Vehicle driving assistance system

Abstract

To provide a vehicle travel support device which can suppress a proposal for changing a set vehicle speed unnecessary for an operator of an own vehicle so as to suppress deterioration in convenience of the operator by the proposal for the unnecessary change of the set vehicle speed.SOLUTION: A vehicle travel support device 10 performs a proposal for changing a set vehicle speed based on a traveling environment of an own vehicle 100 during execution of a constant speed travel control where traveling of the own vehicle is autonomously controlled to keep the travel speed of the own vehicle at the set vehicle speed. The vehicle travel support device determines whether or not the proposal is performed according to whether or not the set vehicle speed after the change is a prescribed vehicle speed threshold value or more. The prescribed vehicle speed threshold value is set by an operator of the own vehicle.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] When recognizing a speed limit targetting the host vehicle during the execution of follow-up driving control for causing the host vehicle to follow a preceding vehicle within a range of driving speeds below the set vehicle speed, a proposal to change the set vehicle speed to the recognized speed limit is made to the driver, and when the driver approves the proposal, a vehicle driving support device configured to change the set vehicle speed is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When a change in the set vehicle speed is proposed to the driver in a situation where the driver is unlikely to approve the change, the driver may be bothered by the unnecessary proposal. Also, while the change is being proposed, other operations such as fine adjustment of the set vehicle speed may become unavailable to the driver, and the convenience for the driver may deteriorate.

[0005] An object of the present invention is to provide a vehicle driving support device that can suppress the proposal of a change in the set vehicle speed that is unnecessary for the operator of the host vehicle, thereby suppressing the deterioration of the operator's convenience due to the proposal of an unnecessary change in the set vehicle speed.

[0012] Furthermore, the vehicle driving support system according to the present invention includes a control device that, when it recognizes a speed limit for the vehicle while performing constant-speed driving control that autonomously controls the vehicle's driving speed to maintain the vehicle's speed at a set speed, proposes changing the set speed to the speed limit. The control device is configured to make the proposal if the speed limit is equal to or greater than a predetermined speed threshold, and not make the proposal if the speed limit is lower than the predetermined speed threshold. If the proposal is made and the operator of the vehicle approves it, the set speed is changed to the speed limit. The aforementioned set vehicle speed is set by the operator. The predetermined vehicle speed threshold is, In addition to the aforementioned set vehicle speed, it can be set by the operator, The aforementioned speed limits can be set by the operator for each road, each with its own different speed limit.

[0013] According to the vehicle driving support device of the present invention, a predetermined vehicle speed threshold used to determine whether or not to make a suggestion is set by the operator of the vehicle. Therefore, it is possible to suppress suggestions for changes to the set vehicle speed that are unnecessary for the operator, thereby suppressing the deterioration of the operator's convenience caused by suggestions for changes to the set vehicle speed.

[0014] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention. [Figure 2] Figure 2(A) shows a scenario where there is a preceding vehicle in front of the vehicle, and Figure 2(B) shows a scenario where there is no preceding vehicle in front of the vehicle. [Figure 3] Figure 3 is a flowchart showing the routine executed by a vehicle driving support device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0016] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the vehicle 100. Hereinafter, the vehicle driving support device 10 will be described using the case where the operator of the vehicle 100 is a person who is riding in the vehicle 100 and driving the vehicle 100 (i.e., the driver of the vehicle 100) as an example.

[0017] However, the operator of the vehicle 100 may be a person who operates the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). If the operator of the vehicle 100 is a remote operator, the vehicle driving support device 10 is installed in the vehicle 100 and in the remote control equipment installed outside the vehicle 100 for remote operation of the vehicle 100, and the functions of the vehicle driving support device 10 described below are shared between the vehicle driving support device 10 installed in the vehicle 100 and the vehicle driving support device 10 installed in the remote control equipment.

[0018] As shown in Figure 1, the vehicle driving support system 10 is equipped with an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 mainly consists of a microcomputer. The microcomputer includes a CPU, ROM, RAM, storage media such as non-volatile memory, and interfaces. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage media. In particular, in this example, the vehicle driving support system 10 stores programs that realize the various controls that the vehicle driving support system 10 performs in the storage media.

[0019] In this example, the vehicle driving support system 10 is equipped with only one ECU 90, but it may also be equipped with multiple ECUs, and each ECU may be responsible for performing the functions of the vehicle driving support system 10 described below.

[0020] Furthermore, the vehicle driving support system 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (for example, internet communication).

