Travel assistance method and travel assistance device

Abstract

A controller (19) sets a stop candidate position on a stop line positioned on a travel route of a host vehicle, executes deceleration control for decelerating the host vehicle in order for the host vehicle to stop in front of the stop candidate position, and, if there is an acceleration operation by a driver of the host vehicle after the stop candidate position has been set, releases the setting of the stop candidate position, or performs autonomous control of travelling of the host vehicle such that the host vehicle passes through the stop candidate position in a state in which the stop candidate position has been set.

Description

Driving support method and driving support device

[0001] The present invention relates to a driving assistance method and a driving assistance device.

[0002] A technology is known that performs deceleration support control, which decelerates a vehicle before a deceleration target, and risk avoidance control, which steers and decelerates the vehicle to avoid risk factors, and notifies the driver of the vehicle of the deceleration target during the period when the deceleration support control and the risk avoidance control are operating simultaneously.

[0003] Japanese Patent Application Laid-Open No. 2021-117916

[0004] However, Patent Document 1 is an invention that executes deceleration control when it is determined based on information obtained by a sensor that deceleration is necessary for the vehicle to pass a stop line ahead. Therefore, in Patent Document 1, if it is difficult to determine whether deceleration is necessary for the stop line or whether it is possible to pass, the vehicle is not decelerated for the stop line, so the driver must determine whether they can operate the accelerator while operating the brakes, which increases the burden on the driver.

[0005] The problem to be solved by the present invention is to provide a driving assistance method and a driving assistance device that can reduce the burden on the driver even when it is difficult to determine whether the driver needs to slow down or can pass a stop line ahead of the vehicle.

[0006] The present invention solves the above problem by setting a candidate stop position at a stop line located on the vehicle's driving route, executing deceleration control to decelerate the vehicle so that the vehicle will stop just before the candidate stop position, and, if the driver of the vehicle operates the accelerator after the candidate stop position is set, canceling the setting of the candidate stop position, or autonomously controlling the driving of the vehicle so that the vehicle passes through the candidate stop position while the candidate stop position has been set.

[0007] According to the present invention, even when it is difficult to determine whether the driver needs to decelerate or can pass through a stop line ahead of the vehicle, the burden on the driver can be reduced.

[0008] Fig. 1 is a block diagram showing one embodiment of a driving assistance device according to the present invention; Fig. 2 is a diagram showing an example of a scene in which deceleration control according to this embodiment is executed; Fig. 3 is a diagram showing an example of a scene in which a driving assistance method according to this embodiment is executed; Fig. 4 is a diagram showing an example of a scene in which a driving assistance method according to this embodiment is executed; and Fig. 5 is a flowchart showing an example of the procedure of the driving assistance method according to this embodiment.

[0009] FIG. 1 is a block diagram showing the configuration of a driving assistance device 1 for a vehicle (hereinafter also referred to as the host vehicle) according to this embodiment. The driving assistance device 1 of this embodiment is one embodiment for implementing a driving assistance method according to the present invention. As shown in FIG. 1 , the driving assistance device 1 according to this embodiment includes a surrounding information detection device 11, a host vehicle information detection device 12, a map database 13, in-vehicle equipment 14, a navigation device 15, a presentation device 16, an input device 17, a drive control device 18, and a controller 19. These devices are connected, for example, via a CAN or other in-vehicle LAN to transmit and receive information to and from each other. Note that, in this embodiment, the driving assistance device 1 is not limited to the above configuration as long as it includes at least the controller 19. For example, the map database 13 is not limited to being stored in the driving assistance device 1 and may be an external database of the driving assistance device 1.

[0010] The surrounding information detection device 11 includes sensors that detect the environment around the host vehicle. For example, the surrounding information detection device 11 includes cameras such as a front camera that captures an image in front of the host vehicle, a rear camera that captures an image behind the host vehicle, and side cameras that capture images on the left and right sides of the host vehicle. In this embodiment, the surrounding information detection device 11 recognizes lane boundaries, stop lines, and the like from images captured by the cameras through image recognition. Lane boundaries include white lines, yellow lines, dashed lines, double lines, and the like. The surrounding information detection device 11 also includes radars such as a front radar that detects obstacles in front of the host vehicle, a rear radar that detects obstacles behind the host vehicle, and a side radar that detects obstacles on the left and right sides of the host vehicle. The surrounding information detection device 11 outputs detection results related to the environment around the host vehicle to the controller 19 at a predetermined interval as surrounding environment information.

[0011] The surrounding information detection device 11 also includes a distance sensor that acquires the distance to the object. The distance sensor includes a laser sensor, a depth camera, etc. The surrounding information detection device 11 also includes a yaw rate sensor that acquires the yaw rate around the center of gravity axis of the host vehicle. The yaw rate sensor acquires the yaw rate that occurs when the host vehicle turns. The surrounding information detection device 11 also includes a lateral acceleration sensor that detects the lateral acceleration of the vehicle.

[0012] In this embodiment, the surrounding information detection device 11 recognizes a stop line from an image outside the vehicle captured by a forward camera or the like, and measures the distance between the vehicle and the stop line. The surrounding information detection device 11 also detects traffic signals, road signs, road markings, etc. located ahead of the vehicle in the traveling direction. The surrounding information detection device 11 may be configured to use one of the above-mentioned multiple sensors, or may be configured to use a combination of two or more types of sensors.

[0013] The host vehicle information detection device 12 includes sensors that detect the driving state of the host vehicle. For example, the host vehicle information detection device 12 includes a vehicle speed sensor that detects the speed of the host vehicle. The host vehicle information detection device 12 includes a steering angle sensor that detects the steering angle. The host vehicle information detection device 12 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like. The host vehicle information detection device 12 detects radio waves transmitted from multiple satellite communications via the GPS unit and periodically acquires position information of the target vehicle (host vehicle). The host vehicle information detection device 12 also detects the current position of the host vehicle based on the acquired host vehicle position information, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor. The host vehicle information detection device 12 outputs the detected host vehicle position information to the controller 19 at a predetermined interval.

