Vehicle control device, vehicle control method, and program

Abstract

To achieve vehicle control that aligns with the driver's intent.SOLUTION: A vehicle control device includes: a first acquisition unit that acquires first information regarding a curved road existing in the direction of travel of a vehicle; a second acquisition unit that acquires second information including a driver's acceleration operation amount; a control unit that performs notification control to notify the driver to adjust the vehicle's speed to be at or below a target speed based on the first information when the vehicle is traveling on a section from an entrance of the curved road to a predetermined distance before the entrance or on the curved road itself, references the second information during execution of the notification control, and stops the notification control when the acceleration operation amount increases by a predetermined amount or more from a reference value. The reference value is set according to the acceleration operation amount at the start of the notification control for a predetermined period after the notification control begins and before a prescribed time elapses.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] In recent years, efforts to provide sustainable transportation systems that take various situations into consideration have become more active. To achieve this, efforts are being focused on research and development into driver assistance technologies to further improve traffic safety and convenience. For example, an automatic braking device has been disclosed that applies braking force to a vehicle before entering a curve until the vehicle reaches a safe speed at which it can safely enter the curve (see, for example, Patent Document 1). This automatic braking device determines whether the distance to the entrance of the curve is equal to or greater than a predetermined distance, and if it determines that the distance is equal to or greater than the predetermined distance, determines whether the driver intends to accelerate, and reduces the braking force depending on whether the driver intends to accelerate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5190022 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional systems have sometimes been unable to realize vehicle control in accordance with the driver's intentions. For example, they have sometimes been unable to cause the vehicle to accelerate in accordance with the driver's intentions. For example, the vehicle's control state has sometimes been changed in a way that the driver does not intend.

[0005] The present invention has been made in consideration of the above circumstances, and aims to provide a vehicle control device, a vehicle control method, and a program that can realize vehicle control according to the driver's intention. For example, the present invention can cause a vehicle to accelerate according to the driver's intention. This will ultimately contribute to the development of a sustainable transportation system that takes occupants into consideration. [Means for solving the problem]

[0006] A vehicle control device, a vehicle control method, and a program according to the present invention employ the following configuration. (1): A vehicle control device according to one embodiment of the present invention includes a first acquisition unit that acquires first information regarding a curved road in the vehicle's direction of travel; a second acquisition unit that acquires second information including an acceleration operation amount by the driver of the vehicle; and a control unit that, when the vehicle is traveling on the curved road or in a section from the entrance of the curved road to a predetermined distance before the entrance, performs notification control to notify the driver to adjust the vehicle's speed so that it is equal to or less than a target speed based on the first information, and, while the notification control is being performed, refers to the second information and stops the notification control if the acceleration operation amount increases by a predetermined amount or more from a reference value, wherein the reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started.

[0007] (2): In the above aspect (1), the control unit changes the notification control from a first notification by display to a second notification by sound, and the predetermined time is the time it takes for the notification control to change from the first notification to the second notification.

[0008] (3): In the above aspect (1) or (2), after the predetermined time has elapsed, the control unit sets the reference value to the minimum value of the acceleration operation amount during the execution of the notification control.

[0009] (4): In the above aspect (1), the control unit performs deceleration control to decelerate the vehicle so that the speed of the vehicle approaches a target speed based on the first information when the vehicle is traveling on the curved road or in a section from the entrance of the curved road to a predetermined distance before the entrance.

[0010] (5): Another aspect of the present invention is a vehicle control method in which a computer acquires first information regarding a curved road in the direction of travel of the vehicle, acquires second information including an acceleration operation amount by the driver of the vehicle, and when the vehicle is traveling on the curved road or in a section from the entrance of the curved road to a predetermined distance before the entrance, performs notification control to notify the driver to adjust the speed of the vehicle so that it is equal to or less than a target speed based on the first information, and while the notification control is being executed, refers to the second information, and stops the notification control if the acceleration operation amount increases by a predetermined amount or more from a reference value, wherein the reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started.

[0011] (6): Another aspect of the present invention provides a program for causing a computer to acquire first information regarding a curved road in the direction of travel of the vehicle, acquire second information including an acceleration operation amount by the driver of the vehicle, and, when the vehicle is traveling on the curved road or in a section from the entrance of the curved road to a predetermined distance before the entrance, perform notification control to notify the driver to adjust the speed of the vehicle so that it is equal to or less than a target speed based on the first information, refer to the second information while the notification control is being executed, and stop the notification control if the acceleration operation amount increases by a predetermined amount or more from a reference value, wherein the reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started. [Effects of the Invention]

[0012] According to the aspects (1) to (6), it is possible to realize vehicle control according to the driver's intention. More specifically, in the past, if the driver momentarily released the accelerator pedal at the same timing as the start of the warning and then immediately depressed the accelerator pedal again, unintended accelerator override may have occurred. In contrast, according to the aspects (1), (5), and (6), it is possible to reduce the possibility of such unintended accelerator override occurring.

[0013] In addition, in the past, there were cases where the driver did not notice the notification until it changed from a visual notification to an audible notification. In contrast, according to the aspect (2), it is possible to reduce the possibility that the driver will operate the accelerator pedal without noticing the notification, resulting in an unintended accelerator override.

[0014] Furthermore, according to the aspect (3), it becomes easier for a driver who is intentionally attempting to perform accelerator override to perform accelerator override. This reduces the possibility of accelerator override occurring in response to unintentional accelerator override, and makes accelerator override easier in response to intentional accelerator override.

