Control System

Abstract

A control system for controlling vehicle travel provides a temporary stop function that can ensure drivability with a simple configuration. [Solution] A control system 1 for controlling the driving of a vehicle, comprising a control device 10 (automatic driving control unit 15) that implements an automatic driving function to automatically drive at a first vehicle speed that is set as a set speed, a switch 13A for reducing the set speed to a second vehicle speed that is slower than the first vehicle speed, and a forward detection means 12A that detects the front of the vehicle, and the control device 10 comprises a judgment unit 16 that determines whether or not it is necessary to stop temporarily based on the forward detection means 12A, a stop control unit 17 that implements a pause function to automatically stop the vehicle that is driving automatically when the judgment unit 16 determines that it is necessary to stop temporarily, and a mode setting unit 18 that enables the pause function when the set speed is reduced to the second vehicle speed by operating the switch 13A.

Description

[Technical Field]

[0001] The present invention relates to a control system for controlling the running of a vehicle. [Background technology]

[0002] Conventionally, there is a technology known as ACC (Auto Cruise Control) that controls the throttle, brakes, etc. to follow a preceding vehicle while maintaining a specified distance from the preceding vehicle when the vehicle is traveling at a speed below the speed set by the driver, and automatically drives the vehicle at a pre-set speed when there is no preceding vehicle (automatic driving function).

[0003] For vehicles with such automatic driving functions, a technology has been proposed to automatically stop at a red light (a red light stop function). For example, Patent Document 1 listed below discloses a technology in which an infrastructure information receiver for receiving infrastructure information output from beacons installed along the road is installed in the vehicle, and the vehicle's behavior when passing through a traffic light is determined based on the traffic light information received as infrastructure information, and the vehicle automatically stops at a red light. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-039975 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology for stopping at red lights using infrastructure information output from beacons installed on roads as described above requires the installation of special infrastructure equipment such as beacons on the roads and the installation of an infrastructure information receiver in the vehicle, which increases the cost of introducing a red light stop function. Furthermore, since it is not realistic to install beacons on every road, actual operation has been difficult. Furthermore, if the accuracy of the traffic light information received from the beacons is insufficient, the accuracy of red light judgment will be insufficient, which may result in unnecessary deceleration or stopping.

[0006] One way to implement a red light stop function is to automatically stop at a red light by detecting a red light based on the onboard camera used in the autonomous driving function. However, when traveling at a typical vehicle speed (e.g., 50 km / h), it is necessary to detect the red light at a distance from the traffic light to ensure time for image processing. In this case, the accuracy of signal detection may be insufficient, resulting in unnecessary deceleration or stopping. Furthermore, even when the automatic driving function is in operation, the driver does not necessarily want the red light stop function to be activated every time the vehicle passes through a traffic light.

[0007] In other words, conventional technologies require special infrastructure and additional on-board equipment, resulting in complex structures and high implementation costs. Furthermore, unnecessary deceleration and temporary stops can occur, resulting in insufficient ease of use (drivability) for drivers. Therefore, when implementing a function (temporary stop function) that automatically stops a vehicle at red lights, etc., in a vehicle, there is room for improvement in ensuring comfortable drivability with a simple configuration. The present invention was devised in view of the above-mentioned problems, and one of its objectives is to provide a temporary stop function in a control system that controls vehicle driving, which can ensure drivability with a simple configuration. [Means for solving the problem]

[0008] The present invention has been made to solve at least part of the above problems, and can be realized as the following aspects or application examples.

[0009] (1) The control system according to this application example is a control system for controlling the driving of a vehicle, and includes a control device that implements an automatic driving function to automatically drive at a first vehicle speed that is set as a set speed, a switch for reducing the set speed to a second vehicle speed that is slower than the first vehicle speed, and a forward detection means for detecting the area ahead of the vehicle. The control device includes a judgment unit that determines whether or not a temporary stop is necessary based on the forward detection means, a stop control unit that implements a temporary stop function to automatically stop the vehicle that is driving automatically when the judgment unit determines that a temporary stop is necessary, and a mode setting unit that enables the temporary stop function when the set speed is reduced to the second vehicle speed by operating the switch.

[0010] (2) In the control system according to this application example, the forward detection means may detect a traffic signal ahead of the vehicle, the judgment unit may judge whether the traffic signal is red based on the forward detection means, and the stop control unit may implement the temporary stop function to automatically stop the vehicle at the stop line for the traffic signal or in front of the traffic signal when the judgment unit judges that the traffic signal is red. (3) In the control system according to this example, the forward detection means may be a camera that photographs the area in front of the vehicle.

[0011] (4) In the control system according to this application example, the control device may further include a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed after automatically stopping the vehicle using the temporary stop function. (5) In the control system according to this application example, the control device may further include a timer that measures the passage of a predetermined time when the set speed is reduced to the second vehicle speed, and a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed when the judgment unit does not determine that the temporary stop is necessary within the predetermined time. (6) In the control system according to this application example, the judgment unit determines whether the need to pause is no longer present after determining that the pause is necessary, and the control device may further include a reset unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed when the judgment unit determines that the need to pause is no longer present.

[0012] (7) The control system according to this application example may further include a user interface that notifies the driver that the temporary stop function has been enabled when the set speed is reduced to the second vehicle speed by operating the switch. (8) In the control system according to this application example, the judgment unit may determine whether the need to temporarily stop has disappeared after determining that the temporary stop is necessary, and may further include a user interface that notifies the driver of information urging the vehicle to start moving when the need to temporarily stop has disappeared while the vehicle is automatically stopped by the temporary stop function.

