Vehicle control device and control method

Abstract

To enable a user to drive a vehicle at a proper or desired speed through simple operation.SOLUTION: A control device 30 comprises: a detection part 33 which detects the limited speed of a road where a vehicle 1 travels based upon peripheral information on the vehicle 1 acquired by a sensor group 10 that the vehicle 1 comprises: a presentation part 34 which presents as a presented speed to the user one of a first speed based upon the limited speed detected by the detection part 33 and a second speed that the user of the vehicle 1 sets; and a travel control part 35 which performs travel control to control the traveling speed of the vehicle 1 based upon the presented speed as a target speed in response to user's approval to the presented speed presented by the presentation part 34.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a control method. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for mobile vehicles (such as automobiles) in order to improve traffic safety and convenience.

[0003] For example, Patent Document 1 listed below discloses a technology in which a vehicle control device performs follow-up driving control to make the vehicle follow the preceding vehicle when there is a preceding vehicle traveling ahead of the vehicle, and performs constant-speed driving control to make the vehicle travel at a preset set vehicle speed when there is no preceding vehicle.The vehicle control device notifies the driver of a proposed set vehicle speed, which is a vehicle speed that is proposed to the driver as the set vehicle speed, and then, if it determines that a change command instructing a change to the set vehicle speed has been obtained, changes the set vehicle speed to the value indicated by the proposed set vehicle speed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-001566 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the prior art, when the vehicle's traveling speed is automatically controlled, there is room for improvement in terms of enabling the user to operate the vehicle simply and at an appropriate or desired speed.

[0006] The present invention provides a vehicle control device and control method that allows a user to operate a vehicle simply and at an appropriate or desired speed, thereby further improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with picture, the presentation unit presents the first speed to the user as the suggested speed when a speed limit of a road on which the vehicle is traveling is different from a speed limit of the road when the previous cruise control was interrupted or ended. A vehicle control device. Another aspect of the present invention is A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the second speed is a target speed of the previous travel control, the presentation unit presents the second speed to the user as the suggested speed when the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous driving control was interrupted or ended. A vehicle control device. Another aspect of the present invention is A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the second speed is a target speed of the previous travel control, When the second speed deviates by a predetermined value or more from the speed limit of the road at the time when the previous cruise control was interrupted or ended, the presenting unit presents the second speed to the user as the suggested speed. A vehicle control device. Another aspect of the present invention is A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the presentation unit varies a presentation time of the proposed speed depending on a difference between the traveling speed of the vehicle when the proposed speed is presented to the user and the proposed speed. A vehicle control device. Another aspect of the present invention is A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with The presentation unit When a preceding vehicle is present traveling ahead of the vehicle and the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as a suggested speed. A vehicle control device.

[0008] Another aspect of the present invention is A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing stomach , In the process of presenting the proposed speed, if the speed limit of the road on which the vehicle is traveling is different from the speed limit of the road when the previous cruise control was interrupted or ended, the first speed is presented to the user as the proposed speed. It is a control method. Another aspect of the present invention is A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, the second speed is a target speed of the previous travel control, In the process of presenting the proposed speed, if the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous cruise control was interrupted or ended, the second speed is presented to the user as the proposed speed. It is a control method. Another aspect of the present invention is A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, the second speed is a target speed of the previous travel control, In the process of presenting the proposed speed, if the second speed deviates by a predetermined value or more from the speed limit of the road at the time when the previous cruise control was interrupted or ended, the second speed is presented to the user as the proposed speed. It is a control method. Another aspect of the present invention is A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, In the process of presenting the proposed speed, a presentation time of the proposed speed is varied depending on a difference between the traveling speed of the vehicle when the proposed speed is presented to the user and the proposed speed. It is a control method. Another aspect of the present invention is A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, In the process of presenting the proposed speed, if a preceding vehicle traveling ahead of the vehicle exists and the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as the proposed speed. It is a control method. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a vehicle control device and a control method that enable a user to run a vehicle at an appropriate or desired speed with a simple operation. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30 which is an embodiment of a vehicle control device of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of a general operation of the vehicle 1 running under ACC, from when the ACC is interrupted in response to a brake operation by the user, until the ACC is resumed. [Figure 3] FIG. 3 is a diagram illustrating a first operation example of the vehicle 1. In FIG. [Figure 4] FIG. 4 is a diagram showing a recommended image G1, which is an example of a recommended image. [Figure 5] FIG. 5 is a diagram illustrating a second operation example of the vehicle 1. In FIG. [Figure 6] FIG. 6 is a diagram showing a recommended image G2, which is another example of a recommended image. [Figure 7] FIG. 7 is a diagram illustrating a third operation example of the vehicle 1. In FIG. [Figure 8] FIG. 8 is a diagram illustrating a fourth operation example of the vehicle 1. In FIG. [Figure 9] FIG. 9 is a flowchart showing an example of processing executed by the control device 30. [Figure 10] FIG. 10 is a flowchart illustrating an example of the proposed speed determination process. [Figure 11] FIG. 11 is a diagram illustrating a fifth operation example of the vehicle 1. In FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of a vehicle control device and a control method of the present invention will be described in detail below with reference to the drawings. The drawings should be viewed in the direction of the reference symbols. The following embodiments do not limit the invention described in the claims, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Furthermore, in the following, identical or similar elements will be denoted by identical or similar reference symbols, and their descriptions may be omitted or simplified as appropriate.

[0012] [Vehicle configuration] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device 30, which is one embodiment of a vehicle control device of the present invention. The vehicle 1 shown in FIG. 1 is an automobile having a drive source and wheels including drive wheels driven by the power of the drive source and steerable wheels (neither of which is shown). For example, the vehicle 1 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, i.e., a pair of left and right front wheels and rear wheels. Either one of the front wheels or the rear wheels may be steerable wheels, or both may be steerable wheels.

[0013] As shown in FIG. 1, the vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS system (electric power steering system) 40, a communication unit 50, a driving force control system 60, a braking force control system 70, an operation input unit 80, and an MID (Multi Information Display) 91.

[0014] The sensor group 10 acquires various detection values ​​related to the vehicle 1 or the surroundings of the vehicle 1. The detection values ​​acquired by the sensor group 10 are sent to the control device 30 and used for control of the vehicle 1 by the control device 30 (for example, ACC and TSR, which will be described later).

[0015] The sensor group 10 includes, for example, a front camera 11a, a rear camera 11b, a left side camera 11c, a right side camera 11d, a front sonar group 12a, a rear sonar group 12b, a left side sonar group 12c, and a right side sonar group 12d. These cameras and sonar groups can function as external sensors that acquire information about the surroundings of the vehicle 1.

[0016] The front camera 11a, rear camera 11b, left side camera 11c, and right side camera 11d output image data of surrounding images obtained by capturing images of the surroundings of the vehicle 1 to the control device 30. The surrounding images captured by the front camera 11a, rear camera 11b, left side camera 11c, and right side camera 11d are also referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image is also referred to as a side image.

[0017] The front sonar group 12a, rear sonar group 12b, left side sonar group 12c, and right side sonar group 12d emit sound waves around the vehicle 1 and receive reflected sound from other objects. The front sonar group 12a includes, for example, four sonars. The sonars that make up the front sonar group 12a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 1, respectively. The rear sonar group 12b includes, for example, four sonars. The sonars that make up the rear sonar group 12b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 1, respectively. The left side sonar group 12c includes, for example, two sonars. The sonars that make up the left side sonar group 12c are provided on the front left side and rear left side of the vehicle 1, respectively. The right side sonar group 12d includes, for example, two sonars. The sonars that make up the right side sonar group 12d are provided at the front and rear of the right side of the vehicle 1. Instead of or in addition to these sonar groups 12a, 12b, 12c, and 12d, the vehicle 1 may be provided with a radar device that emits radio waves (for example, so-called millimeter wave radio waves) around the vehicle 1 and receives reflected waves from other objects.

