control device

Abstract

To suppress malfunctions in the vehicle's braking control system, which is performed in response to the surrounding conditions of the vehicle. [Solution] The system includes an automatic braking unit 21 that controls the braking of the vehicle 1 when it detects that the conditions around the vehicle 1 meet the operating conditions, and a suppression unit 21 that suppresses the braking control by the automatic braking unit 21 when the detection position information indicating the position of the vehicle 1 at the time of the detection matches the malfunction position information indicating the position where braking control by the automatic braking unit 21, which was determined to be malfunctioning, was performed.

Description

Technical Field

[0001] This invention relates to a control device in a vehicle.

Background Art

[0002] In recent years, various safe driving devices have been installed in vehicles. As one of the safe driving devices, an Advanced Emergency Braking System (hereinafter referred to as AEBS) is known.

[0003] In AEBS, when an obstacle is detected in front of the vehicle, in order to avoid a collision with this obstacle or reduce the collision speed, a warning is issued to the driver or the brakes are automatically applied. Specifically, AEBS is executed when it is detected that a predetermined operating condition is satisfied.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above-described safe driving devices such as AEBS, due to the influence of the surrounding environment or the like, there is a possibility of causing a false detection that the operating conditions of AEBS are satisfied even though they are actually not satisfied. Hereinafter, the false detection that the operating conditions of AEBS are satisfied even though they are actually not satisfied may be referred to as a false detection of AEBS operating conditions. The false detection of AEBS operating conditions causes malfunction of AEBS.

[0006] For example, it is known that AEBS (Automatic Emergency Braking System) activation conditions may be misdetected if there are signs, billboards, guardrails, etc. on the shoulder of the road in the middle of a curve, or if there are metal objects or protrusions on the road.

[0007] Furthermore, the erroneous detection of AEBS operating conditions caused by the road structure as described above is highly likely to recur at the same location unless the road conditions change.

[0008] Furthermore, if the automatic braking system is activated due to a false detection of AEBS activation conditions, the vehicle will behave in a way that is unexpected to the driver, causing stress. If there are points on frequently driven routes, such as commuter routes, where false detection of AEBS activation conditions occurs, the driver may disengage the AEBS automatic braking function to avoid the AEBS malfunction occurring every time they pass those points. However, if the AEBS is disengaged in this way, there is a problem in that the AEBS function will not be activated when a situation arises where it is truly needed.

[0009] Here, for example, a method has been disclosed to prevent false detection of the road edge when driving on a sharp curve by performing selection to remove feature points that affect road edge detection (see Patent Document 1). However, since feature points are removed in all sharp curves, there is a risk that the accuracy of detecting the driving boundary will decrease.

[0010] This invention was conceived in light of the above-mentioned issues, and one of its objectives is to suppress malfunctions in the vehicle's braking control system, which is performed in accordance with the conditions surrounding the vehicle. [Means for solving the problem]

[0011] This project was undertaken to solve at least some of the above-mentioned problems and can be implemented in the following forms or applications.

[0012] (1) The control device according to this application example includes an automatic braking unit that controls the braking of the vehicle when it detects that the conditions around the vehicle meet the operating conditions, and a suppression unit that, when the detection is made, suppresses the braking control by the automatic braking unit when the detected position information indicating the position of the vehicle at the time of the detection matches the malfunction position information indicating the position where the braking control by the automatic braking unit, which was determined to be malfunctioning, was performed.

[0013] According to this case, in the position where braking control by the automatic braking unit was determined to be malfunctioning, even if the automatic braking unit detects that the conditions around the vehicle meet the operating conditions, braking control by the automatic braking unit can be suppressed, thereby suppressing malfunctions in the vehicle's braking control.

[0014] (2) The control device according to this application example may include an output unit that outputs information indicating that the position of the vehicle at the time of detection is the position where the malfunction occurred, when the detected position information matches the malfunction position information.

[0015] Therefore, the driver of the vehicle can know that the position of the vehicle at the time of the detection is the same position where braking control by the automatic braking unit, which was previously judged to have malfunctioned, was performed.

