JP2013006560A - Driving support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable urging a driver to release stepping down of an accelerator pedal after the own vehicle stops by the automatic braking.SOLUTION: The collision avoidance braking support device 1 for the vehicle includes: a support information operation part 30 that calculates the risk potential relating to the approach of the own vehicle to an obstacle; a braking force operation part 40 and a braking force application device 8 applying the braking force to the own vehicle based on the risk potential calculated by the support information operation part 30; and an accelerator pedal reaction force operation part 50 and an accelerator pedal reaction force application device 9 that apply the accelerator pedal reaction force when determining that the own vehicle has stopped by applying the braking force based on the traveling state of the own vehicle detected by an own vehicle and obstacle information obtaining part 20, and applying the braking force by the braking force operation part 40 and the braking force application device 8.

Description

  The present invention relates to a technology for supporting driving.

As a technique for assisting driving, there is a conventional technique described in Patent Document 1, for example.
In this prior art, first, the accelerator operation by the driver is invalidated before the temporary stop line. In this prior art, after the vehicle stops on the temporary stop line, the driver detects a predetermined confirmation operation for confirming the traffic situation around the intersection. And in this prior art, the accelerator operation by a driver | operator is validated after the detection operation | movement is detected.

JP 2010-48198 A

  However, in the situation where the driver is stepping on the accelerator pedal, if the host vehicle is stopped by automatic braking based on the approach risk of the host vehicle to an obstacle, the driver keeps the accelerator pedal as it is even after the vehicle stops. There is a risk of stepping on. For example, the accelerator pedal is mistaken for a brake pedal and the driver continues to step on the pedal.

Thus, even if the conventional technology is applied when the driver continues to depress the accelerator pedal after automatic braking, the deactivation is canceled because the depression of the accelerator is invalidated based on the confirmation operation of the driver. If the accelerator pedal is depressed, the driver may unintentionally start the vehicle.
An object of the present invention is to urge the driver to release the depression of an accelerator pedal after the host vehicle is stopped by automatic braking.

  In order to solve the above-described problem, an embodiment of the present invention detects the approaching risk potential of the host vehicle to an obstacle and the traveling state of the host vehicle. In one embodiment of the present invention, an automatic braking force is applied to the host vehicle based on the detected approach risk potential. When one embodiment of the present invention determines that the host vehicle has stopped due to the application of the automatic braking force based on the detected traveling state of the host vehicle and the application of the automatic braking force, the accelerator pedal reaction force is applied. To do.

  According to the present invention, when the host vehicle is stopped by applying an automatic braking force based on the approach risk potential, the accelerator pedal reaction force is applied to the driver after the host vehicle is stopped by automatic braking. It is possible to prompt the release of the accelerator pedal and to prevent the driver from starting unintentionally.

It is a block diagram which shows the structural example of the collision avoidance braking assistance apparatus for vehicles of this embodiment. It is a block diagram which shows the structural example of the own vehicle and obstruction information acquisition part. It is a block diagram which shows the structural example of a support information calculating part. It is a block diagram which shows the structural example of a braking force calculating part. It is a block diagram which shows the structural example of an accelerator pedal reaction force calculating part. It is a characteristic view which shows an example of the relationship between an accelerator pedal opening amount and an accelerator pedal reaction force amount. It is a characteristic view which shows an example of the relationship between the accelerator pedal opening amount and the accelerator pedal reaction force amount initial value F0 at the time of stop. It is a characteristic view which shows an example of the relationship between accelerator pedal depression time and the accelerator pedal reaction force offset amount Foff for a stop time. It is a flowchart which shows a series of process examples by the threshold value setting part for a stop time. It is a figure which shows an example of the deceleration automatically given to the own vehicle, and an accelerator pedal reaction force amount. It is a characteristic view which shows an example of the accelerator pedal reaction force command value at the time of a stop calculated in the collision avoidance braking assistance apparatus for vehicles. FIG. 12 is a characteristic diagram showing an example of a change in a stop accelerator pedal reaction force command value when a stop accelerator pedal reaction force command value other than zero is continuously output for a second set time. FIG. 10 is a characteristic diagram showing an example of a change in a stop time accelerator pedal reaction force command value when the risk potential is equal to or less than a stop time accelerator pedal reaction force application determination threshold value. It is a characteristic view showing an example of a change in the accelerator pedal reaction force command value for stop when the state where the accelerator opening is zero continues for the first set time. It is a block diagram which shows the structural example of the collision avoidance braking assistance apparatus for vehicles which provides an accelerator pedal before turning driving | running | working. It is a characteristic view showing an example of an accelerator pedal reaction force applied to the host vehicle before turning and an accelerator pedal reaction force applied to the host vehicle when the vehicle is stopped.

The present embodiment will be described with reference to the drawings.
The present embodiment is a vehicle collision avoidance braking support device mounted on a vehicle.

(Constitution)
FIG. 1 is a block diagram illustrating a configuration example of a vehicle collision avoidance braking support device 1.
As shown in FIG. 1, the vehicle collision avoidance braking support device 1 includes a wheel speed sensor 2, an obstacle information detection sensor 3, an accelerator opening sensor 4, a throttle opening sensor 5, a shift position sensor 6, a controller 7, A power application device 8 and an accelerator pedal reaction force application device 9 are provided.

  Here, for example, the controller 7 includes a microcomputer and its peripheral circuits. That is, for example, the controller 7 is configured by a CPU, a ROM, a RAM, and the like as in a general ECU (Electronic Control Unit). The ROM stores one or more programs for realizing various processes. The CPU executes various processes according to one or more programs stored in the ROM.

  As shown in FIG. 1, the controller 7 includes a host vehicle / obstacle information acquisition unit 20, a support information calculation unit 30, a braking force calculation unit 40, and an accelerator pedal reaction force calculation unit 50. Here, the own vehicle / obstacle information acquisition unit 20, the support information calculation unit 30, the braking force calculation unit 40, and the accelerator pedal reaction force calculation unit 50 are configured as functions of the controller 7 by a program.

The wheel speed sensor 2, the obstacle information detection sensor 3, the accelerator opening sensor 4, the throttle opening sensor 5, and the shift position sensor 6 output the detected detection values (sensor values) to the own vehicle / obstacle information acquisition unit 20. To do.
The own vehicle / obstacle information acquisition unit 20 receives sensor values from various sensors, and acquires various information based on the input sensor values. Then, the host vehicle / obstacle information acquisition unit 20 outputs the acquired various types of information to the support information calculation unit 30.

FIG. 2 is a block diagram illustrating a configuration example of the own vehicle / obstacle information acquisition unit 20.
As shown in FIG. 2, the host vehicle / obstacle information acquisition unit 20 includes a host vehicle speed calculation unit 21, a host vehicle acceleration / deceleration calculation unit 22, an obstacle information calculation unit 23, an accelerator opening detection unit 24, and an engine torque detection unit. 25, a shift position detection unit 26, and a host vehicle / obstacle information output unit 27.
The own vehicle speed calculation unit 21 calculates the own vehicle speed based on the wheel speed sensor value from the wheel speed sensor 2. Then, the host vehicle speed calculation unit 21 outputs the calculated host vehicle speed to the host vehicle / obstacle information output unit 27.

The own vehicle acceleration / deceleration calculation unit 22 calculates the own vehicle acceleration / deceleration based on the wheel speed sensor value from the wheel speed sensor 2. Then, the host vehicle acceleration / deceleration calculation unit 22 outputs the calculated host vehicle acceleration / deceleration to the host vehicle / obstacle information output unit 27.
The obstacle information calculation unit 23 calculates obstacle information based on the obstacle information detection value from the obstacle information detection sensor 3. Then, the obstacle information calculation unit 23 outputs the calculated obstacle information to the own vehicle / obstacle information output unit 27.

