Driving control system

Abstract

To provide a traveling control apparatus capable of enhancing safety.SOLUTION: A traveling control apparatus according to an embodiment of the present invention includes: a speed control unit capable of controlling a vehicle speed to cause a vehicle to travel at a target speed, and switchable an operational state between an active operational state and an inactive operational state; a first brake command detection unit configured to detect a first brake command based on a driver's operation; a brake control unit configured to generate a second brake command on the basis of an environment outside the vehicle; a second brake command detection unit configured to detect the second brake command; and an operational state setting unit configured to maintain the speed control unit in the active operational state when the first brake command is generated out of the first and second brake commands while the speed control unit is in the active operational state, as well as, configured to switch the speed control unit into the inactive operational state when the second brake command is generated.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving control device that controls the driving of a vehicle.

Background Art

[0002] Some vehicles are equipped with a speed control system that drives the vehicle at a target speed set by a driver. For example, Patent Document 1 discloses a technique for maintaining the operating state of a speed control system in an effective state without invalidating it when a driver performs a braking operation when the operating state of the speed control system is in an effective state.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in a vehicle, it is desired that the safety is high, and further improvement in safety is expected.

[0005] It is desirable to provide a driving control device that can enhance safety.

Means for Solving the Problems

[0006] The driving control device according to an embodiment of the present disclosure includes A first speed control unit and a second a speed control unit, a first braking instruction detection unit, a braking control unit, a second braking instruction detection unit, and an operating state setting unit. The first speed control unit When the vehicle is traveling within a first speed range, the vehicle's speed can be controlled so that it travels at a target speed, and the operating state can be either active or inactive. The speed control unit When a vehicle is traveling at a second speed range lower than the first speed range,The vehicle's speed can be controlled so that the vehicle travels at a target speed, and the operating state can be either active or inactive. The first braking instruction detection unit detects a first braking instruction based on the driver's operation. The braking control unit issues a second braking instruction based on the vehicle's external environment. The second braking instruction detection unit detects the second braking instruction. The operating state setting unit is, When the first speed control unit is in an active state and a first braking instruction is issued, the operating state of the first speed control unit is changed to an inactive state. The operating state setting unit also sets the second When the speed control unit is in an active state, if only the first braking instruction occurs out of the two braking instructions (first and second), the operating state of the speed control unit is kept active. If the second braking instruction occurs, the operating state of the speed control unit is changed to an inactive state. [Effects of the Invention]

[0007] According to one embodiment of the present disclosure, a driving control device can be used to enhance safety. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing an example configuration of a vehicle equipped with a driving control device according to one embodiment of the present disclosure. [Figure 2] Figure 1 is an explanatory diagram illustrating one example configuration of the speed control system setting unit. [Figure 3] Figure 1 is a flowchart illustrating an example of the operation of the driving control unit. [Figure 4] This is a block diagram showing one example configuration of a vehicle equipped with a modified driving control device. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described in detail below with reference to the drawings.

[0010] <Embodiment> [Example Configuration] Figure 1 shows an example configuration of a vehicle 9 equipped with a driving control device according to one embodiment. The vehicle 9 is a vehicle equipped with a speed control system and comprises a driving operation unit 10, an external environment recognition unit 20, a driving control unit 30, and a driving mechanism unit 40.

[0011] The driving control unit 10 is configured to accept driving operations from the driver. The driving control unit 10 includes a steering wheel 11, a speed control system setting unit 12, an accelerator pedal 13, and a brake pedal 14.

[0012] The steering wheel 11 is configured to accept steering input from the driver.

[0013] The speed control system setting unit 12 is configured to accept setting operations for the speed control system by the driver.

