Vehicle control device and control method

Abstract

To resume automatic control of a vehicle speed when a vehicle is stopped, through simple operation.SOLUTION: A vehicle control device comprises: a travel control section which provides a speed control function automatically controlling a vehicle speed and suspends execution of the speed control function in response to driver's operation of a brake operator of a vehicle while the speed control function is in execution; and a proposal section which provides the driver with a resumption proposal to resume the execution of the speed control function when the driver stops the vehicle while the execution of the speed control function is suspended. The travel control section resumes the execution of the speed control function when the driver agrees with the resumption proposal and maintains a stopped state of the vehicle through the speed control function. The driver can agree with the resumption proposal by terminating the operation of the brake operator.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a vehicle control device and a control method. [Background technology]

[0002] A function called adaptive cruise control (ACC) that automatically controls the speed of a vehicle has been put to practical use. With ACC, the vehicle speed is controlled so that if there is a preceding vehicle, the vehicle follows it, and if there is no preceding vehicle, the vehicle travels at a set speed. When the vehicle stops in response to the preceding vehicle stopping, the vehicle starts according to an instruction from the driver. Patent Document 1 describes that a start instruction for the vehicle is obtained from the driver before the preceding vehicle starts. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4230385 Summary of the Invention [Problem to be solved by the invention]

[0004] When the vehicle is stopped by the driver's operation during automatic control of the vehicle speed, the automatic speed control is interrupted. In the conventional technology, the automatic speed control is resumed by the driver operating a button. An object of some aspects of the present invention is to propose a technology for resuming the automatic speed control of the vehicle with a simple operation when the vehicle is stopped. [Means for solving the problem]

[0005] According to some embodiments, a vehicle control device includes a driving control means for providing a speed control function for automatically controlling a speed of the vehicle, the driving control means suspending operation of the speed control function in response to a driver operating a brake operating element of the vehicle while the speed control function is in operation, and a proposal means for providing the driver with a resumption proposal to resume operation of the speed control function when the driver stops the vehicle while operation of the speed control function is suspended, the driving control means resumes operation of the speed control function when the driver agrees to the resumption proposal, maintains the stopped state of the vehicle by the speed control function, and starts the vehicle based on an instruction from the driver when the stopped state of the vehicle is maintained by the speed control function, and the consent to the resumption proposal is achieved by the driver ending the operation of the brake operating element. When the driver stops the vehicle while the operation of the speed control function is interrupted, the suggestion means provides the restart suggestion if a suggestion condition is satisfied, and does not provide the restart suggestion if the suggestion condition is not satisfied, and the suggestion condition includes one or more of: an operation level of a drive operator of the vehicle is equal to or lower than a threshold during a stop transition period from when the operation of the speed control function is interrupted to when the driver stops the vehicle; an operation level of the brake operator is equal to or lower than a threshold during the stop transition period; an operation level of a steering operator of the vehicle is equal to or lower than a threshold during the stop transition period; and a turn signal of the vehicle is not operated during the stop transition period. , a control device is provided. Effect of the Invention

[0006] According to some embodiments, automatic control of the vehicle speed can be resumed with a simple operation when the vehicle is stopped. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a configuration of a vehicle according to some embodiments. [Diagram 2] FIG. 4 is a schematic diagram illustrating an operation panel for a speed control function according to some embodiments. [Diagram 3] FIG. 4 is a block diagram illustrating example state transitions of a rate control function of some embodiments. [Figure 4] FIG. 4 is a flow diagram illustrating an example operation of a rate control function of some embodiments. [Diagram 5] FIG. 4 is a flow diagram illustrating an example operation of a rate control function of some embodiments. [Figure 6] FIG. 11 is a schematic diagram illustrating an example of a proposed condition according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features among the multiple features described in the embodiments may be arbitrarily combined. In addition, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0009] Fig. 1 is a block diagram of a vehicle 1 according to an embodiment of the present invention. In Fig. 1, the vehicle 1 is shown generally in a plan view and a side view. As an example, the vehicle 1 is a sedan-type four-wheeled passenger car. The vehicle 1 may be such a four-wheeled vehicle, or may be a two-wheeled vehicle or another type of vehicle.

[0010] The vehicle 1 includes a vehicle control device 2 (hereinafter, simply referred to as the control device 2) that controls the vehicle 1. The control device 2 includes a plurality of ECUs (Electronic Control Units) 20 to 29 that are communicatively connected via an in-vehicle network. Each ECU includes a processor represented by a CPU (Central Processing Unit), a memory such as a semiconductor memory, an interface with an external device, and the like. The memory stores a program executed by the processor and data used by the processor for processing, and the like. Each ECU may include a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. The processor 20a executes an instruction included in a program stored in the memory 20b, whereby the ECU 20 executes processing. Alternatively, the ECU 20 may include a dedicated integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) for executing processing by the ECU 20. The same applies to the other ECUs.

[0011] The following describes the functions and the like handled by each of the ECUs 20 to 29. Note that the number of ECUs and the functions handled by them can be designed appropriately, and they can be divided more finely or integrated than in this embodiment.

[0012] The ECU 20 executes control related to the automatic driving of the vehicle 1. In the automatic driving, at least one of the steering and the acceleration / deceleration of the vehicle 1 is automatically controlled. The automatic driving by the ECU 20 may include automatic driving that does not require driving operation by the driver (which may also be called automatic driving) and automatic driving that assists the driving operation by the driver (which may also be called driving assistance).

