JP2013003774A - Vehicle support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to reduce a sense of incongruity of an operator of a support vehicle and a feeling of suspicion to be given to operators of vehicles running surroundings when a deceleration support of the support vehicle is carried out based on information on forward traffic flow.SOLUTION: A vehicle support device comprises: a forward information on traffic flow acquisition part 21 to acquire forward travel information; a velocity transmission estimation operation part 52 to estimate behavior of an immediately preceding vehicle 3 based on a traffic vehicle situation between a forward communication vehicle 2 and a support vehicle 1; a smooth driving support part 53 to perform a smooth driving support process of the support vehicle 1 based on travel information of the forward communication vehicle 2 and travel information of the support vehicle 1; and immediately preceding vehicle slowdown request part 54 to perform a notification process to notify the immediately preceding vehicle 3 that slowdown is required when the smooth driving support part 53 performs the smooth driving support process.

Description

  The present invention relates to a vehicle support apparatus that performs deceleration support for a support vehicle based on forward traffic flow information that is information on forward traffic flow.

  2. Description of the Related Art Conventionally, a vehicle support device that supports driving of a support vehicle by using a vehicle driving pattern that uses less vehicle fuel consumption and infrastructure information as a target driving pattern is known (see Patent Document 1).

JP 2011-167877 A

  Such a conventional vehicle support device detects a situation in which the vehicle starts to decelerate in the forward traffic flow based on inter-vehicle communication and infrastructure information. At the earliest possible timing, support for deceleration is started and smooth driving support for smooth deceleration is performed.

  However, the vehicle immediately before traveling in front of the support vehicle is not necessarily equipped with such a vehicle support device, and the vehicle support device is stopped even if the vehicle immediately before is equipped with the vehicle support device. There is also a possibility that the vehicle support device is out of order. In such a case, if a situation that turns to deceleration occurs in the forward traffic flow, the assistance vehicle equipped with the vehicle assistance device turns to deceleration by smooth driving assistance, but the vehicle just before is in such a situation of the forward traffic flow. Since it is not known, there is a possibility of maintaining constant speed driving or turning to acceleration. Then, the behavior of the support vehicle greatly changes with respect to the behavior of the immediately preceding vehicle. Therefore, the driver of the support vehicle feels uncomfortable, and the driver of the vehicle traveling around the support vehicle is suspicious. As a result, the driver hesitates to execute the vehicle support device, and there is a possibility that the vehicle support device may not be used even if the corner vehicle support device is mounted.

  Therefore, the present invention provides a sense of discomfort to the driver of the support vehicle or a suspicious feeling given to the driver of the vehicle traveling around when assisting the vehicle to decelerate based on the forward traffic flow information that is information related to the forward traffic flow. An object of the present invention is to provide a driving support device capable of reducing the above.

  The driving support device according to the present invention is based on forward traffic flow information acquisition means for acquiring forward traffic flow information that is information relating to forward traffic flow of the support vehicle, and forward traffic flow information acquired by the forward traffic flow information acquisition means. Deceleration executing means for executing deceleration support of the support vehicle, and notification for performing notification processing for notifying that the vehicle immediately before traveling the support vehicle needs to be decelerated when performing deceleration support by the deceleration execution means And means. Here, the traffic flow means a flow of a vehicle traveling in a certain lane, and the forward traffic flow means a traffic flow ahead of the traveling direction of the support vehicle. The forward traffic flow information includes travel information such as the current position, vehicle speed, and traveling direction of each vehicle in the forward traffic flow.

  According to the vehicle support device of the present invention, when the vehicle immediately before is not equipped with the vehicle support device or when the vehicle immediately before is stopping the vehicle support device, when the vehicle is supported for deceleration, By performing the notification process, it is possible to prompt the vehicle immediately before to decelerate. Thereby, since the uncomfortable feeling of the driver of the support vehicle and the suspicious feeling given to the driver of the vehicle traveling around can be reduced, the use of the vehicle support device can be promoted. In addition, with this notification processing, the immediately preceding vehicle can also perform an appropriate deceleration operation based on the forward traffic flow information, so that the fuel efficiency of the immediately preceding vehicle can be improved.

