car

Abstract

To provide an automobile which can satisfy both of the preference of a driver and facilitation of alleviation of traffic congestion.SOLUTION: When practicing drive assist control such as auto-cruise control and automatic driving, the drive support control is practiced by selecting one mode from a plurality of modes including a driver preference mode in which at least a part of driving preference items such as inter-vehicle distance to a forward vehicle, acceleration / deceleration degree, lane change degree, travelling lane, and the like is preset as a desirable value by a driver and a traffic congestion mode in which at least a part of the driving preference items is preset as a value suitable for alleviation of traffic congestion. When practicing the driving support control, the driver preference mode is selected as a general rule, and when traffic congestion is estimated on a travelling course presumed during practicing of the driving support control, or when travelling within traffic congestion, the traffic congestion mode is selected.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle, and more particularly to a vehicle that executes driving assistance control. [Background technology]

[0002] Conventionally, for this type of automobile, a system has been proposed that, when the auto cruise control system is off or in standby mode, when the vehicle is traveling alone without a preceding vehicle and the current road type is one that allows the driver to travel freely, estimates the driver's preference for distance setting when the auto cruise control is activated based on the vehicle speed (see, for example, Patent Document 1). In this automobile, when the vehicle speed is lower than a first predetermined value set based on the legal speed, it is estimated that the driver has a high preference for a "long" distance setting, and when the vehicle speed exceeds a second predetermined value that is higher than the first predetermined value, it is estimated that the driver has a high preference for a "short" distance setting. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-162523 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of the above-mentioned vehicle, even when traffic congestion occurs or is predicted to occur, there are cases where the vehicle continues to drive in a manner that reflects the driver's preferences, thereby contributing to the occurrence of traffic congestion or making the congestion worse.

[0005] The main object of the automobile of the present invention is to achieve both the driver's preference and the promotion of traffic congestion relief. [Means for solving the problem]

[0006] The automobile of the present invention employs the following means to achieve the above-mentioned main object.

[0007] The automobile of the present invention comprises: A drive device that outputs a driving force for traveling; A brake device that applies a braking force to a vehicle; A steering device for steering; A surrounding recognition device that recognizes a surrounding state, which is a state of surrounding obstacles including surrounding vehicles; A traffic information acquisition device that acquires traffic information by communicating with an external traffic information management center; a control device that, when executing driving assistance control such as auto cruise control or automatic driving by controlling at least one of the drive device, the brake device, and the steering device based on the surrounding conditions recognized by the surrounding recognition device, selects one mode from a plurality of modes including a driver preference mode in which at least some of the driving preference items such as the distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane are set to values ​​desired by the driver, and a congestion mode in which at least some of the driving preference items are set to values ​​suitable for easing congestion; A vehicle comprising: The control device selects the driver preference mode in principle when executing the driving assistance control, and selects the congestion mode when traffic congestion is predicted on a driving route estimated while the driving assistance control is being executed based on traffic information acquired by the traffic information acquisition device or when the vehicle is traveling in a traffic congestion area. It is characterized by:

[0008] The automobile of the present invention performs driving assistance control such as auto cruise control and automatic driving by controlling at least one of a driving device that outputs a driving force for driving based on a surrounding state, which is the state of surrounding obstacles including surrounding vehicles recognized by a surrounding recognition device, a brake device that applies a braking force to the vehicle, and a steering device that performs steering. When performing driving assistance control, one mode is selected from a plurality of modes including a driver preference mode in which at least some of driving preference items such as the distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane are set to a desired value by the driver, and a congestion mode in which at least some of the driving preference items are set to a value suitable for congestion, and the driving assistance control is performed. When performing driving assistance control, the driver preference mode is selected as a general rule, and when traffic congestion is predicted based on traffic information acquired by a traffic information acquisition device on a driving route estimated during the execution of driving assistance control, or when the vehicle is traveling in a traffic congestion, the congestion mode is selected. This makes it possible to achieve both the driver's preference and the promotion of congestion relief.

