Vehicle deceleration support device, vehicle deceleration support method, and vehicle deceleration support program

Abstract

To provide a vehicle deceleration support device capable of appropriate deceleration support through deceleration support control even when a vehicle changes a traffic lane.SOLUTION: When a first condition that a distant to object point between a vehicle 100 and a deceleration support object point 300 is equal to or less than a predetermined distance and a direction indicator 40 of the vehicle is activated is met and a second condition that the direction indicator is continuously activated after being activated for changing a traffic lane is not met, a vehicle deceleration support device 10 executes deceleration support control with a deceleration support level set to a first level. When the first and second conditions are met, the vehicle deceleration support device executes the deceleration support control with the deceleration support level set to a second level which is lower than the first level during a lapse of predetermined time after the first condition is met.SELECTED DRAWING: Figure 13

Description

[Technical field]

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

[0002] There is known a vehicle deceleration support device that performs deceleration support control to support the deceleration of a vehicle when the vehicle approaches an intersection. When the vehicle approaches an intersection, if the direction indicator of the vehicle is activated and the turning direction of the vehicle indicated by the direction indicator coincides with the permitted travel direction of the vehicle's travel lane, the vehicle deceleration support device determines that the vehicle will turn left or right at the intersection and performs deceleration support control (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-4333 A Summary of the Invention

[0004] When a vehicle approaches an intersection and changes lanes, and the turn signal that was activated during the lane change remains activated thereafter, if the permitted travel direction of the vehicle's travel lane after the lane change coincides with the turning direction indicated by the activated turn signal, a conventional vehicle deceleration support device determines that the vehicle will turn left or right at the intersection and implements deceleration support control. However, if the turn signal that was activated during the lane change remains activated after the lane change, there is a possibility that the driver of the vehicle has forgotten to stop the turn signal, and in such a case, it is not necessarily appropriate to implement deceleration support control.

[0005] An object of the present invention is to provide a vehicle deceleration assistance device that can provide appropriate deceleration assistance through deceleration assistance control even when the vehicle changes lanes.

[0006] The vehicle deceleration support device according to the present invention is configured to execute deceleration support control for supporting deceleration of the vehicle before the vehicle reaches a deceleration support target point, which is a point where the vehicle can turn left or right. The vehicle deceleration support device according to the present invention is configured to execute the deceleration support control with a deceleration support level, which is a level for supporting deceleration of the vehicle, set to a first level, when a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is satisfied that the direction indicator activated when the vehicle changes lanes remains activated, the deceleration support control is executed with the deceleration support level set to a second level lower than the first level, for a predetermined time after the first condition is satisfied, when the first condition is satisfied and the second condition is satisfied.

[0007] When a vehicle is changing lanes, the turn signal may be activated, and the turn signal may continue to be activated even after the lane change is completed. In this case, even if the turn signal is activated, the driver does not necessarily turn the vehicle left or right. In this case, it is not preferable to execute deceleration support control at a normal deceleration support level just because the vehicle approaches a deceleration support target point.

[0008] According to the present invention, if the turn signal is activated when the vehicle changes lanes, and the turn signal remains activated even after the lane change is completed, even if the vehicle approaches a deceleration support target point, i.e., even if the target point distance is equal to or less than a predetermined distance, deceleration support control is executed at a deceleration support level (second level) lower than the normal deceleration support level (first level) for a predetermined time. Therefore, even when the vehicle changes lanes, appropriate deceleration support can be provided by the deceleration support control.

[0009] Furthermore, the vehicle deceleration assistance device of the present invention may be configured to execute the deceleration assistance control with the deceleration assistance level set to a third level higher than the second level when the first condition is satisfied and even when the second condition is satisfied, the only turning direction permitted in the lane in which the vehicle is traveling is the turning direction of the vehicle indicated by the turn indicator that is activated.

[0010] When a vehicle changes lanes to the left adjacent lane, if the lane to the left adjacent lane is a left-turn-only lane, the turn signal activated in conjunction with the lane change may continue to be activated even after the lane change is completed. In this case, the vehicle should turn left at the deceleration support target point. Similarly, when a vehicle changes lanes to the right adjacent lane, if the lane to the right adjacent lane is a right-turn-only lane, the turn signal activated in conjunction with the lane change may continue to be activated even after the lane change is completed. In this case, the vehicle should turn right at the deceleration support target point. That is, when the first condition is satisfied, even if the second condition is satisfied, if the turning direction permitted in the lane in which the vehicle is traveling is the only turning direction of the vehicle indicated by the turned-on turn signal, the vehicle should turn in the permitted turning direction at the deceleration support target point. Therefore, in such a case, it is preferable to execute the deceleration support control at a higher deceleration support level.

[0011] According to the present invention, even if the second condition is satisfied when the first condition is satisfied, if the only permitted turning direction in the lane in which the vehicle is traveling is the turning direction of the vehicle indicated by the activated turn signal, the deceleration assist control is executed at a higher deceleration assist level (third level). Therefore, even when the vehicle changes lanes, appropriate deceleration assist can be provided by the deceleration assist control.

[0012] In addition, the vehicle deceleration assistance device of the present invention may be configured to execute the deceleration assistance control with the deceleration assistance level set to a fourth level higher than the second level when the turn signal is activated again and the first condition is satisfied after the target point distance becomes equal to or shorter than the specified distance.

