Vehicle control method and vehicle control device

Abstract

To support more suitable traveling.SOLUTION: The vehicle control method decelerates the vehicle 1 at the first deceleration when the sensor device 14 detects an obstacle within the first distance from the vehicle 1 in the traveling direction of the vehicle 1 during traveling of the vehicle 1 by the acceleration / deceleration operation and the steering operation of the occupant. Thereafter, the vehicle control method causes the vehicle 1 to travel at a predetermined speed from the second distance to the third distance with respect to the distance from the vehicle 1 to the obstacle, and causes the display device 22 to display that the vehicle 1 is intentionally decelerating. Thereafter, in the vehicle control method, when sensor device 14 detects obstacle 2 within fourth distance L4 in the traveling direction of sensor device 14, sensor device 14 decelerates sensor device 14 at a second deceleration higher than the first deceleration.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle control method and a vehicle control device.

Background Art

[0002] There is known a system that determines the possibility of a collision with an obstacle existing on the traveling path of the host vehicle based on the distance and relative speed between the host vehicle and the obstacle, and automatically activates the control of the brakes of the host vehicle when there is a possibility of a collision (see Patent Document 1). Further, there is known a technique for suddenly stopping a vehicle by activating an emergency brake.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the prior art does not disclose a technique related to notification when performing automatic deceleration for collision avoidance, and it may be difficult to support comfortable driving for passengers.

[0005] An object of the present disclosure is to provide a vehicle control method and a vehicle control device that can support more comfortable driving.

Means for Solving the Problems

[0006] The vehicle control method according to this disclosure is a vehicle control method performed by a vehicle control device mounted on a vehicle, which includes an operating device for receiving operations from an occupant, a sensor device for acquiring external conditions, a display device visible to the occupant, and a movement control device for controlling deceleration, wherein when the vehicle is being driven by the occupant's acceleration / deceleration and steering operations, the sensor device detects an obstacle in the direction of travel of the vehicle that is closer than a first distance relative to the vehicle, the vehicle is decelerated with a first deceleration acceleration, and thereafter the vehicle is driven at a predetermined speed from a second distance smaller than the first distance to a third distance smaller than the second distance with respect to the distance to the obstacle relative to the vehicle, and intentionally The automatic braking system is working gently. This vehicle control method involves displaying the fact on the display device, and then, if the sensor device detects the obstacle in the direction of travel of the vehicle, closer than a fourth distance which is smaller than the third distance relative to the vehicle, the vehicle is decelerated with a second deceleration acceleration which is greater than the first deceleration acceleration. [Effects of the Invention]

[0007] The vehicle control method and vehicle control device described herein can support more favorable driving conditions. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing an example of the overall configuration of a vehicle. [Figure 2] Figure 2 is a schematic diagram showing an example of camera placement. [Figure 3] Figure 3 is an explanatory diagram of an example of the deceleration control process performed by the control unit. [Figure 4] Figure 4 is a diagram illustrating an example of the relationship between the distance between a vehicle and an obstacle, and the speed of the vehicle. [Figure 5] Figure 5 is a schematic diagram of an example of the first screen. [Figure 6A] Figure 6A is a schematic diagram of an example of the second screen. [Figure 6B] Figure 6B is a schematic diagram of an example of the second screen. [Figure 6C] Figure 6C is a schematic diagram of an example of the second screen. [Figure 7] Figure 7 is a schematic diagram of an example of the third screen. [Figure 8] Figure 8 is a flowchart showing an example of the information processing flow performed by the control unit. [Figure 9] Figure 9 is a block diagram showing an example of the hardware configuration of a vehicle control system. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the vehicle control method and vehicle control device according to this disclosure will be described with reference to the drawings.

[0010] Figure 1 is a block diagram showing an example of the overall configuration of Vehicle 1.

[0011] Vehicle 1 comprises a vehicle control device 10, a movement control device 12, a sensor device 14, a storage device 18, an operating device 20, and a display device 22.

[0012] The vehicle control device 10 is connected to the motion control device 12, sensor device 14, storage device 18, operating device 20, and display device 22 so that data or signals can be exchanged between them. In other words, the vehicle control device 10 is configured to be communicatively connected to at least the sensor device 14, operating device 20, display device 22, and motion control device 12.

[0013] The motion control device 12 controls at least the deceleration of the vehicle 1. The motion control device 12 is a means for realizing the driving, braking, and turning motions necessary for the vehicle 1 to travel. For example, the motion control device 12 is composed of a drive motor, a power transmission mechanism, a brake device, a steering device, etc., and an electronic vehicle control device that controls them. The motion control device 12 drives the vehicle 1 by, for example, generating power with a drive motor and transmitting power to the wheels via a power transmission mechanism. The power transmission mechanism is, for example, a propeller shaft, a differential gear, and a drive shaft.

[0014] Controlling deceleration means that the movement control device 12 controls at least one of driving and braking necessary for the running of the vehicle 1. That is, controlling deceleration means that the movement control device 12 controls the deceleration acceleration, which is the acceleration during deceleration.

[0015] In addition, the movement control device 12 also controls the acceleration / deceleration and steering of the vehicle 1.

[0016] Controlling acceleration / deceleration means that the movement control device 12 controls at least one of driving and braking necessary for the running of the vehicle 1. That is, controlling acceleration / deceleration means that the movement control device 12 controls the acceleration during acceleration and the deceleration acceleration, which is the acceleration during deceleration.

