Vehicle driving assistance systems

Abstract

To provide an operation support device of a vehicle that can notify a driver of excess speed at a proper timing when own vehicle speed continues exceeding a speed limit.SOLUTION: An operation support ECU comprises speed limit obtaining parts (20 and 80) that obtain a speed limit that is applied to an own vehicle (HV) and an own vehicle speed obtaining part (93) that obtains own vehicle speed that is speed of the own vehicle, which when the own vehicle speed is higher than the speed limit, performs a first notification (first time overspeed notification). When determining that a predetermined warning condition, which is met when the own vehicle speed increases or is predicted to increase due to a relative positional relation between a preceding vehicle running in front of the own vehicle and the own vehicle in a state where the own vehicle speed continues exceeding the speed limit after the first notification, is met, the driving / operation support ECU makes an additional notification (a second time overspeed notification).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device that notifies a driver when the speed of the host vehicle (i.e., the vehicle speed) exceeds the limit speed (i.e., the maximum speed). Vehicle

Background Art

[0002] Conventional devices are configured to notify the driver of the host vehicle when it is determined that the host vehicle has entered a different type of road based on the current position of the host vehicle and map data, and when the cumulative travel distance of the host vehicle on the entered road is less than or equal to a predetermined distance and the speed of the host vehicle is higher than the limit speed (maximum speed) of the entered road (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, in the case where the host vehicle continues to travel at a speed higher than the limit speed after the notification has been made once, the conventional device does not make a second or subsequent notification. Therefore, there is a possibility that the driver may continue to drive the host vehicle without noticing that the vehicle speed exceeds the limit speed. On the other hand, if the speed exceeding notification is constantly made, the driver may find this notification annoying.

[0005] The present invention has been made to solve such problems. That is, one of the objects of the present invention is to provide a vehicle driving support device that can notify the driver of the speed exceeding at an appropriate timing when the vehicle speed continues to exceed the limit speed.

[0006] One aspect of the driving support device of the present invention is​ A speed limit acquisition unit (20, 80) acquires the speed limit applicable to the vehicle, A vehicle speed acquisition unit (93) acquires the vehicle speed, which is the speed of the vehicle itself. A warning notification unit provides a first notification (first warning notification) when the vehicle speed is higher than the speed limit (S315), and provides an additional notification (second warning notification) (S345) when a predetermined warning condition is met (S340: Yes) which is met when the vehicle speed remains higher than the speed limit after the first notification and the vehicle speed increases or is expected to increase due to the relative positional relationship between the vehicle and a preceding vehicle traveling in front of the vehicle, It is equipped with.

[0007] According to this embodiment, a first notification is given when the vehicle's speed is higher than the speed limit, and then an additional notification is given when a predetermined warning condition is met. This warning condition is met when the vehicle's speed increases or is expected to increase due to the relative positional relationship between the preceding vehicle and the vehicle itself, and is met, for example, in the following cases. Scenario 1: When your vehicle is moving from a state where it is following a preceding vehicle to a state where it is performing an overtaking maneuver to pass the preceding vehicle. Case 2: When the vehicle is following the preceding vehicle, the preceding vehicle disappears, and the vehicle's speed increases by a value of 0 or more from the point at which the preceding vehicle disappears. Case 3: When your vehicle is following a preceding vehicle, and the preceding vehicle accelerates, and your vehicle's speed increases by a value of 0 or greater than the "following acceleration judgment threshold" from the moment the preceding vehicle begins to accelerate.

[0008] Therefore, an additional notification is issued when the driver of the vehicle is accelerating or is likely to accelerate due to the relative position of the vehicle in front. Thus, the driver is more likely to notice that their vehicle's speed exceeds the speed limit. Furthermore, since this additional notification is not issued at all times, it is possible to reduce the likelihood of the driver feeling annoyed.

