JP2017162053A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of suppressing a notification that makes a driver confuse in a driving support device capable of executing both of the inter-vehicle process control and the front going vehicle start notification control.SOLUTION: A LVN control part 50 defines an inter-vehicle distance as a first reference inter-vehicle distance after an ACC control part 40 determines that notification condition is established when the ACC control part 40 is in an operational state and executes the notification process when the inter-vehicle distance increases from the first reference inter-vehicle distance by a third distance or more. The LVN control part 50 defines the inter-vehicle distance in a state where both the front going vehicle and an own vehicle are in a stop state as the second reference inter-vehicle distance when the ACC control part 40 is in a non-operational state. When the inter-vehicle distance increases from a second reference inter-vehicle distance by a third distance or more, the notification process is executed. When the ACC control part 40 is switched from the operation state to the non-operation state, the LVN control part 50 does not execute the notification process for the driver even if the inter-vehicle distance is increased from the second reference inter-vehicle distance by the third distance or more.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device.

  2. Description of the Related Art Conventionally, there has been proposed a driving assistance device that performs inter-vehicle distance control (ACC: Adaptive Cruise Control) for controlling the inter-vehicle distance between a preceding vehicle and the host vehicle. In ACC, when a preceding vehicle is detected, the vehicle travels so that the inter-vehicle distance between the preceding vehicle and the host vehicle becomes the inter-vehicle distance according to the vehicle speed. When the preceding vehicle is not detected, the driver sets Controls the vehicle to run at a constant speed. Further, as one form of ACC, a full vehicle speed ACC for controlling the inter-vehicle distance between the preceding vehicle and the host vehicle in the full vehicle speed range has been proposed (for example, Patent Document 1). At the full vehicle speed ACC, when the preceding vehicle stops, the vehicle is stopped while maintaining an appropriate inter-vehicle distance, and when the preceding vehicle resumes running, the driver is permitted to start (in other words, the preceding vehicle starts) on the screen display. In addition, if the driver performs a start operation, control is performed so that the follow-up running is resumed.

  Conventionally, there has been proposed a driving assistance device that executes a preceding vehicle start notification function (LVN: Leading Vehicle movement Notice) for notifying the start of a preceding vehicle. LVN notifies the driver of the start of the preceding vehicle by sound and screen display when the vehicle has stopped without knowing that the preceding vehicle has started, such as waiting for a signal.

JP 2013-123993 A

  All vehicle speeds ACC and LVN may be used simultaneously in the future. Since all vehicle speeds ACC and LVN determine whether or not to notify the driver based on mutually different conditions, in some cases, notification by all vehicle speeds ACC and notification by LVN can be made substantially simultaneously. This confuses the driver.

  SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and its purpose is to notify a driver of confusion in a driving support device capable of performing both the inter-vehicle distance control in all vehicle speed ranges and the preceding vehicle start notification function. It is to provide a technology that can prevent the problem.

  In order to solve the above problems, a driving support apparatus according to an aspect of the present invention includes an inter-vehicle distance detection unit that detects an inter-vehicle distance between a preceding vehicle and the host vehicle, and a relative that detects a relative speed between the preceding vehicle and the host vehicle. Speed detection means and inter-vehicle distance control means that is switched between an operating state and a non-operating state, and controls the host vehicle so that the inter-vehicle distance becomes the target inter-vehicle distance in the operating state. When the inter-vehicle distance is greater than or equal to the first distance and the relative speed is greater than or equal to the first speed or the inter-vehicle distance is greater than or equal to the second distance greater than the first distance from the stopped state, the notification condition When the inter-vehicle distance control means that executes the notification process for the driver and the inter-vehicle distance control means are in the operating state, the time after the time when the inter-vehicle distance control means determines that the notification condition is satisfied. If the inter-vehicle distance is a first reference inter-vehicle distance and the inter-vehicle distance increases from the first reference inter-vehicle distance by a third distance or more, a notification process for the driver is executed, and the inter-vehicle distance control means is in a non-operating state, The preceding vehicle start that executes a notification process for the driver when the inter-vehicle distance when the vehicle and the host vehicle are both stopped is the second reference inter-vehicle distance and the inter-vehicle distance increases from the second reference inter-vehicle distance by the third distance or more. And when the inter-vehicle distance control means is switched from the operating state to the non-operating state while the host vehicle is stopped, the preceding vehicle start notifying unit has the inter-vehicle distance from the second reference inter-vehicle distance. The notification process for the driver is not executed even if the distance is increased by the third distance or more.