[0018] Furthermore, the sensor group 10 includes wheel sensors 13a and 13b, a vehicle speed sensor 14, and an operation detection unit 15. The wheel sensors 13a and 13b detect rotation angles θa and θb of wheels (not shown), respectively. The wheel sensors 13a and 13b may be configured as angle sensors or displacement sensors. The wheel sensors 13a and 13b output detection pulses each time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 13a and 13b can be used to calculate the wheel rotation angles and wheel rotation speeds. The travel distance of the vehicle 1 can be calculated based on the wheel rotation angles. The wheel sensor 13a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 13b detects, for example, the rotation angle θb of the right rear wheel.

[0019] The vehicle speed sensor 14 detects the vehicle speed V, which is the traveling speed of the vehicle 1, and outputs the detected vehicle speed V to the control device 30. The vehicle speed sensor 14 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0020] The operation detection unit 15 detects the operation content performed by a user (for example, a driver who is a passenger driving the vehicle 1; the same applies hereinafter) using the operation input unit 80, and outputs the detected operation content to the control device 30. The operation input unit 80 includes, for example, an approval button 81. This approval button 81 is an operator that is pressed when the user approves a proposed speed presented by a recommendation, which will be described later, and is provided on, for example, the steering wheel 46.

[0021] The operation input unit 80 may further include operation buttons or operation switches that accept operations related to ACC, such as operations to instruct the start and end of ACC and operations to set a target speed, which will be described later. Also, a part of or all of the operation input unit 80 (for example, operation buttons that accept operations related to ACC) may be shared with the input device of the touch panel 21, which will be described later.

[0022] The navigation device 20 identifies the current position of the vehicle 1 using, for example, a Global Positioning System (GPS), and provides the user with a route from the current position of the vehicle 1 to the destination. The navigation device 20 has, for example, a storage device (not shown) that includes a map information database.

[0023] The navigation device 20 is also equipped with a touch panel 21 and a speaker 22. The touch panel 21 is configured by integrating a display device (e.g., a liquid crystal display) capable of displaying images with an input device capable of receiving input of information, and functions as a display device controlled by the control device 30 and an input device that receives input of various information to the control device 30. In other words, the touch panel 21 displays various screens under the control of the control device 30, and inputs various commands received from the user to the control device 30. The speaker 22 outputs various guidance messages by voice under the control of the control device 30.

[0024] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (Electronic Control Unit) 45. The steering angle sensor 41 detects the steering angle θst of a steering wheel 46. The torque sensor 42 detects the torque TQ applied to the steering wheel 46. The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46, thereby assisting in the operation of the steering wheel 46 (in other words, steering). The resolver 44 detects the rotation angle θm of the EPS motor 43.

[0025] The EPS ECU 45 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and is responsible for overall control of the EPS system 40. The EPS ECU 45 also outputs information indicating the steering angle θst of the steering wheel 46 detected by the steering angle sensor 41 to the control device 30. The EPS ECU 45 may also output information indicating the steering speed ω of the steering wheel 46 to the control device 30. The steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0026] The communication unit 50 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 50. Examples of the external device 2 include a user's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that, for communication between the vehicle 1 and the external device 2, a mobile communication network such as a cellular line, WI-FI (registered trademark), Bluetooth (registered trademark), etc. can be used.

[0027] The driving force control system 60 includes a driving ECU 61 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 61 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the driving force of the vehicle 1 by controlling the internal combustion engine, electric motor, etc., which are the driving sources of the vehicle 1, based on a user's operation of an accelerator pedal 62 provided on the vehicle 1 (hereinafter also referred to as "accelerator operation") or instructions from the control device 30.

[0028] The braking force control system 70 includes a braking ECU 71 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 71 includes, for example, an input / output unit, a calculation unit, and a storage unit (none of which are shown), and controls the braking force of the vehicle 1 by controlling a brake device (not shown) of the vehicle 1 based on a user's operation of a brake pedal 72 provided on the vehicle 1 (hereinafter also referred to as a "brake operation") or an instruction from the control device 30. The brake device of the vehicle 1 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 71 generates a braking force corresponding to the brake operation by controlling the electric motor of the brake device based on the brake operation or an instruction from the control device 30.

[0029] The MID 91 is configured by a display device (for example, a liquid crystal display) capable of displaying images, and is provided in a position (for example, in the meter panel of the vehicle 1) that is visible to a user seated in the driver's seat of the vehicle 1. The MID 91 displays various screens according to the control of the control device 30. The MID 91 may also be shared with the display device of the touch panel 21.

[0030] [Control device] The control device 30 is a device (computer) that controls the entire vehicle 1 based on information input from the sensor group 10, navigation device 20, EPS system 40, communication unit 50, driving force control system 60, braking force control system 70, etc.

[0031] The control device 30 includes, for example, an input / output unit 31, a control unit 32, and a storage unit 36. The input / output unit 31 is an interface that inputs and outputs data between the inside and outside of the control device 30 in accordance with the control of the control unit 32. The storage unit 36 ​​is configured, for example, by a non-volatile storage medium such as a flash memory, and stores various information (for example, data and programs) for controlling the operation of the vehicle 1.

[0032] The control unit 32 is configured with a processor such as a CPU (Central Processing Unit), and controls each component of the vehicle 1 by executing a program stored in a storage unit 36, etc. In this embodiment, the control unit 32 includes a detection unit 33, a presentation unit 34, and a driving control unit 35 as functional units realized by the processor executing the program.

[0033] The cruise control unit 35 has a function capable of executing constant speed cruise / intermediate distance control, which is an example of cruise control in the present invention. Constant speed cruise / intermediate distance control is also called "ACC (Adaptive Cruise Control)." In this embodiment, constant speed cruise / intermediate distance control will also be referred to as "ACC" hereinafter.

[0034] ACC includes "constant speed traveling control" that controls vehicle 1 so that vehicle speed V (i.e., the traveling speed of vehicle 1) becomes a predetermined target speed set by the user, and "inter-vehicle distance control" that controls vehicle 1 so that the inter-vehicle distance between vehicle 1 and another vehicle traveling ahead of vehicle 1 (hereinafter also referred to as "preceding vehicle") becomes approximately constant. That is, during ACC, if there is no preceding vehicle, vehicle 1 is controlled so that vehicle speed V becomes the target speed, and if there is a preceding vehicle, vehicle 1 is controlled so that vehicle 1 follows the preceding vehicle while maintaining an approximately constant inter-vehicle distance.

[0035] For example, the control unit 32 starts ACC by the driving control unit 35 in response to receiving an operation via the operation input unit 80 to instruct the start of ACC, and then ends ACC by the driving control unit 35 when receiving an operation via the operation input unit 80 to instruct the end of ACC.

[0036] Furthermore, when a brake operation is performed on the vehicle 1 while it is traveling using ACC, the control unit 32 suspends the ACC by the cruise control unit 35 and decelerates the vehicle 1 in response to the brake operation. Then, when a predetermined condition (for example, approval of a proposed speed, which will be described later) is met after suspending the ACC, the control unit 32 resumes the ACC by the cruise control unit 35.

