Vehicle control device, control method, and control program

Abstract

To propose a vehicle control device which is capable of restraining acceleration in ACC (Adaptive Cruise Control) which performs constant speed travel or tracking travel at an appropriate state.SOLUTION: A control device executes processing which acquires operation environment information indicating an operation environment of a vehicle; processing which restrains acceleration of the vehicle for constant speed travel or tracking travel if the operation environment of the vehicle is in a prescribed state; processing which sets the state as an acceleration restraint cancellation state when an ON operation of the accelerator of the vehicle is performed; and release processing which cancels the acceleration restraint cancellation state if a prescribed restart condition is satisfied when or after the ON operation of the accelerator is performed.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device, a control method, and a control program for controlling acceleration or deceleration of a vehicle so as to perform constant speed traveling or following traveling. [Background technology]

[0002] Patent Document 1 discloses a vehicle driving control device that can reduce the sense of discomfort felt by the driver when a driving environment acquisition means determines that the vehicle is attempting to exit a major road while traveling on the major road. This vehicle driving control device suppresses acceleration of the vehicle when the driving environment acquired by the driving environment acquisition means is an environment unsuitable for acceleration. On the other hand, if the driver's intention to accelerate is acquired, the suppression of acceleration is canceled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-107451 Summary of the Invention [Problem to be solved by the invention]

[0004] In so-called ACC (Adaptive Cruise Control), which accelerates or decelerates a vehicle to travel at a set speed or to follow a vehicle ahead, it is considered to perform acceleration suppression to suppress the acceleration of the vehicle in ACC when the vehicle's driving environment is in a specified state.

[0005] On the other hand, it is considered that the acceleration suppression is temporarily suspended while the driver is performing an on-operation of the accelerator pedal of the vehicle, assuming that the driver intends to accelerate the vehicle. Here, it is necessary to provide an appropriate condition for canceling the temporary suspension of the acceleration suppression. However, if the condition is simply that the accelerator pedal is released, the acceleration suppression may be unnecessarily performed against the driver's will, which may impair the driver's comfort.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to propose a vehicle control device, control method, and control program that are capable of suppressing acceleration in ACC in appropriate situations. [Means for solving the problem]

[0007] A control device according to one aspect of the present disclosure is a vehicle control device that executes control to accelerate or decelerate a vehicle so as to perform constant-speed traveling at a set vehicle speed or follow-up traveling to follow a preceding vehicle. The control device executes the following processes: a process of acquiring driving environment information indicating the driving environment of the vehicle; a process of performing acceleration suppression to suppress acceleration of the vehicle for constant-speed traveling or follow-up traveling when the driving environment of the vehicle is in a predetermined state; a process of entering an acceleration suppression suspension state to temporarily suspend acceleration suppression when an accelerator pedal of the vehicle is turned on; and a release process to release the acceleration suppression suspension state when an accelerator pedal of the vehicle is turned off or after the accelerator pedal is turned off and a predetermined resumption condition for resuming acceleration suppression is satisfied.

[0008] The control device may include the following features: In the cancellation process, the specified resumption condition is that one of the following is met: the vehicle's speed is equal to or greater than a specified percentage of the set vehicle speed; the vehicle is in follow-up driving mode; the driving environment becomes a new specified situation in which acceleration suppression is to be performed; or control is performed to decelerate the vehicle for constant speed driving or follow-up driving.

[0009] A control method according to one aspect of the present disclosure is a vehicle control method for accelerating or decelerating the vehicle so that the vehicle travels at a constant speed at a set vehicle speed or travels in a follow-up mode by following a preceding vehicle. In this control method, a processor executing at least one program executes the following processes: acquiring driving environment information indicating the driving environment of the vehicle; performing acceleration suppression to suppress acceleration of the vehicle for constant speed traveling or follow-up traveling when the driving environment of the vehicle is in a predetermined state; entering an acceleration suppression suspension state to temporarily suspend acceleration suppression when an accelerator pedal is turned on; and canceling the acceleration suppression suspension state when an accelerator pedal is turned off or after the accelerator pedal is turned off and a predetermined resumption condition for resuming acceleration suppression is satisfied.