[0009] In the above description, to aid in understanding the present invention, the names and / or reference numerals used in the embodiments described later are indicated in parentheses for the components of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the above names and / or reference numerals. The present invention also extends to vehicle driving assistance methods (speeding notification methods) and programs thereof. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of a vehicle driving assistance device according to the first embodiment of the present invention. [Figure 2] This is the routine executed by the CPU of the driver assistance ECU shown in Figure 1. [Figure 3] This is the routine executed by the CPU of the driver assistance ECU shown in Figure 1. [Figure 4] This is the routine executed by the CPU of the driver assistance ECU shown in Figure 1. [Figure 5] (A) is a diagram showing a scene in which the driver assistance device according to the first embodiment of the present invention provides additional notification, (B) is a diagram showing a scene in which the driver assistance device according to the second embodiment of the present invention provides additional notification, and (C) is a diagram showing a scene in which the driver assistance device according to the third embodiment of the present invention provides additional notification. [Figure 6] This is a table used in modified examples of the first to third embodiments of the present invention. [Modes for carrying out the invention]

[0011] 1. First Embodiment The "vehicle driving assistance device DS (hereinafter referred to as "device DS")" according to the first embodiment of the present invention has the components shown in Figure 1 and is applied to (mounted on) the vehicle HV. The vehicle HV may be any of the following: a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor (i.e., an electric vehicle), and a hybrid vehicle.

[0012] In this specification, "ECU" refers to an electronic control unit (control unit) that includes a microcomputer comprising a CPU (processor), ROM, RAM, data-writable non-volatile memory, and interfaces. An ECU is also referred to as a controller or computer. The multiple ECUs shown in Figure 1 are connected to each other via a CAN (Controller Area Network) to enable information exchange. Some or all of these multiple ECUs may be integrated into a single ECU.

[0013] The driver assistance ECU 10 uses the components shown in Figure 1 to issue a warning (speeding alert) to the occupants of the HV (especially the driver) to make them aware that "the vehicle's speed exceeds the speed limit" if the vehicle's speed (i.e., the vehicle's speed) exceeds the speed limit (i.e., the maximum speed) set and applied to the lane in which the HV is traveling.

[0014] The camera device 20 includes a camera 21 and an image ECU 22. The camera 21 captures the scene in front of the vehicle HV at predetermined intervals and acquires image data. The image ECU 22 generates camera information by analyzing the image data from the camera 21 and transmits the camera information to the driver assistance ECU 10. The camera information includes the image data itself, camera target information such as the position, relative longitudinal speed, relative lateral speed, and type of the captured target relative to the vehicle HV, and lane information such as the position (lateral position) and angle of the vehicle HV in the lane width direction relative to the road markings (white and yellow lines) on which the vehicle HV is traveling. The types of targets include moving objects such as other vehicles and pedestrians, as well as structures such as guardrails and utility poles. The driver assistance ECU 10 extracts a pattern similar to a road sign indicating a speed limit (maximum speed) from the image data acquired by the camera device 20, and acquires the numerical value shown in the extracted pattern as the speed limit (maximum speed, warning speed limit) set / applied to the lane in which the vehicle HV is currently traveling (hereinafter also referred to as "the current lane"). This acquisition of the speed limit may also be performed by the image ECU 22.

[0015] The radar system 30 is a well-known device that acquires information about targets in the vicinity of the vehicle HV using millimeter-wave radio waves, and includes a radar 31 and a radar ECU 32. The radar 31 transmits millimeter waves into a predetermined detection range at predetermined intervals and receives millimeter waves reflected by targets. The radar 31 transmits information about the transmitted and received millimeter waves to the radar ECU 32. The radar ECU 32 acquires radar information based on the information from the radar 31 and transmits the radar information to the driver assistance ECU 10. The radar information includes the distance to the target, the bearing of the target, and the relative speed of the target.

[0016] The powertrain ECU 40 controls the drive system, including the power source of the vehicle's hybrid vehicle (not shown), by driving the powertrain actuator 41, thereby generating driving force.

[0017] The brake ECU 50 controls a braking device of a host vehicle HV (not shown) by driving a brake actuator 51, thereby applying braking force to the host vehicle HV.

[0018] The steering ECU 60 controls a steering device of a host vehicle HV (not shown) by driving a steering motor 61, thereby changing the steering angle of the host vehicle HV.