  In this case, it is preferable that the front traffic flow information acquisition unit acquires the travel information of the front vehicle traveling in the front traffic flow of the immediately preceding vehicle as the front traffic flow information. Thus, by acquiring the travel information of the preceding vehicle as the forward traffic flow information, the forward traffic flow information can be acquired through inter-vehicle communication with the preceding vehicle. As described above, the travel information includes the current position, the vehicle speed, the traveling direction, and the like.

  The vehicle further includes support vehicle travel information acquisition means for acquiring travel information of the support vehicle, and immediately preceding vehicle travel information acquisition means for acquiring travel information of the immediately preceding vehicle, and the notification means is provided by the support vehicle travel information acquisition means. It is preferable to perform a notification process when it is determined that the inter-vehicle distance between the support vehicle and the immediately preceding vehicle is widened based on the acquired travel information of the support vehicle and the travel information of the immediately preceding vehicle acquired by the immediately preceding vehicle travel information acquiring unit. . In this way, when it is determined that the inter-vehicle distance between the support vehicle and the immediately preceding vehicle is widened, the notification process is appropriately performed, so that the driver's discomfort and the suspicious feeling given to the driver of the vehicle traveling around can be appropriately handled. Can be reduced. Here, the traveling information is information related to traveling of the vehicle, and includes at least the current position and speed of the vehicle.

  Moreover, it is preferable that the notification means performs a notification process when it is determined that the immediately preceding vehicle is accelerated based on the traveling information of the immediately preceding vehicle acquired by the immediately preceding vehicle traveling information acquiring means. Thus, by performing the notification process when it is determined that the immediately preceding vehicle is accelerated, it is possible to suppress an increase in the inter-vehicle distance between the immediately preceding vehicle and the support vehicle.

  Moreover, it is preferable that the said notification means requests passing to the oncoming vehicle which drive | works the oncoming lane of a support vehicle as an alerting | reporting process. Normally, when a vehicle driver passes from an oncoming vehicle, the vehicle driver recognizes that there is something to watch out for in the forward direction of travel. Can be decelerated appropriately.

  ADVANTAGE OF THE INVENTION According to this invention, when performing the deceleration assistance of a support vehicle based on forward traffic flow information, the unpleasant feeling given to the driver | operator of the driver of a support vehicle and the vehicle which drive | works the circumference | surroundings can be reduced.

It is the figure which showed the traffic flow around the assistance vehicle carrying the vehicle assistance apparatus which concerns on embodiment. It is the figure which showed the block configuration of the vehicle assistance apparatus which concerns on embodiment. It is a graph which shows the relationship between the speed change of the front communication vehicle at the time of deceleration, and the speed change of a support vehicle. It is a graph which shows the relationship between the speed change of the last vehicle, and the speed change of the support vehicle which performs smooth driving assistance. It is a flowchart which shows the smooth driving assistance process by a vehicle assistance apparatus.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a vehicle support apparatus according to the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

  First, with reference to FIG. 1, the outline | summary of the vehicle assistance apparatus which concerns on embodiment is demonstrated. FIG. 1 is a diagram illustrating a traffic flow around a support vehicle on which the vehicle support apparatus according to the embodiment is mounted.

  As shown in FIG. 1, a traffic flow traveling in the traveling direction of the traveling lane is formed by a plurality of vehicles in the traveling lane on which the assisting vehicle 1 on which the vehicle assisting device is mounted travels. A traffic flow that travels in the traveling direction of the oncoming lane is also formed in the oncoming lane that faces the traveling lane on which the support vehicle 1 runs by a plurality of oncoming vehicles. The traffic flow refers to the flow of a vehicle traveling in a certain lane.

  In the traffic flow ahead of the support vehicle 1 (hereinafter referred to as “forward traffic flow”), the front communication vehicle 2 equipped with the inter-vehicle communication device capable of inter-vehicle communication with the vehicle support device mounted on the support vehicle 1. Is running. In addition, an opposite communication vehicle 4 equipped with a vehicle-to-vehicle communication device capable of vehicle-to-vehicle communication with a vehicle support device mounted on the support vehicle 1 is traveling in the opposite lane.

