Vehicle driving assistance device, vehicle driving assistance method, and vehicle driving assistance program

Abstract

To provide a vehicle driving support device which can prevent that driving support control is executed without stopping when an operator tries to stop driving support control.SOLUTION: A vehicle driving support device 10 executes driving support control for autonomously accelerating / decelerating or steering an own vehicle 100. The vehicle driving support device detects each signal requiring for execution or stopping of driving support control as an input signal, stops driving support control when detecting the input signal during execution of driving support control, executes driving support control when detecting the input signal during stopping of driving support control and when such a stop continuation condition that a predetermined number of detection including detection of a plurality of previous input signals and detection of a current input signal are detection with time intervals within a prescribed time interval is not established, does not execute driving support control and continues stopping of driving support control when detecting the input signal during stopping of driving support control and when the stop continuation condition is established.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program. [Background technology]

[0002] There is known a vehicle driving assistance device that performs driving assistance control to autonomously accelerate and decelerate the vehicle so that the vehicle travels following a preceding vehicle (for example, see Patent Document 1). Another known vehicle driving assistance device is configured to stop the driving assistance control if the driving assistance control is being performed when the driver of the vehicle operates an operator such as a button, and to execute the driving assistance control if the driving assistance control is being stopped. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-131830 A Summary of the Invention

[0004] However, when a danger approaches the vehicle during the execution of the driving assistance control, the driver may frantically operate the operator repeatedly in an attempt to stop the driving assistance control. In this case, if the vehicle driving assistance device is configured to execute the driving assistance control when the operator is operated while the driving assistance control is stopped, for example, when the first operation of the operator is performed while the driving assistance control is being executed, the driving assistance control is temporarily stopped, and then, when the second operation of the operator is performed subsequently, the driving assistance control is started, and when the third operation of the operator is performed subsequently, the driving assistance control is stopped, and when the fourth operation of the operator is performed subsequently, the driving assistance control is started, and so on. Depending on the number of times the operation of the operator is performed continuously, the driving assistance control may end up being executed without being stopped, which is inconvenient.

[0005] An object of the present invention is to provide a vehicle driving assistance device that can prevent driving assistance control from being executed without being stopped when the driver attempts to stop the driving assistance control.

[0006] The vehicle driving assistance device according to the present invention includes a control device that executes driving assistance control for autonomously accelerating, decelerating, or steering the vehicle. The control device is configured to detect, as input signals, a signal requesting execution of the driving assistance control and a signal requesting the stop of the driving assistance control. The control device is configured to stop the driving assistance control when the input signal is detected during execution of the driving assistance control. The control device is also configured to execute the driving assistance control when the input signal is detected during the stop of the driving assistance control, if a stop continuation condition is not satisfied that the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are each detected at a time interval within a predetermined time interval. On the other hand, the control device is configured to not execute the driving assistance control and to continue the stop of the driving assistance control when the input signal is detected during the stop of the driving assistance control, if the stop continuation condition is satisfied. Furthermore, the input signal is a signal that is input from a given operator to the control device when the operator operates the operator. The control device is configured such that, when it detects the input signal from the operator while the driving assistance control is stopped, it determines that the detected input signal is a signal requesting execution of the driving assistance control, and, when it detects the input signal from the operator while the driving assistance control is being executed, it determines that the detected input signal is a signal requesting the stopping of the driving assistance control. The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. Alternatively, the predetermined number of times is set to a number that differs depending on the distance between the host vehicle and the preceding vehicle while the following cruise control is being performed.

[0007] When the driver is in a hurry to stop the driving assistance control due to a danger approaching the vehicle during the execution of the driving assistance control, the driver may repeatedly operate an operator such as a driving assistance button in a panic, and in such a case, the vehicle driving assistance device according to the present invention will detect the input signal repeatedly. In this case, according to the vehicle driving assistance device according to the present invention, when the driving assistance control is stopped in response to the detection of the input signal and then the input signal is detected, if a stop continuation condition is satisfied that the predetermined number of detections including "detection of the multiple input signals immediately before" and "detection of the current input signal" are detections with a time interval of less than a predetermined time interval, the driving assistance control is not executed and is maintained in a stopped state. This makes it possible to prevent the driving assistance control from being executed without being stopped when the driver tries to stop the driving assistance control. In particular, when the input signal is a signal input from a specific operator to a control device when that operator is operated, it is easy for a situation to arise in which the driver panics and tries to stop driving assistance control by repeatedly operating an operator such as a driving assistance button due to reasons such as an approaching danger to the vehicle while driving assistance control is being executed. According to the present invention, in a situation where a driver is likely to frantically operate an operator such as a driving assistance button multiple times in succession in an attempt to stop driving assistance control, it is possible to prevent the driving assistance control from continuing to be executed without being stopped when the driver attempts to stop the driving assistance control.

[0009] also, When a driver tries to stop driving assistance control in a panic by repeatedly operating an operator such as a driving assistance button because the vehicle is in danger while the driving assistance control is being executed, the degree of danger approaching the vehicle differs depending on the traveling speed of the vehicle.

[0010] Therefore, The predetermined number of times is set to a different number of times depending on the traveling speed of the host vehicle. In some cases An appropriate number of times according to the degree of danger approaching the vehicle can be set as the predetermined number of times.

[0011] In addition, in the case where the predetermined number of times is set to a number that differs depending on the traveling speed of the vehicle, The predetermined number of times may be set to a smaller number when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed.

[0012] When a driver tries to stop driving assistance control in a panic by repeatedly operating an operator such as a driving assistance button because the vehicle is in danger while the driving assistance control is being executed, the degree of danger approaching the vehicle is greater when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed.

[0013] According to the present invention, the predetermined number of times is set to a smaller number when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed, so that the predetermined number of times can be set to an appropriate number according to the degree of danger approaching the vehicle.

[0015] also, When a driver tries to stop driving assistance control in a panic by repeatedly operating an operator such as a driving assistance button because a danger approaches the vehicle while the following cruise control is being executed, the degree of danger approaching the vehicle varies depending on the distance between the vehicle and the preceding vehicle.

[0016] Therefore, During execution of the following cruise control, the predetermined number of times is set to a different number of times depending on the distance between the host vehicle and the preceding vehicle. In some cases An appropriate number of times according to the degree of danger approaching the vehicle can be set as the predetermined number of times.

