehicle driving assistance device 10 detects these operations as restart operations when (1) it detects an operation of the vehicle speed decrease switch 55 by the driver while the first driving control is interrupted, (2) it detects an operation of the vehicle speed increase switch 54 by the driver while the first driving control is interrupted, (3) it detects an operation of the vehicle distance increase switch 57 by the driver while the first driving control is interrupted, and (4) it detects an operation of the vehicle distance decrease switch 58 by the driver while the first driving control is interrupted.

[0083] In addition, the vehicle driving assistance device 10 (1) lowers the set vehicle speed Vset when it detects an operation to decrease the set vehicle speed as a restart operation, (2) raises the set vehicle speed Vset when it detects an operation to increase the set vehicle speed as a restart operation, (3) increases the set inter-vehicle distance DFset when it detects an operation to increase the set inter-vehicle distance as a restart operation, and (4) shortens the set inter-vehicle distance DFset when it detects an operation to decrease the set inter-vehicle distance as a restart operation.

[0084] However, the vehicle driving assistance device 10 may be configured (1) not to lower the set vehicle speed Vset when a set vehicle speed decrease operation is detected as a restart operation, (2) not to increase the set vehicle speed Vset when a set vehicle speed increase operation is detected as a restart operation, (3) not to increase the set inter-vehicle distance DFset when a set inter-vehicle distance increase operation is detected as a restart operation, or (4) not to shorten the set inter-vehicle distance DFset when a set inter-vehicle distance decrease operation is detected as a restart operation.

[0085] If the automatic cruise control execution condition Cacc is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S505, proceeds to step S510, and determines whether the first cruise control execution condition Ceco is satisfied. The first cruise control execution condition Ceco is a condition that indicates that execution of the first cruise control is requested.

[0086] If the first driving control execution condition Ceco is not satisfied, the vehicle driving assistance device 10 determines "No" in step S510, proceeds to step S520, and executes the second driving control. Next, the vehicle driving assistance device 10 proceeds to step S525, and sets the values ​​of the interruption flag Xstop and the restart operation detection flag Xrestart to "0." Next, the vehicle driving assistance device 10 proceeds to step S595, and temporarily ends the processing of this routine.

[0087] That is, when the automatic cruise control execution condition Cacc is met but the first cruise control execution condition Ceco is not met, the second cruise control is executed.

[0088] When the process advances to step S520, if the preceding vehicle 200 is present, the vehicle driving assistance device 10 executes the second inter-vehicle distance control as the second driving control. On the other hand, if the preceding vehicle 200 is not present, the vehicle driving assistance device 10 executes the second vehicle speed control as the second driving control.

[0089] On the other hand, if the first driving control execution condition Ceco is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S510, proceeds to step S515, and executes the routine shown in Fig. 6. Therefore, when the vehicle driving assistance device 10 proceeds to step S515, it starts the processing from step S600 of the routine shown in Fig. 6, proceeds to step S605, and determines whether the first interruption condition Cstop_1 is satisfied.

[0090] The first interruption condition Cstop_1 is a condition that requires prohibiting the execution of coasting control. For example, the first interruption condition Cstop_1 is one or more conditions selected from the following: (1) an internal combustion engine condition that requires prohibiting the stop of the operation of the internal combustion engine 21, (2) a vehicle speed condition that the host vehicle speed Vego is equal to or less than a predetermined threshold vehicle speed Vth (Vego≦Vth), (3) a road gradient condition that the road on which the host vehicle 100 is traveling is an uphill road and the gradient θ of the uphill road is equal to or greater than a predetermined threshold gradient θth (θ≧θth), and (4) a following vehicle distance condition that the distance between the host vehicle 100 and the following vehicle 300 (rear vehicle distance DR) is equal to or less than a predetermined threshold distance (first threshold distance DR1) (DR≦DR1). When the first interruption condition Cstop_1 is an internal combustion engine condition, a vehicle speed condition, a road gradient condition, and a following vehicle distance condition, the first interruption condition Cstop_1 is met when any one of these conditions is met.

[0091] As shown in FIG. 2, the following vehicle 300 is a vehicle traveling in the host vehicle driving lane LN1 behind the host vehicle 100, and is present within a predetermined rear inter-vehicle distance DRth from the host vehicle 100. In other words, the following vehicle 300 is a vehicle traveling in the host vehicle driving lane LN1 behind the host vehicle 100, and has a rear inter-vehicle distance DR that is equal to or less than the predetermined rear inter-vehicle distance DRth. The rear inter-vehicle distance DR is the distance between the host vehicle 100 and the following vehicle 300. In this example, the vehicle driving assistance device 10 determines whether or not the following vehicle 300 exists based on the surrounding information IS, and if the following vehicle 300 exists, acquires the rear inter-vehicle distance DR based on the surrounding information IS.

[0092] If the first interruption condition Cstop_1 is not satisfied, the vehicle driving assistance device 10 determines "No" in step S605, and proceeds to step S610 to determine whether the second interruption condition Cstop_2 is satisfied.

[0093] The second interruption condition Cstop_2 is a condition under which it is desirable to prohibit the execution of coasting control. For example, the second interruption condition Cstop_2 is a condition under which the distance between the host vehicle 100 and the following vehicle 300 is equal to or shorter than a second threshold distance DR2 that is longer than the first threshold distance DR1, but is longer than the first threshold distance DR1 (DR1). <DR≦DR2)である。

[0094] If the second interruption condition Cstop_2 is not satisfied, the vehicle driving assistance device 10 determines "No" in step S610, proceeds to step S615, and executes the first driving control.