[0009] Examples of the congestion mode include, when traffic congestion is predicted on the estimated driving route, a longer inter-vehicle distance than usual, gradual deceleration, following the tail of the traffic congestion by gradually reducing the inter-vehicle distance, and changing lanes to ensure equal lane use. Also, when driving in traffic congestion, examples include following the vehicle ahead with a reduced inter-vehicle distance, and prohibiting lane changes. Furthermore, examples of the congestion mode include rapid acceleration and rapid recovery of vehicle speed when traffic congestion is resolved. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an automobile 20 according to an embodiment of the present invention, with a main electronic control unit 30 as the central block. [Diagram 2] 4 is a flowchart showing an example of a driving assistance control execution process executed by the main electronic control unit 30. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Next, a mode for carrying out the present invention will be described using examples. EXAMPLES

[0012] 1 is a block diagram showing an example of the configuration of an automobile 20 according to an embodiment of the present invention, with a main electronic control unit (hereinafter referred to as main ECU) 30 at the center. As shown in the figure, the automobile 20 of the embodiment includes a drive unit 62 that outputs drive force to drive wheels (not shown), and a drive electronic control unit (hereinafter referred to as drive ECU) 60 for controlling the drive of the drive unit 62.

[0013] The drive device 62 may be one having an engine and an automatic transmission, a hybrid system having an engine, a motor and a battery, a fuel cell drive system having a fuel cell, a battery and a motor, or an electric system having a battery and a motor.

[0014] The drive ECU 60 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, includes a ROM, a RAM, a flash memory, an input port, an output port, a communication port, etc. The drive ECU 60 controls the drive of the drive device 62 based on a drive control signal from the main ECU 30.

[0015] In addition to the drive device 62 and drive ECU 60, the automobile 20 of the embodiment is equipped with an ignition switch 32, a shift position sensor 34, an accelerator position sensor 36, a brake position sensor 38, a vehicle speed sensor 40, an acceleration sensor 42, a gradient sensor 44, a yaw rate sensor 46, an automatic driving switch 48, an auto cruise control switch (hereinafter referred to as an ACC switch) 50, a surrounding recognition electronic control unit (hereinafter referred to as a surrounding recognition ECU) 52, a surrounding recognition device 54, an air conditioning device electronic control unit (hereinafter referred to as an air conditioning ECU) 56, an air conditioning device 58, a brake electronic control unit (hereinafter referred to as a brake ECU) 64, a brake device 66, a steering electronic control unit (hereinafter referred to as a steering ECU) 68, a steering device 70, a center display 72, a head-up display 74, a meter 76, a GPS (Global Positioning System, Global Positioning Satellite) 78, a navigation system 80, a DCM (Data Communication Module) 86, and the like.

[0016] The shift position sensor 34 detects the position of the shift lever. The accelerator position sensor 36 detects the accelerator opening according to the amount of depression of the accelerator pedal by the driver. The brake position sensor 38 detects the brake position as the amount of depression of the brake pedal by the driver.

[0017] The vehicle speed sensor 30 detects the vehicle speed based on the wheel speed etc. The acceleration sensor 28 detects, for example, the acceleration in the front-rear direction of the vehicle. The gradient sensor 44 detects the road surface gradient. The yaw rate sensor 46 detects the lateral acceleration (yaw rate) in the left-right direction due to turning motion.

[0018] The automatic driving switch 48 is a switch for selecting whether or not automatic driving is performed as one of the driving assistance controls. The ACC switch 50 is a switch for selecting whether or not auto cruise control is performed as one of the driving assistance devices. The automatic driving switch 48 and the ACC switch 50 are attached to the steering wheel or the installation panel in front of the driver's seat or in the vicinity thereof. The automatic driving switch 48 and the ACC switch 50 also serve as a switch for shifting to a driving preference setting process for setting a driver preference mode in which the driver's preferences are set when driving the vehicle using the center display 72 as a driving mode in the driving assistance control. The driving preference setting process includes a process of displaying preset options on the center display 72 for selection for driving preference items such as the distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane, and a process of setting the desired value of the driver by manually inputting specific numerical values ​​using the center display 72.

[0019] Although not shown, the surroundings recognition ECU 52 is configured as a microprocessor centered on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, an input / output port, and a communication port. Information on the vehicle and its surroundings (e.g., vehicle distances D1, D2 between the vehicle and other vehicles in front and behind the vehicle, the vehicle speed of other vehicles, the vehicle's running position in the lane on the road surface, etc.) is input from the surroundings recognition device 54 to the surroundings recognition ECU 52 via the input port. Examples of the surroundings recognition device 54 include a front camera, a rear camera, a millimeter wave radar, a quasi-millimeter wave radar, an infrared laser radar, and a sonar.