[0017] In addition, in a case where the predetermined number of times is set to a number that differs depending on the distance between the host vehicle and the preceding vehicle during execution of the following running control, The predetermined number of times may be set to a smaller number when the distance between the host vehicle and the preceding vehicle is short during execution of the following cruise control than when the distance between the host vehicle and the preceding vehicle is long.

[0018] When a driver panics and tries to stop driving assistance control by repeatedly operating an operator such as a driving assistance button because a danger approaches the vehicle while following cruise control is being executed, the degree of danger approaching the vehicle is greater when the distance between the vehicle and the preceding vehicle is short than when the distance between the vehicle and the preceding vehicle is long.

[0019] According to the present invention, when the following cruise control is being performed, the predetermined number of times is set to a smaller number when the distance between the host vehicle and the preceding vehicle is short than when the distance between the host vehicle and the preceding vehicle is long. Therefore, it is possible to set the predetermined number of times to an appropriate number according to the degree of danger approaching the host vehicle.

[0026] Furthermore, the vehicle driving assistance method of the present invention is a method of executing driving assistance control to autonomously accelerate / decelerate or steer a vehicle, and detects a signal requesting the execution of the driving assistance control and a signal requesting the stop of the driving assistance control as input signals, and if the input signal is detected while the driving assistance control is being executed, stops the driving assistance control, and if the input signal is detected while the driving assistance control is stopped, executes the driving assistance control if a stop continuation condition is not met that the detection of the multiple input signals immediately before and the detection of the current input signal are each separated by a time interval within a predetermined time interval, and if the input signal is detected while the driving assistance control is stopped, does not execute the driving assistance control and continues the stop of the driving assistance control if the stop continuation condition is met. Furthermore, the input signal is a signal that is input from a given operator when the operator is operated. Furthermore, in the vehicle driving assistance method of the present invention, if an input signal from the operator is detected while the driving assistance control is stopped, the detected input signal is determined to be a signal requesting the execution of the driving assistance control, and if an input signal from the operator is detected while the driving assistance control is being executed, the detected input signal is determined to be a signal requesting the stop of the driving assistance control. The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. Alternatively, the predetermined number of times is set to a number that differs depending on the distance between the host vehicle and the preceding vehicle while the following cruise control is being performed.

[0027] According to the present invention, for the same reasons as described above, it is possible to prevent the driving assistance control from remaining executed without being stopped when the driver attempts to stop the driving assistance control.

[0028] The vehicle driving assistance program according to the present invention is a program for executing driving assistance control for autonomously accelerating, decelerating, or steering a vehicle. The vehicle driving assistance program according to the present invention is configured to detect a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, stop the driving assistance control when the input signal is detected while the driving assistance control is being executed, execute the driving assistance control when the input signal is detected while the driving assistance control is stopped, and execute the driving assistance control when a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are each detected at a time interval within a predetermined time interval, and not execute the driving assistance control and continue the stop of the driving assistance control when the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied. Furthermore, the input signal is a signal that is input from a given operator when the operator is operated. The vehicle driving assistance program of the present invention is configured to, when an input signal from the operator is detected while the driving assistance control is stopped, determine that the detected input signal is a signal requesting execution of the driving assistance control, and, when an input signal from the operator is detected while the driving assistance control is being executed, determine that the detected input signal is a signal requesting the stopping of the driving assistance control. The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. Alternatively, the predetermined number of times is set to a number that differs depending on the distance between the host vehicle and the preceding vehicle while the following cruise control is being performed.

[0029] According to the present invention, for the same reasons as described above, it is possible to prevent the driving assistance control from remaining executed without being stopped when the driver attempts to stop the driving assistance control.

[0030] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention and a vehicle (host vehicle) to which the vehicle driving support device is applied. [Diagram 2] FIG. 2 is a diagram showing the driving assistance operation device. [Diagram 3]FIG. 3A shows a state in which the vehicle follows a preceding vehicle using follow-up cruise control, FIG. 3B shows a situation in which the vehicle-to-vehicle distance is longer than the target vehicle-to-vehicle distance, and FIG. 3C shows a situation in which the vehicle-to-vehicle distance is shorter than the target vehicle-to-vehicle distance. [Figure 4] FIG. 4 shows a scene where there is no preceding vehicle. [Diagram 5] FIG. 5 is a time chart showing operations on the driving support button and the execution and stop of driving support control. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle driving assistance device 10 according to an embodiment of the present invention will now be described with reference to the drawings. As shown in FIG.

[0033] The vehicle driving assistance device 10 includes an ECU 90 as a control device. The ECU 90 includes a microcomputer as a main part. The ECU 90 includes a CPU, a ROM, a RAM, a non-volatile memory, and an interface. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM.

[0034] <Vehicle driving device> Furthermore, the host vehicle 100 is equipped with a vehicle driving device 20. The vehicle driving device 20 is a device that drives, brakes, and steers the host vehicle 100, and in this example, includes a driving device 21, a braking device 22, and a steering device 23.

[0035] <Drive unit> The drive device 21 is a device that outputs a driving force given to the host vehicle 100 to make the host vehicle 100 run, and is an internal combustion engine in this example, but may be a motor, or a combination of an internal combustion engine and a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive force output from the drive device 21 by controlling the operation of the drive device 21.

[0036] <Brake device> The braking device 22 is a device that outputs a braking force to be applied to the host vehicle 100 in order to brake the host vehicle 100, and in this example, is a hydraulic brake device that applies a braking force to the host vehicle 100 by hydraulically pressing brake pads against brake discs provided on each wheel of the host vehicle 100. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0037] <Steering system> The steering device 23 is a device that outputs a steering force applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0038] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 41, an accelerator pedal operation amount sensor 42, a brake pedal 43, a brake pedal operation amount sensor 44, a steering wheel 45, a steering shaft 46, a steering angle sensor 47, a steering torque sensor 48, a vehicle speed detection device 49, a driving assistance operator 50, and a surrounding information detection device 60.

[0039] <Accelerator pedal operation amount sensor> Accelerator pedal operation amount sensor 42 is a sensor that detects the amount of operation of accelerator pedal 41. Accelerator pedal operation amount sensor 42 is electrically connected to ECU 90. Accelerator pedal operation amount sensor 42 transmits information on the detected amount of operation of accelerator pedal 41 to ECU 90. Based on that information, ECU 90 obtains the amount of operation of accelerator pedal 41 as accelerator pedal operation amount AP.

