Change operation support device

Abstract

To provide a change operation support device capable of avoiding a situation where a setting state of driving support control is erroneously set in a case where a driver speaks to change the setting state of the driving support control.SOLUTION: A change operation support device 10 performs voice recognition of an utterance of a driver and determines whether a setting change request for requesting a change of a setting state of driving support control is made through the utterance. When determining that the setting change request is made, the change operation support device uses notification devices 42 and 43 to notify the driver of information on a content of the setting change request and information on approval operation predetermined for the setting change request. When the driver performs the approval operation, the change operation support device changes the setting state of the driving support control in accordance with the setting change request.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a change operation support device that supports a driver in changing the setting state of driving support control.

Background Art

[0002] Vehicles configured to execute driving support control for assisting a driver's driving are known. The driving support control is, for example, cruise control, following control for a preceding vehicle, lane keeping control (LTA: Lane Tracing Assist Control), and autonomous driving control, etc.

[0003] Furthermore, a change operation support device that supports a driver in changing the setting state of driving support control (for example, the target speed in cruise control) is known. For example, one of the conventional change operation support devices (hereinafter referred to as the "conventional device") recognizes a driver's utterance regarding speed by voice, and sets the voice-recognized speed as the target speed of cruise control (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] However, due to misrecognition of voice, the conventional device may change the setting state of driving support control to a setting state different from the driver's intention.

[0006] The present invention has been made to solve the above problems. That is, one of the objects of the present invention is to provide a change operation support device that can avoid the setting state of driving support control being set erroneously when a driver makes an utterance to change the setting state of driving support control.

[0007] A change operation support device according to an aspect of the present invention (hereinafter, may be referred to as "the device of this aspect") is a control device (10) configured to execute the driving support control according to a set state related to the driving support control (ACC, LTA) of a vehicle (VA), an operation device operated by a driver of the vehicle, the operation device (50) used for an operation to change the set state of the driving support control, and a notification device (42, 43) configured to notify information to the driver and includes. The control device is executes voice recognition processing for recognizing speech by the driver (step 802), determines whether a setting change request for requesting a change in the set state of the driving support control is made through the speech (step 803), When it is determined that the setting change request is made via the voice recognition processing (step 803: Yes), the notification device is caused to notify confirmation information including information regarding the content of the setting change request and information regarding an approval operation predetermined for the setting change request (step 904), When the driver performs an operation corresponding to the information regarding the approval operation using the operation device (step 905: Yes), the set state of the driving support control is changed according to the setting change request (step 906) is configured as follows.

[0008] For example, due to misrecognition of the driver's speech, a setting change request different from the driver's intention may be made. In such a case, according to the device of this aspect, since the confirmation information does not match the content spoken by the driver himself / herself, the driver can recognize that the speech has been misrecognized. Therefore, the driver does not perform the approval operation. When the driver does not perform the approval operation, the device of this aspect does not change the set state of the driving support control according to the setting change request. Therefore, it is possible to avoid the set state of the driving support control being erroneously set when a setting change request different from the driver's intention is made due to misrecognition of the driver's speech.

[0009] In one form of the device of this aspect, the operation device includes a plurality of operation units (51, 52, 53, 54, 55, 56, 57). The setting change request includes a plurality of types of requests. The approval operation is an operation on one of the plurality of operation units. Further, the control device is configured to change the operation unit to be operated when the driver performs the approval operation according to the type of the setting change request.

[0010] According to this aspect, since the operation unit to be operated when the driver performs the approval operation differs according to the type of the setting change request, the will of the driver can be confirmed more accurately.

[0011] In one form of the device of this aspect, the control device executes the driving support control when the operating state as the setting state is in the on state, and stops the driving support control when the operating state is in the off state is configured as such. The operation device includes a first operation unit (51) operated to change the operating state from the off state to the on state, and a second operation unit (52) operated to change the operating state from the on state to the off state. The setting change request includes an on request for requesting to change the operating state from the off state to the on state and an off request for requesting to change the operating state from the on state to the off state. When the control device determines that the on request has been made through the voice recognition process, it determines the operation on the first operation unit as the approval operation (step 902), and when the operation on the first operation unit is performed (step 905: Yes), it changes the operating state from the off state to the on state (step 906) is configured as such. Further, when the control device determines that the off request has been made through the voice recognition process, Determine the operation on the second operation unit as the approval operation (step 902), When the operation on the second operation unit is performed (step 905: Yes), change the operating state from the on state to the off state (step 906) It is configured as described above.

[0012] According to this aspect, when a setting change request (on request or off request) different from the driver's intention is made due to misrecognition of the driver's speech, it is possible to avoid the operating state of the driving support control from being erroneously set.

[0013] In one form of the device of this aspect, the control device sets, as the setting state, values of control parameters (Vset, Ttgt) of the support provided by the driving support control, and is configured to execute the driving support control according to the values of the control parameters. The operating device includes a third operation unit (55, 57) operated to increase the value of the control parameter and a fourth operation unit (56, 57) operated to decrease the value of the control parameter. The setting change request includes an increase request for requesting an increase in the value of the control parameter and a decrease request for requesting a decrease in the value of the control parameter. When the control device determines that the increase request has been made through the voice recognition process, Determine the operation on the third operation unit as the approval operation (step 902), When the operation on the third operation unit is performed (step 905: Yes), increase the value of the control parameter according to the increase request (step 906) It is configured as described above. Furthermore, when the control device determines that the decrease request has been made through the voice recognition process, Determine the operation on the fourth operation unit as the approval operation (step 902), When the operation on the fourth operation unit is performed (step 905: Yes), the value of the control parameter is decreased according to the decrease request (step 906). It is configured as follows.