[0016] (3) The control device according to this example may include an input operation unit for an operator who determines that the braking control has malfunctioned when the automatic braking unit controls the braking while the vehicle is in motion, and a recording control unit that, when the operator determines that the operating conditions for the braking control that the operator has determined to be malfunctioning have been met, records the position of the vehicle at that time as malfunction position information.

[0017] Therefore, when the braking control is performed by the automatic braking unit, if the driver determines that the braking control is a malfunction, the driver can easily reflect the determination that the braking control is a malfunction in the malfunction position information by inputting that it is a malfunction via the input operation unit, and can more reliably suppress the malfunction of the braking control of the vehicle.

Effect of the Invention

[0018] According to this case, it is possible to suppress the malfunction of the braking control of the vehicle performed according to the situation around the vehicle.

Brief Description of the Drawings

[0019] [Figure 1] It is a block diagram showing the configuration of a vehicle equipped with a control device according to an application example. [Figure 2] It is a diagram for explaining the operation timing of a feedback input switch in a vehicle equipped with a control device according to an application example. [Figure 3] It is a flowchart for explaining the processing in a control device according to an application example.

Modes for Carrying Out the Invention

[0020] Referring to the drawings, embodiments of this case will be described below. The following embodiments are merely examples, and there is no intention to exclude various modifications and applications of technologies not explicitly stated in this embodiment. Each configuration of the following embodiments can be variously modified and implemented without departing from their gist. Also, they can be selected and used as necessary, or appropriately combined.

[0021] The control device according to this application example controls the AEBS mounted on an automobile (vehicle).

[0022] The vehicle according to this application example is a vehicle (truck, bus, automobile) equipped with an AEBS or the like.

[0023] [1. Configuration] Figure 1 is a block diagram showing the configuration of a vehicle 1 equipped with a control device according to this application example.

[0024] As shown in Figure 1, the vehicle 1 is equipped with a control device 2, a feedback input switch 3, an AEBS-related device 4, an output device 5, a radar sensor 6, a gyro sensor 7, and a GPS (Global Positioning System) device 8.

[0025] The radar sensor 6 includes, for example, a millimeter-wave radar unit that uses millimeter-wave radio waves to measure the distance, speed, and angle to an object. The millimeter-wave radar unit is positioned, for example, on the front of the vehicle 1, to emit millimeter-wave radar in the direction of travel of the vehicle 1, and receives radio waves reflected by an object in front of the vehicle 1. Based on the transmitted and received radio waves, the radar sensor 6 calculates the position of the object in front of the vehicle 1, the distance between the vehicle 1 and the object in front, and the relative speed. The calculation results from the radar sensor 6 are input to the control device 2.

[0026] The gyro sensor 7 is a sensor device that detects rotational angular velocity and detects the orientation (direction of movement) of the vehicle 1. The detection result from the gyro sensor 7 is input to the control device 2.

[0027] The output device 5 outputs information to notify the driver, and may be, for example, a speaker or a monitor. The output device 5 has the function of a warning unit 51 and the function of an alarm output unit 52.

[0028] Output device 5 is an example of an output unit that outputs information indicating that the malfunction occurred at a location when the detected location information (detection position information) matches the malfunction location information (malfunction location information).

[0029] The warning unit 51 outputs information to the driver to alert them, and if the output device 5 is, for example, a speaker, it outputs a warning sound. The warning sound is a sound intended to alert the driver, and it is desirable that it be a sound that the driver is unlikely to find unpleasant, such as a "beep" or "ping-pong."

[0030] Furthermore, if the output device 5 is, for example, a monitor installed on the instrument panel or center cluster of the vehicle 1, the warning unit 51 may display a warning message, icon, or the like.

[0031] The alarm output unit 52 outputs an alarm to the driver, and if the output device 5 is, for example, a speaker, it outputs an alarm sound. The alarm sound may be a sound that is expected to be more stimulating to the driver than the warning sound. For example, melodies with rapidly changing pitches in a short period of time, such as "beep beep beep," are generally easy to hear even in noisy environments or when hearing is impaired, so such melodies may be used as alarm sounds. In addition, the alarm sound may be output at a higher volume than the warning sound.

[0032] Furthermore, if the output device 5 is, for example, a monitor installed on the instrument panel or center cluster of the vehicle 1, the alarm output unit 52 may display a message or icon indicating an alarm. It is desirable that the message or icon indicating an alarm indicates a higher degree of urgency than the message or icon indicating a warning.