[0020] The air conditioner ECU 56 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, is equipped with a ROM, a RAM, a flash memory, an input port, an output port, a communication port, etc. The air conditioner ECU 56 is incorporated in an air conditioner 58 that conditions the passenger compartment, and drives and controls an air conditioner compressor in the air conditioner so that the temperature in the passenger compartment becomes a set temperature.

[0021] The brake ECU 64 is configured as a microcomputer centered on a CPU (not shown), and in addition to the CPU, includes a ROM, a RAM, a flash memory, an input port, an output port, a communication port, etc. The brake ECU 64 drives and controls a well-known hydraulically driven brake device 66. The brake device 66 is configured to be able to perform braking force caused by the brake depression force by depressing the brake pedal and braking force caused by hydraulic pressure adjustment.

[0022] The steering ECU 68 is configured as a microcomputer centered on a CPU (not shown), and in addition to the CPU, includes a ROM, a RAM, a flash memory, an input port, an output port, a communication port, etc. The steering ECU 68 drives and controls the actuator of the steering device 28, which is mechanically connected to a steering wheel (not shown) and a driving wheel via a steering shaft. The steering device 28 steers the driving wheels based on the driver's steering operation, and steers the driving wheels by driving the actuator by the steering ECU 68 based on a steering control signal from the main electronic control unit 30.

[0023] The center display 72 is located in the center in front of the driver's seat and passenger seat, and also functions as a touch panel to execute various vehicle settings and audio and media applications, and also functions as the display unit 84 for the navigation system to perform map navigation.

[0024] The head-up display 74 provides an image (such as an image formed at an infinite point) of information for the driver on the windshield, such as a speed display and a navigation guide display. The meter 76 is incorporated in, for example, an installation panel in front of the driver's seat.

[0025] The GPS 78 is a device that detects the position of a vehicle based on signals transmitted from multiple GPS satellites.

[0026] The navigation system 80 is a system that guides the vehicle to a set destination, and includes map information 82 and a display unit 84. The navigation system 80 communicates with a traffic information management center 100 via a DCM (Data Communication Module) 86, and acquires road traffic information and, as necessary, acquires map information to update the map information 82. When a destination is set, the navigation system 80 sets a route based on the destination information, current location information (current vehicle position) acquired by the GPS 78, and the map information 82.

[0027] The DCM (Data Communication Module) 86 transmits information about the vehicle to the traffic information management center 100 and receives road traffic information from the traffic information management center 100. Examples of the vehicle information include the vehicle's position, vehicle speed, running power, and running mode. Examples of the road traffic information include information about current and future congestion, information about the current average vehicle speed and the predicted future average vehicle speed in a section on the travel route, information about traffic regulations, information about weather, information about road surface conditions, and information about maps. The DCM 86 communicates with the traffic information management center 100 at predetermined intervals (for example, every 30 seconds, every minute, or every two minutes).

[0028] Although not shown, the main electronic control unit 30 is configured as a microcomputer centered on a CPU, and in addition to the CPU, it is equipped with a ROM, a RAM, a flash memory, an input port, an output port, a communication port, and the like. Various signals are input to the main electronic control unit 30 via the input port. Examples of information input through the input port include an ignition switch signal from the ignition switch 32, a shift position from the shift position sensor 34, an accelerator opening from the accelerator position sensor 36, and a brake position from the brake position sensor 38. Examples of information input through the input port include a vehicle speed V from the vehicle speed sensor 40, an acceleration from the acceleration sensor 42, a gradient from the gradient sensor 44, and a yaw rate from the yaw rate sensor 46. Examples of information input through the input port include an automatic driving instruction signal from the automatic driving switch 48, and an ACC instruction signal from the ACC switch 50. Various signals are output from the main electronic control unit 30 via the output port. Examples of information output through the output port include a display control signal to the center display 72, a display control signal to the head-up display 74, and a display signal to the meter 76.

[0029] The main electronic control unit 30 communicates with the surroundings recognition ECU 52, the air conditioner ECU 56, the drive ECU 60, the brake ECU 64, the steering ECU 68, and the navigation system 80, and exchanges various types of information.

[0030] The main electronic control unit 30 sets the required driving force and required power based on the accelerator opening from the accelerator position sensor 36 and the vehicle speed from the vehicle speed sensor 40, and sends a drive control signal to the drive ECU 60 so that the required driving force and required power are output from the drive device 62 to the vehicle.