[0095] That is, when execution of the automatic driving control and the first driving control is requested and neither the first interruption condition Cstop_1 nor the second interruption condition Cstop_2 is satisfied, the first driving control is executed.

[0096] When the process advances to step S615, if the preceding vehicle 200 exists, the vehicle driving assistance device 10 executes the first inter-vehicle distance control as the first driving control. On the other hand, if the preceding vehicle 200 does not exist, the vehicle driving assistance device 10 executes the first vehicle speed control as the first driving control.

[0097] Next, the vehicle driving assistance device 10 proceeds to step S620, where it sets the values ​​of the interruption flag Xstop and the restart operation detection flag Xrestart to 0. Next, the vehicle driving assistance device 10 proceeds to step S695, where it temporarily ends the processing of this routine.

[0098] On the other hand, if the first interruption condition Cstop_1 is satisfied, the vehicle driving assistance system 10 determines "Yes" in step S605, proceeds to step S630, and executes the second driving control.

[0099] That is, even if the execution of the automatic driving control and the first driving control is requested, when the first interruption condition Cstop_1 is satisfied, the first driving control is not executed and the second driving control is executed.

[0100] Therefore, when the vehicle driving assistance device 10 advances processing to step S630 for the first time after the execution of automatic driving control and first driving control is requested, the first interruption condition Cstop_1 is met, so the first driving control is not executed, and the second driving control is executed.

[0101] Furthermore, if the vehicle driving assistance device 10 is executing the first driving control at the time when the process advances to step S630, the vehicle driving assistance device 10 interrupts the first driving control and starts the second driving control.

[0102] Furthermore, when the process advances to step S630, if the second driving control is being executed with the first driving control suspended, the vehicle driving assistance device 10 continues the second driving control.

[0103] Furthermore, if the second driving control is being executed with the first driving control suspended at the time the process proceeds to step S630, the vehicle driving assistance device 10 continues the second driving control even if a restart operation is detected. Therefore, the vehicle driving assistance device 10 is configured not to start the first driving control if the interruption condition (first interruption condition Cstop_1) is satisfied when a predetermined condition (first restart condition Crestart_1 or second restart condition Crestart_2 described below) is satisfied.

[0104] If the preceding vehicle 200 is present when the process advances to step S630, the vehicle driving assistance device 10 executes the second inter-vehicle distance control as the second driving control. On the other hand, if the preceding vehicle 200 is not present when the process advances to step S630, the vehicle driving assistance device 10 executes the second vehicle speed control as the second driving control.

[0105] Next, the vehicle driving assistance device 10 proceeds to step S635, where it sets the values ​​of the interruption flag Xstop and the restart operation detection flag Xrestart to 0. Next, the vehicle driving assistance device 10 proceeds to step S695, where it temporarily ends the processing of this routine.

[0106] On the other hand, if the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S610, proceeds to step S625, and executes the routine shown in Fig. 7. Therefore, when the vehicle driving assistance device 10 proceeds to step S625, it starts the processing from step S700 of the routine shown in Fig. 7, proceeds to step S705, and determines whether the value of the restart operation detection flag Xrestart is "0." That is, the vehicle driving assistance device 10 determines whether a restart operation has been detected.

[0107] If the value of the restart operation detection flag Xrestart is "0," the vehicle driving assistance device 10 determines "Yes" in step S705, proceeds to step S710, and determines whether the value of the interruption flag Xstop is "0." That is, the vehicle driving assistance device 10 determines whether the first driving control is interrupted.

[0108] If the value of the interruption flag Xstop is "0", the vehicle driving assistance system 10 determines "Yes" in step S710, proceeds to step S715, and determines whether the first driving control is being executed.

[0109] If the first driving control is being executed, the vehicle driving assistance device 10 determines "Yes" in step S715, proceeds to step S720, and determines whether the powering control of the first driving control is being executed.

[0110] If the powering control of the first driving control is being executed, the vehicle driving assistance device 10 determines "Yes" in step S720, proceeds to step S725, interrupts the first driving control, and starts the second driving control.

[0111] That is, when the execution of the automatic driving control and the first driving control is requested and the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, if a restart operation is not detected and the first driving control is not interrupted and powering control of the first driving control is being executed, the first driving control is immediately interrupted and the second driving control is started.

[0112] Therefore, if the vehicle driving assistance device 10 is executing powering control at the time when the second interruption condition Cstop_2 is satisfied during the execution of the first driving control, the vehicle driving assistance device 10 is configured to interrupt the first driving control and start the second driving control at the time when the second interruption condition Cstop_2 is satisfied.

[0113] Furthermore, if the vehicle speed Vego is smaller than the set vehicle speed Vset or the distance DF between vehicles ahead is longer than the set distance DFset at the time the first driving control is interrupted and the second driving control is started, the vehicle driving assistance device 10 starts the second driving control by starting powering the vehicle 100.