  And the vehicle assistance apparatus mounted in the assistance vehicle 1 performs the smooth driving assistance process which makes the assistance vehicle 1 drive | work smoothly based on the driving information of the front communication vehicle 2 acquired by vehicle-to-vehicle communication with the front communication vehicle 2. FIG. In this smooth driving support process, first, based on the travel information of the front communication vehicle 2 acquired by inter-vehicle communication with the front communication vehicle 2, it is predicted whether the support vehicle 1 needs to accelerate or decelerate in the near future. As a result of this prediction, when acceleration / deceleration is expected in the near future, deceleration support is started at an early timing, and the acceleration / deceleration of the support vehicle 1 is controlled with an acceleration / deceleration smaller than usual. . At this time, when the vehicle 3 immediately before the support vehicle 1 is not equipped with a vehicle support device, or even when the vehicle 3 is equipped with a vehicle support device, the vehicle support device is stopped or broken. In the case of the vehicle, the immediately preceding vehicle 3 is not necessarily decelerated similarly to the support vehicle 1, and may be accelerated in the opposite direction. In such a case, when the smooth driving support process of the support vehicle 1 is performed, the inter-vehicle distance between the support vehicle 1 and the immediately preceding vehicle 3 increases. Therefore, the vehicle support device mounted on the support vehicle 1 requests the opposite communication vehicle 4 to pass when performing the smooth driving support process, and asks the opposite communication vehicle 4 to perform the passing, so that the immediately preceding vehicle Let the driver of 3 recognize that there is something to watch out for in the forward direction of travel and decelerate.

  Next, the configuration of the vehicle support apparatus according to the embodiment will be described with reference to FIG. FIG. 2 is a diagram illustrating a block configuration of the vehicle support apparatus according to the embodiment.

  As shown in FIG. 2, the vehicle support device 10 according to the embodiment is mounted on a support vehicle 1 that performs smooth driving support, and includes an information transceiver 20, a support vehicle information acquisition unit 30, and an immediately preceding vehicle information acquisition unit. 40, ECU50, and the smooth driving assistance execution notification part 60 are provided.

  The information transmitter / receiver 20 is an information transmitter / receiver that transmits / receives information to / from the outside of the support vehicle 1 by inter-vehicle communication, road-to-vehicle communication, etc., and includes a forward traffic flow information acquisition unit 21 and a deceleration request notification unit 22. Prepare.

  The forward traffic flow information acquisition unit 21 acquires the travel information of the forward communication vehicle 2 as the forward traffic flow information through inter-vehicle communication with the forward communication vehicle 2 that travels in the forward traffic flow of the support vehicle 1. Here, the forward traffic flow information is information related to the forward traffic flow of the support vehicle 1, and includes traveling information such as the current position, vehicle speed, and traveling direction of each vehicle in the forward traffic flow. And the front traffic flow information acquisition part 21 will transmit the acquired driving information of the front communication vehicle 2 to ECU50, if the driving information of the front communication vehicle 2 is acquired from the front communication vehicle 2. FIG. The travel information of the front communication vehicle 2 includes various information related to the travel of the front communication vehicle 2, and includes, for example, the current position, speed, and traveling direction of the front communication vehicle 2. The current position and traveling direction of the front communication vehicle 2 can be detected by, for example, an output result of a GPS (Global Positioning System) mounted on the front communication vehicle 2 and a trace of the output result. The speed can be detected from the output result of the speedometer mounted on the front communication vehicle 2.

  The deceleration request notification unit 22 transmits a deceleration request, which will be described later, to the oncoming communication vehicle 4 by inter-vehicle communication with the oncoming communication vehicle 4 that runs on the opposite lane facing the traveling lane on which the support vehicle 1 is traveling. .

  The support vehicle information acquisition unit 30 acquires travel information of the support vehicle 1 from outputs of various sensor devices mounted on the support vehicle 1. The travel information of the support vehicle 1 includes various information related to the travel of the support vehicle 1, such as the current position, speed, and traveling direction of the support vehicle 1. Note that the current position and traveling direction of the support vehicle 1 can be detected by, for example, the output result of the GPS mounted on the support vehicle 1 and the trace of the output result, and the speed of the support vehicle 1 is mounted on the support vehicle 1. It can be detected from the output result of the speedometer.