[0013] (9) In the control system according to this application example, when it is not determined that the temporary stop is necessary within the specified time, the control system may further include a user interface that notifies the driver of information inquiring whether or not to return the set speed from the second vehicle speed to the first vehicle speed. (10) In the control system according to this application example, when a leading vehicle is present ahead of the vehicle, the control device may prioritize the leading vehicle following control of the automatic driving function over the temporary stop function. (11) In the control system according to this application example, when a leading vehicle is present ahead of the vehicle, the control device may not activate the temporary stop function and may maintain the automatic driving function.

[0014] (12) In the control system according to this example, the switch may be a switch for increasing or decreasing the set speed. (13) In the control system according to this application example, the switch is a switch for turning the pause function on and off, and the control device may further include a speed setting unit that reduces the set speed from the first vehicle speed to the second vehicle speed when the pause function is turned on by the switch.

[0015] (14) In the control system according to this application example, the judgment unit may judge whether or not there is a railroad crossing ahead of the vehicle based on the forward detection means, and the stop control unit may automatically stop the vehicle at the stop line of the railroad crossing or just before the railroad crossing when the judgment unit determines that there is a railroad crossing. (15) In the control system according to this application example, the judgment unit may judge whether or not there is a crosswalk ahead of the vehicle based on the forward detection means, and the stop control unit may automatically stop the vehicle at the stop line of the crosswalk or in front of the crosswalk if the judgment unit determines that there is a crosswalk. (16) In the control system according to this application example, the judgment unit may judge whether or not a pedestrian is present in front of the vehicle based on the forward detection means, and the stop control unit may automatically stop the vehicle in front of the pedestrian when the judgment unit determines that a pedestrian is present. [Effects of the Invention]

[0016] According to this invention, a control system for controlling the movement of a vehicle can provide a temporary stop function that ensures drivability with a simple configuration. [Brief explanation of the drawings]

[0017] [Figure 1] This is a block diagram showing the configuration of a control system related to an application example. [Figure 2] This is a flowchart illustrating an example of red light stop control in the control system shown in Figure 1. DETAILED DESCRIPTION OF THE INVENTION

[0018] The embodiments of this invention will be described with reference to the drawings. The following embodiments are merely illustrative examples, and there is no intention to exclude various modifications or applications of techniques not explicitly shown in these embodiments. Each configuration of the embodiments described below can be modified in various ways without departing from their spirit. Furthermore, they can be selected or combined as needed.

[0019] The control system described in this application example is installed in a vehicle with an autonomous driving function. While the following explanation uses the example of a gasoline-powered vehicle with an engine as its drive source, the vehicle may also be an electric vehicle with a motor as its drive source, or a hybrid vehicle with both an engine and a motor as drive sources. The type of vehicle can be any type, such as a passenger car, truck, or bus. Furthermore, autonomous driving is a function in which the vehicle drives automatically through electrical control using a control device, rather than being driven manually by a driver in the driver's seat.

[0020] [1. Overall structure] Figure 1 is a block diagram showing the configuration of the control system 1 in this application example. Note that the block diagram in Figure 1 mainly illustrates the components related to the automatic driving function, and some parts have been omitted. The control system 1 shown in Figure 1 includes an ACC control unit (control device) 10, a vehicle speed control unit 11, an on-board sensor 12, a steering switch (switch) 13, and a display (user interface) 14.

[0021] The ACC control unit 10 is an electronic control unit (ECU) configured as an LSI device or embedded electronic device that integrates a microprocessor, ROM, RAM, etc., and is a control device (controller) for performing automatic driving functions and red light stopping functions (temporary stop functions) described later. The ACC control unit 10 performs automatic driving functions and red light stopping functions by executing software programs stored in memory devices such as ROM and RAM.

[0022] The autonomous driving function is a function that automatically drives the vehicle at a speed equal to or lower than a set speed (first vehicle speed) set by the driver. Specifically, when there is a preceding vehicle, the autonomous driving function controls the throttle, brakes, etc. (preceding vehicle following control) to follow the preceding vehicle while maintaining a predetermined distance from it, while when there is no preceding vehicle, the autonomous driving function automatically drives the vehicle at a preset speed, a function known as ACC (adaptive cruise control). The set speed sets an upper limit for the vehicle speed during autonomous driving, and the vehicle is controlled to drive at or below the set speed during autonomous driving. The red light stop function, which will be described in detail later, is a function that automatically stops a vehicle that is traveling automatically when the traffic light ahead of the vehicle is red.

[0023] The vehicle speed control unit 11 is an electronic control device configured as, for example, an LSI device or an embedded electronic device that integrates a microprocessor, ROM, RAM, etc., and includes a brake ECU 11A for controlling the operation of the brakes and an engine ECU 11B for controlling the operation of the engine. The vehicle speed control unit 11 performs driving control such as acceleration control by the engine ECU 11B and braking control by the brake ECU 11A while the automatic driving function or the red light stop function is being performed by the ACC control unit 10, and automatically drives the vehicle in place of the driver's manual driving operation.

[0024] The vehicle speed control unit 11 is configured as a part of an electronic control unit (VCU) that controls various devices provided in the vehicle. The ACC control unit 10 may be configured as a part of the VCU, or may be configured as an electronic control unit separate from the VCU.

[0025] The vehicle-mounted sensors 12 are various sensors mounted on the vehicle, and are provided to acquire information used for the automatic driving function and the red light stop function. The on-board sensor 12 includes forward detection means 12A, 12B, 12C, and 12D that detect the area ahead of the vehicle. The on-board sensor 12 in Fig. 1 includes, as forward detection means, a plurality of cameras 12A, a plurality of radars 12B, a plurality of sonars 12C, and a plurality of lidars 12D.