[0014] The host vehicle information detection device 12 includes a sensor that detects the operation of the host vehicle by the driver. The operation of the host vehicle by the driver includes accelerator operation and brake operation. For example, the host vehicle information detection device 12 includes a sensor that detects the amount of accelerator pedal depression by the driver. When the host vehicle information detection device 12 detects the operation of the accelerator pedal by the driver, it outputs operation information including the amount of accelerator pedal depression to the controller 19. The host vehicle information detection device 12 may also detect the amount of time the driver depresses the accelerator pedal.

[0015] The host vehicle information detection device 12 also includes a sensor that detects the amount of brake pedal depression by the driver. When the host vehicle information detection device 12 detects the operation of the brake pedal by the driver, it outputs operation information including the amount of brake pedal depression to the controller 19. The host vehicle information detection device 12 may also detect the time period for which the driver is depressing the brake pedal.

[0016] The map database 13 is a database that stores map information including road information. The map database 13 is stored in a memory accessible from the controller 19. The road information stores each point on a map, such as an intersection or a branch point, as a node, and road sections between the nodes as road links. The road information includes information such as the road type, width, number of lanes, curves and the magnitude of the curve (e.g., curvature or radius of curvature), and speed limits set for the road. The road information also includes information about stop lines. Stop lines are, for example, stop lines before intersections where traffic lights, stop road signs, and / or road markings are installed. The stop line information includes position information of the stop lines. The stop lines include virtual stop lines. Virtual stop lines are stop lines arbitrarily installed on the map. For example, virtual stop lines are installed at positions within intersections where vehicles must stop temporarily to allow oncoming vehicles to pass.

[0017] The in-vehicle devices 14 are various devices mounted on the vehicle and are operated by the driver. Examples of such in-vehicle devices include a steering wheel, an accelerator pedal, a brake pedal, a turn signal, wipers, lights, a horn, and other specific switches. When operated by the driver, the in-vehicle devices 14 output operation information to the controller 19. For example, when the driver operates the accelerator pedal or the brake pedal, operation information including the amount of operation is output to the controller 19.

[0018] The navigation device 15 acquires the current position information of the vehicle from the vehicle information detection device 12, and displays the vehicle's position on a display or the like, superimposing it on map information for navigation. The navigation device 15 also has a navigation function that, when a destination is set, sets a driving route to the destination and guides the driver along the set driving route. This navigation function displays the driving route on a map on the display and notifies the driver of the route by voice or the like.

[0019] The presentation device 16 includes various displays, such as a display provided in the navigation device 15, a display incorporated in a rearview mirror, a display incorporated in a meter section, and a head-up display projected on the windshield. The presentation device 16 also includes devices other than displays, such as a speaker of an audio device. The presentation device 16 notifies the driver of various pieces of presentation information under the control of the controller 19. For example, the presentation device 16 notifies the driver of the setting cancellation information by displaying setting cancellation information indicating that the setting of the stop candidate position has been cancelled on a display or by providing audio guidance through a speaker.

[0020] The input device 17 is, for example, a button switch that can be manually operated by the driver to input, a touch panel arranged on a display screen, or a microphone that can be used to input by the driver's voice. In this embodiment, the driver can input setting information for the presentation information presented by the presentation device 16 by operating the input device 17. Note that a direction indicator lever of a turn signal or a switch of another in-vehicle device 14 may also be used as the input device 17. The input device 17 outputs the input setting information to the controller 19.

[0021] The drive control device 18 autonomously controls the traveling of the host vehicle based on the target speed and target steering angle output from the controller 19. The control contents executed by the drive control device 18 include autonomous speed control and autonomous steering control. For example, when the host vehicle travels at a constant speed at a set speed under autonomous speed control, the drive control device 18 controls the operation of the drive mechanism and the brakes to accelerate and decelerate the host vehicle to the target speed and maintain the traveling speed. The drive control device 18 also controls the operation of the drive mechanism and the brakes in a similar manner when the host vehicle travels following a preceding vehicle under autonomous speed control. In this embodiment, the drive control device 18 controls the operation of the brakes when stopping the host vehicle at a stop line. Note that the operation control of the drive mechanism includes the operation of the internal combustion engine in an engine vehicle and the operation of the traction motor in an electric vehicle. In addition, in a hybrid vehicle, it includes the torque distribution between the internal combustion engine and the traction motor.

[0022] Furthermore, the drive control device 18 performs autonomous steering control to control the operation of the steering actuator in addition to the operation control of the drive mechanism and brakes described above, thereby performing steering control of the host vehicle so that the steering angle of the steering wheels of the host vehicle follows a target steering angle. For example, the drive control device 18 performs autonomous steering control to control the host vehicle to travel along a target travel path along the host vehicle's lane, and controls the travel position (lateral position) of the host vehicle in the width direction of the lane. The lateral position of the host vehicle is the position of the host vehicle in the width direction of the lane (width direction of the host vehicle). In this embodiment, the lateral position of the host vehicle includes the lateral position of the host vehicle relative to the lane boundary line and the lateral position of the host vehicle relative to the target travel path. The lateral position of the host vehicle may be any position of the host vehicle, for example, the position of the center of gravity of the host vehicle in the width direction of the lane. Other known methods can also be used as a vehicle control method by the drive control device 18.

[0023] The controller 19 includes a ROM storing a program for autonomously controlling the traveling of the host vehicle, a CPU executing the program stored in the ROM, and a RAM functioning as an accessible storage device. Note that an MPU, DSP, ASIC, FPGA, etc. may be used as the operating circuit instead of or in addition to the CPU. The controller 19 autonomously controls the traveling of the host vehicle along a traveling route using an autonomous speed control function and an autonomous steering control function. The controller 19 generates a target traveling trajectory for the host vehicle, calculates a target speed and a target steering angle for the host vehicle traveling along the target traveling trajectory, and outputs the calculated target speed and target steering angle to the drive control device 18. In this embodiment, the autonomous speed control function includes, for example, a deceleration control function that decelerates the host vehicle to stop it at a candidate stop position set on a stop line. The controller 19 executes each function through cooperation between software and hardware for realizing each of the above functions or executing each process. In this embodiment, the controller 19 executes traveling assistance control. The traveling assistance control by the controller 19 will be described in detail below.