[0033] The GPS device 8 receives signals from GPS satellites (not shown) via a GPS receiver and obtains the current position of the vehicle 1 on which it is installed (hereinafter referred to as "vehicle 1"). The current position information obtained by the GPS device 8 is input to the control device 2.

[0034] The AEBS-related device 4 includes, for example, a braking device. The AEBS-related device 4 decelerates the vehicle 1 according to the control from the AEBS control unit 21.

[0035] The control device 2 has the functions of an AEBS control unit 21, a detection and determination unit 22, a position detection unit 23, a primary storage control unit 24, a data management unit 25, and a communication control unit 26.

[0036] The control device 2 is an electronic control unit (ECU) configured as an LSI (Large Scale Integration) device or embedded electronic device that integrates, for example, a microprocessor, ROM (Read Only Memory), RAM (Random Access Memory), etc. The control device 2 performs various controls by executing software programs stored in memory devices such as ROM and RAM. The control device 2 may be configured as part of an electronic control unit (VCU: Vehicle Control Unit) for the overall control of various devices provided by the vehicle 1, or it may be configured as an electronic control unit separate from the VCU.

[0037] The AEBS control unit 21 implements AEBS functionality using the AEBS-related devices 4 and the output device 5. The AEBS control unit 21 may, for example, acquire the distance between the vehicle 1 and the object in front of the vehicle 1 based on the calculation results from the radar sensor 6. The AEBS control unit 21 may also calculate the relative speed between the vehicle 1 and the object in front of the vehicle 1 based on the vehicle 1's speed and direction of movement and the direction and speed of movement of the object in front of the vehicle 1.

[0038] Furthermore, the AEBS control unit 21 may detect whether the object in front of the vehicle 1 is a car, a pedestrian, or a bicycle based on the calculation results from the radar sensor 6.

[0039] The AEBS control unit 21 may, for example, control the AEBS based on the distance and relative speed between the vehicle 1 and the object in front of it.

[0040] In this embodiment, an example is shown in which AEBS has three phases: Phase 1 to Phase 3.

[0041] The AEBS control unit 21 executes the first phase of AEBS operation, for example, when the distance between the vehicle 1 and the object in front is less than or equal to a first distance threshold, and the relative speed between the vehicle 1 and the object in front is greater than or equal to a first speed threshold. The first phase may be called the primary alarm step. Alternatively, the conditions for the first phase of AEBS operation may be described as the distance between the vehicle 1 and the object in front being less than or equal to a first distance threshold, and the relative speed between the vehicle 1 and the object in front being greater than or equal to a first speed threshold.

[0042] The AEBS control unit 21 performs the AEBS operation in the first phase when it detects that the AEBS operating conditions for the first phase have been met.

[0043] As part of the AEBS operation in the first phase, the AEBS control unit 21 causes the warning unit 51 to output information to the driver to warn them.

[0044] Furthermore, the AEBS control unit 21 executes the operation of the second phase when, for example, the distance between the vehicle 1 and the object in front is less than or equal to the second distance threshold, and the relative speed between the vehicle 1 and the object in front is greater than or equal to the second speed threshold. The second phase may be called the secondary alarm step. The second distance threshold may be a smaller value than the first distance threshold. Also, the second speed threshold may be a larger value than the first speed threshold.

[0045] The conditions for the operation of the AEBS in the second phase can also be described as the following: the distance between the vehicle 1 and the object in front is less than or equal to the second distance threshold, and the relative speed between the vehicle 1 and the object in front is greater than or equal to the second speed threshold.

[0046] The AEBS control unit 21 performs the AEBS operation in the second phase when it detects that the AEBS operating conditions for the second phase have been met.

[0047] As part of the AEBS operation in the second phase, the AEBS control unit 21 may cause the AEBS-related device 4 to apply the brakes gently, thereby decelerating the vehicle 1 to a predetermined speed or below. In addition, as part of the AEBS operation in the second phase, the AEBS control unit 21 may cause the alarm output unit 52 to output information indicating an alarm to the driver.