[0010] The control method may include the following features. In the cancellation process, the specified resumption condition is that one of the following is met: the vehicle's speed is equal to or greater than a specified percentage of the set vehicle speed; the vehicle is in follow-up driving mode; the driving environment becomes a new specified situation in which acceleration suppression is to be performed; or control is performed to decelerate the vehicle for constant speed driving or follow-up driving.

[0011] A control program according to one aspect of the present disclosure is a program that is executed by a computer and causes the computer to execute the above-described control method. [Effects of the Invention]

[0012] According to the vehicle control device, control method, and control program disclosed herein, when the accelerator pedal of the vehicle is turned on, the acceleration suppression suspension state is established, temporarily suspending acceleration suppression, while the acceleration suppression suspension state can be maintained until a predetermined resumption condition is met, even if the accelerator pedal is turned off. This reduces unnecessary acceleration suppression and enables acceleration suppression in ACC to be performed in appropriate situations. [Brief explanation of the drawings]

[0013] [Figure 1]FIG. 1 is a conceptual diagram for explaining an overview of acceleration suppression. [Figure 2] FIG. 10 is a conceptual diagram for explaining an outline of an acceleration suppression suspension state. [Figure 3] FIG. 2 is a conceptual diagram for explaining an outline of a control method performed by the control device according to the present embodiment. [Figure 4] 1 is a block diagram for explaining the configuration of a vehicle system according to an embodiment of the present invention. [Figure 5] 3 is a block diagram showing the flow of processing executed by a control device according to the present embodiment; FIG. [Figure 6] 6 is a flowchart showing a process for determining whether or not to suppress acceleration in the ACC control processing unit shown in FIG. 5. [Figure 7] 6 is a flowchart showing a process executed in a temporary stop determination processing unit shown in FIG. 5. [Figure 8] 8 is a flowchart showing processing executed in the temporary stop flag release processing shown in FIG. 7. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, when the numbers, quantities, amounts, ranges, etc. of each element are mentioned in the embodiments described below, the concept of the present disclosure is not limited to the mentioned numbers unless otherwise specified or clearly specified in principle. Furthermore, the configurations, etc. described in the embodiments described below are not necessarily essential to the concept of the present disclosure unless otherwise specified or clearly specified in principle. In addition, the same or corresponding parts in each drawing are assigned the same reference numerals, and duplicate explanations thereof will be appropriately simplified or omitted.

[0015] 1. Overview The control device according to this embodiment executes ACC, which accelerates or decelerates the vehicle so that the vehicle travels at a constant speed at a set vehicle speed or follows a preceding vehicle. The control device according to this embodiment also executes acceleration suppression, which suppresses the acceleration of the vehicle in ACC, when the driving environment of the vehicle is in a predetermined state.

[0016] For example, when a vehicle is traveling on a city street, acceleration suppression is performed in situations where the vehicle is turning right or left at an intersection, passing pedestrians, bicycles, parked vehicles, etc., traveling on a residential road, etc. In this way, acceleration suppression is performed in situations where large acceleration is considered inappropriate, allowing the vehicle to travel appropriately using ACC.

[0017] Fig. 1 is a conceptual diagram for explaining an overview of acceleration suppression. Fig. 1 shows a comparison of the change V(t) (solid line) in the vehicle speed of vehicle 1 under normal control (normal control) and the change V(t) (dashed line) in the vehicle speed of vehicle 1 under control when acceleration suppression is performed (acceleration suppression control) for both constant speed driving and following driving.

[0018] The upper part of Fig. 1 shows constant speed driving, where vehicle 1 is controlled so that its speed becomes a set vehicle speed Vs (dotted line). The lower part of Fig. 1 shows follow-up driving, where vehicle 1 is controlled so that it follows a preceding vehicle PV. Here, Vc represents the speed of vehicle 1 at the start of control, and Vp(t) represents the change in the speed of the preceding vehicle PV (dotted line).

[0019] As shown in FIG. 1, when acceleration suppression is performed, the change until the vehicle 1 reaches the target vehicle speed becomes gentler compared to the normal case.

[0020] Incidentally, whether or not the driving environment of the vehicle 1 is in a predetermined state is typically determined based on detection information from a sensor provided in the vehicle 1. On the other hand, it is assumed that, for example, in cases where acceleration suppression is being performed excessively due to erroneous detection by a sensor, the driver of the vehicle 1 wishes to accelerate the vehicle 1 more without performing acceleration suppression (hereinafter also referred to as "having an intention to accelerate"). For this reason, it is considered that while the driver is performing an on-operation of the accelerator of the vehicle 1, it is determined that the driver has an intention to accelerate, and the acceleration suppression is temporarily suspended, in an acceleration suppression suspension state.

