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 control when a vehicle approaches a point such as an intersection where the same may turn right or left.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 first distance is met and a direction indicator 40 of the vehicle is activated and a second condition that the distance to object point is equal to or more than a second distance which is shorter than the first distance is met, a vehicle deceleration support device 10 executes deceleration support control with a deceleration support level set to a first level. When the first condition is met and the direction indicator is activated but the second condition is not 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.SELECTED DRAWING: Figure 5

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 driver in decelerating the vehicle by autonomously decelerating the vehicle when the vehicle approaches an intersection. One such vehicle deceleration support device is known that, when the vehicle approaches an intersection, a turn signal of the vehicle is activated and the turning direction of the vehicle indicated by the turn signal matches the permitted travel direction of the vehicle's travel lane, thereby determining that the vehicle will turn left or right at the intersection and performing deceleration support control (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] Incidentally, when the vehicle approaches an intersection, the driver may activate the turn signal. At this time, if the turning direction of the vehicle indicated by the activated turn signal coincides with the permitted travel direction of the vehicle's travel lane, the deceleration support condition is satisfied, and thus the deceleration support control is executed according to the conventional vehicle driving support device. However, the driver may activate the turn signal because he or she intends to pass the intersection by going straight after changing lanes, and may not necessarily activate the turn signal to turn the vehicle left or right at the intersection. In such a case, if the deceleration support control is executed to decelerate the vehicle, it may be difficult for the vehicle to pass the intersection by going straight. In this way, it may be inconvenient if the deceleration support control is executed just because the deceleration support condition is satisfied.

[0005] An object of the present invention is to provide a vehicle deceleration assistance device that can appropriately execute deceleration assistance control when the vehicle approaches a point such as an intersection where a left or right turn is possible.

[0006] The vehicle deceleration support device according to the present invention executes deceleration support control to support 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 at which deceleration of the vehicle is supported by the deceleration support control, set to a first level when a first condition is satisfied that a target point distance, which is a distance from the vehicle to the deceleration support target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is activated, and a second condition is satisfied that the target point distance is equal to or longer than a second distance shorter than the first distance. On the other hand, the vehicle deceleration support device according to the present invention is configured to execute the deceleration support control with the deceleration support level set to a second level lower than the first level when the first condition is satisfied and the direction indicator is activated, and the second condition is not satisfied.

[0007] As mentioned above, when the vehicle approaches a deceleration assistance target point, the vehicle operator may activate the turn signal, which may cause inconvenience if deceleration assistance control is executed at the normal deceleration assistance level.

[0008] According to the vehicle deceleration support device of the present invention, when the vehicle operator activates the turn signal and the vehicle is approaching the deceleration support target point, i.e., when the target point distance is smaller than the second distance, the second condition is not met, and therefore deceleration support control is executed at a low deceleration support level (second level). On the other hand, when the vehicle operator activates the turn signal and the vehicle is not approaching the deceleration support target point, i.e., when the target point distance is equal to or smaller than the first distance and equal to or larger than the second distance, the second condition is met, and therefore deceleration support control is executed at a high deceleration support level (first level). Therefore, deceleration support control is executed appropriately when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible.

[0009] Furthermore, the vehicle deceleration assistance device of the present invention may be configured to increase the second distance when the first condition is satisfied and the traffic light in front of the vehicle is flashing a yellow light when the turn signal is activated.

[0010] As described above, when approaching a deceleration support target point, the vehicle operator may activate the turn signal in order to pass the deceleration support target point by going straight after changing lanes, etc., and if the traffic light is yellow at this time, the vehicle operator will try to pass the deceleration support target point without decelerating the vehicle. In this situation, it would be inconvenient if deceleration support control were executed at a high deceleration support level.

[0011] According to the vehicle deceleration support device of the present invention, if the first condition is satisfied and the traffic light is lit yellow when the turn signal is activated, the second distance is increased. Therefore, even if the vehicle is relatively far from the deceleration support target point, the second condition is not satisfied. In other words, if the traffic light is lit yellow, the second condition is less likely to be satisfied, and therefore deceleration support control at a high deceleration support level (first level) is less likely to be executed. Therefore, deceleration support control is appropriately executed when the vehicle approaches a point (deceleration support target point), such as an intersection, where a left or right turn is possible.