[0114] Therefore, when an interruption condition (first interruption condition Cstop_1 or second interruption condition Cstop_2) is satisfied during execution of the first driving control, if the host vehicle speed Vego is smaller than the set vehicle speed Vset or the forward inter-vehicle distance DF is longer than the set inter-vehicle distance DFset at the time the interruption condition (first interruption condition Cstop_1 or second interruption condition Cstop_2) is satisfied, the vehicle driving assistance device 10 is configured to start powering the host vehicle 100 so that the host vehicle speed Vego increases or the forward inter-vehicle distance DF becomes shorter.

[0115] Next, the vehicle driving assistance system 10 proceeds to step S730 and sets the value of the interruption flag Xstop to 1. Next, the vehicle driving assistance system 10 proceeds to step S795 and temporarily ends the processing of this routine.

[0116] On the other hand, if the powering control of the first driving control is not being executed (i.e., if the coasting control of the first driving control is being executed), the vehicle driving assistance device 10 determines "No" in step S720, proceeds to step S735, and continues the first driving control (i.e., the coasting control of the first driving control). Next, the vehicle driving assistance device 10 proceeds to step S795, and temporarily ends the processing of this routine.

[0117] According to this, if there are no changes in the conditions (first interruption condition Cstop_1, second interruption condition Cstop_2, automatic cruise control execution condition Cacc, and first cruise control execution condition Ceco), coasting control of the first cruise control continues, and the host vehicle speed Vego reaches the lower limit value Vlower of the set vehicle speed range RVset. At this time, coasting control is ended, and acceleration control of the first cruise control is started. At this time, powering control of the first cruise control is being executed, so the determination is "Yes" when processing proceeds to step S720, processing proceeds to step S730, the first cruise control is interrupted, and the second cruise control is started.

[0118] Therefore, when the vehicle driving assistance device 10 is executing coasting control when the second interruption condition Cstop_2 is satisfied during execution of the first driving control, the vehicle driving assistance device 10 is configured not to interrupt the first driving control when the second interruption condition Cstop_2 is satisfied, but to interrupt the first driving control and start the second driving control when the coasting control is switched to powering control.

[0119] In this example, if the powering control of the first traveling control is being executed when the second interruption condition Cstop_2 is satisfied, the first traveling control is immediately interrupted. On the other hand, if the coasting control of the first traveling control is being executed when the second interruption condition Cstop_2 is satisfied, the coasting control of the first traveling control is terminated before the first traveling control is interrupted.

[0120] If the first driving control is not being executed when the process proceeds to step S715, the vehicle driving support device 10 determines "No" in step S715, proceeds to step S740, and executes the second driving control. Next, the vehicle driving support device 10 proceeds to step S795, and temporarily ends the process of this routine.

[0121] That is, when the execution of automatic driving control and first driving control is requested and the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, if the first driving control is not being executed but is not in an interrupted state and a resume operation is not detected, the second driving control is executed.

[0122] For example, if the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, and the automatic cruise control execution condition Cacc and the first cruise control execution condition Ceco are satisfied for the first time, neither the first nor the second cruise control has been started at that time. Therefore, the first cruise control is not suspended. Therefore, a resume operation is not detected. If the process proceeds to step S740 at this time, the second cruise control is initiated. If there are no changes in the conditions (first interruption condition Cstop_1, second interruption condition Cstop_2, automatic cruise control execution condition Cacc, and first cruise control execution condition Ceco), the process proceeds to step S740, and the second cruise control continues.

[0123] If the value of the interruption flag Xstop is "1" when the process proceeds to step S710, the vehicle driving assistance system 10 determines "No" in step S710, proceeds to step S740, and executes the second driving control. Next, the vehicle driving assistance system 10 proceeds to step S795, and temporarily ends the process of this routine.

[0124] That is, if the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied and the first driving control is in an interrupted state (i.e., the first driving control is interrupted and the second driving control is being executed), and no resume operation is detected, processing proceeds to step S740, and the second driving control continues.

[0125] Furthermore, if the value of the restart operation detection flag Xrestart is "1" when the process proceeds to step S705, the vehicle driving assistance device 10 determines "No" in step S705, proceeds to step S745, and executes the first driving control. Next, the vehicle driving assistance device 10 proceeds to step S750, and sets the value of the interruption flag Xstop to "0." Next, the vehicle driving assistance device 10 proceeds to step S795, and temporarily ends the process of this routine.

[0126] That is, if a restart operation (predetermined operation) is detected while the first driving control is suspended, the first driving control is resumed. If there are no changes in the conditions (first suspension condition Cstop_1, second suspension condition Cstop_2, automatic driving control execution condition Cacc, and first driving control execution condition Ceco), the process proceeds to step S745, and the first driving control is continued.

[0127] In this way, the vehicle driving assistance device 10 is configured to start the first driving control when a predetermined condition (first restart condition Crestart_1 or second restart condition Crestart_2) is met, that is, a predetermined operation (restart operation) is performed by the driver of the vehicle 100 while the second driving control is being executed.

[0128] When the vehicle driving assistance device 10 resumes the first driving control, the vehicle driving assistance device 10 executes the first driving control as follows.

[0129] That is, after the vehicle driving assistance device 10 interrupts the first driving control and starts the second driving control, if the first restart condition Crestart_1 is met, that is, a restart operation is detected while powering the host vehicle 100 so that the host vehicle speed Vego reaches the set vehicle speed Vset or the forward inter-vehicle distance DF reaches the set inter-vehicle distance DFset, and if the detected restart operation is an operation to decrease the set vehicle speed or an operation to increase the set inter-vehicle distance, the vehicle driving assistance device 10 resumes the first driving control by executing coasting control.

