JP2017030533A - Operation support device, operation support method, and operation support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation support device which can reduce an operation load onto an operator and can assure constant safety.SOLUTION: An operation support device comprises: a vehicle speed detection part; an inter-vehicle distance detection part; an automatic travel information setting part; an automatic travel control part which so controls a drive system and a brake system that its own vehicle speed becomes a target speed in the case there is no preceding vehicle, and so controls the drive system and the brake system that a vehicular distance between its own vehicle and a preceding vehicle becomes a target inter-vehicle distance in the case there is a preceding vehicle; and an automatic travel release part which releases control by the automatic travel control part in the case where its own vehicle speed during tracking travel is lowered from a lower limit of a speed range which can be set. The automatic travel control part releases automatic control of the drive system in the case where its own vehicle speed is lowered from the lower limit of the speed range which can be set, and releases control of the brake system in the case where its own vehicle speed reaches a prescribed release speed.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program, and more particularly to a technique for automatically canceling an adaptive cruise control function in accordance with a traveling speed of a vehicle.

  In recent years, various driving support devices have been developed and put into practical use in order to reduce the burden on the driver and avoid accidents. As one of such driving assistance devices, one having an adaptive cruise control function (hereinafter referred to as “ACC function”) is known (for example, Patent Document 1). In general, the ACC function is assumed to be used when traveling on a highway where the operation frequency of an accelerator and a brake is relatively low, and a speed range in which a target speed for constant speed driving can be set (hereinafter referred to as “setting”). (Referred to as “possible speed range”) (for example, 40 to 110 km / h).

  In a driving support device having an ACC function, the current vehicle speed is set as a target speed when the driver performs an operation for enabling the ACC function while traveling at a speed within a settable speed range, for example. Then, when there is no preceding vehicle, constant speed traveling is performed at the set target speed. When there is a preceding vehicle, following traveling is performed while maintaining a certain inter-vehicle distance (target inter-vehicle distance). So that the driving force and braking force of the vehicle are controlled. Usually, the ACC function is released by a driver's release operation (for example, a release button operation or a brake operation).

  The follow-up traveling can technically correspond to all vehicle speeds including stop / start of the vehicle. However, if the ACC function is too versatile, the driver's driving consciousness is lowered, and there is a possibility that the response when an unexpected situation occurs is delayed. Therefore, when the host vehicle speed falls below a predetermined speed (generally, the lower limit value of the settable speed range) due to braking control (deceleration control) during follow-up traveling, the ACC function is automatically released. There are many.

  When the ACC function is automatically released, no further braking control is performed, so that the host vehicle approaches the preceding vehicle. The driver senses the danger from the approaching situation and performs the brake operation by himself / herself. In other words, by automatically canceling the ACC function based on the vehicle speed, at least the vehicle stop operation is performed under the driver's consciousness. Therefore, even when the ACC function is valid, Driving awareness is not impaired. As described above, it is preferable that the ACC function not only reduces the driving burden but also considers safety.

Japanese Patent Laid-Open No. 7-17295

  In the above-described driving support device having the ACC function, it is assumed that when the host vehicle is approaching a preceding vehicle, the driver himself performs a brake operation to avoid danger before the ACC function is automatically released. doing. However, the ACC function may be automatically canceled, for example, when the vehicle is decelerated suddenly as the preceding vehicle decelerates or when the driver does not know the vehicle speed. In this case, the inter-vehicle distance from the preceding vehicle is shortened in a short time, which is not preferable from the viewpoint of safety.

  An object of the present invention is to provide a driving support device, a driving support method, and a driving support program that can reduce the driving burden on the driver and ensure a certain level of safety.