[0021] Furthermore, the vehicle 100 is equipped with a running gear 20. The running gear 20 includes a drive unit 21, a braking unit 22, and a steering unit 23.

[0022] The drive unit 21 is a device that outputs drive torque (driving force) to be applied to the vehicle 100 in order to move the vehicle 100, and is, for example, an internal combustion engine and a motor. The drive unit 21 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the drive torque output from the drive unit 21 by controlling the operation of the drive unit 21.

[0023] The braking device 22 is a device that outputs braking torque (braking force) to be applied to the vehicle 100 in order to brake the vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the braking torque output from the braking device 22 by controlling the operation of the braking device 22.

[0024] The steering device 23 is a device that outputs steering torque (steering force) applied to the vehicle 100 in order to steer the vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the steering torque output from the steering device 23 by controlling the operation of the steering device 23.

[0025] Furthermore, the vehicle 100 is equipped with a notification device 30, a vehicle speed detection device 41, an operating device 42, a surrounding information acquisition device 50, and a vehicle position acquisition device 60.

[0026] The notification device 30 is a device that provides various notifications to the driver. In this example, the notification device 30 includes a display device 31 and an audio device 32.

[0027] The display device 31 is a device that displays various images. The display device 31 includes, for example, a display. The display device 31 is electrically connected to the ECU 90.

[0028] Also, the audio device 32 is a device that outputs various sounds. The audio device 32 includes, for example, a speaker. The audio device 32 is electrically connected to the ECU 90.

[0029] The vehicle speed detection device 41 is a device that detects the traveling speed of the host vehicle 100. The vehicle speed detection device 41 includes, for example, a wheel speed sensor. The vehicle speed detection device 41 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 41.

[0030] The operation device 42 is a device that includes a plurality of operators operated by a driver. The operator is, for example, an operation button provided on the steering wheel of the host vehicle 100. Each operator is electrically connected to the ECU 90.

[0031] The surrounding information acquisition device 50 is a device that detects the information around the host vehicle 100 as the surrounding information IS. In this example, the surrounding information acquisition device 50 includes an electromagnetic wave sensor 51 and an image sensor 52.

[0032] The electromagnetic wave sensor 51 is, for example, a sound wave sensor such as a radar sensor (millimeter wave radar, etc.), an ultrasonic sensor (clearance sonar), or an optical sensor such as a lidar (LiDAR), and is electrically connected to the ECU 90. The vehicle driving support device 10 acquires information about an object existing around the host vehicle 100 (particularly, information about an object existing in front of the host vehicle 100) by the electromagnetic wave sensor 51 as image information which is one of the surrounding information IS.

[0033] The image sensor 52 is, for example, a camera and is electrically connected to the ECU 90. The vehicle driving support system 10 acquires information about the image of the area around the vehicle 100 (in particular, information about the image in front of the vehicle 100) from the image sensor 52 as target information, which is one of the surrounding information IS.

[0034] The vehicle position acquisition device 60 is a device for acquiring the position of the vehicle 100. In this example, the vehicle position acquisition device 60 includes a GPS signal receiver 61 and a map information database 62.

[0035] The GPS signal receiver 61 is a device that receives so-called GPS signals and is electrically connected to the ECU 90. The vehicle driving support system 10 can acquire GPS signals via the GPS signal receiver 61 and determine (acquire) the position of its own vehicle 100 based on the acquired GPS signals.

[0036] The map information database 62 is a database that stores map information and is electrically connected to the ECU 90. The vehicle driving support device 10 can determine where the vehicle 100 is located on the map indicated by the map information, based on the position of the vehicle 100 identified from the GPS signal and the map information.

[0037] <Operation of vehicle driving support system> Next, the operation of the vehicle driving support system 10 will be explained.

[0038] The vehicle driving support system 10 is configured to perform follow-me driving control and constant-speed driving control as automatic driving control. The driver can request the vehicle driving support system 10 to perform follow-me driving control by operating the control unit for requesting follow-me driving control among the controls of the operating device 42, and can request the vehicle driving support system 10 to perform constant-speed driving control by operating the control unit for requesting constant-speed driving control among the controls of the operating device 42.

[0039] As shown in Figure 2(A), follow-the-lead driving control is a control that is performed when a preceding vehicle 200 is present in front of the vehicle 100, and autonomously controls the driving of the vehicle 100 so that it follows the preceding vehicle 200. More specifically, when a preceding vehicle 200 is present in front of the vehicle 100, follow-the-lead driving control is a control that autonomously controls the acceleration and deceleration of the vehicle 100 by autonomously controlling the operation of the drive unit 21 and the braking unit 22 so that the distance D between vehicles is maintained at a set distance Dset within a range of a set vehicle speed Vset or less.