[0019] The notification ECU (warning ECU) 70 is connected to a display 71 disposed at a position visible from the driver's seat and a warning sound generating device 72 that generates a warning sound (notification sound), and controls these in accordance with an instruction (instruction signal) from the driving support ECU 10. The display 71 is provided with a region 71a for displaying a restricted speed (maximum speed). The notification ECU 70 displays the restricted speed included in the instruction from the driving support ECU 10 in the region 71a. Further, the notification ECU 70 blinks the displayed restricted speed and blinks a symbol that arouses attention around the displayed restricted speed, and generates a notification sound (for example, a notification sound that repeats the sound "Pohn") from the warning sound generating device 72, thereby notifying the occupant (particularly, the driver) of the host vehicle HV that the vehicle speed exceeds the restricted speed. This notification is hereinafter referred to as "exceeding speed notification", "notification for arousing attention to exceeding speed", or "attention-arousing notification". Further, the notification ECU 70 is connected to a customization device 73 operated by the driver. The driver can change an "exceeding speed threshold value OSth when executing the attention-arousing notification" described later by operating this customization device 73.

[0020] The navigation ECU 80 is connected to the GPS receiver 81, the map database 82, and the display touch panel 83 that displays touch buttons, and together with these, it constitutes an in-vehicle navigation system. The navigation ECU 80 obtains the current position of the vehicle HV based on the GPS signal received by the GPS receiver 81, and generates a recommended route from the current position to the "destination entered via the display touch panel 83" based on the map data stored in the map database 82. The navigation ECU 80 sets one of the recommended routes as the planned route according to the driver's instructions and then performs the familiar route guidance. Furthermore, the navigation ECU 80 obtains the speed limit currently set / applied to the vehicle's lane based on the acquired current position of the vehicle HV and the map data.

[0021] The communication ECU90 communicates wirelessly with external devices of the vehicle (e.g., roadside units and information management centers) and acquires various information from these external devices.

[0022] The driver assistance ECU10 receives the detected values ​​(output values) of the following "sensors and switches". • An accelerator pedal operation amount sensor 91 detects the amount of accelerator pedal operation AP of the vehicle's hybrid vehicle. • Brake pedal operation amount sensor 92 detects the brake pedal operation amount BP of the vehicle's hybrid vehicle. • A vehicle speed sensor 93 that detects the speed of the vehicle HV (i.e., the vehicle speed SPD). • Yaw rate sensor 94 that detects the yaw rate Yr of the vehicle's hybrid system. • Steering angle sensor 95 detects the steering angle St of the vehicle HV. A turn signal switch 96 generates a signal indicating the flashing state of the vehicle's HV turn signals. The turn signal switch 96 generates a signal when the driver operates the turn signal lever, which is located on the steering column (not shown). When the turn signal lever is rotated counterclockwise, the turn signal switch 96 generates a signal to flash the turn signal located on the left side of the vehicle's HV, and when the turn signal lever is rotated clockwise, it generates a signal to flash the turn signal located on the right side of the vehicle's HV. The turn signals flash according to the signal from the turn signal switch 96. The driver assistance ECU 10 is also connected to other sensors (for example, a steering torque sensor).

[0023] (Summary of operation) The device DS acquires the speed limit (maximum speed) SPDLT of the lane in which the vehicle HV is traveling, and issues the first speed overrun notification if it determines that the vehicle speed SPD exceeds the speed limit SPDLT by an overrun threshold OSth or more. Furthermore, if the vehicle speed SPD continues to exceed the speed limit SPDLT, and the vehicle HV is accelerated or is estimated to be accelerated due to the relative position of the vehicle HV and the preceding vehicle, the device DS issues an additional (second or subsequent) speed overrun notification.

[0024] (Specific operation) The CPU 10a of the driver assistance ECU 10 (hereinafter simply referred to as "CPU") executes the routines shown in the flowcharts in Figures 2 to 4 at predetermined time intervals (calculation cycles) dt. In the following, "step" will be denoted as "S".

