Driving assistance systems

Abstract

To provide a driver assistance device that can improve the operability of a vehicle regardless of the vehicle's driving conditions. [Solution] When one-pedal control is being performed (S1), if the control termination condition based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit is met (S2), the one-pedal control is terminated (S4).

Description

Technical Field

[0006] , ,

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

Background Art

[0002] Conventionally, according to the operation state of the accelerator pedal, the acceleration, deceleration, and stop of the vehicle are controlled. When the difference obtained by subtracting the regenerative braking amount calculated from the operation state of the accelerator pedal from the upper limit amount of regeneration, which is the amount of regeneration that can be received by the power storage device calculated from the charge state of the power storage device, is less than a predetermined amount, a technique for prompting a switch of the operation from the accelerator pedal to the brake pedal has been proposed in Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Control for accelerating and decelerating a vehicle according to the operation state of the accelerator pedal (hereinafter, also referred to as "one-pedal control") can reduce the frequency of switching the pedal stepping between the accelerator pedal and the brake pedal, and thus improve the operability of the vehicle.

[0005] On the other hand, in one-pedal control, the deceleration rate when the accelerator pedal is turned off becomes high, and the operation amount of the accelerator pedal required to accelerate the vehicle from the state where the accelerator pedal is turned off increases. Therefore, in a driving situation where stopping and starting are repeated, such as a vehicle traveling on a congested road, one-pedal control deteriorates the operability of the vehicle. <00​​Furthermore, in driving situations such as starting from a standstill on an uphill road, one-pedal control can reduce vehicle operability, as insufficient accelerator pedal input can cause the vehicle to roll backward, while excessive accelerator pedal input can cause the vehicle to lurch forward.

[0007] However, conventional technologies, such as those described in Patent Document 1, do not take into account the vehicle's driving conditions, and therefore may not be able to improve the vehicle's operability depending on the vehicle's driving conditions, leaving room for improvement.

[0008] This invention was made to solve the above-mentioned problems, and aims to provide a driver assistance device that can improve the operability of a vehicle regardless of the vehicle's driving conditions. [Means for solving the problem]

[0009] The driver assistance device according to the present invention is a driver assistance device installed in a vehicle capable of performing one-pedal control, which accelerates and decelerates according to the operation state of the accelerator pedal, and comprises: a position detection unit for detecting the position of the vehicle; a road information acquisition unit for acquiring road information including information about the road on which the vehicle is traveling and information about the traffic conditions on the road; and a control unit for terminating the one-pedal control when a control termination condition based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit is met while the one-pedal control is being performed. [Effects of the Invention]

[0010] The present invention can provide a driver assistance device that can improve the operability of a vehicle regardless of the vehicle's driving conditions. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic diagram of a vehicle equipped with a driver assistance device according to one embodiment of the present invention. [Figure 2] Figure 2 is a flowchart showing the operation of a driver assistance device according to one embodiment of the present invention. [Figure 3] Figure 3 is a flowchart following Figure 2. [Modes for carrying out the invention]

[0012] A driving assistance device according to one embodiment of the present invention is a driving assistance device installed in a vehicle capable of performing one-pedal control, which accelerates and decelerates according to the operation state of the accelerator pedal, and is characterized by comprising: a position detection unit for detecting the position of the vehicle; a road information acquisition unit for acquiring road information including information about the road on which the vehicle is traveling and information about the traffic conditions on the road; and a control unit for terminating one-pedal control when a control termination condition based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit is met while one-pedal control is being performed. As a result, the driving assistance device according to one embodiment of the present invention can improve the operability of the vehicle regardless of the vehicle's driving conditions. [Examples]

[0013] Hereinafter, a vehicle equipped with a driver assistance device according to one embodiment of the present invention will be described with reference to the drawings.

[0014] As shown in Figure 1, the vehicle 1 is composed of an engine 2, a battery 3, a first motor 4 (hereinafter also referred to as "MG1"), a first inverter 5, a second motor 6 (hereinafter also referred to as "MG2"), a second inverter 7, a boost converter 8, drive wheels 9, and a hybrid controller (hereinafter simply referred to as "HCU") 10.

[0015] Engine 2 has multiple cylinders. In this embodiment, engine 2 generates power by performing a series of four strokes for each cylinder, consisting of an intake stroke, a compression stroke, an expansion stroke, and an exhaust stroke.