[0130] Therefore, when an interruption condition (second interruption condition Cstop_2) is satisfied during the execution of the first driving control and the host vehicle speed Vego is smaller than the set vehicle speed Vset or the preceding distance DF is longer than the set distance DFset, the vehicle driving assistance device 10 interrupts the first driving control and starts the second driving control by starting powering of the host vehicle 100 so that the host vehicle speed Vego increases or the preceding distance DF decreases; and when an interruption condition (second interruption condition Cstop_2) is satisfied during the execution of the first driving control and the second driving control is started by starting powering of the host vehicle 100, if a predetermined condition (first resumption condition Crestart_1) is satisfied during the powering, the vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control.

[0131] In short, the vehicle driving assistance device 10 is configured to start the first traveling control by starting coasting control when a predetermined condition (first restart condition Crestart_1) is met.

[0132] In addition, when the first restart condition Crestart_1 is satisfied and the detected restart operation is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance, the vehicle driving assistance device 10 restarts the first driving control by executing powering control.

[0133] Furthermore, when the first restart condition Crestart_1 is satisfied, the vehicle driving assistance device 10 may be configured to restart the first driving control by executing coasting control even when the detected restart operation is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance.

[0134] That is, the vehicle driving assistance device 10 may be configured to start the first driving control by starting the coasting control when a predetermined condition (first restart condition Crestart_1) is met.

[0135] Furthermore, after the vehicle driving assistance device 10 interrupts the first driving control and starts the second driving control, if a second restart condition Crestart_2 is met, in which a restart operation is detected while the vehicle speed Vego is maintained at the set vehicle speed Vset or the forward inter-vehicle distance DF is maintained at the set inter-vehicle distance DFset by the second driving control, and if the detected restart operation is an operation to decrease the set vehicle speed or an operation to increase the set inter-vehicle distance, the vehicle driving assistance device 10 restarts the first driving control by executing coasting control.

[0136] Therefore, the vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control when a predetermined operation (restart operation) is performed during execution of the second driving control, such as an operation to lower the set vehicle speed Vset or an operation to increase the set inter-vehicle distance DFset, and a predetermined condition (second restart condition Crestart_2) is met.

[0137] In short, the vehicle driving assistance device 10 is configured to start the first traveling control by starting coasting control when a predetermined condition (second restart condition Crestart_2) is met.

[0138] On the other hand, when the second restart condition Crestart_2 is satisfied, if the detected restart operation is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance, the vehicle driving assistance device 10 restarts the first driving control by executing powering control.

[0139] Therefore, the vehicle driving assistance device 10 is configured to start the first driving control by starting powering control when a predetermined operation (restart operation) is performed during execution of the second driving control to increase the set vehicle speed Vset or shorten the set inter-vehicle distance DFset, and a predetermined condition (second restart condition Crestart_2) is met.

[0140] Alternatively, the vehicle driving assistance device 10 may be configured to start the first driving control by starting powering control when the second restart condition Crestart_2 (predetermined condition) is satisfied while the first driving control is interrupted and the second driving control is being executed, and if the detected restart operation (predetermined operation) is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance and powering control was being executed immediately before the first driving control was interrupted, or to start the first driving control by starting coasting control when the detected restart operation (predetermined operation) is an operation to decrease the set vehicle speed or an operation to increase the set inter-vehicle distance and coasting control was being executed immediately before the first driving control was interrupted.

[0141] Alternatively, the vehicle driving assistance device 10 may be configured to start the first driving control by starting powering control when the second restart condition Crestart_2 (predetermined condition) is satisfied, the detected restart operation (predetermined operation) is an operation to increase the set vehicle speed, and when the vehicle speed upper limit arrival time TVupper, which is the time required for the vehicle speed Vego to reach the upper limit value Vupper of the set vehicle speed range RVset at the time the second restart condition Crestart_2 (predetermined condition) is satisfied, is longer than the vehicle speed lower limit arrival time TVlower, which is the time required for the vehicle speed Vego to reach the lower limit value Vlower of the set vehicle speed range RVset. In this case, the vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control when the second restart condition Crestart_2 (predetermined condition) is met, the detected restart operation (predetermined operation) is an operation to increase the set vehicle speed, and when the vehicle speed lower limit arrival time TVlower is longer than the vehicle speed upper limit arrival time TVupper at the time the second restart condition Crestart_2 (predetermined condition) is met.

[0142] Similarly, when the second restart condition Crestart_2 (predetermined condition) is satisfied, the vehicle driving assistance device 10 may be configured to start the first driving control by starting powering control if the detected restart operation (predetermined operation) is an operation to decrease the set inter-vehicle distance, and if, at the time when the second restart condition Crestart_2 (predetermined condition) is satisfied, the inter-vehicle distance lower limit arrival time TDFlower, which is the time required for the forward inter-vehicle distance DF to reach the lower limit value DFlower of the set inter-vehicle distance range RDFset, is longer than the inter-vehicle distance upper limit arrival time TDFupper, which is the time required for the forward inter-vehicle distance DF to reach the upper limit value DFupper of the set inter-vehicle distance range RDFset. In this case, the vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control when the second restart condition Crestart_2 (predetermined condition) is met, the detected restart operation (predetermined operation) is an operation to decrease the set inter-vehicle distance, and when the inter-vehicle distance upper limit arrival time TDFupper is longer than the inter-vehicle distance lower limit arrival time TDFlower at the time the second restart condition Crestart_2 (predetermined condition) is met.