[0014] According to this aspect, when a setting change request (increase request or decrease request) different from the driver's intention is made due to misrecognition of the driver's speech, it is possible to avoid the value of the control parameter from being set incorrectly.

[0015] In one form of the device of this aspect, even when the control device determines that a request other than the off request has been made through the voice recognition process, when the driver performs an operation on the second operation unit before performing the approval operation for the request other than the off request, it is configured to change the operating state from the on state to the off state.

[0016] When an operation on the second operation unit is performed, the driver has the intention to perform a driving operation by himself / herself. According to this aspect, when the driver performs an operation on the second operation unit before performing the approval operation, the driver's intention to change the operating state of the driving support control to the off state can be immediately reflected.

[0017] In one form of the device of this aspect, when the control device determines that a plurality of requests have been made as the setting change request through the voice recognition process, it is configured to determine an operation on one of the plurality of operation units as the approval operation.

[0018] According to this aspect, even when a plurality of requests are made as the setting change request, the driver can approve the plurality of requests by performing an operation on one of the plurality of operation units. Since the driver does not need to operate a plurality of operation units, the possibility that the driver feels bothered can be reduced.

[0019] In one form of the device of this aspect, the control device When the operating state as the setting state is on, the driving support control is executed, and when the operating state is off, the driving support control is stopped. It is configured as described above. The operating device includes a first operation unit (51) operated to change the operating state from the off state to the on state, and a second operation unit (52) operated to change the operating state from the on state to the off state. The setting change request includes an on request for requesting to change the operating state from the off state to the on state and an off request for requesting to change the operating state from the on state to the off state. When the control device determines that the on request has been made through the voice recognition process, it determines the operation on the first operation unit as the approval operation (step 902), and when the operation on the first operation unit is performed (step 905: Yes), it changes the operating state from the off state to the on state (step 906). It is configured as described above. Furthermore, when the control device determines that the off request has been made through the voice recognition process (step 1001: Yes), it changes the operating state from the on state to the off state (step 906) without requesting the approval operation from the driver. It is configured as described above.

[0020] When an off request is made, the driver often wants to perform the driving operation by himself / herself as soon as possible. In such a case, if the driver is required to perform an approval operation, the driver may feel annoyed. According to this aspect, when an off request is made, the operating state of the driving support control is changed to the off state without requesting the approval operation from the driver. Therefore, the possibility that the driver feels annoyed can be reduced.

[0021] In the above description, for the purpose of facilitating the understanding of the present invention, the names and / or reference numerals used in the embodiments are attached in parentheses to the configuration of the invention corresponding to the embodiments described later. However, each component of the present invention is not limited to the embodiments defined by the above reference numerals.

Brief Description of the Drawings

[0022]

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Modes for Carrying Out the Invention

[0023] The change operation support device according to an embodiment of the present invention (hereinafter, may be referred to as "the present device") is applied to the vehicle VA as shown in FIG. 1. The present device includes a driving support ECU 10, an engine ECU 20, and a brake ECU 30. These ECUs are electric control devices (Electric Control Unit) having a microcomputer as a main part, and are connected to be able to transmit and receive information to and from each other via a CAN (Controller Area Network) not shown in the figure.

[0024] In this specification, the microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface (I / F), and the like. For example, the driving support ECU 10 includes a CPU 101, a ROM 102, a RAM 103, a non-volatile memory 104, an interface 105, and the like. The CPU 101 is configured to realize various functions by executing instructions (programs, routines) stored in the ROM 102.

[0025] The driving support ECU 10 is connected to the sensors listed below and is configured to receive detection signals or output signals of those sensors. Note that each sensor may be connected to an ECU other than the driving support ECU 10. In that case, the driving support ECU 10 receives the detection signal or output signal of the sensor from the ECU to which the sensor is connected via the CAN.

[0026] The accelerator pedal operation amount sensor 11 detects the operation amount (accelerator opening) of the accelerator pedal 11a and outputs a signal representing the accelerator pedal operation amount AP. The brake pedal operation amount sensor 12 detects the operation amount of the brake pedal 12a and outputs a signal representing the brake pedal operation amount BP. The vehicle speed sensor 13 detects the traveling speed (vehicle speed) of the vehicle VA and outputs a signal representing the vehicle speed SPD.

[0027] The surrounding sensor 14 is configured to acquire information about the road around the vehicle VA (for example, the driving lane on which the vehicle VA is traveling) and information about the solid objects present on that road. The solid objects represent, for example, moving objects such as automobiles (other vehicles), pedestrians, and bicycles, as well as stationary objects such as guardrails and fences. Hereinafter, these solid objects may be referred to as "object targets". The surrounding sensor 14 includes a radar sensor 14a and a camera sensor 14b.

[0028] The surrounding sensor 14 is configured to determine the presence or absence of an object target and calculate information indicating the relative relationship between the vehicle VA and the object target. The information indicating the relative relationship between the vehicle VA and the object target includes the distance between the vehicle VA and the object target, the azimuth (or position) of the object target with respect to the vehicle VA, and the relative speed between the vehicle VA and the object target, etc. The information obtained from the surrounding sensor 14 (including the information indicating the relative relationship between the vehicle VA and the object target) is referred to as "object target information". The surrounding sensor 14 is configured to output the object target information to the driving support ECU 10.

[0029] The engine ECU 20 is connected to the engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of the throttle valve of the internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is configured to be transmitted to the drive wheels via a transmission (not shown). Therefore, the engine ECU 20 can control the driving force of the vehicle VA and change the acceleration state (acceleration) by controlling the engine actuator 21.

[0030] When the vehicle VA is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either one or both of the "internal combustion engine and electric motor" as the vehicle drive source. Further, when the vehicle VA is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the vehicle drive source.

