JP2012153298A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device capable of improving followability of a vehicle relative to a target travel route by a driving operation of a driver.SOLUTION: An ECU 6 of this driving support device 1 includes: a target route generation unit 12 generating a target travel route of a vehicle; a driver physical strength determination unit 13 determining physical strength of the driver; an accelerator pedal characteristic setting unit 15 setting accelerator pedal input-output characteristics indicating the relation between an accelerator pedal stroke, and accelerator pedal assist force and accelerator pedal reaction force in accordance with the physical strength of the driver; and a brake pedal characteristic setting unit 16 setting brake pedal input-output characteristics indicating the relation between the brake pedal stroke, and the brake pedal assist force and the brake pedal reaction force in accordance with the physical strength of the driver.

Description

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

  As a conventional driving support device, as described in Patent Document 1, for example, a target position trajectory of a vehicle is set, and a steering device or a braking device is set so that the vehicle travels according to the target position trajectory based on the traveling state of the vehicle. There is known one that controls the above.

JP 2010-42741 A

  In the intervention control of the steering device and the braking device by the in-vehicle system as in the above prior art, the driver may feel uncomfortable. For this reason, it is desirable to make the vehicle follow the target position trajectory (target travel route) by the driving operation of the driver. However, in this case, since the driver may be required to have advanced driving technology, it is actually difficult to make the vehicle follow the target travel route.

  An object of the present invention is to provide a driving support device capable of improving the followability of a vehicle with respect to a target travel route by a driving operation of a driver.

  The present invention provides a driving support device that supports a driving operation of a driver of a vehicle, and supports target driving path generation means that generates a target driving path of the vehicle and tracking of the vehicle with respect to the target driving path by the driving operation of the driver. Pedal characteristic changing means for changing the characteristic of the operating pedal of the vehicle is provided.

  As described above, in the driving support device of the present invention, the driver operates the operation pedal by changing the characteristics of the operation pedal of the vehicle so as to support the vehicle following the target travel route by the driving operation of the driver of the vehicle. Sometimes, it becomes easier for the vehicle to follow the target travel route. As a result, it is possible to improve the followability of the vehicle with respect to the target travel route by the driving operation of the driver without particularly requiring a high level driving technique from the driver.

  At this time, the characteristic of the operation pedal is preferably a reaction force of the operation pedal or an input / output characteristic of the operation pedal.

  Preferably, the apparatus further includes a driver characteristic determining unit that determines a characteristic of the driver, and the pedal characteristic changing unit changes the characteristic of the operation pedal in accordance with the characteristic of the driver. By reflecting the driver characteristics (physical strength, driving skill, etc.) in the characteristic changes of the operating pedal in this way, the degree of support for following the vehicle to the target travel route by the driving operation of the driver may become excessive or insufficient. It will be suppressed.

  In this case, the driver characteristic is preferably the physical strength of the driver or the driving skill of the driver.

  ADVANTAGE OF THE INVENTION According to this invention, the followable | trackability of the vehicle with respect to the target driving | running route by driving operation of a driver can be improved. As a result, the vehicle can be stably driven along the target travel route.

It is a schematic block diagram which shows one Embodiment of the driving assistance device concerning this invention. It is a conceptual diagram which shows an example of the passing point conditions and friction circle conditions set by the condition setting part shown in FIG. 3 is a graph showing an example of a steering input / output characteristic and an accelerator pedal input / output characteristic set by a steering characteristic setting unit and an accelerator pedal characteristic setting unit shown in FIG. 1. It is a schematic block diagram which shows other embodiment of the driving assistance device concerning this invention. 5 is a graph showing an example of a steering input / output characteristic and an accelerator pedal input / output characteristic set by a steering characteristic setting unit and an accelerator pedal characteristic setting unit shown in FIG. 4.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing an embodiment of a driving support apparatus according to the present invention. In the figure, the driving support device 1 of this embodiment includes a navigation 2, a steering angle sensor 3, an accelerator pedal stroke sensor 4, a brake pedal stroke sensor 5, an ECU (Electronic Control Unit) 6, and a steering actuator 7. And an accelerator actuator 8 and a brake actuator 9.

  The steering angle sensor 3 detects a steering angle (steering angle). The accelerator pedal stroke sensor 4 detects the stroke amount of the accelerator pedal. The brake pedal stroke sensor 5 detects the stroke amount of the brake pedal.

  The steer actuator 7 is an actuator that applies a steering reaction torque or a steering assist torque to the steering. The accelerator actuator 8 is an actuator that applies a pedal reaction force or a pedal assist force to the accelerator pedal. The brake actuator 9 is an actuator that applies a pedal reaction force or a pedal assist force to the brake pedal.