[0024] The controller 19 sets candidate stop positions on stop lines located on the travel route of the host vehicle, and executes deceleration control to decelerate the host vehicle so that the host vehicle will stop before the candidate stop positions. The controller 19 also autonomously controls the travel of the host vehicle based on a determination of whether the host vehicle can pass through the candidate stop positions. For example, even if there is no accelerator operation by the driver (described later), if the controller 19 determines that the host vehicle can pass through the candidate stop positions, the controller 19 stops the deceleration control for the candidate stop positions and autonomously controls the travel of the host vehicle so that the host vehicle passes through the candidate stop positions.

[0025] Furthermore, when it is not determined that the host vehicle can pass through the candidate stop position, the controller 19 executes deceleration control to decelerate the host vehicle so as to stop the host vehicle before the candidate stop position. That is, when a candidate stop position has been set, the controller 19 executes deceleration control to decelerate the host vehicle so as to stop the host vehicle before the candidate stop position unless it is determined that the host vehicle can pass through the candidate stop position. Furthermore, even when it is not determined that the host vehicle can pass through the candidate stop position, when the driver operates the accelerator, the controller 19 cancels the setting of the candidate stop position and autonomously controls the traveling of the host vehicle so that the host vehicle passes through the candidate stop position.

[0026] The controller 19 includes, as functional blocks, a map information acquisition unit 100, a vehicle information acquisition unit 101, a surrounding information acquisition unit 102, a stop position setting unit 103, a determination unit 104, and a vehicle control unit 105. First, in this embodiment, the functions of the controller 19 are divided into six blocks, and the functions of each functional block will be described, but the functions of the controller 19 do not necessarily have to be divided into six blocks, and may be divided into five or fewer functional blocks, or seven or more functional blocks.

[0027] The map information acquisition unit 100 acquires map information from the map database 13. The map information includes stop line information about stop lines. The stop lines include virtual stop lines.

[0028] The host vehicle information acquisition unit 101 acquires host vehicle information of the host vehicle from the host vehicle information detection device 12. The host vehicle information includes, for example, information about the current position of the host vehicle. The host vehicle information acquisition unit 101 also acquires operation information about accelerator operation or brake operation by the driver as the host vehicle information. The operation information about accelerator operation includes the amount of accelerator pedal depression and / or the duration of accelerator pedal depression. The operation information about brake operation includes the amount of brake pedal depression and / or the duration of brake pedal depression.

[0029] The surrounding information acquisition unit 102 acquires surrounding information indicating the surrounding environment of the host vehicle from the surrounding information detection device 11. The surrounding information includes surrounding road information. The road information includes, for example, stop lines, traffic signals, road signs, and road markings located ahead of the host vehicle in the direction of travel. The surrounding information also includes obstacles around the host vehicle.

[0030] The stop position setting unit 103 sets a candidate stop position at a stop line located on the driving route of the host vehicle. A candidate stop position is a position where it is necessary to determine whether the host vehicle can pass through the candidate stop position. The stop position setting unit 103 identifies a stop line located on the driving route based on stop line information included in the acquired map information, and sets a candidate stop position at the position of the identified stop line. If there are multiple stop lines on the driving route, the stop position setting unit 103 sets a candidate stop position at the position of each of the multiple stop lines.

[0031] The determination unit 104 determines whether the host vehicle can pass through the candidate stop position set by the stop position setting unit 103. In this embodiment, when it is determined that the host vehicle can pass through the candidate stop position, the determination unit 104 autonomously controls the traveling of the host vehicle so that the host vehicle passes through the candidate stop position. In other words, unless it is determined that the host vehicle can pass through the candidate stop position, the determination unit 104 continues deceleration control to stop the host vehicle before the candidate stop position. Furthermore, in this embodiment, when the host vehicle approaches the candidate stop position, the determination unit 104 periodically determines whether the host vehicle can pass through the candidate stop position. A case where the host vehicle has approached the candidate stop position refers to a case where it is determined that the host vehicle is located within a predetermined range from the candidate stop position.

[0032] The determination unit 104 determines whether the host vehicle can pass through the candidate stop position based on the surrounding information acquired by the surrounding information acquisition unit 102. The determination unit 104 determines that the host vehicle can pass through the candidate stop position when the situation ahead in the traveling direction of the host vehicle is such that the host vehicle can pass through the stop line. A situation in which the host vehicle can pass through the stop line is, for example, when a traffic light at an intersection where a stop line is installed is a signal indicating permission to pass. Furthermore, a situation in which the host vehicle can pass through the stop line is when there is no obstacle ahead in the traveling direction of the host vehicle that would obstruct the travel of the host vehicle.

[0033] Furthermore, when the situation ahead in the traveling direction of the host vehicle is such that the host vehicle cannot pass through the stop line, the determination unit 104 does not determine that the host vehicle can pass through the candidate stop position. A situation in which the host vehicle cannot pass through the stop line is, for example, when a traffic light installed at an intersection is indicating that passage is not permitted, or when there is an obstacle ahead in the traveling direction of the host vehicle that obstructs the travel of the host vehicle.

[0034] Furthermore, the determination unit 104 does not determine that the host vehicle can pass through the candidate stop position when it is difficult to determine whether the host vehicle can pass through the candidate stop position based on the surrounding information acquired by the surrounding information acquisition unit 102. For example, when the determination unit 104 cannot recognize a signal indicated by a traffic light at an intersection where a stop line is installed, the determination unit 104 does not determine that the host vehicle can pass through the candidate stop position. Note that the determination of whether the host vehicle can pass through the candidate stop position is not an essential configuration and may be provided as appropriate as necessary.

