JP2012108653A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device that improves safety in driving a vehicle and driving skill of a driver.SOLUTION: The driving support device 1 for supporting driving operation of a driver who drives a vehicle includes: a traveling state detection unit 13 for detecting a traveling state of the vehicle; an allowable operation range calculating unit 16 for calculating an allowable operation range of the vehicle on the basis of the traveling state detected by the traveling state detection unit 13; a deviation determining unit 17 for determining whether the driving operation amount D of the driver is a deviation operation amount which deviates from the allowable operation range A; and a vehicle control unit 18 for controlling the vehicle on the basis of a limit operation amount which is an operation amount closest to the deviation operation amount within the allowable operation range A when the deviation determining unit 17 determines that the driving operation amount D of the driver is the deviation operation amount.

Description

  The present invention relates to a driving support device that supports driving operation of a vehicle by a driver.

  Conventionally, as a driving support device, for example, a device described in JP-A-2005-250564 is known. The driving support apparatus described in this publication stores driving operation reference data serving as a reference for safe driving corresponding to a travel route of map data. In this driving support device, it is determined whether or not the driving operation of the driver deviates from the safe driving range based on the reference data, and when the driving operation of the driver deviates from the safe driving range, the vehicle is Switch from manual operation mode to automatic operation mode. In the automatic operation mode, the optimum driving operation based on the reference data is automatically performed.

JP 2005-250564 A

  However, in the conventional driving support device described above, when the driving operation of the driver deviates from the range of safe driving, the driving mode is switched to the automatic driving mode, so the driving operation of the driver is not reflected, and the driver has a driving skill. Can't experience what's missing. For this reason, the conventional driving support apparatus has a problem that it does not lead to improvement of the skill of the driver.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a driving support apparatus that can improve the skill of a driver while improving the safety of driving the vehicle.

  In order to solve the above-described problems, the present invention provides a driving support device that supports a driving operation of a vehicle by a driver, and includes a driving condition detection unit that detects a driving condition of the vehicle, and a driving condition detected by the driving condition detection unit. Based on the above, an operation allowable range calculating means for calculating the operation allowable range of the vehicle, a deviation determining means for determining whether or not the driver's driving operation amount deviates from the operation allowable range, and a deviation determination Vehicle control means for controlling the vehicle based on a range limit operation amount that is an operation amount closest to the departure operation amount within an operation allowable range when the means determines that the driving operation amount of the driver is a departure operation amount; It is characterized by providing.

  According to the driving support device according to the present invention, when the driving operation amount of the driver deviates from the operation allowable range, the vehicle is controlled based on the range limit operation amount instead of the driving operation amount. Reflection in vehicle control can be avoided, and vehicle driving safety can be improved. In addition, according to this driving support device, when the driving operation amount deviates from the operation allowable range, it is not automatically operated with the reference operation amount as in the prior art, but the deviation operation amount within the operation allowable range is the largest. Since the vehicle is controlled based on the range limit operation amount that is a close operation amount, the result of the driving operation is fed back to the driver, and the driver can recognize the low driving skill. Therefore, according to this driving support device, it is possible to improve the skill of the driver while improving the safety of driving the vehicle.

  In the driving support device according to the present invention, when the departure determining means determines that the driving operation amount of the driver is the departure operation amount, the operation amount for calculating the operation amount ratio between the departure operation amount and the range limit operation amount. The vehicle control apparatus further includes a ratio calculation unit, and the vehicle control device determines a range limit when the departure operation determination unit determines that the driver operation operation amount is a departure operation amount when the operation amount ratio calculation unit calculates the operation amount ratio. It is preferable to control the vehicle based on an operation amount in which the operation amount is limited according to the operation amount ratio.

  According to the driving support apparatus according to the present invention, when vehicle control is performed after determining that the driving operation amount of the driver is the deviation operation amount, the output of the range limit operation amount after that corresponds to the operation amount ratio. By adding a restriction, the driver can recognize how far he has deviated. Therefore, according to this driving support apparatus, the driver can recognize his / her driving skill more accurately, and thus can effectively improve the driver's skill.

  In the driving support device according to the present invention, when the departure determining means determines that the driving operation amount of the driver is the departure operation amount, the operation amount for calculating the operation amount ratio between the departure operation amount and the range limit operation amount. The vehicle control device further includes a ratio calculation unit, and when the operation amount ratio calculation unit calculates the operation amount ratio, the departure operation determination unit determines that the driver operation operation amount is not the departure operation amount. It is preferable to control the vehicle based on a limited operation amount in which the driving operation amount is limited according to the operation amount ratio.

  According to the driving support apparatus according to the present invention, when vehicle control is performed with the driver's driving operation amount determined to be a deviation operation amount, the output of the subsequent driving operation amount is limited according to the operation amount ratio. By adding, the driver can recognize how far he has deviated. Therefore, according to this driving support apparatus, the driver can recognize his / her driving skill more accurately, and thus can effectively improve the driver's skill.

  In the driving support device according to the present invention, when the operation amount ratio calculating unit calculates the operation amount ratio, the operation amount ratio is calculated based on at least one of the driving time of the vehicle, the number of times the vehicle engine is started, and the operation amount ratio. The vehicle control device further includes a correction operation amount ratio calculating means for calculating a correction operation amount ratio having the above values. When the correction operation amount ratio calculation means calculates the correction operation amount ratio, the vehicle operation device determines that the departure operation determination means is the driver. When it is determined that the driving operation amount is a deviation operation amount, it is preferable to control the vehicle based on the operation amount in which the range limit operation amount is limited according to the correction operation amount ratio.

  According to the driving support device according to the present invention, even if it is determined that the driving operation amount of the driver is the departure operation amount, the skill improvement is expected by the accumulation of the subsequent driving experience. By relaxing the restriction on the output in accordance with the driving time of the vehicle and the number of engine starts, the driver can be made aware of his own skill improvement. Therefore, according to this driving support device, it is possible to prompt the driver to improve his / her skill by recognizing his / her own skill improvement.

  Further, in the driving support device according to the present invention, when the operation amount ratio calculating unit calculates the operation amount ratio, the operation amount ratio is calculated based on at least one of the driving time of the vehicle, the number of start times of the engine of the vehicle, and the operation amount ratio. A correction operation amount ratio calculating means for calculating a correction operation amount ratio having a value equal to or greater than the amount ratio; and the vehicle control device is configured such that when the correction operation amount ratio calculation means calculates the correction operation amount ratio, the departure operation determining means When it is determined that the driving operation amount of the driver is not the departure operation amount, it is preferable to control the vehicle based on a limited operation amount in which the driving operation amount is limited according to the correction operation amount ratio.

  According to the driving support apparatus according to the present invention, even if it is determined that the driving operation amount of the driver is a deviation operation amount, the skill improvement is expected by the accumulation of the driving experience thereafter, so the output of the driving operation amount By relaxing the restriction on the vehicle according to the driving time of the vehicle and the number of engine starts, it is possible to make the driver recognize his own skill improvement. Therefore, according to this driving support device, it is possible to prompt the driver to improve his / her skill by recognizing his / her own skill improvement.

  In the driving support device according to the present invention, the lane departure traveling pattern calculation means for calculating the lane departure traveling pattern that the vehicle can take based on the traveling condition detected by the traveling condition detection means, and the calculation of the lane departure traveling pattern calculation means. Lane departure traveling determination means for determining whether or not the vehicle performs lane departure traveling based on the lane departure traveling pattern and the amount of driving operation of the driver, and the vehicle control device determines lane departure traveling determination. When the means determines that the vehicle deviates from the lane, the departure determination means determines the vehicle based on the driver's driving operation amount even when the driver determines that the driving operation amount is the departure operation amount. It is preferable to control.