  The immediately preceding vehicle information acquisition unit 40 acquires travel information of the immediately preceding vehicle 3 by using a sensor such as a millimeter wave radar mounted on the support vehicle 1, vehicle-to-vehicle communication, road-to-vehicle communication, or the like. The traveling information of the immediately preceding vehicle 3 includes various information related to traveling of the immediately preceding vehicle 3, such as the current position, speed, and traveling direction of the immediately preceding vehicle 3. The current position and speed of the immediately preceding vehicle 3 can be calculated from the relative position and relative speed with respect to the support vehicle 1, and the traveling direction of the immediately preceding vehicle 3 can be calculated from these traces.

  The ECU 50 smoothes the support vehicle 1 based on the travel information of the forward communication vehicle 2 transmitted from the forward traffic flow information acquisition unit 21 and the travel information of the support vehicle 1 transmitted from the support vehicle information acquisition unit 30. A driving support process is performed. Therefore, the ECU 50 includes functions of a system control unit 51, a speed propagation prediction calculation unit 52, a smooth driving support unit 53, and a previous vehicle deceleration request unit 54.

  The system control unit 51 comprehensively controls the smooth driving support process performed by the ECU 50.

  The speed propagation prediction calculation unit 52 estimates the traffic vehicle situation between the forward communication vehicle 2 and the support vehicle 1 and predicts the behavior of the immediately preceding vehicle 3 based on the estimated traffic vehicle situation. Here, the traffic vehicle status between the forward communication vehicle 2 and the support vehicle 1 refers to the number of vehicles existing between the forward communication vehicle 2 and the support vehicle 1, the traffic density, the average inter-vehicle time, and the like.

  First, an example of a method for estimating a traffic vehicle state between the support vehicle 1 and the forward communication vehicle 2 will be described with reference to FIG. FIG. 3 is a graph showing the relationship between the speed change of the forward communication vehicle and the speed change of the support vehicle during deceleration. A broken line V <b> 2 in FIG. 3 indicates a change in speed of the front communication vehicle 2. Also, solid lines V1a to V1c in FIG. 3 indicate changes in the speed of the support vehicle 1 when the traffic vehicle status between the front communication vehicle 2 and the support vehicle 1 that are at a predetermined inter-vehicle distance is different. More specifically, a solid line V1a indicates a change in speed of the support vehicle 1 when no vehicle is present between the forward communication vehicle 2 and the support vehicle 1. A solid line V <b> 1 b indicates a change in speed of the support vehicle 1 when one vehicle exists between the forward communication vehicle 2 and the support vehicle 1. A solid line V <b> 1 c indicates a change in speed of the support vehicle 1 when there are five vehicles between the forward communication vehicle 2 and the support vehicle 1.

  As shown in FIG. 3, since the influence of the behavior of the front communication vehicle 2 on the behavior of the support vehicle 1 differs if the traffic vehicle status between the front communication vehicle 2 and the support vehicle 1 is different, the behavior of the front communication vehicle 2 is different. It is possible to estimate the traffic vehicle status between the forward communication vehicle 2 and the support vehicle 1 from the interlocking relationship between the vehicle and the behavior of the support vehicle 1. Specifically, the speed propagation prediction calculation unit 52 preliminarily maps a traffic vehicle situation between the forward communication vehicle 2 and the support vehicle 1 and the behavior of the support vehicle 1 with respect to the behavior of the forward communication vehicle 2. Have it ready. Then, the speed propagation prediction calculation unit 52 applies the travel information of the forward communication vehicle 2 acquired by the forward traffic flow information acquisition unit 21 and the travel information of the support vehicle 1 acquired by the support vehicle information acquisition unit 30 to this map. Thus, the traffic vehicle situation between the forward communication vehicle 2 and the support vehicle 1 is estimated.

Next, an example of a method for predicting the behavior of the immediately preceding vehicle 3 will be described. The behavior of the immediately preceding vehicle 3 can be predicted using velocity propagation. Speed propagation refers to a phenomenon in which when a certain preceding vehicle changes its behavior, the following vehicle that follows immediately after this preceding vehicle is sent a little over time from the behavior change of the preceding vehicle and changes its behavior. This velocity propagation can be calculated by the following equation (1).