[0040] The ECU 90 calculates a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the traveling speed (host vehicle speed) of the host vehicle 100, and executes normal acceleration / deceleration control to control the operation of the drive device 21 so that the required driving force is output. When executing following cruise control, constant speed cruise control, or intermittent braking control, which will be described later, the ECU 90 determines a driving force required to drive the host vehicle 100 so as to achieve a target acceleration GA_TGT or a target deceleration GD_TGT set by the following cruise control, constant speed cruise control, or intermittent braking control, and controls the operation of the drive device 21 so that the driving force is output.

[0041] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 44 is a sensor that detects the amount of operation of the brake pedal 43. The brake pedal operation amount sensor 44 is electrically connected to the ECU 90. The brake pedal operation amount sensor 44 transmits information on the detected amount of operation of the brake pedal 43 to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 43 as a brake pedal operation amount BP based on the information.

[0042] The ECU 90 acquires a required braking force (required braking torque) from the brake pedal operation amount BP by calculation, and executes normal acceleration / deceleration control that controls the operation of the braking device 22 so that the required braking force is output. When executing following cruise control, constant speed cruise control, or intermittent braking control, which will be described later, the ECU 90 determines a braking force required to brake the host vehicle 100 so as to achieve a target acceleration GA_TGT or a target deceleration GD_TGT set by the following cruise control, constant speed cruise control, or intermittent braking control, and controls the operation of the braking device 22 so that the braking force is output.

[0043] <Steering angle sensor> The steering angle sensor 47 is a sensor that detects the rotation angle of the steering shaft 46 with respect to the neutral position, and is electrically connected to the ECU 90. The steering angle sensor 47 transmits information on the detected rotation angle of the steering shaft 46 to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft 46 as the steering angle θ based on the information.

[0044] <Steering torque sensor> The steering torque sensor 48 is a sensor that detects the torque input by the driver DV of the vehicle 100 to the steering shaft 46 via the steering wheel 45, and is electrically connected to the ECU 90. The steering torque sensor 48 transmits information on the detected torque to the ECU 90. The ECU 90 acquires the torque (driver input torque) input by the driver DV to the steering shaft 46 via the steering wheel 45 based on the information.

[0045] The ECU 90 obtains a required steering force (required steering torque) based on the steering angle θ, the driver input torque, and the traveling speed (vehicle speed) of the vehicle 100, and controls the operation of the steering device 23 so that the required steering torque is output from the steering device 23.

[0046] <Vehicle speed detection device> The vehicle speed detection device 49 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 49 is electrically connected to the ECU 90. The vehicle speed detection device 49 transmits information on the detected traveling speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V100 based on the information.

[0047] <Driving assistance control device> The driving assistance operation device 50 is a device that is operated by the driver DV of the vehicle 100. The driving assistance operation device 50 is a device that includes switches, buttons, etc. In this example, the driving assistance operation device 50 is provided on the steering wheel 45 as shown in FIG.

[0048] The driving assistance operation device 50 includes a driving assistance button 51 as a driving assistance operation device, a vehicle speed setting button 52 as a vehicle speed setting operation device, a vehicle speed increase button 53 as a vehicle speed increase operation device, a vehicle speed decrease button 54 as a vehicle speed decrease operation device, a vehicle distance setting button 55 as a vehicle distance setting operation device, and a driving assistance stop button 56 as a driving assistance stop operation device. The driving assistance button 51, the vehicle speed setting button 52, the vehicle speed increase button 53, the vehicle speed decrease button 54, the vehicle distance setting button 55, and the driving assistance stop button 56 are electrically connected to the ECU 90.

[0049] When the driving assistance button 51 is operated by the driver DV, a signal is transmitted from the driving assistance button 51 to the ECU 90. The ECU 90 receives (detects) the signal as an input signal SG.

[0050] Furthermore, when the vehicle speed setting button 52 is operated by the driver DV while driving assistance control is being executed, a signal (vehicle speed setting operation signal) indicating that the vehicle speed setting button 52 has been operated is transmitted from the vehicle speed setting button 52 to the ECU 90. When the ECU 90 receives the vehicle speed setting operation signal, it sets the traveling speed (host vehicle speed) of the host vehicle 100 at that time as the set vehicle speed V_SET in the constant speed traveling control.

[0051] Furthermore, when the vehicle speed increase button 53 is operated by the driver DV while driving assist control is being executed, a signal indicating that the vehicle speed increase button 53 has been operated (vehicle speed increase operation signal) is transmitted from the vehicle speed increase button 53 to the ECU 90. When the ECU 90 receives the vehicle speed increase operation signal, it increases the set vehicle speed V_SET. On the other hand, when the vehicle speed decrease button 54 is operated by the driver DV while driving assist control is being executed, a signal indicating that the vehicle speed decrease button 54 has been operated (vehicle speed decrease operation signal) is transmitted from the driving assist operation device 50 to the ECU 90. When the ECU 90 receives the vehicle speed decrease operation signal, it decreases the set vehicle speed V_SET.

[0052] Furthermore, when the driver DV operates the following distance setting button 55 while driving assistance control is being executed, a signal (following distance setting operation signal) indicating that the following distance setting button 55 has been operated is transmitted from the driving assistance operation device 50 to the ECU 90. This following distance setting operation signal is also a signal (requested following distance signal) indicating the following distance D that the driver DV requests as the target following distance D_TGT (predetermined following distance) by operating the following distance setting button 55.

[0053] 3A, the inter-vehicle distance D is the distance between the preceding vehicle 200 and the host vehicle 100, and the target inter-vehicle distance D_TGT is the inter-vehicle distance D targeted in the following driving control. In this example, the preceding vehicle 200 is a preceding vehicle that travels in the lane (host lane LN1) in which the host vehicle 100 is traveling within a predetermined distance range ahead of the host vehicle 100. In the figure, the symbol LN2 is a lane adjacent to the host lane LN1, and in this example, is the lane in which the oncoming vehicle is traveling.

[0054] In this example, the inter-vehicle distance D that the driver DV can request as the target inter-vehicle distance D_TGT by operating the inter-vehicle distance setting button 55 is of three types: a long distance, a medium distance, and a short distance.