[0013] The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) on a steering wheel 31. The electric power steering device 3 also includes a motor that generates a driving force for assisting the steering operation and automatically steering the front wheels, a sensor that detects the steering angle, and the like. When the driving state of the vehicle 1 is autonomous driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20, and controls the traveling direction of the vehicle 1.

[0014] ECUs 22 and 23 control detection units 41-43 that detect the surrounding conditions of vehicle 1 and process information on the detection results. Detection unit 41 is a camera that captures images ahead of vehicle 1 (hereinafter, may be referred to as camera 41), and in this embodiment, is attached to the inside of the passenger compartment of the front window at the front side of the roof of vehicle 1. By analyzing images captured by camera 41, it is possible to extract the contours of targets and lane markings (white lines, etc.) on the road.

[0015] The detection unit 42 is a lidar (Light Detection and Ranging) (hereinafter, may be referred to as the lidar 42) and detects targets around the vehicle 1 and measures the distance to the targets. In the present embodiment, five lidars 42 are provided, one at each corner of the front of the vehicle 1, one at the rear center, and one on each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter, may be referred to as the radar 43) and detects targets around the vehicle 1 and measures the distance to the targets. In the present embodiment, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner.

[0016] The ECU 22 controls one camera 41 and each lidar 42 and processes information on the detection results. The ECU 23 controls the other camera 41 and each radar 43 and processes information on the detection results. By providing two sets of devices that detect the surrounding conditions of the vehicle 1, the reliability of the detection results can be improved, and by providing different types of detection units such as a camera, lidar, and radar, the surrounding environment of the vehicle 1 can be analyzed from multiple perspectives.

[0017] The ECU 24 controls the gyro sensor 5, the GNSS (Global Navigation Satellite System) sensor 24b, and the communication device 24c, and processes information on the detection results or communication results. The gyro sensor 5 detects the rotational motion of the vehicle 1. The path of the vehicle 1 can be determined based on the detection results of the gyro sensor 5, the wheel speed, etc. The GNSS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information, and acquires this information. The ECU 24 can access a database 24a that stores map information, and the ECU 24 performs route searches from the current location to a destination, etc. The ECU 24, the database 24a, and the GNSS sensor 24b constitute a so-called navigation device.

[0018] The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with other surrounding vehicles and exchanges information between the vehicles.

[0019] The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force to rotate the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the output of the engine in response to a driving operation (accelerator operation or acceleration operation) of the driver detected by an operation detection sensor 7a provided on the accelerator pedal 7A, and switches the gear stage of the transmission based on information such as the vehicle speed detected by a vehicle speed sensor 7c. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20, and controls the acceleration and deceleration of the vehicle 1. The transmission switches the combination of gears according to a shift position specified by the driver using a shift lever 32. The shift position may include, for example, drive, neutral, reverse, parking, etc. The shift position may be specified using another device, such as a shift switch, instead of the shift lever 32.

[0020] The ECU 27 controls lighting devices (headlights, taillights, etc.) including turn signals 8 (blinkers). In the example of Fig. 1, the turn signals 8 are provided at the front, door mirrors, and rear of the vehicle 1.

[0021] The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts information input from the driver. The audio output device 91 notifies the driver of information by audio. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged on the surface of the driver's seat, for example, and constitutes an instrument panel or the like. Note that, although audio and display are exemplified here, information may be notified by vibration or light. Information may be notified by a combination of audio, display, vibration, or light. Furthermore, the combination or the notification mode may be changed depending on the level of the information to be notified (for example, urgency). The input device 93 is a group of switches arranged in a position operable by the driver and used to give instructions to the vehicle 1, but may also include an audio input device.

[0022] The ECU 29 controls the brake device 10 and the parking brake (not shown). The brake device 10 is, for example, a disk brake device provided on each wheel of the vehicle 1, and applies resistance to the rotation of the wheel to decelerate or stop the vehicle 1. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by, for example, an operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20, and controls the deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. In addition, when the transmission of the power plant 6 is equipped with a parking lock mechanism, this can also be operated to maintain the stopped state of the vehicle 1.

[0023] The control device 2 (e.g., ECU 20) of the vehicle 1 may provide a speed control function. The speed control function is a function of automatically controlling the speed of the vehicle 1. The control device 2 may automatically control the speed of the vehicle 1 based on a set speed or the speed of a preceding vehicle. Specifically, the control device 2 automatically controls the speed of the vehicle 1 to follow the preceding vehicle if the speed of the preceding vehicle of the vehicle 1 is equal to or lower than the set speed. If there is no preceding vehicle, the control device 2 automatically controls the speed of the vehicle 1 to be the set speed. Such a speed control function may be called adaptive cruise control (ACC). The automatic control of the speed of the vehicle 1 may be performed by the control device 2 automatically controlling the driving and braking of the vehicle 1. The steering of the vehicle 1 during the execution of the speed control function may be performed by the driver operating the steering wheel 31.

[0024] With reference to FIG. 2, hardware for the control device 2 to obtain an instruction regarding the speed control function from the driver will be described. The vehicle 1 may have an operation panel 200 for receiving an instruction regarding the speed control function. The operation panel 200 may be mounted, for example, on the instrument panel of the vehicle 1, or on the steering wheel 31. The operation panel 200 has a start button 201, a setting button 202, and a resume button 203. The operation panel 200 may have other buttons. In the example of FIG. 2, an instruction regarding the speed control function is obtained by the button. Alternatively, the instruction regarding the speed control function may be obtained by other hardware, for example, a lever or a virtual button on a touch panel.

