Vehicle driving assistance device

Abstract

To provide a vehicle operation support apparatus capable of providing a driver of the vehicle itself with operation support in accordance with a desire of the driver.SOLUTION: A vehicle operation support apparatus 10, for use in executing operation support control for providing a driver of a vehicle itself 100 with operation support when a given execution condition is established, includes: a support delay function for changing the given execution condition so as to delay timing of starting the operation support control than reference timing; and an active support function for changing the given execution condition so as to advance timing of starting the operation support control than the reference timing. In a case where the active support function is demanded, the apparatus does not activate a support delay function even if the activation of the support delay function has been demanded.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving assistance device. [Background technology]

[0002] BACKGROUND ART Vehicle driving assistance devices are known that perform collision avoidance control as driving assistance control, such as issuing a warning to the driver and automatically slowing down and stopping the vehicle to avoid the vehicle colliding with an object in front of the vehicle.

[0003] Also known is a vehicle driving assistance device that has a function (assistance delay function) that delays the timing of issuing an alert to the driver when it is detected that the driver is performing a steering operation to avoid a collision between the vehicle and an object compared to the timing (normal timing) when such a steering operation is not detected (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-202586 Summary of the Invention

[0005] For example, when the driver is an elderly person or the like, there is a demand for an alarm to be issued to the driver at an earlier timing than normal. Therefore, there are known vehicle driving support devices that are equipped with a function (active support function) that, when such a request is received, starts issuing an alarm to the driver at an earlier timing than normal. However, if the support delay function is activated instead of the active support function when the vehicle approaches an object and the possibility of a collision with the object is gradually increasing, the alarm will be issued later than normal, even though the driver wants the alarm to be issued earlier than normal, which is undesirable.

[0006] An object of the present invention is to provide a vehicle driving assistance device that can provide the driver of the vehicle with driving assistance that meets the driver's wishes.

[0007] Vehicle driving assistance device according to the present invention , own A control device that executes driving assistance control to provide driving assistance to a driver of a vehicle, the control device being configured to start the driving assistance control later than a reference timing. Control An assistance delay function and a timing for starting the driving assistance control to be earlier than the reference timing. Control The control device includes an active support function. If startup is requested , From the driver of the vehicle The activation of the support delay function is required. Re The assist delay function is also configured not to be activated.

[0008] If the assistance delay function is activated when the driver requests activation of the active assistance function, the timing to start driving assistance control will be earlier than the reference timing, making it impossible to provide driving assistance that meets the driver's wishes. According to the present invention, when activation of the active assistance function is requested, the assistance delay function is not activated even if activation of the assistance delay function is requested, and as a result, the active assistance function is activated. Therefore, it is possible to provide driving assistance that meets the driver's wishes. In the vehicle driving assistance device according to the present invention, the assistance delay function is requested, for example, by the driver operating an operation unit provided in the host vehicle. In addition, in the vehicle driving assistance device according to the present invention, the control device is configured to determine whether or not the active assistance function has been requested based on, for example, whether or not a signal transmitted from a key of the vehicle has been received.

[0009] also In the vehicle driving assistance device according to the present invention, the assistance delay function is particularly configured to determine a timing for starting the driving assistance control when a predetermined driving operation by the driver of the vehicle that may make driving assistance by the driving assistance control unnecessary is detected. of Slower than the reference timing do It is a function.

[0010] When the driving assist control is initiated even though the driver is performing a driving operation on the host vehicle that does not require driving assistance by the driving assist control, the driver may feel annoyed. According to the present invention, when a predetermined driving operation on the host vehicle by the driver that may result in the driver not needing driving assistance by the driving assist control is detected, the timing to start the driving assist control is delayed from the reference timing. Therefore, it is possible to avoid the driver feeling annoyed.

[0011] In the vehicle driving assistance device according to the present invention, the driving assistance control is, for example, deceleration / stop control that automatically decelerates and stops the host vehicle to avoid collision of the host vehicle with an object in front of the host vehicle, and in this case, the predetermined driving operation is a driving operation of the host vehicle by the driver to avoid collision of the host vehicle with the object.

[0012] In a case where the driving assist control is a deceleration / stop control that automatically decelerates and stops the vehicle to avoid a collision with an object ahead of the vehicle, if the assist delay function is activated when the driver requests activation of the active assist function, the timing at which the deceleration / stop control starts will be earlier than the reference timing, making it impossible to provide driving assist that meets the driver's wishes. According to the present invention, when activation of the active assist function is requested, the assist delay function is not activated even if activation of the assist delay function is requested, and as a result, the active assist function is activated. Therefore, it is possible to provide driving assist that meets the driver's wishes.

[0013] Furthermore, in the vehicle driving assistance device according to the present invention, the control device is configured to determine that operation of the active assistance function has been requested, for example, when it receives a signal from the driver indicating that the driver requires operation of the active assistance function.

[0014] According to the present invention, the driver can request activation of the active assistance function by transmitting a signal indicating that activation of the active assistance function is required.

[0015] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention and a vehicle (host vehicle) on which the vehicle driving assistance device is installed. [Figure 2] FIG. 2 is a diagram showing the distance between the vehicle and an object (vehicle) ahead of the vehicle. [Figure 3] FIG. 3A is a diagram showing the predicted travel area of ​​the host vehicle, and FIG. 3B is a diagram showing a scene in which an object (vehicle) exists in the predicted travel area of ​​the host vehicle. [Figure 4] (A) of Figure 4 is a diagram showing a situation in which the vehicle approaches an object (vehicle) present in the predicted driving area of ​​the vehicle and the warning condition is met, and (B) of Figure 4 is a diagram showing a situation in which the vehicle approaches even closer to an object (vehicle) present in the predicted driving area of ​​the vehicle and the deceleration and stop condition is met. [Figure 5] FIG. 5(A) is a diagram showing a scene in which deceleration and stop control is started, and FIG. 5(B) is a diagram showing a scene in which the vehicle is stopped by the deceleration and stop control. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a vehicle driving assistance device 10 according to an embodiment of the present invention is mounted on a host vehicle 100. In the following description, a "driver" refers to the driver of the host vehicle 100.

