JP2011121509A - Vehicle control apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform drive assist control at a proper timing in a vehicle such as an automobile. <P>SOLUTION: A vehicle control apparatus includes: a situation detection means 130 that detects situations when the vehicle is stopped; a speed reduction detection means 140 that detects a speed reduction timing by a driver when the vehicle is stopped; a learning means 120 that learns the situation and the speed reduction timing by mutually associating them; a situation recognition means 150 that recognizes that the travelling vehicle becomes a state similar to the learned situation after being learned; and a driving assist control means 160 that performs a driving assist control according to the reduction timing associated with the learned situation when the state is recognized to be similar to the situation. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a technical field of a vehicle control device that executes driving support control in a vehicle such as an automobile.

  As this type of control device, there is known a device that detects road conditions such as curves, intersections, and temporary stop lines, or objects such as other vehicles and pedestrians, and automatically executes driving support control in a running vehicle. It has been. For example, in Japanese Patent Laid-Open No. 2004-228867, when a deceleration operation preferred by the driver is learned in advance and the deceleration by the driver is not started even though an object to be decelerated is detected in front of the host vehicle, driving is performed. A technique has been proposed in which an alarm is given when a person has overlooked an object to be decelerated.

JP 2006-96065 A

  However, in the above-described technology, since the timing for alarming is determined based only on the distance to the object to be decelerated and the road conditions, the alarm is sometimes performed at a timing that may cause the driver to feel uncomfortable. It is expected that Specifically, since the factors affecting the deceleration behavior such as the visibility of the object to be decelerated and the collision risk when performing the deceleration behavior are not taken into account, the alarm is given at an appropriate timing according to the situation. It is considered difficult to perform. As described above, the above-described technique has a technical problem that there is a possibility that it is not possible to appropriately determine the timing at which the deceleration action should be performed.

  The present invention has been made in view of the above-described problems, for example. A vehicle control device that can execute driving support control at an appropriate timing by learning a situation that affects a driver's deceleration behavior. The issue is to provide.

  In order to solve the above-described problems, a vehicle control apparatus according to the present invention detects a situation when a vehicle stops, and a deceleration detection means detects a deceleration timing by a driver when the vehicle stops. Learning means for performing learning by associating the situation and the deceleration timing with each other, situation recognition means for recognizing that, after the learning, the running vehicle is in a state close to the learned situation, and the situation Driving assistance control means for performing driving assistance control according to the deceleration timing associated with the learned situation when it is recognized that the state is close to.

  According to the vehicle control apparatus of the present invention, during the operation, the situation when the vehicle stops is first detected. Here, “when stopping” does not mean only the moment when the vehicle stops, but includes a wide range from the start of the deceleration action for stopping the vehicle to the actual stop of the vehicle. It is a concept. The “situation” is a concept of the situation of the host vehicle and the surroundings, including not only mere road information and vehicle speed, but also various parameters that affect the deceleration timing by the driver when stopping. .

  Subsequently, in the vehicle control device of the present invention, the deceleration timing by the driver when the vehicle stops is detected. That is, the timing of a deceleration operation (for example, operation of a brake pedal) performed to stop the vehicle is detected. The “timing” here is typically the timing at which the deceleration operation is started, but the timing at which the deceleration operation ends, the timing at which the operation amount of the deceleration operation is maximized, or the like may be detected. .

  In the present invention, in particular, the situation and deceleration timing when the detected vehicle stops are learned in association with each other. That is, it is learned in what situation and at what deceleration timing the deceleration is performed. According to such learning, it is possible to know the deceleration timing of the driver that changes depending on the situation.

  After the situation when the vehicle stops and the deceleration timing are learned, it is recognized that the current situation of the vehicle is close to the learned situation when the vehicle is running. Here, the “close state” means a state in which the current vehicle situation is close to the time when the deceleration timing associated with the learned situation (that is, the learned deceleration timing) can be applied. For example, it is recognized whether or not the state is a “close state” based on a threshold value set in advance for various parameters indicating the situation.

  When it is recognized that the current vehicle situation is close to the learned situation, driving support control is performed in accordance with the deceleration timing associated with the learned situation. In other words, the current vehicle situation is presumed to be a situation where it is preferable to decelerate at the learned deceleration timing, and the driving support control is performed so that appropriate deceleration can be performed.