[0015] Furthermore, while the modes (1) and (2) can reduce the possibility that an accelerator override will be performed without the driver noticing, there is a possibility that the driver will not notice the display. According to the mode (4), the vehicle decelerates, so that the driver notices the display because the vehicle is decelerating even though the driver is operating the accelerator pedal, and the possibility that the driver will recognize the curve can be increased. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a configuration diagram of a vehicle system 1 that uses a vehicle control system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of driving assistance control. [Figure 3]FIG. 10 is a diagram for explaining a reference value RV1 for determining whether to perform an accelerator override, and the execution of the accelerator override based on the reference value RV1. [Figure 4] FIG. 10 is a diagram for explaining a reference value RV2 for determining whether to perform an accelerator override, and the execution of the accelerator override based on the reference value RV2. [Figure 5] FIG. 4 is a diagram for explaining the effect of accelerator override according to the first embodiment. [Figure 6] 3 is a flowchart showing an example of the flow of processing executed by the driving assistance device 100 in the first embodiment. [Figure 7] 4 is a flowchart showing an example of accelerator override processing executed by the driving assistance device 100 in the first embodiment. [Figure 8] FIG. 1 is a diagram for explaining an example of a situation in which an accelerator override unintentional by a driver occurs. [Figure 9] FIG. 10 is a diagram showing an example of a change over time in a release threshold (first release threshold) in the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a change over time in a release threshold (second release threshold) in the second embodiment. [Figure 11] 10 is a flowchart showing an example of accelerator override processing executed by the driving assistance device 100 during an accelerator override inhibition period in the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the accompanying drawings.

[0018] First Embodiment [Overall configuration] 1 is a configuration diagram of a vehicle system 1 that uses a vehicle control system according to an embodiment. The vehicle on which the vehicle system 1 is mounted may be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source may be an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0019] The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, vehicle sensors 40, a navigation device 50, an MPU 60, a driver monitor camera 70, a driving operator 80, a driving assistance device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other via multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc. The configuration shown in FIG. 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. The driving assistance device 100 is an example of a "vehicle control device."

[0020] The camera 10 is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to any location of a vehicle (hereinafter referred to as vehicle M) in which the vehicle system 1 is installed. When capturing an image of the front, the camera 10 is attached to the top of the front windshield, the back of the rearview mirror, or the like. The camera 10, for example, periodically captures images of the periphery of the vehicle M. The camera 10 may be a stereo camera.

[0021] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location on the vehicle M. The radar device 12 may detect the position and speed of an object using an FM-CW (Frequency Modulated Continuous Wave) method.

[0022] The LIDAR 14 irradiates the surroundings of the vehicle M with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 may be attached to any location on the vehicle M.

[0023] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the driving assistance device 100. The object recognition device 16 may output the detection results from the camera 10, the radar device 12, and the LIDAR 14 directly to the driving assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0024] The communication device 20 communicates with other vehicles in the vicinity of the vehicle M, for example, using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), etc., or communicates with various server devices via a wireless base station.

[0025] The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI 30 is equipped with a display device. The display device (display unit) is, for example, a display device, a so-called multi-information display, that is provided in the center of the instrument panel of the vehicle M and displays various information about the vehicle M, such as a speedometer that indicates the traveling speed of the vehicle M or a tachometer that indicates the rotation speed (rotational speed) of the internal combustion engine equipped in the vehicle M.

[0026] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around a vertical axis, a direction sensor that detects the direction of the vehicle M, and the like.

[0027] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as a hard disk drive (HDD) or flash memory. The GNSS receiver 51 identifies the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be identified or supplemented by an inertial navigation system (INS) that uses the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, etc. The navigation HMI 52 may share some or all of the components with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter, a route on a map) from the position of the vehicle M identified by the GNSS receiver 51 (or any input position) to a destination input by the occupant using the navigation HMI 52, with reference to the first map information 54. The first map information 54 is information that represents road shapes using, for example, links indicating roads and nodes connected by the links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be realized, for example, by the functions of a terminal device such as a smartphone or tablet device owned by the occupant. The navigation device 50 may transmit the current position and destination to a navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0028] The MPU 60 includes, for example, a recommended lane determination unit 61, and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, into 100-m intervals in the vehicle travel direction), and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 determines, for example, which lane from the left the vehicle should travel in. When there is a branch point on the route on the map, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel on a reasonable route to the branch point.

[0029] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices. The second map information 62 includes information such as the position of curved roads, the curvature of curved roads, the curve radius of curved roads, and the gradient of curved roads. This information may be included in the first map information 54. The second map information 62 or the first map information 54 may also include information indicating whether the curved road is a target for assistance control, which will be described later.

[0030] The driver monitor camera 70 is, for example, a digital camera that uses a solid-state imaging element such as a CCD or CMOS. The driver monitor camera 70 is attached to any location in the vehicle M in a position and orientation that allows it to capture an image of the head of an occupant (hereinafter, driver) seated in the driver's seat of the vehicle M from the front (in an orientation that captures the face). For example, the driver monitor camera 70 is attached to the top of a display device provided in the center of the instrument panel of the vehicle M. The driver monitor camera 70 outputs an image of the interior of the vehicle, including the driver of the vehicle M, captured from its installed position to the driving assistance device 100.

[0031] The driving operators 80 include, for example, a brake pedal 82, an accelerator pedal 84, a steering wheel, a turn signal switch, a shift lever, and other operators. The driving operators 80 are fitted with sensors that detect the amount of operation or whether or not an operation is being performed, and the detection results are output to the driving assistance device 100 or some or all of the driving force output device 200, the brake device 210, and the steering device 220. The steering wheel does not necessarily have to be annular, and may be in the form of an irregularly shaped steering wheel, a joystick, buttons, or the like. A brake pedal sensor (BP sensor) 86 is fitted to the brake pedal 82. An accelerator pedal sensor (AP sensor) 88 is fitted to the accelerator pedal 84.