[0025] <Obtaining the speed limit> At a predetermined timing, the CPU starts processing from S200 in Figure 2 and proceeds to S210, where it determines whether a new speed limit set for the current lane has been acquired (image recognition) based on the image data transmitted from the camera device 20. Alternatively, the CPU may acquire the speed limit set for the current lane from the current position of the vehicle HV and the map data stored in the map database 82 via the navigation ECU 80.

[0026] If a new speed limit is acquired, the CPU proceeds from S210 to S220, where it determines whether the newly acquired speed limit is the first speed limit acquired after the ignition key switch (not shown) of the vehicle HV is changed from the off position to the on position (after IG is turned on). If the newly acquired speed limit is the first speed limit acquired after IG is turned on, the CPU proceeds from S220 to S240, which will be described later.

[0027] In response to this, if the newly acquired speed limit is not the first speed limit acquired after the ignition is turned on, the CPU proceeds from S220 to S230 to determine whether the newly acquired speed limit differs from the SPDLT speed limit used for warning purposes, which the CPU currently recognizes. If the SPDLT speed limit used for warning purposes, which the CPU currently recognizes, differs from the newly acquired speed limit, the CPU proceeds from S230 to S240.

[0028] In S240, the CPU sets the newly acquired speed limit in the SPDLT for warning speed limits and displays the corresponding symbol in area 71a of the display 71. After that, the CPU performs the processing in S250 and S260 described below, and proceeds to S295 to terminate this routine.

[0029] S250: The CPU sets the value of the first completion flag X1 to "0". As described later, when the value of the first completion flag X1 is "1", it indicates that the first speed limit notification has been issued since a new warning speed limit SPDLT was set (in other words, since the warning speed limit SPDLT was changed) (see S320 in Figure 3).

[0030] S260: The CPU sets the value of the second completion flag X2 to "0". As described later, when the value of the second completion flag X2 is "1", it indicates that the first speeding violation notification was issued after a new warning speed limit SPDLT was set, and then an additional (second) speeding violation notification was issued while the vehicle speed SPD continued to exceed the speed limit SPDLT (see S350 in Figure 3).

[0031] Furthermore, the values ​​of flags X1 and X2 are both set to "0" in the initialization routine executed by the CPU when the ignition key switch is changed from the off position to the on position.

[0032] In addition, if the CPU determines "No" in either step S210 or S230, it proceeds directly to S295 from the step where it determined "No".

[0033] <Speeding warning alert (speeding alert)> When the predetermined timing arrives, the CPU starts processing from S300 in Figure 3 and proceeds to S305, where it determines whether the value of the first completion flag X1 is "0".

[0034] If the value of the first completion flag X1 is "0", the CPU proceeds from S305 to S310 to determine whether the vehicle speed SPD is greater than the "value obtained by adding the speed limit SPDLT to the speed limit threshold OSth". Here, the speed limit OSth is set to a constant value (for example, 5 km / h), but it can be a value greater than or equal to "0 km / h", and may be changed by operating the customization device 73 as described later. If the vehicle speed SPD does not exceed the "value obtained by adding the speed limit SPDLT to the speed limit threshold OSth", the CPU proceeds directly from S310 to S395 to terminate this routine.

[0035] In response to this, if the vehicle speed SPD is greater than "the value obtained by adding the speed limit SPDLT to the speed exceeding threshold OSth", the CPU determines "Yes" in S310 and executes the "processing in S315 to S325" described below. After that, the CPU proceeds to S395.

[0036] S315: The CPU executes the first (1st) speeding violation notification (warning notification) after a new warning speed limit SPDLT is set. That is, the CPU flashes the speed limit (i.e., the symbol indicating the warning speed limit SPDLT) displayed in area 71a of the display unit 71, flashes a warning symbol around the displayed speed limit, and generates a warning sound from the alarm sound generator 72. However, the notification method is not limited to this. S320: The CPU sets the value of the first completion flag X1 to "1". S325: The CPU acquires the vehicle speed SPD at the current time (i.e., when the first speeding violation notification is issued) as the reference vehicle speed SPD1 and stores it in RAM10c.

