Vehicle

Abstract

To enable an inter-vehicle distance to quickly return to a target inter-vehicle distance, when the inter-vehicle distance temporarily varies from the target inter-vehicle distance during following travelling.SOLUTION: A vehicle is equipped with a control device 6 that controls a vehicle behavior so that operation support or automatic operation is executed. The vehicle has, as travelling modes in which the vehicle travels, a first travelling mode and a second travelling mode in which at least either of an upper limit side and a lower limit side of an allowable range for acceleration at the time of acceleration and deceleration is expanded more than in the first travelling mode. The control device is configured to set the travelling mode to the second travelling mode, when executing following travelling for making an own vehicle follow an object to be followed during the operation support or during the automatic operation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle.

Background Art

[0002] Patent Document 1 discloses a vehicle control device that calculates a target inter-vehicle distance based on the vehicle speed in order to follow a preceding vehicle and performs acceleration / deceleration control of the host vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing following driving in which the host vehicle follows a preceding vehicle, the air resistance of the host vehicle can be reduced. Therefore, the energy consumption (fuel consumption or power consumption) of the host vehicle can be reduced and the cruising range of the host vehicle can be increased. The air resistance reduction effect decreases as the inter-vehicle distance from the preceding vehicle increases. Therefore, if the inter-vehicle distance cannot be quickly returned to the target inter-vehicle distance when the inter-vehicle distance from the preceding vehicle temporarily changes from the target inter-vehicle distance during following driving, there is a possibility that the air resistance reduction effect by following driving cannot be sufficiently obtained.

[0005] The present invention has been made paying attention to such problems, and an object thereof is to enable the inter-vehicle distance to be quickly returned to the target inter-vehicle distance when the inter-vehicle distance temporarily changes from the target inter-vehicle distance during following driving.

Means for Solving the Problems

[0006] In order to solve the above problems, a vehicle according to an aspect of the present invention includes a control device that controls vehicle behavior to perform driving assistance or autonomous driving. As driving modes during vehicle travel, there are a first driving mode and a second driving mode in which at least one of the upper limit side and the lower limit side of the allowable range of acceleration during acceleration and deceleration is larger than that of the first driving mode. The control device is configured to set the driving mode to the second driving mode when performing a following driving in which the host vehicle follows a following object during driving assistance or autonomous driving.

Effect of the Invention

[0007] According to this aspect of the present invention, when the host vehicle follows a following object and travels, the driving mode is set to the second driving mode in which the allowable range of acceleration during acceleration and deceleration is wide. Therefore, when the inter-vehicle distance temporarily changes from the target inter-vehicle distance, relatively strong acceleration and deceleration can be performed, so that the inter-vehicle distance can be quickly returned to the target inter-vehicle distance.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described in detail with reference to the drawings. In the following description, the same reference numerals are assigned to the same components.

[0010] FIG. 1 is a schematic system configuration diagram of a vehicle 100 according to an embodiment of the present invention.

[0011] As shown in FIG. 1, the vehicle 100 according to the present embodiment includes a peripheral information acquisition device 1, a current position detection device 2, a Human Machine Interface (hereinafter referred to as "HMI"), a communication device 4, a vehicle behavior detection device 5, and an electronic control unit 6. The peripheral information acquisition device 1, the current position detection device 2, the HMI 3, the communication device 4, and the vehicle behavior detection device 5 are electrically connected to the electronic control unit 6 via an in-vehicle network compliant with a standard such as CAN (Controller Area Network).

[0012] The peripheral information acquisition device 1 is a device for acquiring information on the surrounding environment of the host vehicle (hereinafter referred to as "vehicle surrounding information"). The vehicle surrounding information acquired by the peripheral information acquisition device 1 is transmitted to the electronic control unit 6 via the in-vehicle network. The peripheral information acquisition device 1 can be composed of a single device or a plurality of devices, and can be composed of, for example, a camera, a LiDAR (Light Detection and Ranging), a millimeter-wave radar sensor, an ultrasonic sensor, etc.