In the formula (1), x ₀ and x ₁ indicates the position of the vehicle running continuous with the front and rear respectively. In the above example, x ₀ represents the position of the preceding vehicle, x ₁ is shows the position of the following vehicle, the equation (1), depending on the relative speed of the preceding vehicle and following vehicle, following the vehicle T seconds It means to accelerate and decelerate later.

  Therefore, the speed propagation prediction calculation unit 52 sequentially calculates the speed propagation of the equation (1) for the number of vehicles existing between the forward communication vehicle 2 and the support vehicle 1, so that the behavior of the immediately preceding vehicle 3 is calculated. Predict.

  The smooth driving support unit 53 smoothes the support vehicle 1 based on the travel information of the forward communication vehicle 2 acquired by the forward traffic flow information acquisition unit 21 and the travel information of the support vehicle 1 acquired by the support vehicle information acquisition unit 30. A driving support process is performed.

  Here, an example of the smooth driving support process will be described with reference to FIG. FIG. 4 is a graph showing the relationship between the speed change of the immediately preceding vehicle and the speed change of the support vehicle that performs smooth driving support. A broken line V3 in FIG. 4 indicates a speed change of the immediately preceding vehicle 3. Further, a solid line V1a in FIG. 4 indicates a speed change of the support vehicle 1 when the smooth driving support process is not performed, and a solid line V1b in FIG. 4 indicates a speed change of the support vehicle 1 when the smooth driving support process is performed. Is shown.

  As shown by the broken line V3 and the solid line V1a in FIG. 4, if the support vehicle 1 does not perform the smooth driving support process, the support vehicle 1 travels following the immediately preceding vehicle, so the speed change V1a of the support vehicle 1 The change is along the speed change V3 of the vehicle 3. More specifically, the speed change V1a of the support vehicle 1 appears as a speed change delayed by a predetermined time with respect to the speed change V3 of the immediately preceding vehicle 3, and when the inter-vehicle distance is small, the speed change V3 of the immediately preceding vehicle 3 is larger than the speed change V3 of the immediately preceding vehicle 3. It becomes a big speed change.

  Therefore, when the smooth driving support unit 53 detects that the forward traffic flow has turned to deceleration and acceleration based on the traveling information of the forward communication vehicle 2 acquired by the forward traffic flow information acquisition unit 21, the smooth driving support unit 53 indicates the solid line V1b in FIG. As described above, the smooth driving support process is performed, the start timing of deceleration is advanced, and the acceleration / deceleration control of the support vehicle 1 is performed at an acceleration / deceleration smaller than usual.

  The immediately preceding vehicle deceleration request unit 54 performs a notification process for notifying that the immediately preceding vehicle 3 needs to be decelerated when the smooth driving support unit 53 performs the smooth driving support process. More specifically, the immediately preceding vehicle deceleration requesting unit 54 first determines whether or not the inter-vehicle distance between the immediately preceding vehicle 3 and the assisting vehicle 1 increases when the assisting vehicle 1 performs a smooth driving assist process. This determination can be made, for example, by comparing the traveling information of the immediately preceding vehicle 3 acquired by the immediately preceding vehicle information acquiring unit 40 with the traveling information of the supporting vehicle 1 acquired by the supporting vehicle information acquiring unit 30. In this case, since the support vehicle 1 turns to deceleration by the smooth driving support process, it is simply determined whether or not the immediately preceding vehicle 3 is accelerated from the traveling information of the immediately preceding vehicle 3 acquired by the immediately preceding vehicle information acquiring unit 40. Or by determining whether or not the immediately preceding vehicle 3 is not decelerated, it is also possible to determine whether or not the inter-vehicle distance between the immediately preceding vehicle 3 and the support vehicle 1 is widened.

  Then, when it is determined that the inter-vehicle distance between the immediately preceding vehicle 3 and the support vehicle 1 increases, the immediately preceding vehicle deceleration request unit 54 performs a notification process when performing the smooth driving support process. The notification process is performed by transmitting passing request information for requesting passing to the opposing communication vehicle 4 by inter-vehicle communication between the support vehicle 1 and the opposing communication vehicle 4.