[0037] The detection unit 33 has a function of detecting the speed limit of the road on which the vehicle 1 is traveling (hereinafter also simply referred to as "speed limit") based on information about the surroundings of the vehicle 1 acquired by an external sensor provided in the vehicle 1. The detection unit 33 recognizes speed signs on the road on which the vehicle 1 is traveling from surrounding images acquired by the front camera 11a or the like, for example, using pattern matching. Then, when the detection unit 33 recognizes a speed sign on the road on which the vehicle 1 is traveling, the detection unit 33 detects the speed limit by recognizing the speed indicated by the speed sign through image analysis.

[0038] The detection unit 33 may also recognize traffic signs other than speed signs provided on the road on which the vehicle 1 is traveling and acquire information indicated by the traffic signs. Note that the traffic sign recognition function that recognizes traffic signs such as speed signs based on information about the surroundings of the vehicle 1 in this manner is also referred to as "TSR (Traffic Sign Recognition)." In this embodiment, the traffic sign recognition function will also be referred to as "TSR" hereinafter.

[0039] The presentation unit 34 has a function of presenting to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit 33 or a second speed set by the user of the vehicle 1.

[0040] Here, the first speed may be the sum of the speed limit detected by the detection unit 33 (i.e., the speed limit of the road on which the vehicle 1 is traveling) and the offset speed set by the user. In this embodiment, the user can set a desired offset speed within a range of −10 [km / h] to +10 [km / h] via the operation input unit 80 or the like. For example, if the speed limit detected by the detection unit 33 is 50 [km / h] and the offset speed set by the user is +10 [km / h], the first speed is 50 [km / h] + 10 [km / h] = 60 [km / h].

[0041] The second speed may be a speed set by the user as the target speed for the previous ACC. In this embodiment, when performing ACC, the user can set any speed as the target speed via the operation input unit 80 or the like, or can set a suggested speed presented by a recommendation (described later) as the target speed by performing an operation to approve the suggested speed (for example, pressing the approval button 81).

[0042] For example, when ACC is not being performed after interruption or completion, the presentation unit 34 presents either the first speed or the second speed to the user by displaying it on the MID 91 as a suggested speed. More specifically, the presentation unit 34 presents the suggested speed to the user by displaying, for example, a recommended image G1 (see FIG. 4) or a recommended image G2 (see FIG. 6) described later on the MID 91. The presentation of the suggested speed by the presentation unit 34 will hereinafter also be simply referred to as a "recommendation."

[0043] The presentation unit 34 starts a recommendation at a predetermined start timing, and ends the recommendation when the suggested speed presented by the recommendation is approved by the user (i.e., when the approval button 81 is pressed). Furthermore, after starting the recommendation, the presentation unit 34 ends the recommendation at a predetermined end timing even if the user does not approve.

[0044] The timing for starting the recommendation can be determined as appropriate by the manufacturer of the vehicle 1, but can be, for example, when one or more of the following conditions (Condition 1) to (Condition 7) are met. (Condition 1) Immediately after ACC is interrupted (Condition 2) When the accelerator pedal is operated after the ACC is interrupted (this may be further limited to when the operation amount of the accelerator pedal 62 and / or the vehicle speed V is equal to or greater than a threshold). (Condition 3) When the brake operation is released after ACC is interrupted. (Condition 4) When the vehicle speed V approaches the target speed set during the previous ACC, or when it is predicted that the vehicle speed V will approach the target speed set during the previous ACC based on the amount of operation of the accelerator pedal 62, the acceleration of the vehicle 1, etc. (Condition 5) When the vehicle speed V approaches the speed limit of the road on which the vehicle 1 is traveling, or when it is predicted that the vehicle speed V will approach the speed limit of the road on which the vehicle 1 is traveling based on the amount of operation of the accelerator pedal 62, the acceleration of the vehicle 1, etc. (Condition 6) After ACC is interrupted, it is recognized that the vehicle 1 has passed through an intersection based on the surrounding image obtained by the front camera 11a, etc. (Condition 7) After ACC is interrupted, it is estimated that vehicle 1 has made a right or left turn based on the yaw rate, steering angle θst, etc. of vehicle 1.

[0045] The timing for ending the recommendation can also be determined as appropriate by the manufacturer of the vehicle 1, and can be, for example, when one or more of the following conditions (Condition 8) to (Condition 12) are met. Note, however, that the timing for ending the recommendation must be determined so as to be consistent with the timing for starting the recommendation. (Condition 8) A certain amount of time has passed since the recommendation began. (Condition 9) After the recommendation starts, vehicle 1 moves a certain distance. (Condition 10) After the recommendation starts, even though there are no speed adjustment factors such as a preceding vehicle or a curve, when the vehicle speed V deviates from the proposed speed presented by the recommendation by more than a threshold value, or when the state of deviation by more than the threshold value continues for a certain period of time. (Condition 11) After the recommendation starts, when it is recognized that the vehicle 1 has passed through an intersection from the surrounding image acquired by the front camera 11a or the like. (Condition 12) After the recommendation starts, it is estimated that vehicle 1 has made a right or left turn based on the yaw rate, steering angle θst, etc. of vehicle 1.

[0046] By starting the recommendation at the above-described start timing and ending the recommendation at the above-described end timing, the presentation unit 34 can present the suggested speed to the user at an appropriate time and for an appropriate presentation time. For example, if the recommendation end timing is determined according to the above-described (Condition 10), the recommendation can be ended when the vehicle speed V deviates from the suggested speed presented by the recommendation by a threshold value or more, that is, when it is assumed that the suggested speed presented by the recommendation is highly unlikely to be accepted by the user. This makes it possible to prevent recommendations that may be bothersome to the user from being presented for a long period of time.

[0047] The driving control unit 35 performs ACC with the proposed speed as the target speed in response to the user's approval of the proposed speed presented by the presentation unit 34. For example, when the approval button 81 is pressed for a recommendation in which 50 [km / h] is presented as the proposed speed, the driving control unit 35 sets 50 [km / h] as the target speed and performs ACC.

[0048] According to this configuration, if a target speed desired by the user is presented as a proposed speed, the user can operate ACC with a simple operation of accepting the proposed speed, and can drive the vehicle 1 at the desired vehicle speed V without appropriately operating the accelerator and / or brake. This improves user convenience.

[0049] In this configuration, it is important to present the target speed desired by the user as the suggested speed. Therefore, in order to present a suggested speed that is likely to be the target speed desired by the user, the control device 30 controls the vehicle 1, for example, as follows.

[0050] [General vehicle operation until ACC is restarted] First, an example of the general operation of the vehicle 1 running under ACC, from when the ACC is interrupted in response to a brake operation by the user, until the ACC is resumed, will be described with reference to FIG.

[0051] In (a) of Fig. 2, vehicle 1 is traveling on road R1 using ACC. Thereafter, as shown in (b) of Fig. 2, when the red light RL of a traffic light at intersection CS ahead of vehicle 1 on road R1 is on and the user applies the brakes, ACC is interrupted in vehicle 1 in response to this braking, and vehicle 1 decelerates. Then, as shown in (c) of Fig. 2, vehicle 1 stops just before intersection CS.

[0052] Thereafter, as shown in (d) of FIG. 2, when the green light GL of the traffic light at the intersection CS is illuminated, the user operates the accelerator to start the vehicle 1. For example, if the accelerator is operated after ACC is interrupted in this manner and the vehicle speed V of the vehicle 1 accelerated in response to the accelerator operation reaches a threshold, the control device 30 makes a recommendation using the presentation unit 34, as shown in (e) of FIG. 2. In the example shown in (e) of FIG. 2, the recommendation is made when the vehicle 1 is traveling on road R2 beyond intersection CS of road R1. Then, when the user approves the proposed speed presented by the recommendation, the control device 30 sets the proposed speed as a target speed and performs ACC using the cruise control unit 35.