  In the driving support device according to the present invention, the amount of driving operation is limited to the allowable operating range in the lane until the vehicle deviates from the lane intentionally for out-in-out driving or vehicle overtaking on a curve. Since it is not appropriate to do so, vehicle control based on the amount of driving operation of the driver is performed when it is determined that the vehicle travels away from the lane. Therefore, according to this driving support device, it is possible to allow the driver to intentionally deviate from the lane while improving the safety of driving the vehicle.

  The driving support apparatus according to the present invention further includes lane departure traveling pattern calculation means for calculating a lane departure traveling pattern that the vehicle can take based on the traveling situation detected by the traveling condition detection means, and the operation allowable range calculating means includes It is preferable to calculate an operation allowable range when the vehicle travels in the lane and an operation allowable range when the vehicle travels along the lane departure traveling pattern.

  In the driving support apparatus according to the present invention, the operation allowable range including the lane departure traveling pattern that the vehicle can take is calculated, so that the driver can intentionally depart from the lane within the operation allowable range. In addition, if the vehicle is erroneously driven during lane departure, it is determined that the vehicle has deviated from the allowable operating range, and the vehicle is controlled. Therefore, safety can be improved even during lane departure.

  ADVANTAGE OF THE INVENTION According to this invention, a driver | operator's skill improvement can be promoted, aiming at the safety | security improvement of a vehicle drive.

It is a block diagram which shows the driving assistance device which concerns on 1st Embodiment. It is a functional lineblock diagram showing the driving support device concerning a 1st embodiment. It is a figure for demonstrating the driving assistance by the driving assistance device which concerns on 1st Embodiment. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 1st Embodiment. It is a block diagram which shows the driving assistance device which concerns on 2nd Embodiment. It is a functional block diagram which shows the driving assistance device which concerns on 2nd Embodiment. It is a figure for demonstrating the driving assistance by the driving assistance device which concerns on 2nd Embodiment. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 2nd Embodiment. It is a block diagram which shows the driving assistance device which concerns on 3rd Embodiment. It is a functional block diagram which shows the driving assistance device which concerns on 3rd Embodiment. It is a figure for demonstrating the driving assistance by the driving assistance device which concerns on 3rd Embodiment. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 3rd Embodiment. It is a block diagram which shows the driving assistance device which concerns on 4th Embodiment. It is a functional block diagram which shows the driving assistance device which concerns on 4th Embodiment. It is a schematic plan view for showing the situation where vehicles run out-in-out. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 4th Embodiment. It is a block diagram which shows the driving assistance device which concerns on 5th Embodiment. It is a functional block diagram which shows the driving assistance device which concerns on 5th Embodiment. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 5th Embodiment. It is a block diagram which shows the driving assistance device which concerns on 6th Embodiment. It is a functional block diagram which shows the driving assistance device which concerns on 6th Embodiment. It is a schematic plan view for showing the situation where vehicles run out-in-out. It is a flowchart which shows the control procedure of the driving assistance device which concerns on 6th Embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same or an equivalent part, and the overlapping description is abbreviate | omitted.

[First Embodiment]
As shown in FIGS. 1 to 3, the driving support device 1 according to the first embodiment intervenes in vehicle control when the driver performs an inappropriate driving operation, so that the driver can It supports driving. The driving support device 1 determines that the driver has performed an inappropriate driving operation when the driving operation amount D of the driver deviates from the operation allowable range A. The operation allowable range A is a range in which the driver can freely operate from the viewpoint of ensuring vehicle safety and observing traffic rules.

  Here, FIG. 3A is a graph showing a case where the driving operation amount D of the driver deviates from the operation allowable range A. The vertical axis represents the operation amount, and the horizontal axis represents the passage of time. As shown in FIG. 3A, a part of the driving operation amount D deviates from the operation allowable range A. The deviating driving operation amount D is set as a deviating operation amount, and the deviating section is set as a deviating judgment section.

  The operation allowable range A is expressed using the standard operation amount B and the operation allowable amount C. The normative operation amount B is an operation amount serving as a norm corresponding to the travel lane and traffic rules. For example, the standard operation amount B is calculated as a standard operation amount for the vehicle to travel in the center of the travel lane. The operation allowable amount C is an operation amount within a range that can be allowed even if it deviates from the reference operation amount B. For example, the operation allowable amount C is calculated as an operation amount in a range where the vehicle does not deviate from the traveling lane. The operation allowable range A is numerically expressed as a range between an operation amount obtained by adding the operation allowable amount C to the standard operation amount B and an operation amount obtained by removing the operation allowable amount C from the standard operation amount B. In calculating the operation allowable range A, the operation allowable amount C added to the standard operation amount B and the operation allowable amount C subtracted from the standard operation amount B are not necessarily the same amount.

  FIG. 3B is a graph showing the output operation amount E output to the vehicle in the case of FIG. The output operation amount E is an operation amount that is output to the vehicle and reflected in actual vehicle control. In FIG. 3B, the output manipulated variable E is indicated by a bold line.

  As shown in FIG. 3B, the driving support device 1 outputs the driving operation amount D as the output operation amount E to the vehicle in a section where the driving operation amount D does not deviate from the operation allowable range A. Further, in the driving support device 1, in the deviation determination section in which the driving operation amount D deviates from the operation allowable range A, the range limit operation amount that is the operation amount closest to the driving operation amount D within the operation allowable range A is output. E is output to the vehicle.

  Thus, in the driving assistance device 1, when the driving operation amount D of the driver deviates from the operation allowable range A, the driving operation amount D in the deviation determination section is replaced with the range-limited operation amount and output to the vehicle. By doing so, it is possible to avoid an inappropriate driving operation being reflected in the vehicle control, and to improve the safety of vehicle driving.

  Next, the configuration of the driving support apparatus 1 according to the first embodiment will be described.

  As shown in FIG. 1, the driving support apparatus 1 includes an ECU [Electronic Control Unit] 2 that controls the apparatus in an integrated manner. The ECU 2 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 2 loads various application programs stored in the ROM to the RAM and executes them by the CPU, thereby performing various arithmetic processes such as calculation of the allowable operation range A.

  The ECU 2 is connected to the driving operation unit 3, the speed sensor 4, the yaw rate sensor 5, the acceleration sensor 6, the radar sensor 7, the navigation system 8, and the vehicle traveling unit 10. The driving operation unit 3 is for a driver to input a driving operation to the vehicle. The driving operation unit 3 includes a steering wheel, an accelerator pedal, a brake pedal, and the like. The driving operation unit 3 outputs the driving operation input from the driver to the ECU 2.

  The speed sensor 4 is a sensor that detects the speed of the vehicle, and the yaw rate sensor 5 is a sensor that detects the yaw rate of the vehicle. The acceleration sensor 6 is a sensor that detects the acceleration of the vehicle. The speed sensor 4, the speed sensor 4, the yaw rate sensor 5, and the acceleration sensor 6 each output a detection result to the ECU 2. The radar sensor 7 is a sensor that detects obstacles such as other vehicles and pedestrians. When the radar sensor 7 detects an obstacle existing around the vehicle, the radar sensor 7 outputs a detection result to the ECU 2.