According to this aspect, the start of the preceding vehicle is notified by the inter-vehicle distance control means, and then notified by the preceding vehicle start notification means. That is, the notification order is maintained, and notification that confuses the driver can be suppressed.
Further, when the preceding vehicle is stopped and then started and restarted, even if the inter-vehicle distance control means is switched from the operating state to the non-operating state, notification by the preceding vehicle start notifying means at this point is not made. Therefore, it is possible to suppress notification that the preceding vehicle is stopped, which may confuse the driver.

  ADVANTAGE OF THE INVENTION According to this invention, in the driving assistance device which can perform both inter-vehicle processing control and preceding vehicle start notification control, it is possible to suppress notification that confuses the driver.

It is a block diagram which shows the functional block of the driving assistance device which concerns on embodiment. It is a flowchart which shows operation | movement of a preceding vehicle start alerting | reporting function. It is a flowchart which shows the process of the LVN control part performed in parallel with the process of FIG.

  Hereinafter, the same or equivalent components and members shown in the drawings are denoted by the same reference numerals, and repeated description thereof will be omitted as appropriate. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

  FIG. 1 is a configuration diagram illustrating functional blocks of a driving support device 100 according to an embodiment. The driving support device 100 includes a radar sensor 10, a vehicle speed sensor 11, an acceleration sensor 12, an accelerator pedal sensor 13, a brake pedal sensor 14, an ACC switch 15, a brake ECU (Electronic Control Unit) 20, and an engine ECU 21. And a meter ECU 22 and a driving support ECU 30.

  The radar sensor 10 is a radar for detecting an object using millimeter waves. The radar sensor 10 is attached to the front central portion of the host vehicle. The radar sensor 10 acquires radar wave information related to an object in an exploration area that spreads at a predetermined angle with the attachment position with respect to the host vehicle as a central position. The radar sensor 10 transmits the acquired radar wave information to the driving support ECU 30.

  The vehicle speed sensor 11 acquires the vehicle speed of the host vehicle. The acceleration sensor 12 acquires the acceleration of the host vehicle. The accelerator pedal sensor 13 acquires the opening degree of the accelerator pedal. The brake pedal sensor 14 and the brake pedal depression amount are acquired. The vehicle speed sensor 11, acceleration sensor 12, accelerator pedal sensor 13, and brake pedal sensor 14 respectively obtain the acquired vehicle speed information, acceleration information, accelerator opening information, and stepping amount every predetermined cycle (for example, 0.5 second cycle). It transmits to driving assistance ECU30.

  The ACC switch 15 is a switch for performing operations such as turning on (starting) / off (stopping) the full vehicle speed ACC and setting the target vehicle speed. The ACC switch 15 transmits operation information performed by the driver to the driving support ECU 30.

  Each of the brake ECU 20, the engine ECU 21, the meter ECU 22, the buzzer ECU 23, and the driving support ECU 30 is an electronic control unit including a CPU, a ROM, a RAM, and the like, and repeatedly executes each process at a predetermined processing cycle.

  The brake ECU 20 controls each brake and thus the braking force. The brake ECU 20 determines the wheel cylinder pressure of the brake based on brake pedal depression amount information, vehicle speed information, and the like, and sends a control signal to the electromagnetic valve of each wheel cylinder. When the brake ECU 20 receives a brake control signal (described later) from the driving support ECU 30, the brake ECU 20 determines the brake wheel cylinder pressure based on the target deceleration indicated by the brake control signal, and sends the control signal to the electromagnetic valve of each wheel cylinder. Send to.