[0055] When the ECU 90 receives the following distance setting operation signal, the ECU 90 sets the target following distance D_TGT according to the following distance D (requested following distance D_REQ) represented by the following distance setting operation signal.

[0056] The ECU 90 may set the target inter-vehicle distance D_TGT according to the required inter-vehicle distance D_REQ without taking into account the vehicle speed V100 at that time, but in this example, the ECU 90 sets the target inter-vehicle distance D_TGT according to the required inter-vehicle distance D_REQ by taking into account the vehicle speed V100 at that time.

[0057] Specifically, the ECU 90 sets the inter-vehicle distance D, which is a time (predicted arrival time TTC) obtained by dividing the time (predicted arrival time TTC) by the current vehicle speed V100, to a predetermined time (predetermined predicted arrival time TTC_REF), as the target inter-vehicle distance D_TGT. That is, the ECU 90 sets the inter-vehicle distance D, which satisfies the relationship between the current vehicle speed V100, the predetermined predicted arrival time TTC_REF, and the inter-vehicle distance D as expressed by the following formula 1, as the target inter-vehicle distance D_TGT.

[0058] TTC_REF=D / V100 …(1)

[0059] The specified arrival predicted time TTC_REF is a longer time TTClong when the required inter-vehicle distance D_REQ is a longer distance, a medium time TTCmid when the required inter-vehicle distance D_REQ is a medium distance, and a shorter time TTCshort when the required inter-vehicle distance D_REQ is a shorter distance.

[0060] Furthermore, when the driving assistance stop button 56 is operated by the driver DV while driving assistance control is being executed, a signal indicating that the driving assistance stop button 56 has been operated (driving assistance stop operation signal) is transmitted from the driving assistance stop button 56 to the ECU 90. When the ECU 90 receives the driving assistance stop operation signal, it stops the driving assistance control.

[0061] <Peripheral information detection device> The surrounding information detection device 60 includes a radio wave sensor 61 and an image sensor 62 .

[0062] <Radio wave sensor> The radio wave sensor 61 is a sensor that detects information about an object present in the vicinity of the vehicle 100 using radio waves, and is, for example, at least one of a radar sensor (such as a millimeter wave radar), a sonic sensor such as an ultrasonic sensor (clearance sonar), and an optical sensor such as a laser radar (LiDAR). The radio wave sensor 61 is electrically connected to the ECU 90. The radio wave sensor 61 transmits radio waves and receives radio waves (reflected waves) reflected by an object. The radio wave sensor 61 transmits information related to the transmitted radio waves and the received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 61 detects an object present in the vicinity of the vehicle 100 and transmits information related to the detected object to the ECU 90. The ECU 90 can obtain information (peripheral information IS) related to an object present in the vicinity of the vehicle 100 based on the information (radio wave information IR or radio wave data). Objects detected using the radio wave sensor 61 are, for example, vehicles, walls, bicycles, people, and the like.

[0063] <Image sensor> The image sensor 62 is a sensor, such as a camera, that captures an image of the surroundings of the vehicle 100. The image sensor 62 is electrically connected to the ECU 90. The image sensor 62 captures an image of the surroundings of the vehicle 100 and transmits information related to the captured image to the ECU 90. The ECU 90 can acquire information about the surroundings of the vehicle 100 (surrounding information IS) based on the information (image information IC or image data).

[0064] <Overview of operation of vehicle driving assistance device> Next, the operation of the vehicle driving support device 10 will be described. When a predetermined condition is satisfied, the vehicle driving support device 10 executes the following following cruise control or constant speed cruise control. Note that, as the driving support control, the vehicle driving support device 10 that executes following cruise control or constant speed cruise control that autonomously accelerates and decelerates the host vehicle 100 will be described below. However, in addition to or instead of the following cruise control or constant speed cruise control, the vehicle driving support device 10 may execute, for example, an automatic steering control that autonomously steers the host vehicle 100 so that the host vehicle 100 runs along a lane.

[0065] <Advance driving control> The vehicle driving assistance device 10 executes follow-up cruise control when a preceding vehicle 200 is present as shown in Fig. 3(A). The follow-up cruise control is a control for maintaining a predetermined distance between the host vehicle 100 and the preceding vehicle 200 by autonomously controlling the operation of the drive device 21 and / or the braking device 22 even without the driver DV operating the accelerator pedal 41 or the brake pedal 43. The vehicle driving assistance device 10 can determine whether or not the preceding vehicle 200 is present based on the surrounding information IS.

[0066] When the vehicle driving assistance device 10 starts adaptive cruise control, it obtains the deviation (inter-vehicle distance deviation dD) between the inter-vehicle distance D and the target inter-vehicle distance D_TGT, and maintains the inter-vehicle distance D at the target inter-vehicle distance D_TGT by performing feedback control such as PID control on the operation of the drive device 21 and / or the braking device 22 so that the inter-vehicle distance deviation dD is maintained close to zero.

[0067] 3B, when the inter-vehicle distance D is longer than the target inter-vehicle distance D_TGT, the vehicle driving support device 10 calculates the target acceleration GA_TGT so as to shorten the inter-vehicle distance D, and controls the operation of the drive device 21 so as to achieve the target acceleration GA_TGT. This increases the host vehicle speed V100, and as a result, the inter-vehicle distance D becomes shorter, and the inter-vehicle distance D approaches the target inter-vehicle distance D_TGT.

[0068] 3C, when the inter-vehicle distance D is shorter than the target inter-vehicle distance D_TGT, the vehicle driving assistance device 10 calculates the target deceleration GD_TGT so that the inter-vehicle distance D becomes longer, and controls the operation of the braking device 22 (and / or the drive device 21) so that the target deceleration GD_TGT is achieved. This reduces the host vehicle speed V100, and as a result, the inter-vehicle distance D becomes longer, and the inter-vehicle distance D approaches the target inter-vehicle distance D_TGT.

[0069] In this example, if the target inter-vehicle distance D_TGT is equal to or less than zero, the host vehicle 100 will come into contact with the preceding vehicle 200, so the target inter-vehicle distance D_TGT is set to a value greater than zero and sufficient to decelerate the host vehicle 100 without causing contact with the preceding vehicle 200 even if the preceding vehicle 200 suddenly decelerates.