[0035] Furthermore, the determination unit 104 determines whether or not the driver of the host vehicle has operated the accelerator. When the determination unit 104 acquires operation information of the accelerator operation by the driver, the determination unit 104 determines that the driver has operated the accelerator. When the determination unit 104 does not acquire operation information of the accelerator operation by the driver, the determination unit 104 determines that the driver of the host vehicle has not operated the accelerator. For example, when it is difficult to determine whether the host vehicle can pass through the candidate stopping position based on the surrounding information, that is, when it is not determined that the host vehicle can pass through the candidate stopping position, the determination unit 104 determines whether or not the driver of the host vehicle has operated the accelerator.

[0036] Furthermore, the determination unit 104 determines whether or not an accelerator operation has been performed when the host vehicle is decelerating to stop before the candidate stop position. Furthermore, the determination unit 104 determines whether or not an accelerator operation has been performed when the host vehicle is located within a predetermined range from the candidate stop position. "Within the predetermined range from the candidate stop position" means a range within a predetermined distance from the candidate stop position, or a range within a predetermined time it takes for the host vehicle to reach the candidate stop position.

[0037] Furthermore, the determination unit 104 may determine that an accelerator operation has occurred when it acquires operation information including an accelerator pedal depression amount that is less than the accelerator pedal depression amount by the driver for accelerating the host vehicle. The accelerator pedal depression amount by the driver for accelerating the host vehicle is a predetermined depression amount that is set in advance. Normally, the accelerator pedal is designed so that acceleration control is not executed unless the driver depresses the pedal by more than a predetermined amount from the start of depression. In this embodiment, the determination unit 104 determines that an accelerator operation has occurred when the accelerator operation is less than a predetermined depression amount for canceling the setting of a candidate stop position, rather than an accelerator operation greater than a predetermined depression amount for normal acceleration control. That is, in this embodiment, accelerator operations are divided into accelerator operations for normal acceleration and accelerator operations for canceling the setting of a candidate stop position.

[0038] Furthermore, the determination unit 104 may determine that an accelerator operation has occurred when it acquires operation information including an accelerator pedal depression time that is shorter than the accelerator pedal depression time by the driver for accelerating the host vehicle. The accelerator pedal depression time by the driver for accelerating the host vehicle is a predetermined depression time that is set in advance. In this embodiment, the determination unit 104 determines that an accelerator operation has occurred when the accelerator operation is not for a depression time that is longer than the predetermined depression time for normal acceleration control, but for a depression time that is shorter than the predetermined depression time for canceling the setting of a stop candidate position.

[0039] Furthermore, the determination unit 104 determines whether or not a brake operation has been performed after the setting of the stop candidate position has been cancelled. When the determination unit 104 acquires operation information of a brake operation by the driver, it determines that a brake operation has been performed by the driver. When the determination unit 104 does not acquire operation information of a brake operation by the driver, it determines that a brake operation has not been performed by the driver of the host vehicle.

[0040] In this embodiment, similarly to the accelerator operation, in determining whether or not a brake operation has been performed, the determination unit 104 may determine that a brake operation has been performed when the brake operation is less than a predetermined depression amount for canceling the resetting of the stop candidate position, rather than a brake operation of equal to or greater than a predetermined depression amount for normal deceleration control. Also, the determination unit 104 may determine that a brake operation has been performed when the brake operation is performed for a period of time less than a predetermined depression time for canceling the resetting of the stop candidate position.

[0041] When a stop candidate position is set, the vehicle control unit 105 executes deceleration control to decelerate the host vehicle so that the host vehicle stops before the stop candidate position. When the host vehicle reaches a predetermined deceleration start position, the vehicle control unit 105 starts deceleration control of the host vehicle so that the host vehicle stops before the stop candidate position. The predetermined deceleration start position is a position that is a distance away from the stop candidate position that is necessary to appropriately stop the host vehicle before the stop candidate position. In this embodiment, after the stop candidate position is set, the vehicle control unit 105 basically executes deceleration control for the set stop candidate position. Furthermore, when it is determined that the host vehicle can pass through the stop candidate position or when an accelerator operation is performed, the vehicle control unit 105 may autonomously control the traveling of the host vehicle so that the host vehicle passes through the stop candidate position without stopping before the stop candidate position. Note that the configuration of autonomously controlling the traveling of the host vehicle so that the host vehicle passes through the stop candidate position when it is determined that the host vehicle can pass through is not a required configuration and may be provided as needed. In other words, the vehicle control unit 105 may execute deceleration control for the set stop candidate position without determining whether the host vehicle can pass through.

[0042] Here, an example of a situation in which deceleration control according to this embodiment is performed will be described with reference to FIG. 2 . FIG. 2 is a diagram showing an example of a situation in which deceleration control according to this embodiment is performed. In FIG. 2 , a stop line SL and a traffic light TS are present ahead of the host vehicle V1 in the traveling direction. A candidate stop position SP is set at the position of the stop line SL. If it is not determined that the host vehicle can pass through the candidate stop position SP, the controller 19 performs deceleration control of the host vehicle V1 so that the host vehicle V1 stops before the candidate stop position SP. For example, if the signal of the traffic light TS cannot be recognized and it is difficult to make a determination, the host vehicle stops before the candidate stop position SP even if the signal of the traffic light TS indicates permission to pass.

[0043] Furthermore, the vehicle control unit 105 autonomously controls the traveling of the host vehicle based on the determination result by the determination unit 104. When the vehicle control unit 105 determines that the host vehicle can pass through the candidate stop position, the vehicle control unit 105 cancels the setting of the candidate stop position and autonomously controls the traveling of the host vehicle so that the host vehicle passes through the candidate stop position. That is, the vehicle control unit 105 causes the host vehicle to pass through the candidate stop position without stopping before it. For example, the vehicle control unit 105 cancels the setting of the candidate stop position and autonomously controls the traveling of the host vehicle so that the host vehicle travels at a set vehicle speed. The set vehicle speed is a vehicle speed that is set in advance. The set vehicle speed may be a vehicle speed set by the driver or may be a vehicle speed set based on road information. The road information may be, for example, information such as a speed limit indicated by a road sign detected by the surrounding information detection device 11, or a speed limit set for a road acquired from the map database 13.