[0031] The brake ECU 30 is connected to a brake actuator 31 which is a hydraulic control actuator of the brake mechanism 32. The brake actuator 31 is provided in a hydraulic circuit (not shown) between a master cylinder that pressurizes hydraulic oil by the depressing force of the brake pedal 12a and the brake mechanisms 32 provided on the left and right front and rear wheels. The brake actuator 31 adjusts the hydraulic pressure supplied to wheel cylinders built in brake calipers 32b of the brake mechanism 32 according to an instruction from the brake ECU 30. When the wheel cylinders are actuated by the hydraulic pressure, brake pads are pressed against brake disks 32a to generate frictional braking force. Therefore, the brake ECU 30 can control the braking force of the vehicle VA and change the acceleration state (deceleration, i.e., negative acceleration) by controlling the brake actuator 31.

[0032] The driving support ECU 10 is connected to a microphone 41, a display 42, and a speaker 43. The microphone 41 acquires the voice spoken by an occupant (e.g., the driver) of the vehicle VA and outputs the voice data (audio data) to the driving support ECU 10. The display 42 is a multi-information display provided in front of the driver's seat. Note that a head-up display may be adopted as the display 42. The speaker 43 generates a voice corresponding to a voice output command from the driving support ECU 10 when receiving the voice output command. Note that "the display 42 and the speaker 43" may be collectively referred to as a "notification device".

[0033] A steering wheel (not shown) of the vehicle VA is provided with an operating device 50 related to following distance control at a position on the side facing the driver and operable by the driver. The following distance control may be referred to as "Adaptive Cruise Control". Hereinafter, the following distance control will be simply referred to as "ACC".

[0034] The driving support ECU 10 is connected to the following switches (operation units) in the operation device 50 and is configured to receive the output signals of these switches. The operation device 50 includes a main switch 51, a cancel switch 52, a resume switch 53, a set switch 54, an acceleration switch 55, a deceleration switch 56, and an inter-vehicle time setting switch 57. The detailed operation methods of these switches 51 to 57 will be described later.

[0035] (Overview of ACC) The driving support ECU 10 is capable of executing ACC as driving support control. ACC itself is well-known (see, for example, Japanese Unexamined Patent Application Publication No. 2014-148293, Japanese Unexamined Patent Application Publication No. 2006-315491, and Japanese Patent No. 4172434).

[0036] ACC includes two types of control: constant speed driving control and preceding vehicle following control. Constant speed driving control is control that adjusts the acceleration of the vehicle VA so that the traveling speed of the vehicle VA matches the target speed (set speed) Vset without requiring operation of the accelerator pedal 11a and the brake pedal 12a. Preceding vehicle following control is control that causes the vehicle VA to follow the preceding vehicle while maintaining the inter-vehicle distance between the vehicle VA and the preceding vehicle traveling immediately in front of the vehicle VA at the target inter-vehicle distance.

[0037] When ACC is started (when the main switch 51 is turned on as described later), the driving support ECU 10 determines whether there is a vehicle (i.e., a following target vehicle) traveling in front of (immediately in front of) the vehicle VA and that the vehicle VA should follow based on the target information acquired by the surrounding sensor 14. For example, the driving support ECU 10 determines whether the detected target (n) exists within a predetermined following target vehicle area.

[0038] When the target (n) does not exist within the following target vehicle area, the driving support ECU 10 determines that there is no following target vehicle. In this case, the driving support ECU 10 executes constant speed driving control. Note that at the start of ACC, the target speed Vset may be set to the vehicle speed SPD at that time. The driving support ECU 10 determines the target acceleration Gtgt such that the vehicle speed SPD of the vehicle VA matches the target speed Vset. The driving support ECU 10 controls the engine actuator 21 using the engine ECU 20 to control the driving force so that the acceleration of the vehicle VA matches the target acceleration Gtgt, and controls the brake actuator 31 using the brake ECU 30 to control the braking force as necessary.

[0039] On the other hand, when the target (n) exists within the following target vehicle area for a predetermined time or longer, the driving support ECU 10 selects the target (n) as the following target vehicle (a). Then, the driving support ECU 10 executes preceding vehicle following control. Specifically, the driving support ECU 10 determines the target acceleration Gtgt based on "the deviation between the inter-vehicle distance to the following target vehicle (a) and the target inter-vehicle distance Dset" and "the relative speed of the following target vehicle (a) with respect to the vehicle VA", etc. Note that the target inter-vehicle distance Dset is calculated by multiplying the target inter-vehicle time Ttgt set using the inter-vehicle time setting switch 57 by the vehicle speed SPD of the vehicle VA (i.e., Dset = Ttgt · SPD). The driving support ECU 10 controls the engine actuator 21 as described above so that the acceleration of the vehicle VA matches the target acceleration Gtgt, and controls the brake actuator 31 as necessary.

[0040] (Operation method of the switch of the operating device) Next, the operation methods of the switches 51 to 57 of the operation device 50 will be described. The main switch 51 is a switch that is operated by the driver when starting / stopping ACC. Each time the main switch 51 is pressed, the state of the main switch 51 alternates between the on state and the off state. When the main switch 51 is switched from the off state to the on state, the driving support ECU 10 switches the operating state of ACC from the off state to the on state (that is, starts ACC). On the other hand, when the main switch 51 is switched from the on state to the off state, the driving support ECU 10 switches the operating state of ACC from the on state to the off state (that is, stops ACC).