[0053] In the example described here, the recommendation is made at a predetermined timing after ACC is interrupted in response to a brake operation, but this is not limited to this. For example, similar to the example described here, a recommendation may also be made at a predetermined timing after ACC is terminated in response to an operation to instruct the user to terminate ACC, and if the suggested speed presented by the recommendation is approved by the user, ACC may be performed with the suggested speed as the target speed.

[0054] [First example of vehicle operation] Next, a first example of the operation of the vehicle 1 will be described with reference to Fig. 3. Note that, in the following, descriptions of the same parts as those in the example described with reference to Fig. 2 will be omitted as appropriate.

[0055] The first example shown in FIG. 3 is an example in which the speed limit of road R1 and the speed limit of road R2 are different from each other. In (a) of FIG. 3, vehicle 1 is traveling on road R1 using ACC. In the example shown in FIG. 3, the speed limit of road R1 is 25 [km / h], and road R1 is provided with a speed sign RS1 indicating that the speed limit is 25 [km / h]. In such a case, while vehicle 1 is traveling on road R1, control device 30 detects the speed limit of road R1 of 25 [km / h] using TSR by detection unit 33. Also, in the example shown in FIG. 3, vehicle 1 is traveling on road R1 using ACC, with a target speed of 30 [km / h], which is relatively close to the speed limit of road R1, 25 [km / h].

[0056] Then, as shown in (b) of Figure 3, suppose that the user interrupts (or ends) ACC and stops vehicle 1 before intersection CS, then operates the accelerator to start vehicle 1 and cause vehicle 1 to enter road R2, which is located beyond intersection CS on road R1. In the example shown in Figure 3, the speed limit on road R2 is 50 km / h, and road R2 is provided with a speed sign RS2 indicating that the speed limit is 50 km / h. In this case, while vehicle 1 is traveling on road R2, control device 30 detects the speed limit of road R2 as 50 km / h using TSR by detection unit 33.

[0057] Thereafter, the control device 30 (presentation unit 34) makes a recommendation at a predetermined start timing as described above. As shown in the example of Fig. 3, if the speed limit of road R2 on which the vehicle 1 is traveling when the recommendation is made is different from the speed limit of road R1 when the previous ACC was interrupted or ended, the control device 30 makes a recommendation in which the first speed based on the speed limit of road R2 is presented to the user as a suggested speed.

[0058] The recommendation of presenting the first speed based on the speed limit of the road on which the vehicle 1 is traveling as a suggested speed to the user is performed, for example, by displaying a recommendation image G1 shown in FIG.

[0059] As shown in Figure 4, the recommendation image G1 includes an image PS1 indicating that the proposed speed is based on the speed limit of the road on which vehicle 1 is traveling (i.e., the first speed; in the example shown in Figure 4, 50 [km / h]), an explanatory image EI indicating how to approve the proposed speed (in the example shown in Figure 4, pressing the approval button 81 provided on the steering wheel 46), and a message MS indicating that ACC can be resumed by approval (in the example shown in Figure 4, a message such as "RESUME ACC").

[0060] If the user presses the approval button 81 while the recommended image G1 shown in Figure 4 is displayed on the MID 91, the proposed speed of 50 [km / h] is deemed to be approved, and the control device 30 sets 50 [km / h] as the target speed and performs ACC, as shown in (c) in Figure 3.

[0061] As described above, when the speed limit of the road on which vehicle 1 is traveling (road R2 in the example shown in Figure 3) is different from the speed limit of the road on which ACC was last interrupted or ended (road R1 in the example shown in Figure 3), the presentation unit 34 of the control device 30 presents to the user a first speed based on the speed limit of the road on which vehicle 1 is traveling as a suggested speed.

[0062] That is, if the speed limit of the road on which vehicle 1 is currently traveling differs from the speed limit of the road when the previous ACC was interrupted or ended, the first speed based on the speed limit of the road on which vehicle 1 is currently traveling is more likely to be the target speed currently desired by the user than the second speed set by the user during the previous ACC. Therefore, if the speed limit of the road on which vehicle 1 is traveling differs from the speed limit of the road when the previous ACC was interrupted or ended, the first speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to travel vehicle 1 at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0063] [Second example of vehicle operation] Next, a second example of the operation of the vehicle 1 will be described with reference to Fig. 5. Note that, in the following, descriptions of the same parts as those in the example described with reference to Fig. 2 or 3 will be omitted as appropriate.

[0064] The second example shown in Fig. 5 is an example in which the speed limit of road R1 is the same as the speed limit of road R2. In Fig. 5(a), vehicle 1 is traveling on road R1 using ACC with a target speed of 30 km / h.

[0065] 5(b), the user interrupts (or ends) ACC, stops vehicle 1 before intersection CS, and then accelerates vehicle 1 to start it onto road R2, which is located beyond intersection CS on road R1. In the example shown in FIG. 5, the speed limit of road R2 is also 25 km / h, just like road R1, and road R2 is provided with a speed sign RS2 indicating that the speed limit is 25 km / h. In this case, while vehicle 1 is traveling on road R2, control device 30 detects the speed limit of road R2 as 25 km / h using TSR by detection unit 33.

[0066] Thereafter, the control device 30 (presentation unit 34) makes a recommendation at a predetermined start timing as described above. As shown in the example of Fig. 5, if the speed limit of road R2 on which the vehicle 1 is traveling when the recommendation is made is the same as the speed limit of road R1 when the previous ACC was interrupted or ended, the control device 30 makes a recommendation to present to the user the second speed, which is the target speed of the previous ACC, as the suggested speed.

[0067] The recommendation to present the second speed, which is the target speed of the previous ACC, to the user as a suggested speed is performed, for example, by displaying a recommendation image G2 shown in FIG. 6 on the MID 91.

[0068] As shown in Figure 6, the recommendation image G2 includes an image PS2 indicating that the suggested speed is the target speed of the previous ACC (i.e., the second speed; in the example shown in Figure 6, 30 [km / h]), as well as the explanatory image EI and message MS mentioned above.

[0069] If the user presses the approval button 81 while the recommended image G2 shown in Figure 6 is displayed on the MID 91, the proposed speed of 30 [km / h] is deemed to be approved, and the control device 30 sets 30 [km / h] as the target speed and performs ACC, as shown in (c) in Figure 5.

[0070] As described above, when the speed limit of the road on which the vehicle 1 is traveling (road R2 in the example shown in Figure 5) is the same as the speed limit of the road when the previous ACC was interrupted or ended (road R1 in the example shown in Figure 5), the presentation unit 34 of the control device 30 presents the second speed, which is the target speed of the previous ACC, to the user as the suggested speed.

[0071] That is, if the speed limit of the road on which vehicle 1 is currently traveling is the same as the speed limit of the road when the previous ACC was interrupted or ended, the second speed, which is the same as the previous ACC, is more likely to be the target speed currently desired by the user than the first speed based on the speed limit of the road on which vehicle 1 is currently traveling. Therefore, if the speed limit of the road on which vehicle 1 is traveling is the same as the speed limit of the road when the previous ACC was interrupted or ended, the second speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to travel vehicle 1 at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0072] [Third example of vehicle operation] Next, a third example of the operation of the vehicle 1 will be described with reference to Fig. 7. Note that, in the following, descriptions of the same parts as those in the example described with reference to Fig. 2 or 3 will be omitted as appropriate.

