Vehicle control system

Abstract

This vehicle control system provides a mechanism that changes the collision risk reduction control settings at the appropriate time, thereby reducing the possibility that the vehicle's behavior may differ from the user's intentions. [Solution] The vehicle control device executes collision risk reduction control to reduce the collision risk when the risk of the vehicle colliding with an object is greater than or equal to a predetermined threshold risk. The vehicle control device stores setting information that defines user settings, which are the collision risk reduction control settings desired by the user, for each vehicle user, identifies which user the driver is, and if the collision risk reduction control settings and the driver's user settings are different, and the setting change conditions are met, such as the vehicle being stopped and collision risk reduction control not being executed, the collision risk reduction control settings are changed to the driver's user settings. If the setting change conditions are not met, the collision risk reduction control settings are not changed to the driver's user settings.

Description

Technical Field

[0001] The present invention relates to a vehicle control device configured to execute collision risk reduction control for reducing the collision risk of a vehicle colliding with an object.

Background Art

[0002] Conventionally, vehicle control devices configured to execute collision risk reduction control when the collision risk is equal to or higher than a threshold risk are known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as "conventional device") controls the brakes to avoid collision with an object when the collision risk is equal to or higher than the threshold risk. When the conventional device determines that collision with the object has been avoided, it controls the driving force so as not to exceed the limited driving force.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

[0004] By the way, vehicle control devices that allow drivers to customize the settings of collision risk reduction control are known. For example, when a driver finds the collision risk reduction control annoying, the driver can make a setting to prohibit execution of the collision risk control.

[0005] When one vehicle is shared by multiple users, there is a demand for customizing the settings of the collision risk reduction control for each user. It takes time for the vehicle control device to identify the user who is driving the vehicle, and further, it also takes time for the vehicle control device to change the setting of the collision risk reduction control to the setting of that user. On the other hand, the user desires to start the vehicle immediately after getting into the vehicle.

[0006] One possible countermeasure is to change the collision risk reduction control settings after the vehicle starts moving. However, in this case, the collision risk reduction control settings may be changed at a time unintended by the user. Furthermore, there is a possibility of a discrepancy between the collision risk reduction control settings expected by the user and the actual settings, and if such a discrepancy occurs, the vehicle's behavior may differ from the user's intention.

[0007] This invention was made to address the aforementioned problems. Specifically, one of the objectives of this invention is to provide a vehicle control device that can change the settings of collision risk reduction control at an appropriate time, thereby reducing the possibility that the vehicle's behavior may differ from the user's intention.

[0008] The driver assistance device of the present invention (hereinafter referred to as "the device of the present invention") is configured to perform collision risk reduction control to reduce the collision risk when the collision risk of a vehicle colliding with an object is greater than or equal to a predetermined threshold risk (step 425 "Yes"). The collision risk reduction control includes at least one of the following: automatic brake control (step 475) which generates a braking force on the vehicle, and drive force limiting control (steps 435 to 460) which controls the drive force so that the drive force generated on the vehicle does not exceed a limiting drive force. The aforementioned vehicle control device is For each user of the vehicle, setting information is stored that defines user settings, which are the collision risk reduction control settings desired by the user (34a), Identify which user is the driver of the vehicle (step 305), If the settings for the collision risk reduction control and the user settings of the driver are different (step 315 "No"), If the setting change conditions are met, such that the vehicle is stopped (step 320 "Yes") and the collision risk reduction control is not being executed (step 330 "Yes"), the setting of the collision risk reduction control is changed to the user setting of the driver (step 335). If the above setting change conditions are not met (step 320 "No", step 330 "No"), the setting of the collision risk reduction control is not changed to the driver's user setting. It is structured in this way.

[0009] According to the present invention, the settings for collision risk reduction control are changed at an appropriate timing, reducing the possibility that the vehicle's behavior differs from the user's intention. For example, even if collision risk reduction control is executed against the user's intention, the vehicle's behavior does not change when the vehicle VA is stopped, thus reducing the possibility that the vehicle's behavior differs from the user's intention. Since the settings for collision risk reduction control are changed when collision risk reduction control is not being executed, it is possible to prevent the execution of collision risk reduction control from suddenly ending against the user's intention. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic system configuration diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2] Figure 1 is an explanatory diagram of the setting information stored in the setting information storage unit. [Figure 3] Figure 1 is a flowchart of the configuration change routine executed by the ECU's CPU. [Figure 4] Figure 1 is a flowchart of the collision risk reduction control routine executed by the CPU of the ECU. [Modes for carrying out the invention]

[0011] A vehicle control device 10 (hereinafter referred to as "the device 10") according to an embodiment of the present invention is applied to a vehicle VA and comprises the components shown in Figure 1. In this specification, "ECU20" is an electronic control device mainly comprising a microcomputer. The ECU20 is also referred to as a control unit, controller, and computer. The microcomputer includes a CPU (processor), ROM, RAM, and interface (I / F), etc. The functions realized by the ECU20 may be realized by multiple ECUs.