[0032] The BP sensor 86 detects the opening degree of the brake pedal 82, which changes in response to the driver's operation of the brake pedal 82. The AP pedal sensor 88 detects the opening degree of the accelerator pedal 84, which changes in response to the driver's operation of the accelerator pedal 84.

[0033] The driving assistance device 100 includes, for example, a recognition unit 110, a driver recognition unit 120, a curve determination unit 130, an operation information processing unit 140, an assistance control unit 150, and a storage unit 190. Some or all of these functional units are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as a HDD or flash memory of the driving assistance device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving assistance device 100 by inserting the storage medium (non-transitory storage medium) into a drive device. The curve determination unit 130 is an example of a first acquisition unit, the operation information processing unit 140 is an example of a second acquisition unit, and the assistance control unit 150 is an example of a control unit.

[0034] The storage unit 190 is realized by, for example, a HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory).

[0035] The recognition unit 110 recognizes the position, speed, acceleration, and other states of objects around the vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive shaft) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by an area. The "state" of an object may include the acceleration or jerk of the object, or the "behavioral state" (for example, whether or not the object is changing lanes or is about to change lanes).

[0036] The recognition unit 110 recognizes, for example, the lane in which the vehicle M is traveling (driving lane). For example, the recognition unit 110 recognizes the driving lane by comparing the pattern of road dividing lines (e.g., an arrangement of solid lines and dashed lines) obtained from the second map information 62 with the pattern of road dividing lines around the vehicle M recognized from an image captured by the camera 10. The recognition unit 110 may recognize the driving lane by recognizing road boundaries (road boundaries) including not only road dividing lines but also road dividing lines, shoulders, curbs, medians, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results by the INS may be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, and other road phenomena.

[0037] When recognizing the driving lane, the recognition unit 110 recognizes the position and orientation of the vehicle M with respect to the driving lane. For example, the recognition unit 110 may recognize the deviation of the reference point of the vehicle M from the center of the lane and the angle it forms with a line connecting the centers of the lanes in the traveling direction of the vehicle M as the relative position and orientation of the vehicle M with respect to the driving lane. Alternatively, the recognition unit 110 may recognize the position of the reference point of the vehicle M with respect to either side edge of the driving lane (a road dividing line or a road boundary) as the relative position of the vehicle M with respect to the driving lane.

[0038] The driver recognition unit 120 detects whether the driver is in a predetermined state based on an image captured by the driver monitor camera 70. The predetermined state is a state in which hands-off lane keeping control, which will be described later, can be executed. Hands-off means a state in which the driver is not gripping the steering wheel, and hands-on means a state in which the driver is gripping the steering wheel. A state in which hands-off lane keeping control can be executed is a state in which the driver is monitoring the front (or the surroundings of the vehicle M). Monitoring the front means, for example, the driver monitoring the front so that the driver can quickly take over from control of the vehicle M by the vehicle system 1 to operation of the vehicle M by the driver. Monitoring the front means, for example, the driver's line of sight is directed forward. Whether the driver has his / her hands on or off is determined based on the detection result of a grip sensor that detects the grip state of the steering wheel (not shown).

[0039] The curve determination unit 130 acquires first information about a curved road that exists in the traveling direction of the vehicle M. The first information about the curved road is, for example, information about the position of the curved road, the shape of the curved road, etc. The curve determination unit 130 identifies the position of the curved road relative to the vehicle M, for example, based on the position of the vehicle M and the first information.

[0040] The operation information processing unit 140 acquires second information related to the acceleration operation of the driver of the vehicle M. The second information is, for example, information indicating the accelerator pedal opening degree output from the AP pedal sensor 88. The operation information processing unit 140 acquires information related to the deceleration operation of the driver of the vehicle M. For example, the operation information processing unit 140 acquires information indicating the brake pedal opening degree output from the BP sensor 86.

[0041] The assistance control unit 150 assists the driver in controlling the vehicle M. For example, the assistance control unit 150 automatically controls the driving force output device 200 and the braking device 210 without relying on the driver's operation, thereby automatically controlling the speed of the vehicle M. The assistance control unit 150 executes so-called adaptive cruise control (ACC).

[0042] For example, when there are no other vehicles ahead of vehicle M within a predetermined distance from vehicle M, the assistance control unit 150 automatically controls the driving force output device 200 and the brake device 210 without relying on the driver's operation so that vehicle M travels at a speed set by the driver, the legal speed, or a speed that is preset in accordance with the road.

[0043] For example, when another vehicle is present ahead of vehicle M within a predetermined distance from vehicle M, assistance control unit 150 automatically controls driving force output device 200 and braking device 210 without relying on the driver's operation so as to follow the other vehicle. Following means that vehicle M travels behind the other vehicle and maintains a position a predetermined distance from the other vehicle.

[0044] The assist control unit 150 controls the steering device 220 so that the vehicle M does not deviate from the driving lane. For example, the assist control unit 150 controls the steering device 220 so that the vehicle M travels in the center or near the center of the driving lane recognized by the recognition unit 110. The assist control unit 150 executes, for example, hands-off lane keeping control that can control the steering of the vehicle M when the driver is not holding the steering wheel, or hands-on lane keeping control that can control the steering of the vehicle M when the driver is holding the steering wheel.