[0026] The multiple cameras 12A are image sensors that capture images of the surroundings including the area in front of the vehicle. The multiple radars 12B are sensors that emit radio waves to the surroundings including the area in front of the vehicle to detect objects in the surroundings including the area in front of the vehicle. The multiple sonars 12C are sensors that emit sound waves to the surroundings including the area in front of the vehicle to detect objects in the surroundings including the area in front of the vehicle. The multiple lidars 12D are sensors that irradiate laser light to the surroundings including the area in front of the vehicle to detect objects in the surroundings including the area in front of the vehicle. At least some of the multiple cameras 12A, multiple radars 12B, multiple sonars 12C, and multiple lidars 12D are used as forward detection means.

[0027] In addition to the above, various other sensors may be included in the on-vehicle sensor 12. Specifically, the on-vehicle sensor 12 includes a vehicle speed sensor 12E that measures the speed of the vehicle, an acceleration sensor 12F that measures the acceleration of the vehicle, a GNSS (not shown), an accelerator opening sensor (not shown), a brake sensor (not shown), a steering angle sensor (not shown), and the like.

[0028] The steering switch 13 is a variety of switches provided on the steering wheel (not shown) of the vehicle, and is provided for the driver to input various instructions relating to the automatic driving function and the red light stop function. The steering switch 13 in FIG. 1 includes a set switch 13A, a cancel switch 13B, a resume switch 13C, a following distance setting switch 13D, and the like.

[0029] The set switch 13A is a switch that allows the driver to set a set speed used for the automatic driving function, and includes a switch for lowering the set speed to a second vehicle speed that is slower than the current vehicle speed (first vehicle speed). The set switch 13A includes, for example, an increment switch that increases the set speed by a predetermined value and a decrement switch that decreases the set speed by a predetermined value. In this case, the decrement switch of the set switch 13A is used as a switch for lowering the set speed to the second vehicle speed.

[0030] The cancel switch 13B is a switch used to deactivate the automatic driving function. When the automatic driving function is deactivated by the cancel switch 13B, the vehicle will be driven manually by the driver, rather than using the automatic driving function. The resume switch 13C is a switch for resuming the automatic driving function with the settings before the interruption when the automatic driving function has been interrupted.When resuming the automatic driving function after interruption, it is troublesome for the driver to manually set various setting items such as the set speed and the distance from the vehicle ahead, so the resume switch 13C can automatically set the settings before the interruption.

[0031] The inter-vehicle distance setting switch 13D is a switch that allows the driver to set the inter-vehicle distance used in the automatic driving function. In addition to the above, the steering switch 13 also includes a cursor for inputting various information on the screen of the display 14.

[0032] The display 14 is a user interface mounted on the instrument panel in front of the driver's seat of the vehicle. The display 14 includes display devices such as LCDs and LEDs, and various meters (instruments) such as a speedometer and a tachometer. The display 14 can display various information related to the automatic driving function and the red light stop function to notify the driver.

[0033] An input side of the ACC control unit 10 is connected to an in-vehicle sensor 12 and a steering switch 13. An output side of the ACC control unit 10 is connected to a vehicle speed control unit 11 and a display 14. The ACC control unit 10 performs an automatic driving function and a red light stop function based on various information input from an in-vehicle sensor 12 and a steering switch 13.

[0034] [2. Detailed configuration] The ACC control unit 10 includes, as functional elements related to the automatic driving function and the red light stop function, an automatic driving control unit 15, a determination unit 16, a red light stop control unit (stop control unit) 17, a mode setting unit 18, a timer 19, and a display control unit 20. These functional elements 15 to 20 are shown by conveniently classifying the functions of the ACC control unit 10, and are provided, for example, as software executed using the hardware resources of the ACC control unit 10.

[0035] The automatic driving control unit 15 sets the set speed and following distance instructed by the driver, and generates an instruction signal for the vehicle speed control unit 11, thereby carrying out automatic driving control. Specifically, the automatic driving control unit 15 sets the vehicle speed (first vehicle speed) input by the steering switch 13 (set switch 13A or resume switch 13C) to the set speed, and sets the inter-vehicle distance input by the inter-vehicle distance setting switch 13D.

[0036] Furthermore, the automatic driving control unit 15 calculates an instruction signal for the vehicle speed control unit 11 based on information acquired from the on-board sensor 12, and outputs it to the vehicle speed control unit 11. The information acquired from the on-board sensor 12 includes, for example, the presence or absence of a preceding vehicle and the distance between the preceding vehicle. The various instruction signals are instruction signals for causing the vehicle to automatically drive at a vehicle speed and a distance between the preceding vehicle set by the driver, and include a target output (target torque), a target vehicle speed, etc.

[0037] The brake ECU 11A and engine ECU 11B of the vehicle speed control unit 11 each control the operation of actuators attached to the brakes and engine based on instruction signals from the ACC control unit 10 (automatic driving control unit 15), thereby causing the vehicle to drive automatically. The control of the vehicle speed control unit 11 related to the automatic driving function can be performed by applying well-known techniques.

[0038] The determination unit 16 determines whether or not it is necessary to make a temporary stop based on the forward detection means 12A to 12D. As an example, the determination unit 16 analyzes image information captured by the multiple cameras 12A to determine whether or not a traffic light (traffic signal) ahead of the vehicle is showing a red light, which is a signal to stop. That is, the determination unit 16 includes an image analysis unit 16A, which analyzes and processes the captured image information to identify the color of the traffic light. This allows the determination unit 16 to detect a red light. Furthermore, by analyzing and processing the captured image information by the image analysis unit 16A, the determination unit 16 can also detect that the traffic light has changed from red to green. It should be noted that well-known image processing techniques can be applied to the method of analyzing image information, identifying the traffic light ahead of the vehicle from the image, and identifying the color of the traffic light.

[0039] In addition, the image analysis unit 16A of the determination unit 16 analyzes image information captured by the multiple cameras 12A and performs processing to identify the position of a stop line corresponding to a traffic light ahead of the vehicle. Note that well-known image processing techniques can be applied to the method of identifying the position of the stop line set on the road surface ahead of the vehicle from the image captured by the camera 12A.

