Vehicle deceleration support system

Abstract

To provide a vehicle deceleration support apparatus capable of appropriately proposing a decrease in support level by deceleration support control, or capable of appropriately and autonomously decreasing the support level by the deceleration support control.SOLUTION: A vehicle deceleration support apparatus 10 executes deceleration support control for supporting vehicle deceleration in a case where, when a distance between a vehicle 100 and a deceleration support target 200 becomes equal to or less than a prescribed distance, acceleration operation and deceleration operation are not performed by an operator of the vehicle. The vehicle deceleration support apparatus proposes a decrease in support level by the deceleration support control to the operator or autonomously decreases the support level in a case where the acceleration operation or the deceleration operation is performed, and there is performed, a prescribed number of times or more, weak acceleration operation or weak deceleration operation satisfying a prescribed condition that a state of a degree of the acceleration operation or the deceleration operation equal to or less than a prescribed degree continues for a prescribed time.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle deceleration support device.

Background Art

[0002] There is known a vehicle deceleration support device that executes deceleration support control to automatically decelerate a vehicle when the driver fails to perform an operation to decelerate the vehicle when such an operation should be performed. As such a vehicle deceleration support device, there is known a vehicle deceleration support device that executes deceleration support control when the vehicle is traveling on a road, but does not execute deceleration support control when the vehicle is traveling in a parking lot (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] By the way, there are cases where the support level by the deceleration support control is felt to be excessive for the driver, such as when the deceleration rate of the vehicle by the deceleration support control is too large. When the vehicle deceleration support device is configured to be able to change the support level such as the magnitude of the deceleration rate of the vehicle by the deceleration support control, the driver can change the support level, but there are also quite a few drivers who continue to use the vehicle at the same support level without making such a change. If it is proposed to lower the support level or the support level is automatically lowered for such drivers, the convenience for the driver is improved.

[0005] An object of the present invention is to provide a vehicle deceleration support device that can appropriately propose to lower the support level by the deceleration support control or can appropriately automatically lower the support level by the control support control.

[0006] The vehicle deceleration support device according to the present invention performs deceleration support control to assist in the deceleration of the vehicle when the distance between the vehicle and the object to be decelerated is less than or equal to a predetermined distance and no acceleration or deceleration operations are performed by the operator of the vehicle. Furthermore, the vehicle deceleration support device according to the present invention is configured to suggest to the operator or autonomously reduce the level of support provided by the deceleration support control when a weak acceleration operation or weak deceleration operation is performed a predetermined number of times or more, satisfying a predetermined condition that the degree of the acceleration operation or deceleration operation is less than or equal to a predetermined level and this state continues for a predetermined time.

[0007] If the level of assistance provided by the deceleration support control is excessive for the vehicle operator, the operator may continuously perform relatively small acceleration or deceleration operations for a certain period of time. Therefore, if the operator frequently performs relatively small acceleration or deceleration operations for a certain period of time, it is possible that the current level of assistance is excessive for that operator.

[0008] According to the vehicle deceleration support device of the present invention, when a weak acceleration operation or weak deceleration operation that satisfies a predetermined condition, where the degree of acceleration or deceleration operation remains below a predetermined level for a predetermined time, is performed a predetermined number of times or more, the operator is offered a reduction in the support level by the deceleration support control, or the support level by the deceleration support control is reduced autonomously. Therefore, the operator is offered a reduction in the support level by the deceleration support control, or the support level by the control support control is reduced autonomously and appropriately.

[0009] Furthermore, in the vehicle deceleration support device according to the present invention, the predetermined condition when the acceleration operation is performed while the deceleration support control is being executed is, for example, the first condition that the acceleration operation is performed and the degree of the acceleration operation is at or below the first predetermined degree for a predetermined time of 1 hour. Furthermore, the predetermined condition when the acceleration operation is performed when the deceleration support control is not being executed is, for example, the second condition that the acceleration operation is performed and the degree of the acceleration operation is at or below the second predetermined degree for a predetermined time of 2 hours, and the deceleration of the vehicle is at or below the deceleration of the acceleration operation when no support is being executed. Furthermore, the predetermined condition when the deceleration operation is performed while the deceleration support control is being executed is, for example, the third condition that the deceleration operation is performed and the degree of the deceleration operation is at or below the third predetermined degree for a predetermined time of 3 hours. Furthermore, the predetermined conditions when the deceleration operation is performed when the deceleration support control is not being executed are, for example, the fourth condition that the deceleration operation is performed, the degree of the deceleration operation is less than or equal to the fourth predetermined degree, and this state continues for the fourth predetermined time, and the deceleration of the vehicle is less than or equal to the deceleration operation deceleration without support.

[0010] Operators who feel that the level of support provided by deceleration support control is excessive will perform weak acceleration and weak deceleration operations in different ways depending on whether deceleration support control is active or not. Therefore, in order to more accurately determine whether an operator feels that the level of support provided by deceleration support control is excessive, it is effective to suggest to the operator that the level of support provided by deceleration support control be reduced, or to set different conditions for autonomously reducing the level of support provided by deceleration support control, depending on whether deceleration support control is active or not.

[0011] According to the vehicle deceleration support device of the present invention, predetermined conditions differ when deceleration support control is being performed and when deceleration support control is not being performed. Therefore, it is possible to more accurately determine if the operator feels that the level of support provided by the deceleration support control is excessive, and then the operator is offered a reduction in the level of support provided by the deceleration support control, or the level of support provided by the deceleration support control is reduced autonomously.

[0012] Furthermore, in the vehicle deceleration support device according to the present invention, the deceleration support control but The predetermined conditions when the acceleration operation is performed while the deceleration support control is being executed are, for example, the first condition that the acceleration operation is performed and the degree of the acceleration operation remains at or below the first predetermined degree for a predetermined time of 1 hour. Furthermore, the predetermined conditions when the acceleration operation is performed when the deceleration support target is detected but the deceleration support control is not being executed are, for example, the second condition that the acceleration operation is performed and the degree of the acceleration operation remains at or below the second predetermined degree for a predetermined time of 2 hours, and the deceleration of the vehicle is less than or equal to the deceleration of the acceleration operation when no support is being executed. Furthermore, the predetermined conditions when the deceleration operation is performed while the deceleration support control is being executed are, for example, the third condition that the deceleration operation is performed and the degree of the deceleration operation remains at or below the third predetermined degree for a predetermined time of 3 hours. Furthermore, when the deceleration operation is performed while the deceleration support target is detected but the deceleration support control is not being executed, the predetermined conditions are, for example, that the deceleration operation is performed, the degree of the deceleration operation is less than or equal to the fourth predetermined degree, and this state continues for the fourth predetermined time, and the deceleration of the vehicle is less than or equal to the deceleration operation deceleration without support.