  Here, the obstacle information detection sensor 3 is, for example, a laser radar, a millimeter wave radar, a stereo camera, or the like. The obstacle information is a distance from the obstacle, a relative speed with the obstacle, and a relative acceleration / deceleration with the obstacle. For example, the relative speed with the obstacle may be obtained by performing an operation such as time differentiation of the distance from the obstacle detected by the obstacle information detection sensor 3. Further, the relative acceleration / deceleration with the obstacle may be obtained by performing an operation such as time differentiation of the relative speed with the obstacle detected by the obstacle information detection sensor 3.

The accelerator opening detector 24 calculates the accelerator opening based on the accelerator opening sensor value from the accelerator opening sensor 4. Then, the accelerator opening detection unit 24 outputs the calculated accelerator opening to the own vehicle / obstacle information output unit 27.
The engine torque detector 25 calculates the engine torque based on the throttle opening sensor value from the throttle opening sensor 5. Then, the engine torque detector 25 outputs the calculated engine torque to the host vehicle / obstacle information output unit 27.

The shift position detector 26 detects the shift position based on the shift position sensor value from the shift position sensor 6. Then, the shift position detection unit 26 outputs the detected shift position to the host vehicle / obstacle information output unit 27.
The own vehicle / obstacle information output unit 27 includes an own vehicle speed calculation unit 21, an own vehicle acceleration / deceleration calculation unit 22, an obstacle information calculation unit 23, an accelerator opening detection unit 24, an engine torque detection unit 25, and a shift position detection. The own vehicle / obstacle information from the unit 26 is input. Then, the host vehicle / obstacle information output unit 27 outputs the input host vehicle / obstacle information to the support information calculation unit 30.

The own vehicle / obstacle information here is information on own vehicle speed, own vehicle acceleration / deceleration, obstacle information, accelerator opening, engine torque, and shift position.
The support information calculation unit 30 calculates support information based on the host vehicle / obstacle information from the host vehicle / obstacle information acquisition unit 20. Then, the support information calculation unit 30 outputs the calculated support information to the braking force calculation unit 40 and the accelerator pedal reaction force calculation unit 50.

FIG. 3 is a block diagram illustrating a configuration example of the support information calculation unit 30.
As shown in FIG. 3, the support information calculation unit 30 includes a risk potential calculation unit 31, a disturbance estimation unit 32, and a support information output unit 33.
The risk potential calculation unit 31 calculates the risk potential based on the host vehicle / obstacle information from the host vehicle / obstacle information acquisition unit 20. Then, the risk potential calculation unit 31 outputs the calculated risk potential to the support information output unit 33.

Specifically, first, the risk potential calculation unit 31 uses the following equation (1) to calculate the distance D_tar (m) from the own vehicle / obstacle information acquisition unit 20 to the obstacle, The arrival time TTC is calculated based on the relative speed V_tar (m / s).
TTC = D_tar / V_tar (1)
The risk potential calculation unit 31 calculates a risk potential that increases as the calculated arrival time TTC decreases and decreases as the arrival time TTC increases. For this reason, for example, the risk potential may be the reciprocal of the arrival time TTC.

Thus, the risk potential is a value having variables such as the distance to the obstacle, the relative speed with the obstacle, and the arrival time, and can be said to be an index of the risk of approaching the obstacle to the host vehicle.
The disturbance estimation unit 32 calculates a disturbance estimated value based on the host vehicle / obstacle information from the host vehicle / obstacle information acquisition unit 20 and the braking force calculation processing result of the braking force calculation unit 40. Then, the disturbance estimation unit 32 outputs the calculated disturbance estimation value SUB to the support information output unit 33.

Specifically, the disturbance estimation unit 32 determines that the disturbance is calculated when the braking force command value calculated by the braking force calculation unit 40 determining that the braking force is applied to the host vehicle during the previous processing is equal to or greater than a preset value. Calculate an estimate. In this case, the disturbance estimation unit 32 uses the following equation (2) to determine the acceleration / deceleration A (m / s ² ) of the host vehicle from the host vehicle / obstacle information acquisition unit 4 and the braking force command value at the previous processing. A disturbance estimated value SUB is calculated based on P_brk.

SUB = | (A / P_brk) × ARMYU | (2)
Here, ARMYU is a braking amount braking force conversion coefficient used by the braking force command value calculation unit 44 to calculate the braking force command value P_brk. Moreover, the preset value is 0.5 (MPa), for example.
On the other hand, when the disturbance estimated value SUB is not calculated by the above calculation, the disturbance estimating unit 32 sets the disturbance estimated value SUB to 1.

The support information output unit 33 outputs information from the own vehicle / obstacle information acquisition unit 20, the risk potential calculation unit 31, and the disturbance estimation unit 32 to the braking force calculation unit 40 and the accelerator pedal reaction force calculation unit 50.
The braking force calculation unit 40 calculates a braking force command value of the braking force applying device 8 based on information from the support information calculation unit 30. Then, the braking force calculation unit 40 outputs the calculated braking force command value to the braking force applying device 8.

FIG. 4 is a block diagram illustrating a configuration example of the braking force calculation unit 40.
As shown in FIG. 4, the braking force calculation unit 40 includes a threshold setting unit 41, a braking force application determination unit 42, a braking amount calculation unit 43, and a braking force command value calculation unit 44.
The threshold setting unit 41 sets a threshold for determining whether to apply braking force. Then, the threshold setting unit 41 outputs the set threshold (hereinafter referred to as a braking force application determination threshold) to the braking force application determination unit 42.

  Specifically, first, the threshold value setting unit 41 sets a preset arrival time TTC_0 (for example, the initial value of the threshold for determining the arrival time, for example) so that the estimated disturbance value SUB calculated by the disturbance estimation unit 32 increases. Value) is corrected, and the arrival time determination threshold value TTC_th is set. Then, the threshold setting unit 41 sets a risk potential corresponding to the arrival time TTC when the set arrival time determination threshold TTC_th is set as a braking force application determination threshold. Here, for example, the arrival time TTC_0 is 1. The arrival time determination threshold value TTC_th is set in the range of 0.8 to 1.2 by the correction process.

The braking force application determination unit 42 determines whether to apply braking force to the host vehicle. Then, the braking force application determination unit 42 outputs the determination result of the braking force application to the braking amount calculation unit 43 and the support information calculation unit 30.
Specifically, the braking force application determination unit 42 determines that the risk potential acquired from the support information calculation unit 30 is greater than the braking force application determination threshold set by the threshold setting unit 41 (risk potential> braking force). (Threshold for determination of application), it is determined that a braking force is applied to the host vehicle. In other cases (the risk potential ≦ the threshold for determining the braking force), the braking force application determination unit 42 determines that the braking force is not applied to the host vehicle.

The braking amount calculation unit 43 calculates the braking amount of the braking force applying device 8. Then, the braking amount calculation unit 43 outputs the calculated braking amount to the braking force command value calculation unit 44.
Here, specifically, the braking amount calculation unit 43 sets the braking amount based on the braking force application determination result of the braking force application determination unit 42. More specifically, when the braking amount calculation unit 43 determines that the braking force application determination unit 42 applies the braking force (risk potential> braking force application determination threshold), a preset deceleration DEC_0 (m / s ² ). Is set to the braking amount (deceleration) DEC (m / s ² ). At this time, the braking amount calculation unit 43 limits the increase in the braking amount DEC up to DEC_0 (m / s ² ) with a preset increase rate. Here, for example, the increase rate is 10.0 (m / s ³ ), and the control amount DEC_0 is 5.0 (m / s ² ).

When the braking force application determination unit 42 determines that the braking force is not applied (risk potential ≦ braking force application determination threshold), the braking amount calculation unit 43 sets the braking amount DEC to zero.
The braking force command value calculation unit 44 calculates the braking force command value of the braking force applying device 8. Then, the braking force command value calculation unit 44 outputs the calculated braking force command value to the support information calculation unit 30 and the braking force applying device 8.

Here, specifically, the braking force command value calculation unit 44 calculates the braking force command value P_brk (MPa) using the following equation (3).
P_brk = DEC × ARMYU × α_armyu1 (3)
Here, DEC is a value calculated by the braking amount calculation unit 43. ARMYU is a braking amount braking force conversion coefficient, which is a preset value. For example, the braking amount braking force conversion coefficient ARMYU is 0.811. Α_armyu1 is a braking amount braking force conversion coefficient correction gain.