[0070] <Constant speed control> The vehicle driving assistance device 10 executes constant speed cruise control when there is no preceding vehicle 200 as shown in Fig. 4. The constant speed cruise control is a control for maintaining the host vehicle speed V100 at the set vehicle speed V_SET by autonomously controlling the operation of the drive device 21 and / or the brake device 22 even if the driver DV does not operate the accelerator pedal 41 or the brake pedal 43.

[0071] When the vehicle driving assistance device 10 starts constant speed cruise control, it acquires the deviation (vehicle speed deviation dV) between the host vehicle speed V100 and the set vehicle speed V_SET, and performs feedback control such as PID control on the operation of the drive device 21 and / or braking device 22 so that the vehicle speed deviation dV approaches zero, thereby maintaining the host vehicle speed V100 at the set vehicle speed V_SET.

[0072] Specifically, when the host vehicle speed V100 is greater than the set vehicle speed V_SET, the vehicle driving assistance device 10 calculates the target deceleration GD_TGT so that the host vehicle speed V100 decreases, and controls the operation of the braking device 22 and / or the drive device 21 so that the target deceleration GD_TGT is achieved. As a result, the host vehicle speed V100 decreases, and approaches the set vehicle speed V_SET.

[0073] On the other hand, when the host vehicle speed V100 is smaller than the set vehicle speed V_SET, the vehicle driving support device 10 calculates the target acceleration GA_TGT so that the host vehicle speed V100 increases, and controls the operation of the drive device 21 so that the target acceleration GA_TGT is achieved. As a result, the host vehicle speed V100 increases, and approaches the set vehicle speed V_SET.

[0074] <Execution and Stop of Driving Assistance Control> Next, execution and stop of driving assist control associated with operation of the driving assist button 51 (driving assist button operation) will be described.

[0075] In this example, the driving assistance button 51 is a device that is operated by the driver DV to execute or stop driving assistance control.

[0076] When the driving assist button 51 is operated and the input signal SG is detected while the driving assist control is stopped, the vehicle driving assist device 10 determines that the execution of the driving assist control is requested. On the other hand, when the driving assist button 51 is operated and the input signal SG is detected while the driving assist control is being executed, the vehicle driving assist device 10 determines that the stop of the driving assist control is requested.

[0077] Here, the vehicle driving assistance device 10 may be configured so that when the driving assistance button 51 is operated while the driving assistance control is stopped, the input signal SG is detected, and it is determined that the execution of the driving assistance control has been requested, the execution condition C1 is determined to be satisfied and the driving assistance control is executed. However, this can give rise to inconvenient situations as described below.

[0078] That is, if the driver DV feels that the vehicle 100 is in danger while the driving assist control is being executed, the driver DV may panic and repeatedly operate the driving assist button 51 in an attempt to stop the driving assist control.

[0079] In this case, if the vehicle driving assistance device 10 is configured to determine that the execution condition C1 is satisfied when it detects the input signal SG while driving assistance control is stopped and to execute driving assistance control, for example, if the driving assistance button is operated for the first time while driving assistance control is being executed, the driving assistance control is temporarily stopped, and then the driving assistance button is operated for the second time, it is determined that the execution condition C1 is satisfied and driving assistance control is started, and if the driving assistance button is operated for the third time, the driving assistance control is stopped, and if the driving assistance button is operated for the fourth time, it is determined that the execution condition C1 is satisfied and driving assistance control is started, and this process is repeated, and depending on the number of consecutive driving assistance button operations, the driving assistance control may end up being executed rather than stopped, which is inconvenient.

[0080] Therefore, when the vehicle driving assistance device 10 detects an input signal SG while driving assistance control is being executed, it determines that the stop condition C2 is satisfied and stops the driving assistance control. However, when the input signal SG is detected while driving assistance control is stopped, it does not immediately determine that the execution condition C1 is satisfied. Instead, it first determines whether or not the condition (stop continuation condition C3) is satisfied that a total of three detections, including the "two previous detections of the input signal SG" and the "current detection of the input signal SG", are each separated by a time interval ΔT within a predetermined time interval ΔT_TH.

[0081] In other words, when the vehicle driving assistance device 10 detects the input signal SG while the driving assistance control is stopped, it does not immediately determine that the execution condition C1 is satisfied, but first determines whether the condition (stop continuation condition C3) is satisfied that the time interval ΔT between the current detection of the input signal SG and the previous detection of the input signal SG is within a predetermined time interval ΔT_TH and the time interval ΔT between the previous detection of the input signal SG and the detection before that is within a predetermined time interval ΔT_TH.

[0082] In this example, the stop continuation condition C3 is a condition for three detections, i.e., "two detections of the input signal SG immediately before" and "a current detection of the input signal SG" when the input signal SG is detected while the driving assistance control is stopped, but may be a condition for an appropriate number of detections more than three. In this case, when the input signal SG is detected while the driving assistance control is stopped, the vehicle driving assistance device 10 determines whether or not a condition (stop continuation condition C3) is satisfied that a predetermined number of detections N_TH, including "a plurality of detections of the input signal SG immediately before" and "a current detection of the input signal SG", are detected at a time interval ΔT within a predetermined time interval ΔT_TH.

[0083] Also, the predetermined number of times N_TH used in the stop continuation condition C3 may be set to a different number of times depending on the host vehicle speed V100. In this case, for example, the predetermined number of times N_TH is set to a smaller number when the host vehicle speed V100 is fast than when the host vehicle speed V100 is slow. In particular, the predetermined number of times N_TH is set to a smaller number as the host vehicle speed V100 is faster.

[0084] Furthermore, when the following travel control is being executed, the predetermined number of times N_TH used in the stop continuation condition C3 may be set to a different number of times depending on the distance (inter-vehicle distance D) between the host vehicle 100 and the preceding vehicle 200. In this case, for example, the predetermined number of times N_TH is set to a smaller number when the inter-vehicle distance D is short than when the inter-vehicle distance D is long. In particular, the predetermined number of times N_TH is set to a smaller number as the inter-vehicle distance D becomes shorter.

[0085] When the vehicle driving assistance device 10 detects the input signal SG while the driving assistance control is stopped and the stop continuation condition C3 is not satisfied, the vehicle driving assistance device 10 determines that the execution condition C1 is satisfied and executes the driving assistance control.