[0031] When the automatic driving switch 48 instructs the main electronic control unit 30 to perform automatic driving, the driver's preference mode is selected, and automatic driving is performed based on the set distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane. For example, when the surroundings recognition device 54 does not recognize a vehicle ahead within a first predetermined distance (e.g., 200 m or 300 m), the main electronic control unit 30 transmits a control signal to the drive ECU 60, the brake ECU 64, and the steering ECU 68 to drive at a vehicle speed within the legal speed range, and when the surroundings recognition device 54 recognizes a vehicle ahead within the first predetermined distance, the main electronic control unit 30 transmits a control signal to the drive ECU 60, the brake ECU 64, and the steering ECU 68 to drive at a vehicle distance from the vehicle ahead within the legal speed range in the driver's preference mode, or to change lanes to overtake the vehicle ahead.

[0032] When the ACC switch 50 instructs the main electronic control unit 30 to execute the auto cruise control, the driver's preference mode is selected, and the auto cruise control is executed based on the set distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane. For example, when the surroundings recognition device 54 does not recognize a vehicle ahead within a first predetermined distance (e.g., 200 m or 300 m), the main electronic control unit 30 transmits a control signal to the drive ECU 60 and the brake ECU 64 so as to drive at the vehicle speed set by the ACC switch 50, and when the surroundings recognition device 54 recognizes a vehicle ahead within the first predetermined distance, the main electronic control unit 30 transmits a control signal to the drive ECU 60 and the brake ECU 64 so as to drive at the vehicle distance from the vehicle ahead within the range of the vehicle speed set by the ACC switch 50 in the driver's preference mode.

[0033] Next, the operation of the automobile 20 thus configured, particularly the operation when driving assistance control is being executed, will be described. Fig. 2 is a flowchart showing an example of a driving assistance control execution process executed by the main electronic control unit 30. This driving assistance control execution process is repeatedly executed while driving assistance control is being executed.

[0034] When the driving assistance control execution process is executed, the main electronic control unit 30 first determines whether or not the driving assistance control is being executed (step S100). When the driving assistance control is not being executed, it is determined that this process is unnecessary, and the process is terminated.

[0035] When it is determined in step S100 that driving assistance control is being executed, traffic information for the set driving route or the estimated driving route is acquired (step S110), and it is determined based on the traffic information whether the vehicle is currently driving in a congested traffic environment, whether traffic congestion has occurred ahead, or whether traffic congestion is predicted ahead (step S120). When it is determined that the vehicle is not driving in a congested traffic environment, that traffic congestion has not occurred ahead, and further, that traffic congestion is not predicted ahead, the driver's preference mode is selected (step S140), and this process is terminated. Note that the driver's preference mode is selected as the initial value when the driving assistance control is started to be executed.

[0036] On the other hand, when it is determined in step S120 that the vehicle is traveling in a traffic jam, that traffic congestion has occurred ahead, or that traffic congestion is predicted ahead, a traffic jam mode suitable for easing the traffic jam is selected (step S130), and this process ends. Examples of the traffic jam mode when traffic congestion is predicted on the estimated travel route include a longer inter-vehicle distance than normal, gradual deceleration, following the end of the traffic jam by gradually reducing the inter-vehicle distance, and lane changes for equal lane use. Also, when traveling in traffic congestion, examples include following the vehicle ahead with a reduced inter-vehicle distance, and prohibition of lane changes. Furthermore, examples of the traffic jam mode when traffic congestion is resolved include rapid acceleration and rapid recovery of vehicle speed.

[0037] In the automobile 20 of the embodiment described above, the driver's preference mode is basically selected while the driving assistance control is being executed. This allows the automobile to travel according to the driver's preference. On the other hand, when the automobile is determined to be traveling in a congested traffic environment while the driving assistance control is being executed, when it is determined that a traffic congestion has occurred ahead, or when it is determined that a traffic congestion is predicted ahead, the automobile switches to the congestion mode. This makes it possible to promote the alleviation of congestion. As a result, it is possible to achieve both the driver's preference and the promotion of the alleviation of congestion.

[0038] In the embodiment of the vehicle 20, automatic driving and auto cruise control are given as examples of driving assistance control, but driving assistance control is not limited to these and includes other controls that assist the driving of the vehicle 20.