  The navigation system 8 is a system that provides route guidance to the driver of the vehicle. The navigation system 8 is connected to a GPS [Global Positioning System] receiving unit 9 for detecting the position of the vehicle. The GPS receiver 9 detects the position of the vehicle by receiving signals from a plurality of GPS satellites. The navigation system 8 includes a map database 11 that stores road map data and a traffic rule database 12 that stores traffic rule data. The navigation system 8 guides the driver to the destination using the position data of the vehicle by the GPS receiver 9, the road map data of the map database 11, and the traffic rule data of the traffic rule database 12. The navigation system 8 outputs vehicle position data, road map data, and traffic rule data to the ECU 2.

  The vehicle traveling unit 10 executes vehicle traveling control. The vehicle travel unit 10 includes a vehicle engine control unit, a steering actuator, a brake actuator, a shift actuator, and the like. The vehicle traveling unit 10 performs vehicle traveling control in accordance with the output signal of the ECU 2.

  The ECU 2 includes a traveling state detection unit 13, a normative operation amount calculation unit 14, an operation allowable amount calculation unit 15, an operation allowable range calculation unit 16, a departure determination unit 17, and a vehicle control unit 18.

  The traveling state detection unit 13 detects the traveling state of the vehicle based on outputs from the various sensors 4 to 7 and the navigation system 8. The traveling state of the vehicle includes all conditions relating to traveling of the vehicle such as the shape of the road on which the vehicle travels, traffic rules, the speed and posture of the vehicle, and obstacles around the vehicle. Further, the traveling state detection unit 13 calculates the future course of the vehicle based on the detected traveling state and the output from the driving operation unit 3.

  The reference operation amount calculation unit 14 calculates a reference operation amount B that is a reference operation amount corresponding to the lane shape and traffic rules, based on the traveling state and the future course obtained by the traveling state detection unit 13. The allowable operation amount calculation unit 15 calculates an allowable operation amount C that is an allowable operation amount even if the operation amount deviates from the reference operation amount B, based on the traveling state and the future course obtained by the traveling state detection unit 13. The operation allowable amount calculation unit 15 calculates the operation allowable amount C so as to satisfy the conditions such that the vehicle does not depart from the lane, does not contact an obstacle such as a pedestrian, and does not deviate from traffic rules such as a temporary stop.

  The operation allowable range calculation unit 16 calculates the operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. The departure determination unit 17 determines whether or not the driving operation amount D of the driver is a departure operation amount that deviates from the operation allowable range A.

  When the departure determination unit 17 determines that the departure operation amount is the departure operation amount, the vehicle control unit 18 controls the vehicle based on the range limit operation amount that is the operation amount closest to the departure operation amount within the operation allowable range A. The range limit operation amount corresponds to an operation amount obtained by adding the operation allowable amount C to the standard operation amount B or an operation amount obtained by subtracting the operation allowable amount C from the standard operation amount B. When the departure determination unit 17 determines that the departure operation amount is the departure operation amount, the vehicle control unit 18 controls the traveling of the vehicle by outputting the range limit operation amount to the vehicle traveling unit 10 as the output operation amount E. On the other hand, when the departure determining unit 17 determines that the departure operation amount is not the departure operation amount, the vehicle control unit 18 outputs the driving operation amount D of the driver to the vehicle traveling unit 10 as the output operation amount E.

  Then, operation | movement of the driving assistance apparatus 1 which concerns on 1st Embodiment is demonstrated.

  As shown in FIG. 4, in the driving support apparatus 1 according to the first embodiment, first, the driving operation amount D is input by the driver (S1). The driver inputs a driving operation to the vehicle by operating the driving operation unit 3. Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle based on the outputs of the various sensors 4 to 7 and the navigation system 8 (S2). In the traveling state detection process, the traveling state detection unit 13 calculates the future course of the vehicle based on the traveling state of the vehicle and the driving operation amount D output from the driving operation unit 3.

  Next, the normative operation amount calculation unit 14 performs a normative operation amount calculation process for calculating the normative operation amount B based on the traveling situation and the future course obtained by the traveling state detection unit 13 (S3). Thereafter, the allowable operation amount calculation unit 15 performs an allowable operation amount calculation process for calculating the allowable operation amount C based on the traveling state and the future course obtained by the traveling state detection unit 13 (S4).

  Subsequently, the operation allowable range calculation unit 16 calculates an operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. An allowable range calculation process is performed (S5). Thereafter, the departure determination unit 17 performs departure determination processing for determining whether or not the driving operation amount D of the driver is a departure operation amount that deviates from the operation allowable range A (S6).

  When the departure determination unit 17 determines that the driving operation amount D of the driver is the departure operation amount, the vehicle control unit 18 determines the range limit operation amount that is the operation amount closest to the departure operation amount within the operation allowable range A. A departure time vehicle control process for controlling the vehicle based on the above is performed (S7). In this departure-time vehicle control process, the range limit operation amount is output to the vehicle travel unit 10 as the output operation amount E.

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the vehicle control unit 18 controls the vehicle based on the driving operation amount D of the driver during normal time. (S8). In the normal vehicle control process, the driving operation amount D of the driver is output to the vehicle traveling unit 10 as the output operation amount E.

  According to the driving support apparatus 1 described above, when the driving operation amount D of the driver deviates from the operation allowable range A, it is inappropriate to control the vehicle based on the range limit operation amount instead of the driving operation amount D. As a result, it is possible to avoid that the driving operation is reflected in the vehicle control, so that the safety of driving the vehicle can be improved. Moreover, according to the driving support device 1, when the driving operation amount D deviates from the operation allowable range A, the driving operation amount D deviates within the operation allowable range A, instead of being automatically driven with the reference operation amount as in the prior art. Since the vehicle is controlled based on the range limit operation amount that is the operation amount closest to the operation amount, the result of the driving operation is fed back to the driver, and the driver can recognize the low driving skill. Therefore, according to the driving support device 1, it is possible to promote the improvement of the skill of the driver while improving the safety of driving the vehicle.

[Second Embodiment]
As shown in FIGS. 5 and 6, the driving support device 21 according to the second embodiment has a driving operation amount D of the driver that is within the operation allowable range as compared with the driving support device 1 according to the first embodiment. The main difference is that the output of the subsequent manipulated variable is limited according to the degree of deviation of the driving manipulated variable D when deviating from A.

  Specifically, when the driving support device 21 determines that the driving operation amount D of the driver is a deviating operation amount deviating from the operation allowable range A, the driving operation device 21 performs the deviating operation within the deviating operation amount and the operation allowable range A. An operation amount ratio m1 that is a ratio with the range limit operation amount that is the operation amount closest to the amount is calculated. This manipulated variable ratio is calculated as a value of 1 or less. In other words, the smaller ratio of the deviation operation amount and the range limit operation amount when the larger amount is set to 1 is calculated as the operation amount ratio m1. The operation amount ratio m1 is calculated to be smaller as the degree of deviation of the driving operation amount D is larger.

  In addition, the driving support device 21 stores the minimum value M1 of the calculated operation amount ratio m1, and updates the minimum value M1 when a smaller value is calculated. The driving support device 21 sets the minimum value M1 as the learning value M2. The learning value M2 is a value used to limit the output of the operation amount. Note that the learning value M2 is not limited to the same value as the minimum value M1, and may be a mode in which a different value corresponding to the minimum value M1 is calculated as the learning value M2. As described above, in the driving support device 21, the stored operation amount ratio m1 minimum value M1 is used as the learning value M2, so that the operation amount ratio m1 calculated each time is used for limiting the operation amount output. The amount of calculation processing can be reduced.