[0045] The assistance control unit 150 automatically changes lanes of the vehicle M. For example, the assistance control unit 150 generates a trajectory for lane changes and changes lanes of the vehicle M so that the vehicle M travels along the generated trajectory. The assistance control unit 150 changes lanes of the vehicle M (ALC; automatic lane change) based on a destination set by the occupant and a recommended lane output by the MPU 60.

[0046] The assistance control unit 150 may automatically change lanes when a lane change instruction is given by the driver. The lane change instruction is an operation of the lever portion of a turn signal operating switch. For example, when the driver operates the lever portion in the direction in which the driver wants the vehicle M to change lanes, the vehicle M changes lanes in the direction corresponding to the operation. The lane change instruction may be an operation different from the operation of the lever portion of the turn signal operating switch. For example, the lane change may be performed when a predetermined operating button is pressed. Some or all of the above-described control of the assistance control unit 150 may be omitted.

[0047] Furthermore, when entering a curved road or while traveling on a curved road, the assistance control unit 150 decelerates the vehicle M to a speed appropriate for the curved road and notifies the driver about the deceleration, thereby assisting the driver so that the vehicle M can travel smoothly on the curved road. Hereinafter, this control may be referred to as assistance control.

[0048] The driving force output device 200 outputs a driving force (torque) to the driving wheels for driving the vehicle M. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU that controls these. The ECU controls the above components in accordance with information input from the assistance control unit 150 or information input from the driving operator 80.

[0049] Brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from assistance control unit 150 or information input from driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel.

[0050] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the assistance control unit 150 or information input from the driving operator 80.

[0051] [Assistive Control] The assistance control unit 150 performs assistance control, which is one or both of deceleration control, which decelerates the vehicle M so that the speed of the vehicle M approaches a target speed according to the curved road, while the vehicle M is traveling in a section (predetermined section) from the entrance of the curved road to a predetermined distance before, or while the vehicle M is traveling on the curved road, and notification control, which issues a notification (alarm) that the speed of the vehicle M is approaching the target speed. The assistance control is a process that is executed, for example, when the driving assistance device 100 is not automatically controlling the speed of the vehicle M (for example, the ACC is not operating) and the driver is controlling the speed of the vehicle M. The target speed is a speed that is determined by the shape of the curved road, the legal speed limit for the road on the curved road, etc.

[0052] The target of the assistance control may be a curved road that satisfies a condition, for example, that the curve radius is within a predetermined range. The predetermined range is a curve radius at which the vehicle M needs to decelerate when traveling.

[0053] The assistance control may be performed on the condition that the speed of the vehicle M is equal to or less than a predetermined speed. The predetermined speed is a speed that does not deviate by more than the predetermined speed from the speed limit or recommended speed of the curved road or the roads before and after the curved road. The predetermined speed is, for example, a speed obtained by adding a set speed (e.g., 30 km / h) to the above-mentioned speed limit or recommended speed.

[0054] The assist control may be performed when the road surface condition satisfies a criterion. For example, the criterion means that no event that affects braking operation, such as the road surface not being frozen, has occurred. For example, the recognition unit 110 may recognize the road surface condition based on the detection result of the object recognition device 16, or the driving assistance device 100 may recognize the road surface condition based on information provided by another device. The assist control may be performed when the gradient of the curved road is less than a threshold value.

[0055] 2 is a diagram for explaining the assistance control. Time T is the timing when vehicle M reaches position P, which is a predetermined distance before the entrance to the curved road. The predetermined distance before is a position that is set in advance according to the target speed. For example, the greater the difference between the speed of vehicle M and the target speed, the farther the predetermined distance before is set from the entrance to the curved road. The predetermined distance before is set at a position that ensures the time for a predetermined notification to be issued, the time for a predetermined first warning to be issued, and the time for a predetermined second warning to be issued if brake override or accelerator override is not performed, as will be described later.

[0056] After passing position P, vehicle M passes positions P1, P2, and P3 in this order. The time when vehicle M reaches position P is time T, the time when vehicle M reaches position P1 is time T+1, the time when vehicle M reaches position P2 is time T+2, and the time when vehicle M reaches position P3 is time T+3. An entrance to a curved road is provided between positions P2 and P3. The entrance to a curved road is, for example, a position where the road (lane) begins to curve or a position where the road curves by more than a threshold value.

[0057] If the speed of the vehicle M is greater than the target speed at time T, the assistance control unit 150 notifies the driver and decelerates the vehicle M at a first deceleration rate. The notification is a notification that makes the driver aware of the curved road. The notification may be, for example, a notification that the vehicle M is approaching a curved road while the speed of the vehicle M is greater than the target speed, or a notification to start assistance control that decelerates the vehicle M so that the speed of the vehicle M approaches the target speed. The notification is performed, for example, via the HMI 30. The notification may be an image notification, or may be a notification by sound or vibration (for example, vibrating the seat belt).

[0058] At time T+1, the assistance control unit 150 issues a first warning to the driver. The first warning is a warning to make the driver aware of the curved road. The first warning is, for example, a warning to the driver to decelerate the vehicle M so that the speed of the vehicle M approaches the target speed (or is equal to or less than the target speed).

[0059] At time T+2, the assistance control unit 150 issues a second warning to the driver, decelerating the vehicle M at a second deceleration rate, and matching the speed of the vehicle M to the target speed at time T+3. The second deceleration rate is a deceleration rate greater than the first deceleration rate. The second warning is a warning to the driver to make them aware of the curved road. The second warning is a warning to the driver to decelerate the vehicle M so that the speed of the vehicle M approaches the target speed (or is below the target speed). The second warning is a warning with a stronger intensity than the first warning. A stronger warning is a warning that makes the driver more aware of the need to decelerate. For example, the assistance control unit 150 may provide an image that urges the driver to slow down, output a louder sound, or apply a stronger vibration to the driver.

