Driver Assistance Systems

Abstract

To appropriately notify a start timing at which a bake-on operation should be started when traveling along a prescribed travel course.SOLUTION: A notification device is controlled so as to set a start timing on the basis of a goal complete position as a position at which a brake-on operation is completed just before the corner of a prescribed travel course in a goal travel pattern when traveling along the prescribed travel course, a goal complete vehicle speed as a vehicle speed at the goal complete position in the goal travel pattern, and a goal deceleration speed as a deceleration speed at the goal complete position in the goad travel pattern, so that deceleration is continued to the goal complete position at the goal deceleration speed and the goal complete vehicle speed is reached at the goal complete position, and a notification device outputs a brake-on notification, at the set start timing, which prompts the brake-on operation.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Conventionally, as this type of driving assistance system, one that assists driving of a vehicle has been proposed (for example, see Patent Document 1). This system stores a target driving pattern (data on an ideal driving line) for a predetermined driving course, and vehicle speed (velocity) and brake timing required for each predetermined point when driving on the predetermined driving course. When the vehicle speed when the vehicle enters a corner exceeds the required entry vehicle speed required when entering a corner with the target driving pattern, the system assists driving of the vehicle by displaying "BRAKE" on a display device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-76260 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned driving assistance system, the display device only displays "BREAK" when the vehicle speed when entering a corner exceeds the required entry speed, and the driver cannot recognize when to start applying the brakes while traveling on a specified driving course in order to enter a corner at the same required entry speed as the target driving pattern.

[0005] A main object of the driving assistance system of the present invention is to appropriately notify the driver of the timing to start the brake ON operation when traveling along a predetermined driving course. [Means for solving the problem]

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

[0007] The driving assistance system of the present invention comprises: A driving assistance system that assists driving of a vehicle traveling along a predetermined driving course, An alarm device that notifies information within a vehicle cabin; a control device which sets a start timing for starting the on-operation of the brakes so that the vehicle decelerates to the target completion position at the target deceleration and the vehicle speed at the target completion position becomes the target completion vehicle speed based on a target completion position as a position where an on-operation of the brakes is completed before a corner of the specified driving course in a target driving pattern when traveling along the specified driving course, a target completion vehicle speed as the vehicle speed at the target completion position in the target driving pattern, a target deceleration as the deceleration at the target completion position in the target driving pattern, and a vehicle speed of the vehicle, and controls the notification device to issue a brake on notification which is a notification encouraging the on-operation of the brakes at the set start timing; The gist of the invention is to provide the following:

[0008] The driving support system of the present invention includes an information device that notifies information in the vehicle cabin. Based on a target completion position as a position where a brake-on operation is completed before a corner of a predetermined driving course in a target driving pattern when driving a predetermined driving course, a target completion vehicle speed as a vehicle speed at the target completion position in the target driving pattern, a target deceleration as a deceleration at the target completion position in the target driving pattern, and a vehicle speed of the vehicle, a start timing is set to start a brake-on operation so that the vehicle decelerates to the target completion position at the target deceleration and the vehicle speed at the target completion position becomes the target completion vehicle speed, and the notification device is controlled so that the notification device performs a brake-on notification, which is a notification that prompts the driver to turn on the brake, at the set start timing. This makes it possible to notify the driver of the brake-on operation timing at which the vehicle decelerates to the target completion position at the target deceleration and the vehicle speed at the target completion position becomes the target completion vehicle speed, i.e., the brake-on operation timing at which the vehicle can enter a corner at the same deceleration and vehicle speed as the target driving pattern. As a result, when driving on a predetermined driving course, the start timing for starting the brake ON operation can be properly notified. Note that the "target driving pattern" can be a model driving pattern by a specific driver (specific driver) such as a famous F1 driver or rally driver on a predetermined driving course.

[0009] In the driving assistance system of the present invention, the start timing may be a timing when a time required for the vehicle to reach the target completion position while maintaining the vehicle speed from the current position becomes a deceleration time required for the vehicle speed to reach the target completion position when decelerating from the current position at the target deceleration. In this way, the start timing can be properly notified.