[0037] On the other hand, if the value of the first completion flag X1 is not "0" when the CPU proceeds to S305, the CPU proceeds from S305 to S330 and determines whether the value of the second completion flag X2 is "0".

[0038] If the value of the second completion flag X2 is "0", the CPU proceeds from S330 to S335 and determines whether the vehicle speed SPD is greater than the "value obtained by adding the speed limit SPDLT to the speed exceeding threshold OSth". If the vehicle speed SPD is greater than the "value obtained by adding the speed limit SPDLT to the speed exceeding threshold OSth", the CPU proceeds from S335 to S340 and determines whether the "warning condition related to the preceding vehicle (one of the conditions for executing additional speed exceeding notification)" described below has been met. The preceding vehicle is another vehicle traveling in the same lane, immediately in front of the vehicle HV and within a predetermined distance from the vehicle HV. This warning condition related to the preceding vehicle is a condition that is met when both the following conditions A1 and B1 are met, and for convenience it is referred to as the "first warning condition related to the preceding vehicle".

[0039] <<First Warning Condition Related to the Vehicle Ahead>> (Condition A1) The vehicle HV was following the preceding vehicle for a predetermined period of time or longer at a speed near the actual speed Vj or substantially the same speed as the preceding vehicle. (Condition B1) After Condition A1 is met, the vehicle's speed SPD does not fall below the speed limit SPDLT, and the vehicle's HV is performing an action to overtake the preceding vehicle.

[0040] Here, the actual speed Vj is the average of the vehicle speeds of multiple other vehicles ahead of the HV vehicle traveling in its own lane. In this example, the CPU obtains the actual speed Vj from a roadside unit that acquires the actual speed Vj via wireless communication using the communication ECU 90. This roadside unit is installed in the same lane as the vehicle, detects the speed of vehicles passing through the lane using radar, sequentially calculates the actual speed Vj, and transmits the actual speed Vj for the HV vehicle to the HV vehicle based on a request from the HV vehicle. The speeds near the actual speed Vj are within a range from a predetermined small speed lower than the actual speed Vj to a predetermined small speed higher than the actual speed Vj.

[0041] Furthermore, the CPU may acquire the vehicle speeds of the preceding vehicle and "the vehicle preceding that preceding vehicle" based on camera information and radar information, and use their average value as the actual speed Vj. In addition, the CPU may acquire (estimate) "the speed of the preceding vehicle when the preceding vehicle is not accelerating or decelerating" as the actual speed Vj based on radar information.

[0042] The CPU determines that its own HV vehicle is in the process of overtaking the preceding vehicle (condition B1 above is met) when all of the following "overtaking determination conditions 1 to 4" are met. (Overtaking judgment condition 1) The turn signal switch 96 is generating a signal to flash either the left or right turn signal. (Overtaking Judgment Condition 2) From the moment Overtaking Judgment Condition 1 is met, the lateral position of the vehicle HV has moved by a predetermined lateral position movement threshold amount or more toward the side where the turn signal is flashing. The amount of change in lateral position (movement amount) may be obtained based on camera information, or it may be obtained based on the integral value of the detected yaw rate Yr. (Overtaking Judgment Condition 3) From the moment Overtaking Judgment Condition 1 is met, the vehicle speed SPD has increased by 1 or more (Da) or more (Da) of the first vehicle speed increase threshold (overtaking judgment vehicle speed threshold). Note that Overtaking Judgment Condition 3 may be omitted. In this case, the first warning condition is met when it is predicted that the vehicle speed will increase as the vehicle HV begins an overtaking maneuver.

[0043] If the first warning condition related to the preceding vehicle is met (see Figure 5(A) showing the own vehicle HV and the preceding vehicle PV), the CPU proceeds from S340 to S345 and executes an additional speeding notification (second warning notification) that the own vehicle speed SPD exceeds the speed limit SPDLT. The notification method is the same as the first speeding notification executed by the process in S315. Next, the CPU proceeds to S350, sets the value of the second completion flag X2 to "1", and proceeds to S395.