  The driving support control is, for example, a control that issues a warning when the driver does not start deceleration even when the learned deceleration timing is reached, a control that automatically decelerates the vehicle in accordance with the learned deceleration timing, and a learned deceleration For example, control for presenting timing to the driver. In addition, it is preferable that a threshold value for recognizing the “close state” described above is appropriately set depending on what kind of driving support control is performed.

  In the present invention, since the deceleration timing is learned in association with the situation when the vehicle stops, the accuracy of the deceleration timing used for driving support control is extremely high according to the situation. Therefore, it is possible to prevent the driving support control from being performed at a timing that should not be performed or at a timing that gives the driver an uncomfortable feeling.

  As described above, according to the vehicle control apparatus of the present invention, driving support control can be executed at an appropriate timing by learning a situation that affects the driver's deceleration action.

  In one aspect of the vehicle control apparatus of the present invention, the deceleration detection unit determines that the vehicle is to be stopped when the distance to the stop target is within a predetermined range, and detects the deceleration timing.

  According to this aspect, since the vehicle is determined to stop when the distance to the deceleration target is within a predetermined range, it is accurately determined whether or not the deceleration action by the driver is a deceleration for stopping the vehicle. Can be determined. The “stop target” here means a point or object that is a target to stop the vehicle, such as a curve, an intersection, a temporary stop line in front of the host vehicle, another vehicle, a pedestrian, or the like. It is. Further, the “predetermined range” is a threshold value for determining whether or not the vehicle is stopped, and a value obtained in advance theoretically, experimentally or empirically is set.

  By accurately determining whether or not the vehicle is decelerating for stopping the vehicle, it is possible to appropriately learn the situation and deceleration timing when the vehicle stops. Therefore, it becomes possible to perform driving support control more suitably.

  In another aspect of the vehicle control apparatus of the present invention, the deceleration detection means determines that the vehicle is to be stopped and detects the deceleration timing when no reason for deceleration other than the stop is found.

  According to this aspect, since it is determined that the vehicle stops when no reason for deceleration other than the stop is found, it is accurately determined whether or not the deceleration action by the driver is a deceleration for stopping the vehicle. Can do. Note that the “reason for deceleration” here is a reason for decelerating or a reason that the driver can predict that the vehicle will decelerate. This is a broad concept including various conditions such as vehicle speed.

  By accurately determining whether or not the vehicle is decelerating for stopping the vehicle, it is possible to appropriately learn the situation and deceleration timing when the vehicle stops. Therefore, it becomes possible to perform driving support control more suitably.

  In another aspect of the vehicle control apparatus of the present invention, the deceleration detection means determines that the vehicle is to be stopped when the speed of the vehicle becomes zero, and detects the deceleration timing.

  According to this aspect, since it is determined that the vehicle stops when the speed of the vehicle becomes zero, it is possible to accurately determine whether the deceleration action by the driver is a deceleration for stopping the vehicle. Can do. In this aspect, it cannot be determined whether or not the vehicle stops at the time when the driver actually decelerates. For this reason, the deceleration timing detected during deceleration is temporarily stored in the memory or the like of the apparatus, and is detected as the deceleration timing when the vehicle is stopped when the vehicle speed becomes zero.

  By accurately determining whether or not the vehicle is decelerating for stopping the vehicle, it is possible to appropriately learn the situation and deceleration timing when the vehicle stops. Therefore, it becomes possible to perform driving support control more suitably.

  In another aspect of the vehicle control apparatus of the present invention, the deceleration detection means determines that the vehicle is stopped based on an input operation of the driver, and detects the deceleration timing.

  According to this aspect, since it is determined that the vehicle is stopped based on the input operation of the driver, it is possible to accurately determine whether or not the deceleration action by the driver is a deceleration for stopping the vehicle. . Specifically, for example, before the driver starts the deceleration action, it is input that the deceleration action to be performed is a deceleration for stopping. Alternatively, during the deceleration action, it may be input that the deceleration action currently being performed is a deceleration for stopping, or the deceleration action performed after the termination of the deceleration action is a deceleration for stopping. May be entered.

  By accurately determining whether or not the vehicle is decelerating for stopping the vehicle, it is possible to appropriately learn the situation and deceleration timing when the vehicle stops. Therefore, it becomes possible to perform driving support control more suitably.

  In another aspect of the vehicle control apparatus of the present invention, the situation detection means detects road information as the situation.

  According to this aspect, for example, road information such as the type of the stop target, the gradient of the road on which the vehicle is traveling, and the curvature is detected as a learning situation. Therefore, in the learning means, the detected road information and the deceleration timing by the driver are learned in association with each other.