  Here, FIG. 7A is a graph showing a case where the driving operation amount D of the driver deviates from the operation allowable range A. The vertical axis represents the operation amount, and the horizontal axis represents the passage of time. Moreover, FIG.7 (b) is a graph which shows the output operation amount E in the driving assistance apparatus 21 of 2nd Embodiment. As shown in FIG. 7A and FIG. 7B, in the driving support device 21, when it is determined that the driving operation amount D of the driver is a deviating operation amount deviating from the operation allowable range A, A limit corresponding to the learning value M2 is applied to the output of the range limit operation amount and the driving operation amount D. Specifically, an operation amount obtained by multiplying the range limit operation amount or the driving operation amount D by the learning value M2 is output to the vehicle as the output operation amount E. A section to which a restriction according to the learned value M2 is applied is shown as a learned value reflecting section.

  Hereinafter, the configuration of the driving support apparatus 21 according to the second embodiment will be described. A description of the same parts as those in the above-described embodiment will be omitted.

  The ECU 22 of the driving support device 21 has an operation amount ratio calculation unit 23. When the operation amount ratio calculation unit 23 determines that the driving operation amount D of the driver is a deviating operation amount that deviates from the operation allowable range A, the operation amount ratio that is a ratio of the deviating operation amount and the range limit operation amount. m1 is calculated. Further, the operation amount ratio calculation unit 23 stores the smallest value among the operation amount ratios m1 as the minimum value M1, and updates the minimum value M1 when a smaller value is calculated. The operation amount ratio calculation unit 23 sets the minimum value M1 as the learning value M2.

  When the operation amount ratio calculation unit 23 calculates the learned value M2, the vehicle control unit 24 determines that the driving operation amount D of the driver is the departure operation amount. The vehicle is controlled based on the operation amount obtained by multiplying the range limit operation amount, which is the operation amount closest to the departure operation amount, by the learning value M2. That is, the vehicle control unit 24 controls the vehicle based on the operation amount that limits the range limit operation amount according to the learning value M2.

  In addition, when the operation amount ratio calculation unit 23 calculates the learned value M2, the vehicle control unit 24 determines that the driver's driving operation is performed when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount. The vehicle is controlled based on an operation amount obtained by multiplying the operation amount D by the learned value M2. That is, the vehicle control unit 24 controls the vehicle based on the operation amount that restricts the driving operation amount D of the driver according to the learned value M2.

  Then, operation | movement of the driving assistance apparatus 21 which concerns on 2nd Embodiment is demonstrated.

  As shown in FIG. 8, in the driving support device 21 according to the second embodiment, first, the driving operation amount D is input by the driver (S11). The driver inputs a driving operation to the vehicle by operating the driving operation unit 3. Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle and calculating the future course of the vehicle based on the driving operation unit 3, the various sensors 4 to 7, and the navigation system 8. (S12).

  Next, a normative operation amount calculation process is performed in which the normative operation amount calculation unit 14 calculates the normative operation amount B based on the detection of the traveling state of the vehicle and the future course of the vehicle (S13). Subsequently, the operation allowable amount calculation unit 15 performs an operation allowable amount calculation process for calculating the operation allowable amount C based on the detection of the traveling state of the vehicle and the future course of the vehicle (S14).

  Thereafter, the operation allowable range calculation unit 16 calculates the operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. A range calculation process is performed (S15). Next, the departure determination unit 17 performs departure determination processing for determining whether or not the driving operation amount D of the driver is a departure operation amount that deviates from the operation allowable range A (S16).

  When the departure determination unit 17 determines that the driving operation amount D of the driver is a departure operation amount, the operation amount ratio calculation unit 23 sets an operation amount ratio m1 that is a ratio of the departure operation amount and the range limit operation amount. Calculate (S17). Further, the operation amount ratio calculation unit 23 stores the smallest value among the operation amount ratios m1 as the minimum value M1, and updates the minimum value M1 when a smaller value is calculated. The operation amount ratio calculation unit 23 sets the minimum value M1 as the learning value M2.

  Thereafter, the vehicle control unit 24 calculates a range limit operation amount that is the operation amount closest to the deviation operation amount within the operation allowable range A, and based on the operation amount obtained by multiplying the range limit operation amount by the learning value M2. The vehicle control process at the time of departure for controlling the vehicle is performed (S18). In the vehicle control process at the time of departure, an operation amount obtained by multiplying the range limit operation amount by the learned value M2 is output to the vehicle traveling unit 10 as an output operation amount E.

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the vehicle control unit 24 determines whether the operation amount ratio calculation unit 23 has calculated the operation amount ratio m1. An operation amount ratio calculation determination process is performed (S19). When it is determined that the operation amount ratio calculation unit 23 has not calculated the operation amount ratio m1, the vehicle control unit 24 performs a normal vehicle control process for controlling the vehicle based on the driving operation amount D of the driver (S20). ).

  When it is determined that the operation amount ratio calculation unit 23 has calculated the operation amount ratio m1, the vehicle control unit 24 controls the vehicle based on the operation amount obtained by multiplying the driving operation amount D of the driver by the learning value M2. A vehicle control process is performed (S21). In this limited time vehicle control process, an operation amount obtained by multiplying the driving operation amount D of the driver by the learning value M2 is output to the vehicle travel unit 10 as an output operation amount E.

  According to the driving support apparatus 21 described above, when it is determined that the driving operation amount D of the driver is a deviation operation amount and vehicle control is performed, the subsequent output of the range limit operation amount and the driving operation amount D is performed. By adding a restriction according to the operation amount ratio m1, the driver can recognize how far the driver has deviated. Therefore, according to the driving support device 21, the driver can recognize his / her driving skill more accurately, and thus can effectively improve the skill of the driver. In addition, the aspect which adds a restriction | limiting only to any one of the range limit operation amount and the driving operation amount D may be sufficient.

[Third Embodiment]
As shown in FIGS. 9 and 10, the driving support device 31 according to the third embodiment outputs the range limit operation amount and the driving operation amount D compared to the driving support device 21 according to the second embodiment. The main difference is that the limit to be applied to is reduced as the operating time elapses.

  Specifically, when the driving support device 31 determines that the driving operation amount D of the driver is a deviating operation amount deviating from the operation allowable range A, the driving operation device 31 performs the deviating operation within the deviating operation amount and the operation allowable range A. An operation amount ratio m1 that is a ratio with the range limit operation amount that is the operation amount closest to the amount is calculated. The driving support device 31 stores the minimum value M1 of the calculated operation amount ratio m1, and updates the minimum value M1 when a smaller value is calculated. The driving support device 31 sets the minimum value M1 as the learning value M2.

  Further, the driving support device 31 calculates a corrected learning value M3 that is corrected so as to increase the learning value M2, based on the driving time after the learning value M2 is set. The correction learning value M3 corresponds to the correction operation amount ratio described in the claims. The corrected learning value M3 takes a value equal to the learning value M2 when the operation time after setting the learning value M2 is 0, that is, immediately after the learning value M2 is set.