[0014] Figure 2 shows an example configuration of the speed control system setting unit 12. In this example, the speed control system setting unit 12 is mounted on the steering wheel 11, allowing the driver to easily operate the speed control system setting unit 12 while driving. In this example, the speed control system setting unit 12 has a plurality of buttons B. The plurality of buttons B include a button to enable the operation state of the speed control system, a button to disable the operation state of the speed control system, a button to set the target speed of the vehicle 9, and a button to set the type of terrain (terrain) on which the vehicle 9 is driving. Note that the speed control system setting unit 12 is not limited to buttons B, and can have various user interfaces such as switches, touchscreens, displays, and keypads.

[0015] The accelerator pedal 13 is configured to accept acceleration input from the driver to accelerate the vehicle 9.

[0016] The brake pedal 14 is configured to accept braking operations from the driver in order to stop the vehicle 9.

[0017] In addition, the driving operation unit 10 also has, for example, a shift lever, a wiper lever, a parking brake pedal, etc.

[0018] The external environment recognition unit 20 is configured to recognize the environment outside the vehicle 9. The external environment recognition unit 20 includes an imaging unit 21 and a recognition processing unit 22. The imaging unit 21 is configured to image the front of the vehicle 9 and includes, for example, an image sensor and a lens. The recognition processing unit 22 is configured to recognize the environment in front of the vehicle 9 based on the captured image generated by the imaging unit 21. The recognition processing unit 22 is, for example, configured to recognize vehicles, people, bicycles, obstacles, etc. in front of the vehicle 9.

[0019] The travel control unit 30 is configured to control the travel of the vehicle 9 by controlling the operation of the travel mechanism unit 40 based on the driving operation of the driver received by the driving operation unit 10 and the recognition result of the external environment recognition unit 20. The travel control unit 30 is configured using, for example, one or more ECUs (Electronic Control Units). The travel control unit 30 includes a driving support control unit 31 and braking instruction detection units 36, 37.

[0020] The driving support control unit 31 is configured to support the driver's driving based on the recognition result of the external environment recognition unit 20. The driving support control unit 31 and the external environment recognition unit 20 constitute a driving support system. The driving support control unit 31 includes a high-speed speed control unit 32, a low-speed speed control unit 33, an operation state setting unit 34, and a braking control unit 35.

[0021] The high-speed speed control unit 32 and the low-speed speed control unit 33 are control units of the speed control system and are configured to control the speed of the vehicle 9 so that the speed of the vehicle 9 becomes the target speed set by the driver.

[0022] The high-speed control unit 32 is configured to facilitate speed control, for example, when the vehicle 9 is traveling at a speed of 50 km / h or more. The high-speed control unit 32 can operate when the vehicle 9 is traveling on a highway or when there are no frequent oscillations or repeated stops. The speed control system setting unit 12 described above includes, for example, a button to enable the operation of the high-speed control unit 32, a button to disable the operation of the high-speed control unit 32, and a button to set the target speed of the vehicle 9 by the high-speed control unit 32.

[0023] The low-speed control unit 33 is configured to facilitate speed control, for example, when the vehicle 9's speed is less than 50 km / h. The low-speed control unit 33 can operate, for example, when the vehicle 9 is traveling on roads other than highways or off-road. The speed control system setting unit 12 described above includes, for example, a button to enable the low-speed control unit 33, a button to disable the low-speed control unit 33, and a button to set the target speed of the vehicle 9 by the low-speed control unit 33.

[0024] The operating state setting unit 34 is configured to set the operating states of the high-speed control unit 32 and the low-speed control unit 33. The operating state setting unit 34 sets the operating states of the high-speed control unit 32 and the low-speed control unit 33 based, for example, on the driver's operation of the speed control system setting unit 12. The operating state setting unit 34 also sets the operating states of the high-speed control unit 32 and the low-speed control unit 33 based, for example, on the driver's operation of the brake pedal 14 or on the detection results of various sensors installed on the vehicle 9 that detect the vehicle's driving state.