[0040] The red light stop control unit 17 performs a red light stop function (temporary stop function) on a vehicle that is traveling automatically when the judgment unit 16 determines that a temporary stop is necessary (in this case, when a red light is detected). The red light stop function is a function that smoothly decelerates a vehicle in automatic driving mode to a predetermined stopping position (for example, the stop line of the traffic light in front of the vehicle) and brings it to a complete stop at that position. Here, "traffic light in front of the vehicle" refers to a traffic light located in front of the vehicle's direction of travel on the road the vehicle is traveling on, and is the next traffic light the vehicle will pass.

[0041] The red light stop control unit 17 performs the red light stop function only when the red light stop function is set to ON (enabled) by the mode setting unit 18 described later. After the red light stop function is activated (started), when a red light is detected, the red light stop control unit 17 performs deceleration control and stop control by the red light stop function, and cancels (ends) the red light stop function when the vehicle is stopped at a predetermined stopping position. Furthermore, if the judgment unit 16 determines that there is no longer a need to stop temporarily before stopping the vehicle during deceleration control using the red light stop function (here, when a change from red to green light is detected), the red light stop control unit 17 terminates the red light stop function. After the red light stop function is completed, the automatic driving function by the automatic driving control unit 15 is automatically restored.

[0042] When the red light stop function is activated, the red light stop control unit 17 calculates various instruction signals for the vehicle speed control unit 11 based on information acquired from the on-board sensor 12 and outputs them to the vehicle speed control unit 11. The information acquired from the on-board sensor 12 includes, for example, the vehicle speed and the position of the stop line. The various instruction signals are signals to smoothly decelerate the vehicle and stop it at the stopping position, and include the vehicle's target output (target torque), target vehicle speed, and target brake amount. The brake ECU 11A and engine ECU 11B of the vehicle speed control unit 11 each control the driving of actuators attached to the brakes and engine based on an instruction signal from the red light stop control unit 17, thereby automatically stopping the vehicle. The control of the vehicle speed control unit 11 relating to the red light stop function can be performed by applying well-known techniques.

[0043] The mode setting unit 18 sets the red light stop function to on (enabled) when the set speed is reduced to a second vehicle speed slower than the first vehicle speed by operating the steering switch 13, and sets the red light stop function to off (disabled) in other cases. Specifically, the mode setting unit 18 sets the on / off setting value of the red light stop function mode to "0" indicating off or "1" indicating on.

[0044] The first vehicle speed is the vehicle speed that is set by the driver immediately before the driver reduces the set speed to the second vehicle speed. This first vehicle speed is the speed that the driver sets as the vehicle speed when the vehicle is traveling using the automatic traveling function, and can be said to be the vehicle speed in a normal traveling state with no plans to stop temporarily. The automatic traveling function generally has a predetermined speed range (settable speed range) that can be set as the set speed. The settable speed range is, for example, 20 km / h to 135 km / h. The first vehicle speed is set, for example, to any speed within this settable speed range.

[0045] The second vehicle speed is a predetermined low speed slower than the first vehicle speed. This second vehicle speed is preset as a low speed at which the red light stop function allows the vehicle to smoothly decelerate and stop at a predetermined stopping point, and can be considered a vehicle speed in a low-speed traveling state where temporary stops may occur. The second vehicle speed is set to, for example, a low speed within the above-mentioned settable speed range (specifically, 30 km / h or 20 km / h).

[0046] When the set speed is reduced to a second speed, which is slower than the first speed, by operating the steering switch 13, it can be said that the driver is expecting to stop at the traffic light ahead. Therefore, the instruction to reduce the set speed to the second speed can be interpreted as an indication by the driver that he or she expects the red light stop function to be activated. In other words, when the set speed is not reduced to the second speed, it can be said that the driver does not expect the red light stop function to be activated.

[0047] The mode setting unit 18 sets the red light stop function to OFF (disabled) each time the red light stop function is terminated. Therefore, while the automatic travel function is being performed, the red light stop function is set to OFF unless there is an instruction to reduce the set speed to the second vehicle speed. A configuration in which the red light stop function is set to on when the set speed is reduced to the second vehicle speed, and the red light stop function is set to off otherwise, can be said to be a configuration in which the red light stop function is enabled only when the driver expresses an expectation that the red light stop function will be activated, thereby suppressing unnecessary activation of the red light stop function. When the red light stop function is off (disabled), the red light stop control unit 17 does not execute the red light stop function even when the traffic light is red. In this case, when the vehicle needs to stop at a red light, for example, the driver can manually stop the vehicle.

[0048] The timer 19 measures the passage of a predetermined time when the driver reduces the set speed to the second vehicle speed. The timer 19 is provided to determine whether to terminate (cancel) the red light stop function when the red light stop function is enabled but the determination unit 16 does not determine that a temporary stop is necessary (in this case, a red light is not detected).

[0049] The timer 19 starts timing when the driver reduces the set speed to the second vehicle speed, in other words, when the red light stop function is activated, and ends timing when a red light is detected or when a predetermined time has passed without detecting a red light. The predetermined time is set in advance as a criterion for determining whether or not to terminate the red light stop function. The predetermined time is, for example, about 10 seconds. When the timer 19 has timed a predetermined time (when a red light is not detected within the predetermined time), the red light stop function by the red light stop control unit 17 ends, and the automatic driving function by the automatic driving control unit 15 is restored.

[0050] The display control unit 20 controls the display on the display 14 to notify the driver of various information related to the red light stop function. The information displayed on the display 14 by the display control unit 20 includes, for example, a message indicating that the red light stop function is in operation (red light stop control in progress), a message indicating that the red light stop function has ended (red light stop control has ended), a message encouraging the driver to start driving when the traffic light changes from red to green, and information inquiring whether to return the set speed from the second vehicle speed to the first vehicle speed. These messages can be presented to the driver by, for example, lighting an alarm lamp, a text message, or an image (illustration). Note that the driver may be notified of various information related to the red light stop function by voice or alarm sound using an audio device (not shown).