[0041] The cancel switch 52 is a switch that is operated by the driver when canceling ACC (temporarily turning it off). Each time the cancel switch 52 is pressed, the state of the cancel switch 52 alternates between the on state and the off state. When the cancel switch 52 becomes on while the main switch 51 is in the on state (during the execution of ACC), the driving support ECU 10 switches the operating state of ACC from the on state to a temporary off state (hereinafter referred to as the "cancel state"), thereby stopping ACC.

[0042] The resume switch 53 is a switch that is operated by the driver when restarting the ACC after the operating state of the ACC has been switched to the cancel state. The resume switch 53 is in the on state when being pressed by the driver and in the off state when not being pressed by the driver. When the resume switch 53 is changed from the off state to the on state in a situation where the main switch 51 is in the on state and the cancel switch 52 is in the on state (i.e., the operating state of the ACC is in the cancel state), the driving support ECU 10 switches the operating state of the ACC to the on state (i.e., restarts the ACC). When the ACC is restarted, the driving support ECU 10 changes the state of the cancel switch 52 to the off state. Further, the driving support ECU 10 resumes the constant speed driving control using the target speed Vset at the time when the operating state of the ACC is switched to the cancel state.

[0043] The set switch 54 is a switch that is operated by the driver when setting the target speed Vset. The set switch 54 is in the on state when being pressed by the driver and in the off state when not being pressed by the driver. After the ACC is started, when the set switch 54 is changed from the off state to the on state, the driving support ECU 10 sets the target speed Vset to the vehicle speed SPD at the time when the set switch 54 becomes the on state (i.e., the time when the driver presses the set switch 54).

[0044] The speed increase switch 55 is a switch that is operated by the driver when increasing the target speed Vset. The speed increase switch 55 is in the on state when being pressed by the driver and in the off state when not being pressed by the driver. Note that the speed increase switch 55 and the resume switch 53 may be integrated as one switch.

[0045] An operation in which the ON state of the speed increase switch 55 is continuously maintained for a predetermined first long press time Tlp1 or longer is referred to as a "long press operation of the speed increase switch 55". When the long press operation of the speed increase switch 55 is performed in a situation where the operating state of ACC is ON, the driving support ECU 10 gradually increases the target speed Vset by a first increase amount Vi1 every time a second interval time Tin1 elapses while the ON state of the speed increase switch 55 continues after the first long press time Tlp1 has elapsed.

[0046] On the other hand, an operation in which, after the speed increase switch 55 is changed from the OFF state to the ON state, the ON state is returned to the OFF state before the first long press time Tlp1 has elapsed is referred to as a "short press operation of the speed increase switch 55". When the short press operation of the speed increase switch 55 is performed in a situation where the operating state of ACC is ON, the driving support ECU 10 increases the target speed Vset by a second increase amount Vi2.

[0047] The deceleration switch 56 is a switch that is operated by the driver when decreasing the target speed Vset. The deceleration switch 56 is in the ON state when being pressed by the driver and in the OFF state when not being pressed by the driver.

[0048] An operation in which the ON state of the deceleration switch 56 is continuously maintained for a predetermined second long press time Tlp2 or longer is referred to as a "long press operation of the deceleration switch 56". When the long press operation of the deceleration switch 56 is performed in a situation where the operating state of ACC is ON, the driving support ECU 10 gradually decreases the target speed Vset by a first decrease amount Vd1 every time a second interval time Tin2 elapses while the ON state of the deceleration switch 56 continues after the second long press time Tlp2 has elapsed.

[0049] On the other hand, the operation in which "after changing the deceleration switch 56 from the off state to the on state, the on state is returned to the off state before the second long-press time Tlp2 elapses" is called the "short-press operation of the deceleration switch 56". When the short-press operation of the deceleration switch 56 is performed in a situation where the operating state of ACC is the on state, the driving support ECU 10 decreases the target speed Vset by the second decrease amount Vd2.

[0050] Note that the first long-press time Tlp1 and the second long-press time Tlp2 may be set to the same value. The first increase amount Vi1 and the first decrease amount Vd1 may be set to the same amount as each other. The second increase amount Vi2 and the second decrease amount Vd2 may be set to the same amount as each other. The first interval time Tin1 and the second interval time Tin2 may be set to the same amount as each other.

[0051] The inter-vehicle time setting switch 57 is a switch that is operated by the driver when setting the target inter-vehicle time Ttgt in the preceding vehicle following control. Each time the inter-vehicle time setting switch 57 is pressed in a situation where the operating state of ACC is the on state, the target inter-vehicle time Ttgt is changed. The driver can select one of the three levels (long, medium, short) of time as the target inter-vehicle time Ttgt.

[0052] Note that the driving support ECU 10 can invalidate the respective functions of the switches 51 to 57 under specific situations (when executing the routine in FIG. 9) described later. For example, when the driving support ECU 10 invalidates the function of the main switch 51, even if the driver operates the main switch 51, the state of the main switch 51 is not changed.

[0053] (Voice recognition processing) The driving support ECU 10 performs voice recognition processing on the voice data acquired from the microphone 41, and stores the voice recognition result as text data in the RAM 103. The driving support ECU 10 holds the voice recognition result in the RAM 103 for a predetermined period. An acoustic model and a recognition dictionary are stored in the ROM 102 of the driving support ECU 10. The driving support ECU 10 compares the acquired voice data with the acoustic model to extract features, and performs voice recognition by matching the extracted features with the recognition dictionary. Such voice recognition processing is well-known (see, for example, Japanese Patent Application Laid-Open No. 2012-063537 and WO2007 / 091462, etc.).

[0054] The driving support ECU 10 is configured to determine whether a setting change request for requesting a change in the setting state of the ACC is made based on the voice recognition result, the operating state of the ACC, and the driving state (vehicle speed SPD) of the vehicle VA, etc.