[0044] Furthermore, when it is not determined that the host vehicle can pass through the candidate stop position, the vehicle control unit 105 executes deceleration control to decelerate the host vehicle so as to stop the host vehicle before the candidate stop position. That is, the vehicle control unit 105 continuously executes deceleration control unless it is determined that the host vehicle can pass through the candidate stop position. For example, the vehicle control unit 105 executes deceleration control when the situation ahead in the traveling direction of the host vehicle is such that the host vehicle cannot pass through the candidate stop position, or when it is difficult to determine whether the host vehicle can pass through the candidate stop position.

[0045] Furthermore, if an accelerator pedal operation is performed after the stop candidate positions have been set, the vehicle control unit 105 cancels the setting of the stop candidate positions and autonomously controls the traveling of the host vehicle so that the host vehicle passes through the stop candidate positions. For example, if the determination unit 104 determines that an accelerator pedal operation has been performed, the vehicle control unit 105 cancels the setting of the stop candidate positions and autonomously controls the traveling of the host vehicle so that the host vehicle travels at the set vehicle speed. Note that in the present embodiment, the control performed by the vehicle control unit 105 when an accelerator pedal operation is performed after the stop candidate positions have been set is not limited to canceling the setting of the stop candidate positions and autonomously controlling the traveling of the host vehicle so that the host vehicle passes through the stop candidate positions. If an accelerator pedal operation is performed after the stop candidate positions have been set, the vehicle control unit 105 may autonomously control the traveling of the host vehicle so that the host vehicle passes through the stop candidate positions with the stop candidate positions set. If an accelerator pedal operation is performed after the stop candidate positions have been set and before deceleration control has been started, the vehicle control unit 105 autonomously controls the traveling of the host vehicle so that the host vehicle passes through the stop candidate positions without starting deceleration control for the set stop candidate positions. Furthermore, if the accelerator is operated while deceleration control is being performed after the candidate stop position has been set, the vehicle control unit 105 cancels the deceleration control being performed and autonomously controls the traveling of the vehicle so that the vehicle passes through the candidate stop position.

[0046] The vehicle control unit 105 may cancel the setting of the stop candidate position when the accelerator is operated and the host vehicle is decelerating to stop before the stop candidate position, or when the host vehicle is located within a predetermined range from the stop candidate position. Note that it is not essential to limit the conditions for canceling the setting of the stop candidate position as described above, and such conditions may be set appropriately as necessary. For example, the vehicle control unit 105 may cancel the setting of the stop candidate position when the accelerator is operated and the host vehicle is not decelerating to stop before the stop candidate position, or when the host vehicle is located outside a predetermined range from the stop candidate position.

[0047] Furthermore, the accelerator operation may be an accelerator operation for canceling the setting of the stop candidate position, that is, an accelerator operation including an accelerator pedal depression amount or time that is less than the accelerator pedal depression amount or time for accelerating the vehicle. When an accelerator operation including a depression amount or depression time for canceling the setting of the stop candidate position is performed, the vehicle control unit 105 autonomously controls the traveling of the vehicle so that the vehicle passes through the stop candidate position. Furthermore, when an accelerator operation including a depression amount and depression time for canceling the setting of the stop candidate position is performed, the vehicle control unit 105 may autonomously control the traveling of the vehicle so that the vehicle passes through the stop candidate position. Note that, as described above, it is not essential to limit the accelerator operation to an accelerator operation including a depression amount or depression time for canceling the setting of the stop candidate position, and such limitation may be provided as appropriate as necessary.

[0048] Furthermore, if an accelerator pedal operation is performed after the deceleration control is initiated, the vehicle control unit 105 may autonomously control the traveling of the host vehicle so that the host vehicle passes through the stop candidate position at a set vehicle speed. The set vehicle speed is, for example, the set vehicle speed of the host vehicle before the deceleration control of the host vehicle is initiated. In this embodiment, the vehicle control unit 105 autonomously controls the traveling of the host vehicle so that the host vehicle travels at the set vehicle speed before the deceleration control is initiated. For example, the vehicle control unit 105 autonomously controls the traveling of the host vehicle so that the host vehicle travels at the set vehicle speed while traveling on the traveling route until the host vehicle reaches the deceleration start position. If an accelerator pedal operation is performed after the deceleration control is initiated, the vehicle control unit 105 autonomously controls the traveling of the host vehicle based on the set vehicle speed of the host vehicle before the deceleration control was initiated. In other words, the vehicle control unit 105 resumes the traveling of the host vehicle based on the set vehicle speed before the deceleration control was initiated. Note that such autonomous control is not a required configuration and may be provided as needed.

[0049] Furthermore, if an accelerator operation is performed before the deceleration control is started, the vehicle control unit 105 may autonomously control the traveling of the host vehicle so that the host vehicle continues traveling at the set vehicle speed. That is, if the vehicle control unit 105 autonomously controls the traveling of the host vehicle so that the host vehicle travels at the set vehicle speed before the deceleration control is started, then, if an accelerator operation is performed, the vehicle control unit 105 autonomously controls the traveling of the host vehicle so that the host vehicle travels while maintaining the current set vehicle speed without starting the deceleration control. Note that such autonomous control is not a required configuration and may be provided as appropriate as needed. Furthermore, the accelerator operation may be an accelerator operation that includes a depression amount and depression time for canceling the setting of the stop candidate position.

[0050] Here, an example of a situation in which the driving assistance method according to this embodiment is executed will be described with reference to FIG. 3 . FIG. 3 is a diagram illustrating an example of a situation in which the driving assistance method according to this embodiment is executed. In FIG. 3 , a stop line SL and a traffic light TS are present ahead of the host vehicle V1 in the traveling direction, as in the situation in FIG. 2 . FIG. 3 illustrates a situation in which the host vehicle V1, which had been set at the position of the stop line SL, is canceled when the accelerator pedal is operated while the host vehicle V1 is decelerating to stop before the candidate stop position in the situation in FIG. 2 . In such a case, the controller 19 autonomously controls the traveling of the host vehicle V1 so that the host vehicle V1 passes through the stop line SL without stopping. For example, if the driver visually recognizes that the signal of the traffic light TS indicates permission to pass and operates the accelerator pedal, the host vehicle passes through the stop line without stopping before the stop line. If it is difficult to determine whether the host vehicle can pass the candidate stop position based on surrounding information, the host vehicle autonomously decelerates, so the driver does not need to brake and can concentrate on visually checking the surroundings and determining whether the host vehicle can pass the candidate stop position.