[0018] <ecu> The vehicle driving assistance device 10 includes an ECU 90 as a control device. ECU is an abbreviation for Electronic Control Unit. The ECU 90 includes a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions.

[0019] <Vehicle driving device> The host vehicle 100 is equipped with a vehicle driving device 20. The vehicle driving device 20 includes a drive device 21, a braking device 22, and a steering device 23.

[0020] <Drive unit> The drive device 21 is a device that outputs a drive torque (drive force) that is applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine or a motor. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the drive torque output from the drive device 21 by controlling the operation of the drive device 21.

[0021] <Brake device> The braking device 22 is a device, such as a brake device, that outputs a braking torque (braking force) that is applied to the host vehicle 100 in order to brake the host vehicle 100. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the braking torque output from the braking device 22 by controlling the operation of the braking device 22.

[0022] <Steering device> The steering device 23 is a device that outputs a steering torque (steering force) that is applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the steering torque that is output from the steering device 23 by controlling the operation of the steering device 23.

[0023] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a steering wheel 35, a steering shaft 36, a steering angle sensor 37, a steering torque sensor 38, a vehicle speed detection device 40, an assistance delay request device 50, a receiver / transmitter 60, an alarm device 70, and a surrounding information detection device 80.

[0024] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 32 is a sensor that detects the operation amount of the accelerator pedal 31 and is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 transmits information on the detected operation amount of the accelerator pedal 31 to the ECU 90. Based on that information, the ECU 90 obtains the operation amount of the accelerator pedal 31 as the accelerator pedal operation amount AP. The ECU 90 calculates a driver-requested drive torque (driver-requested drive force) based on the accelerator pedal operation amount AP and the vehicle speed V100 of the host vehicle 100. The driver-requested drive torque is a drive torque that the driver requests the drive device 21 to output. The ECU 90 controls the operation of the drive device 21 so that a drive torque equivalent to the driver-requested drive torque is output. When executing warning deceleration control or deceleration stop control, which will be described later, the ECU 90 determines the drive torque to be output from the drive device 21 (system-requested drive torque) regardless of the accelerator pedal operation amount AP, and controls the operation of the drive device 21 so that a drive torque equivalent to the system-requested drive torque is output.

[0025] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 34 is a sensor that detects the operation amount of the brake pedal 33, and is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 transmits information about the detected operation amount of the brake pedal 33 to the ECU 90. Based on that information, the ECU 90 obtains the operation amount of the brake pedal 33 as the brake pedal operation amount BP. The ECU 90 obtains a driver-requested braking torque (driver-requested braking force) by calculation based on the brake pedal operation amount BP. The driver-requested braking torque is a braking torque that the driver requests the braking device 22 to output. The ECU 90 controls the operation of the braking device 22 so that a braking torque equivalent to the driver-requested braking torque is applied to the host vehicle 100. Furthermore, when the ECU 90 executes the warning deceleration control or deceleration stop control described below, it determines the braking torque (system required braking torque) to be applied to the vehicle 100 regardless of the brake pedal operation amount BP, and controls the operation of the braking device 22 so that a braking torque equivalent to that system required braking torque is applied to the vehicle 100.

[0026] <Steering angle sensor> The steering angle sensor 37 is a sensor that detects the rotation angle of the steering shaft 36 relative to the neutral position, and is electrically connected to the ECU 90. The steering angle sensor 37 transmits information about the detected rotation angle of the steering shaft 36 to the ECU 90. Based on that information, the ECU 90 obtains the rotation angle of the steering shaft 36 as the steering angle θ.

[0027] <Steering torque sensor> The steering torque sensor 38 is a sensor that detects the torque input by the driver to the steering shaft 36 via the steering wheel 35, and is electrically connected to the ECU 90. The steering torque sensor 38 transmits information about the detected torque to the ECU 90. Based on that information, the ECU 90 obtains the torque input by the driver to the steering shaft 36 via the steering wheel 35 as a driver input torque TQ_D.

[0028] <Vehicle speed detection device> The vehicle speed detection device 40 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 40 is electrically connected to the ECU 90. The vehicle speed detection device 40 transmits information on the detected traveling speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 as a vehicle speed V100 based on the information.

[0029] The ECU 90 calculates and obtains the driver-requested steering torque based on the steering angle θ, the driver input torque TQ_D, and the vehicle speed V100. The driver-requested steering torque is the steering torque that is requested to be output from the steering device 23. The ECU 90 controls the operation of the steering device 23 so that the steering torque corresponding to the driver-requested steering torque is output from the steering device 23.

[0030] <Support Delay Request Device> The support delay request device 50 is a device that the driver operates to request that the start timing of the driving support control described below be delayed from the normal timing (support delay) or to cancel the request. In this example, the support delay request device 50 is a button (support delay button 51) provided near the driver's seat of the host vehicle 100. The support delay button 51 is electrically connected to the ECU 90.

[0031] When the driver operates the support delay button 51 to turn it on (a state requesting a support delay), the ECU 90 recognizes that a support delay has been requested. On the other hand, when the driver operates the support delay button 51 to turn it off (a state not requesting a support delay), the ECU 90 recognizes that a support delay has not been requested.