[0012] Camera 22 acquires forward image data by photographing the area in front of the vehicle VA. Millimeter-wave radar 24 receives reflected waves from an object that has been transmitted forward of the vehicle VA, and acquires radar data. The radar data contains data on the position of the object relative to the vehicle VA and the relative velocity of the object relative to the vehicle VA.

[0013] The ECU 20 acquires forward image data from the camera 22 and radar data from the millimeter-wave radar 24. Based on the forward image data and radar data, the ECU 20 recognizes objects in front of the vehicle VA.

[0014] The driver's seat camera 26 acquires driver's seat image data by capturing an area including the face of the driver seated in the driver's seat of the vehicle VA. The ECU 20 acquires the driver's seat image data from the driver's seat camera 26.

[0015] The accelerator pedal position sensor 28 measures the accelerator pedal position AP, which represents the amount the driver depresses (operated) the accelerator pedal (accelerometer). The accelerator pedal position AP is "0" when the driver is not operating the accelerator pedal. The acceleration sensor 30 measures the acceleration G in the longitudinal direction of the vehicle VA. The vehicle speed sensor 32 measures the vehicle speed Vs, which represents the speed of the vehicle VA. The ECU 20 acquires the measured values ​​from these sensors 28 to 32.

[0016] The storage device 34 has a non-volatile storage area. A setting information storage unit 34a is set in this storage area. The setting information storage unit 34a stores setting information (see FIG. 2) for each of at least one user who uses the vehicle VA. Details of the setting information will be described later.

[0017] The electronic key communication interface (I / F) 36 is an interface for performing wireless communication with an electronic key carried by a user. The smartphone communication interface (I / F) 38 is an interface for performing wireless communication with a smartphone carried by the user.

[0018] The powertrain actuator 40 changes the driving force generated by the drive device (for example, an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 42 changes the braking force applied to the vehicle VA. The display device 44 is disposed at a position visible to the driver.

[0019] <Collision Risk Reduction Control> When the collision risk of the vehicle VA colliding with an object is equal to or higher than a threshold risk, the ECU 20 executes collision risk reduction control for reducing the collision risk. The collision risk reduction control includes at least one of automatic brake control and driving force limitation control. The automatic brake control is control for causing the vehicle VA to generate a braking force. The driving force limitation control is control for controlling the driving force such that the driving force generated in the vehicle VA does not exceed a limited driving force Dlmt.

[0020] In the present embodiment, when the TTC of an object is equal to or less than a threshold time Tth, the ECU 20 determines that the collision risk is equal to or higher than the threshold risk, and executes the collision risk reduction control. TTC represents the time required until the object collides with the vehicle VA. TTC is an abbreviation for "Time To Collision". The ECU 20 acquires the TTC by dividing the distance between the object and the vehicle VA by the relative speed Vr of the object.

[0021] The user can set the following setting items of the collision risk reduction control. (1) Execution permission (2) Operation sensitivity (3) Control target (4) Stopping distance

[0022] The execution permission is set to either "permitted" or "prohibited". When the execution permission is set to "permitted", execution of collision risk reduction control is permitted. When the execution permission is set to "prohibited", execution of collision risk reduction control is prohibited.

[0023] The execution timing of collision risk reduction control is defined (set) by the operation sensitivity. The operation sensitivity is set to any one of "high", "medium" and "low". When the operation sensitivity is set to "high", the ECU 20 sets the threshold time Tth to a first time T1. When the operation sensitivity is set to "medium", the ECU 20 sets the threshold time Tth to "a second time T2 that is shorter than the first time T1". When the operation sensitivity is set to "low", the ECU 20 sets the threshold time Tth to "a third time T3 that is shorter than the second time T2".

[0024] The type of object that is the target of execution of collision risk reduction control is defined (set) by the control target. The control target is set to at least one of a pedestrian, a vehicle, and a motorcycle. The ECU 20 acquires the TTC of the object of the type specified by the control target, and executes collision risk reduction control when the TTC is equal to or less than the threshold time Tth.

[0025] The distance until the vehicle VA stops by automatic brake control is defined (set) by the stopping distance. The stopping distance is set to any one of "long", "medium" and "short". In the automatic brake control, the ECU 20 sets a braking force that causes the vehicle VA to stop at the distance defined by the stopping distance as the target braking force Btgt.