A driving support device according to the present invention is a driving support device mounted on a vehicle having a drive system and a braking system,
A vehicle speed detector for detecting the vehicle speed;
An inter-vehicle distance detector that measures an inter-vehicle distance from the preceding vehicle;
An automatic travel information setting unit that sets a target speed when performing constant speed travel within a settable speed range, and sets a target inter-vehicle distance when performing follow-up travel,
When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance is the target inter-vehicle distance. An automatic travel control unit for controlling the drive system and the braking system,
An automatic travel canceling unit that cancels control by the automatic travel control unit when the vehicle speed during the follow-up traveling is below a lower limit value of the settable speed range;
The automatic travel cancellation unit cancels the automatic control of the drive system when the host vehicle speed falls below a lower limit value of the settable speed range, and further when the vehicle speed falls below a predetermined release speed, The automatic control of is canceled.

A driving support method according to the present invention includes a drive system, a braking system, a vehicle speed detection unit that detects a host vehicle speed, an inter-vehicle distance detection unit that measures an inter-vehicle distance from a preceding vehicle, and a target speed when performing constant speed travel. A driving support method in a vehicle including an automatic travel information setting unit that sets a target inter-vehicle distance when performing follow-up travel while setting within a settable speed range,
(A) When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance from the preceding vehicle is the target speed. Controlling the drive system and the braking system so as to be an inter-vehicle distance;
(B) releasing the control by the automatic travel control unit when the vehicle speed during the follow-up traveling falls below a lower limit value of the settable speed range. In step (B), When the vehicle speed falls below the lower limit value of the settable speed range, the control of the drive system is released, and further, the automatic control of the braking system is released when the vehicle speed falls below a predetermined release speed. To do.

A driving support program according to the present invention includes a drive system, a braking system, a vehicle speed detection unit that detects a host vehicle speed, an inter-vehicle distance detection unit that measures an inter-vehicle distance from a preceding vehicle, and a target speed when performing constant speed traveling. In the computer of the vehicle equipped with an automatic travel information setting unit that sets the target inter-vehicle distance when performing follow-up travel while setting within the settable speed range,
(A) When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance from the preceding vehicle is the target speed. A process for controlling the drive system and the brake system so as to be an inter-vehicle distance;
(B) When the host vehicle speed during the follow-up traveling falls below a lower limit value of the settable speed range, a process of canceling the control by the automatic traveling control unit is executed,
In the process (B), when the vehicle speed falls below the lower limit value of the settable speed range, the control of the drive system is released, and when the vehicle speed falls below a predetermined release speed, the braking system is automatically A process for canceling the control is executed.

  According to the present invention, the driving burden on the driver is reduced and a certain level of safety is ensured. In other words, even if the lower limit of the settable speed range is reached during follow-up, the automatic control of the braking system is not released immediately, and the driver senses the danger according to the approaching situation with the preceding vehicle and performs the driving operation himself Since the grace period is given, the driving burden is reduced and a certain level of safety is ensured.

It is a figure which shows an example of a structure of the vehicle containing the traveling control apparatus which concerns on one embodiment of this invention. It is a flowchart which shows an example of an automatic driving | running | working cancellation | release process.

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

  FIG. 1 is a diagram illustrating an example of a configuration of a vehicle 1 including a driving support device according to an embodiment of the present invention. A vehicle 1 shown in FIG. 1 is, for example, a large vehicle such as a truck equipped with an inline 6-cylinder diesel engine. The vehicle 1 includes a driving support device S that realizes an adaptive cruise control function (ACC function). That is, the driving support device S performs constant speed traveling control and follow-up traveling control (hereinafter collectively referred to as “automatic traveling control”) in the vehicle 1.

  As shown in FIG. 1, the vehicle 1 includes a drive system 10 that travels the vehicle 1, a braking system 20 that decelerates the vehicle 1, a travel control unit 30 that controls travel of the vehicle 1, and the like.

  The drive system 10 includes an engine 11, a clutch 12, a transmission (transmission) 13, a propulsion shaft (propeller shaft) 14, a differential gear (differential gear) 15, a drive shaft (drive shaft) 16, wheels 17, an engine ECU 18, And a power transmission ECU 19.