[0032] <Transmitter / Receiver> The transceiver 60 is electrically connected to the ECU 90. The ECU 90 can receive a wireless signal transmitted from a device (portable device 300) carried by the driver via the transceiver 60. The ECU 90 can also transmit a wireless signal via the transceiver 60. In this example, the portable device 300 is a smart key 301 equipped with a transceiver.

[0033] When the ECU 90 detects that the driver has entered the vehicle 100, it transmits a specific wireless signal via the receiver / transmitter 60. When the smart key 301 receives the wireless signal transmitted by the ECU 90, it transmits the specific wireless signal. The wireless signal transmitted from the smart key 301 at this time includes a signal for identifying the smart key 301 (identification signal) and a signal requesting active support (active support request signal). Although details will be described later, active support is driving support that accelerates the start timing of driving support control that provides driving support to the driver compared to normal timing.

[0034] When the ECU 90 receives a wireless signal transmitted by the smart key 301, it determines, based on the identification signal contained in the wireless signal, whether the smart key 301 that transmitted the wireless signal is a smart key (registered smart key 301R) registered as a smart key for the vehicle 100. In this example, since the smart key 301 is the registered smart key 301R, when the ECU 90 receives the wireless signal transmitted by the smart key 301, it determines that the smart key 301 is the registered smart key 301R. In other words, the ECU 90 detects the registered smart key 301R.

[0035] In this example, the smart key 301 is a device that requests active assistance from the vehicle driving assistance device 10, and since the wireless signal transmitted from the smart key 301 includes an active assistance request signal, the ECU 90 determines that active assistance is requested when it receives the wireless signal transmitted from the smart key 301. In other words, when the ECU 90 receives a signal (active assistance request signal) from the smart key 301 indicating that a function for performing active assistance (active assistance function) needs to be activated, it determines that activation of the active assistance function is requested.

[0036] On the other hand, if the ECU 90 does not detect a registered smart key, or if the ECU 90 detects a registered smart key but the wireless signal transmitted by the registered smart key does not include an active assistance request signal, the ECU 90 determines that active assistance is not requested.

[0037] In addition, a device (active support request device) such as a button or switch that the driver operates to request that the start timing of driving support control be earlier than normal (active support) or to cancel the request may be provided near the driver's seat of the vehicle 100, and the vehicle driving support device 10 may be configured to determine whether active support has been requested depending on the state in which the active support request device is operated by the driver.

[0038] <Alarm device> Furthermore, the vehicle 100 is equipped with an alarm device 70. The alarm device 70 is a device that issues various types of alarms to the driver, and in this example, includes a display device 71 and an audio device 72.

[0039] <Display device> The display device 71 is a device that displays various images, and is, for example, a display provided in a so-called combination meter, a head-up display, a display of a car navigation device, etc. The display device 71 is electrically connected to the ECU 90. The ECU 90 can cause the display device 71 to display various images.

[0040] <Sound equipment> The acoustic device 72 is a device that outputs various notification sounds, warning sounds, notification voices, or alarm voices, and is, for example, a buzzer or a speaker. The acoustic device 72 is electrically connected to the ECU 90. The ECU 90 can cause the acoustic device 72 to output various notification sounds, warning sounds, notification voices, or alarm voices.

[0041] <Peripheral information detection device> The surrounding information detection device 80 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 81 and an image sensor 82. The radio wave sensor 81 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 82 is, for example, a camera. The surrounding information detection device 80 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0042] <Radio wave sensor> The radio wave sensor 81 is electrically connected to the ECU 90. The radio wave sensor 81 emits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 81 transmits information (detection results) related to the emitted radio waves and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 81 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) related to the detected objects to the ECU 90. The ECU 90 can acquire information (periphery detection information IS) related to objects present in the vicinity of the vehicle 100 based on the information (radio wave information). In this example, the objects are vehicles, motorcycles, bicycles, people, etc.

[0043] <Image sensor> The image sensor 82 is also electrically connected to the ECU 90. The image sensor 82 captures an image of the surroundings of the vehicle 100 and transmits information related to the captured image to the ECU 90. The ECU 90 can acquire information (surroundings detection information IS) related to the surroundings of the vehicle 100 based on the image information.

[0044] As shown in Fig. 2, when an object (forward object 200) is present ahead of the host vehicle 100, the ECU 90 detects the forward object 200 based on the periphery detection information IS. The forward object 200 may be a vehicle, a motorcycle, a bicycle, a person, etc., and in the example shown in Fig. 2, it is a vehicle. When the ECU 90 detects the forward object 200, it can obtain, based on the periphery detection information IS, the "distance between the forward object 200 and the host vehicle 100 (object distance D200)" and the "speed of the host vehicle 100 relative to the forward object 200 (relative speed ΔV200)".

[0045] Furthermore, the ECU 90 recognizes "a left-side marking line LM_L and a right-side marking line LM_R that define the driving lane (host lane LN) of the host vehicle 100" based on the surrounding detection information IS. The ECU 90 can identify the range of the host lane LN based on the recognized left and right marking lines LM (i.e., the left-side marking line LM_L and the right-side marking line LM_R).

[0046] <Outline of operation of vehicle driving assistance devices> Next, an outline of the operation of the vehicle driving assistance device 10 will be described.

[0047] The vehicle driving assistance device 10 is configured to execute driving assistance control that provides driving assistance to the driver of the host vehicle 100 when a predetermined execution condition is met. The vehicle driving assistance device 10 described below is a vehicle driving assistance device that executes, as driving assistance control, collision avoidance control to prevent the host vehicle 100 from colliding with an object in front of the host vehicle, but the technical concept of the present invention can also be applied to vehicle driving assistance devices that execute driving assistance control other than the collision avoidance control described below, as long as it is driving assistance control that provides driving assistance to the driver of the host vehicle when a predetermined execution condition is met.