[0051] Furthermore, when an accelerator pedal operation is performed at a timing other than when the host vehicle is decelerating to stop in front of a candidate stop position, the vehicle control unit 105 may accelerate the host vehicle in accordance with the depression amount of the accelerator pedal. The accelerator operation is an accelerator operation for normal acceleration control. A timing other than when the host vehicle is decelerating to stop in front of a candidate stop position is, for example, when the host vehicle is traveling normally. Such a timing is also when the host vehicle is decelerating to avoid another moving object. The host vehicle is not decelerating toward a candidate stop position, but is decelerating to avoid another moving object, such as a pedestrian crossing the road in front of the host vehicle. The driver checks the surroundings and confirms that the other moving object has been avoided, and then performs an accelerator operation for normal acceleration control. In such a case, the vehicle control unit 105 accelerates the host vehicle in accordance with the depression amount of the accelerator pedal by the driver. Note that the above configuration is not essential and may be provided as needed.

[0052] Note that even if an accelerator pedal operation is performed to cancel the setting of the stop candidate position at a timing other than when the host vehicle is decelerating to stop before the stop candidate position, the vehicle control unit 105 does not cancel the setting of the stop candidate position and continues deceleration control to stop the host vehicle before the stop candidate position. For example, in the scene of Fig. 2, when a pedestrian is moving from the sidewalk ahead in the traveling direction of the host vehicle and the host vehicle is decelerating to avoid the pedestrian, the vehicle control unit 105 does not cancel the setting of the stop candidate position even if an accelerator pedal operation is performed to cancel the setting of the stop candidate position at that timing.

[0053] Furthermore, if there are multiple stop lines located on the driving route, when the accelerator is operated, the vehicle control unit 105 cancels the setting of the candidate stop position for the stop line closest to the host vehicle.The vehicle control unit 105 identifies the stop line closest to the host vehicle that is located ahead in the direction of travel of the host vehicle from among the multiple stop lines, and cancels the setting of the candidate stop position for that stop line.Note that the above configuration is not essential and may be provided as appropriate as necessary.

[0054] Furthermore, if the driver brakes after canceling the setting of the stop candidate position, the vehicle control unit 105 resets the stop candidate position to the stop line and resumes control to stop the vehicle before the stop candidate position. If operation information of an accelerator operation or a brake operation is received, the vehicle control unit 105 switches between canceling and resetting the stop candidate position. Note that the above configuration is not essential and may be provided as needed.

[0055] Furthermore, while the setting of the stop candidate position is being cancelled, the vehicle control unit 105 notifies the driver of setting cancellation information indicating that the setting of the stop candidate position has been cancelled via the presentation device 16. For example, the vehicle control unit 105 causes the display of the presentation device 16 to display an image or the like indicating the setting cancellation information. Furthermore, the vehicle control unit 105 may output audio information including the setting cancellation information via a speaker of the presentation device 16. Note that the above configuration is not essential and may be provided as appropriate as necessary.

[0056] Here, an example of a scene in which the cruise assist method according to this embodiment is executed will be described with reference to FIG. 4 . FIG. 4 is a diagram showing an example of a scene in which the cruise assist method according to this embodiment is executed. In FIG. 4 , a plurality of candidate stop positions are set on a plurality of stop lines, including a virtual stop line, at an intersection. Candidate stop positions SP1, SP2, and SP3 are set on a driving route TL of the host vehicle V1. Candidate stop position SP1 is set on a stop line drawn on the road surface. Candidate stop positions SP2 and SP3 are set on virtual stop lines within the intersection. The virtual stop line on which candidate stop position SP2 is set is a position where the host vehicle needs to stop to give priority to oncoming vehicles passing through the intersection. Furthermore, the virtual stop line on which candidate stop position SP3 is set is a position where the host vehicle needs to stop to give priority to pedestrians walking on the pedestrian crossing PC.

[0057] In this embodiment, as shown in Fig. 4, if an accelerator operation is performed before the host vehicle V1 enters an intersection, the controller 19 cancels the candidate stopping position SP1 that is closest to the host vehicle. Furthermore, if an accelerator operation is performed again after the candidate stopping position SP1 has been canceled, the controller 19 cancels the candidate stopping position SP2. Similarly, if an accelerator operation is performed again after the candidate stopping position SP2 has been canceled, the controller 19 cancels the candidate stopping position SP3. As described above, the controller 19 cancels the candidate stopping positions in order starting from the candidate stopping position closest to the host vehicle in response to an accelerator operation.

[0058] Next, the procedure of the driving support method according to this embodiment will be described using the flowchart of Fig. 5. Fig. 5 is a flowchart showing an example of the procedure of the driving support method according to this embodiment. In this embodiment, after a driving route of the host vehicle is set before the host vehicle starts driving, the controller 19 starts the flow from step S1.

[0059] In step S1, the controller 19 acquires stop line information, including the positions of stop lines, from the map database 13. In step S2, the controller 19 sets a candidate stop position to the position of the stop line acquired in step S1. In step S3, the controller 19 autonomously controls the traveling of the host vehicle so that the host vehicle starts traveling. Note that step S3 may be performed before step S1 or before step S2. In step S4, the controller 19 determines whether the host vehicle has approached the candidate stop position. For example, if the host vehicle has arrived within a predetermined range from the candidate stop position, the controller 19 determines that the host vehicle has approached the candidate stop position.