[0012] In addition, the vehicle deceleration assistance device of the present invention may be configured to increase the second distance when the first condition is satisfied and the turn signal is activated and a parking lot entrance is beyond the deceleration assistance target point.

[0013] When the deceleration support target point is beyond the entrance to a parking lot and the vehicle operator is about to enter the parking lot, the vehicle operator often turns on the turn signal after the vehicle approaches the deceleration support target point. In this case, it would be inconvenient if deceleration support control were to be executed at a high deceleration support level.

[0014] According to the vehicle deceleration support device of the present invention, when the first condition is satisfied and the turn signal is activated, if there is a parking lot entrance beyond the deceleration support target point, the second distance is increased. Therefore, even if the vehicle is relatively far from the deceleration support target point, the second condition is not satisfied. In other words, if there is a parking lot entrance beyond the deceleration support target point, the second condition is less likely to be satisfied, and therefore deceleration support control at a high deceleration support level (first level) is less likely to be executed. Therefore, deceleration support control is appropriately executed when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible.

[0015] 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 third level lower than the first level when the turn signal is activated when the first condition is not satisfied.

[0016] When the vehicle operator is entering a parking lot near a deceleration support target point, the vehicle operator often activates the turn signal from a location far from the deceleration support target point. In this case, it is inconvenient if deceleration support control is executed at a high deceleration support level.

[0017] According to the vehicle deceleration support device of the present invention, when the turn signal is activated far from the deceleration support target point, that is, when the first condition is not satisfied, deceleration support control is performed at a low deceleration support level (third level) even if the turn signal is activated. Therefore, when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible, deceleration support control is appropriately performed.

[0018] Furthermore, the vehicle deceleration assistance device according to the present invention may be configured to make the first distance larger when the traveling speed of the vehicle is high than when the traveling speed of the vehicle is low.

[0019] When approaching a deceleration assistance target point, if the vehicle's traveling speed is high, the vehicle operator tends to start decelerating the vehicle at an earlier timing than if the vehicle's traveling speed is low.

[0020] According to the vehicle deceleration support device of the present invention, when the vehicle's traveling speed is high, the first distance is made larger than when the vehicle's traveling speed is low. Therefore, when the vehicle's traveling speed is high, the first condition is met at the time when the vehicle is traveling at a point away from the deceleration support target point. This increases the possibility that deceleration support control will be started at an early timing. Therefore, deceleration support control is appropriately executed when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible.

[0021] A vehicle deceleration support method according to the present invention is a method for executing deceleration support control to support 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 method according to the present invention includes the steps of: executing the deceleration support control with a deceleration support level, which is a level at which deceleration of the vehicle is supported by the deceleration support control, set to a first level when a first condition is satisfied that a target point distance, which is a distance from the vehicle to the deceleration support target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is activated, and executing the deceleration support control with the deceleration support level set to a second level lower than the first level when the first condition is satisfied and the direction indicator is activated, but the second condition is not satisfied.

[0022] According to the vehicle deceleration support method of the present invention, for the same reasons as described above, deceleration support control is appropriately executed when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible.

[0023] A vehicle deceleration assistance program according to the present invention is a program for executing deceleration assistance control that assists 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. The vehicle deceleration assistance program according to the present invention is configured to execute the deceleration assistance control with a deceleration assistance level, which is a level at which deceleration of the vehicle is supported by the deceleration assistance control, set to a first level when a first condition is satisfied that a target point distance, which is a distance from the vehicle to the deceleration assistance target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is activated, and to execute the deceleration assistance control with the deceleration assistance level set to a second level lower than the first level when the first condition is satisfied and the direction indicator is activated, but the second condition is not satisfied.

[0024] According to the vehicle deceleration support program of the present invention, for the same reasons as described above, deceleration support control is appropriately executed when the vehicle approaches a point (deceleration support target point) such as an intersection where a left or right turn is possible.

[0025] 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]

[0026] [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 intersections and the like that are target points for deceleration support. [Figure 4] FIG. 4 is a diagram showing a situation where there is a parking lot just before an intersection, which is a target point for deceleration support. [Diagram 5] FIG. 5 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

[0027] 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".

[0028] 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.

[0029] 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.