[0044] On the other hand, if the CPU proceeds to S340 and the first warning condition related to the preceding vehicle is not met, the CPU proceeds from S340 to S355 and determines whether or not the warning condition related to the vehicle's speed is met. The warning condition related to the vehicle's speed is a condition that is met when all of the following conditions X1 to X3 are met.

[0045] <<Warning conditions related to vehicle speed>> (Condition X1) No preceding vehicle exists. (Condition X2) The current vehicle speed SPD is higher than the value obtained by adding the second vehicle speed increase threshold (increase speed determination threshold) Db to the vehicle speed at the time the first (i.e., previous) speed overrun notification was issued (i.e., the reference vehicle speed SPD1 obtained in S325) (hereinafter referred to as "first threshold Db"). However, the first threshold Db is set to a value greater than the overrun speed threshold OSth. The first threshold Db may be a constant value, or it may be determined according to the reference vehicle speed SPD1. (Condition X3) The current vehicle speed SPD is higher than a threshold (hereinafter referred to as the "second threshold") equal to (1 + α) times the warning speed limit SPDLT. However, α is a value greater than 0 and less than 1, for example, 0.2. The second threshold may be a constant value or may be determined according to the warning speed limit SPDLT.

[0046] If the warning conditions related to the vehicle's speed are met, the CPU proceeds from S355 to S345 and S350 to perform an additional (second) speeding warning and set the value of the second completion flag X2 to "1", and then proceeds to S395.

[0047] If the CPU determines "No" in any of steps S330, S335, or S355, it proceeds directly to S395 from the step where it determined "No".

[0048] <Cancellation of speeding notification> When the predetermined timing arrives, the CPU starts processing from S400 in Figure 4 and proceeds to S410, where it determines whether the value of the first completion flag X1 is "1".

[0049] If the value of the first completion flag X1 is "1", the CPU proceeds from S410 to S420 to determine whether the cancellation condition for the speed limit notification has been met. This cancellation condition is met when at least one of the following "condition CACL1 and condition CACL2" is met. If the cancellation condition has not been met, the CPU proceeds from S410 to S495.

[0050] <<Conditions for canceling speeding alerts>> (Condition CACL1) Vehicle speed SPD became less than or equal to the speed limit SDLT. (Condition CACL2) The vehicle HV has traveled a predetermined distance threshold or more from the point where the speed limit SPDL was updated (i.e., the position of the vehicle HV at the time S240 was executed).

[0051] If the conditions for canceling the speed limit notification are met, the CPU determines "Yes" in S420, performs the "processing in S430 and S440" described below, and then proceeds to S495 to terminate this routine.

[0052] S430: The CPU sets the value of the first completion flag X1 to "0". S440: The CPU sets the value of the second completion flag X2 to "0".

[0053] As explained above, the device DS of the first embodiment performs an additional speeding notification when the first warning condition related to the preceding vehicle is met. The CPU should be configured not to perform a speeding notification during the period after the above condition B1 is met when the vehicle HV is straddling the lane marking between its own lane and the adjacent lane. This is because performing a speeding notification during the period when the vehicle HV is straddling the lane marking may cause confusion for the driver.

[0054] 2. Second Embodiment The device DS according to the second embodiment of the present invention differs from the device DS according to the first embodiment in that the CPU of its driving support ECU 10 determines in S340 of Figure 3 whether a "second warning condition related to a preceding vehicle," which is different from the "first warning condition related to a preceding vehicle," is met. This difference will be explained below.

[0055] The second warning condition related to the preceding vehicle is met when all of the following conditions A2, B2, and C2 are met.

[0056] <<Second Warning Condition Related to the Vehicle Ahead>> (Condition A2) Same condition as Condition A1. (Condition B2) The preceding vehicle that the HV vehicle was following is no longer present. (Condition C2) From the point when the preceding vehicle that the HV vehicle was following no longer existed, the vehicle speed SPD increased by more than the third vehicle speed increase threshold (independent acceleration judgment threshold) Dc without the vehicle speed SPD falling below the speed limit SPDLT.

