Vehicle driving assistance system

Abstract

The present invention provides a vehicle driving assistance system that allows the driver to set the speed according to their preferences. [Solution] When the vehicle driving support device 10 detects the speed limit applicable to its own vehicle 100, it sets a set speed based on that speed limit and autonomously limits the vehicle's speed to below that set speed. If the set speed is changed by the operator of the vehicle while the vehicle driving support device is enforcing the speed limit, it stores the difference between the changed set speed and the speed limit applicable to its own vehicle as a correction value, and when it next detects a speed limit, it corrects that speed limit based on the correction value and sets the resulting speed as the set speed.

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device.

Background Art

[0002] There is known a vehicle driving support device that sets a limit speed as a set speed and autonomously limits the traveling speed of the host vehicle to be below the set speed. Also known is a vehicle driving support device that sets a speed obtained by adding a predetermined allowable value to the limit speed as the set speed (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] According to a conventional vehicle driving support device, the set speed is set regardless of the preference of the driver of the host vehicle.

[0005] An object of the present invention is to provide a vehicle driving support device capable of setting a set speed in accordance with the preference of an operator of the host vehicle.

[0006] The vehicle driving support device according to the present invention includes a control device that, when detecting a limit speed applied to the host vehicle, sets a set speed based on the limit speed and performs vehicle speed control to autonomously limit the traveling speed of the host vehicle to be below the set speed. When the set speed is changed by the operator of the host vehicle during the execution of the vehicle speed control, the control device stores the difference between the changed set speed and the limit speed applied to the host vehicle as a correction value, and when the limit speed is detected next, is configured to set, as the set speed, a speed obtained by correcting the limit speed based on the correction value.

[0007] According to the present invention, the set speed is determined taking into account changes in the set speed made by the operator of the vehicle. Therefore, the set speed is set according to the preference of the operator of the vehicle.

[0008] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the routine executed by a vehicle driving assistance device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0010] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the vehicle 100. Hereinafter, the vehicle driving support device 10 will be described using the case where the operator of the vehicle 100 is the driver of the vehicle 100 (i.e., a person who is in the vehicle 100 and drives the vehicle 100) as an example. However, the operator of the vehicle 100 may also be a remote operator of the vehicle 100 (i.e., a person who does not ride in the vehicle 100 and drives the vehicle 100 remotely).

[0011] As shown in Figure 1, the vehicle driving assistance system 10 is equipped with an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 mainly consists of a microcomputer. The microcomputer includes a CPU, a computer-readable storage medium, and an interface, etc. The storage medium is ROM, RAM, and non-volatile memory, etc. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance system 10 stores programs that realize the various controls that the vehicle driving assistance system 10 performs in the storage medium.

[0012] In this example, the vehicle driving assistance system 10 is equipped with only one ECU 90, but it may also be equipped with multiple ECUs, and the functions of the vehicle driving assistance system 10 described below may be divided among the ECUs.

[0013] Furthermore, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (for example, internet communication).

[0014] Furthermore, the vehicle driving assistance system 10 is applicable not only to vehicles driven by manual operation by an operator, but also to vehicles driven by both manual and automated driving.

[0015] The vehicle 100 is equipped with a drive unit 21, a braking unit 22, a notification device 30, a set speed increase / decrease control device 41, an approval control device 42, a vehicle speed detection device 43, a surrounding information detection device 50, a GPS signal receiver 61, and a map database 62.

[0016] The drive unit 21 is a device that generates the driving force supplied to the vehicle 100 (particularly to the drive wheels of the vehicle 100). The drive unit 21 includes, for example, an internal combustion engine and a motor. The drive unit 21 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the driving force supplied to the vehicle 100 by controlling the operation of the drive unit 21.

[0017] The braking device 22 is a device that applies braking force to the vehicle 100 (particularly to the wheels of the vehicle 100). The braking device 22 is, for example, a hydraulic brake system. The braking device 22 is electrically connected to the ECU 90. The vehicle driving support system 10 can control the braking force applied to the vehicle 100 by controlling the operation of the braking device 22.