[0025] The start button 201 is a button for switching the speed control function on and off. When the start button 201 is pressed with the speed control function off, the control device 2 turns the speed control function on (i.e., starts the speed control function). When the start button 201 is pressed with the speed control function on, the control device 2 turns the speed control function off (i.e., stops the speed control function). In the example of the operation panel 200, the speed control function is switched on and off with one start button 201. Alternatively, the operation panel 200 may have separate buttons for turning the speed control function on and off.

[0026] The setting button 202 is a button for setting a new set speed and switching the speed control function to an active state. When the setting button 202 is pressed while the speed control function is on, the control device 2 starts automatically controlling the speed of the vehicle 1 by using the speed of the vehicle 1 at that time as the set speed.

[0027] The resume button 203 is a button for switching the speed control function to an active state without setting a new set speed. When the resume button 203 is pressed while the speed control function is on, the control device 2 starts automatically controlling the speed of the vehicle 1 using the previously set speed.

[0028] The state transition of the speed control function will be described with reference to Fig. 3. As shown in Fig. 3(a), the speed control function can be in an off state 301, a standby state 302, an operating state 303, and an agreement waiting state 304. The speed control function may be in other states. The standby state 302, the operating state 303, and the agreement waiting state 304 may be regarded as an on state in combination.

[0029] The off state 301 is a state in which the speed control function is off. When the speed control function is in the off state 301, the control device 2 does not perform an operation to automatically control the speed of the vehicle 1. When the speed control function is in the off state 301, the control device 2 does not accept operations using the setting button 202 and the resume button 203, but accepts operations using the start button 201.

[0030] The standby state 302 is a state in which the speed control function is waiting to start operating. When the speed control function is in the standby state 302, the control device 2 does not perform an operation to automatically control the speed of the vehicle 1. When the speed control function is in the standby state 302, the control device 2 accepts any operation by the start button 201, the setting button 202, and the resume button 203.

[0031] The operating state 303 is a state in which the speed control function is operating. When the speed control function is in the operating state 303, the control device 2 automatically controls the speed of the vehicle 1. When the speed control function is in the operating state 303, the control device 2 accepts any operation of the start button 201, the setting button 202, and the resume button 203.

[0032] The consent waiting state 304 is a state in which the system is waiting for the driver to consent to a proposal to resume operation of the speed control function. Hereinafter, a proposal to resume operation of the speed control function is simply referred to as a resumption proposal. When the speed control function is in the consent waiting state 304, the control device 2 does not perform an operation to automatically control the speed of the vehicle 1. When the speed control function is in the consent waiting state 304, the control device 2 accepts any operation using the start button 201, the setting button 202, and the resume button 203.

[0033] Next, transitions between states in the speed control function will be described. As shown by arrow 311, when the start button 201 is pressed while the speed control function is in the off state 301, the speed control function transitions to the standby state 302. As shown by arrow 312, when the start button 201 is pressed while the speed control function is in the standby state 302, the speed control function transitions to the off state 301. As shown by arrow 313, when the setting button 202 or the resume button 203 is pressed while the speed control function is in the standby state 302, the speed control function transitions to the operating state 303.

[0034] As indicated by arrow 314, if the brake pedal 7B is operated by the driver while the speed control function is in the operating state 303, the speed control function transitions to the standby state 302. The brake pedal 7B is an example of a brake operator used by the driver to control the braking force of the vehicle 1. Other brake operators may be used instead of the brake pedal 7B.

[0035] As indicated by arrow 315, when a condition for providing a resumption proposal to the driver is satisfied while the speed control function is in standby state 302, the speed control function transitions to consent waiting state 304. Hereinafter, the condition for providing a resumption proposal to the driver is simply referred to as a proposal condition. Specific examples of the proposal condition will be described later. As indicated by arrow 316, when a predetermined time has passed without the driver agreeing to the proposal while the speed control function is in consent waiting state 304, the speed control function transitions to standby state 302. This predetermined time may be, for example, about 5 to 10 seconds.

[0036] As shown by arrow 317, if the start button 201 is pressed while the speed control function is in the consent waiting state 304, the speed control function transitions to the off state 301. As shown by arrow 318, if the driver agrees to the resumption proposal while the speed control function is in the consent waiting state 304, the speed control function transitions to the operating state 303. The consent to the resumption proposal may be given by terminating the operation of the brake pedal 7B, for example, when the vehicle 1 is stopped. Alternatively, the consent to the resumption proposal may be given by pressing the resume button 203. As shown by arrow 319, if the start button 201 is pressed while the speed control function is in the operating state 303, the speed control function transitions to the off state 301.

[0037] Next, with reference to Fig. 3(b), a state transition of the speed control function in the operating state 303 will be described. As shown in Fig. 3(b), the speed control function in the operating state 303 can be in a constant speed state 321, a stopped state 322, a following state 323, and an override state 324. The speed control function may be in other states in the operating state 303.

[0038] The constant speed traveling state 321 is a state in which the control device 2 automatically controls the speed of the vehicle 1 to be a set speed. The stopped state 322 is a state in which the control device 2 automatically applies a braking force to the vehicle 1 without the driver operating the brake pedal 7B, thereby stopping the vehicle 1.