[0016] The battery 3 is composed of a rechargeable secondary battery, for example, a lithium-ion battery. The battery 3 stores the electric power generated by the MG1 and MG2 and supplies the electric power for driving the MG1 and MG2.

[0017] The MG1 is provided so as to be interlocked with the crankshaft of the engine 2. The MG1 is connected to the battery 3 via the first inverter 5 and the boost converter 8. The MG1 has the function of an electric motor that rotates by being supplied with electric power from the battery 3 to start the engine 2, and the function of a generator that converts the power generated by the engine 2 into electric power.

[0018] The MG2 is provided so as to be interlocked with the drive wheels 9 via a power transmission member such as a gear mechanism. The MG2 is connected to the battery 3 via the second inverter 7 and the boost converter 8.

[0019] The MG2 has the function of an electric motor that rotates by being supplied with electric power from the battery 3 and the MG1 to rotate the drive wheels 9, and the function of a generator that converts the rotational force of the drive wheels 9 into electric power.

[0020] The boost converter 8 is provided between the battery 3 and the first inverter 5 and the second inverter 7, boosts the voltage of the electric power supplied from the battery 3 to the first inverter 5 and the second inverter 7, and降压 the voltage of the electric power supplied from the first inverter 5 and the second inverter 7 to the battery 3.

[0021] The HCU 10 is composed of a computer unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory for storing backup data, an input port, and an output port.

[0022] In the ROM of this computer unit, a program for causing the computer unit to function as the HCU10 is stored together with various constants, various maps, etc. That is, when the CPU executes the program stored in the ROM using the RAM as a work area, this computer unit functions as the HCU10 in the present embodiment.

[0023] Connected to the input port of the HCU10 are various sensors including a vehicle speed sensor 11 for detecting the vehicle speed, an accelerator opening sensor 12 for detecting the operation amount of the accelerator pedal (hereinafter also simply referred to as "accelerator opening"), a GPS (Global Positioning System) receiver 13, a VICS (registered trademark, Vehicle Information and Communication System) receiver 14, a camera 15 for photographing the front of the vehicle 1, and a one-pedal switch 16.

[0024] The GPS receiver 13 receives radio waves transmitted from a plurality of artificial satellites. The HCU10 detects the position of the vehicle 1 (hereinafter also simply referred to as "own vehicle position") based on the data represented by the radio waves received by the GPS receiver 13. Thus, the HCU10 has a function as a position detection unit 30 for detecting the own vehicle position.

[0025] Map information is stored in the flash memory of the HCU10. The map information includes feature information representing features such as roads, intersections, buildings, and rivers. The feature information representing a road includes a link ID for identifying a road section into which each road is divided, link information regarding each link, a node ID for identifying a start node and an end node connecting each link, and node information regarding each node.

[0026] The node information includes position information consisting of latitude and longitude. The link information includes road structure information regarding the structure of the road such as the number of lanes, gradient, and lane width, traffic regulation information regarding traffic regulations such as speed limit, one-way traffic, railroad crossing, and school zone, and road surface structure information regarding the structure of the road surface such as speed breaker.

[0027] The VICS receiver 14 receives road traffic information transmitted from beacons installed near roads and road traffic information multiplexed onto FM (Frequency Modulation) signals transmitted from FM broadcasting stations. The road traffic information includes congestion information and traffic restriction information.

[0028] Camera 15 is installed to capture images of road signs and road markings located in front of Vehicle 1, as well as the status of traffic lights located in front of Vehicle 1. HCU 10 functions as a road information acquisition unit 31 that acquires road information, including information about the road on which Vehicle 1 is traveling and information about the traffic conditions on that road, from flash memory storing map information, GPS receiver 13, VICS receiver 14, and camera 15.

[0029] In this embodiment, the one-pedal switch 16 is provided on the steering wheel. The one-pedal switch 16 receives a request to execute or terminate one-pedal control, which performs acceleration and deceleration according to the operation state of the accelerator pedal.

[0030] When the one-pedal switch 16 is ON, it turns OFF when operated, accepting a request to terminate one-pedal control. When the one-pedal switch 16 is OFF, it turns ON when operated, accepting a request to execute one-pedal control.

[0031] Various control devices, including a first inverter 5, a second inverter 7, a boost converter 8, and an alarm device 23, are connected to the output port of the HCU10. In this embodiment, the alarm device 23 is composed of a speaker device that outputs sound.