  The engine ECU 18 and the power transmission ECU 19 are connected to the travel control unit 30 by an in-vehicle network such as a CAN (Controller Area Network), and can transmit and receive necessary data and control signals to and from each other. The engine ECU 18 controls the output of the engine 11 in accordance with a drive command from the travel control unit 30. The power transmission ECU 19 controls the connection and disconnection of the clutch 12 and the speed change of the transmission 13 in accordance with a drive command from the travel control unit 30.

  The power of the engine 11 is transmitted to the transmission 13 via the clutch 12. The power transmitted to the transmission 13 is further transmitted to the wheel 17 via the propulsion shaft 14, the differential device 15, and the drive shaft 16. Thereby, the motive power of the engine 11 is transmitted to the wheels 17 and the vehicle 1 travels.

  The braking system 20 includes a service brake 21, auxiliary brakes 22 and 23, a parking brake (not shown), and a brake ECU 24.

  The service brake 21 is generally called a foot brake. For example, the service brake 21 is a drum brake that obtains a braking force by pressing a brake shoe inside a drum that rotates together with the wheels 17.

  The auxiliary brake 22 is a retarder that obtains a braking force by directly applying a load to the rotation of the propulsion shaft 14 (hereinafter referred to as “retarder 22”). The auxiliary brake 23 is an exhaust brake that uses the rotational resistance of the engine to enhance the effect of the engine brake (hereinafter referred to as “exhaust brake 23”). By providing the retarder 22 and the exhaust brake 23, the braking force can be increased and the frequency of use of the service brake 21 is reduced, so that wear of the brake shoes and the like can be suppressed.

  The brake ECU 24 is connected to the travel control unit 30 via an in-vehicle network such as CAN, and can transmit and receive necessary data and control signals to and from each other. The brake ECU 24 controls the braking force of the service brake 21 (the brake fluid pressure of the wheel cylinder of the wheel 17) according to the braking command from the travel control unit 30.

  The braking operation of the service brake 21 is controlled by the travel control unit 30 and the brake ECU 24. The braking operation of the retarder 22 and the exhaust brake 23 is controlled on / off by the travel control unit 30. Since the braking force of the retarder 22 and the exhaust brake 23 is substantially fixed, the service brake 21 that can finely adjust the braking force is suitable for accurately generating the desired braking force.

  The travel control unit 30 acquires various information from the inter-vehicle distance detection unit 41, the ACC operation unit 42, the accelerator operation detection unit 43, the brake operation detection unit 44, and the vehicle speed sensor 45, and based on the acquired information, the drive system 10 and the operation of the braking system 20 are controlled. In addition, the traveling control unit 30 displays information related to traveling on the display unit 50. The display unit 50 is a so-called instrument panel. A display (not shown) of a navigation system can be used as the display unit 50. The display unit 50 displays, for example, various instruments such as a speedometer, a tachometer, a fuel meter, a water temperature meter, and a distance meter, and information related to automatic travel control.

  The travel control unit 30 functions as an automatic travel control unit 31 and an automatic travel cancellation unit 32. The automatic travel control unit 31 controls the drive system 10 and the braking system 20 to realize constant speed travel and follow-up travel. The automatic travel cancellation unit 32 determines whether or not to cancel the automatic travel control, and performs automatic travel cancellation processing according to a predetermined procedure when the automatic travel control is cancelled.

  The inter-vehicle distance detection unit 41 measures the inter-vehicle distance from the preceding vehicle. For example, a laser radar, a millimeter wave radar, an imaging device, or the like can be applied to the inter-vehicle distance detection unit 41 alone or in combination. The traveling control unit 30 controls the operation of the drive system 10 and the braking system 20 during constant speed traveling and following traveling based on the detection result of the inter-vehicle distance detecting unit 41.

  The ACC operation unit 42 sets a main switch for enabling the ACC function, an ACC setting switch for setting / releasing the ACC function, a speed setting button for setting a target speed, and an inter-vehicle distance. Includes an inter-vehicle distance setting button. The travel control unit 30 sets information related to automatic travel control based on an operation signal from the ACC operation unit 42 (operation of the driver performed through the ACC operation unit 42).