[0143] Furthermore, as can be understood from the above explanation, when the first interruption condition Cstop_1 is satisfied while the second driving control is being executed, the vehicle driving assistance device 10 is configured not to start the first driving control even if a predetermined condition (the first restart condition Crestart_1 or the second restart condition Crestart_2) is satisfied, and when the second interruption condition Cstop_2 is satisfied while the second driving control is being executed, the vehicle driving assistance device 10 is configured to start the first driving control when a predetermined condition (the first restart condition Crestart_1 or the second restart condition Crestart_2) is satisfied.

[0144] Furthermore, the vehicle driving assistance device 10 is configured to execute the routine shown in Fig. 8 at predetermined time intervals. Therefore, at a predetermined timing, the vehicle driving assistance device 10 starts processing from step S800 of the routine shown in Fig. 8, and proceeds to step S805, where it is determined whether the value of the interruption flag Xstop is "1".

[0145] If the value of the interruption flag Xstop is "1", the vehicle driving assistance device 10 judges "Yes" in step S805, proceeds to step S810, and determines whether the driver's operation of any of the vehicle speed increase switch 54, vehicle speed decrease switch 55, vehicle distance increase switch 57, and vehicle distance decrease switch 58 has been detected.

[0146] When the vehicle driving assistance device 10 detects an operation by the driver of any of the vehicle speed increase switch 54, the vehicle speed decrease switch 55, the following distance increase switch 57, and the following distance decrease switch 58, the vehicle driving assistance device 10 determines "Yes" in step S810, proceeds to step S815, and sets the value of the restart operation detection flag Xrestart to "1." That is, the vehicle driving assistance device 10 determines that a restart operation has been detected. Next, the vehicle driving assistance device 10 proceeds to step S895, and temporarily ends the processing of this routine.

[0147] As a result, when the process proceeds to step S705 of the routine shown in FIG. 7, the determination is "Yes," and the process proceeds to step S745, where the first travel control is resumed.

[0148] That is, if a restart operation is detected while the first driving control is suspended, the first driving control is restarted.

[0149] If the value of the interruption flag Xstop is "0," the vehicle driving assistance system 10 determines "No" in step S805, proceeds to step S895, and temporarily ends the processing of this routine. In other words, if the first driving control is not in an interrupted state, the routine shown in FIG. 8 ends.

[0150] Furthermore, if the vehicle driving assistance device 10 does not detect any operation by the driver of the vehicle speed increase switch 54, the vehicle speed decrease switch 55, the vehicle distance increase switch 57, or the vehicle distance decrease switch 58, it judges "No" in step S810, proceeds to step S895, and temporarily ends the processing of this routine.

[0151] The operation of the vehicle driving assistance device 10 is as described above.

[0152] According to this, when the driver of the host vehicle 100 performs a restart operation while the second driving control is being executed, the first driving control is started. Therefore, the driver of the host vehicle 100 can start the first driving control by performing a restart operation even when the second driving control is being executed.

[0153] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0154] For example, when the first interruption condition Cstop_1 or the second interruption condition Cstop_2 is satisfied while the first driving control is being executed, the vehicle driving assistance device 10 may be configured to reset the host vehicle speed Vego and the preceding inter-vehicle distance DF at the time when the first interruption condition Cstop_1 or the second interruption condition Cstop_2 is satisfied as the set vehicle speed Vset and the set inter-vehicle distance DFset, respectively, and execute the second driving control so that the host vehicle speed Vego and the preceding inter-vehicle distance DF are maintained at the newly set set vehicle speed Vset and the set inter-vehicle distance DFset, respectively.

[0155] In other words, when an interruption condition (first interruption condition Cstop_1 or second interruption condition Cstop_2) is met while the first driving control is being executed, the vehicle driving assistance device 10 may be configured to interrupt the first driving control, set the vehicle speed Vego at the time the interruption condition (first interruption condition Cstop_1 or second interruption condition Cstop_2) is met as the set vehicle speed Vset, or set the forward inter-vehicle distance DF at the time the first driving control was interrupted as the set inter-vehicle distance DFset, and start the second driving control.

[0156] In this case, when the third restart condition Crestart_3 is satisfied, which indicates that a restart operation has been detected after the first cruise control has been interrupted and the second cruise control has been started, the vehicle driving assistance device 10 sets the original set vehicle speed Vset and original set inter-vehicle distance DFset that were set when the first cruise control was interrupted as the set vehicle speed Vset and the original set inter-vehicle distance DFset, respectively. As a result, the vehicle driving assistance device 10 executes the first cruise control using the original set vehicle speed Vset and original set inter-vehicle distance DFset.

[0157] This vehicle driving assistance device 10 is configured to execute a routine shown in Figure 9 instead of the routine shown in Figure 7. Therefore, when the vehicle driving assistance device 10 proceeds to step S625 of the routine shown in Figure 6, it starts the processing from step S900 of the routine shown in Figure 9, proceeds to step S905, and determines whether the value of the restart operation detection flag Xrestart is "0." That is, the vehicle driving assistance device 10 determines whether a restart operation has been detected.