[0039] The following driving state 323 is a state in which the control device 2 automatically controls the speed of the vehicle 1 so as to follow the preceding vehicle. When the vehicle 1 follows the preceding vehicle, the vehicle 1 drives so that the distance between the vehicle 1 and the preceding vehicle is a predetermined distance. The predetermined distance between the vehicles may be a value set in advance, or may be changeable by the driver. The predetermined distance between the vehicles may be a fixed value, or may be a value according to the speed of the preceding vehicle.

[0040] The override state 324 is a state in which the vehicle 1 is traveling according to the amount of operation of the accelerator pedal 7A by the driver. The accelerator pedal 7A is an example of a driving operator used by the driver to control the driving force of the vehicle 1. Other driving operators may be used instead of the accelerator pedal 7A. Typically, the speed of the vehicle 1 in the override state 324 is higher than the set speed. When the set button 202 is pressed in the operating state 303, the set speed is updated to the current speed of the vehicle 1.

[0041] Next, transitions between states in the operation state 303 will be described. As indicated by arrow 331, when a preceding vehicle appears ahead of the vehicle 1 while the speed control function is in the constant speed traveling state 321, the speed control function transitions to the following traveling state 323. A preceding vehicle in the speed control function is a vehicle traveling ahead of the vehicle 1 within a predetermined inter-vehicle distance. For example, when another vehicle changes lanes from another lane to ahead of the vehicle 1, or when the vehicle 1 catches up with another vehicle traveling ahead of the vehicle 1, the speed control function transitions from the constant speed traveling state 321 to the following traveling state 323.

[0042] As shown by the arrow 332, when the driver starts to operate the accelerator pedal 7A while the speed control function is in the constant speed traveling state 321, the speed control function transitions to the override state 324. As shown by the arrow 333, when the driver issues a start instruction while the speed control function is in the stopped state 322, if there is no preceding vehicle, the speed control function transitions to the constant speed traveling state 321. The start instruction by the driver may be the operation of the accelerator pedal 7A, may be the pressing of the resume button 203, or may be an instruction by voice. As shown by the arrow 334, when the driver issues a start instruction while the speed control function is in the stopped state 322, if there is a preceding vehicle, the speed control function transitions to the following traveling state 323. The start instruction by the driver may be the operation of the accelerator pedal 7A, may be the pressing of the resume button 203, or may be an instruction by voice. In this way, when the stopped state of the vehicle 1 is maintained by the speed control function, the control device 2 starts the vehicle 1 based on an instruction from the driver.

[0043] As indicated by arrow 335, if the driver starts to operate the accelerator pedal 7A while the speed control function is in the following driving state 323, the speed control function transitions to the override state 324. As indicated by arrow 336, if the preceding vehicle is no longer present while the speed control function is in the following driving state 323, the speed control function transitions to the constant speed driving state 321. For example, the speed control function transitions from the following driving state 323 to the constant speed driving state 321 when the preceding vehicle changes lanes to another lane or when the speed of the preceding vehicle becomes faster than a set speed.

[0044] As shown by arrow 337, if the vehicle 1 stops while the speed control function is in the following state 323, the speed control function transitions to the stopped state 322. For example, if the preceding vehicle stops, the vehicle 1 also stops accordingly. As shown by arrow 338, if the driver ends operation of the accelerator pedal 7A while the speed control function is in the override state 324, and there is no preceding vehicle, the speed control function transitions to the constant speed cruising state 321. As shown by arrow 339, if the driver ends operation of the accelerator pedal 7A while the speed control function is in the override state 324, and there is a preceding vehicle, the speed control function transitions to the following state 323.

[0045] With reference to FIG. 4, a detailed operation example of the control device 2 in the transition indicated by the arrow 313 in FIG. 3(a) will be described. Each step in FIG. 4 may be performed by a processor (e.g., processor 20a) of the control device 2 executing a program stored in a memory (e.g., memory 20b) of the control device 2. Alternatively, each step in FIG. 4 may be performed by a dedicated circuit such as an application specific integrated circuit (ASIC). The same applies to each step in FIG. 5 described later. The operation in FIG. 4 may be started in response to the speed control function transitioning to the standby state 302. While the speed control function is in the standby state 302, the state transition described with reference to FIG. 3(a) is performed in parallel with the operation described in FIG. 4.

[0046] In S401, the control device 2 judges whether or not an instruction to start the operation of the speed control function at a new set speed has been received. If it is judged that an instruction to start the operation of the speed control function at a new set speed has been received ("YES" in S401), the control device 2 transitions the process to S402, and otherwise ("NO" in S401), the control device 2 transitions the process to S403. The instruction to start the operation of the speed control function at a new set speed may be given, for example, by pressing the setting button 202. In S402, the control device 2 stores the speed of the vehicle 1 at the time when the instruction to start the operation of the speed control function has been received in a memory (for example, the memory 20b) as a set speed. If the set speed has already been stored in the memory, the control device 2 may overwrite the past set speed. If the speed of the vehicle 1 at the time when the instruction to start the operation of the speed control function has been received is equal to or lower than a threshold value (for example, equal to or lower than 30 km / h), the control device 2 may store a default value (for example, 30 km / h) as the set speed.

[0047] In S403, the control device 2 determines whether or not an instruction to start the operation of the speed control function at the previously set speed has been received. If it is determined that an instruction to start the operation of the speed control function at the previously set speed has been received ("YES" in S403), the control device 2 transitions the process to S404, and otherwise ("NO" in S403) transitions the process to S401. The instruction to start the operation of the speed control function at the previously set speed may be issued, for example, by pressing the resume button 203. Although S403 is described as being executed after S401 in the operation of FIG. 4, these steps may be executed in the reverse order.