[0030] The ECU 90 is electrically connected to the drive device 20, the braking device 30, the direction indicator 40, the notification device 50, a winker lever 61, a vehicle speed detection device 62, and a surrounding information detection device 70.

[0031] <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.

[0032] <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.

[0033] <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.

[0034] 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.

[0035] In this example, the driver of the vehicle 100 operates the turn signal lever 61 to activate or deactivate the direction indicator 40.

[0036] 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).

[0037] <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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] <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.

[0043] <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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In addition, the surrounding information detection device 70 may be configured to acquire road information wirelessly transmitted from equipment installed on the side of the road as surrounding detection information IS, or may be configured to acquire a signal transmitted from a mobile terminal carried by a pedestrian as surrounding detection information IS.

[0048] <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 of the vehicle 100 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 such as an intersection where the vehicle 100 can turn left or right.

[0049] In this example, the deceleration assistance control includes at least one of automatic deceleration control and deceleration notification control.

[0050] The automatic deceleration control is a control for autonomously decelerating the vehicle 100 so that the vehicle speed V becomes equal to or lower than a predetermined speed when the vehicle 100 reaches a deceleration support target point such as an intersection. Therefore, when the deceleration support control is the automatic deceleration control, the vehicle control device 10 is one of the devices for performing automatic or autonomous driving of the vehicle 100.

[0051] 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.

[0052] The deceleration notification control is a control for providing a notification to the operator of the vehicle 100 by the notification device 50 that there is a possibility that a person may enter the host vehicle's driving lane from a blind spot in front of the vehicle 100. More specifically, the deceleration notification control is a control for displaying an image on the display device 51 to notify the operator of the vehicle 100 that there is a possibility that a person may enter the host vehicle's driving lane from a blind spot in front of the vehicle 100, and for outputting a sound from the audio device 52 to notify the operator of the vehicle 100 that there is a possibility that a person may enter the host vehicle's driving lane from a blind spot in front of the vehicle 100.

[0053] The host vehicle lane is the lane in which the vehicle 100 is traveling.

[0054] Furthermore, the vehicle control device 10 detects objects ahead of the vehicle 100 and pedestrians hidden behind the objects based on the surrounding detection information IS and / or a known method. In this example, the objects detected by the vehicle control device 10 are vehicles and structures ahead of the vehicle 100. The structures are buildings, signs, etc.

[0055] <Detection of deceleration support points> 3, the vehicle control device 10 continuously detects deceleration support target points 300 while the vehicle 100 is traveling. The deceleration support target points 300 are points where the vehicle 100 may turn right or left, such as an intersection 301 as shown in FIG.

[0056] The deceleration support target point 300 detected by the vehicle control device 10 is a deceleration support target point 300 such as an intersection ahead of the vehicle 100. The vehicle control device 10 detects the deceleration support target point 300 based on the surrounding detection information IS.

[0057] <Getting distance to target point> Furthermore, while the deceleration support target point 300 is being detected, the vehicle control device 10 continuously acquires the target point distance D. The target point distance D is the distance from the vehicle 100 to the deceleration support target point 300. In this example, the target point distance D is the distance from the vehicle 100 to a stop line 302 provided in the host vehicle's driving lane just before the deceleration support target point 300, as shown in FIG. 3, but may be the distance from the vehicle 100 to a center point of the deceleration support target point 300.

[0058] The vehicle control device 10 acquires the target point distance D based on the surroundings detection information IS.

[0059] <Determining whether the support decision start conditions are met> Furthermore, the vehicle control device 10 determines whether or not an assistance determination start condition is satisfied while the deceleration assistance target point 300 is being detected. The assistance determination start condition (first condition) is a condition that the target point distance D is equal to or shorter than a predetermined distance (assistance determination start distance D1).

[0060] In this example, the assistance judgment start distance D1 (first distance) is set as a reference distance determined based on data on the target point distance D at which the operator of the vehicle 100 or a standard general operator begins to decelerate the vehicle 100 when the vehicle 100 approaches the deceleration assistance target point 300 at a predetermined driving speed, and the reference distance is set to a distance that is increased the greater the vehicle speed V is than the predetermined driving speed, and decreased the greater the vehicle speed V is than the predetermined driving speed.