[0013] In general, when a vehicle approaches a deceleration support target point and is to turn left or right at the deceleration support target point, a turn indicator is activated. Also, if the turn indicator is terminated when the vehicle has completed lane changing, and the vehicle is to turn left or right at the deceleration support target point, the turn indicator is activated again. Therefore, when the turn indicator is activated as the vehicle approaches a deceleration support target point, there is a high possibility that the vehicle will turn left or right at the deceleration support target point. In this case, it is preferable to execute deceleration support control at a higher deceleration support level.

[0014] According to the present invention, when the direction indicator is operated again after the target point distance becomes equal to or shorter than the predetermined distance, the deceleration support control is executed at a deceleration support level (fourth level) higher than the second level. Therefore, even when the vehicle changes lanes, the deceleration support control can provide appropriate deceleration support.

[0015] Furthermore, the vehicle deceleration assistance device of the present invention may be configured to execute the deceleration assistance control with the deceleration assistance level set to the first level after the predetermined time has elapsed since the first condition is satisfied, even if the first condition is satisfied and the second condition is also satisfied.

[0016] When the vehicle is approaching a deceleration assistance target point and the turn signal has been activated for a certain period of time, it is highly likely that the driver intends to turn the vehicle left or right.

[0017] According to the present invention, when a predetermined time has elapsed since the first condition is satisfied, even if the first condition and the second condition are satisfied, the deceleration support control is executed with the deceleration support level set to the first level, so that deceleration support can be provided in accordance with the driver's intention to turn left or right.

[0018] The vehicle deceleration assistance device according to the present invention is configured to execute deceleration assistance control for assisting in deceleration of the vehicle before the vehicle reaches a deceleration assistance target point, which is a point where the vehicle can turn left or right. When a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration assistance target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is satisfied that the direction indicator that was activated when the vehicle changed lanes continues to be activated, the vehicle deceleration assistance device is configured to execute the deceleration assistance control with a lower deceleration assistance level, which is a level that assists in deceleration of the vehicle, for a predetermined time period, compared to when the second condition is not satisfied.

[0019] According to the present invention, if the turn signal is activated when the vehicle changes lanes, and the turn signal remains activated even after the lane change is completed (if the second condition is satisfied), deceleration support control is executed at a deceleration support level lower than the normal deceleration support level (deceleration support level when the second condition is not satisfied) for a predetermined time, even if the vehicle approaches the deceleration support target point, i.e., even if the target point distance is equal to or shorter than a predetermined distance. Therefore, appropriate deceleration support can be provided by the deceleration support control, even when the vehicle changes lanes.

[0020] A vehicle deceleration support method according to the present invention is a method for executing deceleration support control that supports deceleration of the vehicle before the vehicle reaches a deceleration support target point where the vehicle can turn left or right. The vehicle deceleration support method according to the present invention includes the steps of: executing the deceleration support control with a deceleration support level, which is a level that supports deceleration of the vehicle, set to a first level when a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and executing the deceleration support control with a deceleration support level, which is a level that supports deceleration of the vehicle, set to a second level lower than the first level, for a predetermined time after the first condition is satisfied when the first condition is satisfied and the second condition is satisfied.

[0021] According to the present invention, for the same reason as described above, appropriate deceleration assistance can be provided by the deceleration assistance control even when the vehicle changes lanes.

[0022] Furthermore, the vehicle deceleration assistance program of the present invention is a program that executes deceleration assistance control to assist in decelerating the vehicle before it reaches a deceleration assistance target point, which is a point where the vehicle can turn left or right.The vehicle deceleration assistance program of the present invention is configured to execute the deceleration assistance control with a deceleration assistance level, which is a level that assists in deceleration of the vehicle, set to a first level when a first condition is met that a target point distance, which is the distance between the vehicle and the deceleration assistance target point, is less than a predetermined distance and the direction indicator of the vehicle is activated, and when a second condition is met that the direction indicator that was activated when the vehicle changed lanes remains activated, is not met, and to execute the deceleration assistance control with the deceleration assistance level set to a second level lower than the first level for a predetermined time after the first condition is met when the first condition is met and the second condition is met.

[0023] According to the present invention, for the same reason as described above, appropriate deceleration assistance can be provided by the deceleration assistance control even when the vehicle changes lanes.

[0024] 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]

[0025] [Figure 1] FIG. 1 is a diagram showing a vehicle control device including a vehicle deceleration support device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a turn signal of a vehicle. [Diagram 3] FIG. 3 is a diagram showing an intersection that is a target point for deceleration support. [Figure 4] FIG. 4 is a diagram showing the target point distance. [Diagram 5] FIG. 5 is a diagram showing one of the situations in which the deceleration support condition is met. [Figure 6] FIG. 6 is a diagram showing another situation in which the deceleration support condition is satisfied. [Figure 7] FIG. 7 is a diagram showing one of the situations in which the deceleration support condition is not satisfied. [Figure 8] FIG. 8 is a diagram showing another situation in which the deceleration support condition is not satisfied. [Figure 9] FIG. 9 is a diagram showing still another situation in which the deceleration support condition is not satisfied. [Figure 10] FIG. 10 is a diagram showing a situation in which the deceleration support condition is satisfied and the prohibition condition is satisfied when the vehicle changes lanes. [Figure 11] FIG. 11 is a diagram showing one of the situations in which the deceleration support condition is satisfied but the prohibition condition is not satisfied when the vehicle changes lanes. [Figure 12]FIG. 12 is a diagram showing another situation in which the deceleration support condition is satisfied but the prohibition condition is not satisfied when the vehicle changes lanes. [Figure 13] FIG. 13 is a flowchart showing a routine executed by the vehicle control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, a vehicle control device including a vehicle deceleration support device according to an embodiment of the present invention will be described with reference to the drawings. Note that the example described below is for a case where a vehicle is legally required to drive on the left side of the road. Therefore, if a vehicle is legally required to drive on the right side of the road, "left" in the following description will be "right" and "right" will be "left".