[0017] Controlling steering means that the movement control device 12 controls at least one of driving, braking, and turning motion necessary for the running of the vehicle 1. That is, controlling steering means that the movement control device 12 controls at least one of the turning direction by steering wheel steering, the vehicle speed and acceleration by accelerator steering, and the deceleration and stop by brake steering.

[0018] The sensor device 14 is mounted on the vehicle 1 and acquires at least the situation outside the vehicle 1. Specifically, the sensor device 14 is various sensors that detect the running state of the vehicle 1 and the situation outside the vehicle 1. The situation outside includes the video outside the vehicle 1.

[0019] The sensor device 14 includes at least one of a camera 16, a LiDAR (Light detection and ranging), radar, sonar, and an ultrasonic sensor. The sensor device 14 also includes an accelerator opening sensor for detecting the accelerator opening, a steering angle sensor for detecting the steering angle of the steering device, a steering wheel rotation angle detection sensor for detecting the angle of steering wheel rotation, an acceleration sensor for detecting acceleration and deceleration acceleration of the vehicle 1, a torque sensor for detecting torque acting on the power transmission mechanism between the wheels and the drive motor of the vehicle 1, a vehicle speed sensor for detecting the vehicle speed of the vehicle 1, a wheel speed sensor, and the like.

[0020] Camera 16 is an ambient sensor mounted on vehicle 1 that monitors the surrounding environment of vehicle 1. In other words, camera 16 captures at least a portion of the area around vehicle 1 as video data. In this embodiment, camera 16 captures the area around vehicle 1 and outputs the captured video data to vehicle control device 10. Hereafter, the captured video data may be simply referred to as video. In this embodiment, camera 16 is also used to detect objects present around vehicle 1 and to estimate the location of vehicle 1 based on the positional relationship between vehicle 1 and the objects present around vehicle 1.

[0021] The position, number, and shooting direction of the camera 16 are pre-adjusted so that it can photograph the area around the vehicle 1.

[0022] Figure 2 is a schematic diagram showing an example of the arrangement of camera 16.

[0023] Vehicle 1 is equipped with, for example, four cameras 16 so as to be able to acquire the external conditions of Vehicle 1 in at least four directions: a first side S1, a second side S2, the front S3, and the rear S4. The first side S1 is one direction on the side of Vehicle 1. The second side S2 is the side of Vehicle 1 opposite to the first side S1.

[0024] Specifically, for example, camera 16 includes a first camera 16A, a second camera 16B, a third camera 16C, and a fourth camera 16D. The first camera 16A is positioned at the front of vehicle 1 and photographs the area in front of vehicle 1 S3. The second camera 16B is positioned at the right side of vehicle 1 and photographs the area to the first side of vehicle 1 S1. The third camera 16C is positioned at the left side of vehicle 1 and photographs the area to the second side of vehicle 1 S2. The fourth camera 16D is positioned at the rear of vehicle 1 and photographs the area to the rear of vehicle 1 S4. The number of cameras 16 installed on vehicle 1 is not limited to four. Furthermore, it is preferable that the placement and number of sensors for detecting objects, such as lidar, radar, sonar, and ultrasonic sensors included in the sensor device 14, are pre-adjusted so that the external conditions of the area to the first side S1, second side S2, front S3, and rear S4 of vehicle 1 can be acquired.

[0025] Returning to Figure 1, the explanation continues. The sensor device 14 outputs the sensor information obtained through detection to the vehicle control device 10. The sensor information includes detection results from the sensor device 14, such as lidar, radar, sonar, ultrasonic sensor, accelerator opening sensor, steering angle sensor, steering wheel rotation angle, direction of travel of vehicle 1, deceleration acceleration of vehicle 1, torque, vehicle speed, and video captured by camera 16.

[0026] The storage device 18 stores various types of data. The storage device 18 is, for example, an auxiliary storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory. At least a portion of the data contained in the storage device 18 may be stored in an external storage device, such as a server device, which is located outside the vehicle 1 and is connected to the vehicle control device 10 in a communicative manner.

[0027] The control device 20 accepts operations from the occupants of the vehicle 1. The control device 20 includes steering devices such as a steering wheel, operating mechanisms related to driving operations such as an accelerator pedal, brake pedal, turn signal lever, and push switches, and input devices such as a keyboard, touch panel, and switches. The control device 20 may constitute part of at least one of HMI (Human Machine Interface) and IVI (In-Vehicle Infotainment).

[0028] The display device 22 is a display that outputs various images. The display device 22 is installed in a position visible to the occupants of the vehicle 1. Examples of displays include liquid crystal displays (LCDs), organic electroluminescent (EL) displays, and projectors. It may also be a touch panel display in which the display device 22 and the operating device 20 are integrated. The display device 22 is an example of an HMI (Human-Machine Interface).

[0029] The vehicle control device 10 is an electronic control unit (ECU) that provides comprehensive control for all parts of the vehicle 1. The vehicle control device 10 is mounted on the vehicle 1.

[0030] The vehicle control device 10 controls the movement control device 12 using sensor information received from the sensor device 14. The vehicle control device 10 also controls the movement control device 12 to move in accordance with the operation performed by the passenger on the operating device 20.