[0060] [Acceleration operation override (acceleration override)] As described above, the assistance control unit 150 assists the vehicle M in traveling along a curved road. This can assist the driver's operation so that the vehicle M travels along a curved road smoothly at a target speed. However, some drivers may find the assistance control (especially the deceleration control) by the assistance control unit 150 annoying, or may wish to accelerate the vehicle M rather than decelerate it.

[0061] In light of the above circumstances, when the assist control unit 150 acquires second information indicating that the driver has performed an acceleration operation while the assist control is being performed, the assist control unit 150 acquires the accelerator pedal opening output from the AP pedal sensor 88 from the acquired second information and determines whether the accelerator pedal opening has increased by a predetermined amount or more from a reference value within a predetermined period (e.g., several seconds). Herein, the start point of the predetermined period may be, for example, when the driver operates the accelerator pedal 84 while the assist control is being performed, or when the driver operates the accelerator pedal 84 by an amount equal to or greater than a predetermined degree. If the assist control unit 150 determines that the accelerator pedal opening has increased by a predetermined amount or more from the reference value within the predetermined period, the assist control unit 150 stops the assist control and accelerates the vehicle M. Hereinafter, this control may be referred to as accelerator override. The accelerator pedal opening is an example of an "acceleration operation amount." Alternatively, the assist control unit 150 may measure a cumulative value of the increase in the accelerator pedal opening within the predetermined period and determine whether the measured cumulative value is equal to or greater than a predetermined amount. Hereinafter, the setting of the reference value for determining whether or not to perform accelerator override will be described with reference to FIGS.

[0062] 3 is a diagram illustrating a reference value RV1 for determining whether to execute an accelerator override and the execution of the accelerator override based on the reference value RV1. In FIG. 3, starting at time T, the assistance control unit 150 executes assistance control, thereby decelerating the vehicle M at a first deceleration rate and issuing a notification or a first warning via the HMI 30. As the vehicle M decelerates, the driver feels a change in gravity (longitudinal G) in the direction of travel of the vehicle M, and further recognizes that a curved road is approaching due to the notification or first warning via the HMI. Here, it is assumed that the driver recognizes the above situation but does not wish to apply assistance control and starts accelerating at time T+2.

[0063] When the driver starts an acceleration operation, the assist control unit 150 acquires second information indicating that the driver has performed an acceleration operation and acquires the accelerator pedal opening degree output from the AP pedal sensor 88 from the acquired second information. Next, the assist control unit 150 determines whether the accelerator pedal opening degree has increased by a predetermined amount or more from a reference value RV1 within a predetermined period. Here, the reference value RV1 is the value of the accelerator pedal opening degree at time T when the assist control by the assist control unit 150 is started. At time T+2#, the assist control unit 150 determines that the accelerator pedal opening degree has increased by a predetermined amount or more from the reference value RV1 within the predetermined period, stops the assist control, and accelerates the vehicle M according to the accelerator pedal opening degree (executes accelerator override). This enables vehicle control according to the driver's intention. Furthermore, by setting the reference value RV1 to the value of the accelerator pedal opening degree at the start of the assist control, the amount of operation required to perform accelerator override is set to a uniform standard, making it easier for the driver to grasp the amount of operation required to perform accelerator override.

[0064] 4 is a diagram illustrating a reference value RV2 for determining whether to execute an accelerator override and the execution of the accelerator override based on the reference value RV2. In FIG. 4, from time T, the assistance control unit 150 executes assistance control, thereby decelerating the vehicle M at a first deceleration rate and issuing a notification or a first warning via the HMI 30. As the vehicle M decelerates, the driver feels a change in gravity (longitudinal G) in the traveling direction of the vehicle M, and further recognizes that a curved road is approaching due to the notification or the first warning via the HMI. It is assumed that the driver recognizes the above situation but does not wish to apply assistance control and attempts accelerator override.

[0065] Here, unlike the situation shown in FIG. 3 , the accelerator pedal opening at time T when the assist control is started is close to its upper limit. Therefore, it may be impossible to increase the accelerator pedal opening by more than a predetermined amount using this value as a reference value. Therefore, the assist control unit 150 sets the minimum value of the accelerator pedal opening during the execution of the assist control as reference value RV2 and determines whether the accelerator pedal opening has increased by more than the predetermined amount from reference value RV2 within a predetermined period. For example, in the case of FIG. 4 , at time T+3, the driver releases the accelerator pedal 84, causing the accelerator pedal opening to reach its minimum value. Therefore, the assist control unit 150 sets the value of the accelerator pedal opening at time T+3 as reference value RV2. Thereafter, at time T+4, the assist control unit 150 determines that the accelerator pedal opening has increased by more than the predetermined amount from reference value RV2, stops the assist control, and accelerates the vehicle M according to the accelerator pedal opening (executes accelerator override). This allows the vehicle to be controlled in accordance with the driver's intentions. Furthermore, by setting the reference value RV2 to the minimum value of the accelerator pedal opening degree during execution of the assist control, the driver can be made to execute an override even when the value of the accelerator pedal opening degree at the start of the assist control is large and the margin of operation up to the maximum operation amount is less than a predetermined amount.

[0066] The reference value RV2 may be set by the assist control unit 150 only when it is impossible to increase the accelerator pedal opening by more than a predetermined amount from the value at time T when the assist control is started, or it may be set together with the reference value RV1 at all times when the assist control is being executed.