  The accelerator operation detection unit 43 detects whether or not an accelerator pedal for accelerating the vehicle has been depressed, and the amount of depression of the accelerator pedal. The traveling control unit 30 sends a drive command to the engine ECU 18 and the power transmission ECU 19 based on the depression amount of the accelerator pedal.

  The brake operation detection unit 44 detects whether or not the brake pedal for operating the service brake 21 has been depressed, and the amount of depression of the brake pedal. The brake operation detection unit 44 detects whether or not an auxiliary brake lever that operates the retarder 22 or the exhaust brake 23 is operated. The travel control unit 30 sends a braking command to the brake ECU 24 based on the depression amount of the brake pedal. The traveling control unit 30 controls the on / off operation of the retarder 22 or the exhaust brake 23 based on the operation of the auxiliary brake lever.

  The vehicle speed sensor 45 is attached to the propulsion shaft 14, for example, and detects the own vehicle speed.

  The driving support device S is configured by the traveling control unit 30 (the automatic traveling control unit 31 and the automatic traveling cancellation unit 32), the vehicle speed sensor 45, the inter-vehicle distance detection unit 41, and the ACC operation unit 42. Here, it is assumed that the ACC function is used when traveling on a highway, and the settable speed range is set to 40 to 88 km / h.

  Based on the operation of the main switch in the ACC operation unit 42, the automatic travel control unit 31 sets the ACC function to a state where it can be executed or a state where it cannot be executed. The display unit 50 displays whether or not the ACC function can be executed. Further, when the vehicle speed exceeds the lower limit value (40 km in this case) of the settable speed range, the display unit 50 displays that the vehicle is in a standby state in which the ACC function can be activated.

  When the ACC setting switch of the ACC operation unit 42 is operated in the standby state, the automatic travel control unit 31 enables the ACC function and sets the vehicle speed at that time as the target speed. The set target speed is displayed on the display unit 50.

  When there is no preceding vehicle, the automatic travel control unit 31 controls the drive system 10 and the braking system 20 so that constant speed travel is performed at the set target speed. The presence or absence of a preceding vehicle is determined based on the detection result of the inter-vehicle distance detection unit 41. The driver can increase or decrease the target speed within the set speed range by operating the speed setting button of the ACC operation unit 42.

  On the other hand, when there is a preceding vehicle, the automatic traveling control unit 31 controls the drive system 10 and the braking system 20 so that the following traveling is performed while maintaining the target inter-vehicle distance. The target inter-vehicle distance during the follow-up traveling is appropriately set based on the own vehicle speed and the inter-vehicle distance level. The driver can set the inter-vehicle distance level stepwise (for example, five steps) by operating the inter-vehicle distance setting button of the ACC operation unit 42. For example, the target inter-vehicle distance is set to be larger as the host vehicle speed is higher or as the set inter-vehicle distance level is higher. The set inter-vehicle distance level is displayed on the display unit 50.

  The ACC function is released based on the operation of the main switch or the ACC setting switch of the ACC operation unit 42 or the operation of the brake pedal, that is, based on the driver's conscious release operation. Note that the operation of the accelerator pedal during automatic traveling is an operation performed when overtaking the preceding vehicle or the like, and thus is not included in the driver's conscious release operation.

  Further, the ACC function is canceled when the host vehicle speed falls below the lower limit value of the settable speed range even if the driver does not perform the canceling operation. When the ACC function is released, automatic control of the drive system 10 and the braking system 20 is not performed. In other words, after the ACC function is released, even if the vehicle speed is within the settable range by operating the accelerator pedal, the ACC function is not resumed unless the ACC setting switch is operated again.

  This is because, in the automatic travel control including stop / start of the vehicle as in the full vehicle speed tracking control, the driver's driving consciousness is lowered, and there is a possibility that the response when an unexpected situation occurs is delayed. That is, in the present embodiment, since the ACC function is automatically canceled based on the own vehicle speed, at least the vehicle stop operation is performed under the driver's consciousness. Therefore, it is possible to prevent the driver's driving consciousness from being significantly lowered during automatic driving.

