JP2003276471A - Drive operation assisting device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive operation assisting device for a vehicle capable of performing a traveling without uncomfortable feeling even when an accelerator pedal reaction varies according to the access state of the vehicle to a foregoing vehicle. <P>SOLUTION: This operational control assisting device 100 for the vehicle comprises a traveling state detection means 101 for detecting the travel states of the vehicle and the foregoing vehicle presenting forward of the vehicle, an operational reaction control means 106 for controlling an operational reaction generated on an accelerator pedal 103 according to the travel states of the vehicle and the foregoing vehicle detected by the travel state detection means 101, an acceleration prevention means 107 for preventing the vehicle from being accelerated, and a control means 105. When the detected state of the foregoing vehicle is detected by the travel state detection means 101, the control means 105 outputs a reaction increase instruction to the operational reaction control means 106 to increase the operational reaction generated on the accelerator pedal 103 and, when the travel state detected by the travel state detection means 101 is changed from the detected state of the foregoing vehicle to the non-detected state of the foregoing vehicle, outputs an acceleration prevention instruction to the acceleration prevention means 107 to prevent the vehicle from being accelerated. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle drive assist device for assisting a driver's operation.

[0002]

2. Description of the Related Art A vehicle driving assist device for assisting a driver's operation is disclosed in Japanese Patent Application Laid-Open No. 10-166890. This vehicle driving assistance device changes the operation reaction force of the accelerator pedal based on the inter-vehicle distance between the preceding vehicle and the host vehicle. For example, when the detected inter-vehicle distance becomes smaller than a predetermined value,
Set the accelerator pedal reaction force to be heavy and give a warning to the driver.

[0003]

However, the vehicle driving assist system as described above performs the accelerator pedal reaction force control during the approach to the preceding vehicle and increases the reaction force of the accelerator pedal. The accelerator pedal reaction force changes when the preceding vehicle to be detected does not exist due to the preceding vehicle or the own vehicle performing a lane change or the like, or when the detecting target changes to a farther preceding vehicle. Therefore, it is difficult for the driver to adjust the amount of depression of the accelerator pedal, which causes a problem that the vehicle behavior is uncomfortable.

SUMMARY OF THE INVENTION The present invention provides a vehicle driving operation assisting device capable of running without a sense of discomfort even when the accelerator pedal reaction force changes depending on the approaching state of the host vehicle and the preceding vehicle. To aim.

[0005]

The present invention will be described with reference to the drawings showing an embodiment. (1) The vehicle driving operation assisting device described in claim 1 is a traveling state detecting means 101, 201, 3 for detecting traveling states of the host vehicle and a preceding vehicle existing in front of the host vehicle.
01, 401 and running state detection means 101, 201, 3
Accelerator pedals 103, 203, 30 according to the traveling states of the host vehicle and the preceding vehicle detected by 01, 401.
Operation reaction force control means 106, 206, 306, 406 for controlling the operation reaction force generated in 3, 403 and acceleration prevention means 107, 207, 307, 4 for preventing acceleration of the own vehicle.
06 and the traveling state detecting means 101, 201, 301, 4
When the preceding vehicle detection state is detected by 01, a reaction force increase command is output to the operation reaction force control means 106, 206, 306, 406 so as to control the operation reaction force generated in the accelerator pedals 103, 203, 303, 403. However, when the traveling state detected by the traveling state detecting means 101, 201, 301, 401 changes from the preceding vehicle detection state to the preceding vehicle non-detection state or the preceding vehicle detection state farther away, the own vehicle is prevented from accelerating. By having the control means 105, 205, 305, 405 for outputting the acceleration prevention command to the acceleration prevention means 107, 207, 307, 406, the above-mentioned object is achieved. (2) The invention according to claim 2 is characterized in that, in the vehicle driving assistance device according to claim 1, the acceleration prevention means 107 prevents acceleration of the host vehicle by adjusting the output of the engine. To do. (3) According to the invention of claim 3, in the vehicle driving operation assisting device according to claim 1, the acceleration preventing means 207 prevents acceleration of the host vehicle by adjusting the gear ratio of the transmission. Characterize. (4) According to the invention of claim 4, in the vehicle driving assist system according to claim 1, the acceleration preventing means 307 prevents acceleration of the host vehicle by adjusting the braking force generated in the brake device. It is characterized by (5) The invention of claim 5 is the vehicle driving operation assisting device according to any one of claims 2 to 4, wherein the control means 105, 205, 305 are the traveling state detection means 10
When the running state detected by 1, 201, 301 changes from the preceding vehicle detection state to the preceding vehicle non-detection state, the driver has changed to the preceding vehicle non-detection state before lowering the reaction force increase command. Operation reaction force control means 106, 2 so as to generate an accelerator pedal operation reaction force for recognition.
It is characterized in that a command is output to 06 and 306. (6) The invention of claim 6 is the vehicle driving operation assisting device according to claim 1, wherein the acceleration preventing means 406 adjusts the operation reaction force generated on the accelerator pedal 403 by the operation reaction force control means. It is characterized by preventing the acceleration of the own vehicle. (7) The invention of claim 7 is the vehicle driving assist system according to claim 2, further comprising operation amount detection means 104 for detecting an operation amount of the accelerator pedal 103, and the control means 105 prevents acceleration. Outputs a command to prevent acceleration 10
When the operation amount of the accelerator pedal 103 detected by the operation amount detecting means 104 is decreased after the output of the engine is decreased by 7, the command is output to the acceleration preventing means 107 to gradually restore the output of the engine. It is characterized by (8) The invention of claim 8 is the vehicle driving assist system according to claim 3, further comprising operation amount detecting means 204 for detecting an operation amount of the accelerator pedal 203, and the control means 205 prevents acceleration. Outputs a command to prevent acceleration 20
After increasing the gear ratio of the transmission by 7, when the operation amount of the accelerator pedal 203 detected by the operation amount detecting means 204 decreases, the acceleration preventing means 207 is made to gradually restore the gear ratio of the transmission. It is characterized by outputting a command. (9) The invention according to claim 9 is the vehicle driving assist system according to claim 4, further comprising operation amount detection means 304 for detecting an operation amount of the accelerator pedal 303, and the control means 305 is acceleration prevention. Outputs a command to prevent acceleration 30
After the braking force of the braking device is increased by 7, when the operation amount of the accelerator pedal 303 detected by the operation amount detecting means 304 decreases, the acceleration preventing means 307 is made to gradually return the braking force of the braking device. It is characterized by outputting a command. (10) The invention of claim 10 is the vehicle driving assist system according to claim 6, wherein the control device 405 controls the accelerator pedal when the traveling state changes from the preceding vehicle detection state to the preceding vehicle non-detection state. It is characterized by outputting a command to the operation reaction force control means 406 so as to gradually reduce the operation reaction force generated in 405.