[0027] 1, a vehicle control device 10 according to an embodiment of the present invention is mounted on a vehicle 100. The vehicle control device 10 includes an ECU 90.

[0028] The ECU 90 is an electronic control unit (electronic control device). The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the ROM. In this example, the vehicle control device 10 includes one ECU, but may also be configured to include multiple ECUs and have the ECUs share and execute various processes.

[0029] The ECU 90 is electrically connected to the drive device 20, the braking device 30, the direction indicator 40, the notification device 50, the turn signal lever 61, the vehicle speed detection device 62, the steering wheel 63, the steering angle sensor 64, the yaw rate sensor 65, and the surrounding information detection device 70.

[0030] <Drive unit> The drive device 20 is a device that applies a drive force to the vehicle 100, and the vehicle control device 10 can control the drive force applied to the vehicle 100 from the drive device 20.

[0031] <Brake device> The braking device 30 is a device that applies a braking force to the vehicle 100, and the vehicle control device 10 can decelerate the vehicle 100 by applying a braking force from the braking device 30 to the vehicle 100.

[0032] <Direction indicator> The direction indicator 40 is a device such as a turn signal for informing the outside of the vehicle 100 of the turning direction of the vehicle 100. In this example, the direction indicator 40 includes a right direction indicator 40R and a left direction indicator 40L. As shown in FIG. 2, in this example, the right direction indicator 40R includes a right front direction indicator 40FR attached to the right front corner of the vehicle 100 and a right rear direction indicator 40RR attached to the right rear corner of the vehicle 100. In addition, the left direction indicator 40L includes a left front direction indicator 40FL attached to the left front corner of the vehicle 100 and a left rear direction indicator 40RL attached to the left rear corner of the vehicle 100. The right direction indicator 40R is a device for informing the outside that the vehicle 100 is turning to the right, and the left direction indicator 40L is a device for informing the outside that the vehicle 100 is turning to the left.

[0033] The direction indicator 40 is activated or deactivated by the operator of the vehicle 100. That is, the direction indicator state is set to an activated state or a deactivated state. When the operator is the driver of the vehicle 100, the direction indicator 40 is activated or deactivated by the driver operating a device such as a turn signal lever provided on the vehicle 100. When the operator is a remote operator, the direction indicator 40 is activated or deactivated by the remote operator operating a device such as a turn signal lever provided outside the vehicle 100.

[0034] In this example, the driver of the vehicle 100 operates the turn signal lever 61 to activate or deactivate the direction indicator 40.

[0035] The operator of vehicle 100 is a person who rides in vehicle 100 and drives vehicle 100 (i.e., the driver of vehicle 100), and a person who drives vehicle 100 remotely without riding in vehicle 100 (i.e., a remote operator of vehicle 100).

[0036] <Notification device> The notification device 50 is a device that issues notifications to provide various information to the operator of the vehicle 100, and in this example, includes a display device 51 and an audio device 52.

[0037] The display device 51 is a device such as a display that displays various images. When the operator of the vehicle 100 is the driver of the vehicle 100, the display device 51 is a device such as a display mounted on the vehicle 100, and when the operator of the vehicle 100 is a remote operator of the vehicle 100, the display device 51 is a device such as a display mounted on an apparatus through which the remote operator remotely drives the vehicle 100.

[0038] The vehicle control device 10 can suggest to the operator of the vehicle 100 that he or she should slow down the vehicle 100 by displaying, on the display device 51, an image suggesting to the operator of the vehicle 100 that he or she should slow down the vehicle 100.

[0039] Furthermore, the audio device 52 is a device such as a speaker that outputs various sounds. When the operator of the vehicle 100 is the driver of the vehicle 100, the audio device 52 is a device such as a speaker mounted on the vehicle 100, and when the operator of the vehicle 100 is a remote operator of the vehicle 100, the display device 51 is a device such as a speaker mounted on an apparatus through which the remote operator remotely drives the vehicle 100.

[0040] The vehicle control device 10 can suggest to the operator of the vehicle 100 that he or she should slow down the vehicle 100 by outputting from the audio device 52 a voice suggesting to the operator of the vehicle 100 that he or she should slow down the vehicle 100.

[0041] <Vehicle speed detection device> The vehicle speed detection device 62 is a device that detects the host vehicle speed V from wheel speed sensors provided on each wheel of the vehicle 100. The vehicle control device 10 can obtain the host vehicle speed V by the vehicle speed detection device 62.

[0042] <Steering angle sensor> The steering angle sensor 64 is a sensor that detects the steering angle θ of the vehicle 100. The vehicle control device 10 can obtain the steering angle θ of the vehicle 100 by the steering angle sensor 64.

[0043] <Yaw rate sensor> The yaw rate sensor 65 is a sensor that detects the yaw rate of the vehicle 100. The vehicle control device 10 can obtain the yaw rate ω of the vehicle 100 by the yaw rate sensor 65.

[0044] <Peripheral information detection device> The surrounding information detection device 70 is a device that acquires surrounding detection information IS, and in this example, includes an image sensor 71, an electromagnetic wave sensor 72, and a GPS device 73.