  Here, the braking amount braking force conversion coefficient correction gain α_armyu1 is set based on the estimated disturbance value SUB calculated by the disturbance estimation unit 32. Specifically, the braking amount braking force conversion coefficient correction gain α_armyu1 increases as the disturbance estimated value SUB hinders braking, that is, as the disturbance estimated value SUB decreases. For this reason, for example, the braking amount braking force conversion coefficient correction gain α_armyu1 may be the reciprocal of the estimated disturbance value SUB. Further, for example, the braking amount braking force conversion coefficient correction gain α_armyu1 takes a value within a range in which 0.8 is the lower limit and 1.2 is the upper limit.

The braking force application device 8 applies the braking force based on the braking force command value from the braking force calculation unit 40. For example, the braking force application device 8 applies hydraulic pressure to the hydraulic brake actuator.
On the other hand, the accelerator pedal reaction force calculation unit 50 calculates an accelerator pedal reaction force command value based on information from the support information calculation unit 30. Then, the accelerator pedal reaction force calculation unit 50 outputs the calculated accelerator pedal reaction force command value to the accelerator pedal reaction force applying device 9.

FIG. 5 is a block diagram illustrating a configuration example of the accelerator pedal reaction force calculation unit 50.
As shown in FIG. 5, the accelerator pedal reaction force calculation unit 50 includes a threshold setting unit 51, an accelerator pedal reaction force application determination unit 52, an accelerator pedal reaction force amount calculation unit 53, and an accelerator pedal reaction force command value calculation unit 54. is doing. The accelerator pedal reaction force calculation unit 50 includes a stop threshold setting unit 55, a stop accelerator pedal reaction force application determination unit 56, a stop accelerator pedal reaction force amount calculation unit 57, and a stop accelerator pedal reaction force command. A value calculation unit 58 and an accelerator pedal reaction force command value selection unit 59 are provided.

The threshold setting unit 51 sets a threshold for performing accelerator pedal reaction force application determination. Then, the threshold value setting unit 51 outputs the set threshold value (hereinafter referred to as an accelerator pedal reaction force application determination threshold value) to the accelerator pedal reaction force application determination unit 52.
Specifically, the threshold value setting unit 51 sets the accelerator pedal reaction force application determination threshold value such that the estimated disturbance value acquired from the support information calculation unit 30 is small enough to prevent braking of the host vehicle.

The accelerator pedal reaction force application determination unit 52 determines whether to apply an accelerator pedal reaction force. Then, the accelerator pedal reaction force application determination unit 52 outputs the determination result of the accelerator pedal reaction force application to the accelerator pedal reaction force amount calculation unit 53.
Specifically, the accelerator pedal reaction force application determination unit 52 determines that the risk potential acquired from the support information calculation unit 30 is greater than the accelerator pedal reaction force application determination threshold set by the threshold setting unit 51 (risk Potential> threshold for accelerator pedal reaction force application determination), it is determined that the accelerator pedal reaction force is applied. In other cases (risk potential ≦ accelerator reaction force application threshold value), the accelerator pedal reaction force application determination unit 52 determines that the accelerator pedal reaction force is not applied.

The accelerator pedal reaction force calculator 53 calculates an accelerator pedal reaction force amount. Then, the accelerator pedal reaction force calculation unit 53 outputs the calculated accelerator pedal reaction force amount to the accelerator pedal reaction force command value calculation unit 54.
Specifically, the accelerator pedal reaction force amount calculation unit 53 calculates the accelerator pedal reaction force amount based on the determination result of the accelerator pedal reaction force application by the accelerator pedal reaction force application determination unit 52. That is, the accelerator pedal reaction force amount calculation unit 53 calculates the accelerator pedal reaction force amount when the accelerator pedal reaction force application determination unit 52 determines that the accelerator pedal reaction force is applied. Here, the accelerator pedal reaction force amount calculation unit 53 sets the accelerator pedal reaction force amount to a larger value as the accelerator opening degree is larger, that is, as the accelerator pedal depression amount (accelerator pedal opening amount) is larger. At this time, for example, the accelerator pedal reaction force amount calculation unit 53 calculates the accelerator pedal reaction force amount within a range of 20 (N) to 25 (N).

FIG. 6 is a characteristic diagram showing an example of the relationship between the accelerator pedal opening amount and the accelerator pedal reaction force amount.
As shown in FIG. 6, the accelerator pedal reaction force amount increases as the accelerator pedal opening amount increases. More specifically, the accelerator pedal reaction force amount is maintained at the minimum value Fmin1 in a region where the accelerator pedal opening amount is small. Then, the accelerator pedal reaction force amount increases as the accelerator pedal opening amount increases in a middle region of the accelerator pedal opening amount. Further, the accelerator pedal reaction force amount is maintained at the maximum value Fmax1 in a region where the accelerator pedal opening amount is large. Here, for example, Fmin1 is 20 (N). The maximum value Fmax1 is 25 (N).

The accelerator pedal reaction force command value calculation unit 54 calculates an accelerator pedal reaction force command value. Then, the accelerator pedal reaction force command value calculation unit 54 outputs the calculated accelerator pedal reaction force command value to the accelerator pedal reaction force command value selection unit 59.
Specifically, the accelerator pedal reaction force command value calculation unit 54 determines that the accelerator pedal reaction force application determination unit 52 applies the accelerator pedal reaction force, and then calculates the accelerator pedal operation force calculation unit 53 calculates. The accelerator pedal reaction force command value is increased to the pedal reaction force amount. At this time, the accelerator pedal reaction force command value calculation unit 54 increases the accelerator pedal reaction force command value at a preset increase rate. Here, for example, the preset increase rate is 7.5 (N / sec).

Then, when the accelerator pedal reaction force command value reaches the accelerator pedal reaction force amount, the accelerator pedal reaction force command value calculation unit 54 thereafter accelerates the accelerator pedal reaction force until the accelerator opening obtained from the support information calculation unit 30 becomes zero. Maintain the command value.
In addition, when the accelerator pedal reaction force application determination unit 52 determines that the accelerator pedal reaction force is not applied, and the accelerator pedal reaction force command value is a value other than zero during the previous process, the accelerator pedal reaction force command value is determined. The calculation unit 54 decreases the accelerator pedal reaction force command value to zero. At this time, the accelerator pedal reaction force command value calculation unit 54 decreases the accelerator pedal reaction force command value at a preset decrease rate. Here, for example, the preset reduction rate is 30 (N / sec).

Then, after the accelerator pedal reaction force command value becomes zero, the accelerator pedal reaction force command value calculation unit 54 determines that the accelerator pedal reaction force application determination unit 52 determines to apply the accelerator pedal reaction force. Maintain the command value at zero.
The stop-time threshold value setting unit 55 sets a threshold value for performing a stop-time pedal reaction force application determination when the host vehicle is stopped. Then, the threshold setting unit 51 outputs the set threshold (hereinafter referred to as a stop-time accelerator pedal reaction force application determination threshold) to the stop-time accelerator pedal reaction force application determination unit 56.

  Here, specifically, the stop time threshold setting unit 55 is for the stop time so that the accelerator pedal reaction force is applied while an obstacle (for example, the front vehicle) in front of the stopped vehicle is stopped. A threshold for determining accelerator pedal reaction force is set. At this time, the stop-time threshold setting unit 55 sets a stop-time accelerator pedal reaction force application determination threshold based on the relative distance and relative speed to the obstacle. For example, the setting is performed assuming that the accelerator pedal reaction force is applied when the relative distance from the obstacle is small and the relative speed from the obstacle does not indicate a direction away from the obstacle. desirable.