[0048] If the output device 5 is, for example, a speaker, the output device 5 may output a voice message indicating that the distance between vehicles is decreasing and there is a high probability of collision, or that there is a high probability of collision with a pedestrian or cyclist. Alternatively, if the output device 5 is, for example, a monitor installed on the instrument panel or center cluster of the vehicle 1, the output device 5 may display a message or icon indicating that the distance between vehicles is decreasing and there is a high probability of collision, or that there is a high probability of collision with a pedestrian or cyclist.

[0049] Furthermore, the AEBS control unit 21 executes the third phase of the AEBS operation when, for example, the distance between the vehicle 1 and the object in front is less than or equal to the third distance threshold, and the relative speed between the vehicle 1 and the object in front is greater than or equal to the third speed threshold. The third phase may be called the emergency braking step. The third distance threshold may be a smaller value than the second distance threshold. Also, the third speed threshold may be a larger value than the second speed threshold.

[0050] The conditions for the operation of the AEBS in the third phase can also be described as the following: the distance between vehicle 1 and the object in front is less than or equal to the third distance threshold, and the relative speed between vehicle 1 and the object in front is greater than or equal to the third speed threshold.

[0051] The AEBS control unit 21 performs the AEBS operation in the third phase when it detects that the AEBS operating conditions for the third phase have been met.

[0052] Furthermore, among the AEBS activation conditions for Phase 1, Phase 2, and Phase 3, the Phase 3 AEBS activation condition has the highest priority, and the Phase 1 AEBS activation condition has the lowest priority. In other words, if the AEBS control unit 21 detects two or more of the Phase 1, Phase 2, and Phase 3 AEBS activation conditions overlapping, it will perform the AEBS operation corresponding to the Phase 1 AEBS activation condition with the highest priority.

[0053] As part of the AEBS operation in the third phase, the AEBS control unit 21 may stop the vehicle 1 by causing the AEBS-related device 4 to apply strong brakes, for example, by applying full brakes.

[0054] Furthermore, the AEBS control unit 21 may, as part of the AEBS operation in the third phase, output information to the alarm output unit 52 indicating an alarm to the driver.

[0055] The AEBS control unit 21 is an example of an automatic braking unit that controls the braking of the vehicle 1 when it detects that the surrounding conditions of the vehicle 1 meet the operating conditions. The AEBS operating conditions for the first phase, the AEBS operating conditions for the second phase, and the AEBS operating conditions for the third phase are examples of operating conditions.

[0056] Furthermore, the AEBS control unit 21 suppresses the execution of the AEBS operation when it is notified by the detection and determination unit 22 (described later) to suppress AEBS execution. When the execution of the AEBS operation is suppressed, it is desirable for the AEBS control unit 21 to output information via the output device 5 indicating that the current position of the vehicle 1 is a falsely detected registered location. The AEBS control unit 21 may also cause the warning unit 51 to output information indicating a warning to the driver.

[0057] If the output device 5 is, for example, a speaker, the output device 5 may output a voice message indicating that it is a falsely detected registered location. If the output device 5 is, for example, a monitor installed on the instrument panel or center cluster of the vehicle 1, the output device 5 may display a message or icon indicating that it is a falsely detected registered location.

[0058] The AEBS control unit 21 is an example of a suppression unit that, when it detects that the conditions around the vehicle 1 meet the operating conditions, suppresses braking control if the detected location information (detected position information) indicating the position of the vehicle 1 at the time of detection matches the malfunction location information (malfunction location information) indicating the position where braking control was performed by the AEBS control unit 21 (automatic braking unit) which was determined to be malfunctioning.

[0059] When the AEBS control unit 21 detects that any of the AEBS operating conditions in the first to third phases have been met, the position detection unit 23 acquires information representing the position of the vehicle 1 at that time from the GPS device 8, and also acquires information indicating the orientation (direction of movement) of the vehicle 1 from the gyro sensor 7. The position of the vehicle 1 at the time when it is detected that any of the AEBS operating conditions in the first to third phases have been met can be called the detection point. The information representing the detection point may be, for example, coordinate information, or it may be road information or an address.