[0006]

According to the present invention, the following effects can be obtained. (1) According to the invention of claim 1, when the operation reaction force of the accelerator pedal is increased in the preceding vehicle detection state to change from the preceding vehicle detection state to the non-detection state or the farther preceding vehicle detection state, It is possible to prevent the own vehicle from accelerating. (2) According to the inventions of claims 2 and 7, the engine output is adjusted when the preceding vehicle is not detected. Therefore, even if the accelerator pedal operation reaction force changes, It is possible to prevent acceleration due to excessive depression. (3) According to the inventions of claims 3 and 8, the gear ratio of the transmission is adjusted when the preceding vehicle is not detected. Therefore, even when the accelerator pedal operation reaction force changes. It is possible to prevent acceleration due to excessive depression of the accelerator pedal. (4) According to the inventions of claims 4 and 9, the braking force of the brake device is adjusted when the preceding vehicle is not detected. Therefore, even when the accelerator pedal operation reaction force changes. It is possible to prevent acceleration due to excessive depression of the accelerator pedal. (5) According to the invention of claim 5, when the preceding vehicle is not detected, the operation reaction force corresponding to that state is generated in the accelerator pedal. Therefore, the traveling state of the host vehicle and the preceding vehicle Can be notified to the driver, and acceleration of the host vehicle due to excessive depression of the accelerator pedal can be prevented. (6) According to the sixth and tenth aspects of the present invention, the operation reaction force generated in the accelerator pedal when the preceding vehicle is not detected is adjusted. Therefore, the accelerator pedal changes due to the change in the operation reaction force. It is possible to prevent the vehicle from depressing too much and accelerating the own vehicle accordingly.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION << First Embodiment >> A vehicle driving assist system according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system diagram showing a configuration of a vehicle driving assistance device 100 according to a first embodiment of the present invention.

As shown in FIG. 1, a vehicle driving assistance device 100 operates an inter-vehicle distance detecting means 101 for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle existing in front of the host vehicle, and an accelerator pedal 103. Accelerator pedal operation amount detecting means 104 for detecting the amount, and a vehicle driving operation assisting device 10
0 control unit (control means) 105 for controlling the whole, operation reaction force control means 106 for controlling the operation reaction force of the accelerator pedal 103, throttle valve control means (acceleration prevention means)
It is composed of 107 and the like.

The inter-vehicle distance detecting means 101 is composed of, for example, a laser radar. A laser radar 101, which is a running state detecting means, is attached to a front grill part or a bumper part of a vehicle and scans an infrared light pulse in a horizontal direction. The laser radar 10 measures a reflected wave of an infrared light pulse reflected by a plurality of reflectors in front (usually, the rear end of the vehicle ahead), and based on the arrival time of the reflected wave, the distance between the vehicles ahead Detects the distance and its direction of existence. The detected inter-vehicle distance and the presence direction are output to the control unit 105. The front area scanned by the laser radar 10 is about ± 6 deg with respect to the front of the vehicle, and a front object existing within this range is detected.

As shown in FIG. 2, the accelerator pedal 103
Are connected to a servo motor 31 via a link mechanism 30. The accelerator pedal operation amount detection means 104 detects the depression amount of the accelerator pedal 103 converted into the rotation angle of the servo motor 31 via the link mechanism 30 by the accelerator pedal sensor 32 incorporated in the servo motor 31, for example. The current accelerator pedal operation amount detected by the accelerator pedal operation amount detection means 104 is output to the control unit 105. Operation reaction force control means 10
Reference numeral 6 outputs a command signal corresponding to the signal from the control unit 105 to the servo motor 31 to control the torque generated by the servo motor 31. As a result, the pedaling force generated when the driver operates the accelerator pedal 103 can be arbitrarily controlled.

Throttle valve control means 107, which is acceleration prevention means, controls the gain of a throttle valve (not shown) to control the fuel injection amount.

The control unit 105 outputs a signal to the operation reaction force control means 106 on the basis of the inter-vehicle distance signal input from the laser radar 101 to control the accelerator pedal operation reaction force. When the inter-vehicle distance L between the host vehicle and the preceding vehicle is smaller than a preset inter-vehicle distance L0, control unit 105 operates the reaction force of accelerator pedal 103 to notify that the host vehicle is approaching the preceding vehicle. Change. The amount of increase in the operation reaction force at this time may be such that the driver can perceptually recognize that the vehicle is approaching the preceding vehicle, and is preferably set in advance by conducting an experiment or the like.

When the reaction force of the accelerator pedal is controlled based on the traveling state between the own vehicle and the preceding vehicle, for example, the inter-vehicle distance L between the own vehicle and the preceding vehicle, the own vehicle or the preceding vehicle must change lanes. When the preceding vehicle that has become the reference for the operation reaction force control does not exist, the accelerator pedal operation reaction force changes. When the preceding vehicle does not exist or the operation reaction force control target moves to a distant preceding vehicle and the inter-vehicle distance L increases, the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force decreases. Since the driver depresses the accelerator pedal 103 even during the accelerator pedal operation reaction force control, the depression amount increases unless the equal force of the accelerator pedal 103 is reduced in accordance with the decrease in the operation reaction force. There is.

When the amount of depression of the accelerator pedal 103 is increased, the engine torque is increased and the host vehicle is accelerated. If the driver repeatedly adjusts the depression amount of the accelerator pedal 103 in order to smoothly drive the own vehicle, the behavior of the own vehicle becomes uncomfortable. Therefore, the vehicle driving assist system according to the first embodiment of the present invention uses the throttle when the preceding vehicle does not exist or the inter-vehicle distance L becomes sufficiently large to release the accelerator pedal operation reaction force control. Adjust the engine output by reducing the valve gain to prevent the vehicle from accelerating.

Hereinafter, the driving assist control in the vehicle driving assist device 100 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 3 is a flowchart showing a processing procedure of driving operation assist control in the control unit 105 according to the first embodiment.

In step S10, it is determined whether an ignition switch (not shown) is on. Step S
When the determination result of 10 is affirmative, the flag FL is set in step S20.
Set AG = 0. In subsequent step S30, the inter-vehicle distance L between the own vehicle and the preceding vehicle detected by the laser radar 101 is read. In step S40, the current accelerator pedal operation amount S detected by the accelerator pedal operation amount detection means 104 is read.