The stop accelerator pedal reaction force application determination unit 56 determines whether to apply a stop accelerator pedal reaction force. Then, the stop-time accelerator pedal reaction force application determination unit 56 outputs the determination result of the stop-time accelerator pedal reaction force application to the stop-time accelerator pedal reaction force calculation unit 57.
Specifically, the stop accelerator pedal reaction force application determination unit 56 determines that the risk potential acquired from the support information calculation unit 30 is the stop accelerator pedal reaction force set by the stop threshold setting unit 55. When it is determined that the braking force is automatically applied by the braking force calculation unit 40 and the own vehicle has stopped because it is greater than the threshold for determination of application, it is determined that the accelerator pedal reaction force for stopping is applied. In addition, the stop time accelerator pedal reaction force application determination unit 56 determines that the stop time accelerator pedal reaction force is not applied otherwise. That is, for example, the stop accelerator pedal reaction force application determination unit 56 determines that the risk potential is equal to or less than the stop accelerator pedal reaction force application determination threshold value or that the braking force calculation unit 40 has automatically applied the braking force. If the host vehicle stops without being caused by this, it is determined that the accelerator pedal reaction force for stopping is not applied.

Here, for example, the accelerator pedal reaction force application determination unit 56 for stopping is equal to or less than a preset value (for example, a value of 0 (km / h) or more and 0.8 (km / h) or less). It is determined that the host vehicle has stopped.
The stop time accelerator pedal reaction force amount calculation unit 57 calculates the stop time accelerator pedal reaction force amount. The stop-time accelerator pedal reaction force amount calculation unit 57 outputs the calculated stop-time accelerator pedal reaction force amount to the stop-time accelerator pedal reaction force command value calculation unit 58.

  Specifically, the stop-time accelerator pedal reaction force amount calculation unit 57 determines the stop-time accelerator pedal reaction force application determination unit 56 based on the determination result of the stop-time accelerator pedal reaction force application determination unit 56. Calculate the pedal reaction force. That is, when the stop-time accelerator pedal reaction force amount calculation unit 57 determines that the stop-time accelerator pedal reaction force application determination unit 56 applies the stop-time accelerator pedal reaction force application unit, the stop-time accelerator pedal reaction force amount calculation unit 57 calculates the stop-time accelerator pedal reaction force amount. . For example, the stop time accelerator pedal reaction force amount calculation unit 57 calculates the stop time accelerator pedal reaction force amount F using the following equation (4).

F = F0 + Foff (4)
Here, F0 is an initial value of the accelerator pedal reaction force amount at the time of stop, and is calculated based on the accelerator pedal opening amount (or the accelerator pedal depression amount). Further, Foff is the accelerator pedal reaction force offset amount at the time of stop, and is calculated based on the accelerator pedal depression time (accelerator pedal depression time).

FIG. 7 is a characteristic diagram showing an example of the relationship between the accelerator pedal opening amount and the initial value F0 of the accelerator pedal reaction force for stop.
As shown in FIG. 7, the initial value F0 of the accelerator pedal reaction force for stopping increases as the accelerator pedal opening amount increases. More specifically, in the region where the accelerator pedal opening amount is small, the initial accelerator pedal reaction force amount F0 for the stop time is maintained at the minimum value Fmin2. Then, the accelerator pedal reaction force initial value F0 for the stop time increases as the accelerator pedal opening amount increases in a region where the accelerator pedal opening amount is medium. Further, in the region where the accelerator pedal opening amount is large, the initial value F0 of the accelerator pedal reaction force for stop is maintained at the maximum value Fmax2.

Here, for example, the accelerator pedal reaction force amount initial value F0 for stopping is desirably set in a range larger than the range set by the accelerator pedal reaction force amount calculation unit 53 (for example, Fmin2> Fmin1 and Fmax2> Fmax1). Further, for example, the accelerator pedal opening amount is a value that can be acquired from the own vehicle / obstacle information acquisition unit 20.
FIG. 8 is a characteristic diagram showing an example of the relationship between the accelerator pedal depression time and the stop time accelerator pedal reaction force offset amount Foff.

  As shown in FIG. 8, the accelerator pedal reaction force offset amount Foff for the stop time increases as the accelerator depression time from the start of applying the braking force increases. More specifically, when the accelerator depression time increases from zero, the stop time accelerator pedal reaction force offset amount Foff increases accordingly. When the accelerator depression time reaches a preset time, the stop time accelerator pedal reaction force offset amount Foff is maintained at the maximum value Foffset max.

Here, for example, the accelerator depression time is a value that can be acquired from the own vehicle / obstacle information acquisition unit 20.
The stop time accelerator pedal reaction force command value calculator 58 calculates a stop time accelerator pedal reaction force command value. Then, the stop-time accelerator pedal reaction force command value calculation unit 58 outputs the calculated stop-time accelerator pedal reaction force command value to the accelerator pedal reaction force command value selection unit 59.

Here, the stop time accelerator pedal reaction force command value calculation unit 58 specifically calculates the stop time accelerator pedal reaction force command value as follows.
First, the stop-time accelerator pedal reaction force command value calculation unit 58 determines that the stop-time accelerator pedal reaction force application determination unit 56 determines that the stop-time accelerator pedal reaction force application determination unit 56 applies the stop-time accelerator pedal reaction force counter value. After the force application start time has elapsed, calculation of the stop time accelerator pedal reaction force command value is started. Here, the stop time accelerator pedal reaction force application start time is set in consideration of the time that is considered necessary for the driver to return the accelerator pedal. For example, the stop time accelerator pedal reaction force application start time is about 0.6 seconds.

  Then, the stop time accelerator pedal reaction force command value calculation unit 58 increases the stop time accelerator pedal reaction force command value to the stop time accelerator pedal reaction force amount calculated by the stop time accelerator pedal reaction force amount calculation unit 57. At this time, the accelerator pedal reaction force command value calculation unit 58 for stop is increased at a preset increase rate. For example, the increase rate here is preferably set to a value larger than the increase rate (for example, 7.5 (N / sec)) of the calculation in the accelerator pedal reaction force command value calculation unit 54.

  Further, when the stop time accelerator pedal reaction force command value reaches the stop time accelerator pedal reaction force command amount, the stop time accelerator pedal reaction force command value calculation unit 58 thereafter acquires the accelerator opening degree obtained from the support information calculation unit 5. The accelerator pedal reaction force command value at the time of stop is maintained until the state where zero is zero continues for a preset time (hereinafter referred to as a first set time). Here, the first set time is set in consideration of, for example, a time that is considered necessary for the driver to switch from the accelerator pedal to the brake pedal. For example, the first set time is about 0.8 seconds.

  Further, the stop-time accelerator pedal reaction force command value calculation unit 58 outputs a non-zero stop-time accelerator pedal reaction force command value after the first set time has elapsed with the accelerator opening being zero. If so, the stop accelerator pedal reaction force command value is decreased. At this time, the stop-time accelerator pedal reaction force command value calculation unit 58 decreases the stop-time accelerator pedal reaction force command value to zero at a preset reduction rate. For example, the reduction rate here is preferably set to a value smaller than the calculation reduction rate (for example, 30 (N / sec)) in the accelerator pedal reaction force command value calculation unit 54.

Then, when the stop-time accelerator pedal reaction force command value reaches zero, the stop-time accelerator pedal reaction force command value calculation unit 58 causes the stop-time accelerator pedal reaction force application determination unit 56 to stop the accelerator accelerator for stop time. The stop accelerator pedal reaction force command value is maintained at zero until it is determined that the pedal reaction force is to be applied.
Further, the stop time accelerator pedal reaction force command value calculation unit 58 may perform the processing after the stop time accelerator pedal reaction force command value reaches the stop time accelerator pedal reaction force amount as follows.

  For example, the stop time accelerator pedal reaction force command value calculation unit 58 sets a predetermined time (hereinafter referred to as a second set time) after the stop time accelerator pedal reaction force command value reaches the stop time accelerator pedal reaction force amount. ), The stop accelerator pedal reaction force command value may be maintained. In this case, the accelerator pedal reaction force for stopping is continuously applied for the second set time.