[0025] For example, when vehicle 9 is traveling on a highway, if the driver operates a button to enable the high-speed control unit 32, the operation state setting unit 34 sets the operation state of the high-speed control unit 32 from disabled to enabled. As a result, the high-speed control unit 32 controls the speed of vehicle 9 so that the vehicle reaches the target speed. Subsequently, if the driver operates the brake pedal 14, for example, the operation state setting unit 34 changes the operation state of the high-speed control unit 32 from enabled to disabled. As a result, when the driver subsequently operates the accelerator pedal 13 and brake pedal 14, the driving control unit 30 makes vehicle 9 travel at a speed corresponding to the driver's operation. If the driver wants to enable the speed control system again, they operate a button to enable the high-speed control unit 32. As a result, the operation state setting unit 34 changes the operation state of the high-speed control unit 32 from disabled to enabled. In addition, the operation state setting unit 34 can disable the operation state of the high-speed control unit 32 if it detects, for example, that the wheels of vehicle 9 are slipping.

[0026] For example, when vehicle 9 is traveling on a road other than a highway, if the driver operates a button to enable the low-speed control unit 33, the operation state setting unit 34 sets the operation state of the low-speed control unit 33 from disabled to enabled. As a result, the low-speed control unit 33 controls the speed of vehicle 9 so that the vehicle's speed reaches the target speed. Subsequently, if the driver operates the brake pedal 14, for example, the operation state setting unit 34 maintains the operation state of the low-speed control unit 33 in the enabled state, unlike in the case of the high-speed control unit 32. Furthermore, the operation state setting unit 34 changes the operation state of the low-speed control unit 33 from enabled to disabled if, for example, the braking control unit 35 (described later) activates the pre-collision brake. In addition, the operation state setting unit 34 is designed to maintain the operation state of the low-speed control unit 33 in the enabled state even if, for example, a sensor installed on vehicle 9 detects that the vehicle's wheels are slipping.

[0027] In this example, when the driver operates the brake pedal 14, the operating state setting unit 34 maintains the operating state of the low-speed control unit 33 in an enabled state. However, the driver can, for example, pre-set whether to maintain the operating state in an enabled state or change the operating state from enabled to disabled by operating the speed control system setting unit 12. Also, in this example, when the braking control unit 35 activates the pre-collision brake, the operating state of the low-speed control unit 33 is changed from an enabled state to a disabled state. However, the driver can, for example, pre-set whether to change the operating state from enabled to disabled or maintain the operating state in an enabled state by operating the speed control system setting unit 12.

[0028] The braking control unit 35 is configured to brake the vehicle 9 by activating a so-called pre-collision brake based on the recognition results of the external environment recognition unit 20. Based on the recognition results of the external environment recognition unit 20, the braking control unit 35 is configured to activate the pre-collision brake in order to avoid a collision, for example, when there is a possibility that the vehicle 9 will collide with an obstacle in front of it.

[0029] The braking instruction detection unit 36 ​​is configured to detect a braking instruction I1 generated when the driver operates the brake pedal 14. The braking instruction detection unit 36 ​​also has a function to notify the operation state setting unit 34 that a braking instruction I1 has been detected.

[0030] The braking instruction detection unit 37 is configured to detect the braking instruction I2 generated when the braking control unit 35 activates the pre-collision brake. The braking instruction detection unit 37 also has a function to notify the operation state setting unit 34 that it has detected the braking instruction I2.

[0031] The driving control unit 30 controls the operation of the braking device 41 (described later) of the driving mechanism unit 40 based on the braking instructions I1 and I2 detected by the braking instruction detection units 36 and 37.

[0032] The running mechanism 40 includes, for example, an engine, a transmission mechanism, a steering mechanism, a braking mechanism, wheels, etc., and is configured to operate based on instructions from the running control unit 30. The vehicle 9 moves in accordance with the driver's driving operations received by the driving control unit 10 as the running mechanism 40 operates.

[0033] The running mechanism 40 has a braking device 41. The braking device 41 is configured, for example, using a brake disc, and is configured to brake the vehicle 9 based on instructions from the running control unit 30.