[0051] The automatic driving control unit 15 is also provided with a resetting unit 15A. When the red light stop function is ended and the automatic travel function is restored, the resetting unit 15A returns (resets) the set speed of the automatic travel function from the second speed to the first speed. The timing at which the red light stop function ends includes, for example, when deceleration control and stop control are performed by the red light stop function and the vehicle is stopped at a predetermined stopping position, or when the timer 19 has counted a predetermined time.

[0052] [3. Flowchart] An example of control performed by the ACC control unit 10 regarding the red light stop function will be described with reference to the flowchart of FIG. This flowchart starts when an operation by the driver to reduce the set vehicle speed to a second vehicle speed (for example, an operation to reduce the set vehicle speed to 30 km / h using the set switch 13A) is detected in a vehicle that is automatically traveling at a first vehicle speed (for example, 50 km / h) that is set as a set speed. Note that the following describes a case where there is no preceding vehicle ahead of the vehicle. Here, "when there is no preceding vehicle" means a case where the rear of the preceding vehicle is not closer than the stopping position as viewed from the host vehicle.

[0053] In step S1, the mode setting unit 18 changes the on / off setting value of the red light stop function mode from "0" to "1." This sets the red light stop function to on (enabled), and the red light stop function is activated (implemented, started). In step S2, the automatic driving control unit 15 sets the set speed to the second vehicle speed, and reduces the vehicle speed to the second vehicle speed or less. In step S3, the display control unit 20 displays on the display 14 that the red light stop function is in operation to notify the driver. The order in which steps S1 to S3 are performed is not limited to the above, and the order in which steps S1 to S3 are performed may be reversed, or steps S1 to S3 may be performed substantially simultaneously.

[0054] In step S4, it is determined whether the timer 19, which started at the start of this flow, has timed a predetermined time. In step S5, the determination unit 16 determines whether the traffic light ahead of the vehicle has detected a red light and the position of the stop line. That is, if the positions of the red light and the stop line are detected within the predetermined time (Yes in step S4 and Yes in step S5), the process proceeds to step S6. On the other hand, if the positions of the red light and stop line are not detected within the predetermined time (Yes in step S4 and No in step S5), steps S4 and S5 are repeated, and if the predetermined time has passed without detecting the positions of the red light and stop line (No in step S4 and No in step S5), the process proceeds to step S8.

[0055] In step S6, the red light stop control unit 17 performs control to smoothly decelerate the vehicle to the position of the stop line and stop the vehicle at the position of the stop line. That is, the red light stop control unit 17 performs the control of step S6 until the vehicle stops at the position of the stop line (No in step S7). If the vehicle stops at the stop line (Yes in step S7), the process proceeds to step S8. Also, if the determination unit 16 detects that the traffic light has changed from red to green before the vehicle reaches the stop line while the vehicle is under deceleration control (No in step S7), the process proceeds to step S8.

[0056] In step S8, the mode setting unit 18 changes the on / off setting value of the stop at red light function mode from "1" to "0." This sets the stop at red light function to off (disabled) and ends (cancels) the stop at red light function. In step S9, the resetting unit 15A of the automatic driving control unit 15 changes the set speed back from the second vehicle speed to the first vehicle speed. The automatic driving control unit 15 controls the vehicle to automatically drive at the first vehicle speed. That is, the red light stop function is terminated, and the normal automatic driving function is restored. In step S10, the display control unit 20 displays on the display 14 that the red light stop function has been released, thereby informing the driver. The order in which steps S8 to S10 are executed is not limited to the above, and the order in which steps S8 to S10 are executed may be reversed, or steps S8 to S10 may be executed substantially simultaneously.

[0057] If the red light stop function is terminated after a predetermined time has elapsed without detecting the positions of the red light and the stop line (No in step S4 and No in step S5), the display control unit 20 may notify the driver by displaying information (for example, a text message or an image) on the display 14 inquiring whether to return the set speed from the second vehicle speed to the first vehicle speed before the resetting unit 15A returns the set speed from the second vehicle speed to the first vehicle speed in step S9. The driver may then be able to set whether to return the set speed to the first vehicle speed or to maintain the second vehicle speed.

[0058] [4. Action and Effects] The present embodiment described above has the following advantages. (1) In the control system 1 according to this application example, a mode setting unit 18 is provided that enables the temporary stop function by the stop control unit 17 when the set speed is reduced to a second vehicle speed that is slower than the first vehicle speed by operating the set switch 13A. In other words, the temporary stop function is activated when the driver reduces the set speed to the second vehicle speed. This temporary stop function automatically stops the vehicle when the forward detection means 12A detects what is in front of the vehicle and determines that it is necessary to stop.

[0059] The system can be configured to only activate the stop function when the driver reduces the set speed to the second speed, indicating an expectation of the stop function to activate. This prevents unnecessary activation of the stop function. Furthermore, since the forward detection means 12A detects the area in front of the vehicle, it does not require special infrastructure development like conventional technologies that use signal information output from beacons, resulting in a simpler configuration. Furthermore, since the stop control unit 17 activates the temporary stop function when the set speed is reduced to the second vehicle speed, it becomes easier to improve the accuracy of the judgment based on the forward detection means 12A, and it becomes easier to bring the vehicle to a smooth automatic stop. Therefore, it is possible to provide a stop function that ensures ease of use (drivability) for the driver with a simple configuration.