[0055] The setting change request includes a plurality of types of requests. Specifically, the setting change request includes an ACC on request, an ACC off request (cancel request), an acceleration request, and a deceleration request. The ACC on request is a request to change the operating state of the ACC from the off state to the on state. The ACC off request is a request to change the operating state of the ACC from the on state to the cancel state (temporary off state). The acceleration request is a request to increase the value of the target speed Vset, which is a control parameter of the constant speed cruise control. The deceleration request is a request to decrease the value of the target speed Vset.

[0056] 1. ACC on request The driving support ECU 10 determines that an ACC on request has been made when all of the following conditions are satisfied. (Condition A1) The voice recognition result includes a "word related to ACC" and a "word related to the on state". (Condition A2) The operating state of the ACC is the off state or the cancel state at the present time.

[0057] The driving support ECU 10 can determine whether or not condition A1 is satisfied by referring to the word table 200 shown in FIG. 2. The word table 200 is stored in the ROM 102. In the word table 200, a set of words related to ACC, a set of words related to the on state, a set of words related to the off state, etc. are defined. For example, when the voice recognition result is "Start ACC", the voice recognition result includes a "word related to ACC (=ACC)" and a "word related to the on state (=Start)". Therefore, the driving support ECU 10 determines that condition A1 is satisfied.

[0058] 2. ACC OFF request The driving support ECU 10 determines that an ACC OFF request has been made when all of the following conditions are satisfied. (Condition B1) The voice recognition result includes a "word related to ACC" and a "word related to the off state". (Condition B2) The operating state of ACC is on at the current time.

[0059] As described above, the driving support ECU 10 can determine whether or not condition B1 is satisfied by referring to the word table 200. For example, when the voice recognition result is "Cancel cruise control", the voice recognition result includes a "word related to ACC (=cruise control)" and a "word related to the off state (=cancel)". Therefore, the driving support ECU 10 determines that condition B1 is satisfied.

[0060] 3. Acceleration request The driving support ECU 10 determines that an acceleration request has been made when all of the following conditions are satisfied. (Condition C1) The voice recognition result includes a "word related to the target speed" and a "numerical value related to the vehicle speed". Note that the "numerical value related to the vehicle speed" includes a mere numerical value and a combination of a numerical value and a predetermined unit (e.g., ~ km, ~ miles), etc. (Condition C2) The operating state of ACC is on, and at the current time, the constant speed cruise control is being executed. (Condition C3) The current vehicle speed SPD < "numerical value related to the vehicle speed" in the voice recognition result (Condition C4) Vth1 < "numerical value related to the vehicle speed" in the voice recognition result < Vth2 Note that Vth1 is the lower limit value of the vehicle speed that can be set as the target speed Vset, and Vth2 is the upper limit value of the vehicle speed that can be set as the target speed Vset.

[0061] As described above, the driving support ECU 10 can determine whether Condition C1 is satisfied by referring to the word table 200. For example, when the voice recognition result is "Set the target speed to 80 km / h", the voice recognition result includes "word related to the target speed (= target speed)" and "numerical value related to the vehicle speed (= 80 km / h)". Therefore, the driving support ECU 10 determines that Condition C1 is satisfied.

[0062] 4. Deceleration request The driving support ECU 10 determines that a deceleration request has been made when all the following conditions are satisfied. (Condition D1) The voice recognition result includes "word related to the target speed" and "numerical value related to the vehicle speed". (Condition D2) The operating state of ACC is on, and the constant speed cruise control is being executed at the current time. (Condition D3) The current vehicle speed SPD > "numerical value related to the vehicle speed" in the voice recognition result (Condition D4) Vth1 < "numerical value related to the vehicle speed" in the voice recognition result < Vth2

[0063] As described above, the driving support ECU 10 can determine whether Condition D1 is satisfied by referring to the word table 200.

[0064] (Setting change confirmation process) When the driving support ECU 10 determines that a setting change request has been made, it executes a "setting change confirmation process" to have the driver confirm the content of the setting change request. Specifically, the driving support ECU 10 determines an approval operation according to the type of the setting change request by referring to the approval operation table 300 shown in FIG. 3. The approval operation is an operation that the driver should perform when approving the content of the setting change request made through the driver's speech. In this example, the approval operation is an operation on one of the switches 51 to 57. The approval operation table 300 is stored in the ROM 102. In the approval operation table 300, the relationship between the type of the setting change request and the approval operation is defined.

[0065] The driving support ECU 10 notifies the driver of confirmation information for having the driver confirm the content of the setting change request by using a notification device (the display 42 and the speaker 43). In this example, the confirmation information includes information about the content of the setting change request determined through voice recognition processing and information about the approval operation determined by referring to the approval operation table 300.

[0066] When the "content of the setting change request" in the confirmation information matches the request intended by the driver (i.e., the content spoken by the driver), the driver performs the approval operation notified by the confirmation information. When the approval operation is performed, the driving support ECU 10 changes the setting state of the ACC according to the setting change request.

[0067] On the contrary, when the "content of the setting change request" in the confirmation information does not match the request intended by the driver, the driver can recognize that the speech has been misrecognized. Therefore, the driver does not perform the approval operation. In this case, the driving support ECU 10 does not change the setting state of the ACC according to the setting change request. In this way, even when a setting change request different from the driver's intention is made due to misrecognition of the driver's speech, it is possible to avoid the setting state of the ACC being set incorrectly. Hereinafter, the setting change confirmation process for each of the ACC on request, the ACC off request, the speed increase request, and the speed decrease request will be described in order.