[0013] Operators who feel that the level of support provided by deceleration support control is excessive will perform weak acceleration and weak deceleration operations in different ways depending on whether deceleration support control is being performed or whether a vehicle requiring deceleration support has been detected but deceleration support control is not being performed. Therefore, in order to more accurately determine whether an operator feels that the level of support provided by deceleration support control is excessive, it is effective to suggest to the operator that they reduce the level of support provided by deceleration support control, or to set different conditions for autonomous reduction, depending on whether deceleration support control is being performed or whether a vehicle requiring deceleration support has been detected but deceleration support control is not being performed.

[0014] According to the vehicle deceleration support device of the present invention, predetermined conditions differ when deceleration support control is being performed and when a vehicle requiring deceleration support is detected but deceleration support control is not being performed. Therefore, the system more accurately determines whether the operator feels the level of support provided by the deceleration support control is excessive, and then suggests to the operator that the level of support provided by the deceleration support control be reduced, or the level of support provided by the deceleration support control is reduced autonomously.

[0015] Furthermore, in the case where the vehicle deceleration support device according to the present invention is configured to autonomously lower the support level when the weak acceleration operation or weak deceleration operation that satisfies the predetermined conditions is performed a predetermined number of times or more, the device may be configured such that the mode in which the support level is autonomously lowered when the weak acceleration operation that satisfies the first condition is performed a predetermined number of times or more and the mode in which the support level is autonomously lowered when the weak acceleration operation that satisfies the second condition is performed a predetermined number of times or more are different from each other. In this case, the vehicle deceleration support device according to the present invention may be configured such that the mode in which the support level is autonomously lowered when the weak deceleration operation that satisfies the third condition is performed a predetermined number of times or more and the mode in which the support level is autonomously lowered when the weak deceleration operation that satisfies the fourth condition is performed a predetermined number of times or more are different from each other.

[0016] The operator's perception of excessive assistance from the deceleration support control differs depending on whether they perform a slight acceleration or deceleration operation when deceleration support control is active or when they perform a slight acceleration or deceleration operation when deceleration support control is not active.

[0017] According to the vehicle deceleration support device of the present invention, the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the first condition is performed a predetermined number of times or more is different from the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the second condition is performed a predetermined number of times or more is different from the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the third condition is performed a predetermined number of times or more is different from the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the fourth from the mode in response to the operator's perception of excessive support level due to deceleration support control.

[0018] Furthermore, the vehicle deceleration support device according to the present invention may be configured to acquire the number of times the weak acceleration operation or the weak deceleration operation has been performed while the vehicle is in a running state in which it is capable of driving, and to reset the acquired number when the vehicle moves from the running state to a non-running state in which it is not capable of driving.

[0019] The perception of excessive assistance from deceleration support control varies from vehicle operator to vehicle operator. Therefore, to more accurately determine whether an operator perceives the level of assistance from deceleration support control as excessive, it is effective to consider when the vehicle operator changes due to a change in personnel. Furthermore, if a vehicle goes from being drivable to not being drivable, there is a possibility that the vehicle operator will change to another operator.

[0020] According to the vehicle deceleration support device of the present invention, when the vehicle changes from an activated state to a deactivated state, the number of acquired weak acceleration or weak deceleration operations is reset. Therefore, proposals to reduce the support level in accordance with the operator's perception of excessive support level due to deceleration support control, or autonomous reduction of the support level, can be more appropriately realized.

[0021] Furthermore, the vehicle deceleration support device according to the present invention is a method of executing deceleration support control to support the deceleration of a vehicle when the distance between the vehicle and the object to be decelerated is less than or equal to a predetermined distance and no acceleration or deceleration operation is performed by the operator of the vehicle. The vehicle deceleration support method according to the present invention includes a step of proposing to the operator or autonomously lowering the support level by the deceleration support control when a weak acceleration operation or weak deceleration operation that satisfies a predetermined condition, such as performing an acceleration operation or a deceleration operation and maintaining a state where the degree of the acceleration operation or deceleration operation is less than or equal to a predetermined level for a predetermined time, is performed a predetermined number of times or more.

[0022] According to the vehicle deceleration support method of the present invention, for the same reasons as described above, the operator is appropriately offered a reduction in the support level provided by the deceleration support control, or the support level provided by the control support control is appropriately and autonomously reduced.

[0023] Furthermore, the vehicle deceleration support program according to the present invention is a program that performs deceleration support control to assist in the deceleration of a vehicle when the distance between the vehicle and the object to be decelerated is less than or equal to a predetermined distance and no acceleration or deceleration operations are performed by the operator of the vehicle. The vehicle deceleration support program according to the present invention is configured to suggest to the operator, or autonomously reduce, the level of support provided by the deceleration support control when a weak acceleration operation or weak deceleration operation is performed more than a predetermined number of times, satisfying a predetermined condition that the degree of the acceleration operation or deceleration operation is less than or equal to a predetermined level for a predetermined period of time.

[0024] According to the vehicle deceleration assistance program according to the present invention, for the same reasons as described above, it is appropriately proposed to the operator to reduce the assistance level by deceleration assistance control, or the assistance level by control assistance control is appropriately autonomously reduced.

[0025] The components of the present invention are not limited to the embodiments of the present invention described below while referring to the drawings. Other objects, other features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention.

Brief Description of the Drawings

[0026] [Figure 1] FIG. 1 is a diagram showing a vehicle control device including a vehicle deceleration assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing a part of the vehicle control device according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing a preceding vehicle and a vehicle-to-vehicle distance, etc. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the vehicle control device according to an embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing a routine executed by the vehicle control device according to an embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing a routine executed by the vehicle control device according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0027] Hereinafter, a vehicle control device including a vehicle deceleration assistance device according to an embodiment of the present invention will be described while referring to the drawings. In FIG. 1, a vehicle control device 10 according to an embodiment of the present invention is shown.

[0028] The following explanation of the vehicle control device 10 will take the example of a case where the operator of vehicle 100 is a person who rides in vehicle 100 and drives the vehicle 100 (i.e., the driver of vehicle 100). Accordingly, in this example, the vehicle control device 10 is mounted on vehicle 100 as shown in Figure 1.

[0029] However, the operator of vehicle 100 may be a person who operates vehicle 100 remotely without riding in the vehicle 100 (i.e., a remote operator of vehicle 100). If the operator of vehicle 100 is a remote operator, the vehicle control device 10 is installed in both vehicle 100 and remote control equipment installed outside vehicle 100 for remote operation of vehicle 100, and the functions of the vehicle control device 10 described below are shared between the vehicle control device 10 installed in vehicle 100 and the vehicle control device 10 installed in the remote control equipment.

[0030] <ecu> As shown in Figure 1, the vehicle control device 10 includes an ECU 90. The ECU 90 is an electronic control unit. The ECU 90 mainly consists of a microcomputer. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and interfaces. The CPU implements various functions by executing instructions, programs, or routines stored in the ROM. In this example, the vehicle control device 10 has one ECU, but it may also have multiple ECUs and be configured to distribute and execute various processes among them.