In step S60, it is determined whether the inter-vehicle distance L read in step S30 is less than a predetermined inter-vehicle distance L0. When the affirmative determination is made in step S60 and the inter-vehicle distance L <L0, the process proceeds to step S70. Here, a state in which the inter-vehicle distance L between the host vehicle and the preceding vehicle is equal to or greater than the predetermined value L0 is referred to as a preceding vehicle non-detection state. In addition, the preceding vehicle non-detection state is when the preceding vehicle does not exist in front of the own vehicle or the preceding vehicle changes the lane, or when the target of the inter-vehicle distance detection moves to a farther preceding vehicle. Also includes. In step S70, the flag F
It is determined whether or not LAG = 0. If an affirmative decision is made in step S70, the operation proceeds to step S80. Step S
At 80, a command signal (reaction force increase command) is output to the operation reaction force control means 106 so as to increase the operation reaction force of the accelerator pedal 103. The operation reaction force control means 106 controls the servo motor 31 according to the command signal to increase the operation reaction force. As a result, the driver is informed that the inter-vehicle distance is equal to or less than the predetermined value and the own vehicle is approaching the preceding vehicle. The predetermined inter-vehicle distance L0 is, for example, a distance V corresponding to the vehicle speed Vkm / h (100 m at a speed of 100 km / h).

In step S90, the flag FLAG = 1 indicating that the accelerator pedal operation reaction force control is being performed is changed to step S100, and the process proceeds to step S100. In step S100, it is determined whether the ignition switch is off. If the determination in step S100 is negative and the ignition switch is not off, the process returns to step S30.

On the other hand, when the negative determination is made in step S60 and the inter-vehicle distance L is equal to or greater than the predetermined inter-vehicle distance L0, the process proceeds to step S110. In addition, step S60 is negatively determined when the preceding vehicle is in the non-detection state. That is, a negative determination is also made when the host vehicle or the preceding vehicle changes lanes or the like and the preceding vehicle that is the reference when performing the accelerator pedal operation reaction force control is no longer detected. Step S
At 110, it is determined whether the flag FLAG = 0. An affirmative decision is made in step S110 and the flag FLAG is reached.
If = 0, the inter-vehicle distance warning is not issued by controlling the accelerator pedal operation reaction force, so step S30
Return to and continue the control process.

If the determination in step S110 is negative and the flag FLAG ≠ 0, the inter-vehicle distance L is equal to or greater than the predetermined value L0, and the accelerator pedal operation reaction force control is being performed. Therefore, the accelerator pedal operation reaction force is controlled. Inter-vehicle distance warning is judged unnecessary. In this case, the process proceeds to step S120, the accelerator pedal operation reaction force control is released, and a command signal is output to the operation reaction force control means 106 to decrease the operation reaction force of the accelerator pedal 103 (decrease in reaction force increase command).
The operation reaction force control means 106 controls the servo motor 31 according to the command signal, and changes the operation reaction force to the side to be reduced. The amount of change in the operation reaction force of the accelerator pedal 103 that is reduced here matches, for example, the amount of change in the operation reaction force that is increased in step S80 described above. Accelerator pedal 10
By reducing the operation reaction force of 3, it is possible to sensuously notify the driver that there is a sufficient distance between the preceding vehicle and the host vehicle.

When the accelerator pedal operation reaction force is decreased in step S120, the depression amount increases unless the equal force of the accelerator pedal 103 is decreased as the operation reaction force decreases. Therefore, at the same time as the accelerator pedal operation reaction force is reduced, the throttle valve control means 10 is operated to reduce the gain of the throttle valve in step S130.
A command signal (acceleration prevention command) is output to 7. Throttle valve control means 107 reduces the gain of the throttle valve in response to the command signal, and prevents the output torque of the engine and the engine speed from increasing when the depression amount of accelerator pedal 103 increases. As a result, it is possible to prevent the own vehicle from accelerating due to an increase in output torque or engine speed. The throttle gain to be reduced here may correspond to the depression amount of the accelerator pedal 103 that increases when the accelerator pedal operation reaction force control is released, or may be set to a constant value in advance by experiments or the like. Good.

In step S140, the current accelerator pedal operation amount S'after releasing the accelerator pedal operation reaction force control detected by the accelerator pedal operation amount detecting means 104 is read. In step S150, step S
Is the difference between the accelerator pedal operation amount S ′ read in 140 after the accelerator pedal reaction force control released and the accelerator pedal operation amount S read in step S50 equal to or less than a predetermined amount S0 (S′−S ≦ S0)? Determine whether or not. If the determination in step S150 is affirmative and the difference between the operation amount S and the operation amount S ′ is S0 or less, it is determined that the driver himself / herself decreases the depression amount of the accelerator pedal 103 after the accelerator pedal operation reaction force control. to decide. In this case, it is determined that there is no concern about acceleration of the host vehicle due to excessive depression of the accelerator pedal 103, and the process proceeds to step S160.

In step S160, step S130
A command signal is output to the throttle valve control means 107 so that the gain of the throttle valve, which has been reduced by, is gradually restored. The throttle valve control means 107 controls the throttle valve so that the gain of the throttle valve is gradually returned according to the command signal. In step S170, a flag FLAG = 0 indicating that the accelerator pedal operation reaction force control is not being performed is set.

On the other hand, in step S150, the difference between the manipulated variable S'and the manipulated variable S is larger than the predetermined amount S0 (S'-S> S).
If it is determined to be 0), the process proceeds to step S180. In step S180, it is determined whether the difference between the operation amount S'and the operation amount S is larger than the predetermined amount S1 (S'-S> S1). An affirmative decision is made in step S180, and S'-S> S.
If the value is 1, it is determined that the driver depresses the accelerator pedal 103 to accelerate, and the process proceeds to step S160 to gradually return the throttle valve gain.

In step S180, a negative determination is made, and the difference between the manipulated variable S'and the manipulated variable S is less than or equal to a predetermined amount S1 (S'-S≤
In the case of S1), the process returns to step S140 to continue the reduced state of the throttle valve gain. The predetermined amount S0 for determining a decrease in the accelerator pedal operation amount and the predetermined amount S1 for determining an increase in the accelerator pedal operation amount for acceleration or the like are set in advance by experiments or the like. In addition, S
0 <S1.

If it is determined in step S100 that the ignition switch is off, this process ends.