[0073] The third example shown in Fig. 7 is another example in which the speed limit of road R1 and the speed limit of road R2 are different from each other. In Fig. 7(a), vehicle 1 is traveling on road R1 using ACC at a target speed of 65 [km / h], which is a relatively large deviation from the speed limit of road R1, 25 [km / h].

[0074] 7(b), the user interrupts (or ends) ACC, stops vehicle 1 before intersection CS, and then operates the accelerator to start vehicle 1 and cause vehicle 1 to enter road R2, which is located beyond intersection CS on road R1. In the example shown in FIG. 7, the speed limit on road R2 is 50 km / h, and road R2 is provided with a speed sign RS2 indicating that the speed limit is 50 km / h. In this case, while vehicle 1 is traveling on road R2, control device 30 detects the speed limit of road R2 as 50 km / h using TSR by detection unit 33.

[0075] 7, the offset speed is set to +10 km / h. In this case, the first speed of the vehicle 1 traveling on road R2 is 50 km / h + 10 km / h = 60 km / h. This first speed of 60 km / h is lower than the second speed of 65 km / h, which is the target speed of the previous ACC.

[0076] In such a case, as shown in (c) of Fig. 7, the control device 30 (i.e., the presentation unit 34) recommends presenting the second speed (here, 65 km / h), which is the target speed of the previous ACC, as the proposed speed, even if the speed limit of road R1 and the speed limit of road R2 are different. If the user presses the approval button 81 while this recommendation is being made, the proposed speed of 65 km / h is considered to be approved, and the control device 30 sets 65 km / h as the target speed and performs ACC.

[0077] As described above, even if the speed limit of road R2 on which vehicle 1 is traveling is different from the speed limit of road R1 when the previous ACC was interrupted or ended, if the target speed of the previous ACC (i.e., the second speed) deviates from the speed limit of road R1 when the previous ACC was interrupted or ended by more than a predetermined value (e.g., 15 km / h), the presentation unit 34 of the control device 30 presents the second speed to the user as the suggested speed.

[0078] That is, if the previous ACC had caused the vehicle 1 to travel at a target speed that deviated by a predetermined value or more from the speed limit of the road at that time, it is considered that the user, for some reason, wishes to travel the vehicle 1 at that speed regardless of the road's speed limit. Therefore, if the second speed, which is the target speed of the previous ACC, deviates by a predetermined value or more from the speed limit of the road at the time the previous ACC was interrupted or ended (in other words, if it is lower than the speed limit by a predetermined value or more, or if it is higher than the speed limit by a predetermined value or more), the second speed, which is likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to travel the vehicle 1 at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0079] In particular, if the previous ACC set the vehicle 1 at a target speed that was higher than the road's speed limit by a predetermined value or more, it is considered that the user strongly desires to drive the vehicle 1 at that speed regardless of the speed limit. Therefore, for example, if the second speed, which is the target speed of the previous ACC, is higher than the road's speed limit when the previous ACC was interrupted or ended by a predetermined value or more, the presentation unit 34 of the control device 30 presents the second speed, which is likely to be the target speed desired by the user, to the user as a suggested speed. This allows the user to drive the vehicle 1 at the desired speed with a simple operation such as accepting the suggested speed.

[0080] Furthermore, the predetermined value is set to, for example, a value greater than the offset speed. That is, if the second speed, which is the target speed of the previous ACC, is greater than the offset speed set by the user relative to the road's speed limit when the previous ACC was interrupted or ended, the user is likely to want to drive the vehicle at that speed. Therefore, if the second speed, which is the target speed of the previous ACC, is higher than the offset speed set by the user relative to the road's speed limit when the previous ACC was interrupted or ended, the second speed, which is likely to be the user's desired target speed, is presented to the user as a suggested speed, allowing the user to drive the vehicle 1 at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0081] [Fourth example of vehicle operation] Next, a fourth example of the operation of the vehicle 1 will be described with reference to Fig. 8. Note that, in the following, descriptions of the same parts as those in the examples described with reference to Fig. 2, Fig. 3, or Fig. 7 will be omitted as appropriate.

[0082] The fourth example shown in Figure 8 differs from the third example shown in Figure 7 in that the first speed of vehicle 1 traveling on road R2 was greater than the second speed, which was the target speed set by the user during the previous ACC.

[0083] That is, in FIG. 8(a), the vehicle 1 is traveling on the road R1 using the ACC at a target speed of 40 [km / h], which is a relatively large deviation from the speed limit of the road R1, 25 [km / h].

[0084] 8(b), the user interrupts (or ends) ACC, stops vehicle 1 before intersection CS, and then operates the accelerator to start vehicle 1 and cause vehicle 1 to enter road R2, which is located beyond intersection CS on road R1. In the example shown in FIG. 8, the speed limit on road R2 is 40 km / h, and road R2 is provided with a speed sign RS2 indicating that the speed limit is 40 km / h. In this case, while vehicle 1 is traveling on road R2, control device 30 detects the speed limit of road R2 as 40 km / h using TSR by detection unit 33.

[0085] 8, the offset speed is set to +10 [km / h]. In this case, the first speed of the vehicle 1 traveling on road R2 is 40 [km / h] + 10 [km / h] = 50 [km / h]. This first speed of 50 [km / h] is greater than the second speed of 40 [km / h], which is the target speed set by the user during the previous ACC.

[0086] In such a case, as shown in (c) of Fig. 8, the control device 30 (i.e., the presentation unit 34) makes a recommendation to present as a proposed speed a first speed (here, 50 [km / h]) based on the speed limit of road R2 on which the vehicle 1 is traveling at the time of the recommendation. If the user presses the approval button 81 while the recommendation is being made, the proposed speed of 50 [km / h] is considered to be approved, and the control device 30 sets 50 [km / h] as the target speed and performs ACC.

[0087] As described above, if the speed limit of road R2 on which vehicle 1 is traveling is different from the speed limit of road R1 when the previous ACC was interrupted or ended, and if the target speed of the previous ACC (i.e., the second speed) deviates by a predetermined value (e.g., 15 km / h) or more from the speed limit of road R1 when the previous ACC was interrupted or ended, and is lower than the first speed based on the speed limit of road R2 on which vehicle 1 is traveling when the recommendation is made, the presentation unit 34 of the control device 30 presents the first speed to the user as the suggested speed.

[0088] That is, when the first speed is higher than the second speed, the user is likely to want the first speed to be the target speed rather than the second speed. Therefore, when the first speed is higher than the second speed, the first speed is presented to the user as a suggested speed, and the user can run the vehicle 1 at a desired speed with a simple operation of accepting the suggested speed.

[0089] [Suggested speed presentation time] Next, the presentation time of the recommended speed will be described. The presentation unit 34 of the control device 30 preferably varies the presentation time of the recommended speed (for example, the display time of the recommended image G1 or the recommended image G2) depending on the difference between the vehicle speed V (i.e., the traveling speed of the vehicle 1) when the recommended speed is presented to the user by the recommendation and the proposed speed in the recommendation.

[0090] For example, if the vehicle speed V when the proposed speed is presented deviates from the proposed speed (for example, if the difference between the vehicle speed V and the proposed speed is greater than a threshold), it is considered that the user is unlikely to accept the proposed speed (i.e., the user is unlikely to allow traveling at the proposed speed). Therefore, in such a case, the presentation unit 34 shortens the presentation time of the proposed speed, thereby quickly ending the presentation of the proposed speed that is unlikely to be accepted by the user. This makes it possible to prevent the presentation of the proposed speed, which may be annoying to the user, from continuing for a long period of time.