[0045] The image sensor 71 is a sensor, such as a camera sensor, that captures an image of the periphery of the vehicle 100 to obtain image data. The vehicle control device 10 can obtain the image data from the image sensor 71 as periphery detection information IS.

[0046] The electromagnetic wave sensor 72 is a sensor that acquires data (target data) related to objects in the vicinity of the vehicle 100, and is, for example, a radio wave sensor such as a radar sensor (millimeter wave radar), a sound wave sensor such as an ultrasonic sensor (clearance sonar), or an optical sensor such as a laser radar (LiDAR). The electromagnetic wave sensor 72 transmits electromagnetic waves, and when the electromagnetic waves are reflected by an object, receives the electromagnetic waves (reflected waves). The vehicle control device 10 can acquire the target data from the electromagnetic wave sensor 72 as surrounding detection information IS.

[0047] The GPS device 73 includes a GPS receiver and a map database. The GPS receiver receives so-called GPS signals. The vehicle control device 10 acquires the GPS signals via the GPS receiver, identifies the current position of the vehicle 100 from the GPS signals (i.e., position information of the vehicle 100, vehicle position information), and acquires map information of the periphery of the position where the vehicle 100 is currently traveling from the current position and the map database as periphery detection information IS. The map information includes information on the positions of intersections, permitted travel directions of road lanes, etc.

[0048] The surrounding information detection device 70 may acquire road information wirelessly transmitted from equipment installed on the side of the road as the surrounding detection information IS.

[0049] <Operation of vehicle deceleration support device> Next, the operation of the vehicle control device 10 will be described. When the vehicle 100 turns left or right at an intersection or the like, the operator decelerates the vehicle 100 before the vehicle 100 reaches the intersection or the like. In a situation where the operator decelerates the vehicle 100 in this manner, the vehicle control device 10 executes deceleration support control to support the operator in decelerating the vehicle 100. That is, the vehicle control device 10 executes deceleration support control to support the deceleration of the vehicle 100 before the vehicle 100 reaches a deceleration support target point 300, which is a point where the vehicle 100 can turn left or right.

[0050] In this example, the deceleration assistance control includes at least one of automatic deceleration control and deceleration notification control.

[0051] The automatic deceleration control is a control that autonomously decelerates the vehicle 100 so that the vehicle speed V is equal to or lower than a predetermined speed when the vehicle 100 reaches the deceleration support target point 300. Therefore, when the deceleration support control is the automatic deceleration control, the vehicle control device 10 is one of the devices that performs automatic driving of the vehicle 100.

[0052] On the other hand, the deceleration notification control is a control for providing a notification suggesting to the operator of the vehicle 100 to decelerate the vehicle 100 by the notification device 50. More specifically, the deceleration notification control is a control for displaying an image suggesting to decelerate the vehicle 100 by the display device 51 and outputting a sound suggesting to decelerate the vehicle 100 from the audio device 52.

[0053] <Detection of deceleration support points> During startup, the vehicle control device 10 detects a deceleration support target point 300. The deceleration support target point 300 is a point where the vehicle 100 may make a right or left turn, such as an intersection 301 as shown in Fig. 3. The vehicle control device 10 detects the deceleration support target point 300 based on the surrounding detection information IS.

[0054] <Getting distance to target point> When the vehicle control device 10 detects the deceleration support target point 300, it acquires the target point distance D. As shown in Fig. 4, the target point distance D is the distance between the vehicle 100 and the deceleration support target point 300. The vehicle control device 10 acquires the target point distance D based on the surrounding detection information IS.

[0055] <Determining whether the support decision start conditions are met> Furthermore, when the vehicle control device 10 acquires the target point distance D, it determines whether or not the support determination start condition is satisfied. The support determination start condition is satisfied when the target point distance D is equal to or less than a predetermined distance (support determination start distance Dth). Note that the support determination start distance Dth is set to a longer distance as the traveling speed (host vehicle speed V) of the vehicle 100 is higher.

[0056] <Getting permitted direction of travel> When the assistance determination start condition is satisfied, the vehicle control device 10 acquires the permitted travel direction of the host vehicle's travel lane.

[0057] The host vehicle driving lane is the lane in which the vehicle 100 is driving. The permitted travel direction of the host vehicle driving lane is the direction in which the vehicle is permitted to travel, for example, the left direction if the host vehicle driving lane is a left-turn-only lane, the straight-ahead direction and the left direction if the host vehicle driving lane is a straight-ahead / left-turn lane, the right direction if the host vehicle driving lane is a right-turn-only lane, the straight-ahead direction and the right direction if the host vehicle driving lane is a straight-ahead / right-turn lane, and the straight-ahead direction if the host vehicle driving lane is a straight-ahead-only lane.

[0058] The vehicle control device 10 acquires the permitted travel direction of the host vehicle's lane based on the surrounding detection information IS. That is, the vehicle control device 10 determines whether the host vehicle's lane is a straight-on exclusive lane, a left-turn exclusive lane, a straight-on / left-turn lane, a right-turn exclusive lane, or a straight-on / right-turn lane based on the road surface marking of the host vehicle's lane detected based on the image data of the surrounding detection information IS, or based on the host vehicle's position information and map information, and acquires the permitted travel direction.

[0059] <Determining whether deceleration support conditions are met> When acquiring the permitted travel direction of the host vehicle's travel lane, the vehicle control device 10 determines whether or not a deceleration support condition (first condition) is satisfied.