FIG. 4 shows time series changes in accelerator pedal operation reaction force, accelerator pedal depression amount, throttle gain and engine output torque with and without throttle gain control. In FIG. 4, the solid line shows the case where the throttle valve gain control is performed after releasing the accelerator pedal operation reaction force control, and the broken line shows the case where the throttle valve gain control is not performed. Also,
In the flowchart of FIG. 3 described above, step S60
And step S110 are both negatively determined, the time to release the accelerator pedal operation reaction force control is t0, and the time when the difference between the operation amount S ′ after the accelerator pedal reaction force control is released and the operation amount S becomes equal to the predetermined value S0 Be ta.

As shown in FIG. 4, until the time t = t0, the accelerator pedal operation reaction force, the accelerator pedal depression amount, the throttle gain, and the engine output torque are constant. When the preceding vehicle becomes a non-detection state at time t = t0 and the accelerator pedal operation reaction force control is released, the accelerator pedal operation reaction force decreases, and the depression amount of the accelerator pedal 103 increases as the reaction force decreases. .

When the throttle gain control is not performed, the gain of the throttle valve is the same as before the time t = t0 as shown by the broken line in FIG. Therefore, the output torque (engine speed) of the engine increases as the depression amount of the accelerator pedal 103 increases.

On the other hand, according to the first embodiment of the present invention, since the throttle gain control is performed after the accelerator pedal operation reaction force control is released, as shown by the solid line in FIG. 4, the throttle valve is operated at time t = t0. Gain is reduced. As a result, even if the amount of depression of the accelerator pedal 103 increases due to a decrease in the accelerator pedal operation reaction force, the output torque of the engine (engine speed) only slightly increases, and there is no risk of the host vehicle accelerating. When the driver notices an increase in the operation amount of the accelerator pedal 103 and decreases the depression amount (time t = ta), the throttle gain is gradually increased accordingly. Since the throttle gain is gradually increased, the gain before the throttle gain control can be restored without a feeling of strangeness.

FIG. 5 shows the accelerator pedal depression amount, throttle gain, and engine output torque when the driver depresses the accelerator pedal 103 when the throttle valve gain control is performed after the accelerator pedal reaction force control is released. A time series change is shown. Further, the time at which the accelerator pedal operation reaction force control is released is t0, and the difference between the operation amount S ′ after the accelerator pedal reaction force control is released and the operation amount S is a predetermined value S1.
The time when it becomes equal to is set to tb.

As shown in FIG. 5, the accelerator pedal operation reaction force control is released at time t = t0, and the gain of the throttle valve is reduced accordingly. Accelerator pedal 103
When the manipulated variable of is S′−S = S1 (time t = tb),
When it is determined that the driver depresses the accelerator pedal 103 for overtaking or the like, the gain of the throttle valve is gradually increased to return to the gain before the throttle gain control. As a result, when the driver wants to accelerate, there is no sense of discomfort due to torque fluctuations or rotational speed fluctuations,
It is possible to smoothly shift to the acceleration state.

Although the throttle valve control means 107 controls the throttle gain in the first embodiment described above, the throttle opening may be controlled instead of the throttle gain. In this case, similarly to the control of the throttle gain, the throttle opening is decreased as the accelerator pedal operation reaction force increases.

<< Second Embodiment >> A vehicle driving assist system according to a second embodiment of the present invention will be described with reference to the drawings. The differences from the above-described first embodiment will be mainly described here. FIG. 6 shows a second embodiment of the present invention.
FIG. 2 is a system diagram showing the configuration of a vehicle driving assistance device 200 according to the embodiment of the present invention.

As shown in FIG. 6, the vehicle drive assist device 200 includes an inter-vehicle distance detecting means (for example, a laser radar) 201 for detecting an inter-vehicle distance between the host vehicle and a preceding vehicle existing in front of the host vehicle. A vehicle speed detecting means 202 for detecting a vehicle speed of the host vehicle, an accelerator pedal operation amount detecting means 204 for detecting an operation amount of an accelerator pedal 203, and a control unit 205 for controlling the vehicle driving operation assisting device 200 as a whole.
An operation reaction force control means 206 for controlling an operation reaction force of the accelerator pedal 203, a transmission control means (acceleration prevention means) 207 for controlling a reduction ratio of a transmission (not shown), and an engine rotation detection for detecting an engine speed. It comprises means 208 and the like.

Vehicle speed detecting means (vehicle speed sensor) 202 detects the traveling vehicle speed of the own vehicle from the number of rotations of the wheels and the like, and outputs the detected own vehicle speed to the control unit 205. The transmission control unit 207, which is an acceleration prevention unit, responds to a command signal from the control unit 205 and shift lever position (not shown) or the vehicle speed sensor 2
The gear ratio of the automatic transmission is controlled according to the conditions such as the vehicle speed detected at 02. The gear ratio of the automatic transmission can be set in five stages from the first speed to the fifth speed, or can be set and controlled by stepless speed change. The output shaft of the automatic transmission is connected to the drive wheels via the speed reducer and the drive shaft. The engine rotation detecting means 208 is composed of, for example, an engine rotation speed sensor. The engine rotation speed sensor 208 can detect the engine rotation speed by generating a pulse signal for each predetermined rotation speed of the engine and counting the number of generated pulses in a predetermined time. The engine speed detected by the engine speed sensor 208 is controlled by the control unit 205.
Is output to.

The inter-vehicle distance detecting means 201, the accelerator pedal operation amount detecting means 204, and the operation reaction force control means 206 have the same configurations and functions as those in the first embodiment.

As in the first embodiment described above, the control unit 205 causes the host vehicle to approach the preceding vehicle based on the inter-vehicle distance L between the host vehicle and the preceding vehicle detected by the inter-vehicle distance detecting means 201. If the preceding reaction vehicle that is the reference for the accelerator pedal operation reaction force control is no longer present, the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force is increased. To reduce.

In the second embodiment, when the accelerator pedal operation reaction force control is released, the depression amount of the accelerator pedal 203 increases if the depression force of the accelerator pedal 203 does not decrease as the accelerator pedal operation reaction force decreases. Gear ratio (gear ratio) to prevent the vehicle from accelerating
Change. The control unit 205 controls the vehicle speed detected by the vehicle speed sensor 202 and the engine speed sensor 208.
Based on the engine rotational speed detected by, the speed change ratio is calculated such that the own vehicle speed does not increase even if the accelerator pedal depression amount increases and the engine rotational speed increases. The control unit 205 outputs a command signal according to the calculated gear ratio to the transmission control means 207, and adjusts the gear ratio of the transmission so as to prevent acceleration of the host vehicle due to an increase in engine speed.