[0060] The primary storage control unit 24 stores in the primary storage unit 27 a combination of information representing the detected location acquired by the position detection unit 23 and information indicating the direction of movement. This combination of information representing the detected location and information indicating the direction of movement can be called the detected location information. The detected location information stored in the primary storage unit 27 represents the location where the AEBS operation was performed, and can be said to represent the location where it was detected that any of the AEBS operating conditions for the first to third phases of AEBS were met. In other words, the detected location information stored in the primary storage unit 27 can also be said to represent the location where the AEBS operating conditions were met.

[0061] The primary storage unit 27 may be, for example, a volatile memory such as DRAM (Dynamic Random Access Memory) and / or a non-volatile memory such as PM (Persistent Memory). The detection location information may be stored in the primary storage unit 27 in a FIFO (First In First Out) manner.

[0062] The feedback input switch 3 is a switch for the driver to input that an AEBS operation has malfunctioned when the AEBS control unit 21 has performed the AEBS function, if the driver determines that the AEBS operation performed is a malfunction. Preferably, the feedback input switch 3 is located on or near the steering wheel. The feedback input switch 3 may also be located on the steering column, instrument panel, center console, etc.

[0063] Furthermore, the feedback input switch 3 does not necessarily have to be a physical switch. For example, it may be equipped with a voice recognition system, and the function of the feedback input switch 3 may be realized through voice input via this voice recognition system.

[0064] If the driver determines that the executed AEBS operation was a malfunction, it is desirable that they input the feedback input switch 3 within a predetermined time (for example, 10 seconds) after the AEBS function was executed. The control device 2 receives input from the feedback input switch 3.

[0065] A false positive feedback can be defined as the input of the feedback input switch 3 occurring within a predetermined time (for example, 10 seconds) after the AEBS function has been executed.

[0066] Figure 2 is a diagram illustrating the operation timing of the feedback input switch 3 in a vehicle 1 equipped with the control device according to this application example.

[0067] Figure 2 shows the position of vehicle 1 at time t1 and the position of vehicle 1 at time t2. <t2である。

[0068] Suppose that at time t1, the AEBS control unit 21 misdetects the AEBS operating conditions due to a sign placed on the roadside in the middle of a curve, and detects that the operating conditions for the second phase have been met. The AEBS control unit 21 then performs the AEBS operation in the second phase. For example, the AEBS control unit 21 controls the AEBS-related device 4 to apply the brakes gently and also outputs warning information to the driver via the warning output unit 52.

[0069] The driver, noticing that the second phase of the AEBS was activated despite there being no other vehicles or pedestrians in front of their vehicle 1, performs an input operation on the feedback input switch 3 at time t2. If (t2-t1) is less than or equal to a predetermined time (e.g., 10 seconds), it is considered that a false detection feedback has been input.

[0070] The feedback input switch 3 is an example of an input operation unit used by a driver who determines that the braking control by the AEBS control unit 21 (automatic braking unit) has malfunctioned while the vehicle 1 is in motion.

[0071] Furthermore, the data management unit 25 manages the registered location list stored in the storage device 28. If an input is made to the feedback input switch 3 within a predetermined time (for example, 10 seconds) after the AEBS control unit 21 has performed its AEBS function, the data management unit 25 reads the last detected location information stored in the primary storage unit 27 and registers it in the registered location list. The registered location list contains information representing locations where the AEBS was activated and which the driver determined to be malfunctioning. Locations registered in the registered location list, or locations where the AEBS was activated and which the driver determined to be malfunctioning, may be called malfunction locations or registered locations, and information representing locations where the AEBS was activated and which the driver determined to be malfunctioning may be called malfunction location information. The registered location list may be called the false detection registration list.

[0072] The data management unit 25 is an example of a recording control unit that, when an input operation is performed by the driver via the feedback input switch 3, records the position of the vehicle 1 at the time it is detected that the operating conditions for the braking control that was determined to be malfunctioning have been met, as malfunction location information (malfunction location information) in the registered location list (storage device 28).

[0073] The storage device 28 is an example of hardware that stores various data and program information. Examples of storage devices 28 include magnetic disk devices such as HDDs (Hard Disk Drives), semiconductor drive devices such as SSDs (Solid State Drives), and various other storage devices such as non-volatile memory. Examples of non-volatile memory include flash memory, SCM (Storage Class Memory), and ROM.

[0074] The storage device 28 may store a program that implements all or part of the various functions of the control device 2, and the in-vehicle control ECU may implement the functions shown in Figure 1 by executing this program.