[0057] If the second warning condition related to the preceding vehicle is met (see Figure 5(B) showing the own vehicle HV and the preceding vehicle PV), the CPU proceeds from S340 to S345 and SS350, and then proceeds to S395.

[0058] Note that condition C2 may be omitted. In this case, an additional speeding warning will be issued as soon as the preceding vehicle that the HV vehicle was following is no longer present. In other words, the second warning condition, in which condition C2 is omitted, is met when it is expected that the vehicle's speed will increase because the preceding vehicle is no longer present.

[0059] 3. Third Embodiment The device DS according to the third embodiment of the present invention differs from the device DS according to the first embodiment in that the CPU of its driving support ECU 10 determines in S340 whether a "third warning condition related to the preceding vehicle," which is different from the "first warning condition related to the preceding vehicle," is met. This difference will be explained below.

[0060] The third warning condition related to the preceding vehicle is met when all of the following conditions A3, B3, and C3 are met.

[0061] <<Third Warning Condition Related to the Vehicle Ahead>> (Condition A3) Same condition as Condition A1. (Condition B3) The preceding vehicle that the HV vehicle was following accelerated. Specifically, the speed of the preceding vehicle became greater than "the actual speed Vj plus the preceding vehicle acceleration determination threshold Pa". The determination of whether or not the preceding vehicle accelerated may be made based on the relative speed or distance to the preceding vehicle, which is based on camera information and radar information, etc., and the vehicle's speed SPD. (Condition C3) After Condition A1 is met, the vehicle speed SPD does not fall below the speed limit SPDLT, the vehicle HV accelerates in response to the acceleration of the preceding vehicle, and the vehicle speed SPD increases by at least the fourth vehicle speed increase threshold (following acceleration judgment threshold) Dd from "the vehicle speed at the time the preceding vehicle started accelerating".

[0062] If the third warning condition related to the preceding vehicle is met (see Figure 5(C) showing the own vehicle HV and the preceding vehicle PV), the CPU proceeds from S340 to S345 and SS350, and then proceeds to S395.

[0063] Condition C3 may be omitted. In this case, the third warning condition is met when the preceding vehicle that the HV vehicle was following begins to accelerate, and an additional speed limit notification is issued immediately. That is, the third warning condition with condition C3 omitted is met when it is predicted that the vehicle's speed will increase due to its relative position relative to the HV vehicle.

[0064] (modified version) In the modified versions of the device DS according to the first to third embodiments, the driver of the vehicle HV can set (change) the overspeed threshold OSth using the customization device 73. For example, as shown in the setting table in Figure 6, the driver can use the customization device 73 to select one of settings 1 to 3, and the value specified for each setting will be used as the overspeed threshold OSth. For example, if the driver selects setting 1, the overspeed threshold OSth will be set to 10·A (km / h). Here, A (km / h) is, for example, 1 (km / h). In other words, the driver can select how much the vehicle speed SPD exceeds the speed limit SPDLT before the first overspeed notification is issued.

[0065] Furthermore, the CPU automatically changes the first to fourth vehicle speed increase thresholds (Da, Db, Dc, Dd) according to the set (selected) excess speed threshold OSth. For example, if the driver selects setting 1, the first to fourth vehicle speed increase thresholds (Da, Db, Dc, Dd) will be set to 15·A (km / h). According to the setting table shown in Figure 6, the higher the selected excess speed threshold OSth, the higher the values ​​set for the first to fourth vehicle speed increase thresholds (Da, Db, Dc, Dd). Note that the values ​​shown in Figure 6 are just examples, and various values ​​can be set as appropriate. Also, the number of settings that can be set is not limited to "3".

[0066] As is clear from the above, the first to third warning conditions are conditions that are met when the vehicle speed increases or is expected to increase due to the relative positional relationship between the preceding vehicle and the vehicle's hybrid vehicle. Therefore, according to the embodiments and modifications thereof of the present invention, speeding can be notified at an appropriate time based on the relative positional relationship between the preceding vehicle and the vehicle's hybrid vehicle.