[0068] 1. Setting Change Confirmation Process - ACC ON Request When the driving support ECU 10 determines that an ACC ON request has been made, it determines the "pressing operation of the main switch 51" as the approval operation by referring to the approval operation table 300. Then, the driving support ECU 10 executes a confirmation information notification process using the notification devices (42 and 43). Specifically, the driving support ECU 10 displays confirmation information 400 as shown in FIG. 4 on the display 42. The confirmation information 400 includes information 401 indicating that an ACC ON request has been received and information 402 regarding the approval operation for the ACC ON request. Further, the driving support ECU 10 causes these pieces of information 401 and 402 to be spoken through the speaker 43.

[0069] When the information 401 matches the content spoken by the driver himself / herself, the driver performs a pressing operation of the main switch 51 as the approval operation. When the pressing operation of the main switch 51 is performed within a predetermined time threshold Tth from the time when the above-described notification process is performed, the driving support ECU 10 changes the operating state of the ACC to the ON state.

[0070] 2. Setting Change Confirmation Process - ACC OFF Request When the driving support ECU 10 determines that an ACC OFF request has been made, it determines the "pressing operation of the cancel switch 52" as the approval operation by referring to the approval operation table 300. Then, the driving support ECU 10 displays confirmation information 500 as shown in FIG. 5 on the display 42. The confirmation information 500 includes information 501 indicating that an ACC OFF request has been received and information 502 regarding the approval operation for the ACC OFF request. Further, the driving support ECU 10 causes these pieces of information 501 and 502 to be spoken through the speaker 43.

[0071] When the information 501 matches the content spoken by the driver himself / herself, the driver performs a pressing operation of the cancel switch 52 as the approval operation. When the pressing operation of the cancel switch 52 is performed within the time threshold Tth from the time when the notification process is performed, the driving support ECU 10 changes the operating state of the ACC to the cancel state (temporary OFF state).

[0072] 3. Setting change confirmation process - speed increase request When the driving support ECU 10 determines that a speed increase request has been made, it determines the "long press operation of the speed increase switch 55" as the approval operation by referring to the approval operation table 300. Then, the driving support ECU 10 displays confirmation information 600 as shown in FIG. 6 on the display 42. The confirmation information 600 includes information 601 indicating that a speed increase request has been received and information 602 regarding the approval operation of the speed increase request. Further, the driving support ECU 10 causes these pieces of information 601 and 602 to be spoken through the speaker 43.

[0073] When the information 601 matches the content spoken by the driver himself / herself, the driver performs a long press operation on the speed increase switch 55 as the approval operation. If a long press operation on the speed increase switch 55 is performed within the time threshold Tth from the time when the notification process is performed, the driving support ECU 10 sets the target speed Vset according to the speed increase request (i.e., the content of the information 601).

[0074] 4. Setting change confirmation process - speed decrease request When the driving support ECU 10 determines that a speed decrease request has been made, it determines the "long press operation of the speed decrease switch 56" as the approval operation by referring to the approval operation table 300. Then, the driving support ECU 10 displays confirmation information 700 as shown in FIG. 7 on the display 42. The confirmation information 700 includes information 701 indicating that a speed decrease request has been received and information 702 regarding the approval operation of the speed decrease request. Further, the driving support ECU 10 causes these pieces of information 701 and 702 to be spoken through the speaker 43.

[0075] When the information 701 matches the content spoken by the driver himself / herself, the driver performs a long press operation on the speed decrease switch 56 as the approval operation. If a long press operation on the speed decrease switch 56 is performed within the time threshold Tth from the time when the notification process is performed, the driving support ECU 10 sets the target speed Vset according to the speed decrease request (i.e., the content of the information 701).

[0076] (Specific operation) The CPU 101 of the driving support ECU 10 (hereinafter simply referred to as the "CPU") is configured to execute the routine shown in FIG. 8 every time a predetermined time (for convenience, referred to as the "first time") elapses.

[0077] Furthermore, the CPU is configured to acquire voice data from the microphone 41 by executing a routine (not shown) every time the first time elapses. In addition, the CPU is configured to acquire detection signals or output signals from the various sensors 11 to 14 and the various switches 51 to 57 by executing a routine (not shown) every time the first time elapses.

[0078] At a predetermined timing, the CPU starts processing from step 800 in FIG. 8 and proceeds to step 801, where it determines whether the value of the setting change request flag Fr (hereinafter simply referred to as the "request flag Fr") is "0". The value of the request flag Fr is set to "1" when it is determined that a setting change request has been made through the driver's speech (see step 804 described later). The value of the request flag Fr is set to "0" in an initialization routine executed by the CPU when an ignition switch (not shown) is changed from the OFF position to the ON position. Furthermore, the value of the request flag Fr is also set to "0" in step 907 of the routine shown in FIG. 9 described later.

[0079] If the value of the request flag Fr is not "0", the CPU determines "No" in step 801 and proceeds directly to step 895 to terminate this routine once.

[0080] Now, assuming that the value of the request flag Fr is "0", the CPU determines "Yes" in step 801 and proceeds to step 802, where it executes voice recognition processing on the voice data acquired by the microphone 41 as described above. Next, in step 803, the CPU determines whether a setting change request (i.e., any one of an ACC on request, an ACC off request, an acceleration request, and a deceleration request) has been made.

[0081] Assuming that a setting change request is made, the CPU determines "Yes" in step 803 and proceeds to step 804, where it sets the value of the request flag Fr to "1". Thereafter, the CPU proceeds to step 895 and temporarily ends this routine.

[0082] On the other hand, if no setting change request is made, the CPU determines "No" in step 803 and proceeds directly to step 895 to temporarily end this routine.

[0083] Furthermore, the CPU is configured to execute the routine shown in FIG. 9 every time a "second time" equal to or longer than the "first time" elapses.