  According to the inventor's research, it has been found that the driver of the vehicle changes the deceleration timing according to the road information. Therefore, if the road information is detected as a situation as described above, it is possible to suitably execute the driving support control.

  In another aspect of the vehicle control apparatus of the present invention, the situation detection means detects the visibility of the stop target by the driver as the situation.

  According to this aspect, for example, the visibility of the stop target that can be estimated from the visibility of the stop line, the presence / absence of a crosswalk, the presence / absence of an intersection, the presence / absence of a pedestrian, the presence / absence of a stopped vehicle, etc. is detected as a learning situation. The Therefore, the learning means learns the detected visibility of the stop target and the deceleration timing by the driver in association with each other.

  According to the research of the present inventor, it has been found that the driver of the vehicle changes the deceleration timing according to the visibility of the stop target. Therefore, if the visibility of the stop target is detected as a situation as described above, it is possible to suitably execute the driving support control.

  In another aspect of the vehicle control apparatus of the present invention, the situation detection means detects a collision risk when the vehicle stops as the situation.

  According to this aspect, for example, the collision risk at the time of stoppage that can be estimated from the presence / absence of a stop vehicle on the own lane, the type of the stop vehicle on the own lane, or the like is detected as a learning situation. Therefore, in the learning means, the detected collision risk at the time of stop and the deceleration timing by the driver are learned in association with each other.

  According to the inventor's research, it has been found that the driver of the vehicle changes the deceleration timing according to the collision risk at the time of stopping. Therefore, if the collision risk at the time of stop is detected as a situation as described above, it is possible to suitably execute the driving support control.

  In another aspect of the vehicle control apparatus of the present invention, the vehicle control device further includes driver recognition means for recognizing the driver, and the learning means learns for each driver.

  According to this aspect, when a plurality of drivers use the same vehicle, the driver driving the vehicle can be recognized by, for example, face authentication or key registration. The situation when the vehicle stops and the learning of the deceleration timing are performed for each driver. Therefore, subsequent driving support control is also performed for each driver.

  According to the research of the present inventor, it has been found that the deceleration timing when the vehicle stops is different for each driver even if the situation is the same. Therefore, as described above, if the situation and deceleration timing when the vehicle stops for each driver are learned, it is possible to more suitably execute the driving support control.

  The effect | action and other gain of this invention are clarified from the form for implementing invention demonstrated below.

1 is a block diagram illustrating an overall configuration of a vehicle control device according to an embodiment. It is a flowchart which shows the flow of learning operation | movement of the control apparatus of the vehicle which concerns on embodiment. It is a top view which shows the condition in case a vehicle stops independently. It is a top view which shows the condition in case a vehicle stops in the state in which a stop vehicle exists in an adjacent lane. It is a top view which shows the condition in case a vehicle stops in the state in which a stop vehicle exists in the same lane. It is a graph which shows statistically the relationship between the condition at the time of a vehicle stopping, and the timing of brake-on for every driver | operator. It is a graph which shows statistically the relationship between the situation at the time of a vehicle stopping, and the timing of accelerator-off for every driver | operator. It is a flowchart which shows the flow of the driving assistance operation | movement of the control apparatus of the vehicle which concerns on embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, the configuration of the vehicle control apparatus according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the overall configuration of the vehicle control apparatus according to this embodiment.

  1, the vehicle control apparatus according to the present embodiment includes a driver recognition unit 110, a learning unit 120, a situation detection unit 130, a deceleration detection unit 140, a situation recognition unit 150, and a driving support control unit 160. And is configured.

  The driver recognition unit 110 is an example of the “driver recognition means” of the present invention, and recognizes the driver of the vehicle by face authentication, key registration, or the like, for example. By providing the driver recognition unit 110, it is possible to recognize the current driver when multiple people use the same vehicle.

  The learning unit 120 is an example of the “learning unit” of the present invention, and learns by associating the situation location information detected by the situation detection unit 130 described later and the driver's deceleration action detected by the deceleration detection unit 140 with each other. To do. The learning unit 120 stores the learning content in, for example, an HDD (Hard Disc Drive) included in a car navigation system mounted on a vehicle, a server on the center side connected through communication, or the like.