[0026] For example, as shown in Figure 2, User A sets the execution permission to "permit," the operation sensitivity to "high," the control target to pedestrians and vehicles, and the stopping distance to "long." User settings may also be input by touch operation on the display device 44, which is a touch panel display. This setting information of User A is stored in the setting information storage unit 34a. The ECU 20 also stores driver's seat image data showing User A in the setting information storage unit 34a, in association with User A's setting information.

[0027] During the initialization routine, the ECU20 initializes the settings for collision risk reduction control. For example, the ECU20 sets the execution permission to "permitted," the operation sensitivity to "medium," the control target to pedestrians, vehicles, and motorcycles, and the stopping distance to "medium." The initialization routine is executed when the ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0028] (Summary of operation) If the settings for collision risk reduction control differ from the user settings of the user (driver) operating the vehicle VA, the ECU 20 needs to change the settings for collision risk reduction control to the user settings. In this embodiment, if the setting change conditions are met, such as the vehicle VA being stopped and collision risk reduction control not being executed, the ECU 20 changes the settings for collision risk reduction control to the driver's user settings.

[0029] Even if collision risk reduction control is executed while the vehicle VA is stopped, the vehicle's behavior will not change. For example, if the collision risk reduction setting is changed and the actual permission to execute collision risk reduction control becomes "permitted," but the user's expected permission to execute collision risk reduction control is "prohibited," a discrepancy will arise between the actual collision risk reduction control setting and the user's expected collision risk reduction control setting. Even if collision risk reduction control is executed against the user's intention in such a discrepancy, the vehicle's behavior will not change if the vehicle VA is stopped. This reduces the possibility of the driver feeling uneasy.

[0030] Furthermore, since the collision risk reduction control settings are changed when collision risk reduction control is not being performed, even if the collision risk reduction control settings are changed and the actual execution of collision risk reduction control is "prohibited," it is possible to prevent the execution of collision risk reduction control from suddenly terminating.

[0031] (Specific operation) The CPU of ECU20 executes the routines shown in the flowcharts in Figures 3 and 4 at predetermined intervals.

[0032] <Configuration Change Routine> When the appropriate time arrives, the CPU starts processing from step 300 in Figure 3 and executes steps 305 to 315.

[0033] Step 305: The CPU identifies which user is the driver. In detail, the CPU acquires driver's seat image data from the driver's seat camera 26. The CPU identifies which user is currently driving by comparing the face image from the driver's seat image data stored in the setting information storage unit 34a with the face image from the acquired driver's seat image data.

[0034] Step 310: The CPU reads the driver's settings information identified in Step 305 from the settings information storage unit 34a. Step 315: The CPU determines whether the collision risk reduction control settings and the user settings in the read configuration information are the same.

[0035] If the collision risk reduction control settings differ from the user settings, the CPU determines "No" in step 315, and the process proceeds to step 320. In step 320, the CPU determines whether the vehicle VA is stopped or not (in other words, whether the vehicle speed Vs is "0" or not).

[0036] If the vehicle VA is not stopped, the setting change condition is not met. In this case, the CPU determines "No" in step 320, and the process proceeds to step 325. In step 325, the CPU issues an unchanged notification. Specifically, the CPU displays an unchanged notification screen on the display device 44 to inform the driver that the setting change for collision risk reduction control is not yet complete. After that, the process proceeds to step 395, and the CPU terminates this routine.

[0037] If vehicle VA is stopped, the CPU determines "Yes" in step 320, and the process proceeds to step 330. In step 330, the CPU determines whether the execution flag Xexe is "0".

[0038] The execution flag Xexe is set to "1" when collision risk reduction control is performed, and to "0" when collision risk reduction control is not performed. The execution flag Xexe is set to "0" during the initialization routine.

[0039] If the execution flag Xexe is "1", the condition for changing the settings is not met. In this case, the CPU determines "No" in step 330 and notifies that no changes have been made in step 325.

[0040] If the execution flag Xexe is "0", the setting change condition is met. In this case, the CPU determines "Yes" in step 330 and executes steps 335 and 340.

[0041] Step 335: The CPU changes the collision risk reduction control settings to user settings. Step 340: The CPU issues a change notification. Specifically, the CPU displays a change notification screen on the display device 44 to inform the driver that the changes to the collision risk reduction control settings have been completed. The process then proceeds to step 395, and the CPU terminates this routine.

[0042] If the collision risk reduction control settings and user settings are the same when the process proceeds to step 315, the CPU determines "Yes" in step 315, and the process proceeds to step 340.