[0013] In the present embodiment, the peripheral information acquisition device 1 includes a camera 11 that captures the surroundings of the host vehicle, a LiDAR 12 that detects an object including other vehicles around the host vehicle using laser light, and a millimeter-wave radar sensor 13 that detects an object around the host vehicle over a longer distance than the LiDAR 12 using radio waves.

[0014] The current position detection device 2 is a device for detecting the current position of the vehicle (for example, the longitude and latitude of the vehicle). Examples of the current position detection device 2 include, but are not limited to, a GNSS receiver that detects the current position based on each satellite radio wave received from a plurality of satellites. The vehicle current position detected by the current position detection device 2 is transmitted to the electronic control unit 6 via the in-vehicle network.

[0015] The HMI3 is an interface for inputting and outputting information between the vehicle 100 and its users (e.g., driver, passengers, external operator of the vehicle, etc.). The HMI3 includes an output device for outputting information provided to the vehicle user, and an input device for the vehicle user to perform various input operations. Examples of the output device include a display, a speaker, a vibration unit, etc. Examples of the input device include a touch panel, operation buttons, operation switches, a microphone, etc. The HMI3 provides the output information received from the electronic control unit 6 via the in-vehicle network to the vehicle user via the output device. Also, the HMI3 transmits the input information input via the input device to the electronic control unit 6 via the in-vehicle network.

[0016] Note that the HMI3 can be pre-installed in the vehicle 100, or the terminal (e.g., smartphone, tablet, personal computer, etc.) owned by the vehicle user can be connected to the electronic control unit 6 by wire or wirelessly to make the terminal function as the HMI3.

[0017] In this embodiment, the electronic control unit 6 can automatically or manually by the vehicle user via the HMI3 set the driving mode of the vehicle 100 to any driving mode so that the vehicle behavior during vehicle driving can be changed. Specifically, in this embodiment, as the driving mode of the vehicle 100, any driving mode can be selected from at least two driving modes, i.e., the first driving mode and the second driving mode.

[0018] The first driving mode is, for example, a driving mode that prioritizes comfort such as riding comfort, and is a driving mode in which the allowable range of acceleration during acceleration and deceleration is limited to a relatively narrow range. The upper limit value (positive value) of the allowable range is the upper limit value of the acceleration allowed during acceleration. The lower limit value (negative value) of the allowable range is the lower limit value of the acceleration allowed during deceleration, or in other words, the upper limit value of the deceleration allowed during deceleration.

[0019] By limiting the allowable range of acceleration during acceleration and deceleration to a narrow range in this way, large accelerations and large decelerations during driving assistance or autonomous driving are prevented, and thus it is possible to suppress deterioration of the ride comfort of the vehicle.

[0020] The second driving mode is, for example, a driving mode that prioritizes acceleration performance, etc., and is a driving mode in which the allowable range of acceleration during acceleration and deceleration is wider than that of the first driving mode.

[0021] As a result, by setting the driving mode to the second driving mode, when the host vehicle is following a preceding vehicle during driving assistance or autonomous driving, even if the preceding vehicle accelerates and the inter-vehicle distance from the preceding vehicle temporarily becomes larger than the target inter-vehicle distance, it is possible to perform a large acceleration to quickly return the inter-vehicle distance to the target inter-vehicle distance. Also, when the preceding vehicle decelerates, it is possible to perform a large deceleration, so the value of the target inter-vehicle distance can be set to a smaller value compared to the first driving mode.

[0022] The communication device 4 is a device for communicating with the outside of the vehicle. The communication device 4 includes a wide-area communication device for communicating with the outside of the vehicle via a wireless communication network, and a short-range communication device for directly communicating between terminals (for example, between vehicles, between roads and vehicles, between pedestrians and vehicles).

[0023] The vehicle behavior detection device 5 detects parameters indicating the behavior of the vehicle 100 (hereinafter referred to as "vehicle behavior information"). The vehicle behavior information detected by the vehicle behavior detection device 5 is transmitted to the electronic control unit 6 via the in-vehicle network. Examples of the vehicle behavior detection device 5 include a vehicle speed sensor, an acceleration sensor, a steering angle sensor, etc., and examples of the vehicle behavior information include the vehicle speed, acceleration, steering angle, etc. detected by these sensors.