[0158] If the value of the restart operation detection flag Xrestart is "0," the vehicle driving assistance device 10 determines "Yes" in step S905, proceeds to step S910, and determines whether the value of the interruption flag Xstop is "0." That is, the vehicle driving assistance device 10 determines whether the first driving control is interrupted.

[0159] If the value of the interruption flag Xstop is "0", the vehicle driving assistance system 10 determines "Yes" in step S910, proceeds to step S915, and determines whether the first driving control is being executed.

[0160] If the first driving control is being executed, the vehicle driving assistance device 10 determines "Yes" in step S915, proceeds to step S925, interrupts the first driving control, and starts the second driving control.

[0161] That is, when the execution of automatic driving control and first driving control is requested and the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, if a restart operation is not detected and the first driving control is not interrupted, the first driving control is immediately interrupted and the second driving control is started.

[0162] Therefore, when the second interruption condition Cstop_2 is satisfied while the first driving control is being executed, the vehicle driving assistance device 10 is configured to interrupt the first driving control and start the second driving control at the point when the second interruption condition Cstop_2 is satisfied.

[0163] Next, the vehicle driving assistance device 10 proceeds to step S930 and sets the value of the interruption flag Xstop to 1. Next, the vehicle driving assistance device 10 proceeds to step S995 and temporarily ends the processing of this routine.

[0164] On the other hand, if the first driving control is not being executed when the process proceeds to step S915, the vehicle driving assistance device 10 determines "No" in step S915, proceeds to step S940, and executes the second driving control. Next, the vehicle driving assistance device 10 proceeds to step S995, and temporarily ends the process of this routine.

[0165] That is, when the execution of automatic driving control and first driving control is requested and the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied, if the first driving control is not being executed but is not in an interrupted state and a resume operation is not detected, the second driving control is executed.

[0166] If the value of the interruption flag Xstop is "1" when the process proceeds to step S910, the vehicle driving assistance device 10 determines "No" in step S910, proceeds to step S940, and executes the second driving control. Next, the vehicle driving assistance device 10 proceeds to step S995, and temporarily ends the process of this routine.

[0167] That is, if the first interruption condition Cstop_1 is not satisfied but the second interruption condition Cstop_2 is satisfied and the first driving control is interrupted (i.e., the first driving control is interrupted and the second driving control is being executed), and no resume operation is detected, processing proceeds to step S940, and the second driving control continues.

[0168] Furthermore, if the value of the restart operation detection flag Xrestart is "1" when the process proceeds to step S905, the vehicle driving assistance device 10 determines "No" in step S905, proceeds to step S945, and executes the first driving control. Next, the vehicle driving assistance device 10 proceeds to step S950, and sets the value of the interruption flag Xstop to "0." Next, the vehicle driving assistance device 10 proceeds to step S995, and temporarily ends the process of this routine.

[0169] That is, if a restart operation is detected while the first driving control is suspended, the first driving control is resumed. If there are no changes in the conditions (first suspension condition Cstop_1, second suspension condition Cstop_2, automatic driving control execution condition Cacc, and first driving control execution condition Ceco) after that, the process proceeds to step S945, and the first driving control is continued.

[0170] In this way, the vehicle driving assistance device 10 is configured to start the first driving control when a predetermined condition (third restart condition Crestart_3) is met that a predetermined operation (restart operation) is performed by the driver of the vehicle 100 while the second driving control is being executed.

[0171] When the vehicle driving assistance device 10 resumes the first driving control, the vehicle driving assistance device 10 executes the first driving control as follows.

[0172] That is, when the vehicle driving assistance device 10 interrupts the first driving control and starts the second driving control, and then the third restart condition Crestart_3 is met, that is, when a restart operation is detected, and the detected restart operation is an operation to decrease the set vehicle speed or an operation to increase the set inter-vehicle distance, the vehicle driving assistance device 10 restarts the first driving control by executing coasting control.

[0173] Therefore, the vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control when a predetermined condition (third restart condition Crestart_3) is met by performing a predetermined operation (restart operation) to lower the set vehicle speed Vset or to increase the set inter-vehicle distance DFset while the second driving control is being executed.

[0174] In short, the vehicle driving assistance device 10 is configured to start the first traveling control by starting coasting control when a predetermined condition (third restart condition Crestart_3) is met.

[0175] On the other hand, when the third restart condition Crestart_3 is satisfied, if the detected restart operation is an operation to increase the set vehicle speed or an operation to decrease the set inter-vehicle distance, the vehicle driving assistance device 10 restarts the first driving control by executing powering control.

[0176] Therefore, the vehicle driving assistance device 10 is configured to start the first driving control by starting powering control when a predetermined operation (restart operation) is performed during execution of the second driving control to increase the set vehicle speed Vset or shorten the set inter-vehicle distance DFset, and a predetermined condition (third restart condition Crestart_3) is met.

[0177] Alternatively, the vehicle driving assistance device 10 may be configured such that, when the third restart condition Crestart_3 (predetermined condition) is satisfied while the first driving control is interrupted and the second driving control is being executed, if powering control was being executed immediately before the first driving control was interrupted, the first driving control is started by starting powering control, and if coasting control was being executed immediately before the first driving control was interrupted, the first driving control is started by starting coasting control.