Hereinafter, a driving operation assisting control in the vehicle driving assisting device 200 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 7 is a flowchart showing a processing procedure of driving operation assisting control in the control unit 205 of the second embodiment. Note that, in FIG. 7, the same processing steps as those in the above-described first embodiment are denoted by the same step numbers, and detailed description thereof will be omitted.

If the ignition switch is turned on in step S10, the flag FLAG is set to 0 in step S20, and the inter-vehicle distance L is read in step S30. In step S40, the vehicle speed V of the host vehicle detected by the vehicle speed sensor 202 is read. In step S45, the engine speed R detected by the engine speed sensor 208 is read. In step S50, the accelerator pedal operation amount S is read.

If it is determined in step S60 that the inter-vehicle distance L <the predetermined inter-vehicle distance L0, the process proceeds to step S70. The processing procedure from step S70 to step S100 is the same as that of the first embodiment, and thus the description thereof is omitted.

If it is determined in step S60 that the inter-vehicle distance L is greater than or equal to the predetermined inter-vehicle distance L0, step S11
Go to 0. When it is determined in step S110 that the flag FLAG = 0, the process proceeds to step S120, in which the accelerator pedal operation reaction force control is released to reduce the accelerator pedal operation reaction force.

Simultaneously with the decrease of the accelerator pedal operation reaction force in step S120, in step S131
Based on the host vehicle speed V read in 40 and the engine speed R read in step S45, the host vehicle speed is also increased even when the accelerator pedal 203 is depressed and the engine speed increases due to a decrease in the accelerator pedal operation reaction force. A gear ratio that does not increase is calculated. A command signal (acceleration prevention command) corresponding to the calculated gear ratio is output to the gear ratio control means 207, and the gear ratio control means 207 changes the gear ratio of the transmission according to the command signal. As a result, even when the accelerator pedal operation reaction force increases and the operation amount of the accelerator pedal 203 increases, it is possible to prevent the vehicle from accelerating due to an increase in the engine speed.

In step S140, the current accelerator pedal operation amount S'is read, and in step S150, S '
It is determined whether −S ≦ predetermined amount S0. Step S
If a positive determination is made at 150, the driver selects the accelerator pedal 2
Since the depression amount of 03 is reduced, it is determined that there is no concern about acceleration of the host vehicle due to excessive depression of the accelerator pedal 203, and the process proceeds to step S161. Step S16
In step 1, a command signal is output to the transmission control means 207 so that the transmission gear ratio changed in step S131 is gradually restored. The transmission control means 207 controls the transmission so that the transmission ratio is gradually returned according to the command signal. In step S170, a flag FLAG = 0 indicating that the accelerator pedal operation reaction force control is not being performed is set.

When step S150 is negatively determined and then step S180 is positively determined, it is determined that the driver is depressing the accelerator pedal 203 in order to accelerate, and the process proceeds to step S161 to gradually change the transmission gear ratio. Return to. If step S180 is negatively determined (S
0 <S′−S ≦ S1), and the process returns to step S140. When step S100 is positively determined, this process ends.

FIG. 8 shows time-series changes in accelerator pedal depression amount, transmission reduction ratio, and own vehicle speed when transmission control is performed in the vehicle driving assistance system 200 according to the second embodiment. . It is assumed that the time when the accelerator pedal operation reaction force control is released is t0, and the time when the difference between the operation amount S ′ and the operation amount S becomes equal to the predetermined value S0.

As shown in FIG. 8, when the preceding vehicle is in the non-detection state and the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force decreases (time t = ta), the accelerator pedal operation amount increases. . Although the engine speed increases as the accelerator pedal operation amount increases, the vehicle speed can be kept substantially constant because the gear ratio of the transmission increases at the same time as the accelerator pedal operation reaction force decreases. The driver adjusts the depression amount of the accelerator pedal 203, and S'-
When S ≦ S0 (time t = ta), the gear ratio is gradually returned to the value before the start of the transmission control. Since the gear ratio decreases as the accelerator pedal operation amount decreases, it is possible to restore the gear ratio while keeping the own vehicle speed substantially constant.

<< Third Embodiment >> A vehicle driving assist system according to a third embodiment of the present invention will be described with reference to the drawings. Note that the differences from the above-described first and second embodiments will be mainly described here. FIG. 9 is a system diagram showing the configuration of the vehicle driving assistance device 300 according to the third embodiment of the present invention.

As shown in FIG. 9, the vehicle driving assistance device 300 includes an inter-vehicle distance detecting means (for example, a laser radar) 301 for detecting an inter-vehicle distance between the own vehicle and a preceding vehicle existing in front of the own vehicle. A vehicle speed detecting means (vehicle speed sensor) 302 for detecting the vehicle speed of the host vehicle and an accelerator pedal 303
Accelerator pedal operation amount detection means 30 for detecting the operation amount of
4, a control unit 305 that controls the entire vehicle drive assist device 300, an operation reaction force control unit 306 that controls the operation reaction force of the accelerator pedal 303, and a brake control unit (acceleration) that controls a braking device (not shown). Preventive means) 307
And a warning light 310 and the like.

Brake control means 30 as acceleration prevention means
7 is the output of the brake device by controlling the brake fluid pressure,
That is, the braking force of the vehicle can be adjusted. Warning light 3
Reference numeral 10 is provided inside the vehicle and informs the driver that the brake is applied by the brake control described later.

The structures and functions of the inter-vehicle distance detecting means 301, the vehicle speed detecting means 302, the accelerator pedal operation amount detecting means 304, and the operation reaction force control means 306 are the same as those in the above-described first and second embodiments. Is.

The control section 305 has the above-mentioned first and second sections.
As in the embodiment described above, based on the inter-vehicle distance L between the host vehicle and the preceding vehicle detected by the inter-vehicle distance detecting means 301, when the host vehicle is approaching the preceding vehicle, the accelerator pedal 3
When the operation reaction force of 03 is increased and the preceding vehicle serving as the reference of the accelerator pedal operation reaction force control does not exist, the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force is decreased.

In the third embodiment, when the accelerator pedal operation reaction force control is released, if the depression force of the accelerator pedal 303 is not decreased as the accelerator pedal operation reaction force decreases, the depression amount increases. Then, in order to prevent the own vehicle from accelerating, the braking force generated in the brake device is adjusted. The control unit 305 outputs a brake control command signal to the brake control unit 307 to cause the braking device to generate a braking force. In addition, the control unit 205
The warning light 310 is turned on to inform the driver that the brake control is being performed.

Hereinafter, driving operation assisting control in the vehicle driving operation assisting device 300 according to the third embodiment of the present invention will be described with reference to FIG. FIG. 10 is a flowchart showing a processing procedure of driving operation assisting control in the control unit 305 of the third embodiment. In addition, in FIG.
The same processing steps as those in the above-described first and second embodiments are designated by the same step numbers, and detailed description thereof will be omitted.