[0024] The electronic control unit 6 includes a communication interface (communication I / F) 61, a memory 62, and a processor 63.

[0025] The communication interface 61 includes an interface circuit for connecting the electronic control unit 6 to the in-vehicle network. The electronic control unit 6 is connected to various in-vehicle devices such as the above-described peripheral information acquisition device 1 via this communication interface 61.

[0026] The memory 62 has a storage medium such as an HDD (Hard Disk Drive), an optical recording medium, or a semiconductor memory. The memory 62 stores various computer programs and data executed by the processor 63. The memory 62 also stores data generated by a computer program and data received from various in-vehicle devices via the communication interface 61.

[0027] The processor 63 includes one or more CPUs (Central Processing Unit) and its peripheral circuits. The processor 63 executes various processes based on various computer programs stored in the memory 62.

[0028] For example, during driving assistance or autonomous driving, the processor 63 creates a driving plan for the host vehicle based on vehicle surrounding information and automatically performs driving operations related to acceleration, steering, and braking according to the driving plan, thereby implementing a following driving in which the host vehicle follows the preceding vehicle. Examples of following driving include Adaptive Cruise Control (ACC) in which driving operations related to acceleration and braking are automatically performed so that the inter-vehicle distance from the preceding vehicle is kept constant, and lane changing can be performed in accordance with the lane change of the preceding vehicle while keeping the inter-vehicle distance from the preceding vehicle constant, and platooning in which driving operations related to acceleration, steering, and braking are automatically performed so that the host vehicle can follow the preceding vehicle while tracing the position within the lane of the preceding vehicle.

[0029] As described above, by performing following driving, the air resistance of the host vehicle can be reduced. As a result, the energy consumption (fuel consumption or power consumption) of the host vehicle can be reduced and the cruising range of the host vehicle can be increased. In particular, by following the preceding vehicle while tracing the position within the lane of the preceding vehicle (that is, by performing left and right vehicle behavior control within the lane to follow the preceding vehicle), the air resistance of the host vehicle can be more effectively reduced. And the air resistance reduction effect tends to be higher when the inter-vehicle distance from the preceding vehicle is small than when it is large.

[0030] Therefore, during following driving, it is desirable to set the target inter-vehicle distance from the preceding vehicle to as small a distance as possible. However, the smaller the target inter-vehicle distance from the preceding vehicle, the greater the deceleration must be to avoid a collision when the preceding vehicle decelerates. Also, when the preceding vehicle accelerates and the inter-vehicle distance temporarily becomes larger than the target inter-vehicle distance, it is desirable to quickly accelerate the host vehicle (that is, perform acceleration with a large acceleration) to return the inter-vehicle distance to the target inter-vehicle distance.

[0031] Therefore, when, as in the present embodiment, an arbitrary driving mode can be selected and set from a plurality of driving modes to change the vehicle behavior during driving assistance or autonomous driving, it is desirable to set the driving mode to a driving mode with a wide allowable range of acceleration during acceleration and deceleration during following driving.

[0032] Therefore, in the present embodiment, during following driving, the driving mode is basically set to the second mode. Hereinafter, with reference to FIG. 2, the content of the driving mode setting process executed by the processor 63, and thus the electronic control unit 6, to set the driving mode to the second mode during following driving will be described.

[0033] In step S101, the electronic control unit 6 determines whether or not it is performing following driving during driving assistance or autonomous driving. If the electronic control unit is performing following driving, it proceeds to the process of step S102. On the other hand, if the electronic control unit 6 is not performing following driving, the current process ends.

[0034] In step S102, the electronic control unit 6 determines whether or not the user of the host vehicle has increased the set value of the target inter-vehicle distance from the initial value via the HMI 3. The initial value of the target inter-vehicle distance during following driving is the shortest inter-vehicle distance among the settable inter-vehicle distances. If the set value of the target inter-vehicle distance has been increased from the initial value, the electronic control unit 6 proceeds to the process of step S103. On the other hand, if the set value of the target inter-vehicle distance has not been increased from the initial value, the electronic control unit 6 proceeds to the process of step S104.