[0034] Here, the low-speed control unit 33 corresponds to one specific example of the "speed control unit" in this disclosure. The braking instruction detection unit 36 ​​corresponds to one specific example of the "first braking instruction detection unit" in this disclosure. The braking control unit 35 corresponds to one specific example of the "braking control unit" in this disclosure. The braking instruction detection unit 37 corresponds to one specific example of the "second braking instruction detection unit" in this disclosure. The operating state setting unit 34 corresponds to one specific example of the "operating state setting unit" in this disclosure. The driving control unit 30 corresponds to one specific example of the "driving control device" in this disclosure.

[0035] [Action and function] Next, the operation and function of the driving control unit 30 in this embodiment will be described.

[0036] (Overview of overall operation) First, the operation of vehicle 9 will be explained with reference to Figure 1. The driving operation unit 10 receives driving operations from the driver. The external environment recognition unit 20 recognizes the environment outside vehicle 9. The driving control unit 30 controls the driving of vehicle 9 by controlling the operation of the driving mechanism unit 40 based on the driving operations from the driver received by the driving operation unit 10 and the recognition results of the external environment recognition unit 20. The driving support control unit 31 of the driving control unit 30 assists the driver's driving based on the recognition results of the external environment recognition unit 20. In the driving support control unit 31, the high-speed control unit 32 and the low-speed control unit 33 control the speed of vehicle 9 so that the speed of vehicle 9 becomes a target speed set in advance by the driver. The operation state setting unit 34 sets the operation state of the high-speed control unit 32 and the low-speed control unit 33. The braking control unit 35 brakes vehicle 9 by activating the pre-collision brake based on the recognition results of the external environment recognition unit 20. The braking instruction detection unit 36 ​​detects the braking instruction I1 generated when the driver operates the brake pedal 14. The braking instruction detection unit 37 detects the braking instruction I2 generated when the braking control unit 35 activates the pre-collision brake. The driving mechanism unit 40 operates based on instructions from the driving control unit 30. As the driving mechanism unit 40 operates, the vehicle 9 moves in accordance with the driver's driving operations received by the driving operation unit 10.

[0037] (Detailed operation) Figure 3 shows an example of the operation of the driving control unit 30 when the low-speed control unit 33 is in an active state.

[0038] The low-speed control unit 33 controls the speed of the vehicle 9 so that the speed of the vehicle 9 reaches the target speed (step S101). Specifically, the low-speed control unit 33 controls the driving torque of the engine and transmission mechanism of the running mechanism 40, as well as the braking operation of the braking device 41 of the running mechanism 40, so that the speed of the vehicle 9 reaches the target speed. As a result, the speed of the vehicle 9 is controlled to reach the target speed and maintained at the target speed.

[0039] Next, the braking instruction detection unit 37 checks whether it has detected a braking instruction I2 from the pre-collision brake (step S102).

[0040] If the braking instruction I2 is not detected in step S102 (indicated as "N" in step S102), the braking instruction detection unit 36 ​​checks whether a braking instruction I1 has been detected by the driver (step S103). If this braking instruction I1 is not detected (indicated as "N" in step S103), the process returns to step S101.

[0041] In step S103, if a braking instruction I1 is detected ("Y" in step S103), the operation state setting unit 34 checks whether the low-speed control unit 33 is set to maintain an active operating state when the driver operates the brake pedal 14 (step S104). In other words, in this example, as described above, the driver can pre-set whether to maintain an active operating state or change the operating state from an active to an inactive state when the driver operates the brake pedal 14 by operating the speed control system setting unit 12. The operation state setting unit 34 checks whether the low-speed control unit 33 is set to maintain an active operating state.