[0048] In this example, the collision avoidance control includes warning control, warning deceleration control, and deceleration / stop control. The warning control is one type of driving assistance control, and is a control that issues a warning to the driver to notify the driver that there is a possibility that the host vehicle 100 will collide with an object ahead. The warning deceleration control is also one type of driving assistance control, and is a control that decelerates the host vehicle 100 to notify the driver that there is a possibility that the host vehicle 100 will collide with an object ahead. The deceleration / stop control is also one type of driving assistance control, and is a control that stops the host vehicle 100 to avoid collision of the host vehicle 100 with an object ahead.

[0049] While the host vehicle 100 is traveling, the vehicle driving assistance device 10 performs processing to detect an object, such as a vehicle, ahead of the host vehicle 100 in the traveling direction based on the surrounding detection information IS. The vehicle driving assistance device 10 executes normal driving control while it is not detecting an object ahead of the host vehicle 100 in the traveling direction.

[0050] Normal driving control is a control in which, when the driver-requested driving torque is greater than zero, a driving torque equivalent to the driver-requested driving torque is output from the driving device 21, and, when the driver-requested braking torque is greater than zero, a braking torque equivalent to the driver-requested braking torque is applied to the vehicle 100 by the braking device 22, and, when the driver-requested steering torque is greater than zero, a steering torque equivalent to the driver-requested steering torque is output from the steering device 23.

[0051] When the vehicle driving assistance device 10 detects an object (forward object 200) ahead of the host vehicle 100 in the traveling direction, it determines whether the object is present within a predicted traveling area A100 based on periphery detection information IS. As shown in FIG. 3A, the predicted traveling area A100 is an area having a width equal to the width of the host vehicle 100 and centered on a predicted traveling route R100 of the host vehicle 100. The predicted traveling route R100 is a traveling route that the host vehicle 100 is predicted to travel in the future if the host vehicle 100 continues traveling while maintaining the steering angle θ at that time. Therefore, although the predicted traveling route R100 shown in FIG. 3A is a straight line, it may also be a curved line depending on the situation.

[0052] If the detected forward object 200 does not exist within the predicted traveling area A100, the vehicle driving assistance device 10 continues the normal traveling control.

[0053] On the other hand, when the detected forward object 200 is present within the predicted traveling area A100, the vehicle driving assistance device 10 determines whether or not the warning condition C1 is satisfied. The warning condition C1 is a predetermined condition (predetermined execution condition) for executing warning control, and in this example, is a condition that the collision index value IC is equal to or less than a predetermined value (first determination value IC1).

[0054] The collision index value IC is a value that indicates the possibility that the host vehicle 100 will collide with the forward object 200, and becomes smaller as the possibility of the host vehicle 100 colliding with the forward object 200 increases. In this example, the vehicle driving assistance device 10 acquires the predicted arrival time TTC as the collision index value IC, and determines that the warning condition C1 is met when the predicted arrival time TTC becomes shorter than a predetermined time (first judgment time TTC1). That is, in this example, the warning condition C1 is a condition that the predicted arrival time TTC is equal to or shorter than the first judgment time TTC1.

[0055] The predicted arrival time TTC is the time that is predicted to be required for the host vehicle 100 to reach the forward object 200. The vehicle driving assistance device 10 obtains the predicted arrival time TTC by dividing the object distance D200 by the relative speed ΔV200 (TTC=D200 / ΔV200). Therefore, when the relative speed ΔV200 is constant, the predicted arrival time TTC becomes shorter as the host vehicle 100 approaches the forward object 200.

[0056] While the forward object 200 is present within the predicted traveling area A100, the vehicle driving assistance device 10 acquires the object distance D200 (the distance between the forward object 200 and the host vehicle 100), the relative speed ΔV200, and the predicted arrival time TTC at a predetermined calculation cycle, and each time the predicted arrival time TTC is acquired, it determines whether the predicted arrival time TTC has shortened to the first determination time TTC1. The vehicle driving assistance device 10 acquires the object distance D200 and the relative speed ΔV200 based on the surrounding detection information IS.

[0057] The vehicle driving assistance device 10 continues normal driving control until the predicted arrival time TTC shortens to the first judgment time TTC1. On the other hand, when the host vehicle 100 approaches the forward object 200 as shown in Fig. 4A and the predicted arrival time TTC shortens to the first judgment time TTC1, the vehicle driving assistance device 10 determines that the warning condition C1 is satisfied.

[0058] <Alarm control> When the vehicle driving assistance device 10 determines that the warning condition C1 is satisfied, it starts warning control. The warning control is control for causing the warning device 70 to output a notification sound (or warning sound) or a notification voice (or warning voice), or for causing the warning device 70 to display a notification image (or warning image).

[0059] The notification sound (or warning sound) output from the warning device 70 by warning control is intended to alert the driver that an object (forward object 200) exists ahead of the host vehicle 100, or that the host vehicle 100 may collide with the forward object (forward object 200). The notification audio (or warning audio) output from the warning device 70 by warning control is audio indicating that an object (forward object 200) exists ahead of the host vehicle 100, audio indicating that the host vehicle 100 may collide with the forward object (forward object 200), or audio indicating a driving operation required to avoid a collision between the host vehicle 100 and the forward object (forward object 200).

[0060] In addition, the notification image (or warning image) displayed on the warning device 70 by warning control is an image that indicates, using letters or figures, etc., that an object (forward object 200) is present in front of the vehicle 100, an image that indicates, using letters or figures, etc., that there is a possibility that the vehicle 100 will collide with the forward object (forward object 200), or an image that indicates, using letters or figures, etc., the driving operations required to avoid a collision between the vehicle 100 and the forward object (forward object 200).