  Here, FIG. 11A is a graph showing a case where the driving operation amount D of the driver deviates from the operation allowable range A. The vertical axis represents the operation amount, and the horizontal axis represents the passage of time. Moreover, FIG.11 (b) is a graph which shows the output operation amount E in the driving assistance apparatus 31 of 3rd Embodiment. As shown in FIGS. 11A and 11B, in the driving support device 31, when it is determined that the driving operation amount D of the driver is a deviating operation amount deviating from the operation allowable range A, The limit corresponding to the corrected learning value M3 is applied to the output of the range limit operation amount and the driving operation amount D. Specifically, an operation amount obtained by multiplying the range limit operation amount or the driving operation amount D by the corrected learning value M3 is output to the vehicle as the output operation amount E.

  In the driving support device 31, the corrected learning value M3 increases so as to approach 1 in accordance with the driving time after setting the learning value M2 and the number of engine starts. That is, with the passage of the driving time and the number of start operations after the engine is stopped, the limitation on the output of the driving operation amount D and the range limit operation amount of the driver is relaxed, and the original operation amount is output. The corrected learning value M3 is calculated so as to increase based on the ratio between the learning value M2 and the driving time. In the driving support device 31, when the driving operation amount D of the driver deviates from the operation allowable range A again, a new corrected learning value M3 is calculated again.

  Hereinafter, the configuration of the driving support device 31 according to the third embodiment will be described.

  The ECU 32 of the driving support device 31 has a corrected learning value calculation unit 33. When the manipulated variable ratio calculator 23 sets the learned value M2, the corrected learned value calculator 33 sets the learned value M2 set by the manipulated variable ratio calculator 23, the driving time after setting the learned value M2, and the learned value M2. The corrected learning value M3 having a value equal to or greater than the learning value M2 is calculated on the basis of the number of engine starts after the setting. When the deviation determination unit 17 determines that the driving operation amount D of the driver has deviated from the operation allowable range A again, the corrected learning value calculation unit 33 adjusts the corrected learning value M3 to the new learning value M2. Is calculated again. The correction learning value calculation unit 33 corresponds to a correction operation amount ratio calculation unit described in the claims.

  When the corrected learning value calculation unit 33 calculates the corrected learning value M3, the vehicle control unit 34 is within the operation allowable range A when the deviation determination unit 17 determines that the driving operation amount D of the driver is the departure operation amount. The vehicle is controlled based on the operation amount obtained by multiplying the range limit operation amount, which is the operation amount closest to the departure operation amount, by the corrected learning value M3. That is, the vehicle control unit 34 controls the vehicle based on the operation amount in which the range limit operation amount is limited according to the corrected learning value M3.

  In addition, when the corrected learning value calculation unit 33 calculates the corrected learning value M3, the vehicle control unit 34 determines that the driver's driving operation amount D is not the departure operation amount when the deviation determination unit 17 determines that the driver's driving operation amount D is not the departure operation amount. The vehicle is controlled based on an operation amount obtained by multiplying the driving operation amount D by the corrected learning value M3. That is, the vehicle control unit 34 controls the vehicle based on the operation amount that restricts the driving operation amount D of the driver according to the corrected learning value M3. When the corrected learning value M3 is 1, the value of the driving operation amount D remains as it is for vehicle control.

  Then, operation | movement of the driving assistance apparatus 31 which concerns on 3rd Embodiment is demonstrated.

  As shown in FIG. 8, in the driving support device 31 according to the third embodiment, first, the driving operation amount D is input by the driver (S31). Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle and calculating the future course of the vehicle based on the driving operation unit 3, the various sensors 4 to 7, and the navigation system 8. (S32).

  Next, a normative operation amount calculation process is performed in which the normative operation amount calculation unit 14 calculates the normative operation amount B based on the detection of the traveling state of the vehicle and the future course of the vehicle (S33). Subsequently, the allowable operation amount calculation unit 15 performs an allowable operation amount calculation process for calculating the allowable operation amount C based on the detection of the traveling state of the vehicle and the future course of the vehicle (S34).

  Thereafter, the operation allowable range calculation unit 16 calculates the operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. A range calculation process is performed (S35). Next, the departure determination unit 17 performs departure determination processing for determining whether or not the driver's driving operation amount D is a departure operation amount that deviates from the operation allowable range A (S36).

  When the departure determination unit 17 determines that the driving operation amount D of the driver is a departure operation amount, the operation amount ratio calculation unit 23 sets an operation amount ratio m1 that is a ratio of the departure operation amount and the range limit operation amount. An operation amount ratio calculation field process to be calculated is performed (S37). In the operation amount ratio calculation field process, the operation amount ratio calculation unit 23 stores the minimum value M1 of the operation amount ratio m1, and updates the minimum value M1 when a smaller value is calculated. Further, the operation amount ratio calculation unit 23 sets the minimum value M1 as a learning value M2 used for limiting the driving operation amount D.

  The corrected learning value calculation unit 33 is greater than or equal to the learning value M2 based on the learning value M2 set by the operation amount ratio calculation unit 23, the operation time after setting the learning value M2, and the engine start count after setting the learning value M2. A correction learning value calculation process for calculating a correction learning value M3 having a value of is performed (S38). Thereafter, the vehicle control unit 34 controls the vehicle based on the operation amount obtained by multiplying the range limit operation amount that is the operation amount closest to the departure operation amount within the operation allowable range A by the corrected learning value M3. Processing is performed (S39). That is, the vehicle control unit 34 controls the vehicle based on the operation amount in which the range limit operation amount is limited according to the corrected learning value M3.

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the vehicle control unit 34 determines whether the corrected learning value calculation unit 33 has calculated the correction learning value M3. A correction operation amount ratio calculation determination process is performed (S40). When it is determined that the corrected learning value calculation unit 33 has not calculated the corrected learning value M3, the vehicle control unit 34 performs a normal vehicle control process for controlling the vehicle based on the driving operation amount D of the driver (S41). ).

  When the vehicle control unit 34 determines that the corrected learning value calculation unit 33 has calculated the corrected learning value M3, the corrected learning value calculation unit 33 determines the stored learning value M2 and the driving time after setting the learning value M2. Then, a correction learning value update process for updating the correction learning value M3 is performed (S42). Thereafter, the vehicle control unit 34 performs a limited time vehicle control process for controlling the vehicle based on an operation amount obtained by multiplying the driving operation amount D of the driver by the corrected learning value M3 (S43). In the limited time vehicle control process, an operation amount obtained by multiplying the driver's driving operation amount D by the corrected learning value M3 is output to the vehicle travel unit 10 as an output operation amount E. When the corrected learning value M3 is 1, the value of the driving operation amount D of the driver is output to the vehicle traveling unit 10 as the output operation amount E.

  According to the driving support device 31 described above, even if it is determined that the driving operation amount of the driver is a deviating operation amount, the skill improvement is expected due to the accumulation of the subsequent driving experience. Accordingly, by relaxing the restriction applied to the operation amount, the driver can recognize his / her skill improvement. Therefore, according to this driving support device 31, it is possible to prompt the driver to improve his / her skill by recognizing his / her own skill improvement.

  Note that the corrected learning value M3 may increase in accordance with either one of the operation time after setting the learning value M2 and the number of engine starts, instead of both.

[Fourth Embodiment]
As shown in FIG. 13 and FIG. 14, the driving support device 41 according to the fourth embodiment is compared to the driving support device 1 according to the first embodiment. This is mainly different in that the deviation of the driving operation amount D of the driver is not determined when the vehicle deviates from the lane intentionally.

  FIG. 15 is a schematic plan view for illustrating a situation in which the vehicle performs an out-in-out travel. In FIG. 15, the vehicle is represented by M, the road center line is represented by Cn, the course of out-in / out travel is represented by R, the course based on the standard operation amount is represented by Rb, and the area corresponding to the operation allowable range A on the road is represented by Fa.