  The engine ECU 21 controls the engine and thus the driving force. The engine ECU 21 determines the opening degree of the electronically controlled throttle of the engine based on the accelerator opening degree information, the vehicle speed information, etc., and sends a control signal to the electronically controlled throttle. When the engine ECU 21 receives an engine control signal (described later) from the driving support ECU 30, the engine ECU 21 determines the opening degree of the electronic control throttle of the engine based on the target acceleration indicated by the engine control signal, and uses the control signal as the electronic control throttle. send.

  The meter ECU 22 is a control device that controls the combination meter. The combination meter includes various instruments such as a speedometer, a tachometer, and a fuel meter, various warning lights such as charging, a half door, fuel, and hydraulic pressure, and a display for displaying various information. The meter ECU 22 performs control of these various instruments, lighting / extinguishing of various warning lights, display control of the display, and the like. In particular, when the meter ECU 22 receives a meter control signal indicating start permission from a start permission determination unit 42 (described later) of the driving support ECU 30, the meter ECU 22 displays the fact on the display. In addition, when the meter ECU 22 receives a meter control signal indicating start notification from the start permission determination unit 42 (described later) of the driving support ECU 30, the meter ECU 22 displays that effect on the display.

  The driving assistance ECU 30 executes driving assistance control according to the driving situation. The driving assistance ECU 30 includes a preceding vehicle recognition unit 31, an inter-vehicle distance detection unit (inter-vehicle distance detection unit) 32, a relative speed detection unit (relative speed detection unit) 33, an ACC control unit (inter-vehicle distance control unit) 40, LVN control unit (preceding vehicle start notification means) 50.

  The preceding vehicle recognition unit 31 determines the presence or absence of a preceding vehicle based on the radar wave information from the radar sensor 10. When there is a preceding vehicle, the inter-vehicle distance detection unit 32 detects the inter-vehicle distance between the host vehicle and the preceding vehicle based on the radar wave information. The relative speed detector 33 detects the relative speed between the host vehicle and the preceding vehicle based on the radar wave information. The preceding vehicle recognizing unit 31, the inter-vehicle distance detecting unit 32, and the relative speed detecting unit 33 each execute a process for each predetermined cycle (for example, 0.1 second cycle).

  The ACC control unit 40 executes full vehicle speed ACC for controlling the host vehicle in the entire vehicle speed range so that the inter-vehicle distance between the preceding vehicle and the host vehicle becomes the target inter-vehicle distance. The ACC control unit 40 is switched to the operating state when the ON signal is transmitted from the ACC switch 15 and executes the full vehicle speed ACC, and is switched to the non-operating state when the OFF signal is transmitted from the ACC switch 15. Stop all vehicle speed ACC. The ACC control unit 40 includes a target acceleration calculation unit 41 and a start permission determination unit 42.

  The target acceleration calculation unit 41 calculates a target acceleration based on the inter-vehicle distance between the preceding vehicle and the host vehicle and the relative speed. The target acceleration is a positive value or a negative value, the positive value is acceleration, and the negative value is deceleration. When the target acceleration is a positive value, the target acceleration calculation unit 41 calculates a control driving force from the target acceleration, and transmits the control driving force (target driving force) to the engine ECU 21 as an engine control signal. Further, when the target acceleration is a negative value, the target acceleration calculation unit 41 calculates a control braking force from the target acceleration, and transmits the control braking force (target braking force) to the brake ECU 20 as a brake control signal. The target acceleration may be calculated by a known method.

When the host vehicle automatically stops in response to the stop of the preceding vehicle, the start permission determination unit 42 determines whether to permit the start of the host vehicle every predetermined cycle (for example, 0.1 second cycle) ( Hereinafter, the start permission determination is performed. Specifically, the start permission determination unit 42 determines to permit start when any of the following (1) and (2) is established.
(1) The vehicle speed of the preceding vehicle is equal to or higher than the first speed (for example, 2 km / h), and the inter-vehicle distance from the preceding vehicle is equal to or more than the first distance (for example, 3 m). (2) The inter-vehicle distance from the preceding vehicle is first. 2nd distance (for example, 8m) greater than the distance

  When the start permission determination unit 42 determines to permit start, the start permission determination unit 42 transmits a meter control signal indicating that to the meter ECU 22. When the meter ECU 22 receives this meter control signal, the meter ECU 22 notifies the driver of permission to start. Therefore, it can be said that the conditions (1) and (2) are notification conditions for determining whether or not to notify the ACC control unit 40 regarding the start of the preceding vehicle.