[0010] In the driving assistance system of the present invention, the control device may control the notification device to issue a brake preparation notification, which is a notification that prompts the driver of the vehicle to prepare for the on-operation of the brakes, a predetermined time before the start timing. In this way, the brake preparation notification can be issued at a timing that allows the driver of the vehicle to prepare for the on-operation of the brakes with plenty of time.

[0011] In this case, the start timing may be a timing when an arrival time, which is a time required for the vehicle to reach the target completion position while maintaining the vehicle speed from the current position, becomes a deceleration time, which is a time required for the vehicle speed to become the target completion vehicle speed when decelerating from the current position at the target deceleration, and the timing before the predetermined time from the start timing may be a timing when the arrival time becomes a time obtained by adding the predetermined time to the deceleration time. In this way, the brake preparation notification and the brake application notification can be performed appropriately.

[0012] In the driving assistance system of the present invention that performs brake-on notification and brake preparation notification, the notification device may have a display device that visually displays information and an audio output device that outputs information by voice, and the control device may control one of the display device and the audio output device so that the one performs the brake-on notification, and control the other of the display device and the audio output device so that the other performs the brake preparation notification. Since the brake-on notification and the brake preparation notification are notified to the driver by different devices, it is possible to prevent the driver from confusing the brake-on notification and the brake preparation notification. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an automobile 20 equipped with a driving assistance system according to an embodiment of the present invention, with an electronic control unit 50 as the central block. [Diagram 2]4 is a flowchart showing an example of a notification processing routine executed by an electronic control unit 50. [Diagram 3] FIG. 1 is an explanatory diagram for explaining an example of the relationship between the position of the automobile 20 within the circuit when the automobile 20 is traveling at a vehicle speed V, the vehicle speed, the arrival time T1, the deceleration time T2, and the preparation time Tpre. [Figure 4] FIG. 2 is an explanatory diagram for explaining an example of a state in which an automobile 20 of the embodiment enters a corner on a circuit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Next, a mode for carrying out the present invention will be described using examples. EXAMPLES

[0015] 1 is a block diagram showing an example of the configuration of an automobile 20 equipped with a driving assistance system according to an embodiment of the present invention, with an electronic control unit 50 at the center. As shown in the figure, the automobile 20 of the embodiment is configured as an automobile that runs on power from a drive device 62 such as a motor or an engine. In the embodiment, the electronic control unit 50, an indicator lamp 74, a speaker 76, a navigation system 80, and a driving line information storage device 90 correspond to the "driving assistance system."

[0016] In addition to the drive device 62, the automobile 20 of the embodiment is equipped with an ignition switch 22, a GPS (Global Positioning System) 24, a vehicle speed sensor 30, an acceleration sensor 32, an accelerator sensor 38, a brake sensor 40, an electronic control unit 50, a drive actuator 60, a brake actuator 64, a brake device 66, a display 72, indicator lights 74, a speaker 76, a meter 78, a navigation system 80, a driving line information storage device 90, and the like.

[0017] The GPS 24 is a device that detects the position of the vehicle based on signals transmitted from multiple GPS satellites. The vehicle speed sensor 30 detects the vehicle speed based on the wheel speed, etc. The acceleration sensor 32 detects, for example, the acceleration in the front-rear direction of the vehicle and the acceleration in the left-right direction (lateral direction) of the vehicle.

[0018] The accelerator sensor 38 detects the accelerator opening according to the amount of depression of the accelerator pedal by the driver, etc. The brake sensor 40 detects the brake position as the amount of depression of the brake pedal by the driver, etc.

[0019] The drive device 62 includes a motor and an engine for driving, and is drive-controlled by a drive actuator 60 .

[0020] The electronic control unit 50 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 electronic control unit 50 sets the required torque to be output from the drive device 62 to the drive shaft to which the drive wheels are connected, the required braking force to be output from the brake device 66, etc., based on the accelerator opening from the accelerator sensor 38, the brake position from the brake sensor 40, etc.