  The ECU 6 includes a road information acquisition unit 10, a condition setting unit 11, a target route generation unit 12, a driver physical strength determination unit 13, a steering characteristic setting unit 14, an accelerator pedal characteristic setting unit 15, and a brake pedal characteristic setting unit. 16, a steering actuator control unit 17, an accelerator actuator control unit 18, and a brake actuator control unit 19.

  The road information acquisition unit 10 acquires information (road information) such as the shape of the road on which the vehicle is to travel based on the information of the navigation 2.

  The condition setting unit 11 sets conditions required for generating a target travel route (described later) of the vehicle. Conditions required for generating the target travel route include a passing point condition relating to a passing point (line) of the vehicle, a friction circle condition relating to a friction circle of the vehicle, and a motion model condition relating to a motion model of the vehicle. Here, the position of the passing point of the vehicle is represented by XY coordinates as shown in FIG. As shown in FIG. 2B, the friction circle represents the tire grip limit value as a time-series change pattern of acceleration.

  The target route generation unit 12 uses a solution of the boundary value problem, for example, to obtain a target travel route (trajectory) of the vehicle that satisfies the passing point condition, the friction circle condition, and the motion model condition set by the condition setting unit 11. Generate. Further, the target route generation unit 12 obtains a target steering angle, a target accelerator pedal stroke, and a target brake pedal stroke according to the target travel route. Note that the target steering angle, the target accelerator pedal stroke, and the target brake pedal stroke change from moment to moment according to the traveling state of the vehicle.

  The driver physical strength determination unit 13 receives the target steering angle, the target accelerator pedal stroke, the target brake pedal stroke, the steering angle sensor 3, the accelerator pedal stroke sensor 4, and the detection signal of the brake pedal stroke sensor 5 obtained by the travel route generation unit 12. Are compared to determine the physical strength of the driver.

  Specifically, as shown in FIG. 3A, the driver physical strength determination unit 13 determines the physical strength of the driver based on the degree of deviation of the detected value (actual steering angle) of the steering angle sensor 3 from the target steering angle. As shown in FIG. 3B, the degree of deviation of the detected value (actual accelerator pedal stroke) of the accelerator pedal stroke sensor 4 with respect to the target accelerator pedal stroke, or the detected value (actual brake) of the brake pedal stroke sensor 5 with respect to the target brake pedal stroke. The physical strength of the driver is determined based on the degree of deviation of the pedal stroke.

  At this time, when the actual steering angle exceeds the target steering angle, it is determined that there is physical strength. When the actual steering angle does not exceed the target steering angle, it is determined that there is no physical strength. When the actual accelerator pedal stroke exceeds the target accelerator pedal stroke, it is determined that there is physical strength. When the actual accelerator pedal stroke does not exceed the target accelerator pedal stroke, it is determined that there is no physical strength. The same applies to the determination method using the target brake pedal stroke.

  Note that the driver's physical strength determination may be performed only once for one driver, or may be performed periodically at predetermined time intervals.

  The steering characteristic setting unit 14 is based on the target steering angle obtained by the target route generation unit 12 and the determination result by the driver physical strength determination unit 13, and represents the relationship between the steering angle, the steering assist torque, and the steering reaction torque. Set the output characteristics. As shown in FIG. 3A, the steering input / output characteristics are set such that the steering assist torque decreases and the steering reaction torque increases as the steering angle increases.

  The steering input / output characteristic is set so as to support the tracking of the vehicle with respect to the target travel route by the driving operation of the driver. Specifically, when the driver has physical strength (see the broken line P), the steering assist torque is smaller and the steering reaction torque is larger than when the driver has no physical strength (see the solid line Q). At this time, the gain (inclination) of the characteristic is changed depending on whether the driver has physical strength. Further, the gain of the characteristic is changed between a range larger and smaller than the target steering angle.

  The accelerator pedal characteristic setting unit 15 is based on the target accelerator pedal stroke obtained by the target route generation unit 12 and the determination result by the driver physical strength determination unit 13, and the relationship between the accelerator pedal stroke, the accelerator pedal assist force, and the accelerator pedal reaction force. Sets the accelerator pedal input / output characteristics that indicate. As shown in FIG. 3B, the accelerator pedal input / output characteristics are set such that the accelerator pedal assist force decreases and the accelerator pedal reaction force increases as the accelerator pedal stroke increases.