[0061] <Determining whether deceleration support conditions are met> When the vehicle control device 10 determines that the assistance determination start condition is satisfied, the vehicle control device 10 determines whether or not the deceleration assistance condition is satisfied. In this example, the deceleration assistance condition is a condition that the direction indicator 40 is activated. Therefore, the deceleration assistance condition can also be said to be a condition that the target point distance D is equal to or less than the assistance determination start distance D1 and the direction indicator 40 is activated.

[0062] <Determination of whether permission conditions are met> When the vehicle 100 approaches the deceleration support target point 300, the operator of the vehicle 100 may activate the turn indicator 40. At this time, the operator may activate the turn indicator 40 because he or she intends to pass the deceleration support target point 300 by going straight after changing lanes, and may not necessarily activate the turn indicator 40 to make the vehicle 100 turn left or right at the deceleration support target point 300. In such a situation, if the deceleration support control is executed and the vehicle 100 is decelerated, there is a possibility that the vehicle 100 may be prevented from passing the deceleration support target point 300 by going straight. In this way, it may be inconvenient if the deceleration support control is executed even if the deceleration support condition is satisfied.

[0063] Therefore, the vehicle control device 10 judges whether or not the permission condition is satisfied while the deceleration support target point 300 is detected. The permission condition (second condition) is a condition that the target point distance D is equal to or greater than a predetermined distance (deceleration support prohibited distance D2). The deceleration support prohibited distance D2 (second distance) is shorter than the support judgment start distance D1. In this example, the deceleration support prohibited distance D2 is set to a longer distance as the host vehicle speed V is higher.

[0064] <Execution of deceleration support control> When the deceleration support conditions are satisfied and the permission conditions are satisfied, the vehicle control device 10 permits the start of deceleration support control and executes the deceleration support control. On the other hand, when the deceleration support conditions are satisfied but the permission conditions are not satisfied, the vehicle control device 10 prohibits the start of deceleration support control and does not execute the deceleration support control.

[0065] Of course, if the deceleration support condition is not satisfied, the vehicle control device 10 does not execute the deceleration support control. In other words, even if the support determination start condition is satisfied, if the direction indicator 40 is not operated, the vehicle control device 10 does not execute the deceleration support control.

[0066] Moreover, when the assistance determination start condition is not satisfied, the vehicle control device 10 does not execute the deceleration assistance control. That is, when the target point distance D is greater than the assistance determination start distance D1, the vehicle control device 10 does not execute the deceleration assistance control regardless of whether the direction indicator 40 is activated or not.

[0067] <Effects> According to the vehicle control device 10, when the operator of the vehicle 100 activates the turn indicator 40, if the vehicle 100 is approaching the deceleration support target point 300, i.e., if the target point distance D is smaller than the deceleration support prohibition distance D2, the permission condition is not met, and therefore the deceleration support control is not executed. On the other hand, when the operator of the vehicle 100 activates the turn indicator 40, if the vehicle 100 is not approaching the deceleration support target point 300, i.e., if the target point distance D is equal to or smaller than the support determination start distance D1 and equal to or larger than the deceleration support prohibition distance D2, the permission condition is met, and therefore the deceleration support control is executed. For this reason, the deceleration support control is appropriately executed when the vehicle 100 approaches a point (deceleration support target point 300) such as an intersection 301 where a left turn or a right turn is possible.

[0068] 4, when an entrance 304 of a parking lot 303 is located just before the deceleration support target point 300 and the operator of the vehicle 100 is about to enter the parking lot 303, the operator of the vehicle 100 often activates the turn signal 40 from a location far from the deceleration support target point 300. In this case, it would be inconvenient if deceleration support control were to be executed.

[0069] According to the vehicle control device 10, when the direction indicator 40 is operated far from the deceleration support target point 300, that is, when the support determination start condition is not satisfied, deceleration support control is not performed even if the direction indicator 40 is operated. Therefore, deceleration support control is appropriately performed when the vehicle 100 approaches a point (deceleration support target point 300) such as an intersection 301 where a left or right turn is possible.

[0070] <Setting the deceleration support prohibition distance> Incidentally, when approaching the deceleration support target point 300, the operator of the vehicle 100 may activate the turn signal 40 in order to pass the deceleration support target point 300 by going straight after changing lanes, and if the traffic light 305 is lit yellow at this time, the operator of the vehicle 100 will try to pass the deceleration support target point 300 without decelerating the vehicle 100. In this situation, it would be inconvenient if deceleration support control were to be executed.