[0086] On the other hand, if the vehicle driving assistance device 10 detects the input signal SG while the driving assistance control is stopped and the stop continuation condition C3 is satisfied, the vehicle driving assistance device 10 does not execute the driving assistance control and maintains the stopped state.

[0087] According to this, for example, as shown in (A) of Fig. 5, when the driving assist button operation (operation on the driving assist button 51) is performed at time t50 and the input signal SG is detected and the driving assist control is stopped, it is determined whether or not the stop continuation condition C3 is satisfied. In the example shown in (A) of Fig. 5, the detection of the input signal SG at time t50 is a detection that is longer than the predetermined time interval ΔT_TH from the detection of the input signal SG immediately before that. Therefore, since the stop continuation condition C3 is not satisfied, it is determined that the execution condition C1 is satisfied at time t50, and the driving assist control is started.

[0088] Thereafter, when the driving assistance button is operated at time t51 and the input signal SG is detected, driving assistance control is being executed, so it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0089] Also, as shown in (B) of Figure 5, if driving assistance control is being executed when the driving assistance button is operated at time t50 and the input signal SG is detected, it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0090] Thereafter, when the driving support button is operated at time t51 and the input signal SG is detected, the driving support control is stopped, so it is determined whether the stop continuation condition C3 is satisfied. In the example shown in FIG. 5B, the detection of the input signal SG at time t51 is a detection that is longer than the predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t50. Therefore, since the stop continuation condition C3 is not satisfied, it is determined that the execution condition C1 is satisfied, and the driving support control is started at time t51.

[0091] Also, as shown in (C) of Figure 5, if driving assistance control is being executed when the driving assistance button is operated at time t50 and the input signal SG is detected, it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0092] Thereafter, when the driving support button is operated at time t51 and the input signal SG is detected, the driving support control is stopped, and it is determined whether the stop continuation condition C3 is satisfied. In the example shown in FIG. 5C, the detection of the input signal SG at time t51 is a detection that is a detection that is a time interval ΔT1 that is within the predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t50, but the detection of the input signal SG at time t50 is a detection that is a time interval longer than the predetermined time interval ΔT_TH from the detection of the input signal SG immediately preceding that. Therefore, since the stop continuation condition C3 is not satisfied, it is determined that the execution condition C1 is satisfied, and the driving support control is started at time t51.

[0093] Thereafter, when the driving assistance button is operated at time t52 and the input signal SG is detected, driving assistance control is being executed, so it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0094] Thereafter, when the driving support button is operated at time t53 and the input signal SG is detected, the driving support control is stopped, so it is determined whether the stop continuation condition C3 is satisfied. In the example shown in FIG. 5C, the detection of the input signal SG at time t53 is a detection after a time interval ΔT3 within a predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t52, and the detection of the input signal SG at time t52 is a detection after a time interval ΔT2 within a predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t51. Therefore, since the stop continuation condition C3 is satisfied, the driving support control is not started at time t53 and is maintained in a stopped state.

[0095] Furthermore, thereafter, as long as the driving assistance button is operated at time intervals within the predetermined time interval ΔT_TH and the input signal SG is detected, it is determined that the stop continuation condition C3 is satisfied, and the driving assistance control is not executed and the stopped state is maintained.

[0096] Also, as shown in (D) of Figure 5, if driving assistance control is being executed when the driving assistance button is operated at time t50 and the input signal SG is detected, it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0097] Thereafter, when the driving support button is operated at time t51 and the input signal SG is detected, the driving support control is stopped, and it is determined whether the stop continuation condition C3 is satisfied. In the example shown in FIG. 5D, the detection of the input signal SG at time t51 is a detection that is a detection that is a time interval ΔT1 that is within the predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t50, but the detection of the input signal SG at time t50 is a detection that is a time interval longer than the predetermined time interval ΔT_TH from the detection of the input signal SG immediately preceding that. Therefore, since the stop continuation condition C3 is not satisfied, it is determined that the execution condition C1 is satisfied, and the driving support control is started at time t51.

[0098] Thereafter, when the driving assistance button is operated at time t52 and the input signal SG is detected, driving assistance control is being executed, so it is determined that the stop condition C2 is satisfied without determining whether the stop continuation condition C3 is satisfied, and the driving assistance control is stopped.

[0099] Thereafter, when the driving support button is operated at time t53 and the input signal SG is detected, the driving support control is stopped, so it is determined whether or not the stop continuation condition C3 is satisfied. In the example shown in Fig. 5D, the detection of the input signal SG at time t53 is a detection that is longer than the predetermined time interval ΔT_TH from the detection of the input signal SG at the immediately preceding time t52. Therefore, since the stop continuation condition C3 is not satisfied, it is determined that the execution condition C1 is satisfied at time t53, and the driving support control is started.

[0100] <Effects> According to the vehicle driving assistance device 10, even if the driver DV operates the driving assistance button 51 repeatedly in a panic to stop the driving assistance control due to a reason such as the vehicle 100 being in danger while the driving assistance control is being executed, if the input signal SG is detected after the driving assistance control is stopped by such an operation, and a total of three detections including the two detections of the input signal SG immediately before and the current detection of the input signal SG are detected at time intervals within a predetermined time interval ΔT_TH (stop continuation condition C3) is satisfied, the driving assistance control is not executed and is maintained in a stopped state. This makes it possible to prevent the driving assistance control from being executed without being stopped when the driver DV tries to stop the driving assistance control.

[0101] <Specific operation of the vehicle driving support device> Next, a specific operation of the vehicle driving support device 10 will be described. The CPU of the ECU 90 of the vehicle driving support device 10 executes the routine shown in Fig. 6 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts the process from step 600 of the routine shown in Fig. 6, advances the process to step 605, and determines whether the value of the driving support execution flag X is "1".

[0102] The driving assistance execution flag X is a flag indicating whether or not the execution of driving assistance control is requested, and its value is set to "1" when the execution of driving assistance control is requested, in other words, when the stopping of driving assistance control is not requested, and is set to "0" when the execution of driving assistance control is not requested, in other words, when the stopping of driving assistance control is requested.

[0103] The value of the driving assistance execution flag X is set to "1" when the execution condition C1 is satisfied, set to "0" when the stop condition C2 is satisfied, and set to "0" when the stop continuation condition C3 is satisfied. Therefore, in step 605, the CPU determines whether the execution condition C1 is satisfied, and therefore whether the stop condition C2 or the stop continuation condition C3 is satisfied.