  The situation detection unit 130 is an example of the “situation detection unit” according to the present invention, and detects the situation of the traveling vehicle and the surrounding situation. The situation detection unit 130 includes, for example, an in-vehicle camera, a radar, a GPS (Global Positioning System), and the like. In addition, the situation detection unit 130 includes a determination unit that determines whether or not the vehicle stops, and detects the situation when it is determined that the vehicle stops. However, it may be configured such that the situation can be detected constantly or at a predetermined interval, by a driver's operation or the like.

  The deceleration detection unit 140 is an example of the “deceleration detection unit” of the present invention, and detects deceleration behavior by the driver. The deceleration detection unit 140 includes sensors or the like attached to various parts that are operated during a deceleration action by the driver, and detects, for example, the timing of brakes, accelerators, and steering operations. Further, not only the operation timing but also the operation amount may be detected. In particular, the deceleration detection unit 140 includes a determination unit that determines whether or not the vehicle stops, as with the situation detection unit 130 described above, and detects the deceleration timing when the vehicle stops. However, it may be configured such that the deceleration timing can be detected constantly or at a predetermined interval, by a driver's operation or the like.

  The situation recognition unit 150 is an example of the “situation recognition unit” of the present invention, and includes, for example, an arithmetic circuit, a memory, and the like. The situation recognition unit 150 recognizes whether or not the situation currently detected by the situation detection unit 130 is the same as or similar to the learned situation. For the recognition in the situation recognition unit 150, for example, a preset threshold value or the like is used.

  The driving support control unit 160 is an example of the “driving support control unit” of the present invention, and performs driving support such as alarm and brake control using the relationship between the situation learned by the learning unit 120 and the deceleration timing. . The driving support control unit 160 is linked to, for example, an ECU (Engine Control Unit), and is configured to be able to control the behavior of each part of the vehicle.

  Next, the learning operation of the vehicle control device according to the present embodiment will be described with reference to FIGS. FIG. 2 is a flowchart showing the flow of the learning operation of the vehicle control apparatus according to this embodiment. 3 is a top view showing a situation when the vehicle stops alone, and FIG. 4 is a top view showing a situation when the vehicle stops in a state where a stopped vehicle exists in the adjacent lane. FIG. 5 is a top view showing a situation when the vehicle stops in a state where a stopped vehicle exists in the same lane. FIG. 6 is a graph that statistically shows the relationship between the situation when the vehicle stops and the brake-on timing for each driver. FIG. 7 shows the situation when the vehicle stops and the accelerator-off timing. Is a graph that statistically shows the relationship for each driver.

  In FIG. 2, during the learning operation of the vehicle control device according to the present embodiment, first, the driver recognition unit 110 recognizes the driver of the vehicle (step S01). That is, it is recognized who is currently driving the vehicle. When the driver is recognized, the information is output to the learning unit 120, and thereafter the recognized learning operation for each driver is performed. Such driver recognition operation is performed, for example, when the engine is started.

  While the vehicle is traveling, the deceleration detection unit 140 monitors the start of deceleration action by the driver (step S02). Here, when a deceleration action by the driver is detected (step S02: YES), it is determined whether or not the detected deceleration action is a deceleration action for stopping the vehicle (step S03).

  The deceleration detection unit 140 determines that the vehicle stops when, for example, a curve in front of the host vehicle, an intersection, a temporary stop line, or a distance to a deceleration target such as another vehicle or a pedestrian is within a predetermined range. The predetermined range is a threshold value for determining whether or not the vehicle is stopped, and a value obtained in advance theoretically, experimentally or empirically is set.

  The deceleration detection unit 140 may determine that the vehicle is to be stopped when no reason for deceleration other than the stop (for example, the reason for decelerating the vehicle estimated from the presence or absence of the preceding vehicle or the upper limit speed) is not found. Good. Further, it may be determined that the vehicle has stopped when the speed of the vehicle becomes zero. That is, the determination may be made after the vehicle has actually stopped. In this case, the deceleration timing detected during deceleration is temporarily stored in a storage device such as a memory until the determination is completed.

  The deceleration detection unit may further determine that the vehicle is stopped based on the driver's input operation. Specifically, for example, before the driver starts the deceleration action, it is input that the deceleration action to be performed is a deceleration for stopping, or the deceleration action that has been performed is stopped after the deceleration action is terminated. You may enter that it was a slowdown for.

  If it is determined that the detected deceleration action is a deceleration action for stopping the vehicle (step S03: YES), the timing of the detected deceleration action is detected as the deceleration timing (step S04). ).