[0031] <Drive system, etc.> Furthermore, as shown in Figure 1, the vehicle 100 is equipped with a drive unit 20, a braking unit 30, a transmission unit 40, and a notification unit 50.

[0032] <Drive system> The drive unit 20 is a device that outputs driving force applied to the vehicle 100, and includes an internal combustion engine and / or at least one motor. The drive unit 20 is electrically connected to the ECU 90. The ECU 90 can control the driving force output from the drive unit 20.

[0033] <Brake device> The braking system 30 is a device that applies braking force to the vehicle 100 and includes a hydraulic brake system, etc. The braking system 30 is electrically connected to the ECU 90. The ECU 90 can control the braking force applied to the vehicle 100 by the braking system 30.

[0034] <Transmission> The transmission 40 is a device that changes the transmission state of the driving force output from the drive unit 20 to the vehicle 100, and in this example, it is the transmission 41. The transmission 41 is electrically connected to the ECU 90. The ECU 90 can set the transmission 41 to one of the following states: forward drive state, reverse drive state, neutral state, or parked state. The drive state is a state in which driving force is transmitted to the vehicle 100 to move it forward, the reverse state is a state in which driving force is transmitted to the vehicle 100 to move it backward, the neutral state is a state in which no driving force is transmitted to the vehicle 100, and the parking state is a state in which the vehicle 100 is held in a stopped state.

[0035] <Notification device> The notification device 50 is a device that provides various information to the operator of the vehicle 100, and in this example, it includes a display device 51 and an audio device 52.

[0036] <Display device> The display device 51 is a device that displays various images, and is a device such as a display as part of a combination meter, a head-up display, or a display for a car navigation system. The display device 51 is mounted in the vehicle 100 so that the driver of the vehicle 100 can see the images displayed by the display device 51. The display device 51 is electrically connected to the ECU 90. The ECU 90 can display various images using the display device 51.

[0037] The vehicle control device 10 can suggest to the driver of the vehicle 100 that the vehicle 100 be slowed down by displaying an image (slowdown suggestion image) on the display device 51.

[0038] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the display device 51 is installed in the remote control equipment.

[0039] <Sound equipment> Furthermore, the sound device 52 is a device such as a speaker that outputs various sounds. The sound device 52 is mounted in the vehicle 100 so that the sound output from the sound device 52 can be heard by the driver of the vehicle 100. The sound device 52 is electrically connected to the ECU 90. The ECU 90 can output various sounds from the sound device 52.

[0040] The vehicle control device 10 can suggest to the driver of the vehicle 100 that the vehicle 100 be slowed down by outputting a voice message (slow-down suggestion voice) from the sound device 52.

[0041] Furthermore, if the operator of vehicle 100 is the remote operator of vehicle 100, the sound device 52 is installed in the remote control equipment.

[0042] <Start operation device, etc.> Furthermore, as shown in Figure 1, the vehicle 100 is equipped with a starter 61, an acceleration control device 62, a deceleration control device 63, a gear shift control device 64, a support level setting device 65, a vehicle speed detection device 66, and a surrounding information detection device 70.

[0043] <Start operation device> The start control unit 61 is a device such as a switch operated by the driver to start or stop the ECU 90. The start control unit 61 is equivalent to a conventional ignition switch. The start control unit 61 is electrically connected to the ECU 90. When the start control unit 61 is operated while the ECU 90 is in a non-started state (not in a started state), the ECU 90 will start up. When the start control unit 61 is operated while the ECU 90 is in a started state, the ECU 90 will deactivate.

[0044] Furthermore, if the operator of vehicle 100 is the remote operator of vehicle 100, the starter 61 is mounted on the remote control equipment.

[0045] <Acceleration control device> The acceleration control device 62 is a device used by the driver to accelerate the vehicle 100, and as shown in Figure 2, in this example it includes an accelerator pedal 621 and an accelerator pedal operation amount sensor 622.

[0046] The accelerator pedal 621 is a device operated by the driver. The accelerator pedal operation amount sensor 622 is a device that detects the amount of operation of the accelerator pedal 621. The accelerator pedal operation amount sensor 622 is electrically connected to the ECU 90. The ECU 90 acquires the amount of operation of the accelerator pedal 621 as the accelerator pedal operation amount AP from the accelerator pedal operation amount sensor 622. Based on the accelerator pedal operation amount AP, the ECU 90 calculates the acceleration of the vehicle 100 requested by the driver as the driver-requested acceleration Ga_driver. When the driver-requested acceleration Ga_driver is greater than zero, the ECU 90 controls the driving force output from the drive unit 20 so that the driver-requested acceleration Ga_driver is achieved, except when executing automatic braking control as described later.

[0047] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the acceleration control device 62 is mounted on the remote control equipment.

[0048] <Deceleration operation device> The deceleration control device 63 is a device used by the driver to decelerate the vehicle 100, and as shown in Figure 2, in this example it includes a brake pedal 631 and a brake pedal operation amount sensor 632.

[0049] The brake pedal 631 is a device operated by the driver. The brake pedal operation amount sensor 632 is a device that detects the amount of operation of the brake pedal 631. The brake pedal operation amount sensor 632 is electrically connected to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 631 as the brake pedal operation amount BP from the brake pedal operation amount sensor 632. Based on the brake pedal operation amount BP, the ECU 90 calculates the deceleration of the vehicle 100 requested by the driver as the driver-requested deceleration Gd_driver. When the driver-requested deceleration Gd_driver is greater than zero, the ECU 90 controls the braking force applied to the vehicle 100 from the braking device 30 so that the driver-requested deceleration Gd_driver is achieved, except when executing automatic braking control as described later.

[0050] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the deceleration control device 63 is mounted on the remote control equipment.

[0051] <Gear shift control> The gear shift control device 64 is a device used by the driver to set the gear shift state of the transmission 41, and as shown in Figure 2, in this example it includes a shift lever 641 and a shift sensor 642.

[0052] The shift lever 641 is a device operated by the driver. The driver can operate the shift lever 641 to set its position to one of the following: forward drive position, reverse drive position, neutral position, or parking position. The shift sensor 642 is electrically connected to the ECU 90. The ECU 90 detects the position of the shift lever 641 using the shift sensor 642. When the position of the shift lever 641 is set to the drive position, reverse position, neutral position, or parking position, the ECU 90 sets the gear shift state of the transmission 41 to the drive shift state, reverse shift state, neutral state, or parking state, respectively.

[0053] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the gear shift control device 64 is mounted on the remote control equipment.

[0054] <Support Level Setting Device> The support level setting device 65 is a device used by the driver to set the support level for the deceleration support control described later, and is a switch provided on the steering wheel of the vehicle 100, or a touch panel provided on the car navigation system, etc.

[0055] The level of assistance provided by the deceleration support control is the level at which the driver's deceleration operation to slow down the vehicle 100 is supported by the deceleration support control. In this example, the driver can set one of three support levels: a relatively low support level (weak support level), a medium support level (medium support level), or a relatively high support level (strong support level).