  The accelerator pedal input / output characteristics are also set so as to support the vehicle following the target travel route by the driving operation of the driver. Specifically, when the driver has physical strength (see the broken line P), the accelerator pedal assist force becomes smaller and the accelerator pedal reaction force becomes larger than when the driver does not have physical strength (see the solid line Q). . At this time, the gain of the characteristic is changed depending on whether the driver has physical strength. Further, the gain of the characteristic is changed between a range larger and smaller than the target accelerator pedal stroke.

  The brake pedal characteristic setting unit 16 is based on the target brake pedal stroke obtained by the target route generation unit 12 and the determination result by the driver physical strength determination unit 13, and the relationship between the brake pedal stroke, the brake pedal assist force, and the brake pedal reaction force. Sets the brake pedal input / output characteristics that indicate. The brake pedal input / output characteristics are similar to the accelerator pedal input / output characteristics as shown in FIG. The brake pedal input / output characteristics are also set to support the vehicle following the target travel route by the driving operation of the driver.

  The steering actuator control unit 17 sends the steering assist torque or the steering reaction torque corresponding to the actual steering angle to the steering actuator 7 using the steering input / output characteristic obtained by the steering characteristic setting unit 14.

  The accelerator actuator control unit 18 sends the accelerator pedal assist force or the accelerator pedal reaction force corresponding to the actual accelerator pedal stroke to the accelerator actuator 8 using the accelerator pedal input / output characteristic obtained by the accelerator pedal characteristic setting unit 15.

  The brake actuator control unit 19 sends the brake pedal assist force or the brake pedal reaction force corresponding to the actual brake pedal stroke to the brake actuator 9 using the brake pedal input / output characteristics obtained by the brake pedal characteristic setting unit 16.

  In the above, the navigation 2 and the road information acquisition unit 10, the condition setting unit 11, and the target route generation unit 12 of the ECU 6 constitute target travel route generation means for generating a target travel route of the vehicle. The accelerator pedal characteristic setting unit 15 and the brake pedal characteristic setting unit 16 of the ECU 6 constitute pedal characteristic changing means for changing the characteristic of the operation pedal of the vehicle so as to support the vehicle following the target travel route by the driving operation of the driver. .

  Further, the steering angle sensor 3, the accelerator pedal stroke sensor 4, the brake pedal stroke sensor 5, and the driver physical strength determination unit 13 of the ECU 6 constitute driver characteristic determination means for determining the characteristics of the driver.

  As described above, in this embodiment, the target travel route of the vehicle is generated, the physical strength of the driver is determined, and the operation input / output characteristics are changed according to the physical strength of the driver. The operation of the steering, the accelerator pedal, and the brake pedal can be appropriately supported. For this reason, when the vehicle is caused to follow the target travel route by the driving operation of the driver, the vehicle is easily guided to the target travel route. Thereby, even if it does not require a high-level driving technique from the driver, it is possible to improve the vehicle followability to the target travel route by the driving operation of the driver.

  In addition, by changing the operation input / output characteristics according to the physical strength of the driver, excessive support and insufficient support for the driving operation of the driver are suppressed. Therefore, the driver's uncomfortable feeling can be reduced.

  In the present embodiment, when determining the physical strength of the driver, it is determined whether or not there is physical strength. However, the present invention is not limited to this, and the physical strength is “strong”, “medium”, “weak”. As described above, it is possible to determine the strength (degree) of three or more levels and set the operation input / output characteristics corresponding to each physical strength.

  FIG. 4 is a schematic configuration diagram showing another embodiment of the driving support apparatus according to the present invention. In the figure, the same or equivalent elements as those in the above embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, the ECU 6 of the driving support apparatus 1 of the present embodiment has a driver driving skill determination unit 20 instead of the driver physical strength determination unit 13 described above. The driver driving skill determination unit 20 detects the target steering angle, the target accelerator pedal stroke, the target brake pedal stroke, the steering angle sensor 3, the accelerator pedal stroke sensor 4, and the brake pedal stroke sensor 5 obtained by the target route generation unit 12. And the driving skill of the driver is determined.

  Specifically, as shown in FIG. 5A, the driver driving skill determination unit 20 determines the driving skill of the driver based on the degree of deviation of the actual steering angle from the target steering angle, or as shown in FIG. Thus, the driving skill of the driver is determined based on the degree of deviation of the actual accelerator pedal stroke from the target accelerator pedal stroke and the degree of deviation of the actual brake pedal stroke from the target brake pedal stroke.

  At this time, it is determined that the driving skill is higher as the deviation amount of the actual steering angle with respect to the target steering angle is smaller, and the driving skill is determined to be higher as the deviation amount of the actual accelerator pedal stroke with respect to the target accelerator pedal stroke is smaller. . The same applies to the determination method using the target brake pedal stroke. Further, the determination frequency of the driving skill of the driver is the same as the determination of the physical strength of the driver described above.