[0021] Fig. 2 is a conceptual diagram for explaining an outline of the acceleration suppression suspension state. Fig. 2 shows a case where the vehicle 1 is controlled so that the vehicle speed becomes the set vehicle speed Vs, and where it is determined that acceleration suppression is required due to a target object OBJ around the vehicle 1. Furthermore, the driver has not operated the accelerator pedal of the vehicle 1 until time t1, and the accelerator pedal is turned on after time t1. Fig. 2 shows the change V(t) in the vehicle speed of the vehicle 1 in this case.

[0022] At this time, acceleration suppression control is performed until time t1, but after time t1, acceleration suppression is temporarily stopped by the accelerator pedal being depressed (acceleration suppression stopped state), and normal control is performed.

[0023] At this point, it is necessary to appropriately cancel the acceleration suppression suspension state. Simply speaking, it is conceivable to cancel the acceleration suppression suspension state on the condition that the driver has finished operating the accelerator of the vehicle 1. However, under such a condition, there is a risk that acceleration suppression will be performed again in the same situation, and that acceleration suppression will be performed unnecessarily against the driver's intention to accelerate. Furthermore, at this time, there is a risk that the driver will frequently operate the accelerator to return to the acceleration suppression suspension state, which may impair the driver's comfort.

[0024] Therefore, in the control device of this embodiment, when the driver turns on the accelerator of the vehicle 1, the acceleration suppression suspension state is established, but even if the driver turns off the accelerator, the acceleration suppression suspension state is continued until a predetermined resumption condition is met.

[0025] Fig. 3 is a conceptual diagram for explaining an outline of a control method by the control device according to this embodiment. Fig. 3 shows a situation similar to Fig. 2, in which the vehicle 1 is controlled so that the vehicle speed becomes a set vehicle speed Vs in a situation in which acceleration suppression is performed. Fig. 3 shows the change V(t) in the vehicle speed of the vehicle 1, the state of the accelerator operation of the vehicle 1 by the driver, and the state of a temporary suspension flag in this case. Here, the temporary suspension flag is information provided as a result of processing executed by the control device, and when the temporary suspension flag is on, the acceleration suppression is suspended.

[0026] 3, at time t1, the driver turns on the accelerator of vehicle 1, and at time t2, the driver turns off the accelerator. At this time, the control device turns on the temporary suspension flag at time t1 when the accelerator is turned on. However, even after time t2 when the accelerator is turned off, the temporary suspension flag is not turned off, and the acceleration suppression suspension state continues until time t3 when a predetermined resumption condition is satisfied.

[0027] In this way, the control device according to the present embodiment can continue the acceleration suppression suspension state until a predetermined resumption condition is met, which indicates a situation where it is considered appropriate to perform acceleration suppression again. This reduces unnecessary acceleration suppression and enables acceleration suppression in ACC to be performed in appropriate situations. This in turn can improve driver comfort.

[0028] 2. Configuration The configuration of the vehicle system of vehicle 1 according to this embodiment will be described below.

[0029] FIG. 4 is a block diagram illustrating the configuration of a vehicle system 10 of a vehicle 1 according to this embodiment. The vehicle system 10 includes a control device 100, sensors 200, a communication device 300, and actuators 400. The control device 100 is configured to be able to transmit information to the sensors 200, the communication device 300, and the actuators 400. Typically, the sensors 200, the communication device 300, and the actuators 400 are electrically connected to each other by a wire harness. However, they may be configured in other ways. For example, they may be connected to each other via a wireless or optical communication line.

[0030] The sensors 200 are a type of sensor that detects and outputs information (driving environment information) that indicates the driving environment of the vehicle 1. The driving environment information detected by the sensors 200 is transmitted to the control device 100. The sensors 200 include a vehicle environment detection sensor IS and an ambient environment detection sensor OS.