[0048] In S404, the control device 2 judges whether the set speed is stored in the memory. If it is judged that the set speed is stored in the memory ("YES" in S404), the control device 2 transitions the process to S405, and otherwise ("NO" in S404), transitions the process to S401. If the set speed is not stored in the memory, the control device 2 cannot start the operation of the speed control function at the previous set speed. Therefore, the control device 2 returns the process to S401 and waits for a new instruction from the driver. At this time, the control device 2 may notify the driver that the speed control function cannot be resumed because the set speed is not stored. Instead of transitioning the process to S401 in S404, the control device 2 may transition the process to S402. In this case, the process is performed assuming that the driver has pressed the set button 202 instead of the resume button 203.

[0049] In S405, the control device 2 determines whether the driver is operating the accelerator pedal 7A. If it is determined that the driver is operating the accelerator pedal 7A ("YES" in S405), the control device 2 transitions the process to S406, and otherwise ("NO" in S405), the control device 2 transitions the process to S407. In S406, the control device 2 transitions the speed control function to the override state 324. This transition ends the operation in the standby state 302.

[0050] In S407, the control device 2 determines whether the vehicle 1 is stopped. If it is determined that the vehicle 1 is stopped ("YES" in S407), the control device 2 transitions the process to S408, and otherwise ("NO" in S407), the control device 2 transitions the process to S409. In S408, after applying a braking force to the vehicle 1, the control device 2 transitions the speed control function to the stop state 322 in response to the driver ending the operation of the brake pedal 7B. With this transition, the operation in the standby state 302 ends.

[0051] In S409, the control device 2 determines whether or not a preceding vehicle exists. If it is determined that a preceding vehicle exists ("YES" in S409), the control device 2 transitions the process to S410, and otherwise ("NO" in S409), transitions the process to S411. In S410, the control device 2 transitions the speed control function to the following driving state 323. In S411, the control device 2 transitions the speed control function to the constant speed driving state 321. With these transitions, the operation in the standby state 302 ends.

[0052] With reference to Fig. 5, an example of the operation of the control device 2 while the speed control function is in the operating state 303 will be described. The operation of Fig. 5 may be initiated in response to the speed control function transitioning to the operating state 303. As described above, the transition to the operating state 303 may be performed by pressing the setting button 202 or the resume button 203 while in the standby state 302, and by the driver agreeing to the resume proposal while in the consent waiting state 304. While the speed control function is in the operating state 303, the state transitions described with reference to Figs. 3(a) and 3(b) are performed in parallel with the operations described below.

[0053] In S501, the control device 2 determines whether the driver has operated the brake pedal 7B. If it is determined that the driver has operated the brake pedal 7B ("YES" in S501), the control device 2 transitions the process to S502, and otherwise ("NO" in S501) repeats S501. In S502, the control device 2 transitions the speed control function to the standby state 302. In this way, the control device 2 interrupts the operation of the speed control function in response to the driver operating the brake pedal 7B of the vehicle 1 during the operation of the speed control function. In the subsequent steps, since the speed control function is in the standby state 302, the state transition described with reference to FIG. 3(a) and the operation described with reference to FIG. 4 are performed in parallel with the operation described below.

[0054] In S503, the control device 2 judges whether the speed control function has transitioned to a state other than the standby state. If it is judged that the speed control function has transitioned to a state other than the standby state ("YES" in S503), the control device 2 ends the process, and otherwise ("NO" in S503), the control device 2 transitions the process to S504. Due to the state transition of FIG. 3(a) performed in parallel with the operation of FIG. 5, the speed control function may transition to the off state 301 or the operating state 303. In this case, the control device 2 ends the process of FIG. 5. In this case, the control device 2 does not make a restart proposal (S506) described later.

[0055] In S504, the control device 2 determines whether the vehicle 1 has stopped. If it is determined that the vehicle 1 has stopped ("YES" in S504), the control device 2 transitions the process to S505, and otherwise ("NO" in S504), transitions the process to S503. Since the speed control function is in the standby state 302, the vehicle 1 is stopped by the driver's operation of the brake pedal 7B. In this way, the control device 2 provides the driver with a resumption suggestion when the driver stops the vehicle 1 while the operation of the speed control function is interrupted.

[0056] In S505, the control device 2 judges whether the proposal conditions are satisfied. If it is judged that the proposal conditions are satisfied ("YES" in S505), the control device 2 transitions the process to S506, and otherwise ("NO" in S505), the control device 2 ends the process. Specific examples of the proposal conditions will be described later.

[0057] In S506, the control device 2 makes a resumption proposal and transitions the speed control function to the consent waiting state 304. Specifically, the resumption proposal may be to display on the display device 92 a message indicating that the speed control function can be transitioned to the operating state 303 by terminating the operation of the brake pedal 7B. Alternatively or in addition, the resumption proposal may be to provide the message to the driver by voice. In the consent waiting state 304, the control device 2 may apply a braking force to the vehicle 1 so that the vehicle 1 can be kept stopped even after the driver terminates the operation of the brake pedal 7B.