[0056] When the deceleration support control is the automatic braking control described later, (1) when the support level is a weak support level, the target deceleration Gd_tgt and target deceleration increase speed R_tgt described later are set to relatively small deceleration and increase speeds, respectively; (2) when the support level is a medium support level, the target deceleration Gd_tgt and target deceleration increase speed R_tgt are set to moderate deceleration and increase speeds, respectively; and (3) when the support level is a strong support level, the target deceleration Gd_tgt and target deceleration increase speed R_tgt are set to relatively large deceleration and increase speeds, respectively. According to this, the deceleration and increase speed of the vehicle 100 during the execution of the deceleration support control change according to the support level.

[0057] Furthermore, when the deceleration support control is the deceleration notification control described later, (1) when the support level is a weak support level, the deceleration suggestion image described later is displayed in a manner that is relatively unlikely to be recognized by the driver, such as by changing its color tone and brightness, and the deceleration suggestion voice described later is output in a manner that is relatively unlikely to be recognized by the driver, such as by changing its volume; (2) when the support level is a medium support level, the deceleration suggestion image is displayed in a manner that is moderately likely to be recognized by the driver, such as by changing its color tone and brightness, and the deceleration suggestion voice is output in a manner that is moderately likely to be recognized by the driver, such as by changing its volume; (3) when the support level is a strong support level, the deceleration suggestion image is displayed in a manner that is relatively likely to be recognized by the driver, such as by changing its color tone and brightness, and the deceleration suggestion voice is output in a manner that is relatively likely to be recognized by the driver, such as by changing its volume. According to this, the manner of deceleration suggestion by the vehicle 100 during the execution of deceleration support control changes according to the support level.

[0058] Furthermore, (1) when the support level is a weak support level, the support start distance Df_start and the support start point distance Dp_start, described later, are set to relatively short distances; (2) when the support level is a medium support level, the support start distance Df_start and the support start point distance Dp_start are set to medium distances; and (3) when the support level is a strong support level, the support start distance Df_start and the support start point distance Dp_start are set to relatively long distances. As a result, the timing at which deceleration support control is started changes according to the support level.

[0059] Furthermore, if the operator of vehicle 100 is a remote operator of vehicle 100, the support level setting device 65 is mounted on the remote control equipment.

[0060] <Vehicle speed detection device> The vehicle speed detection device 66 is a device that detects the travel speed of the vehicle 100, and includes, for example, wheel speed sensors provided on each wheel of the vehicle 100. The vehicle speed detection device 66 is electrically connected to the ECU 90. The ECU 90 acquires the travel speed of the vehicle 100 as its own vehicle speed V from the vehicle speed detection device 66.

[0061] <Peripheral Information Detection Device> The surrounding information detection device 70 is a device that acquires information about the surrounding conditions of the vehicle 100, and in this example, it includes an image sensor 71, an electromagnetic wave sensor 72, and a GPS device 73.

[0062] The image sensor 71 is a sensor that captures image data of the area around the vehicle 100, and is, for example, a camera sensor. The image sensor 71 is electrically connected to the ECU 90. The ECU 90 acquires the image data from the image sensor 71 as surrounding detection information IS.

[0063] In particular, the ECU90 can detect curves, traffic lights, and stop lines ahead of the vehicle 100 based on image data as surrounding detection information IS.

[0064] The electromagnetic wave sensor 72 is a sensor that acquires data (target data) about objects around the vehicle 100. Examples include radio wave sensors such as radar sensors (millimeter-wave radar), sound wave sensors such as ultrasonic sensors (clearance sonar), and optical sensors such as laser radar (LiDAR). The electromagnetic wave sensor 72 emits electromagnetic waves, and when those electromagnetic waves are reflected by an object, it receives those electromagnetic waves (reflected waves). The target data is information about the emitted electromagnetic waves and reflected waves. The electromagnetic wave sensor 72 is electrically connected to the ECU 90. The ECU 90 acquires the target data from the electromagnetic wave sensor 72 as surrounding detection information IS.

[0065] In particular, as shown in Figure 3, the ECU 90 can detect the preceding vehicle 200 based on the target data as surrounding detection information IS, and can also obtain the distance (inter-vehicle distance Df) between the preceding vehicle 200 and vehicle 100. The preceding vehicle 200 is another vehicle traveling ahead of vehicle 100 at a predetermined distance from vehicle 100, and traveling in the same lane as vehicle 100.

[0066] The GPS device 73 is a device that receives GPS signals and acquires the current position of the vehicle 100 and map information of the area around the vehicle 100. In this example, it includes a GPS receiver 731 and a map database 732. The map information of the area around the vehicle 100 includes information about the road on which the vehicle 100 is traveling.

[0067] The GPS receiver 731 receives GPS signals. The GPS receiver 731 is electrically connected to the ECU 90. Based on the GPS signals received by the GPS receiver 731, the ECU 90 acquires the current position of the vehicle 100 as surrounding detection information IS.

[0068] The map database 732 is a device that stores map information. The map database 732 is electrically connected to the ECU 90. Based on the current position of the vehicle 100, the ECU 90 obtains map information of the area around the vehicle 100 from the map database 732 as surrounding detection information IS.

[0069] In particular, the ECU90 can detect curves, traffic lights, and stop lines ahead of the vehicle 100 based on map information as surrounding detection information IS.

[0070] Furthermore, the surrounding information detection device 70 may include a device that receives information about the road transmitted wirelessly from equipment installed on the side of the road, acquires this information as surrounding detection information IS, and is configured to detect curves, traffic lights, and stop lines ahead of the vehicle 100 based on the surrounding detection information IS.

[0071] <Activation of vehicle deceleration support system> Next, the operation of the vehicle control device 10 will be explained. When the vehicle 100 approaches a preceding vehicle or a curve, the driver operates the brake pedal 631 to decelerate the vehicle 100. In situations where the driver decelerates the vehicle 100 in this manner, the vehicle control device 10 is configured to perform deceleration support control to assist the driver's deceleration operation of the vehicle 100.

[0072] In this example, the deceleration support control includes automatic braking control and deceleration notification control, but it may also include only one of these two components.

[0073] Automatic braking control is a control system that autonomously decelerates the vehicle 100 by autonomously applying braking force to the vehicle 100 or by autonomously reducing or eliminating the driving force applied to the vehicle 100 when a predetermined condition (support start condition C_start) is met.

[0074] The support initiation condition C_start is that, when a preceding vehicle 200 is detected as the target of deceleration support, the distance Df between vehicles is less than or equal to a predetermined distance (support initiation distance Df_start) and neither the accelerator pedal 621 nor the brake pedal 631 is being operated.