  Here, as in the prior art, when the host vehicle speed falls below the lower limit value of the settable speed range, the automatic travel control is canceled, and the automatic control of the drive system 10 and the braking system 20 is immediately canceled, The distance between the vehicle and the vehicle is shortened in a short time, which is not preferable from the viewpoint of safety. Therefore, in the present embodiment, the automatic traveling canceling unit 32 executes the automatic traveling canceling process so that the automatic control of the drive system 10 and the braking system 20 is canceled in stages. Specifically, the automatic travel cancellation unit 32 executes the automatic travel cancellation process according to the flowchart shown in FIG.

  FIG. 2 is a flowchart illustrating an example of an automatic travel cancellation process executed by the travel control unit 30 (automatic travel cancellation unit 32). This process is performed, for example, when the ACC operation unit 42 is operated and the ACC function is activated, so that a CPU (Central Processing Unit, not shown) is stored in a ROM (read only memory, not shown). This is realized by calling and executing the support program.

  The traveling control unit 30 always obtains information transmitted from the inter-vehicle distance detection unit 41, the ACC operation unit 42, the accelerator operation detection unit 43, the brake operation detection unit 44, and the vehicle speed sensor 45. To do.

  In step S <b> 101, the traveling control unit 30 determines whether or not the driver has performed an ACC function release operation based on the information acquired from the ACC operation unit 42 or the brake operation detection unit 44. When the canceling operation is performed (“YES” in step S101), the process proceeds to step S108. If the release operation has not been performed (“NO” in step S101), the process proceeds to step S102.

  In step S <b> 102, the traveling control unit 30 determines whether or not the host vehicle speed is below the lower limit value (35 km / h in this case) of the settable speed range based on the information acquired from the vehicle speed sensor 45. If the host vehicle speed falls below the lower limit value of the settable speed range (“YES” in step S102), the process proceeds to step S103. If the host vehicle speed is equal to or higher than the lower limit value of the settable speed range ("NO" in step S102), the process proceeds to step S101.

  In step S <b> 103, the traveling control unit 30 releases the control by the automatic traveling control unit 31. Specifically, the automatic control of the drive system 10 by the automatic travel control unit 31 is released, and the automatic control of the braking system 20 is maintained. Therefore, when the preceding vehicle accelerates, the inter-vehicle distance increases. In this case, the driver accelerates by operating the accelerator pedal.

  Here, it is preferable that the traveling control unit 30 informs the driver that the ACC function has been released and prompts the brake operation. The traveling control unit 30 can make a notification using, for example, the display unit 50 or a voice output device (not shown). As a result, the driver can easily know that the host vehicle speed has slowed and the ACC function has been released, and that a brake operation is necessary to avoid danger.

  In step S <b> 104, the traveling control unit 30 releases the automatic control of the retarder 22 and the exhaust brake 23 in the braking device that configures the braking system 20. As a result, the braking force is controlled only by the service brake 21, so that the braking force can be finely adjusted, and a gentle deceleration can be accommodated. At this time, the braking force of the service brake 21 may be increased so that the braking force before the automatic control of the retarder 22 and the exhaust brake 23 is released may be maintained.

  In step S <b> 105, the traveling control unit 30 determines whether or not the own vehicle speed has fallen below a predetermined release speed based on the information acquired from the vehicle speed sensor 45. If the host vehicle speed falls below the predetermined release speed (“YES” in step S105), the process proceeds to step S107. If the host vehicle speed is equal to or higher than the predetermined release speed (“NO” in step S105), the process proceeds to step S106.