  As shown in FIG. 15, if the course R of the out-in-out travel is intentionally selected in order for the vehicle M to travel efficiently, the vehicle will deviate from the region Fa corresponding to the operation allowable range A. In the driving support device according to the embodiment, intervention to vehicle control is performed. Therefore, the driving support device 41 calculates in advance lane departure traveling patterns that the vehicle can take such as out-in-out traveling and overtaking, and if it is determined that the vehicle performs lane departure traveling, the driving operation amount D of the driver is determined. By not judging the deviation from the operation allowable range A, the driver can intentionally depart from the lane.

  Hereinafter, the configuration of the driving support apparatus 41 according to the fourth embodiment will be described.

  The ECU 42 of the driving support device 41 includes a lane departure traveling pattern calculation unit 43 and a lane departure traveling determination unit 44. The lane departure running pattern calculation unit 43 stores driving characteristic data such as a driver's habit and driving tendency from past driving history. This driving characteristic data includes data such as in what lane the driver has made lane departure traveling such as out-in-out traveling and overtaking in the past.

  The lane departure traveling pattern calculation unit 43 calculates the lane departure traveling pattern that the vehicle can take based on the driving characteristic data of the driver and the vehicle traveling state and future course obtained by the traveling state detection unit 13.

  The lane departure traveling determination unit 44 determines whether or not the vehicle performs lane departure traveling based on the lane departure traveling pattern calculated by the lane departure traveling pattern calculation unit 43 and the driving operation amount D of the driver. The vehicle control unit 45 determines that the driving operation amount D of the driver deviates from the operation allowable range A when the lane departure traveling determination unit 44 determines that the vehicle performs lane departure traveling. Even in this case, vehicle control is performed based on the driving operation amount D of the driver.

  Next, the operation of the driving support device 41 according to the fourth embodiment will be described.

  As shown in FIG. 16, in the driving support device 41 according to the fourth embodiment, first, the driving operation amount D is input by the driver (S51). Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle and calculating the future course based on the output results of the driving operation unit 3, the various sensors 4 to 7, and the navigation system 8 ( S52).

  Next, the normative operation amount calculation unit 14 performs a normative operation amount calculation process for calculating the normative operation amount B based on the traveling situation and the future course obtained by the traveling state detection unit 13 (S53). Thereafter, the allowable operation amount calculation unit 15 performs an allowable operation amount calculation process for calculating the allowable operation amount C based on the traveling state and the future course obtained by the traveling state detection unit 13 (S54). Subsequently, the operation allowable range calculation unit 16 calculates an operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. An allowable range calculation process is performed (S55).

  Thereafter, the lane departure traveling pattern calculation unit 43 calculates a lane departure traveling pattern that the vehicle can take, such as out-in-out traveling and overtaking, based on the vehicle traveling state and the future course obtained by the traveling state detection unit 13. A running pattern calculation process is performed (S56).

  Subsequently, the lane departure traveling determination unit 44 determines whether or not the vehicle performs lane departure traveling based on the lane departure traveling pattern calculated by the lane departure traveling pattern calculation unit 43 and the driving operation amount D of the driver. A lane departure running determination process is performed (S57). When the lane departure traveling determination unit 44 determines that the vehicle performs lane departure traveling, the process proceeds to step S60.

  On the other hand, when the lane departure determination unit 44 determines that the vehicle does not depart from the lane, the departure determination unit 17 determines whether or not the driver's driving operation amount D is a departure operation amount that deviates from the operation allowable range A. Deviation determination processing is performed to determine whether (S58). When the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the process proceeds to step S60.

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is the departure operation amount, the vehicle control unit 45 determines that the operation amount closest to the departure operation amount within the operation allowable range A is a range limit. A departure time vehicle control process for controlling the vehicle based on the operation amount is performed (S59).

  In step S60, the vehicle control unit 45 performs a normal vehicle control process for controlling the vehicle based on the driving operation amount D of the driver. In the normal vehicle control process, the driving operation amount D of the driver is output to the vehicle traveling unit 10 as the output operation amount E.

  According to the driving support device 41 described above, the amount of driving operation D is set in the lane until the vehicle deviates from the lane intentionally for out-in-out driving, lane change, overtaking or the like on a curve. Since it is not appropriate to restrict to the operation allowable range A, vehicle control based on the driving operation amount D of the driver is performed when it is determined that the vehicle travels away from the lane. Thereby, according to this driving assistance device 41, it is possible to allow the driver to intentionally depart from the lane while improving the safety of driving the vehicle.

[Fifth Embodiment]
As illustrated in FIGS. 17 and 18, the driving support device 51 according to the fifth embodiment is more effective when the vehicle travels away from the lane than the driving support device 31 according to the third embodiment. This is mainly different in that the deviation of the driving operation amount D is not judged and the operation amount ratio m1 is not calculated. Since the configuration of the driving support device 51 is substantially the same as that of the third and fourth embodiments described above, the description thereof is omitted.

  Hereinafter, the operation of the driving support device 51 according to the fifth embodiment will be described.

  As shown in FIG. 19, in the driving support device 51 according to the fifth embodiment, first, the driving operation amount D is input by the driver (S71). Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle and calculating the future course based on the outputs of the driving operation unit 3, the various sensors 4 to 7, and the navigation system 8 (S72). ).

  Next, the normative operation amount calculation unit 14 performs a normative operation amount calculation process for calculating the normative operation amount B based on the travel situation and the future course obtained by the travel state detection unit 13 (S73). Thereafter, the allowable operation amount calculation unit 15 performs an allowable operation amount calculation process for calculating the allowable operation amount C based on the traveling state and the future course obtained by the traveling state detection unit 13 (S74). Subsequently, the operation allowable range calculation unit 16 calculates an operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15. An allowable range calculation process is performed (S75).

  Thereafter, the lane departure traveling pattern calculation unit 43 calculates a lane departure traveling pattern that the vehicle can take, such as out-in-out traveling and overtaking, based on the vehicle traveling state and the future course obtained by the traveling state detection unit 13. A running pattern calculation process is performed (S76).

  Subsequently, the lane departure traveling determination unit 44 determines whether or not the vehicle performs lane departure traveling based on the lane departure traveling pattern calculated by the lane departure traveling pattern calculation unit 43 and the driving operation amount D of the driver. A lane departure running determination process is performed (S77). When the lane departure traveling determination unit 44 determines that the vehicle performs lane departure traveling, the process proceeds to step S85.

  On the other hand, when the lane departure determination unit 44 determines that the vehicle does not depart from the lane, the departure determination unit 17 determines whether or not the driver's driving operation amount D is a departure operation amount that deviates from the operation allowable range A. Deviation determination processing is performed to determine whether or not (S78). When the departure determination unit 17 determines that the driving operation amount D of the driver is a departure operation amount, the operation amount ratio calculation unit 23 sets an operation amount ratio m1 that is a ratio of the departure operation amount and the range limit operation amount. An operation amount ratio calculation field process to be calculated is performed (S79). In the manipulated variable ratio calculation field process, the manipulated variable ratio calculation unit 23 stores the minimum value M1 of the manipulated variable ratio m1, and updates the minimum value M1 when a smaller value is calculated. The operation amount ratio calculation unit 23 sets the minimum value M1 as a learning value M2 used for limiting the driving operation amount D.