[0071] Therefore, in this example, when the deceleration support condition is satisfied and the traffic light 305 is illuminating a yellow signal, the vehicle control device 10 increases the deceleration support prohibited distance D2. At this time, the vehicle control device 10 may increase the deceleration support prohibited distance D2 by a fixed value, may increase the deceleration support prohibited distance D2 so that the deceleration support prohibited distance D2 is greater when the host vehicle speed V is greater than when the host vehicle speed V is smaller, or may increase the deceleration support prohibited distance D2 so that the deceleration support prohibited distance D2 increases as the host vehicle speed V increases.

[0072] According to this, even if the vehicle 100 is relatively far from the deceleration support target point 300, the permission condition is not satisfied. In other words, when the traffic light 305 is lit with a yellow light, the permission condition is less likely to be satisfied, and therefore the deceleration support control is less likely to be executed. Therefore, when the vehicle 100 approaches a point (deceleration support target point 300) such as an intersection 301 where a left or right turn is possible, the deceleration support control is appropriately executed.

[0073] The traffic light 305 is a traffic light ahead of the vehicle 100, and regulates the progress of the vehicle 100. The vehicle control device 10 detects the traffic light 305 based on the surrounding detection information IS, and also identifies whether the traffic light 305 is illuminating a red light, a green light, or a yellow light, based on the surrounding detection information IS.

[0074] In addition, when the deceleration assistance control is only deceleration notification control, the vehicle control device 10 may be configured not to increase the deceleration assistance prohibition distance D2 even if the traffic light 305 is lit yellow when the deceleration assistance condition is met.

[0075] Incidentally, when an entrance 304 of a parking lot 303 is located beyond the deceleration support target point 300 and the operator of the vehicle 100 is about to enter the parking lot 303, the operator of the vehicle 100 often activates the turn signal 40 after the vehicle 100 approaches the deceleration support target point 300. At this time, it would be inconvenient if deceleration support control were to be executed.

[0076] Therefore, in this example, the vehicle control device 10 increases the deceleration support prohibited distance D2 when the entrance 304 of the parking lot 303 is beyond the deceleration support target point 300. At this time, the vehicle control device 10 may increase the deceleration support prohibited distance D2 by a fixed value, may increase the deceleration support prohibited distance D2 so that the deceleration support prohibited distance D2 is greater when the host vehicle speed V is high compared to when the host vehicle speed V is low, or may increase the deceleration support prohibited distance D2 so that the deceleration support prohibited distance D2 increases as the host vehicle speed V increases.

[0077] The vehicle control device 10 may be configured to increase the deceleration support prohibition distance D2 only when the parking lot 303 is located beyond the deceleration support target point 300 and the left turn signal 40L is activated, rather than increasing the deceleration support prohibition distance D2 when the entrance 304 of the parking lot 303 is located beyond the deceleration support target point 300. Alternatively, the vehicle control device 10 may be configured to increase the deceleration support prohibition distance D2 only when the parking lot 303 is located beyond the deceleration support target point 300, the entrance 304 of the parking lot 303 is located on the left side of the host vehicle's driving lane, and the left turn signal 40L is activated.

[0078] According to this, when the assistance determination start condition is satisfied and the direction indicator 40 is operated, if the entrance 304 of the parking lot 303 is beyond the deceleration assistance target point 300, the deceleration assistance prohibition distance D2 is increased. Therefore, even if the vehicle 100 is relatively far from the deceleration assistance target point 300, the permission condition is not satisfied. In other words, if the entrance 304 of the parking lot 303 is beyond the deceleration assistance target point 300, the permission condition is less likely to be satisfied, and therefore, the deceleration assistance control is less likely to be executed. Therefore, the deceleration assistance control is appropriately executed when the vehicle 100 approaches a point (deceleration assistance target point 300) such as an intersection 301 where a left or right turn is possible.

[0079] The vehicle control device 10 detects the parking lot 303 and its entrance 304 based on the surrounding detection information IS.

[0080] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0081] For example, the vehicle control device 10 may be configured to execute deceleration assistance control when both the deceleration assistance condition and the permission condition are satisfied, but a prohibition condition related to the permitted direction of travel is not satisfied, and to prohibit the start of deceleration assistance control and not execute deceleration assistance control when the prohibition condition is satisfied.