[0060] For example, the deceleration support condition may include at least a condition that the direction indicator 40 is activated. In other words, the deceleration support condition may include at least a condition that the target point distance D is equal to or shorter than a predetermined distance (assistance determination start distance Dth) and the direction indicator 40 is activated.

[0061] In this example, the deceleration support condition is met when the left turn indicator 40L is activated and the host vehicle is traveling in a straight-ahead / left-turn lane, as shown in Fig. 5. That is, the deceleration support condition is met when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the left turn indicator 40L is activated, and (3) the host vehicle is traveling in a straight-ahead / left-turn lane.

[0062] Similarly, in this example, the deceleration support condition is met when the left turn indicator 40L is activated and the host vehicle is traveling in a lane that is a dedicated left turn lane, as shown in Fig. 6. That is, the deceleration support condition is met when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the left turn indicator 40L is activated, and (3) the host vehicle is traveling in a lane that is a dedicated left turn lane.

[0063] In summary, the deceleration assistance condition is met when (1) the target point distance D is equal to or less than the assistance judgment start distance Dth, (2) the left turn indicator 40L is activated, and (3) the lane in which the vehicle is traveling is a left turn permitted lane (a straight-through / left turn lane or a left turn-only lane).

[0064] Therefore, the deceleration assist condition is not met when the left turn indicator 40L is activated but the lane in which the vehicle is traveling is a straight-through lane as shown in FIG. 7, or when the left turn indicator 40L is activated but the lane in which the vehicle is traveling is a straight-through / right-turn lane as shown in FIG. 8, or when the left turn indicator 40L is activated but the lane in which the vehicle is traveling is a right-turn lane as shown in FIG. 9.

[0065] Furthermore, in this example, the deceleration support condition is met when the right turn indicator 40R is activated and the host vehicle is traveling in a straight-ahead / right-turn lane. That is, the deceleration support condition is met when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the right turn indicator 40R is activated, and (3) the host vehicle is traveling in a straight-ahead / right-turn lane.

[0066] Similarly, in this example, the deceleration support condition is satisfied when the right turn indicator 40R is activated and the host vehicle is traveling in a right turn lane. That is, the deceleration support condition is satisfied when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the right turn indicator 40R is activated, and (3) the host vehicle is traveling in a right turn lane.

[0067] In summary, the deceleration assistance condition is met when (1) the target point distance D is equal to or less than the assistance judgment start distance Dth, (2) the right turn indicator 40R is activated, and (3) the lane in which the vehicle is traveling is a right turn permitted lane (a straight-through / right turn lane or a right turn-only lane).

[0068] Therefore, if the right turn indicator 40R is operated but the lane in which the vehicle is traveling is a straight-through lane only, or if the right turn indicator 40R is operated but the lane in which the vehicle is traveling is a straight-through / left-turn lane, or if the right turn indicator 40R is operated but the lane in which the vehicle is traveling is a left-turn lane only, the deceleration assistance condition is not met.

[0069] From the above, the deceleration support condition is met when the direction indicator 40 is activated and the turning direction of the vehicle 100 indicated by the activated direction indicator 40 matches the permitted turning direction of the host vehicle's lane. That is, the deceleration support condition is met when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the direction indicator 40 is activated, and (3) the turning direction of the vehicle 100 indicated by the activated direction indicator 40 matches the permitted turning direction of the host vehicle's lane.

[0070] The permitted turning direction of the host vehicle's lane is the direction in which the vehicle 100 traveling in the host vehicle's lane is permitted to turn, and is the left direction if the host vehicle's lane is a straight-through / left-turn lane, the left direction if the host vehicle's lane is a left-turn-only lane, the right direction if the host vehicle's lane is a straight-through / right-turn lane, and the right direction if the host vehicle's lane is a right-turn-only lane.

[0071] The deceleration support condition may be satisfied when the lane in which the host vehicle is traveling is a lane in which right and left turns are permitted, regardless of whether the turn signal 40 is activated. That is, the deceleration support condition may be satisfied when (1) the target point distance D is equal to or less than the support determination start distance Dth, and (2) the lane in which the host vehicle is traveling is a lane in which right and left turns are permitted.

[0072] A right / left turn permitted lane is a lane where vehicles are permitted to turn right or left. Therefore, a right / left turn permitted lane is a lane other than a straight-through exclusive lane, and includes a straight-through / left turn lane, a left turn exclusive lane, a straight / right turn lane, and a right turn exclusive lane.

[0073] The deceleration support condition may be satisfied when the turn signal 40 is activated and the lane in which the host vehicle is traveling is a lane in which right and left turns are permitted. That is, the deceleration support condition may be satisfied when (1) the target point distance D is equal to or less than the support determination start distance Dth, (2) the turn signal 40 is activated, and (3) the lane in which the host vehicle is traveling is a lane in which right and left turns are permitted.

[0074] <Execution of deceleration support control> During startup, the vehicle control device 10 determines whether a prohibition condition (second condition) described below is satisfied, and when the deceleration support condition is satisfied, if the prohibition condition is not satisfied, the vehicle control device 10 permits the start of deceleration support control and executes deceleration support control. Also, in a case where the prohibition condition is satisfied when the deceleration support condition is satisfied, and thereafter the prohibition condition becomes unsatisfied while the deceleration support condition is satisfied, the vehicle control device 10 permits the start of deceleration support control and executes deceleration support control.

[0075] <Determining whether prohibited conditions are met> As described above, the vehicle control device 10 determines whether or not the prohibition conditions are met during its activation.