[0060] (2) In the control system 1 according to this application example, the forward detection means 12A detects a traffic signal ahead of the vehicle and, when it determines that the traffic signal is red, activates the stop function. Because the stop function is activated when the set speed is reduced to the second vehicle speed, it becomes easier to improve the accuracy of determining that the traffic signal is red based on the forward detection means 12A. Therefore, unnecessary activation of the stop function is suppressed, improving drivability. (3) In the control system 1 of this application example, a camera 12A that photographs the front of the vehicle is used as a forward detection means, so the temporary stop function can be implemented using the in-vehicle equipment that is normally used for the automatic driving function. Therefore, the temporary stop function can be implemented at low cost.

[0061] (4) In the control system 1 according to this application example, after the vehicle is automatically stopped by the temporary stop function, the resetting unit 15A automatically returns the set speed from the second vehicle speed to the first vehicle speed. (5) Furthermore, the control system 1 according to this application example further includes a timer 19 that times the passage of a predetermined time when the set speed is reduced to the second vehicle speed, and the resetting unit 15A automatically returns the set speed from the second vehicle speed to the first vehicle speed when the judgment unit does not determine that a temporary stop is necessary within the predetermined time. (6) In addition, in the control system 1 according to this application example, the determination unit 16 determines whether it is no longer necessary to stop after it has determined that it is necessary to stop, and the reset unit 15A automatically returns the set speed from the second vehicle speed to the first vehicle speed when it has been determined by the determination unit 16 that it is no longer necessary to stop. According to the control system 1 described in (4) to (6) above, when the pause function ends, the resetting unit 15A automatically returns the set speed from the second vehicle speed to the first vehicle speed, allowing for a smooth return to the automatic driving function without requiring any setting operation by the driver.

[0062] (7) In the control system 1 of this application example, when the set speed is reduced to a second vehicle speed that is slower than the first vehicle speed by operating the set switch 13A, the user interface 14 notifies the driver that the automatic stop function has been activated. (8) In addition, in the control system 1 according to this application example, after the judgment unit 16 judges that it is necessary to temporarily stop, it judges whether or not it is no longer necessary to temporarily stop, and when it is no longer necessary to temporarily stop while the vehicle is automatically stopped by the temporary stop function, the user interface 14 notifies the driver of information urging the vehicle to start. According to the control system 1 described in (7) and (8) above, information regarding the operation status of the stop function can be provided to the driver, making it easier for the driver to understand the operation status of the stop function. This contributes to improved drivability.

[0063] (9) In addition, in the control system 1 of this application example, when it is determined that it is not necessary to stop within a predetermined time, the user interface 14 informs the driver of whether or not to return the set speed from the second speed to the first speed. In this case, by asking whether to return the set speed from the second speed to the first speed, the driver can decide whether to return the set speed to the first speed or maintain the second speed.

[0064] (10) In the control system for an autonomous vehicle according to this application example, a command to decrease the set speed to the second vehicle speed can be input using the set switch 13A for increasing or decreasing the set speed. Therefore, the temporary stop function can be implemented using the in-vehicle devices used for the normal autonomous driving function. Therefore, the temporary stop function can be implemented at low cost.

[0065] [5. Others] In the above embodiment, an example of a configuration has been described in which the reset unit 15A automatically resets the set speed from the second vehicle speed to the first vehicle speed when the red light stop function is terminated and the normal automatic driving function is restored (step S9 in FIG. 2). This is not limiting, and the automatic driving function may be restored after the red light stop function is terminated, with the set speed remaining set to the second vehicle speed. In this case, the driver can reset the set speed to the first vehicle speed simply by operating the resume switch 13C.

[0066] Furthermore, the flowchart in FIG. 2 above describes the case where there is no preceding vehicle in front of the vehicle. When there is a preceding vehicle in front of the vehicle, in step S6 in FIG. 2, the red light stop control unit 17, like a normal automatic driving function, follows the preceding vehicle and controls deceleration, and stops behind the preceding vehicle when it stops. In other words, when there is a preceding vehicle, the ACC control unit 10 prioritizes the preceding vehicle following control of the automatic driving function over the red light stop function. The above-mentioned "when there is a preceding vehicle" refers to when the rear of the preceding vehicle is closer to the host vehicle than the stop position. This makes it possible to suppress the operation of the temporary stop function (red light stop function), ensuring comfortable drivability when there is a preceding vehicle. As another example, when "there is a preceding vehicle," the ACC control unit 10 may maintain the normal automatic driving function without implementing the red light stop function. In this case, the operation of the temporary stop function (red light stop function) can also be suppressed, ensuring comfortable drivability when there is a preceding vehicle.

[0067] The temporary stop function of the control system 1 of this application example is not limited to when a vehicle needs to stop at a red light, but can also be applied to other situations when a vehicle needs to stop. For example, the judgment unit 16 may determine whether or not there is a railroad crossing ahead of the vehicle based on the camera 12A, and the red light stop control unit 17 may automatically stop the vehicle in front of the railroad crossing if the judgment unit 16 determines that there is a railroad crossing.

[0068] In this case, the determination unit 16 determines, based on the camera 12A, whether there is a level crossing, whether the level crossing is closed, and whether a closed level crossing has opened. If the red light stop control unit 17 determines that there is a level crossing, it automatically stops the vehicle before the level crossing. If the level crossing is open, it temporarily stops, then terminates the red light stop function and resumes the automatic driving function. If the level crossing is closed, it temporarily stops until the level crossing opens, then terminates the red light stop function and resumes the automatic driving function. Therefore, the temporary stop function provided by the control system 1 of this application example can also be applied to railroad crossings.