[0021] The electronic control unit 50 sets the required torque to be output from the drive device 62 to the drive shaft to which the drive wheels are connected and the required braking force to be output from the brake device 66 based on the accelerator opening from the accelerator sensor 38, the brake position from the brake sensor 40, the vehicle speed from the vehicle speed sensor 30, etc., and transmits the set required torque to the drive actuator 60 and the set required braking force to the brake actuator 64.

[0022] The drive actuator 60 controls the drive of the drive device 62 so that the required torque set by the electronic control unit 50 is output from the drive device 62 to the drive shaft.

[0023] The brake actuator 64 controls the brake device 66 so that the required braking force set by the electronic control unit 50 is applied to the vehicle by the brake device 66 .

[0024] The display 72 is configured as a display device that visually displays various information, and is incorporated in the dashboard of the vehicle. The display 72 is controlled by the electronic control unit 50.

[0025] The indicator light 74 is configured as an LED (Light Emitting Diode) and is incorporated in the dashboard of the vehicle. The indicator light 74 is controlled by the electronic control unit 50.

[0026] The speaker 76 is configured as an audio output device that outputs various information output from the electronic control unit 50 as audio, and is incorporated in the dashboard of the vehicle. The speaker 76 is controlled by the electronic control unit 50.

[0027] The navigation system 80 is a system that guides the vehicle to a set destination, and includes a map information database 82 and a display unit 84. The map information database 82 stores map information such as the pavement condition of the road surface in each section, the road width, the number of lanes, the width of the sidewalk, the direction in which vehicles can travel, and the legal speed limit. When a destination is set, the navigation system 80 sets a route based on the destination information, information on the current location (current vehicle position) acquired by the GPS 24, and information stored in the map information database 82, and provides route guidance.

[0028] The driving line information storage device 90 is a storage device that stores information required for driving on a predetermined circuit (predetermined driving course), and includes a circuit information database 92 and a driving pattern database 94. The circuit information database 92 stores information on circuits scattered around the country (such as the shape of the course, the condition of the driving path, the width of the driving path, and the position on the map). The driving pattern database 94 stores model driving patterns by specific drivers (specific drivers) such as famous F1 drivers and rally drivers on this circuit. The model driving patterns include the driving line at the fastest lap by the specific driver on each circuit, the braking completion position Pbf as the position at which the braking operation is completed after starting the braking operation with full braking before the corner to enter the corner, the braking completion vehicle speed Vbf as the vehicle speed at the braking completion position Pbf, the deceleration G from starting the braking operation to reaching the braking completion position Pbf, and the shift change point.

[0029] Next, the operation of the automobile 20 thus configured, particularly the operation when notifying the driver of the start of the brake ON operation, will be described. Fig. 2 is a flowchart showing an example of a notification processing routine executed by the electronic control unit 50. This notification processing routine is executed when the electronic control unit 50 determines, based on the current position information acquired by the GPS 24, that the automobile 20 is traveling in a circuit and is located within a predetermined distance Dref (e.g., 50 m, 60 m, 70 m, etc.) before a corner.

[0030] When this routine is executed, a CPU (not shown) of the electronic control unit 50 executes a process of inputting the current position Pnow, vehicle speed V, target completion position Pbf*, target deceleration G*, and target completion vehicle speed Vbf* of the vehicle (step S100). For the current position Pnow, information on the current location (current position of the vehicle) acquired by the GPS 24 is input. For the vehicle speed V, a value detected by the vehicle speed sensor 30 is input. For the target completion position Pbf*, target deceleration G*, and target completion vehicle speed Vbf*, the braking completion position Pbf, deceleration G, and braking completion vehicle speed Vbf of the model driving pattern included in the driving pattern database 94, respectively, are input.