[0031] The vehicle control device 10 includes a control unit 11. Part or all of the control unit 11 may be a software configuration realized through the cooperation of a processor and various programs stored in memory. Alternatively, part or all of the control unit 11 may be a hardware configuration realized by dedicated circuits or the like.

[0032] The control unit 11 provides overall control over all parts of the vehicle 1.

[0033] The control unit 11 is configured to switch the driving mode between the first driving mode and the second driving mode based on input operations by the passenger on the operating device 20. Note that the driving modes that can be performed by vehicle 1 may include various driving modes other than the first and second driving modes.

[0034] The first driving mode is a mode in which the control unit 11 autonomously controls at least acceleration, deceleration, and steering to allow the vehicle 1 to drive autonomously. The autonomous driving of the vehicle 1 is sometimes described as autonomous driving. In other words, the first driving mode is a mode in which the vehicle 1 is driven autonomously without manual operation of acceleration, deceleration, and steering by the occupant.

[0035] In the first driving mode, the vehicle 1 is automatically controlled by the vehicle control device 10 without manual operation by the occupant regarding acceleration, deceleration, and steering. That is, in the first driving mode, the control unit 11 controls acceleration, deceleration, and steering based on external conditions acquired by the sensor device 14, without manual operation by the occupant regarding acceleration, deceleration, and steering, and enables the vehicle 1 to drive autonomously.

[0036] The second driving mode is a mode in which the control unit 11 does not autonomously control steering and acceleration, but autonomously controls deceleration. In other words, the second driving mode is a mode in which deceleration is automatically controlled without any operation by the passenger regarding deceleration, and at least steering and acceleration are accepted by the passenger regarding steering and acceleration, and driving is controlled according to said operation.

[0037] In the second driving mode, the vehicle 1 controls the movement control device 12 to drive based on manual operations by the occupant regarding acceleration and steering, and controls the movement control device 12 to decelerate based on external conditions acquired by the sensor device 14 without manual operations by the occupant regarding deceleration.

[0038] In this embodiment, the control unit 11 performs the following processing when the driving mode is the second driving mode. The control unit 11 may also perform the following processing when the driving mode is a mode other than the second driving mode.

[0039] The control unit 11 determines the distance to obstacles detected by the sensor device 14 when the vehicle 1 is driven by the occupant's acceleration, deceleration, and steering operations.

[0040] Acceleration / deceleration operation means operation by the passenger of at least one of the accelerator and brake included in the control device 20. Steering operation means operation by the passenger of steering the steering wheel included in the control device 20.

[0041] An obstacle is anything that hinders the movement of vehicle 1. Specifically, for example, an obstacle may be other vehicles, people, or other objects.

[0042] The control unit 11 determines the distance to the obstacle relative to the vehicle 1 in the direction of travel of the vehicle 1, based on the sensor information. More specifically, the control unit 11 can derive the distance from the vehicle 1 to the obstacle in the direction of travel of the vehicle 1 by analyzing the detection results from the sensor devices 14, such as lidar, radar, sonar, ultrasonic sensors, and video, which are included in the sensor information, using known methods.

[0043] The control unit 11 then performs deceleration control processing and display control processing according to the distance to the obstacle located in the direction of travel D of the vehicle 1.

[0044] Figure 3 is an explanatory diagram of an example of the deceleration control process performed by the control unit 11.

[0045] When the control unit 1 detects an obstacle 2 closer than a first distance L1 relative to the vehicle 1 in the direction of travel D of the vehicle 1, based on the sensor device 14, while the vehicle 1 is moving due to the passenger's acceleration, deceleration, and steering operations, the control unit 11 decelerates the vehicle 1 with a first deceleration acceleration. The control unit 11 controls the movement control device 12 to decelerate with the first deceleration acceleration. As a result of this control, the vehicle 1 decelerates with the first deceleration acceleration.

[0046] The first distance L1 can be any predetermined distance. The first distance L1 can be any predetermined distance between vehicle 1 and obstacle 2 that is used to decelerate vehicle 1 with a first deceleration acceleration. Furthermore, the first distance L1 can be changed as appropriate by instructions from the passenger to operate the control device 20, etc.

[0047] The first deceleration acceleration is smaller than the second deceleration acceleration, which will be described later. The deceleration of vehicle 1 due to the first deceleration acceleration is sometimes referred to as mitigation braking because the automatic brakes are operating gently.

[0048] Subsequently, the control unit 11 causes vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, based on the distance from vehicle 1 to obstacle 2.

[0049] The second distance L2 is a distance smaller than the first distance L1. In other words, the second distance L2 is a distance less than the first distance L1. The third distance L3 is a distance smaller than the second distance L2. In other words, the third distance L3 is a distance less than the second distance L2. The second distance L2 and the third distance only need to be predetermined to satisfy the above conditions. Furthermore, the second distance L2 and the third distance L3 may be changed as appropriate by the operator's instructions on the control device 20, etc., within the range that satisfies the above conditions. The second distance L2 and the third distance L3 are, for example, distances in the range of 2m to 3m, but are not limited to these.

[0050] The predetermined speed may be the minimum driving speed appropriate to the driving environment of vehicle 1. The predetermined speed may be set in advance. The predetermined speed may also be changeable as appropriate by the operator's instructions on the control device 20. Furthermore, the predetermined speed may be a speed that the control unit 11 has appropriately adjusted to be the minimum speed at which safe driving is possible, according to the road regulations, traffic congestion, and other driving conditions of the road on which vehicle 1 is traveling.