[0075] Regarding the registered location list, drivers and other personnel may arbitrarily select and delete information about malfunction locations. For example, it is desirable to display one or more pieces of information about malfunction locations registered in the registered location list on a monitor, and to configure the system so that drivers and other personnel can select and delete any information about malfunction locations.

[0076] The detection and determination unit 22 determines whether the detected location is registered in the registered location list when the AEBS control unit 21 detects that any of the AEBS operating conditions for the first to third phases have been met.

[0077] The detection determination unit 22 searches the registered location list for malfunction location information based on the information representing the detection location and checks whether there is registered malfunction location information that matches the information representing the detection location. If the information representing the detection location and the malfunction location information match, it can be determined that the detection location and the malfunction location match. The information representing the detection location and the malfunction location information also include information representing the direction of travel (direction of movement). In other words, the information representing the detection location and the malfunction location information are determined to match if they match in both position and the direction of travel of the vehicle 1.

[0078] Furthermore, ambiguity may be introduced in the determination of whether the information representing the detection point matches the information representing the malfunction point. The detection determination unit 22 may determine that the detection point and the malfunction point match even if the detection point and the malfunction point fall within a predetermined similarity range. The determination of whether the detection point information and the malfunction point information match, and whether the detection point and the malfunction point fall within a predetermined similarity range, can be achieved using various known methods, and a detailed explanation of these methods will be omitted.

[0079] If the detection and determination unit 22 determines that the detected location information and the malfunction location information match, it notifies the AEBS control unit 21 to suppress AEBS execution.

[0080] The communication control unit 26 is an example of a communication interface that controls the connection and communication with the server 9. For example, the communication control unit 26 may include an adapter compliant with wireless LAN (Local Area Network) communication, etc. As a result, the control device 2 connects to a network (not shown) via the communication control unit 26 and becomes communicatively connected to the server 9 and other information processing devices.

[0081] For example, the communication control unit 26 may transmit the false detection registration location information registered in the false detection registration location list to the server 9 via the network. The server 9, upon receiving the false detection location information, can effectively utilize the false detection location information to improve the accuracy of AEBS.

[0082] Furthermore, the communication control unit 26 may be connected to a portable terminal (not shown) carried by the driver or other user. The driver or other user may, via the portable terminal, arbitrarily select and delete malfunction location information registered in the registered location list. For example, one or more malfunction location information registered in the registered location list may be displayed on the portable terminal's screen, and the driver or other user may select and delete any malfunction location information.

[0083] [2. Control] The processing in the control device for this application example, configured as described above, will be explained according to the flowchart (steps S1 to S8) shown in Figure 3.

[0084] In step S1, the AEBS control unit 21 detects that any of the AEBS operating conditions for the first phase, the second phase, or the third phase has been met.

[0085] In step S2, the position detection unit 23 acquires information from the GPS device 8 representing the position (detection point) of the vehicle 1 at the time it detects that any of the AEBS operating conditions for the first, second, or third phases have been met, and also acquires information from the gyro sensor 7 indicating the orientation (direction of movement) of the vehicle 1 at that time. The primary storage control unit 24 stores the combination of the information representing the detection point and the information indicating the direction of movement acquired by the position detection unit 23 in the primary storage unit 27. The information representing the detection point may include road information and address information.

[0086] In step S3, the detection determination unit 22 compares the detected location with the registered location list. In step S4, the detection determination unit 22 determines whether the detected location is registered in the registered location list (determines whether the detected location is a registered location).

[0087] If the detected location is not registered in the registered location list, i.e., if the detected location is not a registered location (see No. route in step S4), proceed to step S5.

[0088] In step S5, the AEBS control unit 21 performs an AEBS operation (execution of AEBS operation). The AEBS control unit 21 performs an AEBS operation corresponding to one of the phases 1 to 3 detected in step S1.

[0089] In step S6, the data management unit 25 determines whether the feedback input switch 3 was input within a predetermined time (for example, 10 seconds) after the AEBS control unit 21 performed its AEBS function, that is, whether a false detection feedback was input.