If the ignition switch is turned on in step S10, the flag FLAG is set to 0 in step S20, and the inter-vehicle distance L is read in step S30. The vehicle speed V of the host vehicle is read in step S40, and the accelerator pedal operation amount S is read in step S50.

If it is determined in step S60 that the inter-vehicle distance L <the predetermined inter-vehicle distance L0, the process proceeds to step S70. The processing procedure from step S70 to step S100 is the same as that of the first embodiment, and thus the description thereof is omitted.

If it is determined in step S60 that the inter-vehicle distance L is greater than or equal to the predetermined inter-vehicle distance L0, step S11
Go to 0. When it is determined in step S110 that the flag FLAG = 0, the process proceeds to step S120, in which the accelerator pedal operation reaction force control is released to reduce the accelerator pedal operation reaction force.

At the same time when the accelerator pedal operation reaction force is reduced in step S120, a command signal (acceleration prevention command) is output to the brake control means 307 to perform brake control in step S132. The brake control unit 307 causes the braking device to generate a braking force according to the command signal. As a result, even when the accelerator pedal operation reaction force increases and the operation amount of the accelerator pedal 303 increases, it is possible to prevent the own vehicle from being accelerated due to an increase in the engine speed.
Note that the braking force generated here may be a braking force that can prevent the own vehicle from accelerating when the accelerator pedal operating force increases and the engine speed increases, and an experiment or the like can be performed in advance. It is preferable to carry out and set. In step S135, the warning light 310 is turned on to notify the driver that the brake is applied by the brake control.

At step S140, the current accelerator pedal operation amount S'is read, and when the determination at step S150 is affirmative, the driver is reducing the depression amount of the accelerator pedal 303, so that the driver may have to depress the accelerator pedal 303 too much. It is determined that there is no concern about acceleration of the vehicle, and the process proceeds to step S162. In step S162, step S
A command signal is output to the brake control unit 307 so that the braking force generated in 132 is gradually released. The brake control means 307 controls the brake device so as to gradually return the braking force according to the command signal. In step S170, a flag FLAG = 0 indicating that the accelerator pedal operation reaction force control is not being performed is set.

When step S150 is negatively determined and then step S180 is positively determined, it is determined that the driver is depressing the accelerator pedal 303 in order to accelerate, and the process proceeds to step S162 to gradually reduce the braking force of the brake device. To cancel. When a negative determination is made in step S180 (S0 <S'-S≤S1), the process returns to step S140.
When step S100 is positively determined, this process ends.

FIG. 11 shows time-series changes in the accelerator pedal depression amount, the braking force of the brake device, and the vehicle speed when the brake control is performed in the vehicle driving assistance device 300 according to the third embodiment. It is assumed that the time when the accelerator pedal operation reaction force control is released is t0, and the time when the difference between the operation amount S ′ and the operation amount S becomes equal to the predetermined value S0.

As shown in FIG. 11, when the preceding vehicle is in the non-detection state and the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force decreases (time t = ta), the accelerator pedal operation amount increases. . Although the engine speed increases with an increase in the accelerator pedal operation amount, the braking force of the brake device is generated at the same time when the accelerator pedal operation reaction force decreases, so that the vehicle speed can be kept substantially constant. Since the braking force generated by the brake control is constant, if the driver adjusts the depression amount of the accelerator pedal 303, the vehicle speed also changes. When the accelerator pedal operation amount decreases and S′−S ≦ S0 (time t = ta), the braking force is gradually released. Since the braking force also decreases as the accelerator pedal operation amount decreases, it is possible to release the brake control without giving a feeling of strangeness or shock while keeping the vehicle speed substantially constant.

<< Fourth Embodiment >> A vehicle driving assist system according to a fourth embodiment of the present invention will be described with reference to the drawings. The differences from the above-described first to third embodiments will be mainly described here. FIG. 12 is a vehicle driving assist device 4 according to a fourth embodiment of the present invention.
It is a system diagram which shows the structure of 00.

As shown in FIG. 12, the vehicle drive assist device 400 is an inter-vehicle distance detecting means (for example, an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and a preceding vehicle existing in front of the host vehicle.
Laser radar) 401, accelerator pedal operation amount detection means 404 for detecting the operation amount of the accelerator pedal 403,
Control unit 4 that controls the entire vehicle driving assistance device 400
05, operation reaction force control means (acceleration prevention means) 406 for controlling the operation reaction force of the accelerator pedal 403, and operation reaction force detection means 40 for detecting the operation reaction force of the accelerator pedal 403.
It is composed of 2 etc.

The operation reaction force detecting means 402 can detect the operation reaction force of the accelerator pedal 403 by detecting the torque generated by the servo motor 31 shown in FIG. 2, for example. The configurations and functions of the inter-vehicle distance detecting means 401, the accelerator pedal operation amount detecting means 404, and the operation reaction force control means 406 are the same as those in the above-described first to third embodiments.

As in the first to third embodiments described above, the control unit 305 causes the host vehicle to precede based on the inter-vehicle distance L between the host vehicle and the preceding vehicle detected by the inter-vehicle distance detecting means 401. Accelerator pedal 403 when approaching the vehicle
When the preceding vehicle serving as the reference of the accelerator pedal operation reaction force control does not exist, the accelerator pedal operation reaction force control is released and the accelerator pedal operation reaction force is decreased. In the fourth embodiment, when the accelerator pedal operation reaction force control is released, the accelerator pedal operation reaction force F is gradually reduced until it reaches a predetermined value F0.

Hereinafter, the driving operation assisting control in the vehicle driving assisting device 400 according to the fourth embodiment of the present invention will be described with reference to FIG. FIG. 13 is a flowchart showing a processing procedure of driving operation assisting control in the control unit 405 of the fourth embodiment. Note that, in FIG. 13, the same processing steps as those in the above-described first to third embodiments are designated by the same step numbers, and detailed description thereof will be omitted.

If the ignition switch is turned on in step S10, the flag FLAG is set to 0 in step S20, and the inter-vehicle distance L is read in step S30. In step S46, the operation reaction force F of the accelerator pedal 403 detected by the operation reaction force detection means 402 is read,
In step S50, the accelerator pedal operation amount S is read.
If it is determined in step S60 that the inter-vehicle distance L <the predetermined inter-vehicle distance L0, the process proceeds to step S70. The processing procedure from step S70 to step S100 is the same as that of the first embodiment, and thus the description thereof is omitted.