[0043] <Collision risk reduction control routine> When the appropriate time arrives, the CPU starts processing from step 400 in Figure 4, and the processing proceeds to step 405. In step 405, the CPU determines whether the execution permission is set to "allowed" in the collision risk reduction control settings.

[0044] If the execution permission is set to "Allowed", the CPU determines "Yes" in step 405 and executes steps 410 through 420.

[0045] Step 410: The CPU recognizes an object based on forward image data and radar data. Step 415: The CPU obtains the TTC of an object of the type set in the "Controlled Objects in Collision Risk Reduction Control Settings". Step 420: The CPU determines whether the execution flag Xexe is "0".

[0046] If the execution flag Xexe is "0", the CPU determines "Yes" in step 420, and the process proceeds to step 425. In step 425, the CPU determines whether TTC is less than or equal to the threshold time Tth. The threshold time Tth is set to one of the first time T1 to the third time T3, depending on the operating sensitivity of the collision risk reduction control settings.

[0047] If TTC is greater than the threshold time Tth, the CPU determines "No" in step 425, and the process proceeds to step 495. In step 495, the CPU terminates this routine.

[0048] If the TTC is less than or equal to the threshold time Tth, the CPU determines "Yes" in step 425 and executes steps 430 and 435. Step 430: The CPU sets the execution flag Xexe to "1". Step 435: The CPU determines whether the accelerator opening (AP) is greater than "0".

[0049] If the accelerator opening AP is greater than "0", the CPU determines "Yes" in step 435 and executes steps 440 and 445. Step 440: The CPU obtains the operating driving force Dap corresponding to the accelerator opening AP. Furthermore, the operating force Dap increases as the accelerator pedal opening AP increases. Step 445: The CPU determines whether the operating driving force Dap is less than or equal to the limiting driving force Dlmt.

[0050] If the operating drive force Dap is less than or equal to the limiting drive force Dlmt, the CPU determines "Yes" in step 445 and executes steps 450 and 455. Step 450: The CPU sets the target driving force Dtgt to the operating driving force Dap. Step 455: The CPU controls the powertrain actuator 40 so that the driving force generated by the drive unit becomes the target driving force Dtgt. The process then proceeds to step 495.

[0051] If the operating force Dap is greater than the limiting force Dlmt, the CPU determines "No" in step 445, and the process proceeds to step 460. In step 460, the CPU sets the target force Dtgt to the limiting force Dlmt. The process then proceeds to step 455.

[0052] If the execution flag Xexe is "1" when the process proceeds to step 420, the CPU determines "No" in step 420, and the process proceeds to step 465. In step 465, the CPU determines whether a predetermined amount of time has elapsed since the vehicle VA stopped.

[0053] If vehicle VA is not stopped, or if a predetermined amount of time has not elapsed since vehicle VA stopped, the CPU determines "No" in step 465, and the process proceeds to step 470. In step 470, the CPU determines whether or not there is a possibility of collision with the controlled object. Specifically, the CPU determines that there is no possibility of collision if the direction of movement of the controlled object relative to vehicle VA no longer intersects with vehicle VA.

[0054] If there is a possibility of collision, the CPU determines "Yes" in step 470, and the process proceeds to step 435. If the accelerator pedal opening AP is "0" (i.e., the driver is not operating the accelerator pedal), the CPU determines "No" in step 435, and the process proceeds to step 475. In step 475, the CPU sets the target braking force Btgt to such a braking force that the vehicle speed Vs becomes "0" when the vehicle VA has traveled the stopping distance specified in the collision risk reduction control settings. Then, in step 455, the CPU controls the brake actuator 42 so that the braking force generated by the braking device becomes the target braking force Btgt. Then, the process proceeds to step 495.

[0055] If a predetermined amount of time has elapsed since the vehicle VA stopped when the process proceeds to step 465, the CPU determines "Yes" in step 465, and the process proceeds to step 480. In step 480, the CPU sets the execution flag Xexe to "0". After that, the process proceeds to step 495.

[0056] If there is no possibility of collision with the controlled object when the process proceeds to step 470, the CPU determines "No" in step 470, and the process proceeds to step 480.

[0057] If the execution permission is set to "Forbidden" when the process proceeds to step 405, the CPU determines "No" in step 405, and the process proceeds to step 480.

[0058] As described above, according to this embodiment, if the collision risk reduction control setting and the user setting are different, the ECU 20 determines whether the setting change condition is met, which is that the vehicle VA is stopped and the collision risk reduction control is not being executed. If the setting change condition is met, the ECU 20 changes the collision risk reduction control setting to the user setting. This reduces the possibility that the behavior of the vehicle VA may differ from the user's intention.