[0032] The HCU10 controls various control targets connected to the output port based on information obtained from various sensors connected to the input port. In this embodiment, the HCU10 functions as a control unit 32 capable of performing one-pedal control.

[0033] When one-pedal control is being performed, the HCU10 accelerates or decelerates the vehicle 1 by controlling the second inverter 7 according to the operation state of the accelerator pedal based on the accelerator opening detected by the accelerator opening sensor 12.

[0034] When one-pedal control is not being performed, the HCU10 accelerates the vehicle 1 by controlling the second inverter 7 according to the operation state of the accelerator pedal based on the accelerator opening detected by the accelerator opening sensor 12.

[0035] When the HCU10 is performing one-pedal control, if the control termination condition based on the position detected by the position detection unit 30 and the road information acquired by the road information acquisition unit 31 is met, the HCU10 controls the notification device 23 to notify that the one-pedal control will be terminated, and terminates the one-pedal control.

[0036] The control termination condition is met when any of the following conditions are met: first, vehicle 1 is on an uphill road with a predetermined first gradient or greater; second, the distance between vehicle 1 and the vehicle in front is less than or equal to a predetermined first distance; and third, a speed breaker is present within a predetermined second distance in front of vehicle 1, and the vehicle speed detected by the vehicle speed sensor 11 is at or below an extremely low vehicle speed.

[0037] In this embodiment, the first gradient is set to a value such that vehicle 1 begins to slide backward when it is not braking. The first distance is set to a value such that vehicle 1 does not hit the vehicle in front when it suddenly moves forward. The second distance is set to a value such that vehicle 1 does not hit the speed breaker when it suddenly moves forward. The very low speed is set to a value such that vehicle 1 is practically stopped, for example, 10 km / h.

[0038] When HCU10 is not performing one-pedal control, and a predetermined time (for example, 10 seconds) has elapsed since vehicle 1 started moving, it controls the notification device 23 to notify that one-pedal control should be performed, and then performs one-pedal control.

[0039] If the HCU10 is not performing one-pedal control and the one-pedal switch 16 is turned ON, and the control start permission conditions based on the position detected by the position detection unit 30 and the road information acquired by the road information acquisition unit 31 are met, the HCU10 controls the notification device 23 to notify that one-pedal control should be performed, and then performs one-pedal control.

[0040] The conditions for permitting the start of control are met when three conditions are met: the fourth condition that vehicle 1 is on an uphill road with a predetermined gradient of 2 or less; the fifth condition that the distance between vehicle 1 and the vehicle in front is 3 or greater than a predetermined distance; and the sixth condition that there is no speed breaker within a predetermined distance of 4 in front of vehicle 1; or when the vehicle speed detected by the vehicle speed sensor 11 is 3 or greater than a predetermined speed.

[0041] In this embodiment, the second gradient is set to a value smaller than the first gradient to ensure hysteresis. The third distance is set to be longer than the first distance to ensure hysteresis. The fourth distance is set to be longer than the second distance to ensure hysteresis. The predetermined speed is set to be higher than the extremely low vehicle speed to ensure hysteresis.

[0042] If the HCU10 is not performing one-pedal control and the one-pedal switch 16 is turned ON, and the control start permission conditions are not met, the notification device 23 will be notified to postpone the execution of one-pedal control, and the execution of one-pedal control will be postponed.

[0043] If the HCU10 is in a state where it has put off executing one-pedal control, and the control start permission conditions are met, it controls the notification device 23 to notify that it will execute the one-pedal control that had been put on hold, and then executes the one-pedal control.

[0044] The driver assistance operations of the HCU10 configured as described above will be explained with reference to Figures 2 and 3. The driver assistance operations described below will be repeatedly executed throughout the period in which the HCU10 is operating.

[0045] First, in S1 shown in Figure 2, the HCU10 determines whether or not one-pedal control is currently being performed. If it determines in S1 that one-pedal control is currently being performed, the HCU10 executes the process in S2. If it determines in S1 that one-pedal control is not currently being performed, the HCU10 executes the process in S5.

[0046] In S2, the HCU10 determines whether the control termination condition has been met. If the HCU10 determines that the control termination condition has been met in S2, it executes the process in S3. If the HCU10 determines that the control termination condition has not been met in S2, it terminates the driver assistance operation.