[0075] Furthermore, the support initiation condition C_start is that, when a target point such as a curved road, traffic light, or stop line is detected as a target for deceleration support, the distance to that target point (target point distance Dp) is less than or equal to a predetermined distance (support initiation point distance Dp_start) which is the support initiation distance D_start, and neither the accelerator pedal 621 nor the brake pedal 631 is being operated.

[0076] The vehicle control device 10 sets the support start distance Df_start according to the vehicle speed V, and sets the support start distance Df_start to a larger value when the vehicle speed V is large than when it is small, and in particular, it is configured to set the support start distance Df_start to a larger value as the vehicle speed V increases.

[0077] Similarly, the vehicle control device 10 sets the support start point distance Dp_start according to the vehicle speed V, and sets the support start point distance Dp_start to a larger value when the vehicle speed V is large than when it is small, and in particular, it is configured to set the support start point distance Dp_start to a larger value as the vehicle speed V increases.

[0078] Furthermore, when the vehicle control device 10 detects a preceding vehicle 200 as a target for deceleration support and performs automatic braking control, it sets a target value for the degree of deceleration of vehicle 100 (target deceleration Gd_tgt) and a target value for the speed at which the deceleration of vehicle 100 will increase to the target deceleration Gd_tgt (target deceleration increase speed R_tgt). The device then increases the deceleration of vehicle 100 at an increase speed corresponding to the target deceleration increase speed R_tgt so that the deceleration of vehicle 100 reaches the target deceleration Gd_tgt, and decelerates vehicle 100 until the distance between vehicles Df becomes greater than the support start distance Df_start.

[0079] Furthermore, the vehicle control device 10 may be configured to set the target deceleration increase speed R_tgt to a predetermined constant speed when it performs automatic braking control in the event that the preceding vehicle 200 is detected as a vehicle requiring deceleration assistance.

[0080] On the other hand, when the vehicle control device 10 detects a target point such as a curved road, a traffic light, or a stop line as a target for deceleration support and performs automatic braking control, it sets a target deceleration speed Gd_tgt and a target deceleration increase speed R_tgt so that the vehicle speed V is less than or equal to a predetermined speed when the vehicle 100 reaches the target point, and increases the deceleration of the vehicle 100 at an increase speed corresponding to the target deceleration increase speed R_tgt so that the deceleration of the vehicle 100 becomes the target deceleration speed Gd_tgt, thereby decelerating the vehicle 100.

[0081] Furthermore, the vehicle control device 10 may be configured to set the target deceleration increase speed R_tgt to a predetermined constant speed when it performs automatic braking control in the event that a target point such as a curved road, a traffic light, or a stop line is detected as a target for deceleration support.

[0082] Furthermore, when the vehicle control device 10 performs automatic braking control, it may be configured to set a target deceleration Gd_tgt and a target deceleration increase speed R_tgt regardless of whether the vehicle speed V is below a predetermined speed when the vehicle 100 reaches the target point, and to increase the deceleration of the vehicle 100 at an increase speed corresponding to the target deceleration increase speed R_tgt so that the deceleration of the vehicle 100 becomes the target deceleration Gd_tgt, thereby decelerating the vehicle 100.

[0083] Thus, the vehicle control device 10 is one of the devices that perform automatic or autonomous driving of the vehicle 100.

[0084] On the other hand, deceleration notification control is a control that, when the support start condition C_start is met, provides a notification (deceleration suggestion notification) to the driver of vehicle 100 via the notification device 50, suggesting that the vehicle 100 be decelerated. More specifically, deceleration notification control is a control that displays an image suggesting that the vehicle 100 be decelerated (for example, a deceleration suggestion image such as a pop-up) via the display device 51, or outputs an audio (deceleration suggestion audio) suggesting that the vehicle 100 be decelerated via the sound device 52.

[0085] <Suggested and changed settings> Incidentally, when automatic braking control is initiated, the vehicle 100 is automatically decelerated. However, the driver may feel that the deceleration of the vehicle 100 is too great, or that the timing of the start of automatic braking control is too early. In such cases, the driver may operate the brake pedal 631 or accelerator pedal 621 several times with small inputs.

[0086] Furthermore, there have been instances in the past where the driver felt that the deceleration of the vehicle 100 due to automatic braking control was too great, or where the timing of the start of automatic braking control was too early. In such cases, the driver may operate the brake pedal 631 or accelerator pedal 621 several times with small inputs when automatic braking control is not being performed (especially just before automatic braking control is started).

[0087] Similarly, when deceleration notification control is performed, the driver may feel that the manner of the deceleration suggestion notification is too strong, or that the timing of the start of the deceleration notification control is too early. In such cases, the driver may operate the brake pedal 631 or accelerator pedal 621 several times with small inputs.

[0088] Furthermore, in the past, drivers may have felt that the manner of the deceleration suggestion notification by the deceleration notification control was too strong, or that the timing of the start of the deceleration notification control was too early. In such cases, the driver may operate the brake pedal 631 or accelerator pedal 621 several times with small inputs when automatic braking control is not being performed (especially just before automatic braking control is started).

[0089] Therefore, the vehicle control device 10 is configured to perform a setting change suggestion control that proposes to the operator that the support level by deceleration support control be reduced, or a setting change control that autonomously reduces the support level by deceleration support control, when the accelerator pedal 621 is operated (acceleration operation) or the brake pedal 631 is operated (deceleration operation), and the degree of operation of the accelerator pedal 621 (degree of acceleration operation) or the degree of operation of the brake pedal 631 (degree of deceleration operation) is below a predetermined level for a predetermined time T_th (or a predetermined time T_th or more), and a weak acceleration operation or weak deceleration operation is performed a predetermined number of times N_th or more, satisfying a predetermined condition C_set.

[0090] In this example, the predetermined number N_th is set to an integer of 1 or greater. Alternatively, the number of times a weak acceleration operation was performed and the number of times a weak deceleration operation was performed could be counted separately, and it could be determined separately whether the weak acceleration operation was performed N_th or more, and whether the weak deceleration operation was performed N_th or more. However, in this example, the determination is made based on whether the sum of the number of times a weak acceleration operation was performed and the number of times a weak deceleration operation was performed N_th or more.

[0091] More specifically, in this example, the predetermined condition C_set is set as follows.

[0092] <Condition 1> When deceleration support control is being executed and the accelerator pedal 621 is operated, the predetermined condition C_set is that the accelerator pedal 621 is operated, and the degree of that operation of the accelerator pedal 621 is at or below a first degree, and this state continues for a first time T1 (or for a first time T1 or longer) (first condition C1). In this case, if the accelerator pedal 621 operation (weak acceleration operation) that satisfies the first condition C1 is performed a first number of times N1 or more, setting change proposal control or setting change control is executed.

[0093] More specifically, the first condition C1 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is less than or equal to the upper limit accelerator pedal operation amount AP_up and greater than or equal to the lower limit accelerator pedal operation amount AP_low (a state in which the degree of operation of the accelerator pedal 621 is less than or equal to the first degree) and this state continues for the first time T1 (or the first time T1 or longer).