[0040] Therefore, when adaptive cruise control is in operation, if the distance D between vehicles becomes longer than the set distance Dset, the vehicle 100 will autonomously accelerate. On the other hand, when adaptive cruise control is in operation, if the distance D between vehicles becomes shorter than the set distance Dset, the vehicle 100 will autonomously decelerate. Also, when adaptive cruise control is in operation, if the vehicle speed V becomes higher than the set speed Vset, the acceleration and deceleration of the vehicle 100 will be autonomously controlled so that the vehicle speed V is maintained at the set speed Vset.

[0041] The preceding vehicle 200 is a vehicle traveling within a predetermined distance Dth from the vehicle 100 and is recognized based on surrounding information IS (especially target information). The following distance D is the distance between the vehicle 100 and the preceding vehicle 200 and is obtained based on surrounding information IS (especially target information). The set following distance Dset and set vehicle speed Vset are set by the driver. The driver can set the set following distance Dset and set vehicle speed Vset by operating the controls for setting the set following distance Dset and set vehicle speed Vset, respectively, among the controls of the operating device 42.

[0042] On the other hand, constant speed driving control, as shown in Figure 2(B), is a control performed when there is no preceding vehicle 200 in front of the vehicle 100, and is a control that autonomously controls the driving of the vehicle 100 so that the vehicle speed V is maintained at a set vehicle speed Vset. More specifically, constant speed driving control is a control that autonomously controls the acceleration and deceleration of the vehicle 100 by autonomously controlling the operation of the drive unit 21 and the braking unit 22 so that the vehicle speed V is maintained at a set vehicle speed Vset when there is no preceding vehicle 200 in front of the vehicle 100.

[0043] Furthermore, when the vehicle driving support system 10 recognizes the speed limit Vlimit for its own vehicle 100, it makes a setting speed change proposal suggesting that the set speed Vset be changed to the speed limit Vlimit. If the driver approves the setting speed change proposal, the setting speed Vset is set to the speed limit Vlimit. The vehicle driving support system 10 may also be configured to make a setting speed change proposal suggesting that the setting speed Vset be changed to a speed that is a predetermined value smaller than the speed limit Vlimit. In this case, the predetermined value may be a value that has been set in advance, or a value that can be set as appropriate by the driver.

[0044] In this example, the vehicle driving support device 10 executes the routine shown in Figure 3 at predetermined time intervals, and when predetermined conditions are met, it makes a proposal to change the set vehicle speed. If the driver approves the proposal to change the set vehicle speed, it sets the set vehicle speed Vset to the speed limit Vlimit.

[0045] Therefore, at a predetermined timing, the vehicle driving support device 10 starts processing from step S300 of the routine shown in Figure 3, proceeds to step S305, and determines whether the speed limit recognition condition C1 has been met. The speed limit recognition condition C1 is the condition that the vehicle driving support device 10 has recognized the speed limit Vlimit for its own vehicle 100.

[0046] The vehicle driving support system 10 can acquire the speed limit Vlimit based on surrounding information IS. For example, the vehicle driving support system 10 recognizes a traffic sign installed on the road on which the vehicle 100 is traveling, which is captured in an image acquired by the image sensor 52, based on the image information, and recognizes the speed limit Vlimit from the traffic sign. Alternatively, if information regarding the speed limit Vlimit is stored in the map information database 62, the vehicle driving support system 10 recognizes the speed limit Vlimit for the vehicle 100 from the map information database 62 based on the position of the vehicle 100 acquired based on the GPS signal.

[0047] If the vehicle driving support system 10 determines "Yes" in step S305, it proceeds to step S310 to determine whether the driving road condition C2 is met. In this example, the driving road condition C2 is that the vehicle 100 is traveling on an expressway or other road exclusively for motor vehicles. The vehicle driving support system 10 determines whether the driving road condition C2 is met, for example, based on the position of the vehicle 100 obtained based on GPS signals and the map information stored in the map information database 62.

[0048] If the vehicle driving support system 10 determines "Yes" in step S310, it proceeds to step S315 to determine whether the main road driving condition C3 is met. In this example, the main road driving condition C3 is the condition that the vehicle 100 is driving on the main road of an expressway. The vehicle driving support system 10 determines whether the main road driving condition C3 is met, for example, based on the position of the vehicle 100 obtained based on GPS signals and map information stored in the map information database 62.