[0018] The notification device 30 is a device for providing various notifications to the driver of the vehicle 100. The notification device 30 includes a display device 31 and an audio device 32.

[0019] The display device 31 is a device that displays various images. The display device 31 includes, for example, a display. The display device 31 is electrically connected to the ECU 90. The vehicle driving assistance system 10 displays various images using the display device 31.

[0020] The sound device 32 is a device that outputs various sounds and / or voices. The sound device 32 is equipped with, for example, a speaker. The sound device 32 is electrically connected to the ECU 90. The vehicle driving assistance system 10 outputs various sounds and / or voices through the sound device 32.

[0021] The set speed increase / decrease operator 41 is a device operated by the driver of the host vehicle 100. The driver can increase or decrease the set speed Vset by operating the set speed increase / decrease operator 41. The set speed Vset is used for the vehicle speed limit described later. The set speed increase / decrease operator 41 is electrically connected to the ECU 90. When an operation for increasing the set speed Vset is applied to the set speed increase / decrease operator 41, the vehicle driving support device 10 increases the set speed Vset. On the other hand, when an operation for decreasing the set speed Vset is applied to the set speed increase / decrease operator 41, the vehicle driving support device 10 decreases the set speed Vset.

[0022] The approval operator 42 is also a device operated by the driver of the host vehicle 100. The driver can approve to set the limit speed Vlim notified by the limit speed notification described later as the set speed Vset by operating the approval operator 42. The approval operator 42 is electrically connected to the ECU 90. When the approval operator 42 is operated, the vehicle driving support device 10 determines that the approval operation has been performed.

[0023] The vehicle speed detection device 43 is a device for detecting the host vehicle speed V. The host vehicle speed V is the traveling speed of the host vehicle 100. The vehicle speed detection device 43 includes, for example, wheel speed sensors provided on each wheel of the host vehicle 100. The vehicle speed detection device 43 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the host vehicle speed V by the vehicle speed detection device 43.

[0024] The surrounding information detection device 50 is a device for detecting information around the host vehicle 100. In this example, the surrounding information detection device 50 includes a plurality of image sensors 51. The image sensor 51 is, for example, a camera sensor. The vehicle driving support device 10 acquires information around the host vehicle 100 as image information IC by the image sensor 51.

[0025] The GPS signal receiver 61 is a device that receives GPS signals. The GPS signal receiver 61 is electrically connected to the ECU 90. The vehicle driving support device 10 receives GPS signals via the GPS signal receiver 61. The vehicle driving support device 10 acquires the current position of the host vehicle 100 based on the GPS signals.

[0026] The map database 62 is a device that stores map information IM. The map database 62 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires map information IM from the map database 62.

[0027] Next, the operation of the vehicle driving support device 10 will be described. When the vehicle driving support device 10 detects the applicable speed limit Vlim for the host vehicle 100, it performs vehicle speed limitation. The vehicle speed limitation is a process of setting a set speed Vset based on the detected speed limit Vlim and autonomously limiting the host vehicle speed V to below the speed limit Vlim. Therefore, while the vehicle driving support device 10 is implementing the vehicle speed limitation, if the host vehicle speed V attempts to exceed the set speed Vset, the vehicle driving support device 10 maintains the host vehicle speed V at the set speed Vset. The vehicle driving support device 10 maintains the host vehicle speed V at the set speed Vset by autonomously controlling the operation of the drive device 21.

[0028] The vehicle driving support device 10 performs vehicle speed limitation by executing the routine shown in FIG. 2 at predetermined time intervals. Therefore, at a predetermined timing, the vehicle driving support device 10 starts processing from step S200 of the routine shown in FIG. 2. Then, the vehicle driving support device 10 advances the processing to step S205 and determines whether or not the detection condition C1 is satisfied.