[0067] [effect] 5 is a diagram for explaining the effect of accelerator override according to this embodiment. The vertical axis represents the accelerator pedal depression amount, and the horizontal axis represents time. For example, if the acceleration operation amount on the accelerator pedal 84 reaches a threshold value within a predetermined period PT1 from when the accelerator pedal 84 is operated to accelerate the vehicle M, the assist control unit 150 stops the assist control. If the accumulated operation amount does not reach the threshold value within the predetermined period P1, the assist control continues even if the driver is operating the accelerator pedal 84.

[0068] The accelerator override condition is satisfied whether the accelerator pedal 84 is operated so that the accelerator pedal opening degree changes significantly in a short period of time, as shown by the change line L1 (for example, in the case of FIG. 4), or whether the accelerator pedal 84 is operated so that the accelerator pedal opening degree changes gradually, as shown by the change line L2 (for example, in the case of FIG. 3). As a result, whether the driver performs an operation to significantly increase the opening degree of the operator in a short period of time or an operation to gradually increase the opening degree over time, the accelerator override control is performed by the acceleration operation, and vehicle control according to the driver's intention can be realized.

[0069] [flowchart] 6 is a flowchart showing an example of the flow of processing executed by the driving assistance device 100. The order of the processing in this flowchart may be changed, and some of the processing may be omitted.

[0070] First, the driving assistance device 100 determines whether or not a curved road exists a predetermined distance ahead from the position of the vehicle M (step S100). If a curved road exists, the driving assistance device 100 determines whether or not the curved road satisfies a condition (step S102). If the curved road satisfies a condition, the driving assistance device 100 determines whether or not the speed of the vehicle M satisfies a condition (step S104). If the determination in step S100, S102, or S104 is negative, the processing of one routine of this flowchart ends.

[0071] If the vehicle speed satisfies the condition, the driving assistance device 100 determines whether the vehicle M has reached a first position (e.g., position P in FIG. 2) (step S106). If the vehicle M has reached the first position, the driving assistance device 100 issues a notification (step S108) and decelerates the vehicle M at a first deceleration rate (step S110).

[0072] Next, the driving assistance device 100 determines whether the vehicle M has reached a second position (e.g., position P1 in FIG. 2) (step S112). If the vehicle M has reached the second position, the driving assistance device 100 issues a first warning (step S114). Next, the driving assistance device 100 determines whether the vehicle M has reached a third position (e.g., position P2 in FIG. 2) (step S116).

[0073] When the vehicle M reaches the third position, the driving assistance device 100 issues a second warning (step S118) and decelerates the vehicle M at a second deceleration rate (step S122). Next, it is determined whether the speed of the vehicle M has reached the target speed (step S122). When the speed of the vehicle M has not reached the target speed, the process returns to step S118. When the speed of the vehicle M has reached the target speed, the driving assistance device 100 stops deceleration of the vehicle M (step S124). This ends the process of one routine of this flowchart.

[0074] As described above, when the vehicle M and the curved road satisfy the conditions, the driving assistance device 100 can assist the driver so that the vehicle M can travel more smoothly on the curved road by performing assistance control (steps S106-S124).

[0075] In the process of the above flowchart, if the accelerator override is established, the assist control is stopped.

[0076] 7 is a flowchart showing an example of accelerator override processing executed by the driving assistance device 100. First, the driving assistance device 100 determines whether or not assistance control is being performed (step S200). If assistance control is being performed, the driving assistance device 100 determines whether or not the accelerator pedal 84 is being operated (step S202). If it is determined that the accelerator pedal 84 is not being operated, the driving assistance device 100 returns the processing to step S200.

[0077] On the other hand, if it is determined that the accelerator pedal 84 is being operated, the driving support device 100 determines whether the accelerator pedal opening has increased by a predetermined amount or more from the reference value within a predetermined period of time (step S206). If it is determined that the accelerator pedal opening has not increased by the predetermined amount or more from the reference value within the predetermined period of time, the driving support device 100 returns the process to step S202.

[0078] If it is determined that the accelerator pedal depression degree has increased by a predetermined amount or more from the reference value within the predetermined period, the driving assistance device 100 determines that accelerator override has been established and stops the assistance control shown in the flowchart of FIG. 7 (step S208). Next, the driving assistance device 100 accelerates the vehicle M in accordance with the accelerator pedal depression degree (step S210). This ends the processing of this flowchart.

[0079] The reference value in step S206 may be at least one of the reference value RV1 in Fig. 3 and the reference value RV2 in Fig. 4. For example, in step S206, driving assistance device 100 may determine whether the accelerator pedal opening degree has increased by a predetermined amount or more from either one of the reference value RV1 and the reference value RV2 within a predetermined period of time. This makes it possible to override the assistance control by the acceleration operation and realize vehicle control according to the driver's intention, regardless of whether the driver performs an operation that greatly increases the opening degree of the operating element in a short period of time (corresponding to reference value RV2) or an operation that gradually increases the opening degree over time (corresponding to reference value RV1).

[0080] Second Embodiment In the first embodiment, the assistance control unit 150 determines whether the accelerator pedal opening has increased by a predetermined amount or more from a reference value within a predetermined period while assistance control is being performed, and determines that accelerator override has been established if it determines that the accelerator pedal opening has increased by the predetermined amount or more from the reference value within the predetermined period. In the first embodiment, the reference value RV2 is set to the minimum value of the accelerator pedal opening during assistance control, so that the driver can execute accelerator override even when the accelerator pedal opening is large at the start of assistance control and the margin of operation up to the maximum operation amount is less than the predetermined amount. However, in this case, there is a possibility that the driver's accelerator pedal operation may trigger an unintended accelerator override in certain situations, resulting in the unintended cancellation of assistance control.