[0060] If it is determined that the host vehicle has approached the candidate stop position, the controller 19 proceeds to step S5. If it is not determined that the host vehicle has approached the candidate stop position, the controller 19 returns to step S4 and repeats the subsequent steps. In step S5, the controller 19 determines whether the host vehicle can pass through the candidate stop position. For example, if the controller 19 recognizes, based on the surrounding information, that the traffic light signal is a signal indicating permission to pass, the controller 19 determines that the host vehicle can pass through the candidate stop position. If it is determined that the host vehicle can pass through the candidate stop position, the controller 19 proceeds to step S12. Furthermore, if the controller 19 cannot recognize that the traffic light signal is a signal indicating permission to pass, or if the traffic light signal is recognizable, the controller 19 does not determine that the host vehicle can pass through the candidate stop position. If it is not determined that the host vehicle can pass through the candidate stop position, the controller 19 proceeds to step S6.

[0061] In step S6, the controller 19 executes deceleration control. In step S7, the controller 19 determines whether or not an accelerator operation has been performed. The accelerator operation is, for example, an accelerator operation for canceling the setting of the candidate stop position. If it is determined that an accelerator operation has been performed, the controller 19 proceeds to step S8. If it is determined that an accelerator operation has not been performed, the controller 19 continues deceleration control of the host vehicle so that the host vehicle stops just before the candidate stop position, and ends the control flow. In this embodiment, if operation information of the accelerator operation has been acquired, the controller 19 determines that an accelerator operation has been performed. On the other hand, if operation information of the accelerator operation has not been acquired, the controller 19 determines that an accelerator operation has not been performed.

[0062] In step S8, the controller 19 cancels the setting of the stop candidate position. In step S9, the controller 19 autonomously controls the traveling of the host vehicle at the set vehicle speed. In step S10, the controller 19 determines whether or not a brake operation has been performed. If it is determined that a brake operation has been performed, the controller 19 proceeds to step S11. In step S11, the controller 19 resets the stop candidate position that was canceled in step S8. After resetting the stop candidate position, the controller 19 returns to step S6 and repeats the subsequent flow.

[0063] If it is determined that no brake operation has been performed, the controller 19 autonomously controls the traveling of the host vehicle so that the host vehicle continues to travel at the set vehicle speed and passes the stop line, and then ends the control flow. In this embodiment, if operation information of a brake operation has been acquired, the controller 19 determines that a brake operation has been performed. On the other hand, if operation information of a brake operation has not been acquired, the controller 19 determines that no brake operation has been performed. In step S12, the controller 19 autonomously controls the traveling of the host vehicle so that the host vehicle passes the candidate stop position.

[0064] In the present embodiment, the controller 19 executes deceleration control after determining whether the host vehicle can pass through the candidate stop position. However, this is not limited to this. If a candidate stop position is set, the controller 19 may start deceleration control when the host vehicle reaches a deceleration start position and determine whether the host vehicle can pass through the candidate stop position during the deceleration control. In addition, in the present embodiment, when the host vehicle approaches a candidate stop position, the controller 19 may execute deceleration control, determine whether the host vehicle can pass through the candidate stop position, and determine whether the accelerator pedal is operated in parallel. In addition, in the present embodiment, the controller 19 determines whether the accelerator pedal is operated during the deceleration control after starting the deceleration control. However, this is not limited to this. The controller 19 may determine whether the accelerator pedal is operated before starting the deceleration control, for example, when the host vehicle is located within a predetermined range from the candidate stop position. In addition, the controller 19 may determine whether the accelerator pedal is operated in parallel with the above control flow. If the controller 19 determines in step S4 that the host vehicle has approached the candidate stop position and determines that the accelerator pedal is operated before step S6, the controller 19 may execute the control from step S8 onward.

[0065] As described above, in this embodiment, the controller is a system that sets a candidate stop position at a stop line located on the driving route of the host vehicle and executes deceleration control to decelerate the host vehicle so that the host vehicle will stop before the candidate stop position. After the candidate stop position is set, if the driver of the host vehicle operates the accelerator, the controller cancels the setting of the candidate stop position or autonomously controls the driving of the host vehicle so that the host vehicle passes the candidate stop position while the candidate stop position is set. This reduces the burden on the driver even when it is difficult to determine whether the vehicle needs to decelerate for a stop line ahead of the vehicle. Furthermore, in this embodiment, if the driver of the host vehicle operates the accelerator after setting the candidate stop position, the controller may maintain the setting of the candidate stop position and not execute deceleration control, or may cancel any deceleration control that is currently being executed, and autonomously control the driving of the host vehicle so that the host vehicle passes the candidate stop position.

[0066] In addition, in this embodiment, when the host vehicle is decelerating to stop before the candidate stop position or when the host vehicle is located within a predetermined range from the candidate stop position, and the accelerator is operated, the controller cancels the setting of the candidate stop position or autonomously controls the traveling of the host vehicle so that the host vehicle passes through the candidate stop position with the candidate stop position set. As a result, when the host vehicle is decelerating toward the stop line or when the host vehicle is approaching the stop line, the traveling of the host vehicle can be autonomously controlled so that the host vehicle passes through the candidate stop position without stopping before the candidate stop position.

[0067] In addition, in this embodiment, when an accelerator operation is performed that includes an accelerator pedal depression amount that is less than the accelerator pedal depression amount by the driver for accelerating the vehicle, the controller cancels the setting of the stop candidate position, or autonomously controls the traveling of the vehicle so that the vehicle passes through the stop candidate position with the stop candidate position set. As a result, when an accelerator pedal depression amount that is approximately the amount of play in the accelerator pedal is detected, the vehicle cannot normally be accelerated, but the traveling of the vehicle can be autonomously controlled so that the vehicle passes through the stop line even with that depression amount.

[0068] Furthermore, in this embodiment, when an accelerator operation is performed that includes an accelerator pedal depression time that is shorter than the accelerator pedal depression time by the driver to accelerate the vehicle, the controller cancels the setting of the stop candidate position, or autonomously controls the traveling of the vehicle so that the vehicle passes through the stop candidate position with the stop candidate position set. As a result, when a short accelerator pedal depression amount is detected, acceleration control is normally performed only while the accelerator pedal is being operated, but even with a short accelerator operation, the controller can autonomously control the traveling of the vehicle so that the vehicle passes through the stop line.