[0051] Subsequently, if the control unit 11 detects an obstacle 2 closer than the fourth distance L4 in the direction of travel D of the vehicle 1 using the sensor device 14, it decelerates the vehicle 1 with a second deceleration acceleration.

[0052] The fourth distance L4 is a distance smaller than the third distance L3. In other words, the fourth distance L4 is a distance less than the third distance L3. The fourth distance L4 only needs to be predetermined to satisfy the above conditions. Furthermore, the fourth distance L4 may be changed as appropriate by the operator's instructions for the control device 20, etc., within the range that satisfies the above conditions. The fourth distance L4 is, for example, the distance at which the Autonomous Emergency Braking (AEB) in vehicle 1 is activated.

[0053] The second deceleration acceleration is greater than the first deceleration acceleration. The deceleration of vehicle 1 due to the second deceleration acceleration is sometimes referred to as emergency braking, etc.

[0054] Figure 4 is a diagram 40 showing an example of the relationship between the distance to obstacle 2 and the speed of vehicle 1.

[0055] When the control unit 11 executes the deceleration control process, the relationship between the distance from vehicle 1 to obstacle 2 in the direction of travel D of vehicle 1 and the speed of vehicle 1 becomes, for example, as shown in Figure 40. That is, assume that the speed of vehicle 1 is speed Q1 when the distance between vehicle 1 and obstacle 2 is greater than or equal to a first distance L1. In this case, when the control unit 11 executes the deceleration control process, if obstacle 2 is detected closer than the first distance L1, vehicle 1 is decelerated with a first deceleration acceleration. By being decelerated with the first deceleration acceleration, vehicle 1 decelerates from, for example, speed Q1 to a predetermined speed Q2. Then, while the distance between vehicle 1 and obstacle 2 is between the second distance L2 and the third distance L3, vehicle 1 is controlled to travel at the predetermined speed Q2. Then, when obstacle 2 is detected closer than the fourth distance L4, vehicle 1 is decelerated with a second deceleration acceleration.

[0056] Returning to Figure 1, we continue the explanation.

[0057] In this embodiment, the control unit 11 also performs display control processing for the display device 22 during the deceleration control processing.

[0058] In detail, as described above, when the control unit 11 detects an obstacle 2 closer than a first distance L1 in the direction of travel D of the vehicle 1 by the sensor device 14 while the vehicle 1 is traveling due to the passenger's acceleration, deceleration and steering operations, it decelerates the vehicle 1 with a first deceleration acceleration.

[0059] The control unit 11 decelerates the vehicle 1 with this first deceleration acceleration, and at the same time, it displays on the display device 22 that it is intentionally decelerating. In other words, during the deceleration control process in which the vehicle 1 is decelerated with the first deceleration acceleration, the control unit 11 displays on the display device 22 that it is intentionally decelerating.

[0060] "Intentionally decelerating" means that automatic deceleration control is in operation without any input from the passengers regarding deceleration.

[0061] Figure 5 is a schematic diagram of an example of the first screen 30A. The first screen 30A is an example of the screen 30 displayed on the display device 22.

[0062] The first screen 30A is an example of a screen 30 that is displayed on the display device 22 when the sensor device 14 detects an obstacle 2 closer than a first distance L1 in the direction of travel D of the vehicle 1 while the vehicle 1 is being driven by the passenger's acceleration, deceleration and steering operations.

[0063] The first screen 30A includes at least a first display M1, which is a display indicating that deceleration is being intentionally performed. Figure 5 shows an example where the first display M1 is a phrase indicating that deceleration is being intentionally performed. Figure 5 also shows an example where the phrase is "Mid-release brakes are being applied." The first display M1 may be a still image, an animated image, or an icon, etc., indicating that deceleration is being intentionally performed, and is not limited to phrases. By displaying a phrase indicating that the mid-release brakes are being applied, the control unit 11 can display on the display device 22 that the automatic brakes are being applied gently.

[0064] Furthermore, the first screen 30A may also include video V captured by camera 16. Figure 5 shows a configuration in which the first screen 30A includes video V1 and video V2 as video V.

[0065] Video V1 is a top-view image of vehicle 1. A top-view is an overhead view of vehicle 1 as if viewed from above. The control unit 11 can generate and display video V1 by combining videos Vf, Vb, Vl, and Vr captured by camera 16 in a known manner. Video Vf is video V of the front S3 of vehicle 1 captured by the first camera 16A. Video Vb is video V of the rear S4 of vehicle 1 captured by the fourth camera 16D. Video Vl is video V of the second side S2 of vehicle 1 captured by the third camera 16C. Video Vr is video V of the first side S1 of vehicle 1 captured by the second camera 16B.

[0066] Furthermore, the control unit 11 may place and display an image Ia, which is a schematic representation of vehicle 1, at a position corresponding to the vehicle 1's current position in the video V1. The control unit 11 may also display the video V, which includes vehicle 1, on the display device 22. The control unit 11 may also display the video V, which includes obstacle 2. The control unit 11 may also highlight obstacle 2 H. The highlighting H can be any display that highlights obstacle 2 included in the video V. Figure 5 shows an example where the highlighting H is a line image surrounding obstacle 2 included in the video V. However, the highlighting H can be any display that highlights obstacle 2 included in the video V, and is not limited to a line image. Furthermore, if another image, such as a map image, is displayed on the display device 22, the control unit 11 may switch to that other image and display the first screen 30A, which includes the first display M1, obstacle 2, and highlighting H, on the display device 22.