  The corrected learning value calculation unit 33 is greater than or equal to the learning value M2 based on the learning value M2 set by the operation amount ratio calculation unit 23, the operation time after setting the learning value M2, and the engine start count after setting the learning value M2. A correction learning value calculation process for calculating the correction learning value M3 having the following value is performed (S80). After that, the vehicle control unit 53 controls the vehicle based on the operation amount obtained by multiplying the range limit operation amount that is the operation amount closest to the departure operation amount within the operation allowable range A by the corrected learning value M3. Processing is performed (S81).

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the vehicle control unit 53 determines whether the correction learning value calculation unit 33 has calculated the correction learning value M3. A correction operation amount ratio calculation determination process is performed (S82). If the vehicle control unit 53 determines that the corrected learning value calculation unit 33 has not calculated the corrected learning value M3, the vehicle control unit 53 proceeds to step S85.

  On the other hand, when the vehicle control unit 53 determines that the corrected learning value calculation unit 33 has calculated the corrected learning value M3, the corrected learning value calculation unit 33 operates after the stored learning value M2 and learning value M2 are set. A correction learning value update process for updating the correction learning value M3 based on the time is performed (S83). Thereafter, the vehicle control unit 53 performs a limited time vehicle control process for controlling the vehicle based on the operation amount obtained by multiplying the driving operation amount D of the driver by the corrected learning value M3 (S84).

  In step S85, the vehicle control unit 53 performs a normal time vehicle control process for controlling the vehicle based on the driving operation amount D of the driver. In the normal vehicle control process, the driving operation amount D of the driver is output to the vehicle traveling unit 10 as the output operation amount E.

  According to the driving support device 51 described above, the manipulated variable ratio m1 is calculated until the lane departure traveling deliberately deviating from the lane for out-in-out traveling on a curve, lane change, overtaking, etc. Since it is not appropriate to limit the output of the manipulated variable, learning such as calculation of the manipulated variable ratio m1 is not performed when it is determined that the vehicle travels away from the lane. Therefore, according to the driving support device 51, it is possible to prevent the driver from erroneously recognizing his / her skill by limiting the output of the operation amount due to the departure from the lane.

[Sixth Embodiment]
As illustrated in FIGS. 20 and 21, the driving support device 61 according to the sixth embodiment can be taken by a vehicle such as out-in-out traveling and overtaking as compared with the driving support device 31 according to the third embodiment. The main difference is that the operation allowable range A corresponding to the lane travel departure pattern is calculated.

  Specifically, the driving support device 61 calculates in advance the lane travel departure pattern that the vehicle can take, and the reference operation amount B and the operation allowable amount C for each of the pattern in which the vehicle travels in the lane and the lane travel departure pattern. Is calculated. Then, an allowable operation range A corresponding to the pattern of traveling in the lane and the lane travel deviation pattern is calculated from the reference operation amount B and the operation allowable amount C.

  FIG. 22 is a schematic plan view for illustrating a situation in which the vehicle performs an out-in-out travel. In FIG. 22, the vehicle is M, the center line of the S-shaped road is Cn, the course of out-in-out travel is R, the course based on the normative operation amount is Rb, and the area corresponding to the operation allowable range A on the road is Fa. Show. As shown in FIG. 21, in the driving support device 61, a region Fa corresponding to the operation allowable range A is formed including the course R of the out-in-out travel. As a result, in the driving support device 61, even when the vehicle M performs out-in-out traveling, if the driving operation amount D of the driver deviates from the operation allowable range A, it is determined that the driving operation is inappropriate. Judgment and intervention in vehicle control can be made.

  Hereinafter, the configuration of the driving support device 61 according to the sixth embodiment will be described. The ECU 62 of the driving support device 61 includes a lane departure traveling pattern calculation unit 43 that calculates a lane departure traveling pattern that the vehicle can take.

  Based on the lane departure traveling pattern calculated by the lane departure traveling pattern calculating unit 43, the vehicle traveling state and the future course obtained by the traveling state detecting unit 13, the normative operation amount calculating unit 63 includes the norm corresponding to each pattern. A normative operation amount B is calculated. Further, the operation allowable amount calculation unit 64 is based on the lane departure traveling pattern calculated by the lane departure traveling pattern calculation unit 43 and the vehicle traveling state and future course determined by the traveling state detection unit 13 in terms of safety and the like. The allowable operation amount C is calculated from the above.

  Based on the normative operation amount B calculated by the normative operation amount calculation unit 14 and the operation allowable amount C calculated by the operation allowable amount calculation unit 15, the operation allowable range calculation unit 65 determines the pattern and lane in which the vehicle travels in the lane. An operation allowable range A corresponding to the travel departure pattern is calculated. In the driving support device 61, deviation of the driving operation amount D of the driver and vehicle control are performed using the operation allowable range A corresponding to the pattern of traveling in the lane and the lane traveling deviation pattern.

  Next, the operation of the driving support device 61 according to the sixth embodiment will be described.

  As shown in FIG. 23, in the driving support device 61 according to the sixth embodiment, first, the driving operation amount D is input by the driver (S91). Thereafter, the traveling state detection unit 13 performs a traveling state detection process for detecting the traveling state of the vehicle and calculating the future course based on the outputs of the driving operation unit 3, the various sensors 4 to 7, and the navigation system 8 (S92). ).

  Subsequently, the lane departure traveling pattern calculation unit 43 calculates lane departure traveling patterns that the vehicle can take, such as out-in-out traveling, lane change, and overtaking, based on the traveling state of the vehicle and the future course obtained by the traveling state detection unit 13. A lane departure traveling pattern calculation process is performed (S93).

  Thereafter, the normative operation amount calculation unit 63 calculates the normative operation amount B based on the lane departure pattern calculated by the lane departure traveling pattern calculation unit 43 and the vehicle traveling state and future course determined by the traveling state detection unit 13. The standard operation amount calculation process is performed (S94). Subsequently, the operation allowable amount calculation unit 64 calculates the operation allowable amount C based on the lane departure pattern calculated by the lane departure traveling pattern calculation unit 43 and the vehicle traveling state and future course determined by the traveling state detection unit 13. An operation allowable amount calculation process to be calculated is performed (S95).

  Thereafter, the operation allowable range calculation unit 65 calculates the operation allowable range A based on the standard operation amount B calculated by the standard operation amount calculation unit 63 and the operation allowable amount C calculated by the operation allowable amount calculation unit 64. A range calculation process is performed (S96).

  Next, the departure determination unit 17 performs departure determination processing for determining whether or not the driver's driving operation amount D is a departure operation amount that deviates from the operation allowable range A (S97). When the departure determination unit 17 determines that the driving operation amount D of the driver is a departure operation amount, the operation amount ratio calculation unit 23 sets an operation amount ratio m1 that is a ratio of the departure operation amount and the range limit operation amount. An operation amount ratio calculation field process to be calculated is performed (S98). In the manipulated variable ratio calculation field process, the manipulated variable ratio calculation unit 23 stores the minimum value M1 of the manipulated variable ratio m1, and updates the minimum value M1 when a smaller value is calculated. The operation amount ratio calculation unit 23 sets the minimum value M1 as the learning value M2.

  The corrected learning value calculation unit 33 is greater than or equal to the learning value M2 based on the learning value M2 set by the operation amount ratio calculation unit 23, the operation time after setting the learning value M2, and the engine start count after setting the learning value M2. A correction learning value calculation process is performed to calculate a correction learning value M3 having a value of (S99). Thereafter, the vehicle control unit 34 controls the vehicle based on the operation amount obtained by multiplying the range limit operation amount that is the operation amount closest to the departure operation amount within the operation allowable range A by the corrected learning value M3. Processing is performed (S100).