[0094] In other words, the first condition C1 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is within the predetermined accelerator pedal operation amount range Rap (the degree of operation of the accelerator pedal 621 is less than or equal to the first degree) and this state continues for the first time T1 (or for the first time T1 or longer).

[0095] Furthermore, the predetermined accelerator pedal operation range Rap is a range that is less than or equal to the upper limit accelerator pedal operation amount AP_up and greater than or equal to the lower limit accelerator pedal operation amount AP_low.

[0096] Furthermore, the predetermined accelerator pedal operation range Rap is set to a relatively narrow range around the acceleration request determination threshold AP_th. The vehicle control device 10 acquires the accelerator pedal operation amount AP by setting the accelerator pedal operation amount AP that matches the acceleration request determination threshold AP_th to zero. Therefore, as long as the accelerator pedal operation amount AP is less than the acceleration request determination threshold AP_th, the accelerator pedal operation amount AP acquired by the vehicle control device 10 is zero, and when the accelerator pedal operation amount AP is greater than or equal to the acceleration request determination threshold AP_th, the accelerator pedal operation amount AP acquired by the vehicle control device 10 is greater than zero.

[0097] <Condition 2> Furthermore, when deceleration support control is not being executed (especially when a vehicle requiring deceleration support is detected but deceleration support control is not being executed), the predetermined condition C_set when the accelerator pedal 621 is operated is the condition (second condition C2) that the accelerator pedal 621 is operated, the degree of operation of the accelerator pedal 621 is at or below the second degree, continues for a second time T2 (or longer than the second time T2), and the deceleration of the vehicle 100 is at or below the predetermined deceleration (non-supported acceleration operation deceleration Gd_a). In this case, if the accelerator pedal 621 operation (weak acceleration operation) that satisfies the second condition C2 is performed N2 or more times, the setting change proposal control or setting change control is executed.

[0098] More specifically, the second condition C2 is that the accelerator pedal 621 is operated, and the accelerator pedal operation amount AP is less than or equal to the upper limit accelerator pedal operation amount AP_up and greater than or equal to the lower limit accelerator pedal operation amount AP_low (a state in which the degree of operation of the accelerator pedal 621 is less than or equal to the second degree) continues for the second time T2 (or the second time T2 or longer), and the deceleration of the vehicle 100 is less than or equal to the non-assisted acceleration operation deceleration Gd_a.

[0099] In other words, the second condition C2 is that the accelerator pedal 621 is operated, the amount of accelerator pedal operation AP is within the predetermined accelerator pedal operation range Rap (the degree of operation of the accelerator pedal 621 is less than or equal to the second degree), and this state continues for the second time T2 (or the second time T2 or longer), and the deceleration of the vehicle 100 is less than or equal to the deceleration of acceleration operation Gd_a when no assistance is provided.

[0100] In this example, the deceleration Gd_a for acceleration operation without support is set to a relatively small value.

[0101] <Third condition> Furthermore, when deceleration support control is being executed and the brake pedal 631 is operated, the predetermined condition C_set is that the brake pedal 631 is operated, and the degree of that operation of the brake pedal 631 is at or below the third degree, and this state continues for the third time T3 (or the third time T3 or longer) (third condition C3). In this case, if the brake pedal 631 operation (slight deceleration operation) that satisfies the third condition C3 is performed for the third number of times N3 or more, setting change proposal control or setting change control is executed.

[0102] More specifically, the third condition C3 is that the brake pedal 631 is operated, and the brake pedal operation amount BP is equal to or greater than a predetermined brake pedal operation amount BP_th, but the rate at which the brake pedal operation amount BP increases is less than or equal to a predetermined rate (predetermined brake pedal operation amount increase rate Rbp_th) (a state in which the degree of operation of the brake pedal 631 is less than or equal to the third degree) and this state continues for the third time T3 (or the third time T3 or longer).

[0103] <Condition 4> Furthermore, when deceleration support control is not being executed (especially when a vehicle requiring deceleration support is detected but deceleration support control is not being executed), the predetermined condition C_set when the brake pedal 631 is operated is that the brake pedal 631 is operated, the degree of the brake pedal 631 operation remains at or below the fourth degree for the fourth time T4 (or longer), and the deceleration of the vehicle 100 is below a predetermined deceleration (deceleration operation deceleration Gd_d when deceleration is not supported) (fourth condition C4). In this case, if the accelerator pedal 621 is operated (weak acceleration operation) satisfying the fourth condition C4 for N4 or more times, setting change proposal control or setting change control is executed.

[0104] More specifically, the fourth condition C4 is that the brake pedal 631 is operated, the brake pedal operation amount BP is equal to or greater than a predetermined brake pedal operation amount BP_th, but the rate of increase of the brake pedal operation amount BP is less than or equal to a predetermined brake pedal operation amount increase rate Rbp_th (a state in which the degree of operation of the brake pedal 631 is less than or equal to the fourth degree), and this state continues for the fourth time T4 (or the fourth time T4 or longer), and the deceleration of the vehicle 100 is less than or equal to the deceleration operation deceleration Gd_d when no assistance is provided.

[0105] In this example, the deceleration rate Gd_d for non-assisted deceleration operations is set to a relatively small value.

[0106] According to the vehicle control device 10, if a weak acceleration operation or weak deceleration operation that satisfies a predetermined condition C_set, where the degree of operation of the accelerator pedal 621 (acceleration operation) or the brake pedal 631 (deceleration operation) is below a predetermined level for a predetermined time T_th, is performed a predetermined number of times N_th or more, the driver is advised to lower the support level by the deceleration support control, or the support level by the deceleration support control is autonomously lowered. Therefore, the driver is appropriately advised to lower the support level by the deceleration support control, or the support level by the control support control is appropriately and autonomously lowered.

[0107] Furthermore, drivers who feel that the level of assistance provided by deceleration support control is excessive will perform different types of weak acceleration and weak deceleration operations depending on whether deceleration support control is being performed or not (especially when a target for deceleration support is detected but deceleration support control is not being performed). Therefore, in order to more accurately determine whether a driver feels that the level of assistance provided by deceleration support control is excessive, it is effective to suggest to the driver that the level of assistance provided by deceleration support control be reduced or to set different conditions for autonomously reducing the level of assistance provided by deceleration support control depending on whether deceleration support control is being performed or not (especially when a target for deceleration support is detected but deceleration support control is not being performed).

[0108] According to the vehicle control device 10, the predetermined condition C_set differs depending on whether deceleration support control is being performed or not (especially when a vehicle requiring deceleration support is detected but deceleration support control is not being performed). Therefore, the system more accurately determines whether the driver feels the level of support provided by the deceleration support control is excessive, and then suggests to the driver that the level of support provided by the deceleration support control be reduced, or the level of support provided by the deceleration support control is reduced autonomously.