[0067] Subsequently, as described above, the control unit 11 causes vehicle 1 to travel at a predetermined speed from the second distance L2 to the third distance L3, relative to the distance from vehicle 1 to obstacle 2.

[0068] The control unit 11 performs deceleration control processing to drive the vehicle 1 at a predetermined speed from the second distance L2 to the third distance L3, and also displays on the display device 22 that deceleration is being intentionally performed. In other words, the control unit 11 displays on the display device 22 that deceleration is being intentionally performed while the vehicle 1 is driving the vehicle 1 at a predetermined speed between the second distance L2 and the third distance L3, where the distance between the vehicle 1 and the obstacle 2 is between the second distance L2 and the third distance L3, as part of the deceleration control processing.

[0069] Figure 6A is a schematic diagram of an example of the second screen 30B1.

[0070] The second screen 30B1 is an example of the second screen 30B. The second screen 30B is an example of the screen 30 displayed on the display device 22 when the vehicle 1 is traveling at a predetermined speed from the second distance L2 to the third distance L3 when the distance between the vehicle 1 and the obstacle 2 is between the second distance L2 and the third distance L3.

[0071] The second screen 30B1 includes at least the first display M1. The first display M1 is an indication that the vehicle is intentionally decelerating, and is the same as the first display M1 described in the first screen 30A.

[0072] Furthermore, the second screen 30B1 may also include video V captured by camera 16. Figure 6A shows a configuration in which the second screen 30B1 includes video V1 and video V2 as video V.

[0073] Furthermore, the control unit 11 may place and display an image Ia, which is a schematic representation of vehicle 1, at a position corresponding to the vehicle 1's current position in the video V1. The control unit 11 may also display the video V, which includes vehicle 1, on the display device 22. The control unit 11 may also display the video V, which includes obstacle 2. The control unit 11 may also highlight obstacle 2 H. The highlighting H is the same as described above.

[0074] By causing the control unit 11 to display the second screen 30B1, which includes the first display M1, on the display device 22, the control unit 11 can display on the display device 22 that the automatic brake is operating gently.

[0075] Furthermore, the control unit 11 may perform deceleration control processing to drive the vehicle 1 at a predetermined speed from the second distance L2 to the third distance L3, and may also display on the display device 22 that deceleration is being intentionally performed and prompt the passenger to perform deceleration operations.

[0076] Deceleration is performed, for example, by the occupant operating the brake pedal included in the control device 20.

[0077] Figure 6B is a schematic diagram of an example of the second screen 30B2.

[0078] The second screen 30B2 is an example of the second screen 30B. The second screen 30B2 is the same as the second screen 30B1 except that it includes the second display M2 instead of the first display M1.

[0079] The second display M2 is a display that prompts the passenger to decelerate. Figure 6B shows an example in which the second display M2 is a phrase that prompts the passenger to decelerate. Also in Figure 6B, an example is shown in which the phrase is "Please press the brake." The second display M2 may be a still image, an animated image, or an icon, etc., and is not limited to phrases. By displaying a message that prompts the passenger to decelerate, the control unit 11 can prompt the passenger to decelerate.

[0080] Furthermore, the control unit 11 may perform deceleration control processing to drive the vehicle 1 at a predetermined speed from the second distance L2 to the third distance L3, and after displaying a first display M1 on the display device 22 indicating that deceleration is being intentionally performed, it may also display a second display M2 on the display device 22 indicating that the passenger is being prompted to perform a deceleration operation.

[0081] Furthermore, the control unit 11 may perform deceleration control processing to drive the vehicle 1 at a predetermined speed from the second distance L2 to the third distance L3, and may also suppress acceleration operations by the passenger on the operating device 20.

[0082] To suppress the passenger's acceleration operation to the display device 22 means that the control unit 11 accepts the acceleration amount corresponding to the passenger's accelerator operation as an acceleration amount that is suppressed compared to normal operation. In this case, the control unit 11 may perform control that does not accept the passenger's accelerator operation. Therefore, by performing this control, even if the passenger operates the accelerator, the vehicle 1 is controlled so that the acceleration amount is suppressed or no acceleration occurs in relation to the amount of access operation by the accelerator operation.

[0083] At this time, the control unit 11 may display on the display device 22 that it is restricting the acceptance of acceleration operations by the passenger.

[0084] Figure 6C is a schematic diagram of an example of the second screen 30B3.

[0085] Screen 30B3 is an example of Screen 30B.

[0086] The second screen 30B3 is the same as the second screen 30B1, except that it includes the third display M3 along with the first display M1.

[0087] The third display M3 indicates that the acceptance of acceleration operations by the passenger is being restricted. As an example, Figure 6C shows a form in which the third display M3 is a word indicating that the acceptance of acceleration operations by the passenger is being restricted. Also, Figure 6C shows an example in which the wording is "Acceleration suppressed". The third display M3 may be a still image, an animated image, or an icon, etc., and is not limited to words. By displaying a message indicating that the acceptance of acceleration operations by the passenger is being restricted, the control unit 11 can inform the passenger that the acceptance of acceleration operations by the passenger is being restricted.