[0047] In S3, the HCU10 controls the notification device 23 to notify that the one-pedal control is ending. After executing the process in S3, the HCU10 executes the process in S4. In S4, the HCU10 ends the one-pedal control. After executing the process in S4, the HCU10 ends the driver assistance operation.

[0048] In S5, the HCU10 determines whether a predetermined time has elapsed since vehicle 1 started moving. If the HCU10 determines in S5 that a predetermined time has elapsed since vehicle 1 started moving, the HCU10 executes the process in S6. If the HCU10 determines in S5 that a predetermined time has not elapsed since vehicle 1 started moving, the HCU10 executes the process in S8.

[0049] In S6, the HCU10 controls the notification device 23 to notify that it will perform one-pedal control. After performing the process in S6, the HCU10 performs the process in S7. In S7, the HCU10 performs one-pedal control. After performing the process in S7, the HCU10 terminates the driver assistance operation.

[0050] In S8 shown in Figure 3, the HCU10 determines whether or not the execution of one-pedal control is pending. If it determines in S8 that the execution of one-pedal control is pending, the HCU10 executes the process in S9. If it determines in S8 that the execution of one-pedal control is not pending, the HCU10 executes the process in S11.

[0051] In S9, the HCU10 determines whether the control start permission conditions are met. If the HCU10 determines in S9 that the control start permission conditions are met, it executes the process in S10. If the HCU10 determines in S9 that the control start permission conditions are not met, it terminates the driver assistance operation.

[0052] In S10, the HCU10 controls the notification device 23 to notify that it will execute the one-pedal control that had been on hold. After executing the process in S10, the HCU10 executes the process in S7.

[0053] In S11, the HCU10 determines whether the one-pedal switch 16 has been operated to the ON position. If the HCU10 determines in S11 that the one-pedal switch 16 has been operated to the ON position, it executes the process in S12. If the HCU10 determines in S11 that the one-pedal switch 16 has not been operated to the ON position, it terminates the driver assistance operation.

[0054] In S12, the HCU10 determines whether the control start permission condition is met. If the HCU10 determines in S12 that the control start permission condition is met, it executes the process in S13. If the HCU10 determines in S12 that the control start permission condition is not met, it executes the process in S14.

[0055] In S13, the HCU10 controls the notification device 23 to notify that it is going to perform one-pedal control. After performing the process in S13, the HCU10 performs the process in S7. In S14, the HCU10 controls the notification device 23 to notify that it is going to postpone performing one-pedal control.

[0056] After executing process S14, HCU10 executes process S15. In S15, HCU10 postpones the execution of one-pedal control. After executing process S15, HCU10 terminates the driver assistance operation.

[0057] As described above, the driver assistance device according to this embodiment, when performing one-pedal control, determines that the driving situation is one in which one-pedal control is not recommended and terminates the one-pedal control if the control termination condition based on the position detected by the position detection unit 30 and the road information acquisition unit 31 is met, thereby improving the operability of the vehicle 1 regardless of the driving situation of the vehicle 1.

[0058] Furthermore, in the driver assistance device according to this embodiment, the control termination condition is met when the vehicle speed is extremely low or below. Therefore, the driver assistance device according to this embodiment terminates one-pedal control in driving conditions that may reduce the operability of the vehicle 1, thus improving the operability of the vehicle 1 regardless of the vehicle's driving conditions.

[0059] Furthermore, in the driver assistance device according to this embodiment, the control termination condition is met when any of the following conditions are met: a first condition that vehicle 1 is on an uphill road with a predetermined gradient or higher; a second condition that the distance between vehicle 1 and the vehicle in front is less than or equal to a predetermined first distance; and a third condition that a speed breaker is present within a predetermined second distance in front of vehicle 1, and the vehicle speed is extremely low or below. Therefore, the driver assistance device according to this embodiment terminates one-pedal control in driving conditions that may reduce the operability of vehicle 1, thus improving the operability of vehicle 1 regardless of the driving conditions of vehicle 1.

[0060] Furthermore, the driver assistance device according to this embodiment actively performs one-pedal control when a predetermined time has elapsed since the vehicle 1 started moving while one-pedal control is not being performed, and when it is assumed that the driving conditions have changed so that performing one-pedal control would not reduce the operability of the vehicle 1. Therefore, the operability of the vehicle 1 can be improved.