[0029] The detection condition C1 is satisfied when the vehicle driving support device 10 acquires the speed limit information IV. The speed limit information IV is information regarding the applicable speed limit Vlim_app. The applicable speed limit Vlim_app is the speed limit Vlim currently applied to the host vehicle 100.

[0030] The vehicle driving support system 10 acquires speed limit information IV based on image information IC and / or map information IM. More specifically, the vehicle driving support system 10 detects road signs based on image information IC and acquires the speed limit Vlim displayed on those road signs as speed limit information IV. Alternatively, the vehicle driving support system 10 identifies the road on which the vehicle 100 is currently traveling from the map information IM based on the current position of the vehicle 100, and acquires the speed limit Vlim set for that road from the map information IM as speed limit information IV.

[0031] The vehicle driving support system 10 then obtains the applicable speed limit Vlim_app based on the speed limit information IV. In other words, the vehicle driving support system 10 detects the applicable speed limit Vlim_app. Therefore, it can also be said that the detection condition C1 is met when the vehicle driving support system 10 detects the applicable speed limit Vlim_app.

[0032] If the vehicle driving assistance system 10 determines "Yes" in step S205, it proceeds to step S210 and issues a speed limit notification. The speed limit notification is a notification to inform the driver of the vehicle 100 of the applicable speed limit Vlim_app obtained from the speed limit information IV. In this example, the speed limit notification is implemented by the notification device 30. More specifically, the speed limit notification is implemented by displaying an image showing the applicable speed limit Vlim_app on the display device 31. In addition to or instead of this, the speed limit notification is also implemented by outputting an audio message from the sound device 32 informing the driver of the applicable speed limit Vlim_app.

[0033] Next, the vehicle driving support device 10 proceeds to step S215 and determines whether an approval operation has been performed. An approval operation is an operation performed by the driver of the vehicle 100 on the approval device 42 to approve setting the notified speed limit Vlim_not as the set speed Vset. The notified speed limit Vlim_not is the speed limit Vlim that was notified in the speed limit notification.

[0034] If the vehicle driving support system 10 determines "Yes" in step S215, it performs the set speed setting. Next, the vehicle driving support system 10 proceeds to step S295 and terminates the processing of this routine.

[0035] The set speed setting process is the process of setting the set speed Vset. The set speed Vset is the speed at which the vehicle speed V is limited by the vehicle speed limit. The set speed Vset is set to the speed obtained by adding a correction value K to the notified speed limit Vlim_not. That is, when the vehicle driving assistance device 10 detects the applicable speed limit Vlim_app, it sets the speed obtained by correcting the applicable speed limit Vlim_app based on the correction value K as the set speed Vset. If the correction value K is a positive value, the set speed Vset is set to a speed greater than the speed limit Vlim. On the other hand, if the correction value K is a negative value, the set speed Vset is set to a speed less than the speed limit Vlim.

[0036] The correction value K is stored in step S230, which will be described later. The correction value K is stored for each speed limit Vlim. The applied correction value Kapp is the correction value K stored in association with the speed limit Vlim that is equal to the value of the notified speed limit Vlim_not. The applied correction value Kapp is the correction value K that is added to the notified speed limit Vlim_not. Furthermore, the applied correction value Kapp is the most recent correction value K stored in association with the speed limit Vlim that is equal to the value of the notified speed limit Vlim_not. However, the applied correction value Kapp may also be the mode of the correction value K stored in association with the speed limit Vlim that is equal to the value of the notified speed limit Vlim_not.

[0037] Furthermore, if there is no correction value K stored in association with a speed limit Vlim equal to the value of the notified speed limit Vlim_not, the notified speed limit Vlim_not will be set as the set speed Vset. However, if there is a correction value K stored in association with a speed limit Vlim close to the value of the notified speed limit Vlim_not, the value calculated based on those stored correction values ​​K may be used as the applied correction value Kapp. For example, if the notified speed limit Vlim_not is 70 km / h, but there is no correction value K stored in association with a speed limit Vlim of 70 km / h, and the correction value K stored in association with a speed limit Vlim of 50 km / h is "4", and the correction value K stored in association with a speed limit Vlim of 90 km / h is "6", the applied correction value Kapp may be set to "5" by interpolating between "4" and "6", and the set speed Vset may be set to 75 km / h.