[0088] The control unit 11 may perform deceleration control processing to drive the vehicle 1 at a predetermined speed from the second distance L2 to the third distance L3, and may sequentially display on the display device 22 a first display M1 indicating that deceleration is being intentionally performed, a second display M2 indicating that the occupant is being prompted to perform a deceleration operation, and a third display M3 indicating that the acceptance of acceleration operations by the occupant is being restricted. The display order of these first display M1, second display M2, and third display M3 is not limited.

[0089] Subsequently, as described above, if the control unit 11 detects an obstacle 2 closer than the fourth distance L4 in the direction of travel D of the vehicle 1 using the sensor device 14, it decelerates the vehicle 1 with the second deceleration acceleration.

[0090] Subsequently, if the control unit 11 does not detect an obstacle 2 within a first distance L1 relative to the vehicle 1 in the direction of travel D of the vehicle 1 using the sensor device 14, it stops displaying on the display device 22 that it is intentionally decelerating, stops suppressively accepting acceleration operations from the passenger to the control device 20, and stops displaying on the display device 22 that it is restricting acceptance of acceleration operations from the passenger.

[0091] Figure 7 is a schematic diagram of an example of the third screen 30C. The third screen 30C is an example of the screen 30 displayed on the display device 22 when no obstacle 2 is detected closer than a first distance L1 relative to the vehicle 1 in the direction of travel D of the vehicle 1.

[0092] The third screen 30C is the same as the first screen 30A except that it does not include the first display M1, obstacle 2, and highlighting H. That is, if the control unit 11 does not detect obstacle 2 within a first distance L1 relative to the vehicle 1 in the direction of travel D of the vehicle 1 by the sensor device 14, it controls the display device 22 to stop displaying the first display M1, the second display M2, and the third display M3. The control unit 11 also controls the display device 22 to stop displaying highlighting H. Furthermore, the control unit 11 stops accepting suppressive acceleration operations by the occupant. As a result, the warning displays such as the first display M1, the second display M2, the third display M3, and highlighting H that were displayed on screen 30 are canceled. Also, the suppressive acceptance of acceleration operations by the occupant is canceled.

[0093] Next, an example of the information processing flow performed by the vehicle control device 10 of this embodiment will be described.

[0094] Figure 8 is a flowchart showing an example of the information processing flow performed by the control unit 11.

[0095] The control unit 11 determines whether the vehicle 1 is in the second driving mode (step S100). The control unit 11 repeats the negative determination (step S100: No) until it makes an affirmative determination (step S100: Yes) in step S100. If the control unit 11 makes an affirmative determination (step S100: Yes) in step S100, it proceeds to step S102.

[0096] In step S102, the control unit 11 determines whether the sensor device 14 has detected an obstacle 2 closer than a first distance L1 in the direction of travel D of the vehicle 1 while the vehicle 1 is moving due to the occupant's acceleration, deceleration, and steering operations (step S102). If the determination in step S102 is negative (step S102: No), the process returns to step S100. If the determination in step S102 is positive (step S102: Yes), the process proceeds to step S104.

[0097] In step S104, the control unit 11 controls the motion control device 12 to decelerate at a first deceleration acceleration (step S106). The control unit 11 also causes the display device 22 to display a screen 30 that includes an indication (first display M1) that deceleration is being intentionally performed (step S106). As a result of the process in step S106, for example, the display device 22 displays the first screen 30A shown in Figure 5.

[0098] Next, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 has decreased (step S108). If the determination in step S108 is negative (step S108: No), the system proceeds to step S110. In step S110, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 has increased (step S110). If the determination in step S110 is negative (step S100: No), the system returns to step S104. If the determination in step S110 is positive (step S110: Yes), the system proceeds to step S112. In step S112, the control unit 11 releases the deceleration control with the first deceleration acceleration performed in step S104 (step S112), and returns to step S100.

[0099] On the other hand, if the decision in step S108 is positive (Step S108: Yes), the process proceeds to step S114. In step S114, the control unit 11 determines whether the distance between the obstacle 2 detected in step S102 and the vehicle 1 is less than the second distance L2 (Step S114). If the decision in step S114 is negative (Step S114: No), the process returns to step S104. If the decision in step S114 is positive (Step S114: Yes), the process proceeds to step S116.

[0100] In step S116, the control unit 11 drives the vehicle 1 at a predetermined speed while the distance between the vehicle 1 and the obstacle 2 is between the second distance L2 and the third distance L3 (step S116). The control unit 11 also suppresses acceleration operations by the passenger on the control device 20 (step S118). The control unit 11 also displays a first display M1 indicating that deceleration is being intentionally performed, a second display M2 indicating that the passenger is being prompted to decelerate, and a third display M3 indicating that the acceptance of acceleration operations by the passenger is being restricted, on the display device 22 simultaneously or in sequence (step S120). As a result of the processing in step S120, the second screens 30B1 to 30B3 shown in Figures 6A to 5C are displayed on the display device 22.

[0101] Next, the control unit 11 determines whether or not it has received a brake operation from the passenger (step S122). If the determination in step S122 is positive (step S122: Yes), the process proceeds to step S124. In step S124, the control unit 11 controls the movement control device 12 to decelerate in response to the brake operation included in the operating device 20 by the passenger (step S14). Then, the process proceeds to step S130, which will be described later.