[0109] <Method of changing settings> Furthermore, the driver's perception of the level of assistance provided by the deceleration support control differs depending on whether the driver performs a slight acceleration or deceleration operation while deceleration support control is in operation, or when the driver performs a slight acceleration or deceleration operation when deceleration support control is not in operation (especially immediately before deceleration support control is initiated).

[0110] Therefore, in this example, the mode in which the support level by deceleration support control is autonomously reduced when a weak acceleration operation satisfying the first condition C1 is performed for a first number of N1 or more times, and the mode in which the support level by deceleration support control is autonomously reduced when a weak acceleration operation satisfying the second condition C2 is performed for a second number of N2 or more times, are considered to be different modes from each other.

[0111] More specifically, when a weak acceleration operation satisfying the first condition C1 is performed for a first number of times N1 or more, the setting change control reduces the target deceleration Gd_tgt and target deceleration increase speed R_tgt in the automatic braking control, and the display mode of the deceleration suggestion image and the output mode of the deceleration suggestion voice in the deceleration notification control are set to a mode that is less recognizable to the driver. On the other hand, when a weak acceleration operation satisfying the second condition C2 is performed for a second number of times N2 or more, the setting change control increases the support start distance Df_start and the support start point distance Dp_start.

[0112] Furthermore, in this example, the mode in which the support level by deceleration support control is autonomously reduced when a weak deceleration operation satisfying the third condition C3 is performed for a third number of times N3 or more, and the mode in which the support level by deceleration support control is autonomously reduced when a weak deceleration operation satisfying the fourth condition C4 is performed for a fourth number of times N4 or more, are considered to be different modes from each other.

[0113] More specifically, if a weak deceleration operation satisfying the third condition C3 is performed for N3 or more times, the setting change control reduces the target deceleration Gd_tgt or the target deceleration increase rate R_tgt in the automatic braking control, and the display mode of the deceleration suggestion image and the output mode of the deceleration suggestion voice in the deceleration notification control are set to a mode that is less recognizable to the driver. On the other hand, if a weak deceleration operation satisfying the fourth condition C4 is performed for N4 or more times, the setting change control increases the assist start distance Df_start and the assist start distance D_start.

[0114] According to this, the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the first condition C1 is performed N1 or more times is considered to be different from the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the second condition C2 is performed N2 or more times is considered to be different from each other. Furthermore, the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the third condition C3 is performed N3 or more times is considered to be different from the mode in which the support level is autonomously reduced when a weak acceleration or weak deceleration operation satisfying the fourth condition C4 is performed N4 or more times is considered to be different from each other. As a result, an autonomous reduction in the support level in accordance with the driver's perception of excessive support level due to deceleration support control is realized.

[0115] <Execution timing of deceleration support control> Furthermore, in this example, the setting change suggestion control and the setting change control are executed when the vehicle speed V becomes zero, or when the position of the shift lever 641 is set to the parking position, or when the start operator 61 is operated and the ECU 90 enters a non-started state. In other words, the setting change suggestion control and the setting change control are executed when the execution permission condition C_exe, which states that the vehicle speed V has become zero, or the execution permission condition C_exe, which states that the position of the shift lever 641 has been set to the parking position, or the execution permission condition C_exe, which states that the start operator 61 has been operated and the ECU 90 enters a non-started state, is met.

[0116] <Resetting the number of weak acceleration and weak deceleration operations> Furthermore, the perception of excessive assistance from the deceleration support control varies from driver to driver of vehicle 100. Therefore, in order to more accurately determine whether a driver perceives the level of assistance from the deceleration support control as excessive, it is effective to consider the possibility that the driver of vehicle 100 has changed due to a change of driver or other reasons. When vehicle 100 changes from a state where it is drivable to a state where it is not drivable, there is a possibility that the driver of vehicle 100 will change to another driver.

[0117] Therefore, while the vehicle 100 is in a running state where it is ready to drive, the vehicle control device 10 acquires the number of times a weak acceleration operation satisfying the first condition C1 (number of weak acceleration operations), the number of times a weak acceleration operation satisfying the second condition C2 (number of weak acceleration operations), the number of times a weak deceleration operation satisfying the third condition C3 (number of weak deceleration operations), and the number of times a weak deceleration operation satisfying the fourth condition C4 (number of weak deceleration operations). However, when the vehicle 100 changes from a running state to a non-running state (i.e., when the reset condition C_reset is met), the acquired number of weak acceleration operations and weak deceleration operations are reset (i.e., set to zero). In other words, the acquired number of weak acceleration operations and weak deceleration operations are reset with each so-called trip.

[0118] Alternatively, the vehicle control device 10 may be configured to reset the number of weak acceleration operations and weak deceleration operations that have been acquired when the vehicle 100 has traveled a predetermined distance.

[0119] According to this, when vehicle 100 changes from an active state to a deactivated state, the acquired number of weak acceleration operations and weak deceleration operations are reset. Therefore, the proposal to reduce the support level in accordance with the driver's perception of excessive support level from deceleration support control, or the autonomous reduction of the support level, can be more appropriately implemented.

[0120] In this example, the vehicle control device 10 is configured not to determine that a weak acceleration or weak deceleration operation has been performed if the driver-requested deceleration Gd_driver during the execution of automatic braking control matches or is approximately the same as the target deceleration Gd_tgt determined by the automatic braking control.

[0121] <Specific operation of the vehicle deceleration support system> Next, the specific operation of the vehicle control device 10 will be explained. The vehicle control device 10 is configured to execute the routine shown in Figure 4 at predetermined calculation intervals. Therefore, when a predetermined timing is reached, it starts processing from step S400 of the routine shown in Figure 4, proceeds to step S405, and determines whether or not a vehicle requiring deceleration support has been detected.

[0122] If the vehicle control device 10 determines "Yes" in step S405, it proceeds to step S410 to determine whether the support start condition C_start is met. If the vehicle control device 10 determines "Yes" in step S410, it proceeds to step S415 to execute deceleration support control. After that, the vehicle control device 10 proceeds to step S495 to terminate the processing of this routine.

[0123] On the other hand, if the vehicle control device 10 determines "No" in step S410, it proceeds to step S420, and if deceleration support control is being executed at that time, it stops the deceleration support control. After that, the vehicle control device 10 proceeds to step S495 and terminates the processing of this routine.

[0124] Furthermore, if the vehicle control device 10 determines "No" in step S405, it proceeds to step S420, and if deceleration support control is being executed at that time, it stops the deceleration support control. After that, the vehicle control device 10 proceeds to step S495 and terminates the processing of this routine.

[0125] Furthermore, the vehicle control device 10 is configured to execute the routine shown in Figure 5 at predetermined calculation intervals. Therefore, when a predetermined timing occurs, the vehicle control device 10 starts processing from step S500 of the routine shown in Figure 5, proceeds to step S505, and determines whether a weak acceleration operation or a weak deceleration operation has been performed a predetermined number of times N_th or more.