[0090] If false detection feedback is received (see the Yes route in step S6), the process proceeds to step S8. In step S8, the data management unit 25 reads the last detected location information stored in the primary storage unit 27 and registers it in the registered location list. That is, the data management unit 25 registers the false detection location in the registered location list. After that, the process ends.

[0091] On the other hand, if no false positive feedback is received in step S6 (see No route in step S6), the process terminates.

[0092] Furthermore, in step S4, if the detected location is registered in the registered location list, that is, if the detected location is a registered location (see Yes route in step S4), the process proceeds to step S7.

[0093] In step S7, the AEBS control unit 21 causes the output device 5 to output information indicating that it is a falsely detected registered location. The AEBS control unit 21 also causes the warning unit 51 to output information indicating a warning to the driver. After that, the process ends.

[0094] [3. Effects and Benefits] The embodiment described above provides the following effects and advantages.

[0095] In the control device according to this application example, the AEBS control unit 21 performs an AEBS operation corresponding to the detected AEBS operating condition of the first, second, or third phase when it detects that any of the AEBS operating conditions of the first, second, or third phase have been met. If the driver determines that the AEBS operation performed by the AEBS control unit 21 is a malfunction, they input a false detection feedback using the feedback input switch 3.

[0096] If false detection feedback is received, the data management unit 25 reads the last detected location information stored in the primary storage unit 27 and registers it in the registered location list. This allows the driver or other user to register the location of the false detection in the registered location list, thereby more reliably suppressing AEBS malfunctions.

[0097] Furthermore, the data management unit 25 considers a false detection feedback to have been received if an input is made to the feedback input switch 3 within a predetermined time (for example, 10 seconds) after the AEBS control unit 21 has performed its AEBS function. This allows the driver to maintain safety by waiting until the vehicle 1 is in a safe state before performing the input operation using the feedback input switch 3 if a false detection is detected.

[0098] Then, if the AEBS control unit 21 detects that any of the AEBS operating conditions for the first phase, the second phase, or the third phase have been met, the detection determination unit 22 determines whether the detected location is registered in the registered location list.

[0099] If the detected location is registered in the registered location list, that is, if the detected location matches a registered location, the AEBS control unit 21 suppresses the execution of the AEBS operation, and the output device 5 outputs information indicating that it is a falsely detected registered location, and the warning unit 51 outputs information indicating a warning to the driver.

[0100] As a result, at registered locations where the driver has determined that the AEBS operating conditions have been incorrectly detected, the AEBS control unit 21 can suppress the execution of the AEBS even if it detects that any of the AEBS operating conditions for the first, second, or third phases have been met, while vehicle 1 is traveling in the same direction. Furthermore, by notifying the driver that it is a registered location with incorrect detection (warning), the driver can learn that the AEBS will not operate at that location, which is expected to improve the driver's safety awareness and encourage safer driving.

[0101] Furthermore, for example, AEBS false detections caused by road structure are highly likely to recur at the same location unless road conditions change. In this control device, at a registered location where a false detection of AEBS operating conditions has been determined, the driver can input using the feedback input switch 3 within a predetermined time (e.g., 10 seconds) after the AEBS control unit 21 has performed its AEBS function. This registers the false detection location in the registered location list, and it is possible to suppress the occurrence of false detection of AEBS operating conditions each time vehicle 1 passes that location. In other words, it is possible to suppress AEBS malfunctions.

[0102] [4. Others] The disclosed technology is not limited to the embodiments described above and can be implemented in various modified forms without departing from the spirit of this embodiment.

[0103] For example, in the embodiment described above, the AEBS control unit 21 suppresses the execution of AEBS (each of the processes in the first to third phases) when it is notified by the detection and determination unit 22 to suppress AEBS execution, but it is not limited to this. Even when notified to suppress AEBS execution, the AEBS operation in some phases may be allowed to be executed without suppression.

[0104] For example, even if the detection and determination unit 22 notifies the AEBS control unit 21 to suppress AEBS execution, if it detects that the AEBS operating conditions for the third phase have been met, it may execute the AEBS operation in the third phase described above (causing the AEBS-related device 4 to apply full brakes). This ensures that if the AEBS operating conditions were not falsely detected, the AEBS-related device 4 will apply full brakes, preventing collisions with objects ahead and mitigating damage in the event of a collision.

