JP3963117B2 - Driving assistance device for vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driving operation assisting device for a vehicle that assists a driver's operation.
[0002]
[Prior art]
As a vehicular driving operation assisting device that assists a driver's operation, a device disclosed in Japanese Patent Application Laid-Open No. 10-166890 is known. This vehicle driving operation assisting device changes the operation reaction force of the accelerator pedal based on the inter-vehicle distance between the preceding vehicle and the host vehicle. For example, when the detected inter-vehicle distance becomes smaller than a predetermined value, the accelerator pedal operation reaction force is set to be heavy and a warning is given to the driver.
[0003]
[Problems to be solved by the invention]
However, in the vehicle driving operation assisting device as described above, since the member that the driver steps on and the member that gives an alarm to the driver are the same pedal, when the accelerator pedal operation reaction force changes It is difficult to determine whether the change is caused by the driver depressing the accelerator pedal or is added as an alarm.
[0004]
An object of the present invention is to provide a vehicular driving operation assistance device that can give an appropriate warning to a driver when the host vehicle approaches a preceding vehicle.
[0005]
[Means for Solving the Problems]
  The present invention will be described with reference to the drawings showing an embodiment.
(1) In the invention described in claim 1, the inter-vehicle distance detection means 101, 201 for detecting the inter-vehicle distance between the own vehicle and a preceding vehicle existing in front of the own vehicle, and the driver's seat 80 in the vehicle front-rear direction. The inter-vehicle distance between the host vehicle and the preceding vehicle detected by the driver seat moving means 108 and 208 to be moved and the inter-vehicle distance detection means 101 and 201 is, Preset as a threshold value for determining whether to perform an inter-vehicle distance alarmAnd control means 107, 207 for controlling the driver seat moving means 108, 208 to move the driver seat 80 to the rear of the vehicle when it becomes less than the predetermined value.Then, when the inter-vehicle distance detected by the inter-vehicle distance detection unit is less than a predetermined value, the control unit moves the driver's seat to the rear of the vehicle so that the deceleration experienced by the driver increases as the inter-vehicle distance decreases. Control the driver's seat moving means to increase the moving distance and the moving speed or moving accelerationThis achieves the above-mentioned object.
(2) The invention according to claim 2 is the vehicle driving assist device according to claim 1, wherein the accelerator pedal operation amount detecting means 104 for detecting the operation amount of the accelerator pedal 103, and the transmission is driven to change the gear ratio. Transmission control means 109 for changing the control means 107, the control means 107,(A)When the inter-vehicle distance is less than the predetermined value and the operation amount of the accelerator pedal 103 detected by the accelerator pedal operation amount detection means 104 is less than the predetermined value, the driver seat 80 is moved backward by the driver seat moving means 108. At the same time, the transmission drive means 109 is controlled to increase the transmission gear ratio.(B) When the inter-vehicle distance is less than the predetermined value and the operation amount of the accelerator pedal is equal to or greater than the predetermined value, the driver seat is moved rearward by the driver seat moving means.It is characterized by that.
(3) A third aspect of the present invention is the vehicle driving assist device according to the first aspect, wherein the accelerator pedal operation amount detecting means 204 for detecting the operation amount of the accelerator pedal 203 and the braking device by driving the brake device. And a brake driving means 209 for generating(A)When the inter-vehicle distance is less than a predetermined value and the operation amount of the accelerator pedal 203 detected by the accelerator pedal operation amount detection means 204 is less than the predetermined value, the driver seat 80 is moved backward by the driver seat moving means 208. At the same time, the brake drive means 209 is controlled so as to generate the braking force of the brake device.(B) When the inter-vehicle distance is less than the predetermined value and the operation amount of the accelerator pedal is equal to or greater than the predetermined value, the driver seat is moved rearward by the driver seat moving means.It is characterized by that.
(4) The invention of claim 4 is any one of claims 1 to 3.1 itemIn the vehicular driving operation assisting device described in the above, the control means 107, 207 moves the driver's seat 80 rearward by the driver's seat moving means 108, 208 and then detects the inter-vehicle distance detected by the inter-vehicle distance detection means 101, 201. When the distance exceeds a predetermined value, the driver seat moving means 108 and 208 are controlled so that the position of the driver seat 80 is returned.
(5) The invention of claim 5 is any one of claims 1 to 3.1 itemThe vehicle driving operation assisting device described in the above item further includes brake pedal operation amount detecting means 106, 206 for detecting the operation amount of the brake pedals 105, 205, and the control means 107, 207 are controlled by the driver seat moving means 108, 208. After the driver's seat 80 is moved to the rear of the vehicle, when the brake pedal operation amount detecting means 106, 206 detects that the brake pedals 105, 205 are depressed, the driver's seat is reset so that the position of the driver's seat 80 is restored. The moving means 108 and 208 are controlled.