[0061] The vehicle driving assistance device 10 continues the normal driving control while the warning control is being executed.

[0062] <Warning deceleration control> Furthermore, after the start of warning control, the vehicle driving assistance device 10 determines whether a warning deceleration condition C2 is satisfied. The warning deceleration condition C2 is a predetermined condition (predetermined execution condition), and in this example, it is a condition that the collision index value IC is equal to or less than a predetermined value (second determination value IC2) that is smaller than the first determination value IC1. In particular, in this example, the warning deceleration condition C2 is a condition that the predicted arrival time TTC is equal to or less than a predetermined time (second determination time TTC2) that is shorter than the first determination time TTC1.

[0063] After starting the warning control, the vehicle driving assistance device 10 continues normal driving control until the warning deceleration condition C2 is met, but when the host vehicle 100 approaches the forward object 200 and the collision index value IC decreases to the second determination value IC2, the vehicle driving assistance device 10 determines that the warning deceleration condition C2 is met. In particular, in this example, the vehicle driving assistance device 10 determines that the warning deceleration condition C2 is met when the predicted arrival time TTC decreases to the second determination time TTC2.

[0064] When the warning deceleration condition C2 is satisfied, the vehicle driving assistance device 10 starts warning deceleration control. The warning deceleration control is a control that reduces the driving force applied to the host vehicle 100 to decelerate the host vehicle 100, or reduces the driving force applied to the host vehicle 100 to zero and applies a braking force to the host vehicle 100 to decelerate the host vehicle 100, regardless of the driver's operation of the accelerator pedal 31.

[0065] Furthermore, the deceleration of the host vehicle 100 due to the warning deceleration control is not a deceleration that would stop the host vehicle 100 in front of the forward object 200, but is controlled to a deceleration that makes the driver aware of the presence of the forward object 200 (i.e., a deceleration that makes the driver recognize the presence of the forward object 200). Therefore, in this example, the deceleration of the host vehicle 100 due to the warning deceleration control is also a form of warning control for the driver.

[0066] The vehicle driving assistance device 10 is configured to continue executing warning control even while warning deceleration control is being executed, but may also be configured to stop warning control when deceleration stop control is started.

[0067] <Deceleration and stop control> Furthermore, after the warning deceleration control is started, the vehicle driving assistance device 10 determines whether a deceleration stop condition C3 is satisfied. The deceleration stop condition C3 is a predetermined condition (predetermined execution condition), and in this example, it is a condition that the collision index value IC is equal to or less than a predetermined value (third determination value IC3) that is smaller than the second determination value IC2. In particular, in this example, the deceleration stop condition C3 is a condition that the predicted arrival time TTC is equal to or less than a predetermined time (third determination time TTC3) that is shorter than the second determination time TTC2.

[0068] The vehicle driving assistance device 10 determines that the deceleration and stop condition C3 is met when the host vehicle 100 approaches the forward object 200 and the collision index value IC decreases to the third determination value IC3 as shown in Fig. 4(B). In particular, in this example, the vehicle driving assistance device 10 determines that the deceleration and stop condition C3 is met when the predicted arrival time TTC decreases to the third determination time TTC3.

[0069] When the deceleration / stop condition C3 is satisfied, the vehicle driving assistance device 10 starts deceleration / stop control. The deceleration / stop control is a control that reduces the driving force applied to the host vehicle 100 to zero and forcibly applies a braking force to the host vehicle 100 to stop the host vehicle 100 in front of the forward object 200, regardless of the driver's operation of the accelerator pedal 31 or the brake pedal 33.

[0070] When the vehicle driving assistance device 10 starts the deceleration and stop control, it sets the deceleration of the host vehicle 100 required to stop the host vehicle 100 in front of the forward object 200 as a target deceleration, and controls the braking force applied to the host vehicle 100 so that the host vehicle 100 decelerates at the target deceleration. As a result, the driving force applied to the host vehicle 100 is set to zero as shown in Fig. 5(A), and braking force begins to be applied to the host vehicle 100, and the host vehicle 100 then stops in front of the forward object 200 as shown in Fig. 5(B). As a result, a collision between the host vehicle 100 and the forward object 200 is avoided.

[0071] When the vehicle driving assistance device 10 stops the host vehicle 100 by the deceleration stop control, it starts the stop maintenance control that keeps the host vehicle 100 stopped by continuing to apply braking force to the host vehicle 100.

[0072] <Delayed support and active support> However, if driving assistance control such as warning control is initiated even though the driver has operated the brake pedal 33 to avoid a collision between the host vehicle 100 and the forward object 200, the driver may feel annoyed. For this reason, the driver may wish to delay the start timing of the driving assistance control from the normal timing (assistance delay) when the driver starts a driving operation to avoid a collision between the host vehicle 100 and the forward object 200 (a collision avoidance driving operation). In this example, the vehicle driving assistance device 10 has a function to perform an assistance delay (assistance delay function), and a driver who desires an assistance delay can request the vehicle driving assistance device 10 to execute an assistance delay when the collision avoidance driving operation is started by operating the assistance delay button 51 to set it to an on state. In other words, when the driver operates the assistance delay button 51 to set it to an on state, the vehicle driving assistance device 10 is requested to execute an assistance delay when it is estimated that the driver has started a collision avoidance driving operation.