[0042] In step S104, if the operating state is set to maintain the active state ("Y" in step S104), the low-speed control unit 33 interrupts the control of the drive torque by the engine and transmission mechanism of the running mechanism 40 and controls the braking operation of the braking device 41 of the running mechanism 40 (step S105). That is, the operating state of the low-speed control unit 33 is maintained in the active state, but because the driver operates the brake pedal 14, the low-speed control unit 33 interrupts the control of the drive torque and controls the braking operation of the braking device 41 of the running mechanism 40. As a result, the vehicle 9 decelerates and, for example, comes to a stop.

[0043] Next, the braking instruction detection unit 36 ​​checks whether it has detected the release of the braking instruction I1 (step S106). For example, if the driver takes their foot off the brake pedal 14, the braking instruction I1 is released, so the braking instruction detection unit 36 ​​can detect the release of the braking instruction I1. If the release of the braking instruction I1 has not yet been detected ("N" in step S106), the braking instruction detection unit 36 ​​repeats the process in step S106 until it detects the release of the braking instruction I1.

[0044] In step S106, if the release of the braking instruction I1 is detected (indicated as "Y" in step S106), the low-speed control unit 33 increases the driving torque from the engine and transmission of the running mechanism 40, bringing the speed of the vehicle 9 closer to the target speed (step S107). That is, since the operating state of the low-speed control unit 33 is maintained in an active state, when the driver takes their foot off the brake pedal 14 and the braking instruction I1 is released, the low-speed control unit 33 controls the speed of the vehicle 9 so that the speed of the vehicle 9 reaches the target speed. Then, the process returns to step S101.

[0045] In step S102, if a braking instruction I2 is detected ("Y" in step S102), or in step S104, if the setting is configured to change the operating state from an enabled state to an disabled state ("N" in step S104), the operating state setting unit 34 changes the operating state of the low-speed control unit 33 from an enabled state to an disabled state (step S108). As a result, the driving control unit 30 controls the operation of the driving mechanism unit 40 based, for example, on the driver's operation of the accelerator pedal 13 and the brake pedal 14.

[0046] This concludes this flow.

[0047] Thus, the driving control unit 30 is capable of controlling the speed of the vehicle 9 so that the vehicle 9 travels at a target speed, and includes a low-speed control unit 33 whose operating state can be either active or inactive, a braking instruction detection unit 36 ​​that detects a braking instruction I1 based on the driver's operation, a braking control unit 35 that issues a braking instruction I2 based on the external environment of the vehicle 9, a braking instruction detection unit 37 that detects a braking instruction I2, and an operating state setting unit 34 that, when the low-speed control unit 33 is active, maintains the operating state of the low-speed control unit 33 in an active state if only a braking instruction I1 occurs, and changes the operating state of the low-speed control unit 33 to an inactive state if a braking instruction I2 occurs.

[0048] As a result, for example, if the pre-collision brake is activated, a braking instruction I2 is generated, and the operation state setting unit 34 changes the operation state of the low-speed control unit 33 from the enabled state to the disabled state. This allows the driving control unit 30 to enhance safety.

[0049] In other words, if the pre-collision brake is activated and the operating state of the low-speed control unit 33 remains active, the vehicle 9 can be braked and stopped based on the braking instruction I2 from the pre-collision brake. At this time, since the operating state of the low-speed control unit 33 is active, after stopping, for example, when the driver takes their foot off the brake pedal 14, the braking instruction I1 is released, and when the braking instruction I2 from the pre-collision brake is also released, the vehicle 9 will automatically start moving and accelerate toward the target speed. When the pre-collision brake is activated, the driver may be shaken. Also, since the pre-collision brake can be activated, for example, when there is a possibility of collision with an obstacle around the vehicle 9, it is possible that the possibility of collision with that obstacle has not been eliminated when the vehicle 9 starts moving. Therefore, if the vehicle 9 starts moving automatically after the pre-collision brake has been activated, the safety of the vehicle may be reduced. On the other hand, in the driving control unit 30, when the pre-collision brake is activated, the operating state setting unit 34 changes the operating state of the low-speed control unit 33 from active to inactive. As a result, the driving control unit 30 can enhance safety by preventing the vehicle 9 from automatically starting to move again, for example, when the braking instructions I1 and I2 are released after the vehicle 9 has stopped.