  The LVN control unit 50 executes a preceding vehicle start notification function for notifying that the preceding vehicle has started and notifying that the preceding vehicle has started and continues to stop. The LVN control unit 50 includes a reference inter-vehicle distance setting unit 51, a preceding vehicle start notification determination unit 52, and an inter-vehicle distance storage unit 53.

  The reference inter-vehicle distance setting unit 51 sets an inter-vehicle distance for use in a start notification determination described later. Specifically, the reference inter-vehicle distance setting unit 51 determines the inter-vehicle distance between the preceding vehicle and the host vehicle when the start permission determination of the full vehicle speed ACC is made, in other words, when the notification condition regarding the notification by the ACC control unit 40 is satisfied. It is stored in the inter-vehicle distance storage unit 53 as one reference inter-vehicle distance. Further, the reference inter-vehicle distance setting unit 51 stores the inter-vehicle distance between the preceding vehicle and the own vehicle when the preceding vehicle and the own vehicle are both stopped as the second reference inter-vehicle distance in the inter-vehicle distance storage unit 53.

  The preceding vehicle start notification determination unit 52 determines whether or not to notify the driver of the start of the preceding vehicle (hereinafter referred to as start notification determination) at every predetermined period (for example, 0.1 second period). Specifically, when the ACC control unit 40 is in the operating state, the preceding vehicle start notification determination unit 52 increases the vehicle distance from the first reference vehicle distance by a predetermined third distance (for example, 4 m) or more. It is determined to notify the driver of the start of the preceding vehicle. Further, when the ACC control unit 40 is in an inoperative state, the preceding vehicle start notification determination unit 52 determines to notify the driver of the start of the preceding vehicle when the inter-vehicle distance increases by a third distance or more from the second reference inter-vehicle distance. To do.

  Various methods are conceivable as specific calculation methods in the preceding vehicle start notification determination unit 52, and are not particularly limited. Here, the preceding vehicle start notification determination unit 52 performs the first calculation for determining whether the inter-vehicle distance has increased by a third distance or more from the first reference inter-vehicle distance, and the inter-vehicle distance is calculated from the second reference inter-vehicle distance. The second calculation for determining whether or not the distance is increased in parallel is executed in parallel. When the ACC control unit 40 is in the operating state, the start of the preceding vehicle is notified according to the result of the first calculation, and when the ACC control unit 40 is in the non-operating state, according to the result of the second calculation. To notify the start of the preceding vehicle.

  When the ACC control unit 40 is switched from the operating state to the non-operating state while the host vehicle is stopped, the preceding vehicle start notification determining unit 52 increases the inter-vehicle distance from the second reference inter-vehicle distance by a third distance or more. Also, the notification process for the driver is not executed.

  When the preceding vehicle start notification determination unit 52 determines to notify the driver of the start of the preceding vehicle, the preceding vehicle start notification determination unit 52 transmits a meter control signal indicating that to the meter ECU 22. When the meter ECU 22 receives the meter control signal, the meter ECU 22 notifies the driver of the start of the preceding vehicle.

  The operation of the preceding vehicle start notification function by the driving support device 100 configured as described above will be described. FIG. 2 is a flowchart showing the operation of the preceding vehicle start notification function. When the host vehicle stops, the preceding vehicle recognition unit 31 determines whether there is a preceding vehicle (S10). If there is no preceding vehicle (N in S10), the process shown in this figure is terminated. When the preceding vehicle exists (Y in S10), the inter-vehicle distance detection unit 32 detects the inter-vehicle distance between the host vehicle and the preceding vehicle every predetermined cycle (S12). Further, the relative speed detection unit 33 detects the relative speed between the host vehicle and the preceding vehicle every predetermined cycle (S14).