[0082] The prohibition condition is met when the left turn indicator 40L is activated and the permitted travel direction of the vehicle's lane does not include a left turn direction. Therefore, the prohibition condition is not met when the left turn indicator 40L is activated and the permitted travel direction of the vehicle's lane includes a left turn direction. The permitted travel direction is the direction in which the vehicle is permitted to travel.

[0083] In other words, the prohibition condition is met when the lane in which the vehicle is traveling is a straight-through lane only when the left turn indicator 40L is activated, or when the lane in which the vehicle is traveling is a straight-through / right-turn lane only when the left turn indicator 40L is activated, or when the lane in which the vehicle is traveling is a right-turn-only lane only when the left turn indicator 40L is activated. Therefore, the prohibition condition is not met when the lane in which the vehicle is traveling is a straight-through / left-turn lane only when the left turn indicator 40L is activated, or when the lane in which the vehicle is traveling is a left-turn-only lane only when the left turn indicator 40L is activated.

[0084] In other words, the prohibition condition is met when the lane in which the vehicle is traveling is not a left turn permitted lane when the left turn indicator 40L is operated, and is met when the lane in which the vehicle is traveling is a left turn permitted lane when the left turn indicator 40L is operated.

[0085] In addition, a straight-only lane is a lane where vehicles are only allowed to go straight, a straight-only / right-turn lane is a lane where vehicles are only allowed to go straight and turn right, and a right-turn-only lane is a lane where vehicles are only allowed to turn right. In addition, a straight-only / left-turn lane is a lane where vehicles are only allowed to go straight and turn left, and a left-turn-only lane is a lane where vehicles are only allowed to turn left. In addition, a left-turn-allowed lane is a lane where vehicles are only allowed to turn left, and is a straight-only / left-turn lane and a left-turn-only lane.

[0086] Furthermore, the prohibition condition is met when the permitted travel direction of the host vehicle's lane does not include a right turn direction when the right turn indicator 40R is activated. Therefore, the prohibition condition is not met when the permitted travel direction of the host vehicle's lane includes a right turn direction when the right turn indicator 40R is activated.

[0087] In other words, the prohibition condition is met when the lane in which the vehicle is traveling is a straight-through lane when the right turn indicator 40R is activated, or when the lane in which the vehicle is traveling is a straight-through / left-turn lane when the right turn indicator 40R is activated, or when the lane in which the vehicle is traveling is a left-turn-only lane when the right turn indicator 40R is activated. Therefore, the prohibition condition is not met when the lane in which the vehicle is traveling is a straight-through / right-turn lane when the right turn indicator 40R is activated, or when the lane in which the vehicle is traveling is a right-turn-only lane when the right turn indicator 40R is activated.

[0088] In other words, the prohibition condition is met when the lane in which the vehicle is traveling is not a lane in which a right turn is permitted when the right turn indicator 40R is operated, and is met when the lane in which the vehicle is traveling is a lane in which a right turn is permitted when the right turn indicator 40R is operated.

[0089] A right-turn permitted lane is a lane where vehicles are permitted to turn right, and includes straight-ahead / right-turn lanes and right-turn-only lanes.

[0090] To summarize the above, the prohibition condition is met when the direction of turning of the vehicle 100 indicated by the turn indicator 40 when the turn indicator 40 is activated is not included in the permitted directions of travel for the lane in which the vehicle is traveling, and is not met when the direction of turning of the vehicle 100 indicated by the turn indicator 40 when the turn indicator 40 is activated is included in the permitted directions of travel for the lane in which the vehicle is traveling.

[0091] The vehicle control device 10 detects road arrow markings based on the surrounding detection information IS, and recognizes the permitted travel direction of the host vehicle's lane based on the road arrow markings. The road arrow markings detected by the vehicle control device 10 are road arrow markings provided in the host vehicle's lane ahead of the vehicle 100.

[0092] In the above example, the vehicle control device 10 is configured not to execute deceleration support control when the deceleration support condition is satisfied but the permission condition is not satisfied. However, 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 both the deceleration support condition and the permission condition are satisfied).