[0058] In S507, the control device 2 judges whether the driver agrees to the restart proposal. If it is judged that the driver agrees to the restart proposal ("YES" in S507), the control device 2 transitions the process to S508, and otherwise ("NO" in S507), ends the process. The consent to the restart proposal may be performed by the driver ending the operation of the brake pedal 7B within a predetermined time (for example, 5 to 10 seconds). This allows the driver to resume the operation of the speed control function with a simple operation. As described above, the control device 2 applies a braking force to the vehicle 1 in the consent waiting state 304, so that even if the driver ends the operation of the brake pedal 7B, the vehicle 1 remains stopped. The consent to the restart proposal may be performed by the driver pressing the resume button 203 within a predetermined time. The control device 2 may judge that the driver did not agree to the restart proposal if the driver did not perform a specific operation (for example, ending the operation of the brake pedal 7B) within the predetermined time.

[0059] In S508, the control device 2 resumes the operation of the speed control function by transitioning the speed control function to the operating state 303. In this case, since the vehicle 1 is stopped, the control device 2 transitions the speed control function to the stopped state 322. As described above, in the stopped state 322, the speed control function maintains the stopped state of the vehicle 1. If the driver agrees to the resumption proposal, the control device 2 resumes the operation of the speed control function using the set speed before the interruption (i.e., the set speed stored in the memory).

[0060] Next, the proposal condition will be described. As described above, according to some embodiments, when the driver stops the vehicle 1 while the operation of the speed control function is interrupted, the control device 2 provides a resumption proposal if the proposal condition is satisfied, and does not provide a resumption proposal if the proposal condition is not satisfied. The proposal condition may be a condition that is satisfied in a situation in which it is considered that the driver desires to resume the operation of the speed control function. For example, the proposal condition may be based on the state of the vehicle 1 during the period from when the operation of the speed control function is interrupted in S501 to when the driver stops the vehicle 1 in S504. In the following description, the period from when the operation of the speed control function is interrupted in S501 to when the driver stops the vehicle 1 in S504 is referred to as a stop transition period.

[0061] The proposal condition may include that the operation level of the accelerator pedal 7A of the vehicle 1 during the stop transition period is equal to or lower than a threshold value. The operation level of the accelerator pedal 7A may refer to the operation amount of the accelerator pedal 7A, may refer to the operation time of the accelerator pedal 7A, or may be a combination of these. The threshold value of the operation level of the accelerator pedal 7A may be zero. That is, the proposal condition may be that the driver does not operate the accelerator pedal 7A during the stop transition period. When the operation level of the accelerator pedal 7A of the vehicle 1 during the stop transition period is greater than the threshold value, it is highly likely that the driver is about to terminate the operation of the speed control function and drive the vehicle 1 by himself. Therefore, in such a case, the proposal condition may not be satisfied and the resumption proposal may not be provided.

[0062] The proposal condition may include that the operation level of the brake pedal 7B of the vehicle 1 during the stop transition period is equal to or lower than a threshold value. The operation level of the brake pedal 7B may refer to the amount of operation of the brake pedal 7B, may refer to the operation time of the brake pedal 7B, or may be a combination of these. The threshold value of the operation level of the brake pedal 7B may be set to an upper limit of the operation level during normal driving. When the operation level of the brake pedal 7B of the vehicle 1 during the stop transition period is greater than the threshold value, it is highly likely that the driver has stopped the vehicle 1 by braking suddenly. In such a case, the driver may wish to drive by himself while checking the safety of the surroundings, rather than resuming the operation of the speed control function. Therefore, in such a case, the proposal condition may not be satisfied and the resumption proposal may not be provided. From a similar viewpoint, the proposal condition may include that the collision mitigation brake function is not operating during the stop transition period.

[0063] The proposal condition may include that the operation level of the steering wheel 31 of the vehicle 1 during the stop transition period is equal to or lower than a threshold. The operation level of the steering wheel 31 may refer to the operation amount of the steering wheel 31, may refer to the operation time of the steering wheel 31, or may be a combination of these. The steering wheel 31 is an example of a steering operator used by the driver to steer the vehicle 1. The threshold of the operation level of the steering wheel 31 may be set to an upper limit of the operation level when the vehicle 1 is traveling straight ahead. When the operation level of the steering wheel 31 of the vehicle 1 during the stop transition period is greater than the threshold, it is highly likely that a change has occurred in the traveling environment of the vehicle 1 due to a left turn, a right turn, or the like. In such a case, the driver may wish to travel by himself while checking the surrounding environment, rather than resuming the operation of the speed control function. Therefore, in such a case, the proposal condition may not be met and a resumption proposal may not be provided.

[0064] The suggestion condition may include that the turn indicator 8 of the vehicle 1 was not operated during the stop transition period. The turn indicator 8 may be operated by a turn signal lever or a hazard switch. If the turn indicator 8 of the vehicle 1 is operated during the stop transition period, there is a high possibility that a change has occurred in the driving environment of the vehicle 1. In such a case, the driver may wish to drive on his / her own while checking the surrounding environment, rather than resuming the operation of the speed control function. Therefore, in such a case, the suggestion condition may not be met and a resumption suggestion may not be provided.

[0065] The proposed conditions may be based on the state of the vehicle 1 during the period from when the driver stops the vehicle 1 in S504 until when it is determined in S505 whether the proposed conditions are satisfied. In order to determine the state of the vehicle 1 after the driver stops the vehicle 1 in S504, the control device 2 may determine in S505 whether the proposed conditions are satisfied a predetermined time (e.g., 5 to 10 seconds) after the vehicle 1 is stopped.