  Then, the stop time accelerator pedal reaction force command value calculation unit 58 continuously applies the stop time accelerator pedal reaction force for the second set time, and the stop time accelerator pedal reaction force command value other than zero during the previous processing. Is output, the stop accelerator pedal reaction force command value is decreased. At this time, the stop-time accelerator pedal reaction force command value calculation unit 58 decreases the stop-time accelerator pedal reaction force command value to zero at a preset reduction rate. For example, the reduction rate here is preferably set to a value smaller than the calculation reduction rate (for example, 30 (N / sec)) in the accelerator pedal reaction force command value calculation unit 54.

Then, when the stop-time accelerator pedal reaction force command value reaches zero, the stop-time accelerator pedal reaction force command value calculation unit 58 causes the stop-time accelerator pedal reaction force application determination unit 56 to stop the accelerator accelerator for stop time. The stop accelerator pedal reaction force command value is maintained at zero until it is determined that the pedal reaction force is to be applied.
Alternatively, after the stop time accelerator pedal reaction force command value reaches the stop time accelerator pedal reaction force amount, the stop potential accelerator pedal reaction force command value calculation unit 58 determines that the risk potential is The stop-time accelerator pedal reaction force command value may be maintained until the stop-time accelerator pedal reaction force application determination threshold value or less.

  In this case, the stop-time accelerator pedal reaction force command value calculation unit 58 determines that the risk potential is equal to or less than the stop-time accelerator pedal reaction force application determination threshold value and the stop-time accelerator pedal reaction force command other than zero during the previous processing. When the value is output, the stop accelerator pedal reaction force command value is decreased. At this time, the stop-time accelerator pedal reaction force command value calculation unit 58 decreases the stop-time accelerator pedal reaction force command value to zero at a preset reduction rate. For example, the reduction rate here is preferably set to a value smaller than the calculation reduction rate (for example, 30 (N / sec)) in the accelerator pedal reaction force command value calculation unit 54.

Then, when the stop-time accelerator pedal reaction force command value reaches zero, the stop-time accelerator pedal reaction force command value calculation unit 58 causes the stop-time accelerator pedal reaction force application determination unit 56 to stop the accelerator accelerator for stop time. The stop accelerator pedal reaction force command value is maintained at zero until it is determined that the pedal reaction force is to be applied.
The accelerator pedal reaction force command value selection unit 59 is the accelerator pedal reaction force command value calculated by the accelerator pedal reaction force command value calculation unit 54 and the accelerator pedal for stoppage calculated by the accelerator pedal reaction force command value calculation unit 58 for stop. Select high processing is performed on the reaction force command value. Then, the accelerator pedal reaction force command value selection unit 59 outputs the command value selected by the select high process to the accelerator pedal reaction force applying device 9.

The accelerator pedal reaction force applying device 9 applies a reaction force to the accelerator pedal based on the accelerator pedal reaction force command value from the accelerator pedal reaction force calculation unit 50.
Next, the stop-time threshold setting unit 55, the stop-time accelerator pedal reaction force application determining unit 56, the stop-time accelerator pedal reaction force amount calculating unit 57, the stop-time accelerator pedal reaction force command value calculating unit 58, and A series of processes by the accelerator pedal reaction force command value selection unit 59 will be described.

FIG. 9 is a flowchart showing an example of a series of processes performed by the stop threshold setting unit 55 and the like.
As shown in FIG. 9, first, in step S <b> 1, the accelerator pedal reaction force calculation unit 50 acquires information from the support information calculation unit 30.
In the subsequent step S2, the stop time threshold setting unit 55 sets a stop time accelerator pedal reaction force application determination threshold when the host vehicle is stopped.

  In the following step S3, the stop time accelerator pedal reaction force application determination unit 56 determines whether or not the host vehicle has stopped due to the application of the braking force based on the risk potential. For example, the stop accelerator pedal reaction force application determination unit 56 applies the braking force based on the risk potential in a situation where the driver is not stepping on the brake pedal, and the own vehicle stops. It is determined that the vehicle has stopped due to the grant. Whether or not the host vehicle has stopped is determined by the host vehicle / obstacle information acquisition unit 20 by detecting that the wheel speed detected by the wheel speed sensor 2 is 0, for example, It is determined by detecting that the detected throttle opening is fully closed, the driving force of the vehicle is zero, and the deceleration of the host vehicle is zero.

Here, when the accelerator pedal reaction force application determination unit 56 for stop time determines that the braking force based on the risk potential is applied at least when the host vehicle stops, the process proceeds to step S4. In addition, the accelerator pedal reaction force application determination unit 56 for stop time proceeds to step S17 in other cases.
In step S17, the stop-time accelerator pedal reaction force amount calculation unit 57 calculates the stop-time accelerator pedal reaction force amount F to zero. Further, the stop time accelerator pedal reaction force command value calculation unit 58 calculates the stop time accelerator pedal reaction force command value to zero. Then, the accelerator pedal reaction force calculation unit 50 ends the process shown in FIG. 9 (starts the process again from step S1).

  In step S4, the stop time accelerator pedal reaction force application determination unit 56 determines whether or not the risk potential is greater than a stop time accelerator pedal reaction force application determination threshold value. If the stop accelerator pedal reaction force application determination unit 56 determines that the risk potential is greater than the stop accelerator pedal reaction force application determination threshold value, the process proceeds to step S5. In addition, the stop time accelerator pedal reaction force application determination unit 56 proceeds to step S17 in other cases.

  In step S5, the stop-time accelerator pedal reaction force command value calculator 58 determines a stop-time accelerator pedal reaction force command other than zero after the stop-time accelerator pedal reaction force command value reaches the stop-time accelerator pedal reaction force amount. It is determined whether or not the value is output continuously for the second set time. The stop-time accelerator pedal reaction force command value calculator 58 determines that the stop-time accelerator pedal reaction force command value reaches the second stop-time accelerator pedal reaction force command value after the stop-time accelerator pedal reaction force command value reaches the stop-time accelerator pedal reaction force command amount. If it is determined that the output has been continued for the set time, the process proceeds to step S14. Moreover, the accelerator pedal reaction force command value calculation part 58 for stop time progresses to step S6 in other than that.

  In step S6, the stop-time accelerator pedal reaction force command value calculator 58 applies the stop-time accelerator pedal reaction force after the stop-time accelerator pedal reaction force command value reaches the stop-time accelerator pedal reaction force amount. It is determined whether or not the threshold value is below the determination threshold. The stop-time accelerator pedal reaction force command value calculation unit 58 determines that the risk potential is equal to or less than the stop-time accelerator pedal reaction force application threshold after the stop-time accelerator pedal reaction force command value reaches the stop-time accelerator pedal reaction force amount. If it is determined that it has become, the process proceeds to step S14. Moreover, the accelerator pedal reaction force command value calculation part 58 for a stop time progresses to step S7 in other than that.

  In step S7, the accelerator pedal reaction force command value calculation unit 58 for the stop time is set to the first state where the accelerator opening is zero after the accelerator pedal reaction force command value for the stop time reaches the accelerator pedal reaction force amount for the stop time. It is determined whether or not the time has continued. The stop-time accelerator pedal reaction force command value calculation unit 58 determines that the state where the accelerator opening is zero continues for the first set time after the stop-time accelerator pedal reaction force command value reaches the stop-time accelerator pedal reaction force amount. If it determines, it will progress to step S14. Moreover, the accelerator pedal reaction force command value calculation part 58 for stop time progresses to step S8 in other than that.

In step S8, the stop time accelerator pedal reaction force amount calculator 57 calculates a stop time accelerator pedal reaction force amount initial value F0.
In the subsequent step S9, the stop-time accelerator pedal reaction force amount calculation unit 57 calculates a stop-time accelerator pedal reaction force offset amount Foff.
In the subsequent step S10, the stop-time accelerator pedal reaction force amount calculator 57 calculates the stop-time accelerator pedal reaction force amount initial value F0 calculated in step S8 and the stop-time accelerator pedal reaction force offset amount Foff calculated in step S9. Based on the above, the accelerator pedal reaction force amount F (= F0 + Foff) for stop is calculated.