[0084] At a predetermined timing, the CPU starts processing from step 900 in FIG. 9 and proceeds to step 901 to determine whether the value of the request flag Fr is "1". If the value of the request flag Fr is not "1", the CPU determines "No" in step 901 and proceeds directly to step 995 to temporarily end this routine.

[0085] Now, assuming that a setting change request has been made through the driver's speech and thus the value of the request flag Fr is "1" (see step 804). In this case, the CPU determines "Yes" in step 901 and sequentially executes the processes of steps 902 to 904 described below. Thereafter, the CPU proceeds to step 905.

[0086] Step 902: The CPU determines an approval operation according to the type of the setting change request by referring to the approval operation table 300 shown in FIG. 3. Step 903: The CPU disables the functions of switches other than the switch used for the approval operation determined in step 902. For example, when an ACC on request is made, the CPU disables the functions of switches other than the "main switch 51" (52, 53, 54, 55, 56, and 57). Step 904: The CPU uses the aforementioned notification devices (display 42 and speaker 43) to execute the notification process for the confirmation information (400, 500, 600, or 700).

[0087] When the CPU proceeds to step 905, it determines whether the approval operation (the operation determined in step 902) has been performed. If the approval operation has been performed, the CPU determines "Yes" in step 905 and sequentially executes the processes of steps 906 to 908 described below. Thereafter, the CPU proceeds to step 995 and temporarily ends this routine.

[0088] Step 906: The CPU changes the setting state of the ACC according to the setting change request. Step 907: The CPU sets the value of the request flag Fr to "0". Step 908: The CPU enables the function of the switch that was disabled in step 903.

[0089] On the other hand, if the approval operation is not performed, the CPU determines "No" in step 905 and proceeds to step 909. In step 909, the CPU determines whether the elapsed time Ta from the time when the notification process was performed in step 904 is greater than the time threshold Tth. If the elapsed time Ta is less than or equal to the time threshold Tth, the CPU determines "No" in step 909, returns to the process of step 905, and determines whether the approval operation has been performed.

[0090] When the elapsed time Ta becomes greater than the time threshold Tth without the approval operation being performed, the CPU determines "No" in step 909 and proceeds to step 910 to execute the notification process. Specifically, the CPU uses the notification device to notify the driver that the approval operation has not been performed. Next, the CPU sequentially executes the processes of steps 907 and 908 as described above. Thereafter, the CPU proceeds to step 995 and temporarily ends this routine. In this case, since the setting change request was not approved by the driver, the setting state of the ACC is not changed.

[0091] When it is determined that a setting change request has been made, the present implementation device notifies the driver of confirmation information (400, 500, 600, or 700) including the content of the setting change request and information regarding the approval operation, using a notification device. When the driver performs an operation corresponding to the "information regarding the approval operation (402, 502, 602, or 702)" in the confirmation information, the present implementation device changes the setting state of the ACC according to the setting change request.

[0092] For example, there may be a case where it is determined that a setting change request different from the driver's intention has been made due to misrecognition of the driver's speech. In such a case, since the content of the setting change request in the confirmation information does not match the request intended by the driver, the driver can recognize that the speech has been misrecognized. In this case, the driver does not perform the approval operation. When the driver does not perform the approval operation, the present implementation device does not change the setting state of the ACC according to the setting change request. Therefore, it is possible to avoid the setting state of the ACC being erroneously set when a setting change request different from the driver's intention is made due to misrecognition of the driver's speech.

[0093] Furthermore, the present implementation device changes the switch (51, 52, 55, 56) of the operation device 50 to be operated when the driver performs the approval operation according to the type of the setting change request by referring to the approval operation table 300. The switch to be operated as the approval operation is set to match the content of the setting change request. For example, when an ACC on request is made, the approval operation is a pressing operation of the main switch 51. In this way, since the switch to be operated when performing the approval operation differs according to the type of the setting change request, the will of the driver can be confirmed more accurately.

[0094] Note that the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0095] (Modification Example 1) When performing an approval operation, as the switch to be operated, regardless of the type of setting change request, only a specific switch among switches 51 to 57 may be used. For example, the approval operation may be a pressing operation of the main switch 51 regardless of the type of setting change request. Note that other switches (not shown) may be used as the switch for the approval operation.

[0096] (Modification Example 2) For a specific request among the setting change requests, an approval operation may not be required. An example of such a request is an ACC off request. When an ACC off request is made, in many cases, the driver wants to perform a driving operation (acceleration operation or deceleration operation) by himself as soon as possible. In such a case, if the driver is required to perform an approval operation, the driver may feel annoyed. Therefore, by changing the operating state of ACC to the cancel state (temporary off state) without requiring the driver to perform an approval operation, the possibility that the driver feels annoyed can be reduced. Note that even if the driver's speech is misrecognized and an ACC off request is made, the operating state of ACC is only changed to the off state, and the vehicle VA does not suddenly accelerate or decelerate. Therefore, the influence on the driving state of the vehicle VA is small.

[0097] The CPU of the driving support ECU 10 according to this modification example is configured to execute the routine shown in FIG. 10 instead of the routine shown in FIG. 9. The routine shown in FIG. 10 is a routine obtained by adding step 1001 to the routine of FIG. 9.

[0098] When the CPU starts the routine in FIG. 10 from step 1000 and determines "Yes" in step 901, at step 1001, it determines whether the setting change request is an ACC off request. If the setting change request is an ACC off request, the CPU determines "Yes" at step 1001 and sequentially executes the processes of steps 906 to 908 as described above. Thereafter, the CPU proceeds to step 1095 and temporarily ends this routine. Thus, when the setting change request is an ACC off request, the CPU changes the operating state of the ACC to the cancel state without requesting an approval operation from the driver.