[0093] In other words, the vehicle control device 10 may be configured to execute deceleration support control with a deceleration support level set to a first level when both the deceleration support condition and the permission condition are satisfied, and execute deceleration support control with a deceleration support level set to a second level lower than the first level when the permission condition is not satisfied while the deceleration support condition is satisfied. Note that the second level includes a deceleration support level at which deceleration support control is not executed.

[0094] In other words, when the deceleration assistance condition is satisfied but the permission condition is not satisfied, the vehicle control device 10 may be configured to execute deceleration assistance control with a lower deceleration assistance level compared to when both the deceleration assistance condition and the permission condition are satisfied.

[0095] 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.

[0096] Furthermore, the vehicle control device 10 may be configured to execute deceleration support control with the deceleration support level set to a third level lower than the first level when the target point distance D is greater than the support determination start distance D1.

[0097] 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.

[0098] <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. 5 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle control device 10 starts processing from step S500 of the routine shown in Fig. 5, advances the processing to step S505, and determines whether or not the deceleration support target point 300 has been detected.

[0099] If the vehicle control device 10 judges "Yes" in step S505, the process proceeds to step S510, where it judges whether or not the deceleration support condition is satisfied. If the vehicle control device 10 judges "Yes" in step S510, the process proceeds to step S515, where it judges whether or not the permission condition is satisfied. If the vehicle control device 10 judges "Yes" in step S515, the process proceeds to step S520, where it 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 S595, where it temporarily ends the processing of this routine.

[0100] On the other hand, if the vehicle control device 10 determines "No" in step S515, the process proceeds directly to step S595 and ends the process of this routine for the time being. That is, in this case, the vehicle control device 10 does not execute the deceleration support control.

[0101] Also, if the vehicle control device 10 judges "No" in step S505 or step S510, the process proceeds to step S525, 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 the 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 S595, and temporarily ends the processing of this routine.

[0102] The specific operation of the vehicle control device 10 has been described above. [Explanation of symbols]

[0103] 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 from the vehicle to the deceleration support target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is operated, and a second condition is satisfied that the target point distance is equal to or longer than a second distance shorter than the first distance, the deceleration support control is executed with a deceleration support level, which is a level at which the deceleration of the vehicle is supported by the deceleration support control, set to a first level; When the first condition is satisfied and the direction indicator is operated, if the second condition is not satisfied, the deceleration assistance control is executed with the deceleration assistance level set to a second level lower than the first level. A vehicle deceleration assistance device configured as follows.

2. 2. The vehicle deceleration support device according to claim 1, The second distance is increased when the first condition is satisfied and a traffic light in front of the vehicle is illuminating a yellow light when the turn signal is activated. Vehicle deceleration assistance device.

3. 2. The vehicle deceleration support device according to claim 1, When the first condition is satisfied and the turn signal is activated, if there is a parking lot entrance beyond the deceleration support target point, the second distance is increased. Vehicle deceleration assistance device.

4. The vehicle deceleration support device according to any one of claims 1 to 3, When the direction indicator is operated when the first condition is not satisfied, the deceleration assistance control is executed with the deceleration assistance level set to a third level lower than the first level. Vehicle deceleration assistance device.

5. 5. The vehicle deceleration support device according to claim 4, When the traveling speed of the vehicle is high, the first distance is configured to be larger than when the traveling speed of the vehicle is low. 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 from the vehicle to the deceleration support target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is operated, and a second condition is satisfied that the target point distance is equal to or longer than a second distance shorter than the first distance, the deceleration support control is executed with a deceleration support level, which is a level at which the deceleration of the vehicle is supported by the deceleration support control, set to a first level; When the first condition is satisfied and the direction indicator is operated, if the second condition is not satisfied, the deceleration assistance control is executed with the deceleration assistance level set to a second level lower than the first level. 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, When a first condition is satisfied that a target point distance, which is a distance from the vehicle to the deceleration support target point, is equal to or shorter than a first distance and a direction indicator of the vehicle is operated, and a second condition is satisfied that the target point distance is equal to or longer than a second distance shorter than the first distance, the deceleration support control is executed with a deceleration support level, which is a level at which the deceleration of the vehicle is supported by the deceleration support control, set to a first level; When the first condition is satisfied and the direction indicator is operated, if the second condition is not satisfied, the deceleration assistance control is executed with the deceleration assistance level set to a second level lower than the first level. A vehicle deceleration assistance program configured to:

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