  The steering characteristic setting unit 14 sets a steering input / output characteristic as shown in FIG. 5A based on the target steering angle obtained by the target route generation unit 12 and the determination result by the driver driving skill determination unit 20. . At this time, when the driver's driving skill is high (see the solid line R), the steering assist torque and the steering reaction torque are smaller than when the driver's driving skill is low (see the broken line S). Further, the gain of the characteristic is changed depending on the driving skill of the driver.

  The accelerator pedal characteristic setting unit 15 has an accelerator pedal input / output characteristic as shown in FIG. 5B based on the target accelerator pedal stroke obtained by the target route generation unit 12 and the determination result by the driver driving skill determination unit 20. Set. At this time, when the driver's driving skill is high (see the solid line R), the accelerator pedal assist force and the accelerator pedal reaction force are smaller than when the driver's driving skill is low (see the broken line S). Further, the gain of the characteristic is changed depending on the driving skill of the driver.

  The brake pedal characteristic setting unit 16 sets the brake pedal input / output characteristic based on the target brake pedal stroke obtained by the target route generation unit 12 and the determination result by the driver driving skill determination unit 20. The brake pedal input / output characteristics are similar to the accelerator pedal input / output characteristics as shown in FIG.

  In the above, the steering angle sensor 3, the accelerator pedal stroke sensor 4, the brake pedal stroke sensor 5, and the driver driving skill determination unit 20 of the ECU 6 constitute driver characteristic determination means for determining the characteristics of the driver.

  As described above, in this embodiment, since the operation input / output characteristics are changed according to the driving skill of the driver, the vehicle follows the target travel route by the driving operation of the driver as in the above-described embodiment. In this case, the vehicle is easily guided to the target travel route. Thereby, the followability of the vehicle with respect to the target travel route by the driving operation of the driver can be enhanced.

  Further, by changing the operation input / output characteristics according to the driving skill of the driver, excessive support and insufficient support for the driver's driving operation can be suppressed and the driver's uncomfortable feeling can be reduced, as in the above-described embodiment. it can.

  In this embodiment, when determining the driving skill of the driver, it is simply determined whether the driving skill is high or low. However, the present invention is not limited to this method, and the driving skill is determined to be “high”, “medium”, “ The operation input / output characteristics corresponding to each driving skill may be set by determining the height (degree) of three or more levels such as “low”.

  As mentioned above, although several suitable embodiments of the driving support device concerning the present invention were described, the present invention is not limited to the above-mentioned embodiment. For example, in the above-described embodiment, the operation input / output characteristics are changed according to the driver characteristics such as the driver's physical strength and driving skill, but the operation input / output characteristics may be changed according to the driving purpose of the driver, for example.

  In the above embodiment, the accelerator pedal input / output characteristics and the brake pedal input / output characteristics are changed according to the driver characteristics. However, the driver characteristics, etc., for a vehicle in which a clutch pedal is mounted in addition to the accelerator pedal and the brake pedal. The clutch pedal input / output characteristics may be changed according to the above.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Navigation (target driving path production | generation means), 3 ... Steering angle sensor (driver characteristic determination means), 4 ... Accelerator pedal stroke sensor (driver characteristic determination means), 5 ... Brake pedal stroke sensor (driver) Characteristics judging means), 6 ... ECU, 10 ... road information acquisition unit (target travel route generation means), 11 ... condition setting unit (target travel route generation means), 12 ... target route generation unit (target travel route generation means), DESCRIPTION OF SYMBOLS 13 ... Driver physical strength determination part (driver characteristic determination means), 15 ... Accelerator pedal characteristic setting part (pedal characteristic change means), 16 ... Brake pedal characteristic setting part (pedal characteristic change means), 20 ... Driver driving skill determination part (driver) Characteristic determination means).

Claims (4)

In a driving support device that supports driving operation of a vehicle driver,
Target travel route generating means for generating a target travel route of the vehicle;
A driving support apparatus comprising pedal characteristic changing means for changing characteristics of an operation pedal of the vehicle so as to support the vehicle following the target travel route by a driving operation of the driver.   The driving support device according to claim 1, wherein the characteristic of the operation pedal is a reaction force of the operation pedal or an input / output characteristic of the operation pedal. A driver characteristic determining means for determining the characteristic of the driver;
The driving support device according to claim 1, wherein the pedal characteristic changing unit changes the characteristic of the operation pedal according to the characteristic of the driver. The driving support apparatus according to claim 3, wherein the characteristic of the driver is physical strength of the driver or driving skill of the driver.

Images