[0073] On the other hand, the driver may wish to start the driving assistance control earlier than normal (active assistance) in order to further improve the driving safety of the vehicle 100. In this example, the vehicle driving assistance device 10 has a function to perform active assistance (active assistance function), and a driver who wishes to receive active assistance can request the vehicle driving assistance device 10 to perform active assistance by getting into the vehicle 100 with the registered smart key 301R. In other words, when the driver gets into the vehicle 100 with the registered smart key 301R, a request is made to the vehicle driving assistance device 10 to perform active assistance.

[0074] Here, the driver who has entered the vehicle 100 with the registered smart key 301R naturally desires active assistance. However, if the assistance delay button 51 remains on at this time, both the execution of assistance delay and the execution of active assistance will be requested from the vehicle driving assistance device 10. In this case, even if the start timing of the driving assistance control is set earlier than normal due to active assistance, if it is estimated that the driver has started a collision avoidance driving operation before the driving assistance control is started, the start timing of the driving assistance control will be changed to a later timing due to the assistance delay, and it will not be possible to provide driving assistance that meets the driver's desire.

[0075] Therefore, the vehicle driving assistance device 10 is configured to execute assistance delay and active assistance as follows.

[0076] That is, if the support delay button 51 is turned on and a support delay is requested but active support is not requested, the vehicle driving support device 10 executes the support delay when it is estimated that the driver has started a collision avoidance driving operation. In other words, if the support delay button 51 is turned on and a support delay is requested but active support is not requested, the vehicle driving support device 10 executes the support delay when it detects a predetermined driving operation of the driver's vehicle 100 that may make driving support through collision avoidance control unnecessary.

[0077] That is, the vehicle driving assistance device 10 executes the assistance delay setting to reduce the first determination value IC1, the second determination value IC2, and the third determination value IC3. In particular, in this example, the vehicle driving assistance device 10 executes the assistance delay setting to shorten the first determination time TTC1, the second determination time TTC2, and the third determination time TTC3.

[0078] More specifically, when an assistance delay is requested but active assistance is not requested and it is not estimated that the driver has begun a collision avoidance driving operation, the vehicle driving assistance device 10 sets the first judgment value IC1 to a reference value (first reference judgment value IC1_B), sets the second judgment value IC2 to a reference value (second reference judgment value IC2_B) that is smaller than the first reference judgment value IC1_B, and sets the third judgment value IC3 to a reference value (third reference judgment value IC3_B) that is smaller than the second judgment value IC2.

[0079] In particular, in this example, when an assistance delay is requested but active assistance is not requested and it is not estimated that the driver has begun a collision avoidance driving operation, the vehicle driving assistance device 10 sets the first judgment time TTC1 to a reference time (first reference judgment time TTC1_B), sets the second judgment time TTC2 to a reference time (second reference judgment time TTC2_B) that is shorter than the first reference judgment time TTC1_B, and sets the third judgment time TTC3 to a reference time (third reference judgment time TTC3_B) that is shorter than the second reference judgment time TTC2_B.

[0080] In this case, driving assistance control such as warning control is started at normal timing (reference timing).

[0081] On the other hand, when an assistance delay is requested but active assistance is not requested and it is estimated that the driver has begun a collision avoidance driving operation, the vehicle driving assistance device 10 sets the first judgment value IC1 to a predetermined value (first assistance delay judgment value IC1_D) that is smaller than the first reference judgment value IC1_B, sets the second judgment value IC2 to a predetermined value (second assistance delay judgment value IC2_D) that is smaller than the second reference judgment value IC2_B and smaller than the first assistance delay judgment value IC1_D, and sets the third judgment value IC3 to a predetermined value (third assistance delay judgment value IC3_D) that is smaller than the third reference judgment value IC3_B and smaller than the second assistance delay judgment value IC2_D.

[0082] In particular, in this example, when an assistance delay is requested but active assistance is not requested and it is estimated that the driver has begun a collision avoidance driving operation, the vehicle driving assistance device 10 sets the first judgment time TTC1 to a predetermined time (first assistance delay judgment time TTC1_D) that is shorter than the first reference judgment time TTC1_B, sets the second judgment time TTC2 to a predetermined time (second assistance delay judgment time TTC2_D) that is shorter than the second reference judgment time TTC2_B and shorter than the first assistance delay judgment time TTC1_D, and sets the third judgment time TTC3 to a predetermined time (third assistance delay judgment time TTC3_D) that is shorter than the third reference judgment time TTC3_B and shorter than the second assistance delay judgment time TTC2_D.

[0083] As a result, driving assistance control such as warning control is started at a timing later than the normal timing (reference timing).

[0084] Furthermore, when the support delay button 51 is turned on and a support delay is requested, and active support is requested, the vehicle driving support device 10 executes active support, and continues active support without executing a support delay even when a situation occurs in which it is estimated that the driver has started a collision avoidance driving operation.

[0085] That is, when active support is requested, the vehicle driving support device 10 executes the active support setting that sets the first judgment value IC1, the second judgment value IC2, and the third judgment value IC3 to large values ​​even if an support delay is requested, and does not execute the support delay setting even if a situation occurs in which it is estimated that the driver has started a collision avoidance driving operation, thereby maintaining the first judgment value IC1 to the third judgment value IC3 to be set to large values. In particular, in this example, when active support is requested, the vehicle driving support device 10 executes the active support setting that lengthens the first judgment time TTC1, the second judgment time TTC2, and the third judgment time TTC3 even if an support delay is requested, and does not execute the support delay setting even if a situation occurs in which it is estimated that the driver has started a collision avoidance driving operation, thereby maintaining the first judgment time TTC1 to the third judgment time TTC3 to be set to large values.