[0069] In this embodiment, if the accelerator pedal is operated at a timing other than when the host vehicle is decelerating to stop before the candidate stop position, the controller accelerates the host vehicle according to the amount of depression of the accelerator pedal. As a result, if the accelerator pedal is operated at a timing other than when the host vehicle is decelerating to stop before the candidate stop position, acceleration control is performed according to the amount of operation by the driver, thereby enabling driving in accordance with the driver's intentions.

[0070] Furthermore, in this embodiment, when the controller acquires operation information, if there are multiple stop lines located on the driving route, the controller cancels the setting of the candidate stop position for the stop line closest to the vehicle, or autonomously controls the driving of the vehicle in a state in which the candidate stop position has been set so that the vehicle passes through the candidate stop position without stopping before it. As a result, even in a situation in which there are multiple consecutive stop lines on the driving route of the vehicle, the controller can prevent multiple stop lines from being canceled against the driver's intention by canceling the setting of the candidate stop positions in order starting from the stop line closest to the vehicle.

[0071] In this embodiment, if the driver brakes after canceling the setting of the candidate stop position, the controller resets the candidate stop position to the stop line and resumes deceleration control. This makes it possible to execute deceleration control in line with the driver's intention of decelerating using the brake pedal without having to continue to depress the brake pedal, thereby reducing the operational burden on the driver.

[0072] In this embodiment, the stop lines include virtual stop lines, so that even in a location where a stop line does not actually exist but where stopping control is required (such as a crosswalk), the vehicle can be decelerated by setting a virtual stop line.

[0073] In this embodiment, while the setting of the stop candidate position is being cancelled, the controller notifies the driver of setting cancellation information indicating that the setting of the stop candidate position has been cancelled, thereby enabling the driver to understand that the setting of the stop candidate position has been cancelled and that the vehicle is being controlled to pass through the stop line.

[0074] Furthermore, in this embodiment, before starting deceleration control, the controller autonomously controls the traveling of the host vehicle so that the host vehicle travels at a preset set vehicle speed, and if an accelerator pedal operation is performed after starting deceleration control, the controller autonomously controls the traveling of the host vehicle so that the host vehicle passes through the candidate stop position at the set vehicle speed, and if an accelerator pedal operation is performed before starting deceleration control, the controller autonomously controls the traveling of the host vehicle so that the host vehicle continues traveling at the set vehicle speed. This allows the traveling of the host vehicle to be autonomously controlled at the set vehicle speed when the driver operates the accelerator.

[0075] The above-described embodiments are provided to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, the elements disclosed in the above-described embodiments are intended to encompass all design modifications and equivalents that fall within the technical scope of the present invention. Furthermore, the configurations described in the above-described embodiments may be combined as needed, and the combination of the configurations is not particularly limited.

[0076] DESCRIPTION OF SYMBOLS 1: Driving support device 19: Controller 100: Map information acquisition unit 101: Vehicle information acquisition unit 102: Surrounding information acquisition unit 103: Stop position setting unit 104: Determination unit 105: Vehicle control unit

Claims

Claim 1 A driving support method executed by a controller, wherein the controller executes driving control to autonomously drive the host vehicle so that the host vehicle travels at a preset set vehicle speed, sets a stop candidate position at a stop line located on the travel route of the host vehicle, executes deceleration control to autonomously decelerate the host vehicle so that the host vehicle stops before the stop candidate position, During the driving control or during the deceleration control, when there is an accelerator operation by the driver of the host vehicle, a driving support method for autonomously controlling the driving of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed. Claim 2 The controller according to claim 1, wherein when there is the accelerator operation when the host vehicle is decelerating to stop before the stop candidate position or when the host vehicle is located within a predetermined range from the stop candidate position, the controller autonomously controls the driving of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed. Claim 3 The controller according to claim 1 or 2, wherein when there is the accelerator operation with an accelerator pedal depression amount less than the accelerator pedal depression amount by the driver for accelerating the host vehicle, the controller autonomously controls the driving of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed. Claim 4 The controller according to any one of claims 1 to 3, wherein when there is the accelerator operation with an accelerator pedal depression time less than the accelerator pedal depression time by the driver for accelerating the host vehicle, the controller autonomously controls the driving of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed. Claim 5 the controller When there is the accelerator operation at a timing other than when the host vehicle is decelerating to stop before the stop candidate position, the driving support method according to any one of claims 1 to 4, wherein the host vehicle is accelerated according to the accelerator pedal depression amount. Claim 6 When there are a plurality of the stop lines located on the travel route, when there is the accelerator operation, the controller cancels the setting of the stop candidate position for the stop line at the closest position to the host vehicle, and autonomously controls the travel of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed, or, with the stop candidate position for the stop line at the closest position to the host vehicle set, autonomously controls the travel of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed. The driving support method according to any one of claims 1 to 5.

7. The controller After canceling the setting of the stop candidate position, when there is a brake operation by the driver, the stop candidate position is reset to the stop line, and the deceleration control is restarted. The driving support method according to any one of claims 1 to 6.

8. The stop line includes a virtual stop line. The driving support method according to any one of claims 1 to 7.

9. While the controller has canceled the setting of the stop candidate position, the controller notifies the driver of setting cancellation information indicating that the setting of the stop candidate position has been canceled. The driving support method according to any one of claims 1 to 8.

10. The controller Before starting the deceleration control, executes the driving control, After starting the deceleration control, when there is an accelerator operation, autonomously controls the travel of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed, Before starting the deceleration control, when there is an accelerator operation, autonomously controls the travel of the host vehicle so that the host vehicle continues to travel at the set vehicle speed. The driving support method according to any one of claims 1 to 9.

11. A driving support device including a controller, The controller Executes a driving control to autonomously drive the host vehicle so that the host vehicle travels at a preset set vehicle speed, Sets a stop candidate position at a stop line located on the travel route of the host vehicle, Executes a deceleration control to autonomously decelerate the host vehicle so that the host vehicle stops before the stop candidate position, During the driving control or during the deceleration control, when there is an accelerator operation by the driver of the host vehicle, a driving support device that autonomously controls the travel of the host vehicle so that the host vehicle passes through the stop candidate position at the set vehicle speed.