  The release speed is a speed slower than the lower limit value of the settable speed range, and if the target inter-vehicle distance corresponding to the release speed is maintained, even if the automatic control of the service brake 21 is released, It is speed that can avoid danger. Although it depends on the target inter-vehicle distance, the release speed is preferably 0 to 20 km / h (for example, 15 km / h). The release speed may be set to 0 km / h, and automatic control of the service brake 21 may be continued until the vehicle 1 stops. However, it is automatically performed until the vehicle stops following the preceding vehicle, and the meaning that the ACC function is automatically canceled based on the own vehicle speed is weakened, and the driver's driving consciousness may be lowered. Therefore, the release speed is preferably 5 km / h or more.

  In step S <b> 106, the traveling control unit 30 determines whether or not a voluntary operation has been performed by the driver based on information acquired from the accelerator operation detection unit 43 or the brake operation detection unit 44. If the driver performs a voluntary operation (“YES” in step S106), the process proceeds to step S107. If the driver does not perform a voluntary operation (“NO” in step S106), the process proceeds to step S105.

  In step S107, the traveling control unit 30 cancels the automatic control of the service brake 21, and ends the automatic traveling cancellation process. The service brake 21 when the host vehicle speed falls below the release speed and when it can be determined that the driver has performed an operation for avoiding danger by himself (brake operation for approach avoidance or accelerator operation for overtaking). The automatic control of is canceled.

  When the vehicle speed falls below the release speed and the automatic control of the service brake 21 is released, the subsequent risk avoidance is left to the driving operation of the driver. The traveling control unit 30 may notify the driver that the ACC function has been completely canceled and the danger is imminent, and may prompt the brake operation. As a result, the driver can know again that the situation is dangerous, and can reliably avoid the danger by his own driving operation. Further, an automatic emergency braking (AEB) may be activated to reduce collision damage.

  On the other hand, when the release operation of the ACC function is performed (“YES” in step S101), in step S108, the travel control unit 30 cancels the automatic control of the drive system 10 and the brake system 20, and the automatic travel cancellation process. Exit.

  As described above, the driving support device S according to the present embodiment is mounted on the vehicle 1 having the drive system 10 and the braking system 20, and is a vehicle speed sensor 45 (vehicle speed detection unit) that detects the own vehicle speed. And an inter-vehicle distance detector 41 for measuring the inter-vehicle distance from the preceding vehicle, and a target speed for constant speed travel within a settable speed range, and a target inter-vehicle distance for follow-up travel When the ACC setting unit 42 (automatic travel information setting unit) and the preceding vehicle are not present, the drive system 10 and the braking system 20 are controlled so that the own vehicle speed becomes the target speed, and when the preceding vehicle is present, When the automatic traveling control unit 31 that controls the drive system 10 and the braking system 20 so that the inter-vehicle distance with the preceding vehicle becomes the target inter-vehicle distance, and the own vehicle speed during the following traveling is below the lower limit value of the settable speed range In Comprises an automatic traveling canceling unit 32 for releasing the control by the automatic travel control unit 31, a. When the host vehicle speed falls below a lower limit value (for example, 35 km / h) of the settable speed range, the automatic travel canceling unit 32 cancels the automatic control of the drive system 10 and further a predetermined release speed (for example, 15 km / h). ), The automatic control of the braking system 20 is released.

  According to the driving support device S, the driving burden on the driver is reduced and a certain level of safety is ensured. That is, even if the lower limit value of the settable speed range is reached during follow-up driving, the automatic control of the braking system 20 is not immediately released, and the driver senses the danger according to the approaching state with the preceding vehicle and performs the driving operation by himself / herself. Since the grace period until is given, the driving burden is reduced and safety is ensured.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist thereof.

  For example, in the embodiment, the traveling control unit 30 executes the driving support program to realize the above-described automatic traveling cancellation process. However, the traveling control unit 30 can also be implemented using a hardware circuit. The driving support program can be stored in a computer-readable storage medium such as a magnetic disk, an optical disk, or a flash memory and provided to the traveling control unit 30. Alternatively, the driving support program can be provided by downloading via a communication line such as the Internet.