In the subsequent step S11, the stop-time accelerator pedal reaction force command value calculation unit 58 determines whether or not the stop-time accelerator pedal reaction force amount F is continuously output during the stop-time accelerator pedal reaction force application start time. Determine.
Then, when the stop time accelerator pedal reaction force command value calculation unit 58 determines that a stop time accelerator pedal reaction force amount F other than zero is continuously output, the stop time accelerator pedal reaction force application start time is output. Proceed to S12. Further, in other cases, the accelerator pedal reaction force command value calculation unit 58 at the time of stop starts the process again from the step S5.

  In step S12 and subsequent step S13, the stop-time accelerator pedal reaction force command value calculator 58 calculates a stop-time accelerator pedal reaction force command value while performing the increase-side change rate limit processing. That is, the stop-time accelerator pedal reaction force command value calculation unit 58 increases the stop-time accelerator pedal reaction force command value at a preset increase rate up to the stop-time accelerator pedal reaction force amount F calculated in step S10. Then, the stop time accelerator pedal reaction force command value calculation unit 58 starts the process again from step S5.

On the other hand, in step S14, the stop time accelerator pedal reaction force amount calculation unit 57 calculates the stop time accelerator pedal reaction force amount F to zero.
In subsequent step S15 and step S16, the stop-time accelerator pedal reaction force command value calculation unit 58 calculates the stop-time accelerator pedal reaction force command value while performing the decrease side change rate limit processing. That is, the stop-time accelerator pedal reaction force command value calculation unit 58 stops the accelerator pedal reaction force command value at a preset reduction rate up to the stop-time accelerator pedal reaction force amount F (= zero) calculated in step S14. Decrease. Then, the accelerator pedal reaction force calculation unit 50 ends the process shown in FIG. 9 (starts the process again from step S1).

(Operation etc.)
(1) Braking force application operation The own vehicle / obstacle information acquisition unit 20 acquires various information such as the own vehicle speed based on sensor values from various sensors such as the wheel speed sensor 2. Then, the host vehicle / obstacle information acquisition unit 20 outputs the acquired various types of information to the support information calculation unit 30.

The support information calculation unit 30 calculates the risk potential based on the own vehicle / obstacle information. Further, the support information calculation unit 30 calculates a disturbance estimated value based on the own vehicle / obstacle information and the braking force calculation processing result. Then, the support information calculation unit 30 outputs the calculated risk potential and disturbance estimated value to the braking force calculation unit 40 and the accelerator pedal reaction force calculation unit 50.
The braking force calculation unit 40 sets the arrival time determination threshold value TTC_th so as to increase as the estimated disturbance value increases. Furthermore, the braking force calculation unit 40 sets a braking force application determination threshold value corresponding to the set arrival time determination threshold value TTC_th. Then, the braking force calculation unit 40 determines that the braking force is applied when the risk potential is larger than the set braking force application determination threshold, and determines that the braking force is not applied otherwise. As a result, when it is determined that the braking force is applied, the braking force calculation unit 40 sets the preset deceleration amount DEC_0 (m / s ² ) as the braking amount DEC (m / s ² ). On the other hand, when it is determined that the braking force is not applied, the braking force calculation unit 40 sets the braking amount DEC to zero. Then, the braking force calculation unit 40 calculates a braking force command value based on the set braking amount DEC. Then, the braking force calculation unit 40 outputs the calculated braking force command value to the braking force applying device 8. The braking force application device 8 applies the braking force based on the braking force command value from the braking force calculation unit 40.

(2) Accelerator pedal reaction force applying operation The accelerator pedal reaction force calculation unit 50 sets the accelerator pedal reaction force application threshold value so that the estimated disturbance value becomes small enough to prevent braking of the host vehicle. In addition, the accelerator pedal reaction force calculation unit 50 determines that the accelerator pedal reaction force is applied when the risk potential is larger than the set threshold value for determination of the accelerator pedal reaction force, and otherwise applies the accelerator pedal reaction force. Judge not to. Further, the accelerator pedal reaction force calculator 50 calculates the amount of accelerator pedal reaction force based on the determination result of the accelerator pedal reaction force application. Then, the accelerator pedal reaction force calculation unit 50 calculates an accelerator pedal reaction force command value based on the calculated accelerator pedal reaction force amount.

  On the other hand, the accelerator pedal reaction force calculator 50 sets a threshold value for determining whether to stop the accelerator pedal reaction force application. Further, the accelerator pedal reaction force calculation unit 50 determines that the accelerator pedal reaction force for stoppage is applied when the risk potential is larger than the threshold value for determination of accelerator pedal reaction force application for stoppage and the host vehicle is stopped by automatic braking. To do. On the other hand, the accelerator pedal reaction force application determination unit 56 at the time of stop determines that the accelerator pedal reaction force at the time of stop is not applied otherwise. Further, the accelerator pedal reaction force calculation unit 50 calculates the stop time accelerator pedal reaction force amount based on the determination result of the stop time accelerator pedal reaction force application.

Then, the accelerator pedal reaction force calculation unit 50 performs a select high process on the stop-time accelerator pedal reaction force command value and the aforementioned accelerator pedal reaction force command value. The accelerator pedal reaction force applying device 9 applies a reaction force to the accelerator pedal based on the command value selected by the accelerator pedal reaction force command value selection unit 59 through the select high process.
FIG. 10 is a diagram illustrating an example of a deceleration (braking force) automatically applied to the host vehicle and an accelerator pedal reaction force amount.

  When the host vehicle 100 is approaching the preceding vehicle 200 and the risk potential becomes larger than the braking force application determination threshold value, the vehicle collision avoidance braking support device 1 determines to apply the braking force to the host vehicle 100. By this determination, the host vehicle 100 starts decelerating as shown in FIG. Further, the deceleration increases with a preset increase rate as shown in FIG.

  When the host vehicle 100 decelerates due to the application of this braking force and the host vehicle 100 stops, if the risk potential at the time of stoppage is greater than the threshold value for determining when the accelerator pedal reaction force is applied when stopping, the vehicle collision avoidance braking support device 1 determines that the accelerator pedal reaction force for stopping is applied. And the collision avoidance braking assistance apparatus 1 for vehicles sets the accelerator pedal reaction force amount for a stop time, as shown in FIG.10 (b). Further, the vehicle collision avoidance braking support device 1 calculates a stop time accelerator pedal reaction force command value based on the set stop time accelerator pedal reaction force amount. As a result, the accelerator pedal reaction force is applied to the accelerator pedal 101 by the accelerator pedal reaction force applying device 9 as feedback (pedal F / B) to the accelerator pedal, as shown in FIG.

FIG. 11 is a characteristic diagram showing an example of a stop time accelerator pedal reaction force command value calculated by the vehicle collision avoidance braking assistance device 1.
As shown in FIG. 11, the vehicle collision avoidance braking support device 1 has a stop time accelerator pedal reaction force amount F other than zero when the stop time accelerator pedal reaction force application start time is continuously output. The calculation of the accelerator pedal reaction force command value is started (step S11). At this time, the vehicle collision avoidance braking assistance device 1 increases the stop-time accelerator pedal reaction force command value to the stop-time accelerator pedal reaction force amount at a preset increase rate (steps S12 and S13).

  The stop time accelerator pedal reaction force amount at this time is an added value of the stop time accelerator pedal reaction force amount initial value F0 and the stop time accelerator pedal reaction force offset amount Foff (steps S8 to S10). That is, the accelerator pedal reaction force for stopping increases as the accelerator pedal opening amount increases, and increases as the accelerator pedal depression time increases (FIGS. 7 and 8). As a result, the stop-time accelerator pedal reaction force command value increases as the accelerator pedal opening amount increases, and increases as the accelerator pedal depression time increases.