[0086] More specifically, when active support is requested, even if an support delay is requested, the vehicle driving support device 10 sets the first judgment value IC1 to a predetermined value (first active support judgment value IC1_A) greater than the first reference judgment value IC1_B, sets the second judgment value IC2 to a predetermined value (second active support judgment value IC2_A) greater than the second reference judgment value IC2_B and smaller than the first active support judgment value IC1_A, and sets the third judgment value IC3 to a predetermined value (third active support judgment value IC3_A) greater than the third reference judgment value IC3_B and smaller than the second active support judgment value IC2_A, and maintains the first judgment value IC1 to the third judgment value IC3 set to the first active support judgment value IC1_A to the third active support judgment value IC3_A, respectively, even if a situation occurs in which it is estimated that the driver has begun a collision avoidance driving operation.

[0087] In particular, in this example, when active assistance is requested, even if an assistance delay is requested, the vehicle driving assistance device 10 sets the first judgment time TTC1 to a predetermined time (first active assistance judgment time TTC1_A) that is longer than the first reference judgment time TTC1_B, sets the second judgment time TTC2 to a predetermined time (second active assistance judgment time TTC2_A) that is longer than the second reference judgment time TTC2_B and shorter than the first active assistance judgment time TTC1_A, and sets the third judgment time TTC3 to a predetermined time (third active assistance judgment time TTC3_A) that is longer than the third reference judgment time TTC3_B and shorter than the second active assistance judgment time TTC2_A, and maintains the first judgment time TTC1 to the third judgment time TTC3 set to the first active assistance judgment time TTC1_A to the third active assistance judgment time TTC3_A, respectively, even if a situation occurs in which it is estimated that the driver has begun a collision avoidance driving operation.

[0088] According to this, when the driver desires that driving assistance such as issuing a warning be started at an earlier timing, driving assistance control such as warning control is started at an earlier timing.

[0089] If an assistance delay is not requested when active assistance is requested, the vehicle driving assistance device 10 executes active assistance (active assistance setting).

[0090] In addition, the vehicle driving assistance device 10 is configured to estimate that a steering avoidance driving operation has begun, for example, when the brake pedal operation amount BP becomes equal to or greater than a predetermined value, or when the steering angle θ becomes equal to or greater than a predetermined value, or when the angular velocity of the steering angle θ becomes equal to or greater than a predetermined value, or when the shift lever is operated to increase the gear ratio, or when it is estimated that the turn signal lever is operated to cause the vehicle 100 to change lanes.

[0091] Furthermore, in the above-described example, the vehicle driving assistance device 10 is configured to execute the assistance delay setting when it is estimated that a collision avoidance driving maneuver has been initiated if active assistance is not requested when an assistance delay is requested, but the device may also be configured to execute the assistance delay setting regardless of whether it is estimated that a collision avoidance driving maneuver has been initiated.

[0092] The above is an outline of the operation of the vehicle driving assistance device 10.

[0093] As mentioned above, the technical concept of the present invention can also be applied to a vehicle driving assistance device that executes driving assistance control other than the above-mentioned collision avoidance control, and driving assistance control other than collision avoidance control is, for example, collision avoidance control (steering collision avoidance control) that executes warning control and automatic steering control to prevent the vehicle from colliding with an object in front of it, or lane departure prevention control that executes warning control and automatic steering control to prevent the vehicle from deviating from its driving lane.

[0094] The warning control of steering collision avoidance control is one type of driving assistance control, and is a control that issues a warning to the driver to inform them that their vehicle may collide with an object in front of it.The automatic steering control of steering collision avoidance control is also one type of driving assistance control, and is a control that steers their vehicle to avoid colliding with an object in front of it.

[0095] In addition, warning control for lane departure prevention control is also a type of driving assistance control, and is a control that issues a warning to the driver to inform them that the vehicle may deviate from its lane.Automatic steering control for lane departure prevention control is also a type of driving assistance control, and is a control that steers the vehicle to return it to the center of the lane.

[0096] <Specific operation of the vehicle driving assistance device> Next, a specific operation of the vehicle driving assistance device 10 will be described. The CPU of the ECU 90 of the vehicle driving assistance device 10 according to the embodiment of the present invention is configured to execute the routine shown in Fig. 6 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts processing from step 600 in Fig. 6, and proceeds to step 605, where it determines whether the driving assistance termination condition C4 is satisfied.

[0097] The driving assistance termination condition C4 is a condition for terminating the driving assistance control. For example, when the driving assistance control is the above-described collision avoidance control, the driving assistance termination condition C4 is a condition that the host vehicle 100 is stopped by the driver's operation of the brake pedal 33, and a condition that the preceding object 200 is no longer present in the predicted traveling area A100 by the driver's operation of the steering wheel 35.

[0098] If the CPU determines "Yes" in step 605, it proceeds to step 650, terminates driving assist control, and temporarily terminates the processing of this routine. In this case, if the CPU is executing warning control at that time, it terminates the warning control, if the CPU is executing warning deceleration control at that time, it terminates the warning deceleration control, and if the CPU is executing deceleration stop control at that time, it terminates the deceleration stop control.

[0099] On the other hand, if the CPU determines "No" in step 605, it proceeds to step 610 and determines whether or not the warning condition C1 is met. If the CPU determines "Yes" in step 605, it proceeds to step 615 and executes warning control. Next, the CPU proceeds to step 620 and determines whether or not the warning deceleration condition C2 is met. If the CPU determines "Yes" in step 620, it proceeds to step 625 and executes warning deceleration control. Thereafter, the CPU proceeds to step 630. On the other hand, if the CPU determines "No" in step 620, it proceeds directly to step 630.

[0100] When the CPU proceeds to step 630, it determines whether the deceleration stop condition C3 is satisfied. If the CPU determines "Yes" in step 630, it proceeds to step 635, where it stops the warning deceleration control and executes the deceleration stop control. Next, the CPU proceeds to step 640, where it determines whether the host vehicle 100 has stopped.