  On the other hand, when the departure determination unit 17 determines that the driving operation amount D of the driver is not the departure operation amount, the vehicle control unit 53 determines whether the correction learning value calculation unit 33 has calculated the correction learning value M3. A correction operation amount ratio calculation determination process is performed (S101). When it is determined that the corrected learning value calculation unit 33 has not calculated the corrected learning value M3, the vehicle control unit 34 performs a normal vehicle control process for controlling the vehicle based on the driving operation amount D of the driver (S102). ).

  When the vehicle control unit 34 determines that the corrected learning value calculation unit 33 has calculated the corrected learning value M3, the corrected learning value calculation unit 33 determines the stored learning value M2 and the driving time after setting the learning value M2. Then, a correction learning value update process for updating the correction learning value M3 is performed (S103). Thereafter, the vehicle control unit 34 performs a limited time vehicle control process for controlling the vehicle based on an operation amount obtained by multiplying the driving operation amount D of the driver by the corrected learning value M3 (S104).

  According to the driving support device 61 described above, by calculating the operation allowable range A corresponding to the lane departure traveling pattern in addition to the pattern in which the vehicle travels in the lane, the driver intends within the operation allowable range A. Thus, it is possible to perform lane departure. In addition, when it is determined that the vehicle has deviated from the operation allowable range A even during lane departure, the vehicle control is performed, so that inappropriate driving operation during lane departure is avoided from being reflected in the vehicle control. Therefore, it is possible to improve the safety of driving the vehicle.

  The present invention is not limited to the embodiment described above. For example, the present invention can be effectively applied to vehicles such as personal mobility as well as four-wheeled vehicles and two-wheeled vehicles.

  Further, the calculation method of the operation allowable range A is not limited to the above-described method. A mode in which a more detailed traveling state is detected using various data and the operation allowable range A is calculated with high accuracy may be employed.

  1, 21, 31, 41, 51, 61 ... Driving support device 3 ... Driving operation unit 4 ... Speed sensor 5 ... Yaw rate sensor 6 ... Acceleration sensor 7 ... Radar sensor 8 ... Navigation system 9 ... GPS receiving unit 10 ... Vehicle traveling unit DESCRIPTION OF SYMBOLS 11 ... Map database 12 ... Traffic rule database 13 ... Travel condition detection part (travel condition detection means) 14,63 ... Standard operation amount calculation part (standard operation amount calculation means) 15, 64 ... Operation allowable amount calculation part (operation allowable amount) Calculation means) 16, 65 ... operation allowable range calculation section (operation allowable range calculation means) 17 ... deviation determination section (deviation determination means) 18, 24, 34, 45, 53 ... vehicle control section (vehicle control means) 23 ... operation Quantity ratio calculation unit (operation amount ratio calculation means) 33 ... Correction learning value calculation part (correction learning value calculation means) 43 ... Lane departure traveling pattern calculation part (lane departure (Line pattern calculation means) 44 ... Lane departure travel determination unit (lane departure travel determination means) A ... Operation allowable range B ... Standard operation amount C ... Operation allowable amount D ... Driving operation amount E ... Output operation amount Fa ... Operation allowable range Corresponding area M ... Vehicle R ... Path of out-in-out traveling m1 ... Operation amount ratio

Claims (7)

A driving support device that supports driving operation of a vehicle by a driver,
A traveling state detecting means for detecting the traveling state of the vehicle;
An operation allowable range calculating means for calculating an operation allowable range of the vehicle based on the driving condition detected by the driving condition detecting means;
Deviation judging means for judging whether or not the driving operation amount of the driver is a deviating operation amount deviating from the operation allowable range;
When the departure determining means determines that the driving operation amount of the driver is a departure operation amount, the vehicle is controlled based on a range limit operation amount that is an operation amount closest to the departure operation amount within the operation allowable range. Vehicle control means for controlling;
A driving support apparatus comprising: When the departure determining means determines that the driving operation amount of the driver is a departure operation amount, the departure determination means further comprises an operation amount ratio calculation means for calculating an operation amount ratio between the departure operation amount and the range limit operation amount,
When the operation amount ratio calculating unit calculates the operation amount ratio, the vehicle control apparatus determines that the range limit is determined when the departure operation determining unit determines that the driving operation amount of the driver is the departure operation amount. The driving support device according to claim 1, wherein the vehicle is controlled based on an operation amount in which an operation amount is limited according to the operation amount ratio. When the departure determining means determines that the driving operation amount of the driver is a departure operation amount, the departure determination means further comprises an operation amount ratio calculation means for calculating an operation amount ratio between the departure operation amount and the range limit operation amount,
When the operation amount ratio calculating unit calculates the operation amount ratio, the vehicle control apparatus determines that the driving operation amount is determined when the departure operation determining unit determines that the driving operation amount of the driver is not the departure operation amount. The driving support device according to claim 1, wherein the vehicle is controlled based on an operation amount whose amount is limited according to the operation amount ratio. When the operation amount ratio calculating means calculates the operation amount ratio, a value equal to or greater than the operation amount ratio is obtained based on at least one of the driving time of the vehicle and the number of times the engine of the vehicle is started and the operation amount ratio. A correction operation amount ratio calculating means for calculating a correction operation amount ratio having
In the vehicle control device, when the corrected operation amount ratio calculating unit calculates the corrected operation amount ratio, the departure operation determining unit determines that the driving operation amount of the driver is the departure operation amount. The driving support device according to claim 2, wherein the vehicle is controlled based on an operation amount in which a range limit operation amount is limited according to the correction operation amount ratio. When the operation amount ratio calculating means calculates the operation amount ratio, a value equal to or greater than the operation amount ratio is obtained based on at least one of the driving time of the vehicle and the number of times the engine of the vehicle is started and the operation amount ratio. A correction operation amount ratio calculating means for calculating a correction operation amount ratio having
When the corrected operation amount ratio calculating unit calculates the corrected operation amount ratio, the vehicle control device, when the deviating operation determining unit determines that the driving operation amount of the driver is not the deviating operation amount, The driving support device according to claim 3, wherein the vehicle is controlled based on a limited operation amount in which a driving operation amount is limited according to the corrected operation amount ratio. Lane departure traveling pattern calculation means for calculating a lane departure traveling pattern that the vehicle can take based on the traveling situation detected by the traveling condition detection means;
Lane departure travel determination means for determining whether or not the vehicle performs lane departure travel based on the lane departure travel pattern calculated by the lane departure travel pattern calculation means and the driving operation amount of the driver; In addition,
The vehicle control device is configured such that when the lane departure traveling determination means determines that the vehicle performs lane departure traveling, the departure determination means determines that the driving operation amount of the driver is the departure operation amount. Even if it exists, the said vehicle is controlled based on the driving | operation amount of the said driver | operator, The driving assistance apparatus as described in any one of Claims 1-5 characterized by the above-mentioned. Lane departure traveling pattern calculation means for calculating a lane departure traveling pattern that the vehicle can take based on the traveling condition detected by the traveling condition detection means;
The operation allowable range calculation means calculates the operation allowable range when the vehicle travels in a lane and the operation allowable range when the vehicle travels along the lane departure traveling pattern. The driving assistance device according to any one of claims 1 to 5.

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