[0049] If the vehicle driving support system 10 determines "Yes" in step S315, it proceeds to step S320 to determine whether the main line vehicle speed condition C11 is met. In this example, the main line vehicle speed condition C11 is the condition that the currently recognized speed limit Vlimit is equal to or greater than the main line speed threshold V11. The driver can set the main line speed threshold V11 as appropriate using the operating device 42.

[0050] If the vehicle driving support system 10 determines "Yes" in step S320, it proceeds to step S325 and makes a proposal to change the set vehicle speed. In this example, the proposal to change the set vehicle speed is made to the driver by the notification device 30. More specifically, the proposal to change the set vehicle speed is made by displaying an image on the display device 31 that proposes setting the set vehicle speed Vset to the currently recognized speed limit Vlimit, and by outputting an audio from the sound device 32 that proposes setting the set vehicle speed Vset to the currently recognized speed limit Vlimit.

[0051] Next, the vehicle driving support system 10 proceeds to step S330 and determines whether or not approval condition C4 has been met. Approval condition C4 is the condition that the driver has approved setting the set vehicle speed Vset to the currently recognized speed limit Vlimit. In this example, approval condition C4 is the condition that the control device of the operating device 42 for approving setting the set vehicle speed Vset to the currently recognized speed limit Vlimit has been operated.

[0052] If the vehicle driving support system 10 determines "Yes" in step S330, it proceeds to step S335 and changes (sets) the set vehicle speed Vset to the currently recognized speed limit Vlimit. After that, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0053] On the other hand, if the vehicle driving support system 10 determines "No" in step S330, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not change the set vehicle speed Vset.

[0054] Furthermore, if the vehicle driving support system 10 determines "No" in step S320, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not propose a change in the set vehicle speed.

[0055] Furthermore, if the vehicle driving support device 10 determines "No" in step S315, it proceeds to step S340 to determine whether the non-main line vehicle speed condition C12 is met. In this example, the non-main line vehicle speed condition C12 is the condition that the currently recognized speed limit Vlimit is equal to or greater than the non-main line speed threshold V12. The driver can set the non-main line speed threshold V12 as appropriate using the operating device 42.

[0056] If the vehicle driving support device 10 determines "Yes" in step S340, it proceeds to step S345 and makes a suggestion to change the set vehicle speed.

[0057] Next, the vehicle driving support device 10 proceeds to step S350 and determines whether or not the approval condition C4 has been met.

[0058] If the vehicle driving support system 10 determines "Yes" in step S350, it proceeds to step S355 and sets the set vehicle speed Vset to the currently recognized speed limit Vlimit. After that, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0059] On the other hand, if the vehicle driving support system 10 determines "No" in step S350, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not change the set vehicle speed Vset.

[0060] Furthermore, if the vehicle driving support system 10 determines "No" in step S340, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not propose a change in the set vehicle speed.

[0061] Furthermore, if the vehicle driving support device 10 determines "No" in step S310, it proceeds to step S360 to determine whether the general vehicle speed condition C13 is met. In this example, the general vehicle speed condition C13 is the condition that the currently recognized speed limit Vlimit is equal to or greater than the general speed threshold V13. The driver can set the general speed threshold V13 as appropriate using the operating device 42.

[0062] Furthermore, the upper limit of the value that can be set as the general speed threshold V13 is smaller than the upper limit of the values ​​that can be set as the main line speed threshold V11 and the non-main line speed threshold V12.

[0063] If the vehicle driving support system 10 determines "Yes" in step S360, it proceeds to step S365 and makes a suggestion to change the set vehicle speed.

[0064] Next, the vehicle driving support device 10 proceeds to step S370 and determines whether or not the approval condition C4 has been met.

[0065] If the vehicle driving support system 10 determines "Yes" in step S370, it proceeds to step S375 and sets the set vehicle speed Vset to the currently recognized speed limit Vlimit. After that, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0066] On the other hand, if the vehicle driving support system 10 determines "No" in step S370, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not change the set vehicle speed Vset.

[0067] Furthermore, if the vehicle driving support system 10 determines "No" in step S360, it proceeds directly to step S395 and terminates the processing of this routine. In this case, the vehicle driving support system 10 does not propose a change in the set vehicle speed.

[0068] Furthermore, if the vehicle driving support device 10 determines "No" in step S305, it proceeds directly to step S395 and terminates the processing of this routine.

[0069] The above describes the operation of the vehicle driving support system 10.