[0067] It should be noted that the present invention is not limited to the embodiments and modifications described above, and various modifications can be adopted within the scope of the present invention. For example, in S340, the CPU may determine whether any two or more of the first to third warning conditions related to the preceding vehicle are met, and if it determines that at least one of the conditions whose fulfillment has been determined is met, the system may proceed from S340 to S345 to provide an additional speeding notification.

[0068] Furthermore, the device DS according to each of the above embodiments may issue an additional speeding notification if, after the second speeding notification, at least one of the "first to third warning conditions related to the preceding vehicle and the warning condition related to the vehicle's own speed" is met again.

[0069] More specifically, for example, in the first embodiment, if the vehicle HV performs an action to overtake a preceding vehicle and the first warning condition related to the preceding vehicle is met, and a second speeding alert is issued, then if a new preceding vehicle is present in the adjacent lane that the vehicle HV has newly entered to perform the overtake, or in the original lane to which it has returned after the overtaking action has been completed, and one of the first to third warning conditions related to the preceding vehicle is met for that new preceding vehicle, the device DS may issue an additional speeding alert.

[0070] The same applies to the second and third embodiments, where the device DS may provide an additional speeding notification each time any one of the second and third warning conditions related to the preceding vehicle is met. Furthermore, the first threshold of condition X2 may be a predetermined ratio increase of the reference vehicle speed SPD1 (e.g., 1.1·SPD1), and the second threshold of condition X3 may be the value obtained by adding the speed limit threshold Df to the speed limit threshold SPDL. The first to fourth vehicle speed increase thresholds (Da, Db, Dc, Dd) may be any suitable value greater than or equal to 0, including "0". [Explanation of symbols]

[0071] 10...Driving assistance ECU, 20...Camera device, 30...Radar device, 70...Notification ECU, 93...Vehicle speed sensor.

Claims

1. A speed limit acquisition unit that acquires the speed limit applicable to the vehicle, A vehicle speed acquisition unit acquires the vehicle speed, which is the speed of the vehicle itself. A warning notification unit provides a first notification when the vehicle's speed is higher than the speed limit, and provides an additional notification when a predetermined warning condition is met, which is met when the vehicle's speed continues to be higher than the speed limit after the first notification, and the vehicle's speed increases or is expected to increase due to the relative positional relationship between the vehicle and a preceding vehicle traveling in front of the vehicle. In a vehicle driving assistance system equipped with, The aforementioned warning conditions include the condition that the preceding vehicle ceases to exist when the vehicle is following the preceding vehicle. Driving assistance system.

2. A speed limit acquisition unit that acquires the speed limit applicable to the vehicle, A vehicle speed acquisition unit acquires the vehicle speed, which is the speed of the vehicle itself. A warning notification unit provides a first notification when the vehicle's speed is higher than the speed limit, and provides an additional notification when a predetermined warning condition is met, which is met when the vehicle's speed continues to be higher than the speed limit after the first notification, and the vehicle's speed increases or is expected to increase due to the relative positional relationship between the vehicle and a preceding vehicle traveling in front of the vehicle. In a vehicle driving assistance system equipped with, The aforementioned warning conditions include the condition that the preceding vehicle accelerates while the vehicle is following the preceding vehicle. Driving assistance system.

3. A speed limit acquisition unit that acquires the speed limit applicable to the vehicle, A vehicle speed acquisition unit acquires the vehicle speed, which is the speed of the vehicle itself. A warning notification unit provides a first notification when the vehicle's speed is higher than the speed limit, and provides an additional notification when a predetermined warning condition is met, which is met when the vehicle's speed continues to be higher than the speed limit after the first notification, and the vehicle's speed increases or is expected to increase due to the relative positional relationship between the vehicle and a preceding vehicle traveling in front of the vehicle. In a vehicle driving assistance system equipped with, The warning notification unit is configured to issue an additional notification after the first notification, when the vehicle speed remains above the speed limit and there is no preceding vehicle, and the vehicle speed becomes greater than a first threshold determined according to the vehicle speed at the time the first notification was issued, and also greater than a second threshold determined according to the speed limit. Driving assistance system.

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