[0066] The proposal condition may include that the vehicle 1 is located within a predetermined range from the stop line when the vehicle 1 is stopped. The predetermined range may be a range within which the driver is considered to have stopped the vehicle 1 in accordance with the stop line, for example, within 2 m before the stop line. If the vehicle 1 is located within a predetermined range from the stop line when the vehicle 1 is stopped, it is highly likely that the driver has suspended the speed control function to stop the vehicle 1 in accordance with a red light. In such a case, it is considered that the driver wishes to resume the operation of the speed control function. Therefore, in such a case, the proposal condition may be satisfied and a resumption proposal may be provided. FIG. 6(a) illustrates a situation in which the vehicle 1 is located within a predetermined range from the stop line 601 when the vehicle 1 is stopped. In such a case, the control device 2 may determine that the proposal condition is satisfied and provide a resumption proposal accordingly.

[0067] The proposal condition may include that no preceding vehicle exists when the vehicle 1 stops. If a preceding vehicle exists when the driver stops the vehicle 1 by his / her own operation, the vehicle 1 is considered to have caught up with the stopped preceding vehicle. When the operation of the speed control function is resumed in this state, the control device 2 performs an operation to follow the preceding vehicle. However, the driver does not necessarily want to follow the preceding vehicle. Therefore, in such a case, the proposal condition is not satisfied and the resumption proposal may not be provided. FIG. 6(b) illustrates a situation in which a preceding vehicle 602 exists when the vehicle 1 stops. In such a case, the control device 2 may determine that the proposal condition is not satisfied and may not provide a resumption proposal accordingly.

[0068] The proposal condition may be based on the state of the vehicle 1 before the operation of the speed control function is interrupted in S501. For example, the proposal condition may include that the operation of the speed control function continues for a threshold value or more before the operation of the speed control function is interrupted. This threshold value may be a time (e.g., 30 seconds), a distance (e.g., 100 m), or a combination of these. For example, if the operation time of the speed control function before the operation of the speed control function is interrupted is short, it is highly likely that the driver has mistakenly started the operation of the speed control function. In such a case, the driver may not want to resume the operation of the speed control function. Therefore, in such a case, the proposal condition may not be met and a resumption proposal may not be provided.

[0069] In the above, various conditions have been described as the proposal conditions. These conditions may be used in combination. These conditions may be combined by logical AND, logical OR, or other logical operations. As described above, by providing a resumption proposal with appropriate proposal conditions, it is possible to prevent unnecessary guidance from being provided to the driver. Alternatively, in other embodiments, the control device 2 may provide a resumption proposal regardless of whether the proposal conditions are satisfied.

[0070] The proposal condition may include that the provision of the restart proposal is permitted by a provider of the speed control function (e.g., an automobile manufacturer). For example, the provision of the above-mentioned restart proposal may be provided as an optional function of the ACC. The owner of the vehicle 1 may enable the control device 2 to execute the above-mentioned restart proposal by obtaining permission to use the optional function from the automobile manufacturer. For example, the owner may input a license code through an input device of the vehicle 1, or may receive permission to use from an external server through the communication device 24c of the vehicle 1.

[0071] In the above description, the embodiment has been described in terms of an ACC that automatically controls the speed of the vehicle 1 based on a set speed or the speed of a preceding vehicle. Alternatively, the above-described technology can be applied to a function that automatically controls the speed of the vehicle 1 based on a set speed, that is, a so-called normal cruise control.

[0072] <Summary of the embodiment> <Item 1> A control device (2) for a vehicle (1), a travel control means (20) for providing a speed control function for automatically controlling the speed of the vehicle, the travel control means (20) interrupting the operation of the speed control function in response to a driver's operation of a brake operating member (7B) of the vehicle during operation of the speed control function; a suggestion means (28) for providing the driver with a suggestion to resume operation of the speed control function when the driver stops the vehicle while the operation of the speed control function is interrupted; The driving control means, when the driver agrees to the resumption proposal, resumes operation of the speed control function and maintains the stopped state of the vehicle by the speed control function; A control device in which the driver agrees to the proposal to resume driving by ending operation of the brake operator. According to this item, automatic control of the vehicle speed can be resumed with a simple operation when the vehicle is stopped. <Item 2> The control device according to item 1, wherein the suggestion means provides the restart suggestion if a suggestion condition is satisfied when the driver stops the vehicle while the operation of the speed control function is interrupted, and does not provide the restart suggestion if the suggestion condition is not satisfied. This item makes it possible to prevent unnecessary guidance from being provided to the driver. <Item 3> The proposed conditions are: The operation level of a drive operator (7A) of the vehicle during a stop transition period from when the operation of the speed control function is interrupted to when the driver stops the vehicle is equal to or lower than a threshold value; The operation level of the brake operation element during the stop transition period is equal to or lower than a threshold value; and an operation level of a steering operator (31) of the vehicle during the stop transition period is equal to or lower than a threshold; The turn signal (8) of the vehicle was not operated during the stop transition period; and The control device according to item 2, comprising one or more of the following: According to this item, it is possible to prevent unnecessary guidance from being provided to the driver based on the state from when the operation of the speed control function is interrupted until the driver stops the vehicle. <Item 4> The proposed conditions are: When the vehicle is stopped, the vehicle is located within a predetermined range from a stop line (601); When the vehicle stops, there is no preceding vehicle (602); The shift position of the vehicle is not changed after the vehicle is stopped; and The control device according to item 2, comprising one or more of the following: According to this item, it is possible to prevent unnecessary guidance from being provided to the driver based on the state after the vehicle has stopped. <Item 5> 3. The control device according to claim 2, wherein the proposed conditions include that the operation of the speed control function continues for a period equal to or greater than a threshold before the operation of the speed control function is interrupted. According to this item, it is possible to prevent unnecessary guidance from being provided to the driver based on the state before the operation of the speed control function was interrupted. <Item 6> 2. The control device according to claim 1, wherein the driving control means starts the vehicle based on an instruction from the driver when the vehicle is maintained stopped by the speed control function. According to this item, the vehicle can be started based on the driver's judgment while the speed control function is in operation. <Item 7> 2. The control device according to item 1, wherein the driving control means resumes operation of the speed control function using the set speed before interruption if the driver agrees to the resumption proposal. This item allows the speed control function to be resumed at the speed set before the operation of the speed control function was interrupted. <Item 8> The control device according to item 2, wherein the proposal conditions include that the provision of the restart proposal is permitted by the provider of the speed control function. This item allows a function to be provided to users who wish to provide a restart suggestion. <Item 9> A program for causing a computer to function as each of the means of the control device according to any one of items 1 to 8. According to this item, the above item is provided in the form of a program. <Item 10> A method for controlling a vehicle (1), comprising: providing a speed control function for automatically controlling the speed of the vehicle (S410, S411); a step (S502) of interrupting the operation of the speed control function in response to a driver's operation of a brake operating member (7B) of the vehicle during the operation of the speed control function; providing the driver with a resumption suggestion to resume operation of the speed control function when the driver stops the vehicle during the interruption of operation of the speed control function (S506); and if the driver agrees to the restart proposal, restarting operation of the speed control function and maintaining the vehicle in a stopped state by the speed control function (S508). A control method in which the driver agrees to the proposal to resume driving by ending operation of the brake operator. According to this item, automatic control of the vehicle speed can be resumed with a simple operation when the vehicle is stopped.