Then, the vehicle collision avoidance braking support device 1 maintains the stop-time accelerator pedal reaction force command value at the stop-time accelerator pedal reaction force amount, and if the preset condition is satisfied, the stop-time accelerator pedal reaction force command Decrease the value.
That is, as shown in FIG. 12, the vehicle collision avoidance braking support device 1 stops the accelerator pedal reaction at the stop when the accelerator pedal reaction force command value at a stop time other than zero is continuously output for the second set time. The force command value is reduced to zero by a preset reduction rate (step S5, step S14 to step S16).

Alternatively, as shown in FIG. 13, the vehicle collision avoidance braking assistance device 1 sets the stop-time accelerator pedal reaction force command value to zero when the risk potential falls below the stop-time accelerator pedal reaction force application determination threshold. (Step S6, step S14 to step S16).
Alternatively, as shown in FIG. 14, the vehicle collision avoidance braking assist device 1 presets the accelerator pedal reaction force command value for stoppage to zero when the state where the accelerator opening is zero continues for the first set time. Decrease by the decreasing rate (step S7, step S14 to step S16).

  Here, in this embodiment, the risk potential calculation part 31 comprises an approach risk potential detection means, for example. Further, the braking force calculation unit 40 and the braking force applying device 8 constitute, for example, a braking force applying unit. Further, the accelerator pedal reaction force calculation unit 50 and the accelerator pedal reaction force applying device 9 constitute, for example, an accelerator pedal reaction force applying means when the host vehicle is stopped. In addition, the accelerator pedal reaction force amount calculation unit 57 at the time of stop constitutes, for example, an accelerator pedal reaction force amount calculation means. The host vehicle / obstacle information acquisition unit 20 constitutes, for example, an accelerator pedal operation state detection unit and a host vehicle running state detection unit. Further, the stop time accelerator pedal reaction force application determination unit 56 constitutes a host vehicle stop determination unit, for example.

(Effect of this embodiment)
This embodiment has the following effects.
(1) The risk potential calculation unit 31 calculates a risk potential regarding the approach of the host vehicle to an obstacle. The braking force calculation unit 40 and the braking force applying device 8 apply a braking force to the host vehicle based on the calculated risk potential. Further, the host vehicle / obstacle information acquisition unit 20 detects the traveling state of the host vehicle. The accelerator pedal reaction force calculating unit 50 and the accelerator pedal reaction force applying device 9 are controlled by the traveling state of the own vehicle detected by the own vehicle / obstacle information acquiring unit 20 and the braking force calculating unit 40 and the braking force applying device 8. If it is determined that the host vehicle has stopped by applying the braking force based on the application of power, the accelerator pedal reaction force is applied.

  As a result, the vehicle collision avoidance braking assistance device 1 applies the accelerator pedal reaction force when the host vehicle is stopped by applying a braking force based on the risk potential. It is possible to prompt the driver to release the depression of the accelerator pedal, and to prevent the driver from starting unintentionally.

Therefore, the vehicle collision avoidance braking support device 1 effectively switches the accelerator pedal to the brake pedal for a driver who mistakes the accelerator pedal for a brake pedal after the host vehicle is stopped by automatic braking. Can be urged.
In addition, the vehicle collision avoidance braking assistance device 1 applies the accelerator pedal reaction force while the host vehicle is not running but the host vehicle is stopped, so that the driver feels that the driver feels uncomfortable. It can be realized.

(2) The own vehicle / obstacle information acquisition unit 20 detects the depression state of the accelerator pedal based on at least one of the accelerator pedal opening degree and the accelerator pedal depression time. Further, the stop-time accelerator pedal reaction force amount calculation unit 57 calculates a stop-time accelerator pedal reaction force amount based on the detected depression state of the accelerator pedal. Then, the accelerator pedal reaction force calculating unit 50 and the accelerator pedal reaction force applying device 9 apply an accelerator pedal reaction force equivalent to the calculated stop time accelerator pedal reaction force amount.

Thereby, the collision avoidance braking assistance apparatus 1 for vehicles can provide the accelerator pedal reaction force matched with the depression state of the driver's accelerator pedal.
As a result, the vehicle collision avoidance braking assistance device 1 can prompt the driver to release the depression of the accelerator pedal according to the depression state of the accelerator pedal.

(3) The stop time accelerator pedal reaction force command value calculation unit 58 is the stop time accelerator pedal reaction force command value after the stop time accelerator pedal reaction force application start time has elapsed from the time when the host vehicle is stopped by automatic braking. The calculation of is started. Thereby, the collision avoidance braking assistance device 1 for a vehicle gives an accelerator pedal reaction force when a preset time has elapsed from the time when the host vehicle stops by automatic braking.

Therefore, the collision avoidance braking assistance device 1 for a vehicle can apply the accelerator pedal reaction force after the time necessary for returning the accelerator pedal has elapsed.
As a result, the vehicle collision avoidance braking support device 1 can suppress excessive support of the driver.

(4) The stop time accelerator pedal reaction force application determination unit 56 determines that the accelerator pedal reaction force is not applied when the risk potential is equal to or less than the stop time accelerator pedal reaction force application determination threshold.
Thereby, the accelerator pedal reaction force application determination unit 56 for the stop time can prevent inadvertently making a determination to apply the accelerator pedal reaction force.

(5) When the stop-time accelerator pedal reaction force command value calculator 58 applies the stop-time accelerator pedal reaction force continuously for the second set time, the stop-time accelerator pedal reaction force command value decreases. Alternatively, when the accelerator pedal reaction force is applied and the first set time elapses after the accelerator opening is zero after the accelerator pedal reaction force is applied, the stop-time accelerator pedal reaction force command value calculation unit 58 obtains the stop-time accelerator pedal reaction force command value. Decrease. Alternatively, the stop time accelerator pedal reaction force command value calculation unit 58 may apply the stop time accelerator pedal reaction force command when the risk potential falls below the stop time accelerator pedal reaction force application determination threshold value. Decrease the value.

As a result of such processing, the vehicle collision avoidance braking assistance device 1 can maintain the application of the accelerator pedal reaction force without excess or deficiency.
As a result, the vehicle collision avoidance braking assistance device 1 can continue to apply the accelerator pedal reaction force for a time required for the driver to return the accelerator pedal, and can effectively assist the driver.

(Modification of this embodiment)
The vehicle collision avoidance braking support device 1 may further have a configuration that imparts to the accelerator pedal reaction force before the start of turning. For example, as a technique for applying an accelerator pedal reaction force before turning, a known technique may be used. An example will be described below with reference to the drawings. The same components as those in the above-described embodiment will be described with the same reference numerals.

FIG. 15 is a block diagram illustrating a configuration example of the vehicle collision avoidance braking support device 1 that applies an accelerator pedal before turning.
The vehicle collision avoidance braking assistance device 1 includes a lateral acceleration sensor 71 as shown in FIG. Further, the vehicle collision avoidance braking support device 1 includes an accelerator pedal reaction force calculation unit 50, a pre-turning accelerator pedal reaction force application determination unit 72, a pre-turning accelerator pedal reaction force amount calculation unit 73, and a pre-turning accelerator pedal. A reaction force command value calculation unit 74 is provided.

  The accelerator pedal reaction force application determination unit 72 before turning travels determines whether or not the host vehicle is before starting turning (before turning traveling) based on the lateral speed value from the lateral acceleration sensor 71. For example, if the accelerator pedal reaction force application determination unit 72 before turning travel determines that the lateral acceleration is larger than a preset threshold value before turning determination, it determines that the vehicle is in a state before the start of turning. Then, the accelerator pedal reaction force application determining unit 72 before turning travels the determination result to the accelerator pedal reaction force amount calculating unit 73 before turning travel.

The accelerator pedal reaction force application determination unit 72 before turning travel acquires road information through road-to-vehicle communication, and determines whether or not the host vehicle is before starting turning based on the acquired road information (traveling route information, etc.). You may do it.
The accelerator pedal reaction force amount calculation unit 73 before turning travels when the accelerator pedal reaction force application determination unit 72 before turning travels determines that the vehicle is in a state before the start of turning. Set competence. Then, the accelerator pedal reaction force calculation unit 73 before turning travel outputs the set accelerator pedal reaction force amount before turning travel to the accelerator pedal reaction force command value calculation unit 74 before turning travel.