[0031] Next, using the travel distance L1 from the current position Pnow to the target completion position Pbf* and the vehicle speed V, the arrival time T1 is calculated as the time required to travel from the current position Pnow to the target completion position Pbf* when traveling from the current position Pnow to the target completion position Pbf* while maintaining the vehicle speed V according to the following equation (1) (step S110). The travel distance L1 is calculated from the course shape, the current position Pnow, and the target completion position Pbf* from the circuit information database 92.

[0032] T1 = L1 / V (1)

[0033] Then, using the vehicle speed V, the target completion vehicle speed Vbf*, and the target deceleration G*, the deceleration time T2 is calculated as the time required for the vehicle speed V to reach the target completion vehicle speed Vbf* when decelerating from the current position Pnow at the target deceleration G* (step S120) according to the following equation (2).

[0034] T2 = (V - Vbf*) / G* (2)

[0035] After calculating the arrival time T1 and the deceleration time T2 in this way, it is determined whether the arrival time T1 is equal to or shorter than the deceleration time T2 plus a preparation time (predetermined time) Tpre (step S130) and whether the arrival time T1 is equal to or shorter than the deceleration time T2 (step S140). The preparation time Tpre is a value determined in advance through experiments, analysis, and machine learning as a sufficient time (e.g., 2 seconds, 3 seconds, 4 seconds, etc.) for the driver to prepare for the brake ON operation, such as by placing one foot on the brake pedal, prior to the start of the brake ON operation.

[0036] FIG. 3 is an explanatory diagram for explaining an example of the relationship between the position of the automobile 20 in the circuit, the vehicle speed, the arrival time T1, the deceleration time T2, and the preparation time Tpre when the automobile 20 is traveling at a vehicle speed V. In the figure, the thick arrow indicates the traveling direction of the automobile 20. The square mark indicates the position of the automobile 20. The dashed line indicates the relationship between the position in the circuit and the vehicle speed V in the model driving pattern. As shown in the figure, the position where the arrival time T1 is the same as the deceleration time T2 plus the preparation time Tpre is defined as position P1, and the position where the arrival time T1 is the same as the deceleration time T2 plus the preparation time Tpre is defined as position P2. When the arrival time T1 is longer than the deceleration time T2 plus the preparation time Tpre, the automobile 20 is located farther from the corner than position P1. When the arrival time T1 is equal to or shorter than the deceleration time T2 plus the preparation time Tpre and is longer than the deceleration time T2, the automobile 20 is located between position P1 and position P2. When the arrival time T1 is equal to or shorter than the deceleration time T2, the automobile 20 is located at position P2 or on the corner side of position P2. In this manner, the position of the automobile 20 can be determined by comparing the arrival time T1 with the deceleration time T2 plus the preparation time Tpre or the deceleration time T2.

[0037] If it is determined in step S130 that the arrival time T1 is longer than the deceleration time T2 plus the preparation time Tpre, it is determined that the automobile 20 is traveling before the position P1, and the process returns to step S100, and steps S100 to S130 are repeated until the arrival time T1 becomes equal to or shorter than the deceleration time T2 plus the preparation time Tpre.

[0038] If the arrival time T1 is equal to or less than the deceleration time T2 plus the preparation time Tpre in step S130, and if the arrival time T1 exceeds the deceleration time T2 in step S140, it is determined that the automobile 20 is traveling at position P1 or between positions P1 and P2, and the speaker 76 is controlled to output a voice (brake preparation notification) that prompts the driver to prepare for a brake-on operation (step S150), and the process returns to step S100. An example of a voice that prompts the driver to prepare for a brake-on operation is "Please prepare the brakes." Steps S100 to S150 are then repeated until the arrival time T1 is equal to or less than the deceleration time T2 in step S140.

[0039] When the arrival time T1 is equal to or less than the deceleration time T2 in step S140, it is determined that the automobile 20 is at position P2 or has passed position P2, and the indicator lamp 74 is controlled to be illuminated as a notification (brake-on notification) to prompt the driver to apply the brakes (step S160), and this routine is then terminated.