[0035] In step S103, the electronic control unit 6 sets the driving mode to the first driving mode. This is because if the set value of the target inter-vehicle distance has been increased from the initial value, it is considered that the user of the vehicle desires to drive with a wider inter-vehicle distance for a more comfortable driving.

[0036] In step S104, the electronic control unit 6 sets the driving mode to the second driving mode.

[0037] The vehicle according to the present embodiment described above includes an electronic control unit 6 (control device) that controls vehicle behavior to perform driving assistance or autonomous driving, and as driving modes during vehicle driving, a first driving mode and a second driving mode in which at least one of the upper limit side and the lower limit side of the allowable range of acceleration during acceleration and deceleration is expanded compared to the first driving mode. And when the electronic control unit 6 performs following driving to make the host vehicle follow a following object during driving assistance or autonomous driving, it is configured to set the driving mode to the second driving mode.

[0038] Thus, according to this embodiment, during the follow - up driving in which the host vehicle follows the preceding vehicle (object to be followed), the driving mode is set to the second driving mode in which the allowable range of acceleration during acceleration and deceleration is wide. Therefore, when the inter - vehicle distance temporarily changes from the target inter - vehicle distance, relatively strong acceleration and deceleration can be performed, so that the inter - vehicle distance can be quickly returned to the target inter - vehicle distance.

[0039] The follow - up driving is, for example, platoon driving in which while maintaining the inter - vehicle distance from the preceding vehicle (object to be followed) at a predetermined target inter - vehicle distance, the host vehicle follows the preceding vehicle while tracing (tracking) the position within the lane of the preceding vehicle. In this embodiment, the target inter - vehicle distance during platoon driving is the shortest inter - vehicle distance among the settable inter - vehicle distances. Thereby, the air resistance of the host vehicle can be more effectively reduced.

[0040] Also, in this embodiment, when the electronic control unit 6 is performing follow - up driving during driving assistance or autonomous driving and the driving mode is set to the second driving mode, if the user of the host vehicle increases the set value of the target inter - vehicle distance via the HMI3 (information input device), the driving mode is configured to be changed to the first driving mode.

[0041] Thereby, when the user of the vehicle desires to drive in a more comfortable manner with a wider inter - vehicle distance, the follow - up driving can be performed with vehicle behavior that conforms to the user's desire.

[0042] As described above, the embodiments of the present invention have been explained. However, the above - described embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above - described embodiments.

[0043] For example, in the above - described embodiment, the computer program executed in the electronic control unit 6 may be provided in a form recorded on a computer - readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0044] In the above-described embodiment, the upper and lower limits of the allowable range of acceleration during acceleration and deceleration in the second driving mode are both expanded compared to the first mode. However, it is sufficient that at least one of the upper and lower limits of the allowable range is expanded compared to the first mode.

[0045] 3 HMI (Information Input Device) 6 Electronic Control Unit (Control Device) 100 Vehicle

Claims

1. A vehicle comprising a control device configured to perform driving assistance or autonomous driving by controlling vehicle behavior, having, as driving modes during vehicle travel, a first driving mode and a second driving mode in which both the upper and lower limits of the allowable range of acceleration during acceleration and deceleration are expanded compared to the first driving mode, wherein the control device is configured to set the driving mode to the second driving mode when performing a following driving in which the host vehicle follows a following object during driving assistance or autonomous driving. Vehicle.

2. The following driving is a driving in which the host vehicle follows the following object while tracing the position within the lane of the following object while maintaining the inter-vehicle distance from the following object at a predetermined target inter-vehicle distance. The vehicle according to claim 1.

3. The target inter-vehicle distance is set to the shortest inter-vehicle distance among the settable inter-vehicle distances. The vehicle according to claim 2.

4. The control device is configured to set the driving mode to the first driving mode when the user of the host vehicle increases the set value of the target inter-vehicle distance via an information input device while performing the following driving during driving assistance or autonomous driving and the driving mode is set to the second driving mode. The vehicle according to claim 2 or claim 3.

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