[0039] In the embodiment, the present invention is applied to the automobile 20 that performs both automatic driving and auto cruise control as driving assistance control, but the present invention may be applied to an automobile that performs auto cruise control without performing automatic driving, or to an automobile that performs automatic driving but does not perform auto cruise control. Also, the present invention may be applied to an automobile that executes driving assistance control other than automatic driving or auto cruise control.

[0040] In the embodiment of the automobile 20, each device is controlled by multiple electronic control units such as the main electronic control unit 30, the surrounding recognition ECU 52, the drive ECU 60, the brake ECU 64, and the steering ECU 68. However, each device may be controlled by a single electronic control unit, or each device may be controlled using multiple electronic control units that serve some of the functions of these units.

[0041] The correspondence between the main elements of the embodiment and the main elements of the invention described in the section on means for solving the problem will be described below. In the embodiment, the drive device 62 corresponds to the "drive device", the brake device 66 corresponds to the "brake device", the steering device 70 corresponds to the "steering device", the surrounding recognition device 54 corresponds to the "surrounding recognition device", the navigation system 80 and the DCM 86 or the main electronic control unit 30 and the DCM 86 correspond to the "traffic information acquisition device", and the main electronic control unit 30, the drive ECU 60, the brake ECU 64, the steering ECU 68, etc. correspond to the "control device".

[0042] The correspondence between the main elements of the Examples and the main elements of the invention described in the Summary of the Problem column does not limit the elements of the invention described in the Summary of the Problem column, since the Examples are examples for specifically explaining the mode for implementing the invention described in the Summary of the Problem column. In other words, the interpretation of the invention described in the Summary of the Problem column should be based on the description in that column, and the Examples are merely a specific example of the invention described in the Summary of the Problem column.

[0043] Although the form for carrying out the present invention has been described above using examples, the present invention is not limited to these examples in any way, and it goes without saying that the present invention can be carried out in various forms without departing from the scope of the gist of the present invention. [Industrial Applicability]

[0044] The present invention can be used in the automobile manufacturing industry and the like. [Explanation of symbols]

[0045] 20 automobile, 30 main electronic control unit, 32 ignition switch, 34 shift position sensor, 36 accelerator position sensor, 38 brake position sensor, 40 vehicle speed sensor, 42 acceleration sensor, 44 gradient sensor, 46 yaw rate sensor, 48 automatic driving switch, 50, auto cruise control switch (ACC switch), 52 electronic control unit for surrounding recognition (surrounding recognition ECU), 54 surrounding recognition device, 56 electronic control unit for air conditioning system (air conditioner ECU), 58 air conditioning system, 60 electronic control unit for drive system (drive ECU), 62 drive system, 64 electronic control unit for brakes (brake ECU), 66 brake system, 68 electronic control unit for steering (steering ECU), 70 steering system, 72 center display, 74 head-up display, 76 meter, 78 GPS, 80 navigation system, 82 map information, 84 display unit, 86 DCM, 90 Planned stopping location, 100 Traffic Information Control Center, 220 Vehicle ahead.

Claims

[Claim 1] A drive device that outputs a driving force for traveling; A brake device that applies a braking force to a vehicle; A steering device for steering; A surrounding recognition device that recognizes a surrounding state, which is a state of surrounding obstacles including surrounding vehicles; A traffic information acquisition device that acquires traffic information by communicating with an external traffic information management center; a control device that, when executing driving assistance control including at least one of auto cruise control and automatic driving by controlling at least one of the drive device, the brake device, and the steering device based on the surrounding conditions recognized by the surrounding recognition device, selects one mode from a plurality of modes including a driver preference mode in which at least some of the driving preference items including the distance from the vehicle ahead, the degree of acceleration / deceleration, the degree of lane change, and the driving lane are set to values ​​desired by the driver, and a congestion mode in which at least some of the driving preference items are set to values ​​suitable for easing congestion, and executes the driving assistance control; A vehicle comprising: The control device includes: determining whether traffic congestion is predicted for a travel route estimated while the driving assistance control is being executed based on traffic information acquired by the traffic information acquisition device and whether the vehicle is traveling in a traffic congestion area; selecting the driver preference mode when it is determined that no traffic congestion is predicted and the vehicle is not traveling in a traffic jam while the driving assistance control is being executed, and selecting the traffic jam mode when it is determined that traffic congestion is predicted or the vehicle is traveling in a traffic jam while the driving assistance control is being executed. A vehicle characterized by:

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