[0061] Furthermore, the driver assistance system according to this embodiment controls the notification device 23 to notify the driver that one-pedal control will be executed before it is executed, and controls the notification device 23 to notify the driver that one-pedal control will be terminated before it is terminated, thereby enabling notification of the execution status of one-pedal control.

[0062] Furthermore, in this embodiment, if the one-pedal switch 16 is turned ON while one-pedal control is not being performed, the driver assistance device will suspend the execution of one-pedal control if the control start permission conditions are not met. This prevents one-pedal control from being performed in a state where it may reduce the operability of the vehicle 1.

[0063] Furthermore, the driver assistance device according to this embodiment executes one-pedal control when the control start permission condition is met while one-pedal control is pending. This reduces the effort required to turn the one-pedal switch 16 ON again when there is no longer a risk of the operability of the vehicle 1 being reduced by one-pedal control.

[0064] In this embodiment, the notification device 23 was described in an example where it is configured as a speaker device. However, the notification device 23 may also be configured as a buzzer, meter, lamp, or display device, or as a combination of a speaker device, buzzer, meter, lamp, or display device.

[0065] Furthermore, in this embodiment, when the HCU10 is performing one-pedal control and the control termination condition is met, the notification device 23 is controlled to notify that the one-pedal control will be terminated, and an example of terminating one-pedal control has been described.

[0066] In contrast, if the HCU10 is performing one-pedal control and the control termination condition is met, it may control the notification device 23 to notify that the one-pedal control is ending and prompt the user to turn the one-pedal switch 16 to OFF.

[0067] Furthermore, in this embodiment, an example was described in which the HCU 10 acquires road information from a flash memory containing map information, a GPS receiver 13, a VICS receiver 14, and a camera 15. However, the HCU 10 is not limited to the devices used to acquire road information.

[0068] Furthermore, as an example of a vehicle equipped with a driving assistance device according to one embodiment of the present invention, a vehicle 1 driven by an MG2 was described. However, the driving assistance device according to the present invention can be installed in other vehicles, such as vehicles driven by an engine, as long as one-pedal control is possible.

[0069] Although embodiments of the present invention have been disclosed above, it is clear that modifications can be made to these embodiments without departing from the scope of the present invention. The embodiments of the present invention are disclosed on the premise that equivalents with such modifications are included in the invention described in the claims. [Explanation of symbols]

[0070] 1 vehicle 16 One-pedal switch 23. Notification device 30 Position detection unit 31 Road information acquisition department 32 Control Unit

Claims

1. A driver assistance device installed in a vehicle capable of one-pedal control, which performs acceleration and deceleration according to the operation state of the accelerator pedal, A position detection unit for detecting the position of the vehicle, A road information acquisition unit acquires road information including information about the road on which the vehicle travels and information about the traffic conditions on said road. A driving assistance device comprising: a control unit that terminates the one-pedal control when a control termination condition is met based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit while the one-pedal control is being performed.

2. The driving assistance device according to claim 1, characterized in that the control termination condition is met when the vehicle speed is below or equal to an extremely low vehicle speed.

3. The aforementioned control termination conditions are: The first condition is that the vehicle is on an uphill road with a gradient greater than or equal to a predetermined gradient, The second condition is that the distance between the vehicle and the vehicle ahead is less than or equal to a predetermined first distance, The driving assistance device according to claim 1, characterized in that it is established when either of the following conditions is met: a speed breaker is present within a predetermined second distance in front of the vehicle, and the vehicle speed is at or below an extremely low speed.

4. The driver assistance device according to claim 1, characterized in that the control unit performs the one-pedal control when a predetermined time has elapsed since the vehicle started moving, while the one-pedal control is not being performed.

5. The aforementioned vehicle is equipped with a notification device, The driver assistance device according to claim 4, characterized in that the control unit controls the notification device to notify the driver that the one-pedal control will be executed before the one-pedal control is executed, and controls the notification device to notify the driver that the one-pedal control will be terminated before the one-pedal control is terminated.

6. The system further includes a one-pedal switch that receives a request to execute the aforementioned one-pedal control, The driver assistance device according to claim 1, characterized in that, when the one-pedal switch is operated while the one-pedal control is not being performed, the control unit suspends the execution of the one-pedal control if the control start permission conditions based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit are not met.

7. The driving assistance device according to claim 6, characterized in that the control unit executes the one-pedal control when the control start permission condition is met while the control unit is in a state of holding off on executing the one-pedal control.

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