[0069] In addition, the judgment unit 16 may judge whether or not there is a crosswalk ahead of the vehicle based on the camera 12A, and the red light stop control unit 17 may automatically stop the vehicle in front of the crosswalk if the judgment unit 16 determines that there is a crosswalk. In this case, the red light stop control unit 17 automatically stops the vehicle before the pedestrian crossing, and after coming to a complete stop, terminates the red light stop function and resumes the automatic driving function when safety is confirmed (for example, when no pedestrians are detected). Alternatively, after the red light stop control unit 17 automatically stops the vehicle before the pedestrian crossing, the display control unit 20 may display information on the display 14 prompting the driver to confirm safety and start driving. Therefore, the stop function provided by the control system 1 of this application example can be applied even to a crosswalk without traffic lights.

[0070] In addition, the judgment unit 16 may judge whether or not there is a pedestrian in front of the vehicle based on the camera 12A, and the red light stop control unit 17 may automatically stop the vehicle in front of the pedestrian if the judgment unit 16 determines that there is a pedestrian. In this case, the red light stop control unit 17 may temporarily stop the vehicle in front of the pedestrian, and then, without returning to the automatic driving function, cause the display control unit 20 to display information on the display 14 urging the driver to check for safety. Therefore, even when a pedestrian is present in front of the vehicle, the temporary stop function of the control system 1 of this application example can be applied.

[0071] The switch for inputting an instruction to reduce the set speed to the second vehicle speed may be a switch for turning the pause function on and off. That is, the steering switch 13 may include a switch (on / off switch) for turning the pause function on and off. In this case, the ACC control unit 10 (automated driving control unit 15) further includes a speed setting unit that reduces the set speed from the first vehicle speed to the second vehicle speed when the pause function is set to on by the on / off switch. In this case, it can be said that a configuration is configured in which an instruction to reduce the set speed from the first vehicle speed to the second vehicle speed is indirectly input by operating the on / off switch.

[0072] Furthermore, the forward detection means is not limited to the camera 12A, and other sensors provided as the on-board sensor 12 can be used. For example, at least some of the multiple radars 12B, multiple sonars 12C, and multiple lidars 12D can be used as the forward detection means. Also, some or all of the camera 12A, radar 12B, sonars 12C, and lidars 12D can be used in combination as the forward detection means. By combining multiple types of forward detection means, it is possible to improve detection accuracy. Furthermore, in addition to forward detection means, information for identifying traffic lights, railway crossings, pedestrian crossings, etc., ahead of the vehicle may be obtained from location information and map information used in the car navigation system, as well as the current location information of the vehicle and the location information of traffic lights, railway crossings, pedestrian crossings, etc. In this case, the accuracy of detecting traffic lights, etc., can be improved by using location information in combination.

[0073] Below, supplementary notes regarding this embodiment will be disclosed. (Appendix 1) A control system for controlling vehicle running, a control device that performs an automatic driving function of automatically driving at a first vehicle speed that is set as a set speed; a switch for reducing the set speed to a second vehicle speed that is slower than the first vehicle speed; a forward detection means for detecting a forward direction of the vehicle, The control device is a determination unit that determines whether or not it is necessary to make a temporary stop based on the forward detection means; a stop control unit that performs a temporary stop function to automatically stop the vehicle during automatic traveling when the determination unit determines that the vehicle needs to be temporarily stopped; a mode setting unit that enables the temporary stop function when the set speed is reduced to the second vehicle speed by operating the switch. A control system characterized by the following features. (Appendix 2) the forward detection means detects a traffic signal ahead of the vehicle; the determination unit determines whether the traffic signal is red based on the forward detection means, The stop control unit performs the temporary stop function of automatically stopping the vehicle at a stop line for the traffic signal or in front of the traffic signal when the determination unit determines that the traffic signal is the red signal. 2. The control system of claim 1, (Appendix 3) The forward detection means is a camera that captures an image of the area ahead of the vehicle. 3. A control system according to claim 1 or 2. (Appendix 4) The control device is a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed after the vehicle is automatically stopped by the temporary stop function; 4. The control system according to any one of claims 1 to 3. (Appendix 5) The control device is a timer that measures the passage of a predetermined time when the set speed is reduced to the second vehicle speed; If the determination unit does not determine that the temporary stop is necessary within the predetermined time, the system further includes a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed. 5. The control system according to any one of appendices 1 to 4. (Appendix 6) the determination unit determines whether the need to pause has disappeared after determining that the pause is necessary; The control device is When the determination unit determines that the need to temporarily stop has been eliminated, the system further comprises a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed. 6. The control system according to any one of appendices 1 to 5, (Appendix 7) The system further includes a user interface that notifies the driver that the temporary stop function has been activated when the set speed is reduced to the second vehicle speed by operating the switch. 7. The control system according to any one of appendices 1 to 6, (Appendix 8) the determination unit determines whether the need to pause has disappeared after determining that the pause is necessary; The system further includes a user interface that notifies the driver of information prompting the vehicle to start moving when the need to stop is no longer present while the vehicle is automatically stopped by the aforementioned temporary stop function. 8. The control system according to any one of appendices 2 to 7, (Appendix 9) The vehicle speed setting device further includes a user interface that notifies the driver of information inquiring whether or not to return the set speed from the second vehicle speed to the first vehicle speed when it is not determined that the temporary stop is necessary within the predetermined time. 9. The control system according to any one of appendices 5 to 8, (Appendix 10) The control system described in any one of Appendices 2 to 9, wherein the control device prioritizes the control of the automatic driving function to follow the preceding vehicle over the temporary stop function when a preceding vehicle is present in front of the vehicle. (Appendix 11) The control system described in any one of Appendices 2 to 9, characterized in that the control device does not enable the temporary stop function and maintains the automatic driving function when a leading vehicle is present in front of the vehicle. (Appendix 12) The switch is a switch for increasing or decreasing the set speed. 12. The control system according to any one of claims 1 to 11. (Appendix 13) the switch is a switch for turning on and off the pause function, The control device further includes a speed setting unit that reduces the set speed from the first vehicle speed to the second vehicle speed when the temporary stop function is turned on by the switch. 13. The control system according to any one of appendices 1 to 12. (Appendix 14) the determination unit determines whether or not there is a railroad crossing ahead of the vehicle based on the forward detection means, The stop control unit automatically stops the vehicle at a stop line of the railroad crossing or in front of the railroad crossing when the determination unit determines that the railroad crossing is present. 14. The control system according to any one of claims 1 to 13. (Appendix 15) The determination unit determines, based on the forward detection means, whether or not there is a pedestrian crossing in front of the vehicle. The stop control unit automatically stops the vehicle at a stop line of the crosswalk or in front of the crosswalk when the determination unit determines that the crosswalk is present. 14. The control system according to any one of claims 1 to 13. (Appendix 16) The determination unit determines, based on the forward detection means, whether or not there is a pedestrian in front of the vehicle. The stop control unit automatically stops the vehicle in front of the pedestrian if the determination unit determines that a pedestrian is present. 14. The control system according to any one of claims 1 to 13. [Explanation of symbols]