If it is determined in step S60 that the inter-vehicle distance L is greater than or equal to the predetermined inter-vehicle distance L0, step S11
Go to 0. If it is determined in step S110 that the flag FLAG = 0, the process proceeds to step S126, and a command signal (acceleration prevention command) is output to the operation reaction force control unit 406 so as to reduce the accelerator pedal operation reaction force by ΔF. The operation reaction force control means 406 responds to the command signal by step S4.
The servo motor 31 is controlled so as to generate an operation reaction force that is reduced by ΔF from the operation reaction force F read in 6. In step S126, it is determined whether the operation reaction force F ′ reduced by ΔF in step S125 is less than a preset predetermined value F0. At this time, the control unit 405 stores the operation reaction force F ′ reduced by ΔF in a memory (not shown). If step S126 is answered in the negative, step S1
25, the operation reaction force of the accelerator pedal 403 is decreased from the operation reaction force F ′ by ΔF. The process of step S125 is repeated until it is determined positively in step S126 that the operation reaction force F ′ has become less than the predetermined value F0. In addition,
As the predetermined value F0, for example, a value corresponding to the operation reaction force before the operation reaction force is increased in step S80 is set. The reduction amount ΔF of the operation reaction force may be a value that does not give the driver a feeling of strangeness, and is preferably set in advance by an experiment or the like.

If the determination in step S126 is affirmative, a flag FLAG = 0 indicating that the accelerator pedal operation reaction force control is not being performed is set in step S170. When step S100 is positively determined, this process ends.

FIG. 14 shows the accelerator pedal operation reaction force, the accelerator pedal depression amount, and the vehicle speed when the accelerator pedal operation reaction force control is performed in the vehicle driving assistance system 400 according to the fourth embodiment. The series change is shown. The time when the preceding vehicle is in the non-detection state and the release of the accelerator pedal operation reaction force control is started is t0.

As shown in FIG. 14, when the release of the accelerator pedal operation reaction force control is started (time t = ta), the accelerator pedal operation reaction force is gradually decreased by ΔF until reaching a predetermined value F0. The accelerator pedal operation amount does not increase as the operation reaction force increases, and the accelerator pedal 403
Since the change in the operation amount of is slow, it is possible to prevent the own vehicle from accelerating. Furthermore, the driver himself / herself can control the vehicle speed by adjusting the depression amount of the accelerator pedal 403 in response to the slow change of the accelerator pedal operation reaction force.

As described above, according to the vehicle driving assist system according to the embodiment of the present invention, the traveling state between the host vehicle and the preceding vehicle, for example, the inter-vehicle distance L is detected, and the traveling state is detected according to the traveling state. The reaction force of the accelerator pedal is controlled. When the inter-vehicle distance L becomes less than the predetermined value L0 and the preceding vehicle is detected, the accelerator pedal operation reaction force is increased. When the inter-vehicle distance L to the preceding vehicle becomes equal to or greater than a predetermined value L0, or when the target preceding vehicle does not exist and the detection state of the preceding vehicle changes to the non-detection state (including the detection state of the distant preceding vehicle). In order to prevent the vehicle from accelerating, the engine output is reduced, the reduction ratio is increased, or the braking force is increased. As a result, even when the preceding vehicle is in the non-detection state, it is possible to prevent the own vehicle from accelerating. When the detection state of the preceding vehicle changes to the non-detection state, the increase of the accelerator pedal operation amount is stopped, but since the engine output etc. are adjusted as described above, when the accelerator pedal operation reaction force decreases. Also,
It is possible to prevent acceleration due to excessive depression of the accelerator pedal.

Since the operation reaction force of the accelerator pedal is gradually reduced when the preceding vehicle detection state is changed to the non-detection state, the accelerator pedal can be operated without adjusting the engine output, the reduction ratio or the braking force. It is possible to prevent acceleration due to excessive depression.

Although one embodiment of the vehicle driving operation assisting device has been described above, the vehicle driving assisting device according to the present invention is not limited to the above-described embodiment, and various modifications are possible. Is. For example, when the accelerator pedal operation reaction force is reduced in the fourth embodiment, the operation reaction force F is continuously reduced until it decreases to a predetermined value F0 without decreasing the operation reaction force F by ΔF. You may do it.

Further, in the first to third embodiments, in order to prevent the own vehicle from accelerating when the operation reaction force of the accelerator pedal decreases, the engine output, the gear ratio of the transmission, and the braking device control are controlled. Although the respective powers are adjusted, these adjustments may be performed and the operation reaction force generated on the accelerator pedal may be controlled. Although the accelerator pedal operation reaction force is reduced when the preceding vehicle detection state changes to the non-detection state in the above-described embodiment, the vehicle driving assistance device according to the present invention is limited to this. It is only necessary to prevent the acceleration of the own vehicle due to the depression of the accelerator pedal operation amount when the vehicle changes to the preceding vehicle non-detection state according to the traveling situation.

For example, when the preceding vehicle changes from the detection state to the non-detection state as described in the fourth embodiment,
The engine output, the gear ratio of the transmission, or the braking force of the brake device may be adjusted while gradually reducing the operation reaction force generated in the accelerator pedal. This allows
It is possible to prevent the accelerator pedal from being depressed too much and to prevent the own vehicle from accelerating. Further, when the preceding vehicle goes from the detection state to the non-detection state, the operation reaction force generated on the accelerator pedal may be increased to the maximum operation reaction force at a stroke and then returned. As a result, the driver can be informed of the change in the traveling state between the own vehicle and the preceding vehicle due to the change in the operation reaction force, and the acceleration of the own vehicle can be prevented because the engine output is adjusted.

As a vehicle distance detecting means, a CCD camera is installed in front of the vehicle instead of the laser radar, and the image captured by the CCD camera is subjected to image processing to detect the vehicle distance to the preceding vehicle. Good.

[Brief description of drawings]

FIG. 1 is a system diagram of a vehicle driving assistance device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of an operation reaction force control means.

FIG. 3 is a flowchart showing a processing procedure of a driving assistance control program in the vehicle driving assistance apparatus according to the first embodiment.

FIG. 4 is a view showing a relationship among an accelerator pedal operation reaction force, an accelerator pedal operation amount, a throttle gain, and an engine output torque in the first embodiment.

FIG. 5 is a diagram showing a relationship among an accelerator pedal operation amount, a throttle gain, and an engine output torque in the first embodiment.

FIG. 6 is a system diagram of a vehicle driving assistance device according to a second embodiment of the present invention.