[0091] On the other hand, if the vehicle speed V when the proposed speed is presented is close to the proposed speed (for example, if the difference between the vehicle speed V and the proposed speed is smaller than a threshold), it is considered that the user is likely to accept the proposed speed. Therefore, in such a case, the presentation unit 34 lengthens the presentation time of the proposed speed. This prevents the user from failing to accept the proposed speed, and enables the user to reliably accept the proposed speed and start ACC.

[0092] Furthermore, if the vehicle speed V when the proposed speed is presented is higher than the proposed speed, the user is less likely to accept the proposed speed. Conversely, if the vehicle speed V when the proposed speed is presented is lower than the proposed speed, the user is more likely to accept the proposed speed. Therefore, when the difference between the vehicle speed V when the proposed speed is presented to the user and the proposed speed is large, the presentation unit 34 may shorten the presentation time compared to when the difference is small. This makes it possible to prevent the presentation of the proposed speed from continuing for a long period of time, which may be annoying to the user.

[0093] As described above, the control device 30 (presentation unit 34) can present the proposed speed to the user at an appropriate presentation time by lengthening the presentation time of the proposed speed in situations where it is assumed that the user is likely to approve the proposed speed, and shortening the presentation time of the proposed speed in situations where it is assumed that the user is unlikely to approve the proposed speed.

[0094] [Processing by the control device] Next, an example of processing executed by the control device 30 will be described with reference to Figures 9 and 10. Note that the control device 30 executes the processing shown in Figures 9 and 10, for example, while the vehicle 1 is starting up (for example, while the ignition power is on).

[0095] 9, the control device 30 first waits until it determines that ACC has been interrupted or ended (step S1: NO loop). If it determines that ACC has been interrupted or ended (step S1: YES), the control device 30 waits until it determines that the timing to start a recommendation has arrived (step S2: NO loop). If it determines that the timing to start a recommendation has arrived (step S2: YES), the control device 30 proceeds to the proposed speed determination process (step S3) shown in FIG.

[0096] 10, in the proposed speed determination process (step S3), the control device 30 first determines whether the speed limit of the road on which the vehicle 1 is traveling is different from the speed limit of the road when the previous ACC was interrupted or ended (step S31). If it is determined that the speed limit of the road on which the vehicle 1 is traveling is the same as the speed limit of the road when the previous ACC was interrupted or ended (step S31: NO), the control device 30 proceeds to the process of step S35, which will be described later.

[0097] On the other hand, if it is determined that the speed limit of the road on which the vehicle 1 is traveling is different from the speed limit of the road when the previous ACC was interrupted or ended (step S31: YES), the control device 30 determines whether the target speed of the previous ACC is higher by a predetermined value or more than the speed limit of the road when the previous ACC was interrupted or ended (step S32).As a result, if it is determined that the target speed of the previous ACC is not higher by a predetermined value or more than the speed limit of the road when the previous ACC was interrupted or ended (step S32: NO), the control device 30 proceeds to the processing of step S34.

[0098] On the other hand, if it is determined that the target speed of the previous ACC is higher by a predetermined value or more than the speed limit of the road when the previous ACC was interrupted or ended (step S32: YES), the control device 30 determines whether the target speed of the previous ACC is higher than a first speed obtained by adding an offset speed to the speed limit of the road on which the vehicle 1 is traveling (step S33).As a result, if it is determined that the target speed of the previous ACC is not higher than the first speed obtained by adding the offset speed to the speed limit of the road on which the vehicle 1 is traveling (step S33: NO), the control device 30 sets the first speed obtained by adding the offset speed to the speed limit of the road on which the vehicle 1 is traveling as the proposed speed (step S34), and ends the current proposed speed determination process.

[0099] On the other hand, if it is determined that the previous ACC target speed is higher than the first speed, which is the speed limit of the road on which the vehicle 1 is traveling plus the offset speed (step S33: YES), the control device 30 sets the second speed, which is the previous ACC target speed, as the proposed speed (step S35) and terminates the current proposed speed determination process.

[0100] After executing the proposed speed determination process (step S3) shown in Fig. 10, the control device 30 proceeds to the process of step S4 in Fig. 9. In the process of step S4, the control device 30 starts the recommendation (step S4). For example, as described above, the control device 30 makes a recommendation by displaying the recommended image G1 or the recommended image G2 on the MID 91, and presents the proposed speed determined by the most recent proposed speed determination process (step S3) to the user.

[0101] Next, the control device 30 determines whether the user has approved the proposed speed (for example, whether the approval button 81 has been pressed) (step S5). If it is determined that the user has approved the proposed speed (step S5: YES), the control device 30 sets the proposed speed as the target speed, starts ACC (step S7), and ends the recommendation (step S8), thereby ending the series of processes shown in FIG.

[0102] On the other hand, if it is determined that the user does not approve of the proposed speed (step S5: NO), the control device 30 determines whether or not it is time to end the recommendation (step S6). If it is determined that it is not time to end the recommendation (step S6: NO), the control device 30 returns to the processing of step S5. On the other hand, if it is determined that it is time to end the recommendation (step S6: YES), the control device 30 proceeds to the processing of step S8, ends the recommendation, and ends the series of processing shown in FIG.

[0103] As described above, the control device 30 presents to the user as a proposed speed either the first speed based on the speed limit of the road on which the vehicle 1 is traveling or the second speed set by the user of the vehicle 1 (see steps S34, S35, S4, etc.), and in response to the user's approval of the proposed speed (see step S5: branch from YES), starts ACC with the proposed speed as the target speed (see step S8). This allows the user to travel the vehicle 1 at an appropriate or desired speed with the simple operation of approving the presented proposed speed.

[0104] Alternatively, it may be possible to provide the vehicle 1 with separate operation switches for the first and second speeds, such as an operation switch for setting the first speed as the target speed and an operation switch for setting the second speed as the target speed, and have the user use these operation switches to set the first speed or the second speed as the target speed. However, this requires the user to use multiple operation switches, which may confuse the user. In this regard, the configuration of this embodiment reduces the user's operational burden for setting the target speed when using ACC, thereby encouraging the use of ACC. This improves user convenience and the safety of the vehicle 1, thereby further improving traffic safety and contributing to the development of sustainable transportation systems.

[0105] Incidentally, for example, after merging from a highway junction, the vehicle 1 may resume ACC after suspending or terminating it when there is a preceding vehicle ahead. In such a situation, many users prioritize following the preceding vehicle over adhering to the speed limit of the road on which the vehicle 1 is traveling. As described above, since ACC includes inter-vehicle distance control, in such a situation, even if the first or second speed described above is recommended, the preceding vehicle cannot be followed. Therefore, a user who wishes to follow the preceding vehicle may have to go through the trouble (operation) of resetting the ACC target speed. Therefore, to prevent such trouble from occurring, the control device 30 may control the vehicle 1 as follows.

[0106] Fig. 11 shows an example of the operation of vehicle 1 when there is a preceding vehicle traveling ahead of vehicle 1. In (a) of Fig. 11, vehicle 1 is traveling on road R1 using ACC. The speed limit indicated by speed sign RS1 on road R1 is 40 km / h, while the target speed (second speed) of ACC is set to 60 km / h.

[0107] 11(b), the user interrupts (or ends) ACC, stops vehicle 1 before intersection CS, and then accelerates vehicle 1 to start it onto road R2, which is located beyond intersection CS on road R1. In the example shown in FIG. 11, the speed limit of road R2 is also 40 km / h, just like road R1, and road R2 is provided with a speed sign RS2 indicating that the speed limit is 40 km / h. In this case, while vehicle 1 is traveling on road R2, control device 30 detects the speed limit of road R2 as 40 km / h using TSR by detection unit 33.