[0031] The vehicle environment detection sensor IS detects information about the internal environment of the vehicle 1, such as the driving state of the vehicle 1 (vehicle speed, acceleration, yaw rate, etc.). The vehicle environment detection sensor IS includes a sensor for detecting the accelerator operation state of the vehicle 1. For example, it includes an accelerator position sensor for detecting the accelerator opening. Other examples of the vehicle environment detection sensor IS include a wheel speed sensor for detecting the speed of the vehicle 1, an acceleration sensor for detecting the acceleration of the vehicle 1, and an angular velocity sensor for detecting the yaw rate of the vehicle 1.

[0032] The surrounding environment detection sensor OS detects information about the environment outside the vehicle 1, such as the environment around the vehicle 1 (preceding vehicles, lanes, obstacles, etc.). The surrounding environment detection sensor OS is, for example, a millimeter wave radar, a sensor camera, or a LiDAR (Light Detection and Ranging).

[0033] The driving environment information output by the sensors 200 may include not only information directly detected by the sensors but also information obtained by arithmetic processing of the directly detected information. For example, information on the type of object (pedestrian, sign, pillar) obtained by arithmetic processing from information such as the shape, color, and speed of the object around the vehicle 1 that is directly detected may be output as the driving environment information. In this case, the arithmetic processing may be performed by each sensor, or the sensors 200 may include a device that performs the arithmetic processing.

[0034] The communication device 300 is a device that transmits and receives various information (communication information) by communicating with devices external to the vehicle 1. The communication device 300 is, for example, a device that performs vehicle-to-vehicle communication or road-to-vehicle communication, a GPS (Global Positioning System) receiver, a device that connects to a communication network and communicates with a server on the communication network, etc. The communication information received by the communication device 300 is transmitted to the control device 100. Here, the communication information acquired by the control device 100 may include information that serves as driving environment information for the vehicle 1. For example, the communication information may include the position of the vehicle 1 on a map, traffic information for the road on which the vehicle 1 is traveling, etc.

[0035] The control device 100 executes various processes related to the control of the vehicle 1 based on the acquired information, and generates and outputs control signals. The control signals output by the control device 100 are transmitted to the actuators 400. The control device 100 is typically provided in the vehicle 1. However, it may be a device external to the vehicle 1. In this case, the control device 100 acquires information and outputs control signals via communication with the vehicle 1.

[0036] The control device 100 is a computer including a memory 110 and a processor 120. Typically, the control device 100 is an ECU (Electronic Control Unit). The memory 110 stores a control program PG executable by the processor, and data DT including information acquired by the control device 100 and various information related to the control program PG. Here, the memory 110 may store time-series data of driving environment information for a certain period as the data DT. The processor 120 reads the control program PG from the memory 110 and executes processing in accordance with the control program PG based on the information in the data DT read from the memory 110.

[0037] The processes executed by the control device 100, more specifically, the processes executed by the processor 120 in accordance with the control program PG, include processes related to ACC and processes related to acceleration suppression. These processes will be described in detail later.

[0038] The control device 100 may be a system composed of multiple computers. In this case, each computer is configured to be able to communicate with each other to the extent that the computers can acquire information necessary for executing processing. The control program PG may also be a combination of multiple programs.

[0039] The actuators 400 are a type of actuator that operates in accordance with control signals obtained from the control device 100. The actuators included in the actuators 400 include, for example, an actuator that drives an engine (an internal combustion engine, an electric motor, a hybrid of these, etc.), an actuator that drives a brake mechanism provided in the vehicle 1, an actuator that drives a steering mechanism of the vehicle 1, etc. The various actuators included in the actuators 400 operate in accordance with control signals, thereby realizing various controls of the vehicle 1 by the control device 100.

[0040] 3. Processing The process executed by the control device 100 according to this embodiment will be described below.

[0041] 3-1. Processing flow Fig. 5 is a block diagram showing the flow of processing executed by the control device 100. As shown in Fig. 5, the processing executed by the control device 100 is configured by an acceleration suppression judgment processing unit SJU, a temporary suspension judgment processing unit TSU, and an ACC control processing unit ACU. These may be configured as part of the control program PG, or may be configured as separate computers. Note that the driving environment information shown in Fig. 5 may include not only driving environment information acquired by the control device 100 from the sensors 200, but also information acquired as communication information.