[0040] FIG. 4 is an explanatory diagram for explaining an example of a state in which the automobile 20 of the embodiment enters a corner on a circuit. In the figure, an arrow indicates the traveling direction of the automobile 20. When the automobile 20 travels toward the corner and the arrival time T1 becomes equal to or less than the deceleration time T2 plus the preparation time Tpre, a voice (brake preparation notification) urging the driver to prepare for the brake-on operation is output from the speaker 76 (steps S130 to S150). This voice is thought to make the driver recognize that it is the time to prepare for the brake-on operation, for example, by placing one foot on the brake pedal, and to prepare for the brake-on operation. Then, when the arrival time T1 becomes equal to or less than the deceleration time T2, the indicator lamp 74 is turned on (steps S130, S140, S160). The deceleration time T2 is the time required for the vehicle speed V to reach the target completion vehicle speed Vbf* when decelerating from the current position Pnow at the target deceleration G*, as described above. Therefore, when the automobile 20 starts the brake on operation at the position P2 with full braking as in the target driving pattern, the automobile 20 decelerates at the target deceleration G* as in the model driving pattern, and the vehicle speed V at the target completion position Pbf* becomes the target completion vehicle speed Vbf*. When the automobile 20 is traveling before the corner at a vehicle speed different from the model driving pattern, if the brake on operation is started at the same brake start position as the model driving pattern, the deceleration to the braking completion position Pbf and the vehicle speed at the braking completion position Pbf may deviate from the model driving pattern, and the automobile 20 may not be able to corner as in the model driving pattern, which may reduce the satisfaction of the driver. In the embodiment, the indicator lamp 74 is turned on when the arrival time T1 becomes equal to or shorter than the deceleration time T2, so that the driver can be notified of the appropriate start timing of the brake on operation that allows the automobile 20 to enter the corner at the same deceleration and vehicle speed as the target driving pattern, even if the automobile 20 is traveling before the corner at a vehicle speed different from the model driving pattern. This allows the driver to be notified of the appropriate start timing of the brake on operation. When a driver sees the indicator light 74 illuminated, the driver can apply the brakes fully to enter the corner at the same deceleration and vehicle speed as in the model driving pattern, thereby enjoying driving on the circuit.In addition, by notifying the driver of braking preparation by outputting a voice from the speaker 76 and notifying the driver of braking start by turning on the indicator light 74, it is possible to prevent the driver from confusing the braking preparation notification with the braking start notification.

[0041] According to the automobile 20 equipped with the driving assistance system of the embodiment described above, the arrival time T1 and deceleration time T2 are calculated based on the target completion position Pbf* as the braking completion position Pbf at which the brake on operation is completed before a corner in a model driving pattern when traveling on a circuit, the target completion vehicle speed Vbf* as the braking completion vehicle speed Vbf in the target driving pattern of the model driving pattern, the target deceleration G* as the deceleration at the target completion position Pbf* in the target driving pattern, and the vehicle speed V of the automobile 20, and the indicator light 74 is turned on at the timing when the arrival time T1 becomes the deceleration time T2, thereby properly notifying the start timing for starting the brake on operation.

[0042] In addition, by issuing a brake preparation notification, which is a notification to prompt the driver to prepare for the brake ON operation, in the vehicle cabin at the timing when the arrival time T1 becomes the deceleration time T2 plus the preparation time Tpre, the brake preparation notification can be issued at a timing that allows the driver of the vehicle to make preparations for the brake ON operation with ample time to spare.

[0043] Furthermore, by providing a brake preparation notification by outputting a voice from the speaker 76 and providing a brake start notification by turning on the indicator light 74, it is possible to prevent the driver from confusing the brake preparation notification with the brake start notification.

[0044] In the automobile 20 equipped with the driving assistance system of the embodiment, a brake preparation notification is issued in the passenger compartment to prompt preparation for a brake ON operation when the arrival time T1 is the deceleration time T2 plus the preparation time Tpre. However, such a brake preparation notification does not have to be issued.