[0081] FIG. 8 is a diagram illustrating an example of a situation in which an accelerator override occurs unintentionally by the driver. As an example of such a situation, FIG. 8 illustrates a situation in which the driver releases the accelerator pedal simultaneously with the start of the assist control and then immediately depresses the accelerator pedal. In this case, the accelerator pedal operation (accelerator pedal release) performed simultaneously with the start of the assist control at time T sets the reference value of the accelerator pedal opening to reference value RV2. Furthermore, since the driver releases the accelerator pedal and then immediately depresses it again, the accelerator pedal opening reaches the new reference value RV2 within a short time thereafter, accelerator override is established, and the assist control is released (time T+5). In this way, if the assist control is released immediately after it is started, the driver is unlikely to notice that the assist control has been activated. Furthermore, because the driver releases the accelerator pedal, even if the driver feels deceleration (first deceleration), the driver is likely to mistakenly believe that it is due to the driver's accelerator pedal operation. Therefore, in a situation like that shown in FIG. 8, the assist control may start without the driver's knowledge and then end without the driver's knowledge.

[0082] FIG. 9 is a diagram showing an example of a change in the release threshold (first release threshold) over time in the first embodiment. The horizontal axis represents time, and the vertical axis represents the accelerator pedal opening. Here, the release threshold is a threshold for the accelerator pedal opening when determining whether to release the assist control (establish accelerator override) in a case where the accelerator pedal opening value is large at the start of the assist control and the margin of accelerator pedal operation up to the maximum operation amount is less than a predetermined amount. More specifically, the release threshold in the first embodiment is obtained by adding a predetermined amount used to determine whether accelerator override is established to the reference value RV2. That is, in the first embodiment, it is determined that accelerator override is established when the accelerator pedal opening exceeds the release threshold. Hereinafter, to distinguish between the release threshold in the first embodiment and the release threshold in the second embodiment, the former will be referred to as the "first release threshold" and the latter will be referred to as the "second release threshold."

[0083] However, as in the example of Figure 9, when the accelerator pedal opening value is large and the margin of accelerator pedal operation up to the maximum operation amount is less than a predetermined amount, if the assist control is started and the driver releases the accelerator pedal at the same time as the start of the assist control (time T) and then immediately presses the accelerator pedal again, the accelerator override is established immediately after the start of the assist control, and the assist control is released immediately after it is started. This is because the accelerator pedal is released at the same time as the start of the assist control, and the reference value RV2 reaches the minimum value D of the accelerator pedal opening within a short time after the start of the assist control. min In this case, the reference value RV2 is changed to the minimum value D min After the accelerator pedal opening is set to the reference value RV2 (minimum value D min At time T+5, which is the timing when the accelerator pedal opening degree increases by a predetermined amount d1 or more from the time T (i.e., the accelerator pedal opening degree exceeds the first release threshold), accelerator override is established and the assist control is released.

[0084] In such a situation where accelerator override is likely to occur, the driver may mistakenly believe that the deceleration that began at time T was due to his or her own accelerator operation (releasing the accelerator pedal) and may not recognize that assist control had already been performed. For example, if the driver is able to recognize the first warning, he or she can recognize that the deceleration that began at time T was due to assist control. However, if the driver is unable to recognize the first warning, particularly if the first warning is notified only by an image and the driver misses the display of the first warning, it becomes difficult for the driver to recognize that assist control had been initiated, and the driver is likely to mistakenly believe that the deceleration that began at time T was due to his or her own accelerator operation (releasing the accelerator pedal) rather than to be due to assist control.

[0085] From the viewpoint of safe driving, it is undesirable for the vehicle to behave in a manner unintended by the driver or for the driver to have a false understanding of the vehicle's behavior. Therefore, in the second embodiment, the first embodiment is expanded to describe a control method for suppressing the occurrence of such unintended accelerator overrides.

[0086] 10 is a diagram showing an example of a change in the release threshold (second release threshold) over time in the second embodiment. In the first embodiment (see FIG. 9), the reference value RV2 is set to the minimum value of the accelerator pedal opening after the start of the assist control, and d, which determines the first release threshold for the reference value RV2, is set to a predetermined amount. min The first release threshold after reaching D min +d1, making it easier for accelerator override to occur. In contrast, in the second embodiment, as shown in FIG. 10, the second release threshold is set to a value higher than the first release threshold during the period from when the assist control is started until a predetermined time has elapsed, thereby suppressing the occurrence of accelerator override. The predetermined time may be set arbitrarily from the viewpoint of driving safety and the convenience of the assist control. For example, the predetermined time may be the time from when the assist control is started until the second deceleration begins. Hereinafter, the period from when the assist control is started until the predetermined time has elapsed will be referred to as the "accelerator override suppression period."

[0087] Furthermore, the second release threshold value, which is higher than the first release threshold value, is a value that is high enough to suppress the occurrence of accelerator override compared to the first embodiment. The second release threshold value during the accelerator override suppression period may be a constant value or may be a value determined according to the reference value RV2. FIG. 10 shows an example in which the second release threshold value during the accelerator override suppression period is fixed to a value TH that is higher than the first release threshold value at the start timing of the assist control. The second release threshold value TH may be a predetermined value or may be determined based on the accelerator pedal opening degree at the start timing of the assist control. For example, the second release threshold value TH may be obtained by adding a predetermined amount d2 to the accelerator pedal opening degree at the start timing of the assist control. The predetermined amount d2 may be the predetermined amount d1 that determines the first release threshold.