[0076] As shown in Fig. 10, when the vehicle 100 changes lanes to the adjacent lane on the left, and the left turn indicator 40L that was activated during the lane change continues to be activated after the lane change is completed, if the target point distance D is equal to or less than the assistance determination start distance Dth, the deceleration assistance condition is met. At this time, as shown in Fig. 10, even if the host vehicle is traveling in a straight-ahead / left-turn lane, the operator of the vehicle 100 may not intend to turn the vehicle 100 left, and may simply forget to stop the operation of the left turn indicator 40L. Therefore, it is not appropriate to execute the deceleration assistance control in such a situation.

[0077] On the other hand, as shown in Fig. 11, when the vehicle 100 changes lanes to the adjacent lane on the left and the left direction indicator 40L that was activated during the lane change continues to be activated after the lane change is completed, if the target point distance D is equal to or less than the assistance determination start distance Dth, the deceleration assistance condition is met, but if the lane in which the vehicle is traveling is a left-turn-only lane at this time, it is highly likely that the operator of the vehicle 100 intends to turn the vehicle 100 left after the lane change of the vehicle 100 is completed. Therefore, it is not inappropriate to execute the deceleration assistance control in such a situation.

[0078] Therefore, the prohibition condition is set to at least the condition that the turn indicator 40 that was activated when the vehicle 100 changes lanes continues to be activated.

[0079] In this example, the prohibition condition is met when the vehicle 100 changes lanes to the adjacent lane on the left, and the left turn indicator 40L that was activated during the lane change continues to be activated after the lane change is completed, the target point distance D is less than or equal to the assistance judgment start distance Dth, and the lane in which the vehicle is traveling is not a left-turn-only lane.

[0080] Thereafter, the prohibition condition is satisfied for a predetermined time Tth after the deceleration assistance condition is satisfied as long as the left turn signal 40L is continuously activated, and is no longer satisfied once the predetermined time Tth has elapsed.

[0081] In addition, if the left direction indicator 40L is stopped before the predetermined time Tth has elapsed since the deceleration support condition was satisfied, the prohibition condition is not satisfied at that time. Therefore, as shown in Fig. 12, when the vehicle 100 changes lanes to the left adjacent lane, and the left direction indicator 40L that was activated during the lane change continues to be activated even after the lane change is completed, and the target point distance D is equal to or less than the support determination start distance Dth, the deceleration support condition is satisfied. However, in this case, since the host vehicle is traveling in a straight-ahead / left-turn lane, if the prohibition condition is satisfied, and then the operation of the left direction indicator 40L is stopped before the predetermined time Tth has elapsed and the prohibition condition is not satisfied, and then the left direction indicator 40L is activated again, the prohibition condition is not satisfied, but the deceleration support condition is satisfied, so the start of the deceleration support control is permitted and the deceleration support control is executed.

[0082] In addition, if the operation of the left turn indicator 40L is stopped and the prohibition condition is no longer satisfied before a predetermined time Tth has elapsed since the deceleration support condition is satisfied, the deceleration support condition is also no longer satisfied because the operation of the left turn indicator 40L has been stopped, and deceleration support control is not executed.

[0083] Furthermore, in this example, the prohibition condition is met when the vehicle 100 changes lanes to the adjacent lane to the right, and the right turn indicator 40R that was activated during the lane change continues to be activated after the lane change is completed, the target point distance D is less than or equal to the assistance judgment start distance Dth, and the lane in which the vehicle is traveling is not a right-turn-only lane.

[0084] Thereafter, the prohibition condition is satisfied for a predetermined time Tth after the deceleration assistance condition is satisfied as long as the right turn indicator 40R continues to be operated, and is no longer satisfied once the predetermined time Tth has elapsed.

[0085] In addition, if the right turn indicator 40R is stopped before the predetermined time Tth has elapsed since the deceleration support condition was satisfied, the prohibition condition is not satisfied at that point. Therefore, when the vehicle 100 changes lanes to the right adjacent lane, and the right turn indicator 40R that was activated during the lane change continues to be activated even after the lane change is completed, and the target point distance D is equal to or less than the support determination start distance Dth, the deceleration support condition is satisfied. However, in this case, since the vehicle is traveling in a straight-ahead / left-turn lane, if the prohibition condition is satisfied, and then the right turn indicator 40R is stopped before the predetermined time Tth has elapsed and the prohibition condition is not satisfied, and then the right turn indicator 40R is activated again, the prohibition condition is not satisfied, but the deceleration support condition is satisfied, so the start of the deceleration support control is permitted and the deceleration support control is executed.

[0086] Also, when the predetermined time Tth has elapsed before the vehicle 100 reaches the deceleration support target point 300 and the prohibition condition has become unsatisfied, the deceleration support condition is satisfied, and therefore the start of deceleration support control is permitted and the deceleration support control is executed regardless of the target point distance D at that time. In this regard, the deceleration support condition may be unsatisfied if the vehicle 100 is approaching the deceleration support target point 300 at the time when the predetermined time Tth has elapsed before the vehicle 100 reaches the deceleration support target point 300 and the prohibition condition has become unsatisfied. In other words, the deceleration support condition may be unsatisfied when the target point distance D is equal to or less than a predetermined distance (deceleration support non-execution distance) at the time when the predetermined time Tth has elapsed before the vehicle 100 reaches the deceleration support target point 300 and the prohibition condition has become unsatisfied. The deceleration support non-execution distance is shorter than the assistance determination start distance Dth.