[0042] The acceleration suppression determination processing unit SJU determines whether the driving environment of the vehicle 1 is a predetermined situation (hereinafter also simply referred to as a "predetermined situation") in which acceleration suppression is to be performed, based on the driving environment information, and outputs the determination result. The predetermined situation is, for example, a situation in which it is considered inappropriate to perform large acceleration, such as when the vehicle 1 is driving on a street and making a right or left turn at an intersection, when driving while passing pedestrians, bicycles, parked vehicles, etc., or when driving on a residential road. However, there is no limitation on what situation is considered to be a predetermined situation, and it may be optimally determined for the vehicle 1 to which the control device 100 is applied. Similarly, there is no limitation on the method of determination based on the driving environment information.

[0043] When a plurality of predetermined situations are given, the determination result that the driving environment of the vehicle 1 is a predetermined situation may include information about which predetermined situation it is.

[0044] The temporary suspension determination processing unit TSU determines whether to enter an acceleration suppression suspension state in which acceleration suppression is temporarily suspended based on the driving environment information and the determination result acquired from the acceleration suppression determination processing unit SJU, and outputs a temporary suspension flag. When determining to enter an acceleration suppression suspension state, the temporary suspension determination processing unit TSU turns on the temporary suspension flag. The temporary suspension flag is, for example, a Boolean value where 0 indicates off and 1 indicates on. Details of the processing executed by the temporary suspension determination processing unit TSU will be described later.

[0045] The ACC control processing unit ACU executes processing related to ACC based on driving environment information, and generates and outputs a control signal for realizing ACC. Furthermore, the ACC control processing unit ACU determines whether to perform acceleration suppression based on the determination result obtained from the acceleration suppression determination processing unit SJU and the temporary suspension flag obtained from the temporary suspension determination processing unit TSU. If it determines that acceleration suppression is to be performed, the ACC is performed using acceleration suppression control. In other words, a control signal is generated to keep the acceleration of the vehicle 1 below a certain level. This can be done, for example, by limiting the amount of accelerator opening command given as a control signal in the processing related to ACC.

[0046] The process for determining whether to perform acceleration suppression will be described later. The method for generating a control signal to realize ACC is not limited, and ACC is a well-known technology, so a description thereof will be omitted in this disclosure.

[0047] 3-2.Decision on whether to suppress acceleration in the ACC control processing unit 6 is a flowchart showing the process of determining whether or not to suppress acceleration in the ACC control processing unit ACU. The process shown in FIG. 6 is repeatedly executed at predetermined intervals.

[0048] In step S100, the ACC control processing unit ACU determines whether or not a predetermined situation exists in which acceleration suppression should be performed, based on the determination result obtained from the acceleration suppression determination processing unit SJU.

[0049] If the situation is such that acceleration suppression is required (step S100; Yes), the process proceeds to step S110. If the situation is not such that acceleration suppression is required (step S100; No), the process proceeds to step S130, where it is determined that ACC will be performed using normal control, and the process ends.

[0050] In step S110, the ACC control processing unit ACU determines whether the temporary suspension flag acquired from the temporary suspension determination processing unit TSU is off.

[0051] If the temporary stop flag is off (step S110; Yes), the process proceeds to step S120, where it is determined that ACC using acceleration suppression control will be performed, and the process ends.If the temporary stop flag is on (step S120; No), the process proceeds to step S130, where it is determined that ACC using normal control will be performed, and the process ends.

[0052] The ACC control processing unit ACU executes the process shown in FIG. 6, whereby ACC is performed by acceleration suppression control or normal control as follows. If the situation is not one in which acceleration suppression is required, ACC is performed using normal control. In a predetermined situation where acceleration suppression is to be performed, if the temporary suspension flag is on, ACC is performed by normal control (acceleration suppression suspension state). When the situation is such that acceleration suppression is required and the temporary suspension flag is off, ACC is performed using acceleration suppression control.

[0053] 3-3. Processing to be performed in the temporary suspension determination processing unit FIG. 7 is a flowchart showing the processing executed by the temporary suspension judgment processing unit TSU. The processing shown in FIG. 7 is repeatedly executed at predetermined intervals. In particular, the processing shown in FIG. 7 may be started when a predetermined situation for performing acceleration suppression occurs, and may be repeatedly executed. In this case, whether or not a predetermined situation for performing acceleration suppression occurs depends on the judgment result obtained from the acceleration suppression judgment processing unit SJU. When the processing shown in FIG. 7 is repeatedly executed, the initial value of the temporary suspension flag is off.

[0054] In step S200, the temporary suspension determination processing unit TSU determines whether the temporary suspension flag is off.