  Further, for example, the release timing of the automatic control of the retarder 22 and the exhaust brake 23 may be the same as the automatic control of the service brake 21. Further, the vehicle 1 may include a compression release brake that uses a compression stroke of a cylinder of the engine 11 as an auxiliary brake.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 vehicle 10 drive system 20 brake system 21 service brake 22 retarder (auxiliary brake)
23 Exhaust brake (auxiliary brake)
DESCRIPTION OF SYMBOLS 30 Travel control part 31 Automatic travel control part 32 Automatic travel cancellation part 41 Inter-vehicle distance detection part 42 ACC operation part 43 Acceleration operation detection part 44 Brake operation detection part 45 Vehicle speed sensor (vehicle speed detection part)
S Driving support device

Claims (6)

A driving support device mounted on a vehicle having a drive system and a braking system,
A vehicle speed detector for detecting the vehicle speed;
An inter-vehicle distance detector that measures an inter-vehicle distance from the preceding vehicle;
An automatic travel information setting unit that sets a target speed when performing constant speed travel within a settable speed range, and sets a target inter-vehicle distance when performing follow-up travel,
When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance is the target inter-vehicle distance. An automatic travel control unit for controlling the drive system and the braking system,
An automatic travel canceling unit that cancels control by the automatic travel control unit when the vehicle speed during the follow-up traveling is below a lower limit value of the settable speed range;
The automatic travel cancellation unit cancels the automatic control of the drive system when the host vehicle speed falls below a lower limit value of the settable speed range, and further when the vehicle speed falls below a predetermined release speed, A driving support device that releases automatic control of the vehicle. The braking system includes a service brake and an auxiliary brake,
The automatic travel cancellation unit maintains the control of the service brake and cancels the control of the auxiliary brake when the host vehicle speed falls below a lower limit value of the settable speed range, and sets the predetermined release speed. The driving support device according to claim 1, wherein the control of the service brake is released when the service brake is reached.   The said automatic travel cancellation | release part alert | reports that automatic travel control was cancelled | released, when the said own vehicle speed is less than the lower limit of the said settable speed range. Driving assistance device.   4. The automatic travel canceling unit notifies that the automatic control of the braking system is cancelled when the host vehicle speed reaches the predetermined canceling speed. The driving support device according to one item. A driving system, a braking system, a vehicle speed detection unit for detecting the own vehicle speed, an inter-vehicle distance detection unit for measuring the inter-vehicle distance from the preceding vehicle, and a target speed for constant speed driving are set within a settable speed range. A driving support method in a vehicle including an automatic travel information setting unit for setting a target inter-vehicle distance when performing follow-up travel,
(A) When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance from the preceding vehicle is the target speed. Controlling the drive system and the braking system so as to be an inter-vehicle distance;
(B) releasing the control by the automatic travel control unit when the vehicle speed during the follow-up traveling falls below a lower limit value of the settable speed range. In step (B), When the vehicle speed falls below the lower limit value of the settable speed range, the control of the drive system is released, and further, the control of the braking system is released when a predetermined release speed is reached. Driving support method. A driving system, a braking system, a vehicle speed detection unit for detecting the own vehicle speed, an inter-vehicle distance detection unit for measuring the inter-vehicle distance from the preceding vehicle, and a target speed for constant speed driving are set within a settable speed range. In the computer of the vehicle equipped with an automatic travel information setting unit for setting the target inter-vehicle distance when performing follow-up travel,
(A) When there is no preceding vehicle, the drive system and the braking system are controlled so that the host vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance from the preceding vehicle is the target speed. A process for controlling the drive system and the brake system so as to be an inter-vehicle distance;
(B) When the host vehicle speed during the follow-up traveling falls below a lower limit value of the settable speed range, a process of canceling the control by the automatic traveling control unit is executed,
In the process (B), when the host vehicle speed falls below the lower limit value of the settable speed range, the control of the drive system is canceled, and when the predetermined speed is reached, the control of the braking system is performed. A driving support program for executing a process for canceling the vehicle.

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