[0038] Furthermore, the vehicle driving support device 10 may be configured so that the driver of the vehicle 100 can directly change the stored correction value K.

[0039] Furthermore, the correction value K may be stored for each road. In this case, the applicable correction value Kapp is the latest correction value K stored in association with the road on which the vehicle 100 is currently traveling. However, the applicable correction value Kapp may also be the mode of the correction value K stored in association with the road on which the vehicle 100 is currently traveling. The vehicle driving support system 10 identifies the road on which the vehicle 100 is currently traveling based on the vehicle's current position and map information IM.

[0040] Alternatively, the correction value K may be stored for each type of road. In this case, the applicable correction value Kapp is the latest correction value K stored in association with the same type of road that the vehicle 100 is currently traveling on. However, the applicable correction value Kapp may also be the mode of the correction value K stored in association with the same type of road that the vehicle 100 is currently traveling on. The vehicle driving support system 10 identifies the road that the vehicle 100 is currently traveling on and its type based on the vehicle's current position and map information IM.

[0041] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S215, it proceeds directly to step S295 and terminates the processing of this routine.

[0042] Furthermore, if the vehicle driving support device 10 determines "No" in step S205, it proceeds to step S225 to determine whether or not a vehicle speed limit is currently in effect.

[0043] If the vehicle driving support device 10 determines "Yes" in step S225, it proceeds to step S230 to determine whether an increase or decrease operation has been performed. An increase or decrease operation is an operation performed by the driver of the vehicle 100 on the approval control device 42 in order to increase or decrease the set speed Vset.

[0044] If the vehicle driving support system 10 determines "Yes" in step S230, it proceeds to step S225 and increases or decreases the set speed Vset according to the increase or decrease operation. In other words, the vehicle driving support system 10 changes the set speed Vset according to the increase or decrease operation. Next, the vehicle driving support system 10 proceeds to step S230 and stores the correction value K. Next, the vehicle driving support system 10 proceeds to step S295 and terminates the processing of this routine.

[0045] The correction value K is the value obtained by subtracting the speed limit Vlim, which is the basis for the changed set speed Vset, from the changed set speed Vset. In other words, the correction value K is the difference between the set speed Vset changed during the implementation of the vehicle speed limit and the applied speed limit Vlim_app. Therefore, if the changed set speed Vset is greater than the applied speed limit Vlim_app, the stored correction value K is a positive value. On the other hand, if the changed set speed Vset is less than the applied speed limit Vlim_app, the stored correction value K is a negative value.

[0046] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S225 or step S230, it proceeds directly to step S295 and terminates the processing of this routine.

[0047] The above describes the operation of the vehicle driving assistance device 10. According to the vehicle driving assistance device 10, the set speed Vset is set taking into consideration any changes made to the set speed Vset by the driver of the vehicle 100. Therefore, the set speed Vset is set according to the preference of the driver of the vehicle 100.

[0048] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0049] 10...Vehicle driving assistance system, 30...Notification device, 41...Setting speed increase / decrease control device, 42...Approval control device, 50...Surrounding information detection device, 90...ECU, 100...Own vehicle

Claims

[Claim 1] In a vehicle driving assistance system equipped with a control device that detects the speed limit applicable to the vehicle, sets a set speed based on the speed limit, and autonomously limits the vehicle's driving speed to below the set speed, The control device is If the set speed is changed by the operator of the vehicle while the aforementioned speed limit is being enforced, the difference between the changed set speed and the speed limit applied to the vehicle is stored as a correction value. When the aforementioned speed limit is detected again, the speed obtained by correcting the speed limit based on the correction value is set as the set speed. It is structured in such a way. Vehicle driving assistance system.

Images