[0088] 11 is a flowchart showing an example of accelerator override processing that the driving assistance device 100 executes during an accelerator override suppression period in the second embodiment. In FIG. 11, the same processes as those in FIG. 7 are denoted by the same reference numerals as those in FIG. 7, and description thereof will be omitted. First, if the driving assistance device 100 determines in step S200 that assistance control is being performed, it determines whether or not the current time is within the override suppression period (S300). If it determines that the current time is within the override suppression period, the driving assistance device 100 sets the release determination mode to the second mode (S301), and proceeds to the process in S202.

[0089] Here, the release determination mode is an operating mode of processing that determines whether to release the assist control when the driver performs an operation that significantly increases the opening of the operator in a short period of time (corresponding to reference value RV2). The second mode is a mode that compares the accelerator pedal opening with a second release threshold to determine whether accelerator override has been successful, and the first mode is a mode that compares the accelerator pedal opening with a first release threshold to determine whether accelerator override has been successful. On the other hand, if it is determined in S300 that the current time is not within the override suppression period, driving assist device 100 changes the release determination mode to the first mode (S302) and proceeds to S202.

[0090] According to the second embodiment described above, similar to the first embodiment, whether the driver performs an operation to greatly increase the opening of the operator in a short period of time (corresponding to reference value RV2) or an operation to gradually increase the opening over time (corresponding to reference value RV1), it is possible to override the assist control through an acceleration operation, and even if the accelerator pedal is released at the same time as the start of the assist control and then immediately thereafter the accelerator pedal is pressed down again, the occurrence of accelerator override can be suppressed during the override suppression period.

[0091] According to the embodiment described above, when the driver accelerates while the assist control is being performed, the assist control unit 150 determines whether the amount of acceleration has increased by a predetermined amount or more within a predetermined period, and stops the assist control if the amount of acceleration has increased by the predetermined amount or more. This makes it possible to control the vehicle in accordance with the driver's intention.

[0092] The above-described embodiment can be expressed as follows. a storage device storing a program; a hardware processor; The hardware processor executes the program stored in the storage device, acquire first information regarding a curved road in a traveling direction of the vehicle; acquire second information including an acceleration operation amount by a driver of the vehicle; When the vehicle is traveling on the curved road or in a section from an entrance of the curved road to a predetermined distance before the entrance, a notification control is performed to notify the driver to adjust the speed of the vehicle so that the speed is equal to or less than a target speed based on the first information, and while the notification control is being executed, the second information is referenced, and when the acceleration operation amount increases by a predetermined amount or more from a reference value, the notification control is stopped. A vehicle control device, The reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started. Vehicle control device.

[0093] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0094] 1 Vehicle Systems 100 Driving assistance device 110 Recognition part 130 Curve Judgment Unit 140 Operation information processing section 150 Support control section

Claims

1. a first acquisition unit that acquires first information regarding a curved road present in a traveling direction of the vehicle; a second acquisition unit that acquires second information including an acceleration operation amount of a driver of the vehicle; a control unit that performs notification control to notify the driver to adjust the speed of the vehicle to be equal to or less than a target speed based on the first information when the vehicle is traveling on the curved road or in a section from an entrance of the curved road to a location a predetermined distance before the entrance, and that refers to the second information during execution of the notification control and stops the notification control when the acceleration operation amount increases by a predetermined amount or more from a reference value; Equipped with The reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started, After the predetermined time has elapsed, the reference value is set to a minimum value of the acceleration operation amount during execution of the notification control. Vehicle control device.

2. the control unit changes the notification control from a first notification by display to a second notification by sound, The predetermined time is a time until the notification control changes from the first notification to the second notification. The vehicle control device according to claim 1 .

3. the control unit, when the vehicle is traveling on the curved road or in a section from an entrance of the curved road to a predetermined distance before the entrance, performs deceleration control to decelerate the vehicle so that the speed of the vehicle approaches a target speed based on the first information. The vehicle control device according to claim 1 .

4. The computer acquiring first information regarding a curved road present in a traveling direction of the vehicle; acquire second information including an acceleration operation amount by a driver of the vehicle; When the vehicle is traveling on the curved road or in a section from an entrance of the curved road to a predetermined distance before the entrance, a notification control is performed to notify the driver to adjust the speed of the vehicle so that the speed is equal to or less than a target speed based on the first information, and while the notification control is being executed, the second information is referenced, and when the acceleration operation amount increases by a predetermined amount or more from a reference value, the notification control is stopped. A vehicle control method, comprising: The reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started, After the predetermined time has elapsed, the reference value is set to a minimum value of the acceleration operation amount during execution of the notification control. Vehicle control method.

5. On the computer, acquiring first information regarding a curved road present in a traveling direction of the vehicle; acquiring second information including an acceleration operation amount by a driver of the vehicle; performing notification control to notify the driver to adjust the speed of the vehicle so that the speed is equal to or less than a target speed based on the first information, when the vehicle is traveling on the curved road or in a section from an entrance of the curved road to a predetermined distance before the entrance; During execution of the notification control, the second information is referred to, and when the acceleration operation amount increases by a predetermined amount or more from a reference value, the notification control is stopped. A program for: The reference value is set according to the acceleration operation amount at the start of the notification control until a predetermined time has elapsed since the notification control was started, After the predetermined time has elapsed, the reference value is set to a minimum value of the acceleration operation amount during execution of the notification control. program.

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