FIG. 7 is a flowchart showing a processing procedure of a driving assistance control program in the vehicle driving assistance apparatus according to the second embodiment.

FIG. 8 is a diagram showing a relationship among an accelerator pedal operation amount, a reduction ratio, and an own vehicle speed in the second embodiment.

FIG. 9 is a system diagram of a vehicle driving operation assisting device according to a third embodiment of the present invention.

FIG. 10 is a flowchart showing a processing procedure of a driving assistance control program in the vehicle driving assistance device according to the third embodiment.

FIG. 11 is a diagram showing a relationship among an accelerator pedal operation amount, a braking force, and a vehicle speed in the third embodiment.

FIG. 12 is a system diagram of a vehicle driving operation assisting device according to a fourth embodiment of the present invention.

FIG. 13 is a flowchart showing a processing procedure of a driving assistance control program in a vehicle driving assistance device according to a fourth embodiment.

FIG. 14 is a diagram showing a relationship between an accelerator pedal operation reaction force, an accelerator pedal operation amount, and a vehicle speed in the fourth embodiment.

[Explanation of symbols]

101, 201, 301, 401: inter-vehicle distance detecting means 103, 203, 303, 403: accelerator pedal 104, 204, 304, 404: operation amount detecting means 105, 205, 305, 405: control unit 106, 206, 306, 406: Operation reaction force control means 107: Throttle valve control means 202, 302: vehicle speed detecting means 207: Transmission control means 208: Engine speed detection means 307: Brake control means 310: Warning light 402: Operation reaction force detection means

Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) F02D 45/00 330 F02D 45/00 330 3G301 F16H 61/02 F16H 61/02 3J552 G08G 1/16 G08G 1/16 E 5H180 // F16H 59:18 F16H 59:18 59:44 59:44 59:60 59:60 F term (reference) 3D044 AA25 AA27 AA41 AA45 AB01 AC03 AC05 AC16 AC22 AC26 AC59 AD02 AD04 AD12 AD17 AD21 AE14 AE22 3D046 BB18 GG02 GG06 HH05 HH17 HH20 HH23 HH36 JJ01 JJ13 MM34 3G065 CA21 DA05 EA04 GA10 GA11 GA31 GA46 GA50 3G084 BA01 BA05 CA04 CA05 CA06 CA08 DA04 DA11 EA11 EB13 FA04 FA05 EA06 DB01 CB07 DB06 CB01 DA16 CB01 DA14 CB10 DA14 CB06 DA01 CB06 DA11 BB06 FA12 3G301 JA04 JA35 KB02 KB10 LA03 NA07 ND03 ND05 PA11Z PE01Z PF01Z PF03Z 3J552 MA01 MA06 NA01 NB01 PA31 PA51 SB02 TA06 UA07 VB01W VB12W VD02W 5H180 AA01 CC03 CC14 LL04 LL06 LL09

Claims (10)

[Claims] 1. A traveling state detecting means for detecting traveling states of a host vehicle and a preceding vehicle existing in front of the host vehicle; traveling of the own vehicle and the preceding vehicle detected by the traveling state detecting means. An operation reaction force control means for controlling an operation reaction force generated on the accelerator pedal according to the state, an acceleration prevention means for preventing acceleration of the own vehicle, and a preceding vehicle detection state detected by the traveling state detection means. , A reaction force increase command is output to the operation reaction force control means so as to control the operation reaction force generated in the accelerator pedal, and the traveling state detected by the traveling state detection means changes from the preceding vehicle detection state to the preceding vehicle And a control means for outputting an acceleration prevention command to the acceleration prevention means so as to prevent acceleration of the own vehicle when the detection state or the detection state of a distant preceding vehicle is changed. Preparative vehicle driving assist system according to claim. 2. The vehicle driving assist system according to claim 1, wherein the acceleration prevention unit prevents acceleration of the host vehicle by adjusting an output of an engine. Operation auxiliary device. 3. The vehicle driving operation assisting device according to claim 1, wherein the acceleration prevention unit prevents acceleration of the host vehicle by adjusting a gear ratio of a transmission. Driving assistance device. 4. The vehicle driving assistance device according to claim 1, wherein the acceleration prevention unit prevents acceleration of the host vehicle by adjusting a braking force generated in a brake device. A vehicle driving assistance device. 5. A vehicle driving operation assisting device according to claim 2, wherein the control unit is configured such that the traveling state detected by the traveling state detecting unit is preceded by the preceding vehicle detected state. When the vehicle non-detection state or the distant preceding vehicle detection state is changed, the accelerator pedal operation reaction force for making the driver recognize that the preceding vehicle non-detection state is changed before the reaction force increase command is decreased. A driving operation assisting device for a vehicle, which outputs a command to the operation reaction force control means so as to generate. 6. The vehicle driving assistance system according to claim 1, wherein the acceleration prevention means adjusts an operation reaction force generated on the accelerator pedal by the operation reaction force control means, to thereby control the own vehicle. A vehicle drive assist device for preventing vehicle acceleration. 7. The vehicle driving assistance system according to claim 2, further comprising operation amount detection means for detecting an operation amount of the accelerator pedal, wherein the control means outputs the acceleration prevention command. After reducing the output of the engine by the acceleration prevention means,
When the operation amount of the accelerator pedal detected by the operation amount detecting means is decreased, a command is output to the acceleration preventing means to gradually restore the output of the engine, which is a driving operation assist for a vehicle. apparatus. 8. The vehicle driving assist system according to claim 3, further comprising operation amount detection means for detecting an operation amount of the accelerator pedal, wherein the control means outputs the acceleration prevention command. After increasing the gear ratio of the transmission by the acceleration prevention means,
When the operation amount of the accelerator pedal detected by the operation amount detection means decreases, a command is output to the acceleration prevention means to gradually restore the gear ratio of the transmission. Operation auxiliary device. 9. The vehicle driving assistance system according to claim 4, further comprising an operation amount detecting means for detecting an operation amount of the accelerator pedal, wherein the control means outputs the acceleration prevention command. After increasing the braking force of the brake device by the acceleration preventing means, when the operation amount of the accelerator pedal detected by the operation amount detecting means decreases, the braking force of the brake device is gradually returned. A driving assistance device for a vehicle, which outputs a command to the acceleration prevention means. 10. The vehicle driving assistance device according to claim 6, wherein the control device is configured to change the traveling state from the preceding vehicle detection state to a preceding vehicle non-detection state or a distant preceding vehicle detection state. A driving operation assisting device for a vehicle, which outputs a command to the operation reaction force control means so as to gradually reduce the operation reaction force generated in the accelerator pedal.