[0099] (Modification 3) The setting change request is not limited to the above example. The setting change request may include an inter-vehicle time setting request that requests an increase or decrease in the target inter-vehicle time Ttgt, which is a control parameter of the preceding vehicle following control. In this case, as shown in FIG. 11, the approval operation for the inter-vehicle time setting request may be an operation of pressing the inter-vehicle time setting switch 57.

[0100] Furthermore, the setting change request may include a request to change the setting state of driving support control other than ACC. The driving support ECU 10 may be configured to be able to execute lane keeping control (LTA) in a situation where ACC is being executed. In this configuration, the setting change request may include an LTA on request that changes the operating state of the lane keeping control (LTA) from the off state to the on state, and an LTA off request that changes the operating state of the lane keeping control (LTA) from the on state to the off state.

[0101] (Modification 4) The driving support ECU 10 may receive a plurality of setting change requests simultaneously and determine one approval operation for those plurality of setting change requests.

[0102] For example, when all of the following conditions are satisfied, the driving support ECU 10 determines that an ACC on request and a speed setting request are made simultaneously. The speed setting request is a request to set the target speed Vset at the start time of ACC. (Condition E1) Among the voice recognition results, "words related to ACC", "words related to the on state", and "numerical values related to the vehicle speed" are included. (Condition E2) The operating state of ACC is in the off state or the canceled state at the current time.

[0103] For example, when the voice recognition result is "Start ACC and set the speed to 80 km / h", the voice recognition result includes "words related to ACC (=ACC)", "words related to the on state (=start)", and "numerical values related to the vehicle speed (=80 km / h)". Therefore, the driving support ECU 10 determines that Condition E1 is satisfied.

[0104] As shown in FIG. 11, the approval operation for the ACC on request and the speed setting request is a long press operation of the speed increase switch 55. When the long press operation of the speed increase switch 55 is performed, the driving support ECU 10 changes the operating state of ACC to the on state and sets the target speed Vset to 80 km / h. According to this modification, when a plurality of setting change requests are made, the driving support ECU 10 determines the operation on one of the plurality of switches 51 to 57 (speed increase switch 55) as the approval operation. Therefore, the operability is improved. Since the driver does not need to operate a plurality of switches, the possibility that the driver feels bothered can be reduced.

[0105] Furthermore, a plurality of setting change requests may be associated with one word. The ACC on request and the LTA on request may be associated with the word "highway mode". In this configuration, the driving support ECU 10 determines that the ACC on request and the LTA on request are performed simultaneously when all the conditions described below are satisfied. (Condition F1) Among the voice recognition results, "highway mode" and "words related to the on state" are included. (Condition F2) The operating state of ACC is in the off state or the canceled state at the current time, and the operating state of LTA is in the off state at the current time.

[0106] For example, when the voice recognition result is "Start the highway mode", the voice recognition result includes "highway mode" and "a word related to the on state (= start)". Therefore, the driving support ECU 10 determines that the condition F1 is satisfied.

[0107] As shown in FIG. 11, the approval operation for the ACC on request and the LTA on request is the pressing operation of the main switch 51. When the pressing operation of the main switch 51 is performed, the driving support ECU 10 changes the operating state of the ACC to the on state and changes the operating state of the LTA to the on state.

[0108] (Modification 5) In step 903 of the routine in FIG. 9, in addition to the switch for the approval operation, the CPU may maintain the function of a specific switch in an effective state. An example of such a switch is the cancel switch 52. When the pressing operation of the cancel switch 52 is performed, the driver has the intention to perform a driving operation (an acceleration operation or a deceleration operation) by himself / herself. Therefore, it is preferable to immediately transfer the driving operation to the driver.

[0109] For example, in step 903, the CPU may invalidate the functions of switches other than the switch for the approval operation and the cancel switch 52. In this case, while the CPU is executing the routine in FIG. 9, the function of the cancel switch 52 is always maintained in an effective state. When it is determined that a request other than the ACC off request (for example, an acceleration request or a deceleration request) has been made (step 803: Yes), the driver operates the cancel switch 52 before performing the approval operation for the request. In response to this operation, the CPU changes the operating state of the ACC to the off state. According to this modification, when the driver presses the cancel switch 52 before step 905 in the routine in FIG. 9, the intention of the driver to change the operating state of the ACC to the off state can be immediately reflected.

Explanation of Reference Numerals

[0110] 10... Driving support ECU, 20... Engine ECU, 30... Brake ECU, 41... Microphone, 42... Display, 43... Speaker, 50... Operating device, 51... Main switch, 52... Cancel switch, 55... Speed increase switch, 56... Speed decrease switch.

Claims

1. In a change operation support device including a control device configured to execute vehicle driving support control according to a value of a control parameter of support provided by the driving support control, the control device: acquires information from an operating device, executes voice recognition processing for recognizing speech by an occupant, determines, via the voice recognition processing, whether a change request is made for the occupant to change the value of the control parameter through the occupant's speech, when it is determined that the change request has been made, determines a predetermined operation on the operating device as an approval operation, and changes the value of the control parameter according to the change request when the approval operation on the operating device is performed. In the change operation support device configured as described above, the control device: when determining the approval operation, invalidates a second function different from a first function of the operating device used for the determined approval operation. A change operation support device configured as described above.

2. In the change operation support device according to Claim 1, the control device: when the determined approval operation is performed, releases the invalidation of the second function. A change operation support device configured as described above.

3. In the change operation support device according to Claim 2, the control device: when a predetermined time has elapsed after determining the approval operation without the approval operation being executed, notifies the occupant and releases the invalidation of the second function. A change operation support device configured as described above.

4. In the change operation support device according to Claim 1, the second function does not include a cancel function for changing the driving support control to an off state. A change operation support device.

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