[0087] In addition, if the operation of the left turn indicator 40L is stopped and the prohibition condition is no longer satisfied before a predetermined time Tth has elapsed since the deceleration support condition is satisfied, the deceleration support condition is also no longer satisfied because the operation of the left turn indicator 40L has been stopped, and deceleration support control is not executed.

[0088] To summarize the above, in this example, the prohibition condition is met when the vehicle 100 changes lanes to an adjacent lane, and the turn indicator 40 that was activated during the lane change continues to be activated after the lane change is completed, the target point distance D is less than or equal to the assistance judgment start distance Dth, and the permitted turning direction of the vehicle's lane is not only the turning direction indicated by the turn indicator 40 that was activated during the lane change.

[0089] According to this, as shown in Fig. 10, when the vehicle 100 changes lanes to the adjacent lane on the left and the left direction indicator 40L that was activated during the lane change continues to be activated after the lane change is completed, but since the lane in which the vehicle is traveling is a straight-ahead / left-turn lane, it is unclear whether the operator of the vehicle 100 intends to turn the vehicle 100 left, even if the left direction indicator 40L continues to be activated, the start of the deceleration support control is prohibited and the deceleration support control is not executed until the predetermined time Tth has elapsed. If the left direction indicator 40L continues to be activated even after the predetermined time Tth has elapsed, it is highly likely that the operator of the vehicle 100 intends to turn the vehicle 100 left, so the start of the deceleration support control is permitted and the deceleration support control is executed.

[0090] On the other hand, as shown in FIG. 11, when vehicle 100 changes lanes to the adjacent lane on the left, and the left turn indicator 40L that was activated during the lane change continues to be activated even after the lane change is completed, the lane in which the vehicle is traveling is a left-turn-only lane, and it is highly likely that the operator of vehicle 100 intends to turn vehicle 100 left, the start of deceleration assistance control is permitted and deceleration assistance control is executed.

[0091] Furthermore, as shown in FIG. 12, when the vehicle 100 changes lanes to the adjacent lane on the left, and the left turn indicator 40L that was activated during the lane change continues to be activated even after the lane change is completed, and the lane in which the vehicle is traveling is a straight-through / left-turn lane, the start of deceleration assist control is prohibited and deceleration assist control is not executed. Even if the left turn indicator 40L is temporarily stopped and then activated again, and it is highly likely that the operator of the vehicle 100 intends to turn the vehicle 100 left, the start of deceleration assist control is permitted and deceleration assist control is executed.

[0092] Therefore, according to the vehicle control device 10, it is possible to appropriately execute the deceleration assistance control, and therefore it is possible to appropriately provide the deceleration assistance to the operator.

[0093] The vehicle control device 10 may be configured to determine whether or not the vehicle 100 has changed lanes based on the surrounding detection information IS (particularly, image data and / or vehicle position information), but in this example, it determines whether or not the vehicle 100 has changed lanes based on the state of the turn indicator 40, the steering angle θ, and the yaw rate ω.

[0094] In the above example, the vehicle control device 10 is configured not to execute deceleration support control if the prohibition condition is satisfied when the deceleration support condition is satisfied, but the vehicle control device 10 may be configured to execute deceleration support control by setting the deceleration support level (i.e., the level at which the deceleration of the vehicle 100 is supported by the deceleration support control) lower than the normal deceleration support level (i.e., the deceleration support level when the prohibition condition is not satisfied when the deceleration support condition is satisfied).

[0095] In other words, the vehicle control device 10 may be configured to execute deceleration support control with the deceleration support level set to a first level when the deceleration support condition is satisfied and the prohibition condition that the direction indicator 40 that was activated when the vehicle 100 changed lanes continues to be activated is not satisfied, and execute deceleration support control with the deceleration support level set to a second level lower than the first level for a predetermined time Tth after the deceleration support condition is satisfied and the prohibition condition is satisfied. The second level includes a deceleration support level where deceleration support control is not executed.

[0096] In other words, when the deceleration assistance condition is satisfied and a prohibition condition is satisfied that the turn indicator 40 that was activated when the vehicle 100 changed lanes continues to be activated, the vehicle control device 10 may be configured to execute deceleration assistance control with a lower deceleration assistance level for a predetermined time Tth compared to when the prohibition condition is not satisfied.

[0097] In addition, a method of lowering the deceleration assistance level can be, for example, a method in which, when the first level deceleration assistance control is a control that executes both automatic deceleration control and deceleration notification control, the second level deceleration assistance control is a control that executes only one of the automatic deceleration control and the deceleration notification control.

[0098] Furthermore, when the deceleration assistance condition is satisfied, even if the prohibition condition is satisfied, if the only turning direction permitted in the lane in which the vehicle 100 is traveling is the turning direction of the vehicle 100 indicated by the turn indicator 40 that is activated, the vehicle control device 10 may be configured to execute deceleration assistance control with the deceleration assistance level set to a third level higher than the second level.

[0099] Furthermore, the vehicle control device 10 may be configured to execute deceleration support control with the deceleration support level set to a fourth level higher than the second level when the turn signal 40 is activated and the deceleration support condition is met after the target point distance D becomes equal to or less than a predetermined distance (assistance judgment start distance Dth).

[0100] Furthermore, in this example, after the vehicle control device 10 starts the deceleration assist control, even if conditions that prohibit the start of the deceleration assist control, including the prohibition conditions described above, are met, the vehicle control device 10 does not stop the deceleration assist control, but continues to execute the deceleration assist control as is.