  The LVN control unit 50 performs the start notification determination using the notification condition according to whether the ACC control unit 40 is in the operating state or the non-operating state, and when the notification condition is satisfied (Y in S16), performs a notification process for the driver. Execute (S18, S20). Specifically, the preceding vehicle start notification determination unit 52 transmits a meter control signal for notifying the start of the preceding vehicle to the meter ECU 22 (S18). The meter ECU 22 notifies the driver of the start of the preceding vehicle based on the meter control signal (S20). On the other hand, when the notification condition is not satisfied (N in S16), the process returns to S16.

  As described above, when the ACC control unit 40 is in the operating state, the notification condition is the first reference inter-vehicle distance with the inter-vehicle distance when the ACC control unit 40 determines that the notification condition is satisfied as the first reference inter-vehicle distance. The inter-vehicle distance has increased by a third distance or more. When the ACC control unit 40 is in an inoperative state, the notification condition is that the inter-vehicle distance in a state where both the preceding vehicle and the host vehicle are stopped is the second reference inter-vehicle distance, and the inter-vehicle distance is the third reference inter-vehicle distance. It has increased over the distance.

  In this way, while the full vehicle speed ACC is in operation, the inter-vehicle distance when the start permission determination for the full vehicle speed ACC is made (when the notification condition of whether to perform notification by the ACC control unit 40 is satisfied) is the first inter-vehicle distance. Set as the reference inter-vehicle distance. Therefore, when the notification by the full vehicle speed ACC and the notification by the LVN control are made, the notification by the full vehicle speed ACC is always made, and then the notification by the LVN control is made. That is, the notification by the full vehicle speed ACC and the notification by the LVN control are not substantially simultaneously performed, and the notification order is maintained. Accordingly, it is possible to suppress notifications that confuse the driver.

  FIG. 3 is a flowchart showing processing of the LVN control unit 50 performed in parallel with the processing of FIG. The process of FIG. 3 is repeatedly performed at a predetermined cycle.

  When the ACC control unit 40 is switched from the operating state to the non-operating state (Y in S30), the preceding vehicle start notification determination unit 52 may increase the inter-vehicle distance from the second reference inter-vehicle distance by a third distance or more. The notification process for the driver is not executed (S32). In this case, for example, the LVN control unit 50 resets the first reference inter-vehicle distance, the second reference inter-vehicle distance, and the first and second calculations for determining whether the notification condition is satisfied, thereby the driver. The notification process for is not executed.

  When the ACC control unit 40 has not been switched from the operating state to the non-operating state (N in S30), the current processing in FIG. 3 ends.

  Here, a comparative example assuming that the processing of FIG. 3 is not performed in the driving support device 100 will be described. Here, after the ACC control unit 40 is in an operating state and the start of the preceding vehicle is notified by the ACC control unit 40, the preceding vehicle is stopped again before being notified by the LVN control unit 50. Consider the case where 40 is switched to an inactive state. In this case, if the notification condition when the ACC control unit 40 is in the non-operating state is satisfied, the start of the preceding vehicle is notified by the LVN control unit 50. Since it is notified by the LVN control unit 50 in a state where the preceding vehicle is stopped, an erroneous notification is generated and the driver is confused.

  For example, when the ACC control unit 40 is in an activated state, the host vehicle and the preceding vehicle stop at a distance of 2 m, the preceding vehicle slowly starts at a vehicle speed less than the first speed, and when the distance between the vehicles is 5 m, the preceding vehicle Consider a situation where the vehicle speed is equal to or higher than the first speed and the notification condition of the ACC control unit 40 is satisfied. In this situation, the first reference inter-vehicle distance is 5 m and the second reference inter-vehicle distance is 2 m. Thereafter, when the preceding vehicle is stopped again when the inter-vehicle distance is 7 m, the LVN control unit 50 does not notify. However, when the driver switches the ACC control unit 40 to the non-operating state at this time, the inter-vehicle distance (7 m) increases from the second inter-vehicle distance (2 m) by the third distance (4 m) or more. The start of the preceding vehicle by the LVN control unit 50 is notified.