  Subsequently, in the vehicle control apparatus according to the present embodiment, the situation detection unit 130 determines whether or not there is a stopped vehicle in front of the host vehicle (step S05). For example, in the situation as shown in FIG. 3, it is determined that there is no stopped vehicle ahead of the host vehicle 200 (specifically, up to the stop line 200 to be stopped) (step S05: NO), The situation detection unit 130 sets a pattern when the vehicle stops alone (step S06). That is, the situation detection unit 130 detects the situation that the host vehicle 200 is alone.

  When it is determined that there is a stopped vehicle ahead of the host vehicle (step S05: YES), it is determined whether the stopped vehicle is present in the same lane as the host vehicle (step S07). For example, in the situation shown in FIG. 4, there is no stop vehicle in the same lane as the host vehicle 200 travels (specifically, there is a stop vehicle 300 ahead, (Step S07: NO), and the situation detection unit 130 sets a pattern when there is a stopped vehicle in another lane (step S08). That is, the situation detection unit 130 detects a situation in which the stop vehicle 300 exists in the lane adjacent to the host vehicle 200.

  On the other hand, in the situation as shown in FIG. 5, it is determined that there is a stopped vehicle in the same lane as the own vehicle 200 travels (step S07: YES). A pattern when there is a stopped vehicle is set (step S09). That is, the situation detection unit 130 detects a situation in which the stopped vehicle 300 exists in the lane in which the host vehicle 200 travels.

  When the situation at the time of stopping is detected as described above, the deceleration timing detected in step S04 and the situations detected in step S06, step S08, and step S09 are learned in association with each other (step S10). ). That is, the deceleration timing by the driver is stored for each situation when stopping.

  In FIG. 6, according to the research of the present inventor, it has been found that the timing at which the brake operation by the driver is started has a tendency corresponding to the situation. Specifically, when the own vehicle 200 as shown in FIG. 3 stops alone, when the stopped vehicle 300 exists in the adjacent lane as shown in FIG. 4, the stopped vehicle in the own lane as shown in FIG. The timing of starting the brake operation is late in the order in which 300 is present. That is, considering the three types of situations shown in FIG. 3 to FIG. 5, the timing of the brake operation is the slowest when the host vehicle 200 stops alone, and the brake operation is performed when the stop vehicle 300 exists in the host lane. The timing is the earliest. Such a tendency can be grasped as a generally similar tendency although there are some differences among the drivers A, B, and C.

  In FIG. 7, it has been found that the timing at which the driver's accelerator operation is released also has a tendency corresponding to the situation. However, the timing at which the accelerator operation is released is different from the timing at which the brake operation shown in FIG. Specifically, the driver A has the earliest accelerator release timing when the host vehicle 200 as shown in FIG. 3 stops alone, and the stopped vehicle 300 exists in the adjacent lane as shown in FIG. In this case, when the stop vehicle 300 exists in the own lane as shown in FIG. 5, the accelerator release timing is delayed. The driver B releases the accelerator at approximately the same timing when the own vehicle 200 as shown in FIG. 3 stops alone, or when the stopped vehicle 300 exists in the adjacent lane as shown in FIG. When the stop vehicle 300 exists in the own lane as shown in FIG. 5, the accelerator release timing is the earliest. Similarly to the start timing of the brake operation shown in FIG. 6, when the own vehicle 200 as shown in FIG. 3 stops alone, the driver C has the stopped vehicle 300 in the adjacent lane as shown in FIG. 4. In this case, the timing at which the accelerator is released is delayed in the order in which the stopped vehicle 300 exists in the own lane as shown in FIG.

  As shown in FIG. 7, when the detected deceleration behavior has a different tendency depending on the driver, the relationship between the situation and the deceleration timing is accurate if learning the deceleration behavior by different drivers collectively. May not be able to learn. However, in the vehicle control apparatus according to the present embodiment, the driver is recognized by the driver recognition unit 110 (see step S01), and therefore data of different drivers is learned separately. Therefore, even in the case of a deceleration action such as the accelerator release timing shown in FIG. 7, the relationship between the situation and the deceleration timing can be accurately learned.

  Note that the above-described learning operation can be performed repeatedly to improve data accuracy. For this reason, it is possible to more suitably execute driving support control, which will be described later, by accumulating sufficient data through as much learning as possible.

  Next, the driving support control operation of the vehicle control apparatus according to the present embodiment will be described with reference to FIG. FIG. 8 is a flowchart showing the flow of the driving support operation of the vehicle control apparatus according to this embodiment.