[0101] <Specific operation of the vehicle deceleration support device> Next, a specific operation of the vehicle control device 10 will be described. The vehicle control device 10 executes the routine shown in Fig. 13 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle control device 10 starts processing from step S1300 of the routine shown in Fig. 13, advances the processing to step S1305, and determines whether or not the deceleration support target point 300 has been detected.

[0102] If the vehicle control device 10 judges "Yes" in step S1305, the process proceeds to step S1310, where it judges whether or not the deceleration support condition is satisfied. If the vehicle control device 10 judges "Yes" in step S1310, the process proceeds to step S1315, where it judges whether or not the prohibition condition is satisfied. If the vehicle control device 10 judges "Yes" in step S1315, the process proceeds directly to step S1395, where the process of this routine is temporarily terminated. That is, in this case, the vehicle control device 10 does not execute deceleration support control.

[0103] On the other hand, if the vehicle control device 10 determines "No" in step S1315, the process proceeds to step S1320 and permits the start of deceleration support control. In this case, the vehicle control device 10 executes deceleration support control. Next, the vehicle control device 10 proceeds to step S1395 and temporarily ends the process of this routine.

[0104] Furthermore, if the vehicle control device 10 determines "No" in step S1305 or step S1310, the process proceeds to step S1325, and prohibits the start of deceleration support control. In this case, if the vehicle control device 10 is not executing deceleration support control, the vehicle control device 10 does not start deceleration support control, but if deceleration support control is already being executed, the vehicle control device 10 continues to execute the deceleration support control. Next, the vehicle control device 10 proceeds to step S1395, and temporarily ends the processing of this routine.

[0105] The specific operation of the vehicle control device 10 has been described above.

[0106] 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]

[0107] 10...vehicle control device, 20...driving device, 30...braking device, 40...direction indicator, 50...notification device, 61...winker lever, 70...peripheral information detection device, 90...ECU, 100...vehicle, 300...deceleration support target point, 301...intersection

Claims

1. A vehicle deceleration support device that executes deceleration support control to support deceleration of a vehicle before the vehicle reaches a deceleration support target point, which is a point where the vehicle can turn left or right, comprising: When a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is not satisfied that the direction indicator that was activated when the vehicle changed lanes continues to be activated, the deceleration support control is executed with a deceleration support level, which is a level that supports deceleration of the vehicle, set to a first level; When the first condition is satisfied, and the second condition is also satisfied, the deceleration support control is executed with the deceleration support level set to a second level lower than the first level for a predetermined time period after the first condition is satisfied. It is configured as follows: Vehicle deceleration assistance device.

2. 2. The vehicle deceleration support device according to claim 1, When the first condition is satisfied, even if the second condition is satisfied, when the only turning direction permitted in the lane in which the vehicle is traveling is the turning direction of the vehicle indicated by the turn indicator in operation, the deceleration assistance control is executed with the deceleration assistance level set to a third level higher than the second level. Vehicle deceleration assistance device.

3. 2. The vehicle deceleration support device according to claim 1, When the direction indicator is operated again and the first condition is satisfied after the target point distance becomes equal to or shorter than the predetermined distance, the deceleration support control is executed with the deceleration support level set to a fourth level higher than the second level. Vehicle deceleration assistance device.

4. 2. The vehicle deceleration support device according to claim 1, After the predetermined time has elapsed since the first condition is satisfied, even if the first condition is satisfied and the second condition is satisfied, the deceleration support control is executed with the deceleration support level set to the first level. Vehicle deceleration assistance device.

5. A vehicle deceleration support device that executes deceleration support control to support deceleration of a vehicle before the vehicle reaches a deceleration support target point, which is a point where the vehicle can turn left or right, comprising: When a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is satisfied that the direction indicator that was activated when the vehicle changed lanes continues to be activated, the deceleration support control is executed with a lower deceleration support level, which is a level that supports deceleration of the vehicle, for a predetermined time period, compared to when the second condition is not satisfied. Vehicle deceleration assistance device.

6. A vehicle deceleration support method for performing deceleration support control to support deceleration of a vehicle before the vehicle reaches a deceleration support target point, which is a point where the vehicle can turn left or right, comprising: When a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is not satisfied that the direction indicator that was activated when the vehicle changed lanes continues to be activated, the deceleration support control is executed with a deceleration support level, which is a level that supports deceleration of the vehicle, set to a first level; When the first condition is satisfied, and the second condition is also satisfied, the deceleration support control is executed with the deceleration support level set to a second level lower than the first level for a predetermined time period after the first condition is satisfied. Vehicle deceleration assistance method.

7. A vehicle deceleration support program that executes deceleration support control to support deceleration of a vehicle before the vehicle reaches a deceleration support target point, which is a point where the vehicle can turn left or right, comprising: When a first condition is satisfied that a target point distance, which is a distance between the vehicle and the deceleration support target point, is equal to or shorter than a predetermined distance and a direction indicator of the vehicle is activated, and when a second condition is not satisfied that the direction indicator that was activated when the vehicle changed lanes continues to be activated, the deceleration support control is executed with a deceleration support level, which is a level that supports deceleration of the vehicle, set to a first level; When the first condition is satisfied, and the second condition is also satisfied, the deceleration support control is executed with the deceleration support level set to a second level lower than the first level for a predetermined time period after the first condition is satisfied. A vehicle deceleration assistance program configured to:

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