[0101] If the CPU determines "Yes" in step 640, it proceeds to step 645, where it stops the warning control and the deceleration / stop control and executes the stop-maintenance control. Then, the CPU temporarily ends this routine. On the other hand, if the CPU determines "No" in step 640, it temporarily ends the processing of this routine.

[0102] If the CPU determines "No" in step 610 or step 630, the CPU proceeds to step 650 and ends collision avoidance control. Next, the CPU temporarily ends the processing of this routine.

[0103] Furthermore, the CPU executes the routine shown in Fig. 7 at a predetermined calculation cycle. Therefore, at a predetermined timing, the CPU starts processing from step 700 of the routine shown in Fig. 7, and proceeds to step 705 to determine whether the predicted arrival time TTC is greater than zero. That is, the CPU determines whether the forward object 200 has been detected and the calculation of the predicted arrival time TTC is being executed.

[0104] If the CPU determines "Yes" in step 705, it proceeds to step 710 and determines whether an assistance delay is requested. If the CPU determines "Yes" in step 710, it proceeds to step 715 and determines whether active assistance is requested. If the CPU determines "Yes" in step 715, it proceeds to step 720 and executes active assistance setting. In this case, in this example, the first determination time TTC1 to the third determination time TTC3 are set to the first active assistance determination time TTC1_A to the third active assistance determination time TTC3_A, respectively. This makes the start timing of driving assistance control earlier than the normal timing (reference timing). Thereafter, the CPU temporarily ends the processing of this routine.

[0105] On the other hand, if the CPU determines "No" in step 715, it proceeds to step 725, where it determines whether it is estimated that a collision avoidance driving operation has been initiated. If the CPU determines "Yes" in step 725, it proceeds to step 730, where it executes assistance delay setting. In this case, in this example, the first determination time TTC1 to the third determination time TTC3 are set to the first assistance delay determination time TTC1_D to the third assistance delay determination time TTC3_D, respectively. This causes the start timing of driving assistance control to be later than the normal timing (reference timing). Thereafter, the CPU temporarily terminates the processing of this routine.

[0106] On the other hand, if the CPU determines "No" in step 725, it proceeds to step 735 and executes normal assistance setting. In this case, in this example, the first determination time TTC1 to the third determination time TTC3 are set to the first reference determination time TTC1_B to the third reference determination time TTC3_B, respectively. As a result, the start timing of the driving assistance control becomes the normal timing (reference timing). Thereafter, the CPU temporarily ends the processing of this routine.

[0107] If the CPU determines "No" in step 710, the CPU proceeds to step 740 and determines whether active support is requested. If the CPU determines "Yes" in step 740, the CPU proceeds to step 745 and executes active support setting. In this case, in this example, the first determination time TTC1 to the third determination time TTC3 are set to the first active support determination time TTC1_A to the third active support determination time TTC3_A, respectively. This makes the start timing of driving support control earlier than the normal timing (reference timing). Thereafter, the CPU temporarily ends the processing of this routine.

[0108] On the other hand, if the CPU determines "No" in step 740, it proceeds to step 750 and executes normal assistance setting. In this case, in this example, the first determination time TTC1 to the third determination time TTC3 are set to the first reference determination time TTC1_B to the third reference determination time TTC3_B, respectively. As a result, the start timing of the driving assistance control becomes the normal timing (reference timing). Thereafter, the CPU temporarily ends the processing of this routine.

[0109] If the CPU determines "No" in step 705, it temporarily terminates the processing of this routine.

[0110] The specific operation of the vehicle driving assistance device 10 has been described above.

[0111] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0112] 10...vehicle driving assistance device, 20...vehicle driving device, 21...drive device, 22...braking device, 40...assistance delay request device, 41...assistance delay button, 60...transmitter, 70...alarm device, 80...peripheral information detection device, 90...ECU, 100...host vehicle, 200...forward object, 300...portable device, 301...smart key< / ecu>

Claims

1. A vehicle driving assistance device comprising a control device that executes driving assistance control to provide driving assistance to a driver of the vehicle, the control device having an assistance delay function that controls the timing at which the driving assistance control is started so that it is later than a reference timing, and an active assistance function that controls the timing at which the driving assistance control is started so that it is earlier than the reference timing, The control device is configured to, when activation of the active assistance function is requested, not activate the assistance delay function even if activation of the assistance delay function is requested by the driver of the host vehicle. Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, The assistance delay function is requested by the driver operating an operation unit provided in the host vehicle. Vehicle driving assistance device.

3. 3. The vehicle driving assistance device according to claim 1, The control device is configured to determine whether the active assistance function has been requested based on whether a signal transmitted from a key of the host vehicle has been received. Vehicle driving assistance device.

4. In the vehicle driving assistance device according to claim 1, The assistance delay function is a function of delaying the timing of starting the driving assistance control from the reference timing when a predetermined driving operation by the driver of the host vehicle that may make driving assistance by the driving assistance control unnecessary is detected. Vehicle driving assistance device.

5. In the vehicle driving assistance device according to claim 4, the driving assistance control is a deceleration / stop control that automatically decelerates and stops the host vehicle in order to avoid collision of the host vehicle with an object ahead of the host vehicle, the predetermined driving operation is a driving operation of the host vehicle by the driver to avoid a collision between the host vehicle and the object; Vehicle driving assistance device.

6. In the vehicle driving assistance device according to claim 4 or claim 5, The control device is configured to determine that operation of the active assistance function has been requested when a signal indicating that the driver requires operation of the active assistance function is received from the driver. Vehicle driving assistance device.

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