[0108] 11(c), there is a preceding vehicle 100 traveling ahead of the vehicle 1 on road R2. This preceding vehicle 100 is traveling at 62 [km / h]. In this situation, even if a first speed (here, 40 [km / h] + offset speed) based on the speed limit of road R2 on which the vehicle 1 is traveling or a second speed (here, 60 [km / h]) which is the target speed of the previous ACC is recommended, the proposed speeds presented by the recommendation will not allow the vehicle 1 to follow the preceding vehicle 100 while maintaining a distance from the vehicle 1.

[0109] Therefore, when the traveling speed of the preceding vehicle 100 is higher than the first speed and the second speed, the control device 30 (presentation unit 34) presents the third speed based on the traveling speed of the preceding vehicle 100 to the user as a proposed speed. In the example shown in FIG. 11, the control device 30 recommends 65 [km / h] as the third speed, which is higher than the traveling speed of the preceding vehicle 100, 62 [km / h]. As a result, even when the traveling speed of the preceding vehicle 100 is higher than the first speed and the second speed, the user can drive the vehicle 1 so as not to be left behind by the preceding vehicle 100, with a simple operation of accepting the proposed speed presented by the recommendation. This improves user convenience.

[0110] The control method described in this embodiment can be realized by executing a prepared program on a computer. The program is stored in a computer-readable storage medium and executed by being read from the storage medium. The program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the program may be included in the vehicle 1, or may be included in an external device 2 (e.g., a server device) that can communicate with the vehicle 1.

[0111] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components in the above-described embodiment may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0112] For example, in the above-described embodiment, a four-wheeled automobile is exemplified as a vehicle, but the present disclosure is not limited to this. A vehicle to which the technology of the present disclosure can be applied may also be a two-wheeled automobile (a so-called motorcycle).

[0113] Furthermore, in the above-described embodiment, an example was described in which the driving control in the present invention was ACC, but this is not limited to this. For example, the driving control in the present invention may be constant speed driving control (cruise control) that does not include inter-vehicle distance control.

[0114] This specification describes at least the following items. Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0115] (1) A vehicle control device (control device 30) that controls a vehicle 1, a detection unit (detection unit 33) that detects the speed limit of the road (road R2) on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor (sensor group 10) equipped in the vehicle; a presentation unit (presentation unit 34) that presents to the user, as a suggested speed, either a first speed based on the speed limit detected by the detection unit or a second speed set by the user of the vehicle; a driving control unit (driving control unit 35) that performs driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; A vehicle control device comprising:

[0116] According to (1), either a first speed based on the speed limit of the road on which the vehicle is traveling or a second speed set by the vehicle user is presented to the user as a proposed speed, and in response to the user's approval of the proposed speed, the vehicle's travel control can be performed with the proposed speed as the target speed. This allows the user to travel the vehicle at an appropriate or desired speed with a simple operation of approving the presented proposed speed. This can improve vehicle safety and user convenience. This can ultimately further improve traffic safety and contribute to the development of a sustainable transportation system.

[0117] (2) The vehicle control device according to (1), When the speed limit of the road on which the vehicle is traveling is different from the speed limit of the road (road R1) when the previous cruise control was interrupted or ended, the presentation unit presents the first speed to the user as the suggested speed. Vehicle control device.

[0118] If the speed limit of the road on which the vehicle is currently traveling is different from the speed limit of the road when the previous cruise control was interrupted or ended, the first speed is more likely to be the target speed currently desired by the user than the second speed. According to (2), if the speed limit of the road on which the vehicle is currently traveling is different from the speed limit of the road when the previous cruise control was interrupted or ended, the first speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to travel the vehicle at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0119] (3) The vehicle control device according to (1), the second speed is a target speed of the previous travel control, the presentation unit presents the second speed to the user as the suggested speed when the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous driving control was interrupted or ended. Vehicle control device.

[0120] If the speed limit of the road on which the vehicle is currently traveling is the same as the speed limit of the road when the previous cruise control was interrupted or ended, the second speed is more likely to be the target speed currently desired by the user than the first speed. According to (3), if the speed limit of the road on which the vehicle is currently traveling is the same as the speed limit of the road when the previous cruise control was interrupted or ended, the second speed, which is more likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to travel the vehicle at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0121] (4) The vehicle control device according to (1), the second speed is a target speed of the previous travel control, When the second speed deviates by a predetermined value or more from the speed limit of the road at the time when the previous cruise control was interrupted or ended, the presenting unit presents the second speed to the user as the suggested speed. Vehicle control device.

[0122] If the previous cruise control had the vehicle travel at a target speed that deviated by a predetermined value or more from the road's speed limit, it is considered that the user, for some reason, wishes to travel the vehicle at that speed regardless of the road's speed limit. According to (4), if the second speed, which is the target speed of the previous cruise control, deviates by a predetermined value or more from the road's speed limit when the previous cruise control was interrupted or ended, the second speed, which is likely to be the user's desired target speed, is presented to the user as a suggested speed, allowing the user to travel the vehicle at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0123] (5) The vehicle control device according to (4), the presentation unit presents the second speed to the user as the suggested speed when the second speed is higher than the speed limit of the road at the time when the previous cruise control was interrupted or ended by the predetermined value or more. Vehicle control device.

[0124] If the previous cruise control had the vehicle travel at a target speed that was higher than the road's speed limit by a predetermined value or more, it is considered that the user, for some reason, wishes to travel the vehicle at that speed regardless of the road's speed limit. According to (5), if the second speed, which is the target speed of the previous cruise control, is higher than the road's speed limit at the time the previous cruise control was interrupted or ended by a predetermined value or more, the second speed, which is likely to be the user's desired target speed, is presented to the user as a suggested speed, allowing the user to travel the vehicle at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0125] (6) The vehicle control device according to (5), The predetermined value is greater than the offset speed set by the user. Vehicle control device.

[0126] If the second speed, which is the target speed of the previous cruise control, is higher than the offset speed set by the user relative to the road speed limit when the previous cruise control was interrupted or ended, it is considered that the user wishes to drive the vehicle at that speed. According to (6), if the second speed, which is the target speed of the previous cruise control, is higher than the offset speed set by the user relative to the road speed limit when the previous cruise control was interrupted or ended, the second speed, which is likely to be the target speed desired by the user, is presented to the user as a suggested speed, allowing the user to drive the vehicle at the desired speed with a simple operation of accepting the suggested speed. This improves user convenience.

[0127] (7) The vehicle control device according to (6), the first speed is the sum of the speed limit of the road on which the vehicle is traveling and the offset speed, The presentation unit If the second speed is higher than the speed limit of the road at the time when the previous cruise control was interrupted or ended by the predetermined value or more and is higher than the first speed, the second speed is presented to the user as the suggested speed, If the second speed is higher than the speed limit of the road at the time when the previous cruise control was interrupted or ended by at least the predetermined value and is lower than the first speed, present the first speed to the user as the suggested speed. Vehicle control device.

[0128] According to (7), the higher of the first speed and the second speed is presented to the user as the suggested speed, so that the user can drive the vehicle at a desired speed with a simple operation of accepting the suggested speed, thereby improving user convenience.

[0129] (8) The vehicle control device according to (1), the presentation unit varies a presentation time of the proposed speed depending on a difference between the traveling speed of the vehicle when the proposed speed is presented to the user and the proposed speed. Vehicle control device.