[0074] 1. Control System 10 ACC Control Unit (Control Device) 11: Vehicle speed control unit 11A Brake ECU 11B Engine ECU 12 In-vehicle sensors 12A Camera (forward detection means) 12B Radar (forward detection means) 12C Sonar (forward detection means) 12D lidar (forward detection means) 12E Vehicle speed sensor 12F Acceleration Sensor 13 Steering Switches 13A set switch (switch) 13B Cancel switch 13C Resume Switch 13D Following distance setting switch 14. Display (User Interface) 15 Automatic Driving Control Unit 15A reset section 16 Judgment Department 16A Image Analysis Unit 17. Red light stop control unit (stop control unit) 18 Mode setting section 19 Timer 20 Display control unit

Claims

1. A control system for controlling vehicle running, a control device that performs an automatic driving function of automatically driving at a first vehicle speed that is set as a set speed; a switch for reducing the set speed to a second vehicle speed that is slower than the first vehicle speed; a forward detection means for detecting a forward direction of the vehicle, The control device a determination unit that determines whether or not it is necessary to make a temporary stop based on the forward detection means; a stop control unit that performs a temporary stop function to automatically stop the vehicle during automatic traveling when the determination unit determines that the vehicle needs to be temporarily stopped; a mode setting unit that enables the temporary stop function when the set speed is reduced to the second vehicle speed by operating the switch. A control system comprising:

2. the forward detection means detects a traffic signal ahead of the vehicle; the determination unit determines whether the traffic signal is red based on the forward detection means, The stop control unit performs the temporary stop function of automatically stopping the vehicle at a stop line for the traffic signal or in front of the traffic signal when the determination unit determines that the traffic signal is the red signal.

2. The control system of claim 1 .

3. The forward detection means is a camera that captures an image of the area ahead of the vehicle.

3. A control system according to claim 1 or 2, characterized in that:

4. The control device a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed after the vehicle is automatically stopped by the temporary stop function; 3. A control system according to claim 1 or 2, characterized in that:

5. The control device a timer that measures the passage of a predetermined time when the set speed is reduced to the second vehicle speed; a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed when the determining unit determines that the temporary stop is not necessary within the predetermined time period; 3. A control system according to claim 1 or 2, characterized in that:

6. the determination unit determines whether the need to pause has disappeared after determining that the pause is necessary; The control device The vehicle further includes a resetting unit that automatically returns the set speed from the second vehicle speed to the first vehicle speed when the determining unit determines that the temporary stop is no longer necessary.

3. A control system according to claim 1 or 2, characterized in that:

7. The vehicle speed control device further includes a user interface that notifies a driver that the temporary stop function has been enabled when the set speed is reduced to the second vehicle speed by operating the switch.

3. A control system according to claim 1 or 2, characterized in that:

8. the determination unit determines whether the need to pause has disappeared after determining that the pause is necessary; The vehicle further includes a user interface that notifies the driver of information prompting the driver to start the vehicle when the vehicle is no longer required to be stopped while the vehicle is automatically stopped by the stop function.

3. The control system according to claim 2, wherein:

9. The vehicle speed setting device further includes a user interface that notifies the driver of information inquiring whether or not to return the set speed from the second vehicle speed to the first vehicle speed when it is not determined that the temporary stop is necessary within the predetermined time.

6. The control system according to claim 5, wherein:

10. 3. The control system according to claim 2, wherein the control device prioritizes the preceding vehicle following control of the automatic driving function over the temporary stop function when a preceding vehicle is present ahead of the vehicle.

11. The control system according to claim 2 , wherein the control device does not activate the temporary stop function and maintains the automatic driving function when a leading vehicle is present ahead of the vehicle.

12. The switch is a switch for increasing or decreasing the set speed.

3. A control system according to claim 1 or 2, characterized in that:

13. the switch is a switch for turning on and off the pause function, The control device further includes a speed setting unit that reduces the set speed from the first vehicle speed to the second vehicle speed when the temporary stop function is turned on by the switch.

3. A control system according to claim 1 or 2, characterized in that:

14. the determination unit determines whether or not there is a railroad crossing ahead of the vehicle based on the forward detection means, The stop control unit automatically stops the vehicle at a stop line of the railroad crossing or in front of the railroad crossing when the determination unit determines that the railroad crossing is present.

2. The control system of claim 1 .

15. the determination unit determines whether or not there is a pedestrian crossing ahead of the vehicle based on the forward detection means, The stop control unit automatically stops the vehicle at a stop line of the crosswalk or in front of the crosswalk when the determination unit determines that the crosswalk is present.

2. The control system of claim 1 .

16. the determination unit determines whether or not a pedestrian is present ahead of the vehicle based on the forward detection means, The stop control unit automatically stops the vehicle in front of the pedestrian when the determination unit determines that the pedestrian is present.

2. The control system of claim 1 .

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