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 the notification conditions based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit are met (S1), notification control is performed to control the notification device to provide notification prompting the operation of the one-pedal switch (S2).

Description

Technical Field

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

Background Art

[0002] Conventionally, in accordance with the operating state of the accelerator pedal, the acceleration, deceleration, and stop of the vehicle are controlled, and from the regeneration upper limit amount, which is the amount of regeneration that can be accepted by the power storage device calculated from the charge state of the power storage device, when the difference obtained by subtracting the regeneration braking amount calculated from the operating state of the accelerator pedal 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 operating state of the accelerator pedal (hereinafter also referred to as "one-pedal control") can reduce the frequency of switching between the accelerator pedal and the brake pedal, thereby improving the operability of the vehicle. [[ID=३७]]

[0005] On the other hand, in one-pedal control, the deceleration rate when the accelerator pedal is turned off becomes high, and the amount of operation 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.

[0006] 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; a one-pedal switch for receiving requests to start and end the one-pedal control; a notification device; and a control unit for executing notification control, which controls the notification device to provide notification prompting the operation of the one-pedal switch when notification conditions based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit are met. [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. [Modes for carrying out the invention]

[0012] A driver assistance device according to one embodiment of 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 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; a one-pedal switch for receiving requests to start and end one-pedal control; a notification device; and a control unit for executing notification control, which controls the notification device to provide notification prompting the operation of the one-pedal switch when notification conditions based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit are met. As a result, the driver 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 linked 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 a function of an electric motor that rotates to start the engine 2 when electric power is supplied from the battery 3, and a 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 linked with the drive wheels 9 via a power transmission member such as a gear mechanism. The MG is connected to the battery 3 via the second inverter 7 and the boost converter 8.

[0019] The MG2 has a function of an electric motor that rotates to rotate the drive wheels 9 when electric power is supplied from the battery 3 and the MG1, and a 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 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 and various maps. 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 this 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, a one-pedal switch 16, and a setting device 17 constituted by a touch panel or the like.

[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] Node information includes location information consisting of latitude and longitude. Link information includes road structure information such as the number of lanes, gradient and lane width; traffic regulation information such as speed limits, one-way streets, railway crossings and school zones; and road surface structure information such as speed breakers and other road surface features.

[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 finds that a notification condition has been met based on the position detected by the position detection unit 30 and the road information acquired by the road information acquisition unit 31, the HCU10 performs notification control to control the notification device 23 to prompt the operation of the one-pedal switch 16.

[0036] The HCU10 uses at least one of the following conditions as a notification condition: a first condition corresponding to the vehicle speed, a second condition corresponding to the distance between vehicle 1 and the vehicle in front, and a third condition corresponding to the inclination angle of the road on which vehicle 1 is traveling. If a notification condition is met, the HCU10 executes notification control. In this embodiment, the HCU10 uses the three conditions, the first, second, and third, as notification conditions, and executes notification control if at least one of these conditions is met.

[0037] The first condition is met when the vehicle speed detected by the vehicle speed sensor 11 is at or below a very low vehicle speed. The second condition is met when the distance between vehicle 1 and the vehicle in front is at or below a predetermined distance. The third condition is met when vehicle 1 is on an uphill road with a gradient of a predetermined degree or higher.

[0038] In this embodiment, the extremely low vehicle speed is set to a value such that vehicle 1 is practically stationary, for example, 10 km / h. The predetermined distance is set to a value such that vehicle 1 will not hit the vehicle in front when vehicle 1 suddenly moves out. The predetermined gradient is set to a value such that vehicle 1 will begin to slide backward when it is not braking.

[0039] The extremely low vehicle speed, predetermined distance, and predetermined gradient (hereinafter collectively referred to as "notification condition thresholds") are each determined in such a way that hysteresis can be ensured. In other words, the extremely low vehicle speed when one-pedal control is not being performed is set higher than the extremely low vehicle speed when one-pedal control is being performed, in order to ensure sufficient hysteresis.

[0040] The predetermined distance when one-pedal control is not being performed is set to be longer than the predetermined distance when one-pedal control is being performed, in order to ensure sufficient hysteresis. The predetermined gradient when one-pedal control is not being performed is set to be smaller than the predetermined gradient when one-pedal control is being performed, in order to ensure sufficient hysteresis.

[0041] The default value for the notification condition threshold is pre-stored in the ROM of the HCU10. The notification condition threshold can be set via the setting device 17. The notification condition threshold set via the setting device 17 is stored in the flash memory of the HCU10.

[0042] The RAM of the HCU10 reads the notification condition thresholds stored in the ROM. The notification condition thresholds read into the RAM of the HCU10 are overwritten by the notification condition thresholds stored in the flash memory. The HCU10 refers to the notification condition thresholds stored in the RAM to determine whether or not the notification condition is met.

[0043] If the HCU10 has executed notification control and the one-pedal switch 16 has not been operated for a certain period of time (for example, 30 seconds) or more, the HCU10 will execute a one-pedal control switching process: if one-pedal control is being performed, it will terminate the one-pedal control; if one-pedal control is not being performed, it will start the one-pedal control.

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

[0045] First, in S1, the HCU10 determines whether or not the notification conditions have been met. If it determines in S1 that the notification conditions have been met, the HCU10 executes the process in S2. If it determines in S1 that the notification conditions have not been met, the HCU10 terminates the driver assistance operation.