[0055] If the pause flag is off (step S200; Yes), the process proceeds to step S400. If the pause flag is on (step S200; No), the process proceeds to step S300, where pause flag release processing is executed, and the process ends. Here, the pause flag release processing is processing for turning off the pause flag. Details of the processing executed in the pause flag release processing will be described later.

[0056] In step S400, the temporary stop determination processing unit TSU determines whether the accelerator has been turned on. For example, if the accelerator opening degree acquired as driving environment information is equal to or greater than a certain level (for example, equal to or greater than 60%), the accelerator operation state is determined to be on, and the temporary stop determination processing unit TSU determines whether the accelerator has been turned on. Alternatively, the temporary stop determination processing unit TSU may determine that the accelerator has been turned on when the accelerator opening degree is equal to or greater than a certain level and continues for a predetermined time or longer.

[0057] If the accelerator pedal is turned on (step S400; Yes), the process proceeds to step S500, where the temporary stop flag is set to on and the process ends. If the accelerator pedal is not turned on (step S400; No), the temporary stop flag remains off and the process ends.

[0058] FIG. 8 is a flowchart showing the process executed by the temporary suspension determination processing unit TSU in the temporary suspension flag release process (step S300 in FIG. 7).

[0059] In step S310, the temporary suspension determination processing unit TSU determines whether the accelerator operation state is ON. If the accelerator operation state is ON (step S310; Yes), the temporary suspension flag release process ends. If the accelerator operation state is OFF (step S310; No), the process proceeds to step S320. This indicates that the accelerator has been turned OFF or has been turned OFF.

[0060] In step S320, the temporary suspension determination processing unit TSU determines whether the vehicle speed of the vehicle 1 is equal to or greater than a predetermined ratio (for example, 90% or more) of the set vehicle speed Vs. The predetermined ratio may be a value given in advance in the control program PG, or may be a value given according to the set vehicle speed Vs.

[0061] If the vehicle speed of the vehicle 1 is equal to or greater than the predetermined ratio of the set vehicle speed Vs (step S320; Yes), the process proceeds to step S360, where the temporary stop flag is turned off and the temporary stop flag cancel process ends. If the vehicle speed is less than the predetermined ratio of the set vehicle speed Vs (step S320; No), the process proceeds to step S330.

[0062] In step S330, the temporary suspension determination processing unit TSU determines whether or not the vehicle is currently following the vehicle by ACC.

[0063] If the vehicle is currently following the other vehicle (step S330; Yes), the process proceeds to step S360, where the temporary stop flag is turned off, and the temporary stop flag cancel process ends. If the vehicle is not currently following the other vehicle (step S330; No), the process proceeds to step S340.

[0064] In step S340, the temporary suspension determination processing unit TSU determines whether the driving environment of the vehicle 1 has become a new predetermined situation. For example, the temporary suspension determination processing unit TSU determines that the driving environment of the vehicle 1 has become a new predetermined situation when, based on the determination result acquired from the acceleration suppression determination processing unit SJU, the driving environment of the vehicle 1 is a predetermined situation different from the situation in which acceleration suppression was performed. Alternatively, the temporary suspension determination processing unit TSU determines that the driving environment of the vehicle 1 has become a new predetermined situation when, based on the determination result, the situation in which acceleration suppression was performed is resolved and the driving environment of the vehicle 1 becomes a predetermined situation again.

[0065] If the driving environment of the vehicle 1 becomes a new situation in which acceleration suppression is to be performed (step S340; Yes), the process proceeds to step S360, where the temporary suspension flag is turned off and the temporary suspension flag cancellation process ends. If a new situation does not occur (step S340; No), the process proceeds to step S350.

[0066] In step S350, the temporary suspension determination process unit TSU determines whether or not the ACC has performed control to decelerate the vehicle 1.

[0067] If the ACC has performed control to decelerate the vehicle 1 (step S350; Yes), the temporary stop flag is turned off and the temporary stop flag release process is terminated. If the ACC has not performed control to decelerate the vehicle 1 (step S350; No), the temporary stop flag release process is terminated.