[0105] Furthermore, the AEBS operation in each phase by the AEBS control unit 21 is not limited to that described in the above-described embodiment, and can be modified as appropriate. Also, the AEBS operation is not limited to having three phases. The AEBS operation may have two or fewer phases, or four or more phases.

[0106] Furthermore, while the above-described embodiment shows an example in which an AEBS (Automatic Emergency Braking System) is provided as an automatic braking device that automatically brakes the vehicle 1, and the operation of the AEBS is controlled, the invention is not limited to this. The same can be applied to other automatic braking devices.

[0107] For example, instead of AEBS, a side-monitoring safety function that prevents accidents involving vehicles turning right or left may be controlled in the same manner as in the embodiment described above. This function automatically applies the brakes or outputs warnings and alerts when it detects bicycles, people, etc., to the side of vehicle 1.

[0108] In other words, when a bicycle, person, or the like is detected within a predetermined range to the side of vehicle 1, and the safety driving device functions to apply the brakes automatically or output a warning, the driver may input a false detection feedback using the feedback input switch 3.

[0109] When false detection feedback is received, the information of the detection location is registered in the registered location list. Subsequently, when a bicycle, person, etc. is detected to the side of vehicle 1, it is determined whether the detection location is registered in the registered location list. If the detection location is registered in the registered location list, the execution of the side monitoring safety function is suppressed, and the output device 5 outputs information indicating that it is a false detection registered location, and the warning unit 51 displays a warning to the driver.

[0110] Furthermore, while the above-described embodiment shows an example where the predetermined time for false detection feedback is 10 seconds, it is not limited to this. The predetermined time for false detection feedback may be changed as appropriate, for example, it may be 5 seconds or 15 seconds.

[0111] Furthermore, while the above-described embodiment shows an example of calculating the position, distance, and relative speed of an object in front of the vehicle 1 using the radar sensor 6, the invention is not limited to this. For example, the position of an object in front of the vehicle 1, the distance between the vehicle 1 and the object, and the relative speed may be calculated based on an image of the area in front of the vehicle 1 captured by a camera, or the camera and radar sensor 6 may be used in combination, or devices other than the camera and radar sensor 6 may be used, and the invention can be implemented in various modified forms.

[0112] [5. Addendum] With regard to embodiments including the above-described modifications, the following additional information is disclosed.

[0113] (Note 1) An automatic braking unit that controls the braking of the vehicle when it detects that the conditions around the vehicle meet the operating conditions, If the above detection occurs, and the detected position information indicating the vehicle's position at the time of detection matches the malfunction position information indicating the position where the braking control by the automatic braking unit, which was determined to be malfunctioning, then a suppression unit suppresses the braking control by the automatic braking unit. A control device characterized by comprising:

[0114] (Note 2) When the detected position information matches the malfunction position information, the output unit outputs information indicating that the vehicle's position at the time of detection is the position where the malfunction occurred. The control device according to Appendix 1, characterized by comprising:

[0115] (Note 3) When the vehicle is in motion and the braking is controlled by the automatic braking unit, the driver who determines that the braking control has malfunctioned performs an input operation on the input operation unit, When the aforementioned input operation is performed, the recording control unit records the position of the vehicle at the time it is detected that the operating conditions are met with respect to the braking control that the driver has determined to be malfunctioning, as the malfunction position information. The control device according to Appendix 1 or 2, characterized by comprising: [Explanation of symbols]

[0116] 1 vehicle 2 Control device 21 AEBS Control Unit 22 Detection and Judgment Unit 23 Position detection unit 24 Primary Storage Control Unit 25 Data Management Department 26 Communication Control Unit 27 Temporary storage 28 Storage device 3. Feedback input switch 4 AEBS-related equipment 5. Output device 51 Alert section 52 Alarm output section 6. Radar sensor 7. Gyroscope 8 GPS device 9 Servers

Claims

[Claim 1] An automatic braking unit that controls the braking of the vehicle when it detects that the conditions around the vehicle meet the operating conditions, If the above detection occurs, and the detected position information indicating the vehicle's position at the time of detection matches the malfunction position information indicating the position where the braking control by the automatic braking unit, which was determined to be malfunctioning, then a suppression unit suppresses the braking control by the automatic braking unit. A control device characterized by comprising:

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