[0050] Furthermore, for example, if the pre-collision brake does not activate and the driver operates the brake pedal 14, only the braking instruction I1 of the braking instructions I1 and I2 will be issued, so the operation state setting unit 34 maintains the operation state of the low-speed control unit 33 in an active state. As a result, for example, after the vehicle 9 is braked and comes to a stop, when the driver takes their foot off the brake pedal 14, the vehicle 9 will automatically start moving and accelerate toward the target speed. Therefore, the driving control unit 30 can improve driver convenience.

[0051] In other words, if the operating state of the low-speed control unit 33 changes to an inactive state when the driver operates the brake pedal 14, the driver would have to operate a button to enable the low-speed control unit 33, which is troublesome. On the other hand, with the driving control unit 30, the operating state of the low-speed control unit 33 is maintained in an active state, so the driver does not need to operate a button to enable the low-speed control unit 33. As a result, the driving control unit 30 can improve driver convenience.

[0052] [effect] As described above, in this embodiment, the vehicle's speed can be controlled so that the vehicle travels at a target speed. The system includes a low-speed control unit whose operating state can be either active or inactive, a braking instruction detection unit 36 ​​that detects a braking instruction I1 based on the driver's operation, a braking control unit that issues a braking instruction I2 based on the vehicle's external environment, a braking instruction detection unit 37 that detects the braking instruction I2, and an operating state setting unit that, when the low-speed control unit is active, maintains the operating state of the low-speed control unit in an active state if only the braking instruction I1 occurs, and changes the operating state of the low-speed control unit to an inactive state if the braking instruction I2 occurs. This enhances safety.

[0053] [Differentiation] In the above embodiment, a driver assistance system is provided in the vehicle 9, but the invention is not limited to this, and an autonomous driving system may be provided in the vehicle 9 instead. This modified example will be described in detail below.

[0054] Figure 4 shows an example configuration of the vehicle 9 according to this modified example. The vehicle 9 includes an operation unit 10, an external environment recognition unit 20A, a driving route setting unit 50A, a driving control unit 30A, and a driving mechanism unit 40.

[0055] The external environment recognition unit 20A includes an imaging unit 21A and a recognition processing unit 22A. The imaging unit 21A is configured to image the area around the vehicle 9. The imaging unit 21A includes, for example, an imaging unit for imaging the area in front of the vehicle 9, an imaging unit for imaging the area to the side, and an imaging unit for imaging the area behind the vehicle 9. The recognition processing unit 22A is configured to recognize the environment around the vehicle 9 based on the images generated by the imaging unit 21A. The external environment recognition unit 20A is not limited to this and may also include various sensors such as radar devices, and may recognize the environment around the vehicle 9 by utilizing the detection results of these sensors.

[0056] The driving route setting unit 50A is configured to determine the route (planned driving route) to the destination that the vehicle 9 should travel. The driving route setting unit 50A includes a GNSS (Global Navigation Satellite System) receiving unit 51A and a processing unit 52A. The GNSS receiving unit 51A is configured to acquire the position of the vehicle 9 on the ground using a GNSS such as GPS (Global Positioning System). The processing unit 52A sets the planned driving route for the vehicle 9 using a map information database that includes information about road maps. The processing unit 52A may, for example, have a storage unit that stores the map information database and set the planned driving route using the map information database stored in the storage unit, or it may have a communication unit that communicates with a network server where the map information database is stored and set the planned driving route based on information acquired from this network server. The driving route setting unit 50A has a user interface such as a display panel, a touch panel, and various buttons. As a result, the driving route setting unit 50A sets the planned driving route to the destination based on information about the destination entered by the driver by operating this user interface.