[0073] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0074] 1 vehicle, 2 control device, 301 off state, 302 standby state, 303 operating state, 304 consent waiting state

Claims

1. A control device for a vehicle, a driving control means for providing a speed control function for automatically controlling the speed of the vehicle, the driving control means interrupting the operation of the speed control function in response to a driver's operation of a brake operating element of the vehicle during operation of the speed control function; a suggestion means for providing the driver with a suggestion to resume operation of the speed control function when the driver stops the vehicle while the operation of the speed control function is interrupted; The traveling control means if the driver agrees to the resumption proposal, resume operation of the speed control function and maintain the vehicle in a stationary state using the speed control function; When the vehicle is maintained in a stopped state by the speed control function, the vehicle is started based on an instruction from the driver; The driver agrees to the restart proposal by ending the operation of the brake operator, the suggestion means, when the driver stops the vehicle while the operation of the speed control function is interrupted, provides the restart suggestion if a suggestion condition is satisfied, and does not provide the restart suggestion if the suggestion condition is not satisfied; The proposed conditions are: The operation level of a drive operator of the vehicle during a stop transition period from when the operation of the speed control function is interrupted to when the driver stops the vehicle is equal to or lower than a threshold value; The operation level of the brake operation element during the stop transition period is equal to or lower than a threshold value; and The operation level of a steering operator of the vehicle during the stop transition period is equal to or lower than a threshold value; A turn signal of the vehicle was not operated during the stop transition period; and A control device comprising one or more of:

2. The proposed conditions are: When the vehicle is stopped, the vehicle is located within a predetermined range from a stop line; and When the vehicle is stopped, there is no preceding vehicle; and The control device of claim 1 , comprising one or more of:

3. The control device according to claim 1 , wherein the proposed condition includes that the operation of the speed control function continues for a period equal to or greater than a threshold before the operation of the speed control function is interrupted.

4. The control device according to claim 1 , wherein the cruise control means resumes operation of the speed control function using the set speed before interruption if the driver agrees to the resumption proposal.

5. The control device according to claim 1 , wherein the proposal condition includes that the provision of the restart proposal is permitted by a provider of the speed control function.

6. A program for causing a computer to function as each of the means of the control device according to any one of claims 1 to 5.

7. A method for controlling a vehicle, comprising: providing a speed control function for automatically controlling the speed of the vehicle; interrupting the operation of the speed control function in response to a driver operating a brake operator of the vehicle while the speed control function is in operation; providing the driver with a resumption suggestion to resume operation of the speed control function if the driver stops the vehicle during an interruption in operation of the speed control function; if the driver agrees to the resumption suggestion, resuming operation of the speed control function and maintaining the vehicle stationary state with the speed control function; and when the vehicle is maintained in a stopped state by the speed control function, starting the vehicle based on an instruction from the driver, The driver agrees to the restart proposal by ending the operation of the brake operator, When the driver stops the vehicle during an interruption in operation of the speed control function, providing the resumption proposal if a proposal condition is satisfied, and not providing the resumption proposal if the proposal condition is not satisfied; The proposed conditions are: The operation level of a drive operator of the vehicle during a stop transition period from when the operation of the speed control function is interrupted to when the driver stops the vehicle is equal to or lower than a threshold value; The operation level of the brake operation element during the stop transition period is equal to or lower than a threshold value; and The operation level of a steering operator of the vehicle during the stop transition period is equal to or lower than a threshold value; A turn signal of the vehicle was not operated during the stop transition period; and A control method comprising one or more of the following:

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