  The accelerator pedal reaction force command value calculation unit 74 before turning travel increases the accelerator pedal reaction force command value to the accelerator pedal reaction force amount before turning travel by a preset increase rate. Then, the accelerator pedal reaction force command value calculation unit 74 before turning travels maintains the accelerator pedal reaction force command value for a preset time, and thereafter decreases the accelerator pedal reaction force command value to zero by a preset reduction rate. Then, the accelerator pedal reaction force command value calculation unit 74 before turning travels sequentially outputs the accelerator pedal reaction force command value thus calculated to the accelerator pedal reaction force command value selection unit 59.

When the vehicle collision avoidance braking support device 1 has a configuration in which the accelerator pedal is applied before the start of turning, the stop accelerator pedal reaction force amount calculated by the stop accelerator pedal reaction force amount calculation unit 57 is calculated. Is set to a value larger than the accelerator pedal reaction force before turning, which is applied to the host vehicle before the start of turning.
In addition, the other structure in the collision avoidance brake assistance apparatus 1 for vehicles of the modification of this embodiment is the same as that of the collision avoidance brake assistance apparatus 1 for vehicles of this embodiment mentioned above.

FIG. 16 is a characteristic diagram showing an example of an accelerator pedal reaction force applied to the host vehicle before turning and an accelerator pedal reaction force applied when the host vehicle is stopped.
As shown in FIG. 16, the accelerator pedal reaction force applied when the host vehicle is stopped is larger than the accelerator pedal reaction force applied to the host vehicle before turning.
Here, in this embodiment, the accelerator pedal reaction force application determination unit 72 before turning travel, the accelerator pedal reaction force amount calculation unit 73 before turning travel, the accelerator pedal reaction force command value calculation unit 74 before turning travel, and the accelerator pedal reaction force application The device 9 constitutes, for example, accelerator pedal reaction force applying means before turning.

As described above, the vehicle collision avoidance braking assistance device 1 is more effective by making the accelerator pedal reaction force applied when the host vehicle is stopped larger than the accelerator pedal reaction force applied to the host vehicle before turning. Thus, the accelerator pedal reaction force when the host vehicle is stopped can be transmitted to the driver.
In this embodiment, the risk potential related to the approach of the host vehicle to the obstacle is calculated based on the distance to the obstacle and the relative speed with the obstacle, but the present invention is not limited to this. In this case, for example, the risk potential is calculated based on information derived from the driver such as the driver's attention, information derived from the vehicle such as the own speed, information derived from the surroundings of the vehicle such as the degree of congestion on the road, It may be calculated.

  Further, in the present embodiment, when the host vehicle is stopped by automatic braking and the risk potential is larger than the stop accelerator pedal reaction force application determination threshold, it is determined that the stop accelerator pedal reaction force is applied. It is not limited to this. In this case, for example, in the present embodiment, when the host vehicle stops due to automatic braking, it may be determined that the stop accelerator pedal reaction force is applied regardless of the risk potential when the host vehicle stops.

Even in this case, the vehicle collision avoidance braking support device 1 according to the present embodiment can prompt the driver to release the depression of the accelerator pedal after the host vehicle stops by automatic braking.
Further, in this embodiment, the stop time accelerator pedal reaction force command value calculation unit 58 is determined to apply the stop time accelerator pedal reaction force and after the stop time accelerator pedal reaction force application start time has elapsed. Although the calculation of the accelerator pedal reaction force command value for stopping is started, the present invention is not limited to this. In this case, for example, in this embodiment, the stop time accelerator pedal reaction force application start time elapses after the stop time accelerator pedal reaction force application determination unit 56 determines that the stop time accelerator pedal reaction force is applied. After that, the stop time accelerator pedal reaction force amount calculation unit 57 may start calculating the stop time accelerator pedal reaction force amount. This process is substantially after the stop time accelerator pedal reaction force application start time has elapsed after the stop time accelerator pedal reaction force application start time has elapsed. 58 is the same processing as the start of calculation of the accelerator pedal reaction force command value for stop.

  Further, in the present embodiment, the stop-time accelerator pedal reaction force amount calculation unit 57 calculates the stop-time accelerator pedal reaction force amount based on the accelerator pedal opening amount and the accelerator pedal depression time, but the present invention is not limited to this. In this case, for example, the stop time accelerator pedal reaction force amount calculation unit 57 may calculate the stop time accelerator pedal reaction force amount based on one of the accelerator pedal opening amount and the accelerator pedal depression time. Specifically, the stop-time accelerator pedal reaction force amount calculation unit 57 sets the stop-time accelerator pedal reaction force amount initial value F0 to a fixed value, or sets the stop-time accelerator pedal reaction force offset amount Foff to a fixed value.

7 controller, 8 braking application force device, 9 accelerator pedal reaction force application device, 30 support information calculation unit, 31 risk potential calculation unit, 40 braking force calculation unit, 50 accelerator pedal reaction force calculation unit

Claims (6)

In the vehicle driving support device that supports the driving of the driver by applying an accelerator pedal reaction force that is a force in the returning direction to the accelerator pedal,
An approach risk potential detecting means for detecting an approach risk potential of the vehicle to an obstacle;
Based on the approach risk potential detected by the approach risk potential detection means, braking force applying means for applying a braking force to the host vehicle;
Own vehicle running state detecting means for detecting the running state of the own vehicle;
Based on the traveling state of the host vehicle detected by the host vehicle traveling state detection unit and the braking force applying unit applying the braking force, the host vehicle is stopped by the braking force applying unit applying the braking force. Own vehicle stop judging means for judging
When the host vehicle stop determining unit determines that the host vehicle has stopped, the host vehicle stop accelerator pedal reaction force applying unit that applies the accelerator pedal reaction force to the accelerator pedal;
A vehicle driving support apparatus comprising: An accelerator pedal operation state detecting means for detecting an operation state of the accelerator pedal based on at least one of an accelerator pedal opening degree and an accelerator pedal depression time;
An accelerator pedal reaction force amount calculating means for calculating an accelerator pedal reaction force amount based on an accelerator pedal operation state detected by the accelerator pedal operation state detection means;
The vehicle driving support device according to claim 1, wherein the accelerator pedal reaction force applying means when the host vehicle is stopped applies the accelerator pedal reaction force amount calculated by the accelerator pedal reaction force amount calculating means. The vehicle further comprises an accelerator pedal reaction force applying means for applying an accelerator pedal reaction force before turning of the host vehicle,
The accelerator pedal reaction force applying means when the host vehicle is stopped applies an accelerator pedal reaction force that is greater than the accelerator pedal reaction force applied by the pre-turning accelerator pedal reaction force applying means. Item 3. The vehicle driving support device according to Item 2.   The accelerator pedal reaction force applying means when the host vehicle is stopped applies the accelerator pedal reaction force after a preset time has elapsed from the stop time of the host vehicle determined by the host vehicle stop determination means. The vehicle driving support device according to any one of claims 1 to 3.   The accelerator pedal reaction force applying means when the host vehicle is stopped prohibits the application of the accelerator pedal reaction force when it is determined that the approach risk potential detected by the approach risk potential detecting means is lower than a preset value. The vehicle driving support device according to any one of claims 1 to 4.   The accelerator pedal reaction force applying means when the host vehicle is stopped determines that a preset time has elapsed from the time when the accelerator pedal reaction force is applied, or the amount of operation of the accelerator pedal after starting to apply the accelerator pedal reaction force It is determined that a preset time has elapsed from the time when it becomes zero, or it is determined that the approach risk potential detected by the approach risk potential detecting means after starting the application of the accelerator pedal reaction force is lower than a preset value The vehicle driving support device according to any one of claims 1 to 5, wherein when any one of the above conditions is satisfied, the application of the accelerator pedal reaction force is cancelled.

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