  The identification of the oncoming communication vehicle 4 that transmits the passing request information can be performed by various methods. For example, the passing request information is transmitted to the opposite communication vehicle 4 existing in the distance range set in advance with respect to the support vehicle 1 among the opposite communication vehicles 4 existing in the forward direction of the support vehicle 1. Also good. Further, among the oncoming communication vehicles 4 existing in front of the immediately preceding vehicle 3 in the traveling direction, the passing request information is transmitted to the oncoming communication vehicle 4 existing within a preset distance range with respect to the immediately preceding vehicle 3. Also good. In these cases, when there are a plurality of opposing communication vehicles 4 that are the transmission target of the passing request information, it is preferable to transmit the passing request information only to the opposing communication vehicle 4 that is closest to the immediately preceding vehicle 3. Note that the current position of the support vehicle 1 can be obtained by the support vehicle information acquisition unit 30 acquiring the travel information of the support vehicle 1, and the current position of the immediately preceding vehicle 3 is determined by the immediately preceding vehicle information acquisition unit 40. 3, and the current position of the oncoming communication vehicle 4 can be obtained by inter-vehicle communication or road-to-vehicle communication with the oncoming communication vehicle 4 by the information transmitter / receiver 20.

  By the way, by transmitting the passing request information to the opposite communication vehicle 4, the opposite communication vehicle 4 is urged to perform the passing. In this case, the opposite communication vehicle 4 can execute the passing manually and automatically. For example, by providing the opposite communication vehicle 4 with notification means for notifying the driver that the passing request information has been received, it is possible to perform passing by manual operation of the driver. This notification means can be constituted by a speaker or a display device. Further, since the oncoming communication vehicle 4 is provided with a passing execution means for automatically executing the passing when the passing request information is received, it is possible to perform the automatic passing without relying on the driver's manual operation.

  The smooth driving support execution notification unit 60 is configured by a speaker, a display device, and the like, and notifies the driver of the support vehicle 1 of the execution of the smooth driving support process and the notification process by the ECU 50.

  Next, with reference to FIG. 5, the operation | movement of the smooth driving assistance process by the vehicle assistance apparatus 10 is demonstrated. FIG. 5 is a flowchart showing smooth driving support processing by the vehicle support device. The smooth driving support process described below is performed under the control of the ECU 50.

  As shown in FIG. 5, first, the ECU 50 estimates the traffic vehicle state between the forward communication vehicle 2 and the support vehicle 1 in the speed propagation prediction calculation unit 52 prior to performing the smooth driving support process ( Step S1). As described above, the traffic vehicle status between the front communication vehicle 2 and the support vehicle 1 includes the number of vehicles existing between the front communication vehicle 2 and the support vehicle 1, the traffic density, the average inter-vehicle time, and the like. However, here, for example, the number of vehicles existing between the forward communication vehicle 2 and the support vehicle 1 is estimated. In addition, the estimation of a traffic vehicle situation is performed by the process of the speed propagation prediction calculation part 52 of ECU50.

  Next, the ECU 50 acquires travel information of the forward communication vehicle 2 via the forward traffic flow information acquisition unit 21 (step S2).

  Next, the ECU 50 determines the behavior of the immediately preceding vehicle 3 based on the traffic vehicle status between the front communication vehicle 2 and the support vehicle 1 estimated in step S1 and the travel information of the front communication vehicle 2 acquired in step S2. Calculation is performed (step S3).

  Next, the ECU 50 calculates the specific content of the smooth driving support process in the smooth driving support unit 53 (step S4). As described above, the smooth driving support process starts decelerating at a timing earlier than usual when detecting that the forward traffic flow has started to decelerate and accelerate based on the traveling information of the forward communication vehicle 2 acquired in step S2. The acceleration / deceleration control of the support vehicle 1 is performed at an acceleration / deceleration smaller than usual. For this reason, in step S4, the information necessary for executing such a smooth driving support process, such as the start timing of deceleration, deceleration, the timing of switching from deceleration to acceleration, acceleration, etc. Calculation is made as specific contents of the support process.