[0178] Alternatively, the vehicle driving assistance device 10 may be configured to start the first traveling control by starting powering control when the third restart condition Crestart_3 (predetermined condition) is satisfied and, at the time when the third restart condition Crestart_3 (predetermined condition) is satisfied, a host vehicle speed upper limit reach time TVupper, which is the time required for the host vehicle speed Vego to reach the upper limit value Vupper of the set vehicle speed range RVset, is longer than a host vehicle speed lower limit reach time TVlower, which is the time required for the host vehicle speed Vego to reach the lower limit value Vlower of the set vehicle speed range RVset. In this case, the vehicle driving assistance device 10 is configured to start the first traveling control by starting coasting control when the third restart condition Crestart_3 (predetermined condition) is satisfied and, at the time when the third restart condition Crestart_3 (predetermined condition) is satisfied, a host vehicle speed lower limit reach time TVlower, which is longer than the host vehicle speed upper limit reach time TVupper.

[0179] Similarly, vehicle driving assistance device 10 may be configured to start the first driving control by starting powering control when the third restart condition Crestart_3 (predetermined condition) is satisfied and, at the time when the third restart condition Crestart_3 (predetermined condition) is satisfied, a vehicle distance lower limit arrival time TDFlower, which is the time required for the forward inter-vehicle distance DF to reach the lower limit value DFlower of the set inter-vehicle distance range RDFset, is longer than a vehicle distance upper limit arrival time TDFupper, which is the time required for the forward inter-vehicle distance DF to reach the upper limit value DFupper of the set inter-vehicle distance range RDFset. In this case, vehicle driving assistance device 10 is configured to start the first driving control by starting coasting control when the third restart condition Crestart_3 (predetermined condition) is satisfied and, at the time when the third restart condition Crestart_3 (predetermined condition) is satisfied, the vehicle distance upper limit arrival time TDFupper is longer than the vehicle distance lower limit arrival time TDFlower.

[0180] According to this, when the driver of the host vehicle 100 performs a restart operation while the second driving control is being executed, the first driving control is started. Therefore, the driver of the host vehicle 100 can start the first driving control by performing a restart operation even when the second driving control is being executed. [Explanation of symbols]

[0181] 10...vehicle driving assistance device, 20...drive device, 54...vehicle speed increase switch, 55...vehicle speed decrease switch, 57...inter-vehicle distance increase switch, 58...inter-vehicle distance decrease switch, 90...ECU, 100...host vehicle, 200...preceding vehicle, 300...following vehicle

Claims

1. a control device that selectively executes a first driving control and a second driving control as an automatic driving control that causes the host vehicle to drive autonomously; the first traveling control is a control for autonomously traveling the host vehicle by selectively executing a powering control for powering the host vehicle and a coasting control for coasting the host vehicle so that a host vehicle speed, which is a vehicle speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed or so that a vehicle-to-vehicle distance, which is a distance between the host vehicle and a preceding vehicle, falls within a set vehicle-to-vehicle distance range including a set vehicle distance, the second driving control is a control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance; In a vehicle driving assistance device, The control device is configured to start the first driving control when a predetermined condition is met that a predetermined operation is performed by an operator of the host vehicle while the second driving control is being executed. Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, the control device is configured to start the first traveling control by starting the coasting control when the predetermined condition is met. Vehicle driving assistance device.

3. The vehicle driving assistance device according to claim 1, the control device is configured to interrupt the first driving control and start the second driving control when an interruption condition is met during execution of the first driving control, The control device When the interruption condition is satisfied during execution of the first traveling control, if the host vehicle speed is lower than the set vehicle speed or the inter-vehicle distance is longer than the set inter-vehicle distance at the time when the interruption condition is satisfied, the first traveling control is interrupted, and the second traveling control is started by starting powering of the host vehicle so that the host vehicle speed increases or the inter-vehicle distance decreases; When the interruption condition is satisfied during execution of the first travel control and the second travel control is started by starting powering of the host vehicle, if the predetermined condition is satisfied while the host vehicle is being powered, the first travel control is started by starting the coasting control. It is configured as follows: Vehicle driving assistance device.

4. The vehicle driving assistance device according to claim 1, The control device is configured to, when an interruption condition is satisfied during execution of the first driving control, interrupt the first driving control, set the host vehicle speed at the time when the interruption condition is satisfied as the set vehicle speed, or set the inter-vehicle distance at the time when the first driving control is interrupted as the set inter-vehicle distance, and start the second driving control. Vehicle driving assistance device.

5. The vehicle driving assistance device according to claim 1 or 4, When the predetermined condition is met while the first travel control is being interrupted and the second travel control is being executed, the control device is configured to start the first travel control by starting the powering control if the powering control was being executed immediately before the first travel control was interrupted, and to start the first travel control by starting the coasting control if the coasting control was being executed immediately before the first travel control was interrupted. Vehicle driving assistance device.