[0126] If the vehicle control device 10 determines "Yes" in step S505, it counts up the number of weak acceleration or weak deceleration operations, then proceeds to step S510 to determine whether the execution permission condition C_exe is met. If the vehicle control device 10 determines "Yes" in step S510, it proceeds to step S515 to execute setting change suggestion control or setting change control. After that, the vehicle control device 10 proceeds to step S595 to terminate the processing of this routine.

[0127] On the other hand, if the vehicle control device 10 determines "No" in step S510, it proceeds directly to step S595 and terminates the processing of this routine.

[0128] Furthermore, if the vehicle control device 10 determines "No" in step S505, it proceeds directly to step S595 and terminates the processing of this routine.

[0129] Furthermore, the vehicle control device 10 is configured to execute the routine shown in Figure 6 at predetermined calculation intervals. Therefore, when a predetermined timing occurs, processing starts from step S600 of the routine shown in Figure 6, proceeds to step S605, and determines whether or not the reset condition C_reset has been met.

[0130] If the vehicle control device 10 determines "Yes" in step S605, it proceeds to step S610 and resets the number of weak acceleration operations and the number of weak deceleration operations. After that, the vehicle control device 10 proceeds to step S695 and terminates the processing of this routine.

[0131] On the other hand, if the vehicle control device 10 determines "No" in step S605, it proceeds directly to step S695 and terminates the processing of this routine.

[0132] The above describes the specific operation of the vehicle control device 10.

[0133] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0134] 10...Vehicle control device, 20...Drive system, 30...Brake system, 40...Transmission system, 50...Notification device, 61...Starting device, 62...Acceleration device, 63...Deceleration device, 64...Transmission device, 65...Support level setting device, 70...Surrounding information detection device, 90...ECU, 100...Vehicle, 200...Preceding vehicle< / ecu>

Claims

1. In a vehicle deceleration support device that performs deceleration support control to assist in the deceleration of a vehicle when the distance between the vehicle and the object to be decelerated becomes less than or equal to a predetermined distance and no acceleration or deceleration operations are performed by the operator of the vehicle, If a weak acceleration or weak deceleration operation is performed a predetermined number of times or more, satisfying the predetermined condition that the degree of the acceleration or deceleration operation is below a predetermined level for a predetermined period of time, the system is configured to suggest to the operator or autonomously reduce the support level provided by the deceleration support control. Vehicle deceleration support system.

2. In the vehicle deceleration support device according to claim 1, The predetermined condition when the acceleration operation is performed while the deceleration support control is being executed is that the acceleration operation is performed and the state in which the degree of the acceleration operation is less than or equal to the first predetermined degree continues for a predetermined time of first hour. The predetermined conditions when the acceleration operation is performed when the deceleration support control is not being performed are the second condition that the acceleration operation is performed, the degree of the acceleration operation is less than or equal to the second predetermined degree, and this state continues for a second predetermined time, and the deceleration of the vehicle is less than or equal to the deceleration of the acceleration operation when no support is being performed. The predetermined condition when the deceleration operation is performed while the deceleration support control is being executed is the third condition that the deceleration operation is performed and the degree of the deceleration operation is at or below the third predetermined degree for a predetermined time of third hours. The predetermined conditions when the deceleration operation is performed when the deceleration support control is not being executed are the fourth condition, which is that the deceleration operation is performed, the degree of the deceleration operation is at or below the fourth predetermined degree, and this state continues for a fourth predetermined time, and the deceleration of the vehicle is less than or equal to the deceleration operation deceleration without support. Vehicle deceleration support system.

3. In the vehicle deceleration support device according to claim 1, The predetermined condition when the acceleration operation is performed while the deceleration support control is being executed is that the acceleration operation is performed and the state in which the degree of the acceleration operation is less than or equal to the first predetermined degree continues for a predetermined time of first hour. When the aforementioned deceleration support target is detected but the deceleration support control is not being executed, the predetermined conditions in the case where the acceleration operation is performed are the second condition that the acceleration operation is performed, the degree of the acceleration operation is less than or equal to the second predetermined degree, and this state continues for the second predetermined time, and the deceleration of the vehicle is less than or equal to the deceleration of the acceleration operation when no support is being performed. The predetermined condition when the deceleration operation is performed while the deceleration support control is being executed is the third condition that the deceleration operation is performed and the degree of the deceleration operation is at or below the third predetermined degree for a predetermined time of third hours. When the deceleration operation is performed while the deceleration support target is detected but the deceleration support control is not being executed, the predetermined conditions are that the deceleration operation is performed, the degree of the deceleration operation is at or below the predetermined fourth degree, and this state continues for a predetermined fourth time, and the deceleration of the vehicle is less than or equal to the deceleration operation deceleration without support. Vehicle deceleration support system.

4. In the vehicle deceleration support device according to claim 2 or claim 3, In a configuration where the support level is autonomously reduced when the weak acceleration operation or weak deceleration operation that satisfies the predetermined conditions is performed a predetermined number of times or more, The mode in which the support level is autonomously reduced when the weak acceleration operation satisfying the first condition is performed a predetermined number of times or more, and the mode in which the support level is autonomously reduced when the weak acceleration operation satisfying the second condition is performed a predetermined number of times or more, are to be different from each other. The mode in which the support level is autonomously reduced when the weak deceleration operation satisfying the third condition is performed a predetermined number of times or more, and the mode in which the support level is autonomously reduced when the weak deceleration operation satisfying the fourth condition is performed a predetermined number of times or more, are to be different from each other. A vehicle deceleration support device configured in such a way.

5. In the vehicle deceleration support device according to claim 1, While the vehicle is in a running state in which it is capable of driving, the number of times the weak acceleration operation or the weak deceleration operation is performed is obtained. When the vehicle changes from the running state to a non-running state in which the vehicle is not capable of driving, the acquired count is reset. A vehicle deceleration support device configured in such a way.

6. A vehicle deceleration support method that, when the distance between the vehicle and the object to be decelerated becomes less than or equal to a predetermined distance and no acceleration or deceleration operations are performed by the operator of the vehicle, executes deceleration support control to assist in the deceleration of the vehicle, If a weak acceleration or weak deceleration operation is performed a predetermined number of times or more, satisfying the predetermined condition that the degree of the acceleration or deceleration operation is below a predetermined level for a predetermined period of time, the system will suggest to the operator that the support level of the deceleration support control be reduced, or will autonomously reduce it. A method for assisting vehicle deceleration.

7. A vehicle deceleration support program that, when the distance between the vehicle and the object to be decelerated becomes less than or equal to a predetermined distance and no acceleration or deceleration operations are performed by the operator of the vehicle, executes deceleration support control to assist in the deceleration of the vehicle, If a weak acceleration or weak deceleration operation is performed a predetermined number of times or more, satisfying the predetermined condition that the degree of the acceleration or deceleration operation is below a predetermined level for a predetermined period of time, the system is configured to suggest to the operator or autonomously reduce the support level provided by the deceleration support control. Vehicle deceleration support program.

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