[0057] The driving control unit 30A includes an automatic driving control unit 31A. The automatic driving control unit 31A is configured to control the operation of the driving mechanism unit 40 so that the vehicle 9 travels along a planned driving route set by the driving route setting unit 50A, based on the recognition results of the external environment recognition unit 20A. The automatic driving control unit 31A, the external environment recognition unit 20A, and the driving route setting unit 50A constitute an automatic driving system. The automatic driving control unit 31A includes a high-speed control unit 32, a low-speed control unit 33, an operating state setting unit 34, and a braking control unit 35, similar to the above embodiment.

[0058] The operating state setting unit 34, as in the above embodiment, maintains the operating state of the low-speed control unit 33 in the enabled state when only braking instruction I1 occurs out of braking instruction I1 and braking instruction I2, and changes the operating state of the low-speed control unit 33 to the disabled state when braking instruction I2 occurs. This enhances safety in the driving control unit 30A.

[0059] Although the present invention has been described above with reference to embodiments and modifications, the present invention is not limited to these embodiments and various modifications are possible.

[0060] For example, in the above embodiment, the driving control unit 30 operates according to the flowchart shown in Figure 3, but this flowchart is just one example, and it may operate in a different manner, for example. [Explanation of Symbols]

[0061] 9...Vehicle, 10...Driving control unit, 11...Steering wheel, 12...Speed ​​control system setting unit, 13...Accelerator pedal, 14...Brake pedal, 20,20A...External environment recognition unit, 21,21A...Imaging unit, 22,22A...Recognition processing unit, 30,30A...Driving control unit, 31...Driving support control unit, 31A...Automatic driving control unit, 32...High-speed control unit, 33...Low-speed control unit, 34...Operating state setting unit, 35...Braking control unit, 36,37...Braking instruction detection unit, 40...Driving mechanism unit, 41...Braking device, 50A...Driving route setting unit, 51A...GNSS receiver unit, 52A...Processing unit, I1,I2...Braking instruction.

Claims

1. A first speed control unit that can control the speed of a vehicle so that the vehicle travels at a target speed when the vehicle travels within a first speed range, and whose operating state can be either active or inactive, When the vehicle is traveling in a second speed range lower than the first speed range, a second speed control unit is available that can control the speed of the vehicle so that the vehicle travels at a target speed, and whose operating state can be either active or inactive. A first braking instruction detection unit that detects a first braking instruction based on the driver's operation, A braking control unit that issues a second braking instruction based on the external environment of the vehicle, A second braking instruction detection unit for detecting the second braking instruction, When the first speed control unit is in the enabled state and a first braking instruction is given, the operating state of the first speed control unit is changed to the disabled state; when the second speed control unit is in the enabled state and only the first braking instruction among the first and second braking instructions is given, the operating state of the second speed control unit is maintained in the enabled state; and when a second braking instruction is given, the operating state of the second speed control unit is changed to the disabled state. A driving control device equipped with a vehicle.

2. The aforementioned driving control device controls the operation of the braking device to brake or stop the vehicle based on the first braking instruction and the second braking instruction. The driving control device according to claim 1.

3. The aforementioned driving control device, when the second speed control unit is in the disabled state and both the first braking instruction and the second braking instruction are released, causes the vehicle to travel at a speed corresponding to the driver's operation. A driving control device according to claim 1 or claim 2.

4. When the second speed control unit is in the active state and the first braking command is released, the driving control device accelerates the vehicle so that the vehicle's speed reaches the target speed. A driving control device according to claim 1 or claim 2.

5. The operating state setting unit is: When the first speed control unit is in the enabled state, if the wheels of the vehicle are slipping, the operating state of the first speed control unit is changed from the enabled state to the disabled state. When the second speed control unit is in the enabled state, if the vehicle's wheels are slipping, the operating state of the second speed control unit is maintained in the enabled state. A driving control device according to claim 1 or claim 2.

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