  On the other hand, according to the present embodiment, when the ACC control unit 40 is switched from the operating state to the non-operating state while the host vehicle is stopped, the LVN control unit 50 determines the inter-vehicle distance from the second reference inter-vehicle distance. The notification process for the driver is not executed even if the distance is increased by the third distance or more. For this reason, even when the ACC control unit 40 is switched from the operating state to the non-operating state when the preceding vehicle stops and restarts, the notification by the LVN control unit 50 at this time can be prevented. Therefore, regardless of the calculation method of the preceding vehicle start notification determining unit 52, it is possible to suppress notification that the preceding vehicle is stopped so as to confuse the driver.

  In the above, this invention was demonstrated based on the Example. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications can be made to the combination of each component and each processing process, and such modifications are within the scope of the present invention.

(Modification)
In the embodiment, when the start permission determination of the full vehicle speed ACC is made, in other words, the inter-vehicle distance between the preceding vehicle and the host vehicle when the notification condition of whether or not to notify by the ACC control unit 40 is established is the first Although the case where it memorize | stores in the inter-vehicle distance memory | storage part 53 as a reference inter-vehicle distance was demonstrated, it is not restricted to this. Not only when the start permission determination of the full vehicle speed ACC is made (when the ACC control unit 40 determines that the notification condition is satisfied), but the inter-vehicle distance between the preceding vehicle and the host vehicle after that time is the first reference inter-vehicle distance May be stored in the inter-vehicle distance storage unit 53. For example, when the start permission determination of the full vehicle speed ACC is made and notification is made by the ACC control unit 40, or the inter-vehicle distance between the preceding vehicle and the host vehicle immediately after that is stored in the inter-vehicle distance storage unit 53 as the first reference inter-vehicle distance. May be.

DESCRIPTION OF SYMBOLS 31 ... Prior vehicle recognition part, 32 ... Inter-vehicle distance detection part, 33 ... Relative speed detection part, 40 ... ACC control part, 42 ... Start permission determination part, 50 ... LVN control part, 51 ... Reference | standard inter-vehicle distance setting part, 52 ... A preceding vehicle start notification determination unit, 53 ... an inter-vehicle distance storage unit.

Claims (1)

An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the preceding vehicle and the host vehicle;
A relative speed detecting means for detecting a relative speed between the preceding vehicle and the host vehicle;
The inter-vehicle distance control means for controlling the own vehicle so that the inter-vehicle distance becomes the target inter-vehicle distance in the activated state, wherein the own vehicle is stopped in response to the stop of the preceding vehicle. From the above, when the inter-vehicle distance is equal to or greater than the first distance and the relative speed is equal to or greater than the first speed, or when the inter-vehicle distance is equal to or greater than the second distance that is greater than the first distance, it is determined that the notification condition is satisfied. And an inter-vehicle distance control means for executing a notification process for the driver;
When the inter-vehicle distance control means is in an operating state, the inter-vehicle distance after the time when the inter-vehicle distance control means determines that the notification condition is satisfied is defined as the first inter-vehicle distance, and the inter-vehicle distance is calculated from the first reference inter-vehicle distance. When the vehicle distance control means is in a non-operating state, the inter-vehicle distance when both the preceding vehicle and the host vehicle are stopped is set as the second reference inter-vehicle distance. A preceding vehicle start notification means for executing a notification process for the driver when the inter-vehicle distance increases by more than the third distance from the second reference inter-vehicle distance;
When the inter-vehicle distance control means is switched from the operating state to the non-operating state while the host vehicle is stopped, the preceding vehicle start notification means increases the inter-vehicle distance from the second reference inter-vehicle distance by the third distance or more. Even if it is, the driving assistance apparatus characterized by not performing the alerting | reporting process with respect to a driver.

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