[0102] If the determination in step S122 is negative (Step S122: No), the process proceeds to step S126. In step S126, the control unit 11 determines whether or not it has detected an obstacle 2 closer than the fourth distance L4 in the direction of travel D of the vehicle 1 (Step S126). If the determination in step S126 is positive (Step S126: Yes), the process proceeds to step S128. In step S128, the control unit 11 controls the movement control device 12 to decelerate with the second deceleration acceleration (Step S128). Then, the process returns to step S126.

[0103] If the decision in step S126 is negative (Step S126: No), proceed to step S130. In step S130, the control unit 11 determines whether or not an obstacle 2 has been detected closer than a first distance L1 in the direction of travel D of the vehicle 1 (Step S130). If the decision in step S130 is positive (Step S130: Yes), proceed to step S104. If the decision in step S130 is negative (Step S130: No), proceed to step S132.

[0104] In step S132, the control unit 11 performs the process of displaying an alarm and canceling the operation (step S132). In step S132, the control unit 11 stops displaying on the display device 22 that deceleration is being intentionally performed, stops suppressively accepting acceleration operations from the passenger to the operating device 20, and stops displaying on the display device 22 that acceptance of acceleration operations from the passenger is being restricted. Then, it terminates this routine.

[0105] As described above, the vehicle control device 10 of this embodiment is mounted on a vehicle 1 that includes an operating device 20 that accepts operations from the occupant, a sensor device 14 that acquires external conditions, a display device 22 that is visible to the occupant, and a movement control device 12 that controls deceleration. The vehicle control method executed by the vehicle control device 10 is to decelerate the vehicle 1 with a first deceleration acceleration when the sensor device 14 detects an obstacle 2 closer than a first distance L1 relative to the vehicle 1 in the direction of travel D of the vehicle 1. Subsequently, the vehicle control method drives the vehicle 1 at a predetermined speed from a second distance L2, which is smaller than the first distance L1, to a third distance L3, which is smaller than the second distance L2, relative to the vehicle 1, and displays on the display device 22 that deceleration is being intentionally performed. Subsequently, the vehicle control method, when the sensor device 14 detects an obstacle 2 in the direction of travel D of the vehicle 1, closer than a fourth distance L4 which is smaller than a third distance L3 relative to the vehicle 1, decelerates the vehicle 1 with a second deceleration acceleration which is greater than the first deceleration acceleration.

[0106] As described above, the vehicle control method of this embodiment decelerates vehicle 1 with a first deceleration acceleration when it detects an obstacle 2 closer than a first distance L1 in the direction of travel D of vehicle 1. The vehicle control method then drives vehicle 1 at a predetermined speed while the distance between vehicle 1 and obstacle 2 is between a second distance L2 and a third distance L3, and displays on the display device 22 that it is intentionally decelerating. Subsequently, if the distance between vehicle 1 and obstacle 2 is closer than a fourth distance L4, the vehicle control method decelerates vehicle 1 with a second deceleration acceleration greater than the first deceleration acceleration.

[0107] Therefore, in this embodiment, when the vehicle control method performs automatic deceleration with a first deceleration acceleration to avoid a collision, it is possible to display on the display device 22 that deceleration is being performed intentionally.

[0108] Therefore, the vehicle control method of this embodiment can support more optimal driving.

[0109] Next, the hardware configuration of the vehicle control device 10 in this embodiment will be described.

[0110] Figure 9 is a block diagram showing an example of the hardware configuration of the vehicle control device 10.

[0111] The vehicle control device 10 has a hardware configuration that utilizes a standard computer, with a CPU (Central Processing Unit) 11A, ROM (Read Only Memory) 11B, RAM (Random Access Memory) 11C, and an I / F 11D for connecting to various devices, all interconnected by a bus 11E.

[0112] The CPU 11A is an arithmetic unit that controls the overall processing of the vehicle control device 10. The RAM 11C stores data necessary for various processes performed by the CPU 11A. The ROM 11B stores programs and the like that implement the various processes performed by the CPU 11A. The I / F 11D is an interface that connects to external devices and external terminals via communication lines, etc., and is used to send and receive data between the connected external devices and external terminals.

[0113] The program for executing the various processes described above, which are performed by the vehicle control device 10, is provided pre-installed in a ROM 11B or the like. The program for executing the vehicle control method performed in this embodiment may also be provided as a file in a format that can be installed or executed on these devices, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disc).

[0114] Furthermore, the program for executing the vehicle control method performed in this embodiment may be stored on a computer connected to a network such as the Internet and provided by allowing download via the network. Alternatively, the program for executing the vehicle control method performed in this embodiment may be provided or distributed via a network such as the Internet.

[0115] While embodiments of this disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0116] 1 vehicle 10. Vehicle control system 11 Control Unit 12 Mobile control device 14 Sensor device 16 cameras 20 Operating device 22 Display device

Claims

1. A vehicle control method performed by a vehicle control device mounted on a vehicle, comprising: an operating device for receiving input from a passenger; a sensor device for acquiring external conditions; a display device visible to the passenger; and a movement control device for controlling deceleration, the vehicle control method being performed by a vehicle control device mounted on a vehicle, When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than a first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with a first deceleration acceleration. Subsequently, the vehicle is driven at a predetermined speed from a second distance (smaller than the first distance) to a third distance (smaller than the second distance), with the distance to the obstacle being determined from the vehicle itself, and the display device is intentionally and gently displayed to indicate that the automatic brake is in operation. Subsequently, if the sensor device detects an obstacle in the direction of travel of the vehicle, at a distance smaller than the third distance and closer than the fourth distance relative to the vehicle, the vehicle is decelerated with a second deceleration acceleration greater than the first deceleration acceleration. Vehicle control method.

2. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, if the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated at the first deceleration acceleration, and the display device is shown that deceleration is being intentionally performed. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 1.

3. The vehicle's motion control device further controls acceleration, deceleration, and steering. The vehicle comprises a first driving mode in which it drives autonomously by autonomously controlling at least acceleration, deceleration, and steering, and a second driving mode in which it does not autonomously control steering and acceleration, but autonomously controls deceleration. In the second driving mode, when the vehicle is driven by the occupant's acceleration, deceleration and steering operations, if the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance, with respect to the distance to the obstacle, and the display device is shown that it is intentionally decelerating. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 1.

4. The aforementioned sensor device is The vehicle is equipped with a camera that captures images of at least a portion of its surroundings. The display device displays the image including the obstacle. The vehicle control method according to claim 1.

5. The obstacles in the video displayed by the display device are highlighted. The vehicle control method according to claim 4.

6. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the image including the obstacle is displayed on the display device. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 4.

7. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown to indicate that deceleration is being intentionally performed, and the display device is shown to prompt the passenger to perform deceleration operations. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 1.

8. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that deceleration is being intentionally performed, and acceleration operations by the occupant are suppressed and accepted by the control device. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 1.

9. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the acceleration operation by the passenger to the control device is suppressed and the display device is shown that the acceptance of acceleration operations by the passenger is being restricted. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control method according to claim 8.

10. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the acceleration operation by the passenger to the control device is suppressed and the display device is shown that the acceptance of acceleration operations by the passenger is being restricted. Subsequently, if the sensor device does not detect the obstacle within the first distance relative to the vehicle in the direction of travel, it stops displaying on the display device that the vehicle is intentionally decelerating, stops suppressively accepting acceleration operations from the occupant to the control device, and stops displaying on the display device that acceptance of acceleration operations from the occupant is being restricted. The vehicle control method according to claim 9.

11. A vehicle control device mounted on a vehicle, comprising: an operating device that receives input from the passenger; a sensor device that acquires external conditions; a display device visible to the passenger; and a movement control device that controls deceleration, When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than a first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with a first deceleration acceleration. Subsequently, the vehicle is driven at a predetermined speed from a second distance (smaller than the first distance) to a third distance (smaller than the second distance), with the distance to the obstacle being determined from the vehicle itself, and the display device is intentionally and gently displayed to indicate that the automatic brake is in operation. Subsequently, if the sensor device detects an obstacle in the direction of travel of the vehicle, at a distance smaller than the third distance and closer than the fourth distance relative to the vehicle, the vehicle is decelerated with a second deceleration acceleration greater than the first deceleration acceleration. Vehicle control system.

12. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, if the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated at the first deceleration acceleration, and the display device is shown that deceleration is being intentionally performed. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 11.

13. The vehicle's motion control device further controls acceleration, deceleration, and steering. The vehicle comprises a first driving mode in which it drives autonomously by autonomously controlling at least acceleration, deceleration, and steering, and a second driving mode in which it does not autonomously control steering and acceleration, but autonomously controls deceleration. In the second driving mode, when the vehicle is driven by the occupant's acceleration, deceleration and steering operations, if the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance, with respect to the distance to the obstacle, and the display device is shown that it is intentionally decelerating. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 11.

14. The aforementioned sensor device is The vehicle is equipped with a camera that captures images of at least a portion of its surroundings. The display device displays the image including the obstacle. The vehicle control device according to claim 11.

15. The obstacles in the video displayed by the display device are highlighted. The vehicle control device according to claim 14.

16. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the image including the obstacle is displayed on the display device. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 14.

17. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown to indicate that deceleration is being intentionally performed, and the display device is shown to prompt the passenger to perform deceleration operations. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 11.

18. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that deceleration is being intentionally performed, and acceleration operations by the occupant are suppressed and accepted by the control device. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 11.

19. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the acceleration operation by the passenger to the control device is suppressed and the display device is shown that the acceptance of acceleration operations by the passenger is being restricted. Subsequently, if the sensor device detects an obstacle closer than the fourth distance relative to the vehicle in the direction of travel, the vehicle is decelerated by the second deceleration acceleration. The vehicle control device according to claim 18.

20. When the vehicle is being driven by the passenger's acceleration, deceleration, and steering operations, and the sensor device detects an obstacle closer than the first distance relative to the vehicle in the direction of travel, the vehicle is decelerated with the first deceleration acceleration. Subsequently, the vehicle is driven at the predetermined speed from the second distance to the third distance relative to the obstacle, and the display device is shown that it is intentionally decelerating, and the acceleration operation by the passenger to the control device is suppressed and the display device is shown that the acceptance of acceleration operations by the passenger is being restricted. Subsequently, if the sensor device does not detect the obstacle within the first distance relative to the vehicle in the direction of travel, it stops displaying on the display device that the vehicle is intentionally decelerating, stops suppressively accepting acceleration operations from the occupant to the control device, and stops displaying on the display device that acceptance of acceleration operations from the occupant is being restricted. The vehicle control device according to claim 19.

Images