  In FIG. 8, at the time of the driving support control operation of the vehicle control device according to the present embodiment, first, the driver recognition unit 110 recognizes the driver of the vehicle (step S11). That is, as in step S01 during the learning operation, it is recognized who is currently driving the vehicle. When the driver is recognized, the information is output to the situation recognizing unit 150, and the situation recognition and driving support control for each recognized driver are performed thereafter.

  Subsequently, the situation detection unit 130 determines whether or not the traveling vehicle is approaching the deceleration target point (step S12). And if it determines with the vehicle approaching the deceleration object point (step S12: YES), the condition detection by the condition detection part 130 will be performed (step S13).

  When the situation is detected, the situation recognition unit 150 determines whether or not the detected situation is a learned situation (step S14). Here, when it is determined that the detected situation is a learned situation (step S14: YES), a deceleration timing corresponding to the learning result is calculated (step S15). Specifically, the deceleration timing associated with the situation learned as the same or similar situation as the current situation is calculated as the deceleration timing corresponding to the current situation.

  When the deceleration timing is calculated, driving support control is performed based on the calculated deceleration timing (step S16). For example, control that issues a warning when the driver does not start deceleration even when the calculated deceleration timing is reached, control that automatically decelerates the vehicle according to the calculated deceleration timing, and always calculates the calculated deceleration timing The control etc. which are shown to a driver | operator as a deceleration timing are performed.

  Particularly in the vehicle control device according to the present embodiment, the deceleration timing is learned in association with the situation when the vehicle stops by the learning operation described above. For this reason, the accuracy of the calculated deceleration timing (that is, the deceleration timing used for driving support control) is extremely high depending on the situation. Therefore, it is possible to prevent the driving support control from being performed at a timing that should not be performed or at a timing that gives the driver an uncomfortable feeling.

  In the present embodiment, the case where the presence / absence and position of a stopped vehicle in front of the host vehicle is detected as a situation has been described. However, for example, the size and type of the vehicle may be detected as the situation. Or you may make it detect various road information, the visibility of a stop line (for example, a color and a blur condition), the presence or absence of a pedestrian crossing, the presence or absence of an intersection, the presence or absence of a pedestrian as a situation. Typically, by detecting a plurality of parameters as situations, it is possible to calculate a more accurate deceleration timing.

  As described above, according to the vehicle control apparatus of the present embodiment, driving support control can be executed at an appropriate timing by learning a situation that affects the driver's deceleration behavior.

  The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and control of the vehicle accompanying such changes. The apparatus is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 110 ... Driver recognition part, 120 ... Learning part, 130 ... Situation detection part, 140 ... Deceleration detection part, 150 ... Situation recognition part, 160 ... Driving assistance control part

Claims (9)

Situation detection means for detecting the situation when the vehicle stops;
Deceleration detection means for detecting a deceleration timing by the driver when the vehicle stops;
Learning means for learning the situation and the deceleration timing in association with each other;
After the learning, a situation recognition means for recognizing that the running vehicle is in a state close to the learned situation;
Driving support control means for performing driving support control according to the deceleration timing associated with the learned situation when it is recognized that the situation is close to the situation. apparatus.   2. The vehicle control device according to claim 1, wherein the deceleration detection unit determines that the vehicle stops when the distance to the stop target is within a predetermined range, and detects the deceleration timing. 3. .   3. The vehicle control device according to claim 1, wherein the deceleration detection unit determines that the vehicle is stopped when no reason for deceleration other than the stop is found, and detects the deceleration timing. 4.   The said deceleration detection means judges that the said vehicle stops when the speed of the said vehicle becomes zero, and detects the said deceleration timing, It is any one of Claim 1 to 3 characterized by the above-mentioned. Vehicle control device.   5. The vehicle according to claim 1, wherein the deceleration detection unit determines that the vehicle stops based on an input operation of the driver, and detects the deceleration timing. 6. Control device.   The vehicle control apparatus according to claim 1, wherein the situation detection unit detects road information as the situation.   The vehicle control device according to claim 1, wherein the situation detection unit detects visibility of a stop target by the driver as the situation.   8. The vehicle control device according to claim 1, wherein the situation detection unit detects a collision risk when the vehicle stops as the situation. A driver recognition means for recognizing the driver;
The vehicle learning apparatus according to any one of claims 1 to 8, wherein the learning means performs learning for each driver.

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