  Next, the ECU 50 determines whether or not to perform a smooth driving support process in the smooth driving support unit 53 (step S5). For example, when the smooth driving support process can be appropriately executed, it is determined in step S5 that the smooth driving support process is executed. On the other hand, when execution of the smooth driving support process is stopped and the support vehicle 1 is made to follow the immediately preceding vehicle 3 like ACC (adaptive cruise control), or when the smooth driving support process is stopped or fails to operate Is determined not to execute the smooth driving support process in step S5.

  If it is determined in step S5 that the smooth driving support process is not executed (step S5: NO), the ECU 50 ends the smooth driving support process.

  On the other hand, if it determines with performing a smooth driving assistance process in step S5 (step S5: YES), ECU50 will perform the smooth driving assistance process of the content calculated by step S4 in the smooth driving assistance part 53 (step S6).

  Then, the ECU 50 notifies the driver of the execution of the smooth driving support execution process via the smooth driving support execution notification unit 60.

  Next, the ECU 50 acquires travel information of the immediately preceding vehicle 3 via the immediately preceding vehicle information acquisition unit 40 (step S7).

  Next, the ECU 50 determines whether or not a notification condition is satisfied in the immediately preceding vehicle deceleration request unit 54 (step S8). Here, the notification condition is a condition for transmitting passing request information to the oncoming communication vehicle 4, and refers to a case where the inter-vehicle distance between the immediately preceding vehicle 3 and the support vehicle 1 is increased by the smooth driving support process. Therefore, the ECU 50 compares the traveling information of the immediately preceding vehicle 3 acquired by the immediately preceding vehicle information acquiring unit 40 with the traveling information of the supporting vehicle 1 acquired by the supporting vehicle information acquiring unit 30. If the ECU 50 determines that the inter-vehicle distance between the immediately preceding vehicle 3 and the support vehicle 1 is widened from the comparison result, the ECU 50 determines that the notification condition is satisfied, and the inter-vehicle distance between the immediately preceding vehicle 3 and the support vehicle 1 is not widened. If determined, it is determined that the notification condition is not satisfied. As described above, when the ECU 50 determines that the immediately preceding vehicle 3 accelerates or does not change the speed based on the traveling information of the immediately preceding vehicle 3 acquired by the immediately preceding vehicle information acquiring unit 40, the notification condition is satisfied. If it is determined that the immediately preceding vehicle 3 is decelerated, it may be determined that the notification condition is not satisfied.

  If it is determined in step S8 that the notification condition is not satisfied (step S8: NO), the ECU 50 ends the smooth driving support process.

  On the other hand, if it is determined in step S8 that the notification condition is satisfied (step S8: YES), the ECU 50 causes the immediately preceding vehicle deceleration request unit 54 to communicate the passing request information by inter-vehicle communication between the support vehicle 1 and the opposite communication vehicle 4. The notification process transmitted to the vehicle 4 is executed (step S9). As a result, passing is performed by the oncoming communication vehicle 4 and the driver of the immediately preceding vehicle 3 can expect to decelerate the immediately preceding vehicle 3 by recognizing that there is something to be careful about in traffic ahead of the traveling direction. .

  Then, the ECU 50 notifies the driver of the execution of the notification process via the smooth driving support execution notification unit 60.

  As described above, according to the vehicle support device 10 according to the present embodiment, when the immediately preceding vehicle 3 does not include the vehicle support device 10 or when the immediately preceding vehicle 3 stops the vehicle support device 10. Even if it exists, the vehicle 3 can be promptly decelerated by performing the notification process when the smooth driving support process of the support vehicle 1 is performed. Thereby, since the uncomfortable feeling of the driver of the support vehicle 1 and the suspicious feeling given to the driver of the vehicle traveling around can be reduced, the use of the vehicle support device 10 can be promoted. Moreover, since the immediately preceding vehicle 3 can perform an appropriate deceleration operation based on the forward traffic flow information by this notification processing, the fuel efficiency of the immediately preceding vehicle 3 can be improved.

  Further, by acquiring the traveling information of the front communication vehicle 2 as the front traffic flow information, the front traffic flow information can be acquired by inter-vehicle communication with the front communication vehicle 2.

  In addition, when it is determined that the inter-vehicle distance between the support vehicle 1 and the immediately preceding vehicle 3 is widened, a sense of discomfort to the driver of the support vehicle 1 or a suspicious feeling given to the driver of the vehicle traveling around can be appropriately obtained. Can be reduced.