[0059] (modified version) In the above embodiment, the driver is identified based on the driver's seat image data, but the identification of the driver is not limited to this. The ECU 20 wirelessly communicates with the "electronic key with a unique identifier, which is set on it," carried by the user, via the electronic key communication interface 36 to obtain the key identifier from the electronic key. The ECU 20 identifies the driver based on the key identifier.

[0060] Similarly, the ECU 20 wirelessly communicates with the user's smartphone, which has a unique identifier called a smartphone identifier set on it, via the smartphone communication interface 38, and obtains the smartphone identifier from the smartphone. Based on the smartphone identifier, the ECU 20 identifies which user the driver is.

[0061] In the above embodiment, both the drive force limiting control (steps 435 to 460) and the automatic braking control (step 475) were performed as collision risk reduction control. However, at least one of the drive force limiting control and the automatic braking control may be performed as collision risk reduction control.

[0062] In the above embodiment, the ECU 20 does not need to issue a change notification after a predetermined time has elapsed since the change notification was initiated.

[0063] If the collision risk reduction control settings and the user settings differ, the ECU 20 determines whether the user settings make it more difficult to meet the conditions for executing the collision risk reduction control than the collision risk reduction control settings. If the user settings make it more difficult to meet the conditions for executing the collision risk reduction control than the collision risk reduction control settings, the ECU 20 determines that the setting change conditions are met even if the vehicle VA is not stopped (i.e., even if the vehicle speed Vs is not "0"), as long as the collision risk reduction control is not being executed, and may change the collision risk reduction control settings to the user settings.

[0064] If the user settings make it more difficult to satisfy the execution conditions for collision risk reduction control than the settings, the likelihood of the execution conditions being satisfied immediately after the collision risk reduction control is changed to the user settings is low. Therefore, since the likelihood of collision risk reduction control being executed against the user's intention immediately after the collision risk reduction control settings are changed to the user settings is low, the likelihood of the vehicle VA's behavior differing from the user's intention is low. Accordingly, in such cases, even if the vehicle VA is not stopped, the setting change conditions may be satisfied if collision risk reduction control is not being executed.

[0065] The following are cases in which user settings make it more difficult to satisfy the execution conditions than the collision risk reduction control settings: User settings execution permission is set to "prohibited," while collision risk reduction control settings execution permission is set to "allowed." The user-defined activation sensitivity is lower than the activation sensitivity of the collision risk reduction control. The number of user-defined control targets is less than the number of collision risk reduction control targets, and all user-defined control targets are included in the collision risk reduction control targets.

[0066] Furthermore, the device 10 only needs to include at least one of the camera 22 and the millimeter-wave radar 24.

[0067] This device 10 is applicable to vehicles such as engine-powered vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles, and is also applicable to autonomous vehicles. [Explanation of Symbols]

[0068] 10...Vehicle control system, 22...Camera, 24...Millimeter-wave radar, 26...Driver's seat camera, 34a...Setting information storage unit, 40...Powertrain actuator, 42...Brake actuator.

Claims

1. In a vehicle control device configured to perform collision risk reduction control to reduce the collision risk when the risk of a vehicle colliding with an object is greater than or equal to a predetermined threshold risk, The collision risk reduction control includes at least one of an automatic brake control that generates braking force in the vehicle, and a drive force limiting control that controls the drive force so that the drive force generated in the vehicle does not exceed a limiting drive force. The aforementioned vehicle control device is For each user of the vehicle, setting information is stored that defines user settings, which are the collision risk reduction control settings desired by the user. Identify which user is the driver of the aforementioned vehicle, When the settings for the collision risk reduction control and the user settings of the driver are different, If the setting change condition is met, such that the vehicle is stopped and the collision risk reduction control is not being executed, the setting of the collision risk reduction control is changed to the driver's user setting. If the above setting change conditions are not met, the setting of the collision risk reduction control will not be changed to the driver's user setting. A vehicle control device configured as follows.

2. In the vehicle control device according to claim 1, The user settings include a setting to allow or prohibit the execution of the collision risk reduction control. Vehicle control system.

3. In the vehicle control device according to claim 1, The user setting includes at least one of the settings for increasing or decreasing the threshold risk and the setting for the type of object to which the collision risk reduction control is performed. Vehicle control system.

4. In the vehicle control device according to claim 1, The aforementioned vehicle control device is If the settings for the collision risk reduction control and the user settings of the driver are different, the driver is notified that the settings for the collision risk reduction control have not yet been changed. If the settings for the collision risk reduction control and the user settings of the driver are the same, the driver is notified that the changes to the collision risk reduction control settings have been completed. A vehicle control device configured as follows.

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