[0046] In S2, the HCU10 performs notification control. After performing the process in S2, the HCU10 performs the process in S3. In S3, the HCU10 determines whether or not the one-pedal switch 16 has been operated.

[0047] In S3, if the HCU 10 determines that the one-pedal switch 16 has not been operated, it executes the process in S4. In S3, if the HCU 10 determines that the one-pedal switch 16 has been operated, it terminates the driver assistance operation.

[0048] In S4, HCU10 determines whether a certain amount of time has elapsed since the notification control was executed. If HCU10 determines in S4 that a certain amount of time has elapsed since the notification control was executed, HCU10 executes the process in S5. If HCU10 determines in S4 that a certain amount of time has not elapsed since the notification control was executed, HCU10 executes the process in S3.

[0049] In S5, the HCU10 controls the notification device 23 to notify that it will perform the one-pedal control switching process. After performing the process in S5, the HCU10 performs the process in S6. In S6, the HCU10 performs the one-pedal control switching process. After performing the process in S6, the HCU10 terminates the driver assistance operation.

[0050] As described above, the driver assistance device according to this embodiment performs notification control according to the position detected by the position detection unit 30 and the road information acquired by the road information acquisition unit 31. In other words, the driver assistance device according to this embodiment performs notification control when one-pedal control is performed in driving conditions in which one-pedal control is not recommended, and when one-pedal control is not performed in driving conditions in which one-pedal control is recommended. Therefore, the driver assistance device according to this embodiment can improve the operability of the vehicle 1 regardless of the driving conditions of the vehicle 1.

[0051] Furthermore, the driver assistance device according to this embodiment uses at least one of the first, second, and third conditions as a notification condition, and executes notification control when the notification condition is met, thereby improving the operability of the vehicle 1 regardless of the vehicle's driving conditions.

[0052] Furthermore, the driver assistance device according to this embodiment uses three conditions, the first condition, the second condition, and the third condition, as notification conditions, and executes notification control when at least one notification condition is met. Therefore, the operability of the vehicle 1 can be improved regardless of the driving conditions of the vehicle 1.

[0053] Furthermore, the driver assistance device according to this embodiment is further equipped with a setting device 17 for setting a threshold for notification conditions, which allows notification control to be performed at a timing that matches the driver's perception, thereby improving the operability of the vehicle 1.

[0054] Furthermore, the driver assistance device according to this embodiment performs a one-pedal control switching process if the one-pedal switch 16 is not operated after a certain period of time has elapsed since the notification control was executed, thereby reducing the effort required to operate the one-pedal switch 16.

[0055] 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.

[0056] Furthermore, in this embodiment, at least one of the first, second, and third conditions was used as a notification condition. However, other conditions may be added as notification conditions, such as a condition in which it is determined that the road being traveled is congested.

[0057] Furthermore, in this embodiment, an example was described in which the HCU10 uses three conditions, the first condition, the second condition, and the third condition, as notification conditions, and performs notification control when at least one of these conditions is met.

[0058] In contrast, the HCU10 may use the first, second, and third conditions as notification conditions and execute notification control when all conditions are met, or it may execute notification control when two or more conditions are met.

[0059] Alternatively, the HCU10 may be configured to assign scores to three conditions: the first, second, and third conditions. The scores of the fulfilled conditions may be added together, and if the added score exceeds a certain value, notification control may be executed.

[0060] Furthermore, in this embodiment, an example was described in which the threshold value of the notification condition can be set via the setting device 17. In contrast, the HCU 10 may, for example, store an operation history such as whether or not the one-pedal switch 16 was operated as a result of executing notification control, and the time elapsed from the execution of notification control until the one-pedal switch 16 was operated, and change the threshold value of the notification condition according to the stored operation history.

[0061] 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.

[0062] Furthermore, as an example of a vehicle equipped with a driver assistance device according to one embodiment of the present invention, a vehicle 1 driven by an MG2 was described. However, the driver 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.

[0063] 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]

[0064] 1 vehicle 16 One-pedal switch 17 Setting device 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 one-pedal switch that receives requests to start and end the one-pedal control, Notification device and, A driving assistance device comprising: a control unit that performs notification control to control the notification device to provide notification prompting the operation of the one-pedal switch when notification conditions based on the position detected by the position detection unit and the road information acquired by the road information acquisition unit are met.

2. The control unit, The first condition is based on the vehicle speed, A second condition corresponding to the distance between the aforementioned vehicle and the vehicle in front, The driving support device according to claim 1, characterized in that at least one of the following conditions—a third condition corresponding to the inclination angle of the vehicle's travel path—is set as the notification condition, and the notification control is executed when the notification condition is met.

3. The control unit, The driving support device according to claim 2, characterized in that the three conditions, the first condition, the second condition, and the third condition, are used as the notification conditions, and the notification control is executed when at least one of the notification conditions is met.

4. The driving support device according to claim 2 or 3, further comprising a setting device for setting a threshold for the notification condition.

5. The control unit, The driver assistance device according to any one of claims 1 to 3, wherein if the one-pedal switch is not operated after a certain period of time has elapsed since the notification control was performed, the one-pedal control is terminated if the one-pedal control is being performed, and the one-pedal control is performed if the one-pedal control is not being performed.

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