[0130] If the vehicle's traveling speed when the proposed speed is presented is close to the proposed speed, it is considered that the user is likely to accept the proposed speed. On the other hand, if the vehicle's traveling speed when the proposed speed is presented deviates from the proposed speed, it is considered that the user is unlikely to accept the proposed speed. According to (8), by varying the presentation time of the proposed speed depending on the difference between the vehicle's traveling speed when the proposed speed is presented to the user and the proposed speed, it is possible to lengthen the presentation time of the proposed speed in situations where it is assumed that the user is likely to accept the proposed speed, thereby preventing the user from failing to accept the proposed speed. On the other hand, it is possible to shorten the presentation time of the proposed speed in situations where it is assumed that the user is unlikely to accept the proposed speed, thereby preventing the presentation of the proposed speed from continuing for a long period of time, which may be annoying to the user.

[0131] (9) The vehicle control device according to (8), the presentation unit, when a difference between the traveling speed of the vehicle when the proposed speed is being presented to the user and the proposed speed is large, shortens the presentation time compared to when the difference is small. Vehicle control device.

[0132] It is considered that the greater the difference (i.e., deviation) between the vehicle's traveling speed when the proposed speed is presented and the proposed speed, the less likely the user is to accept the proposed speed. According to (9), the greater the difference between the vehicle's traveling speed when the proposed speed is presented and the proposed speed, the shorter the time for presenting the proposed speed can be, thereby preventing the presentation of the proposed speed from continuing for a long period of time, which may be annoying to the user.

[0133] (10) The vehicle control device according to (8), When the traveling speed of the vehicle when the proposed speed is being presented to the user is higher than the proposed speed, the presentation unit shortens the presentation time compared to when the traveling speed of the vehicle is lower than the proposed speed. Vehicle control device.

[0134] If the vehicle's traveling speed when the proposed speed is presented is higher than the proposed speed, it is considered that the user is unlikely to accept the proposed speed. According to (10), if the vehicle's traveling speed when the proposed speed is presented is higher than the proposed speed, the presentation time of the proposed speed can be shortened, thereby preventing the presentation of the proposed speed from continuing for a long period of time, which may be annoying to the user.

[0135] (11) The vehicle control device according to (1), The presentation unit When a preceding vehicle is present traveling ahead of the vehicle and the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as a suggested speed. Vehicle control device.

[0136] According to (11), when the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as a suggested speed, and the user can drive the vehicle without being left behind by the preceding vehicle with a simple operation of accepting the suggested speed. Thus, user convenience can be improved.

[0137] (12) A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; A method of control, which performs processing.

[0138] According to (12), either a first speed based on the speed limit of the road on which the vehicle is traveling or a second speed set by the vehicle user is presented to the user as a proposed speed, and in response to the user's approval of the proposed speed, the vehicle's travel control can be performed with the proposed speed as the target speed. This allows the user to travel the vehicle at an appropriate or desired speed with a simple operation of approving the presented proposed speed. This can improve vehicle safety and user convenience. This can ultimately further improve traffic safety and contribute to the development of a sustainable transportation system. [Explanation of symbols]

[0139] 1 vehicle 30 Control device (vehicle control device) 10 Sensor group (external sensors) 33 Detection unit 34 Presentation part 35 Driving control unit 36 Memory section R1 Road R2 road

Claims

1. A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, one of a first speed based on the speed limit detected by the detection unit and a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the presentation unit presents the first speed to the user as the suggested speed when a speed limit of a road on which the vehicle is traveling is different from a speed limit of the road when the previous cruise control was interrupted or ended. Vehicle control device.

2. A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, one of a first speed based on the speed limit detected by the detection unit and a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the second speed is a target speed of the previous travel control, the presentation unit presents the second speed to the user as the suggested speed when the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous cruise control was interrupted or ended. Vehicle control device.

3. A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, one of a first speed based on the speed limit detected by the detection unit and a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the second speed is a target speed of the previous travel control, the presentation unit presents the second speed to the user as the suggested speed when the second speed deviates by a predetermined value or more from the speed limit of the road at the time the previous cruise control was interrupted or ended. Vehicle control device.

4. The vehicle control device according to claim 3, the presentation unit presents the second speed to the user as the suggested speed when the second speed is higher by the predetermined value or more than the speed limit of the road at the time when the previous cruise control was interrupted or ended. Vehicle control device.

5. The vehicle control device according to claim 4, The predetermined value is greater than the offset speed set by the user. Vehicle control device.

6. The vehicle control device according to claim 5, the first speed is the sum of the speed limit of a road on which the vehicle is traveling and the offset speed; The presentation unit When the second speed is higher than the speed limit of the road at the time when the previous cruise control was interrupted or ended by the predetermined value or more and is higher than the first speed, the second speed is presented to the user as the suggested speed, If the second speed is higher than the speed limit of the road at the time when the previous cruise control was interrupted or ended by at least the predetermined value and is lower than the first speed, the first speed is presented to the user as the suggested speed. Vehicle control device.

7. A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, one of a first speed based on the speed limit detected by the detection unit and a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with the presentation unit varies a presentation time of the proposed speed depending on a difference between the traveling speed of the vehicle when the proposed speed is being presented to the user and the proposed speed. Vehicle control device.

8. The vehicle control device according to claim 7, the presentation unit, when a difference between the traveling speed of the vehicle when the proposed speed is being presented to the user and the proposed speed is large, shortens the presentation time compared to when the difference is small. Vehicle control device.

9. The vehicle control device according to claim 7, When the traveling speed of the vehicle when the proposed speed is being presented to the user is higher than the proposed speed, the presentation unit shortens the presentation time compared to when the traveling speed of the vehicle is lower than the proposed speed. Vehicle control device.

10. A vehicle control device that controls a vehicle, a detection unit that detects the speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; a presentation unit that presents to the user, as a suggested speed, one of a first speed based on the speed limit detected by the detection unit and a second speed set by the user of the vehicle; a driving control unit that performs driving control to control a driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed presented by the presentation unit; and Equipped with The presentation unit When a preceding vehicle is present traveling ahead of the vehicle and the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as a suggested speed. Vehicle control device.

11. A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, In the process of presenting the proposed speed, if the speed limit of the road on which the vehicle is traveling is different from the speed limit of the road when the previous cruise control was interrupted or ended, the first speed is presented to the user as the proposed speed. Control method.

12. A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, the second speed is a target speed of the previous travel control, In the process of presenting the proposed speed, if the speed limit of the road on which the vehicle is traveling is the same as the speed limit of the road when the previous cruise control was interrupted or ended, the second speed is presented to the user as the proposed speed. Control method.

13. A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, the second speed is a target speed of the previous travel control, In the process of presenting the proposed speed, if the second speed deviates by a predetermined value or more from the speed limit of the road at the time when the previous cruise control was interrupted or ended, the second speed is presented to the user as the proposed speed. Control method.

14. A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, In the process of presenting the proposed speed, a presentation time of the proposed speed is varied depending on a difference between the traveling speed of the vehicle when the proposed speed is presented to the user and the proposed speed. Control method.

15. A control method performed by a computer that controls a vehicle, comprising: The computer Detecting a speed limit of a road on which the vehicle is traveling based on information about the surroundings of the vehicle acquired by an external sensor provided in the vehicle; presenting to the user, as a suggested speed, either a first speed based on the detected speed limit or a second speed set by the user of the vehicle; performing driving control to control the driving speed of the vehicle using the proposed speed as a target speed in response to the user's approval of the proposed speed; Processing is performed, In the process of presenting the proposed speed, when a preceding vehicle traveling ahead of the vehicle is present and the speed of the preceding vehicle is higher than the first speed and the second speed, a third speed based on the speed of the preceding vehicle is presented to the user as the proposed speed. Control method.

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