[0068] The determination process from steps S320 to S350 turns off the temporary suspension flag if the result is positive. In other words, a predetermined resumption condition for resuming acceleration suppression is set. Therefore, as shown in steps S320 to S350 in FIG. 8, in the control device 100 according to this embodiment, the predetermined resumption condition is that any one of the following is satisfied: The speed of the vehicle 1 is equal to or greater than a predetermined ratio of the set vehicle speed Vs (step S320). The vehicle is following the other vehicle (step S330). The driving environment of the vehicle 1 becomes a new predetermined situation (step S340). The ACC has performed control to decelerate the vehicle 1 (step S350).

[0069] The order in which the determination processes from steps S320 to S350 are performed may be different from that shown in FIG.

[0070] 7 and 8, the temporary suspension determination processing unit TSU puts the vehicle 1 into an acceleration suppression suspension state when the driver turns on the accelerator pedal, and can continue the acceleration suppression suspension state until a predetermined resumption condition is met even if the driver turns off the accelerator pedal. Here, the predetermined resumption condition is as described above.

[0071] 4.Effects As described above, the control device according to this embodiment performs acceleration suppression in the ACC when the driving environment of the vehicle 1 is in a predetermined state. When the driver turns on the accelerator of the vehicle 1, the acceleration suppression is suspended, indicating that the driver intends to accelerate. However, even if the accelerator is released, the acceleration suppression suspension state can be continued until a predetermined resumption condition is met. This reduces unnecessary acceleration suppression and enables acceleration suppression in the ACC to be performed in an appropriate state. This in turn improves driver comfort.

[0072] Furthermore, by setting the predetermined restart condition to be any one of the following conditions being satisfied, the acceleration suppression suspension state can be immediately released when it is considered appropriate to perform acceleration suppression again. The speed of the vehicle 1 is equal to or greater than a predetermined ratio of the set vehicle speed Vs. The vehicle is following another vehicle. The driving environment of vehicle 1 is brought into a new predetermined situation. The ACC controlled vehicle 1 to slow down. [Explanation of symbols]

[0073] 1 vehicle 10 Vehicle Systems 100 control device 110 memory 120 processors PG control program 200 Sensors 300 Communication equipment 400 Actuators ACU ACC control processing unit SJU Acceleration suppression decision processing unit TSU Temporary Suspension Judgment Processing Unit

Claims

1. A control device for a vehicle that executes control to accelerate or decelerate a vehicle so as to perform constant speed traveling at a set vehicle speed or following traveling following a preceding vehicle, A process of acquiring driving environment information indicating a driving environment of the vehicle; a process of performing acceleration suppression to suppress acceleration of the vehicle for the constant speed traveling or the following traveling when the driving environment is in a predetermined state; a process of entering an acceleration suppression suspension state in which the acceleration suppression is temporarily suspended when an accelerator pedal of the vehicle is depressed; a cancellation process for canceling the acceleration suppression suspension state when a predetermined resumption condition for resuming the acceleration suppression is satisfied when an accelerator pedal of the vehicle is released or after the release operation has been performed; Run In the cancellation process, the vehicle speed is equal to or greater than a predetermined ratio of the set vehicle speed; The following driving is being performed; The driving environment becomes the new predetermined situation; Control to decelerate the vehicle has been performed for the constant speed traveling or the following traveling; The predetermined restart condition is that any one of the following is satisfied: A control device characterized by:

2. A method for controlling a vehicle, which accelerates or decelerates the vehicle so as to perform constant speed driving at a set vehicle speed or following driving in accordance with a preceding vehicle, a processor executing at least one program, A process of acquiring driving environment information indicating a driving environment of the vehicle; a process of performing acceleration suppression to suppress acceleration of the vehicle for the constant speed traveling or the following traveling when the driving environment is in a predetermined state; a process of entering an acceleration suppression suspension state in which the acceleration suppression is temporarily suspended when an accelerator pedal of the vehicle is depressed; a cancellation process for canceling the acceleration suppression suspension state when a predetermined resumption condition for resuming the acceleration suppression is satisfied when an accelerator pedal of the vehicle is released or after the release operation has been performed; Run In the release process, the processor the vehicle speed is equal to or greater than a predetermined ratio of the set vehicle speed; The following driving is being performed; The driving environment becomes the new predetermined situation; Control to decelerate the vehicle has been performed for the constant speed traveling or the following traveling; The predetermined restart condition is that any one of the following is satisfied: A control method comprising:

3. A vehicle control program that is executed by a computer and causes the computer to execute the control method according to claim 2.

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