[0070] According to the vehicle driving support system 10, if the recognized speed limit Vlimit is lower than the main lane speed threshold V11 when the vehicle 100 is traveling on the main lane of an expressway, no suggestion to change the set vehicle speed is made, and the main lane speed threshold V11 is the threshold set by the driver. Similarly, if the recognized speed limit Vlimit is lower than the non-main lane speed threshold V12 when the vehicle 100 is traveling on an expressway but in a lane other than the main lane (for example, at an expressway junction), no suggestion to change the set vehicle speed is made, and the non-main lane speed threshold V12 is the threshold set by the driver. Similarly, if the recognized speed limit Vlimit is lower than the general speed threshold V13 when the vehicle 100 is traveling on a road other than an expressway (for example, a public road), no suggestion to change the set vehicle speed is made, and the general speed threshold V13 is the threshold set by the driver.

[0071] In other words, the vehicle driving support system 10 includes a control device (ECU 90) that, while performing constant-speed driving control to autonomously control the driving of the vehicle 100 so that the driving speed of the vehicle 100 (vehicle speed V) is maintained at a set vehicle speed Vset, proposes a change to the set vehicle speed Vset based on the driving environment of the vehicle 100 (an environment in which the vehicle 100 is driving on the main lane of an expressway, an environment in which the vehicle 100 is driving on an expressway but not on the main lane, and an environment in which the vehicle 100 is driving on a public road). The control device is configured to decide whether or not to make the above proposal based on whether or not the changed set vehicle speed (speed limit Vlimit) is equal to or greater than predetermined vehicle speed thresholds (main lane speed threshold V11, non-main lane speed threshold V12, and public speed threshold V13). The predetermined vehicle speed thresholds are set by the operator (driver) of the vehicle 100.

[0072] More specifically, the vehicle driving support system 10 includes a control unit (ECU 90) that, when it recognizes a speed limit Vlimit for the vehicle 100 while performing constant speed driving control to autonomously control the vehicle 100's driving speed (vehicle speed V) to maintain the vehicle speed Vset, makes a proposal to change the set speed Vset to the speed limit Vlimit (set speed change proposal). The control unit is configured to make the above proposal if the speed limit Vlimit is equal to or greater than a predetermined speed threshold (main road speed threshold V11, non-main road speed threshold V12, and general speed threshold V13), and not make the above proposal if the speed limit Vlimit is lower than the predetermined speed threshold. If the above proposal is made and the operator (driver) of the vehicle 100 approves the proposal, the set speed Vset is changed to the speed limit Vlimit. The predetermined speed thresholds can be set by the operator (driver) of the vehicle 100 for each road where the speed limit Vlimit is different.

[0073] Thus, with the vehicle driving support system 10, a predetermined vehicle speed threshold used to determine whether or not to propose a change in the set vehicle speed is set by the driver. Therefore, it is possible to suppress the proposal of unnecessary changes in the set vehicle speed to the driver, thereby suppressing the deterioration of driver convenience caused by unnecessary suggestions of changes in the set vehicle speed.

[0074] 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.

[0075] For example, the vehicle driving support system 10 may be configured to make a suggestion to change the set vehicle speed only when the driver requests that such a suggestion be made when the predetermined conditions are met. In this case, the operating device 42 is configured so that the driver can use the operating device 42 to request that the system make a suggestion to change the set vehicle speed when the predetermined conditions are met. [Explanation of Symbols]

[0076] 10...Vehicle driving support system, 30...Notification system, 31...Display device, 32...Audio system, 42...Operation system, 50...Surrounding information acquisition system, 51...Electromagnetic wave sensor, 52...Image sensor, 60...Vehicle position acquisition system, 61...GPS signal receiver, 62...Map information database, 90...ECU, 100...Vehicle

Claims

[Claim 1] A vehicle driving support device comprising a control device that, when it recognizes a speed limit for the vehicle while performing constant speed driving control that autonomously controls the driving of the vehicle so that the driving speed of the vehicle is maintained at a set speed, proposes to change the set speed to the speed limit, The control device is If the aforementioned speed limit is equal to or greater than a predetermined vehicle speed threshold, the above proposal is made. If the aforementioned speed limit is lower than the aforementioned predetermined vehicle speed threshold, the proposal will not be made. If the operator of the vehicle approves the aforementioned proposal, the set speed will be changed to the speed limit. It is configured in such a way, The aforementioned set vehicle speed is set by the operator. The predetermined vehicle speed threshold can be set by the operator separately from the set vehicle speed, and can be set by the operator for each road with different speed limits. Vehicle driving assistance system.

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