6. The vehicle driving assistance device according to claim 1 or 4, The control device In a case where the first traveling control is a control for causing the host vehicle to travel autonomously by selectively executing the powering control and the coasting control so that the host vehicle speed falls within the set vehicle speed range, when the predetermined condition is satisfied and a host vehicle speed upper limit arrival time, which is the time required for the host vehicle speed to reach an upper limit value of the set vehicle speed range, is longer than a host vehicle speed lower limit arrival time, which is the time required for the host vehicle speed to reach a lower limit value of the set vehicle speed range, the first traveling control is started by starting the powering control, and when the host vehicle speed lower limit arrival time is longer than the host vehicle speed upper limit arrival time, the first traveling control is started by starting the coasting control, In a case where the first traveling control is a control for causing the host vehicle to travel autonomously by selectively executing the powering control and the coasting control so that the inter-vehicle distance falls within the set inter-vehicle distance range, when the predetermined condition is met and a vehicle-to-vehicle distance lower limit arrival time, which is the time required for the inter-vehicle distance to reach the lower limit value of the set inter-vehicle distance range, is longer than a vehicle-to-vehicle distance upper limit arrival time, which is the time required for the inter-vehicle distance to reach the upper limit value of the set inter-vehicle distance range, the first traveling control is started by starting the powering control, and when the vehicle-to-vehicle distance upper limit arrival time is longer than the inter-vehicle distance lower limit arrival time, the first traveling control is started by starting the coasting control. It is configured as follows: Vehicle driving assistance device.

7. The vehicle driving assistance device according to claim 1 or 4, the predetermined operation is an operation to increase or decrease the set vehicle speed or an operation to increase or decrease the set inter-vehicle distance, The control device when an operation to increase the set vehicle speed or an operation to shorten the set inter-vehicle distance is performed as the predetermined operation during execution of the second traveling control and the predetermined condition is met, the first traveling control is started by starting the powering control, When an operation to lower the set vehicle speed or an operation to increase the set inter-vehicle distance is performed as the predetermined operation during execution of the second traveling control, and the predetermined condition is met, the first traveling control is started by starting the coasting control. It is configured as follows: Vehicle driving assistance device.

8. The vehicle driving assistance device according to claim 1, The control device is configured not to start the first driving control if an interruption condition is satisfied when the predetermined condition is satisfied. Vehicle driving assistance device.

9. 9. The vehicle driving assistance device according to claim 8, the interruption condition is a condition that the execution of the coasting control needs to be prohibited, Vehicle driving assistance device.

10. The vehicle driving assistance device according to claim 1, the control device is configured to interrupt the first driving control and start the second driving control when an interruption condition is met during execution of the first driving control, the interruption conditions include a first interruption condition that the distance between the host vehicle and the following vehicle is equal to or shorter than a first threshold distance, and a second interruption condition that the distance between the host vehicle and the following vehicle is equal to or shorter than a second threshold distance that is longer than the first threshold distance but is longer than the first threshold distance; The control device When the first interruption condition is satisfied during execution of the second driving control, the first driving control is not started even if the predetermined condition is satisfied, When the second interruption condition is satisfied during execution of the second driving control, the first driving control is started when the predetermined condition is satisfied. It is configured as follows: Vehicle driving assistance device.

11. The vehicle driving assistance device according to claim 10, the control device is configured to interrupt the first traveling control and start the second traveling control when the second interruption condition is satisfied, if the powering control is being executed when the second interruption condition is satisfied during the execution of the first traveling control. Vehicle driving assistance device.

12. The vehicle driving assistance device according to claim 11, The control device is configured to, in a case where the coasting control is being executed at the time when the second interruption condition is satisfied during execution of the first traveling control, not interrupt the first traveling control at the time when the second interruption condition is satisfied, but interrupt the first traveling control and start the second traveling control at the time when the coasting control is switched to the powering control. Vehicle driving assistance device.

13. A vehicle driving assistance method that selectively executes a first driving control and a second driving control as an automatic driving control that causes a host vehicle to drive autonomously, the first traveling control is a control for autonomously traveling the host vehicle by selectively executing a powering control for powering the host vehicle and a coasting control for coasting the host vehicle so that a host vehicle speed, which is a vehicle speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed or so that a vehicle-to-vehicle distance, which is a distance between the host vehicle and a preceding vehicle, falls within a set vehicle-to-vehicle distance range including a set vehicle distance, the second driving control is a control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance; 1. A vehicle driving assistance method, starting the first driving control when a predetermined condition is met that a predetermined operation has been performed by an operator of the host vehicle while the second driving control is being executed; Vehicle driving assistance method.

14. A vehicle driving assistance program that selectively executes a first driving control and a second driving control as an automatic driving control for autonomously driving a host vehicle, the first traveling control is a control for autonomously traveling the host vehicle by selectively executing a powering control for powering the host vehicle and a coasting control for coasting the host vehicle so that a host vehicle speed, which is a vehicle speed of the host vehicle, falls within a set vehicle speed range including a set vehicle speed or so that a vehicle-to-vehicle distance, which is a distance between the host vehicle and a preceding vehicle, falls within a set vehicle-to-vehicle distance range including a set vehicle distance, the second driving control is a control for autonomously driving the host vehicle so that the host vehicle speed is maintained at the set vehicle speed or the inter-vehicle distance is maintained at the set inter-vehicle distance; In vehicle driving assistance programs, The first driving control is started when a predetermined condition is met that a predetermined operation is performed by an operator of the host vehicle while the second driving control is being executed. Vehicle driving assistance program.

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