  Further, by performing the notification process when it is determined that the immediately preceding vehicle 3 is accelerated, it is possible to suppress the increase in the inter-vehicle distance between the immediately preceding vehicle and the support vehicle.

  In addition, by transmitting the passing request information to the oncoming communication vehicle 4 as the notification process, the driver of the immediately preceding vehicle 3 recognizes that there is something to be careful about in the forward direction in the traveling direction by passing by the oncoming communication vehicle 4. Therefore, the immediately preceding vehicle 3 can be appropriately decelerated.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the notification process is described as transmitting passing request information to the oncoming communication vehicle 4, but this notification process requires the driver of the immediately preceding vehicle 3 to decelerate directly or indirectly. Any process may be adopted as long as it can be notified. For example, guidance for prompting deceleration may be displayed on a warning display board installed on the roadside. In this case, for example, it is possible to display guidance for prompting deceleration on the warning display board by road-to-vehicle communication between the information transceiver 20 and the warning display board.

  Moreover, in the said embodiment, although the front traffic flow information was demonstrated as what employ | adopts the driving information of the front communication vehicle 2, and acquires by vehicle-to-vehicle communication between the front communication vehicles 2, this front traffic flow information is Any information regarding the forward traffic flow of the support vehicle may be used, and the information may be obtained by any means. For example, a furnace side device that detects an actual traffic flow condition may be installed on the road side, and the forward traffic flow information may be acquired by road-to-vehicle communication with the road side device.

  Further, in the above embodiment, the smooth driving support process has been described as sequentially processing each step according to the flowchart of FIG. 5, but this smooth driving support process includes each step within the scope of the present invention. It may be appropriately moved back and forth, or a plurality of steps may be performed in parallel.

  DESCRIPTION OF SYMBOLS 1 ... Support vehicle, 2 ... Forward communication vehicle (front vehicle), 3 ... Immediate vehicle, 4 ... Opposite communication vehicle (opposite vehicle), 10 ... Vehicle support apparatus, 20 ... Information transmitter / receiver, 21 ... Forward traffic flow information acquisition part (Forward traffic flow information acquisition means), 22 ... deceleration request notification section (notification means), 30 ... support vehicle information acquisition section (support vehicle travel information acquisition means), 40 ... immediately preceding vehicle information acquisition section (previous vehicle travel information acquisition means) ), 50... ECU, 51... System control unit, 52... Speed propagation prediction calculation unit, 53... Smooth driving support unit (deceleration execution means), 54. Notification section.

Claims (5)

Forward traffic flow information acquisition means for acquiring forward traffic flow information which is information related to the forward traffic flow of the support vehicle;
Deceleration executing means for executing deceleration support of the support vehicle based on the forward traffic flow information acquired by the forward traffic flow information acquiring means;
A notification means for performing a notification process for notifying that the vehicle immediately before traveling on the support vehicle needs to be decelerated when performing the deceleration support by the deceleration execution means;
A vehicle support apparatus comprising:   The vehicle support device according to claim 1, wherein the forward traffic flow information acquisition unit acquires travel information of a forward vehicle traveling in the forward traffic flow of the immediately preceding vehicle as the forward traffic flow information. Support vehicle travel information acquisition means for acquiring travel information of the support vehicle;
Immediately preceding vehicle traveling information acquisition means for acquiring traveling information of the immediately preceding vehicle;
Further comprising
The notifying means is based on the driving information of the supporting vehicle acquired by the supporting vehicle driving information acquiring means and the driving information of the immediately preceding vehicle acquired by the immediately preceding vehicle driving information acquiring means. The vehicle support apparatus according to claim 1, wherein the notification process is performed when it is determined that the inter-vehicle distance is increased.   4. The notification unit according to claim 3, wherein the notification unit performs the notification process when it is determined that the immediately preceding vehicle accelerates based on the traveling information of the immediately preceding vehicle acquired by the immediately preceding vehicle traveling information acquisition unit. The vehicle support apparatus described. The vehicle support device according to any one of claims 1 to 4, wherein the notification unit requests passing to an oncoming vehicle that travels in an opposite lane of the support vehicle as the notification processing.

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