[0104] If the CPU determines "Yes" in step 605, the process proceeds to step 610, where it determines whether or not the preceding vehicle 200 is present.

[0105] If the CPU determines "Yes" in step 610, the process proceeds to step 615, where it executes the routine shown in Fig. 7. Therefore, when the CPU proceeds to step 615, it starts the process from step 700 of the routine shown in Fig. 7, and proceeds to step 705, where it determines whether the inter-vehicle distance D is longer than the target inter-vehicle distance D_TGT.

[0106] If the CPU determines "Yes" in step 705, it proceeds to step 710, calculates an acceleration for making the inter-vehicle distance D equal to the target inter-vehicle distance D_TGT as a target acceleration GA_TGT, calculates a driving force to be applied to the host vehicle 100 in order to achieve the target acceleration GA_TGT as a target driving force DR_TGT, and controls the operation of the driving device 21 so that the target driving force DR_TGT is applied from the driving device 21 to the host vehicle 100. Next, the CPU proceeds to step 695 of the routine shown in Figure 6 via step 795, and temporarily ends this routine.

[0107] On the other hand, if the CPU determines "No" in step 705, it advances the process to step 715 and determines whether the inter-vehicle distance D is shorter than the target inter-vehicle distance D_TGT.

[0108] If the CPU determines "Yes" in step 715, it proceeds to step 720, calculates a deceleration for making the inter-vehicle distance D equal to the target inter-vehicle distance D_TGT as a target deceleration GD_TGT, calculates a braking force to be applied to the host vehicle 100 in order to achieve the target deceleration GD_TGT as a target braking force BK_TGT, and controls the operation of the braking device 22 and / or the drive device 21 so that the target braking force BK_TGT is applied to the host vehicle 100 from the braking device 22 and / or the drive device 21. Next, the CPU proceeds to step 695 of the routine shown in Figure 6 via step 795, and temporarily ends this routine.

[0109] On the other hand, if the CPU determines "No" in step 715, the process proceeds to step 725, where it calculates the driving force required to maintain the current vehicle speed V100 as the target driving force DR_TGT, and controls the operation of the driving device 21 so that the target driving force DR_TGT is applied from the driving device 21 to the vehicle 100. Next, the CPU proceeds to step 695 of the routine shown in Figure 6 via step 795, and temporarily ends this routine.

[0110] Moreover, when the CPU determines "No" in step 610 of the routine shown in Fig. 6, the CPU advances the process to step 620 and executes the routine shown in Fig. 8. Therefore, when the CPU advances the process to step 620, the CPU starts the process from step 800 of the routine shown in Fig. 8, advances the process to step 805, and determines whether or not the host vehicle speed V100 is lower than the set vehicle speed V_SET.

[0111] If the CPU determines "Yes" in step 805, it proceeds to step 810, calculates an acceleration for making the host vehicle speed V100 coincide with the set vehicle speed V_SET as a target acceleration GA_TGT, calculates a driving force to be applied to the host vehicle 100 in order to achieve the target acceleration GA_TGT as a target driving force DR_TGT, and controls the operation of the driving device 21 so that the target driving force DR_TGT is applied from the driving device 21 to the host vehicle 100. Next, the CPU proceeds to step 695 of the routine shown in Figure 6 via step 895, and temporarily ends this routine.

[0112] On the other hand, if the CPU determines "No" in step 805, the process proceeds to step 815, where it determines whether the host vehicle speed V100 is higher than the set vehicle speed V_SET.

[0113] If the CPU determines "Yes" in step 815, it proceeds to step 820, calculates the deceleration for making the host vehicle speed V100 coincide with the set vehicle speed V_SET as a target deceleration GD_TGT, calculates the braking force to be applied to the host vehicle 100 to achieve the target deceleration GD_TGT as a target braking force BK_TGT, and controls the operation of the braking device 22 and / or the drive device 21 so that the target braking force BK_TGT is applied to the host vehicle 100 from the braking device 22 and / or the drive device 21. Next, the CPU proceeds to step 695 of the routine shown in Figure 6 via step 895, and temporarily ends this routine.

[0114] On the other hand, if the CPU determines "No" in step 815, the process proceeds to step 825, where it calculates the driving force required to maintain the current vehicle speed V100 as the target driving force DR_TGT, and controls the operation of the driving device 21 so that the target driving force DR_TGT is applied from the driving device 21 to the vehicle 100. Next, the CPU proceeds to step 695 of the routine shown in Fig. 6 via step 895, and temporarily ends this routine.

[0115] On the other hand, if the CPU determines "No" in step 605, the process proceeds to step 625, where it stops the driving assistance control (follow-up cruise control or constant speed cruise control) that is currently being executed. Next, the CPU proceeds to step 630, where it executes normal acceleration / deceleration control.

[0116] Furthermore, the CPU is configured to execute the routine shown in Fig. 9 at a predetermined calculation cycle. Therefore, at a predetermined timing, the process starts from step 900 of the routine shown in Fig. 9, and proceeds to step 905 to determine whether or not the driving support button has been operated, i.e., whether or not the input signal SG has been detected.

[0117] If the CPU determines "Yes" in step 905, the process proceeds to step 910, where it determines whether the value of the driving assistance execution flag X is "0", that is, whether the driving assistance control is stopped.

[0118] If the CPU judges "Yes" in step 910, the process proceeds to step 915, where it determines whether or not a stop continuation condition C3 is satisfied.

[0119] If the CPU determines "Yes" in step 915, it proceeds to step 995 and temporarily ends this routine. In this case, since the value of the driving support execution flag X remains "0", the driving support control remains stopped.

[0120] On the other hand, if the CPU determines "No" in step 915, the process proceeds to step 920, where the CPU sets the value of the driving assistance execution flag X to "1." Next, the CPU proceeds to step 995, where the CPU temporarily ends this routine. In this case, the driving assistance control is executed.

[0121] On the other hand, if the CPU determines "No" in step 910, the CPU proceeds to step 925 and sets the value of the driving assistance execution flag X to "0." Next, the CPU proceeds to step 995 and ends this routine. In this case, the driving assistance control is stopped.