[0045] In the automobile 20 equipped with the driving assistance system of the embodiment, a braking preparation notification is made by outputting a voice from the speaker 76, and a braking start notification is made by lighting the indicator light 74. However, the braking preparation notification may be made by lighting the indicator light 74 and the braking start notification may be made by outputting a voice from the speaker 76, or the braking preparation notification and the braking start notification may be made by lighting the indicator light 74, or the braking preparation notification and the braking start notification may be made by outputting a voice from the speaker 76. Furthermore, at least one of the braking preparation notification and the braking start notification may be made by displaying on the display 72.

[0046] 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 indicator lamp 74 and the speaker 76 correspond to the "notification device", and the electronic control unit 50, the navigation system 80, and the driving line information storage device 90 correspond to the "control device".

[0047] 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.

[0048] 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]

[0049] The present invention can be used in the manufacturing industry of driving assistance systems, etc. [Explanation of symbols]

[0050] 20 automobile, 22 ignition switch, 24 GPS (Global Positioning System, Global Positioning Satellite), 30 vehicle speed sensor, 32 acceleration sensor, 38 accelerator sensor, 40 brake sensor, 50 electronic control unit, 60 drive actuator, 62 drive device, 64 brake actuator, 66 brake device, 72 display, 74 indicator light, 76 speaker, 80 navigation system, 82 map information database, 84 display unit, 90 driving line information storage device, 92 circuit information database, 94 driving pattern database.

Claims

1. A driving assistance system that assists driving of a vehicle traveling along a predetermined driving course, An alarm device that notifies information within a vehicle cabin; a control device which sets a start timing for starting the on-operation of the brakes so that the vehicle decelerates to the target completion position at the target deceleration and the vehicle speed at the target completion position becomes the target completion vehicle speed based on a target completion position as a position where an on-operation of the brakes is completed before a corner of the specified driving course in a target driving pattern when traveling along the specified driving course, a target completion vehicle speed as the vehicle speed at the target completion position in the target driving pattern, a target deceleration as the deceleration at the target completion position in the target driving pattern, and a vehicle speed of the vehicle, and controls the notification device to issue a brake on notification which is a notification encouraging the on-operation of the brakes at the set start timing; Equipped with The start timing is a timing at which an arrival time, which is a time required for the vehicle to travel from the current position to reach the target completion position while maintaining the vehicle speed, becomes a deceleration time, which is a time required for the vehicle speed to reach the target completion vehicle speed when decelerating from the current position at the target deceleration. Driving assistance system.

2. A driving assistance system that assists driving of a vehicle traveling along a predetermined driving course, An alarm device that notifies information within a vehicle cabin; a control device which sets a start timing for starting the on-operation of the brakes so that the vehicle decelerates to the target completion position at the target deceleration and the vehicle speed at the target completion position becomes the target completion vehicle speed based on a target completion position as a position where an on-operation of the brakes is completed before a corner of the specified driving course in a target driving pattern when traveling along the specified driving course, a target completion vehicle speed as the vehicle speed at the target completion position in the target driving pattern, a target deceleration as the deceleration at the target completion position in the target driving pattern, and a vehicle speed of the vehicle, and controls the notification device to issue a brake on notification which is a notification encouraging the on-operation of the brakes at the set start timing; Equipped with the control device controls the notification device to perform a brake preparation notification, which is a notification to prompt the user to prepare for the on-operation of the brake, a predetermined time before the start timing; the start timing is a timing when an arrival time, which is a time required for the vehicle to travel from a current position to reach the target completion position while maintaining the vehicle speed, becomes a deceleration time, which is a time required for the vehicle speed to become the target completion vehicle speed when decelerating from the current position at the target deceleration, The timing before the start timing by the predetermined time is the timing at which the arrival time is the sum of the deceleration time and the predetermined time. Driving assistance system.

3. The driving assistance system according to claim 2, The notification device has a display device that visually displays information, and an audio output device that outputs the information by audio. The control device controls one of the display device and the audio output device so that the one performs the brake-on notification, and controls the other of the display device and the audio output device so that the other performs the brake preparation notification. Driving assistance system.

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