[0122] If the CPU determines "No" in step 905, the process proceeds to step 930, where it determines whether the driving support stop button 56 has been operated.

[0123] If the CPU determines "Yes" in step 930, the process proceeds to step 935, where the CPU sets the value of the driving assistance execution flag X to "0." Next, the CPU proceeds directly to step 995, where the CPU temporarily ends this routine. In this case, the driving assistance control is stopped.

[0124] On the other hand, if the CPU determines "No" in step 930, it proceeds directly to step 995 and temporarily ends this routine.

[0125] The specific operation of the vehicle driving assistance device 10 has been described above.

[0126] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0127] 10...vehicle driving assistance device, 20...vehicle driving device, 21...driving device, 22...braking device, 49...driving assistance operation device, 50...vehicle speed detection device, 60...peripheral information detection device, 61...radio wave sensor, 62...image sensor, 90...ECU, 100...own vehicle, 200...preceding vehicle

Claims

1. A vehicle driving assistance device including a control device that executes driving assistance control to autonomously accelerate / decelerate or steer a vehicle, The control device includes: Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued. It is configured as follows: In a vehicle driving assistance device, the input signal is a signal input from a predetermined operator to the control device when the operator operates the operator; the control device is configured to, when detecting the input signal from the operator while the driving assistance control is stopped, determine that the detected input signal is a signal requesting execution of the driving assistance control, and, when detecting the input signal from the operator while the driving assistance control is being executed, determine that the detected input signal is a signal requesting stop of the driving assistance control, The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. Vehicle driving assistance device.

2. In the vehicle driving assistance device according to claim 1, The predetermined number of times is set to a smaller number when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed. Vehicle driving assistance device.

3. A vehicle driving assistance device including a control device that executes driving assistance control for autonomously accelerating, decelerating, or steering a vehicle, The control device includes: Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued. It is configured as follows: In a vehicle driving assistance device, the input signal is a signal input from a predetermined operator to the control device when the operator operates the operator; the control device is configured to, when detecting the input signal from the operator while the driving assistance control is stopped, determine that the detected input signal is a signal requesting execution of the driving assistance control, and, when detecting the input signal from the operator while the driving assistance control is being executed, determine that the detected input signal is a signal requesting stop of the driving assistance control, the driving assistance control is a following driving control for autonomously accelerating or decelerating the host vehicle so that the host vehicle follows a preceding vehicle traveling in front of the host vehicle, the predetermined number of times is set to a number that differs depending on a distance between the host vehicle and the preceding vehicle during execution of the following running control. Vehicle driving assistance device.

4. In the vehicle driving assistance device according to claim 3, the predetermined number of times is set to a smaller number when the distance between the host vehicle and the preceding vehicle is short during execution of the following running control, compared to a case where the distance between the host vehicle and the preceding vehicle is long. Vehicle driving assistance device.

5. A vehicle driving assistance method for performing driving assistance control to autonomously accelerate / decelerate or steer a vehicle, comprising: Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued.

1. A vehicle driving assistance method comprising: the input signal is a signal input from a predetermined operator when the operator is operated, The vehicle driving assistance method includes, when the input signal from the operator is detected while the driving assistance control is stopped, determining that the detected input signal is a signal requesting execution of the driving assistance control, and, when the input signal from the operator is detected while the driving assistance control is being executed, determining that the detected input signal is a signal requesting stop of the driving assistance control; The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. A vehicle driving assistance method.

6. A vehicle driving assistance method for performing driving assistance control to autonomously accelerate / decelerate or steer a vehicle, comprising: Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued.

1. A vehicle driving assistance method comprising: the input signal is a signal input from a predetermined operator when the operator is operated, The vehicle driving assistance method includes, when the input signal from the operator is detected while the driving assistance control is stopped, determining that the detected input signal is a signal requesting execution of the driving assistance control, and, when the input signal from the operator is detected while the driving assistance control is being executed, determining that the detected input signal is a signal requesting stop of the driving assistance control; the driving assistance control is a following driving control for autonomously accelerating or decelerating the host vehicle so that the host vehicle follows a preceding vehicle traveling in front of the host vehicle, the predetermined number of times is set to a number that differs depending on a distance between the host vehicle and the preceding vehicle during execution of the following running control. A vehicle driving assistance method.

7. A vehicle driving assistance program that executes driving assistance control to autonomously accelerate / decelerate or steer a vehicle, Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued. It is configured as follows: In vehicle driving assistance programs, the input signal is a signal input from a predetermined operator when the operator is operated, The vehicle driving assistance program is configured to, when the input signal from the operator is detected while the driving assistance control is stopped, determine that the detected input signal is a signal requesting execution of the driving assistance control, and, when the input signal from the operator is detected while the driving assistance control is being executed, determine that the detected input signal is a signal requesting stop of the driving assistance control, The predetermined number of times is set to a number that differs depending on the traveling speed of the host vehicle. Vehicle driving assistance program.

8. A vehicle driving assistance program that executes driving assistance control to autonomously accelerate / decelerate or steer a vehicle, Detecting a signal requesting execution of the driving assistance control and a signal requesting stop of the driving assistance control as input signals, When the input signal is detected during execution of the driving assistance control, the driving assistance control is stopped; When the input signal is detected while the driving assistance control is stopped, if a stop continuation condition is not satisfied that a predetermined number of detections including the detection of a plurality of input signals immediately before the detection of the input signal and the detection of the current input signal are detected at time intervals within a predetermined time interval, the driving assistance control is executed; When the input signal is detected while the driving assistance control is stopped, if the stop continuation condition is satisfied, the driving assistance control is not executed, and the stop of the driving assistance control is continued. It is configured as follows: In vehicle driving assistance programs, the input signal is a signal input from a predetermined operator when the operator is operated, The vehicle driving assistance program is configured to, when the input signal from the operator is detected while the driving assistance control is stopped, determine that the detected input signal is a signal requesting execution of the driving assistance control, and, when the input signal from the operator is detected while the driving assistance control is being executed, determine that the detected input signal is a signal requesting stop of the driving assistance control, the driving assistance control is a following driving control for autonomously accelerating or decelerating the host vehicle so that the host vehicle follows a preceding vehicle traveling in front of the host vehicle, the predetermined number of times is set to a number that differs depending on a distance between the host vehicle and the preceding vehicle during execution of the following running control. Vehicle driving assistance program.

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