(6) The invention of claim 6 is any one of claims 1 to 5.1 itemIn the vehicle driving operation assisting device described in the above, the driver seat moving means 108 and 208 adjust the position by sliding the entire driver seat 80 in the longitudinal direction of the vehicle.UrineAnd features.
(7) The invention of claim 7 is any one of claims 1 to 5.1 itemIn the vehicular driving operation assisting apparatus, the driver seat moving means 108 and 208 are characterized by moving at least the cushion portion 82 on which the driver sits in the driver seat 80 in the vehicle front-rear direction.
(8) The invention of claim 8In the vehicle driving assistance device according to claim 4 or 5, The control means 107 and 207, when returning the position of the driver's seat 80, causes the driver's seat moving means 108 and 208 to reduce the moving speed or the moving acceleration of the driver's seat 80 compared to when the driver's seat 80 is moved backward. ControlIt is characterized by that.
(9) The invention according to claim 9 is the vehicle driving assistance device according to claim 4 or 5,The control means controls the driver seat moving means so as to increase the moving speed or moving acceleration of the driver seat only at the start of movement and then reduce it when returning the position of the driver seat.It is characterized by that.
[0006]
In addition, in the section of the means for solving the above-described problems for explaining the configuration of the present invention, the drawings of the embodiments are used to explain the present invention in an easy-to-understand manner. It is not limited.
[0007]
【The invention's effect】
  According to the present invention, the following effects can be achieved.
(1) According to the invention of claim 1, when the inter-vehicle distance between the host vehicle and the preceding vehicle is less than the predetermined value, the driver's seat is moved rearward of the vehicle. Can be reduced. As a result, the driver can feel that he has approached the preceding vehicle.Further, since the moving distance, moving speed or moving acceleration of the driver's seat is increased as the inter-vehicle distance is shorter, a detailed inter-vehicle distance alarm corresponding to the inter-vehicle distance can be given to the driver.
(2) According to the invention of claim 2, since the gear ratio is increased when the accelerator pedal operation amount is less than the predetermined value, the driver is not only decelerated due to movement of the driver's seat, but is also decelerated due to increase of the gear ratio. Can be experienced. Thereby, the inter-vehicle distance warning when approaching the preceding vehicle can be properly understood. Furthermore, by generating a deceleration by increasing the gear ratio, the host vehicle speed can be reduced and further approach to the preceding vehicle can be prevented.
(3) According to the invention of claim 3, since the braking force is generated when the accelerator pedal operation amount is less than the predetermined value, the driver is provided with the deceleration due to the braking force as well as the deceleration due to the movement of the driver's seat. It can be experienced and the inter-vehicle distance warning when approaching the preceding vehicle can be properly understood. Furthermore, by generating the braking force, the host vehicle speed can be reduced and further approach to the preceding vehicle can be prevented.
(4) According to the invention of claim 4, the driver's seat is returned to the original position when the inter-vehicle distance exceeds a predetermined value. Return to the sitting position.
(5) According to the invention of claim 5, since the driver's seat is returned to the original position when the brake pedal is depressed, the driver performs the braking operation himself even if the inter-vehicle distance is less than the predetermined value. Can quickly return to the original sitting posture.
(6) According to the invention of claim 6, since the driver's seat is moved using the seat slide assembly, the existing parts can be used.
(7) According to the invention of claim 7, since at least the cushion portion of the driver's seat is moved, the same effect can be obtained without moving the entire driver's seat.
(8) According to the invention of claim 8,Since the moving distance, moving speed, or moving acceleration when returning the driver's seat to the original position is reduced, the inter-vehicle distance warning can be canceled without bothering the driver.
(9) According to the invention of claim 9,When returning the driver's seat to its original position, the speed or acceleration of the driver's seat is increased only at the beginning of movement and then decreased, so that the driver can clearly tell the cancellation of the inter-vehicle distance warning. it can.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
<< First Embodiment >>
A vehicle operation assistance device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system diagram showing a configuration of a vehicle driving assistance device 100 according to a first embodiment of the present invention.
[0009]
As shown in FIG. 1, the vehicle driving assistance device 100 includes an inter-vehicle distance detection unit 101 that detects an inter-vehicle distance between the host vehicle and a preceding vehicle that is in front of the host vehicle, and a vehicle speed that detects the vehicle speed of the host vehicle. The detection means 202, the accelerator pedal operation amount detection means 104 for detecting the operation amount of the accelerator pedal 103, the brake pedal operation amount detection means 106 for detecting the operation amount of the brake pedal 105, and the vehicle driving operation assisting device 100 as a whole. A control unit 107 for controlling, a seat slide driving means (driver seat moving means) 108 for sliding the driver's seat in the longitudinal direction of the vehicle, a transmission driving means 109 for controlling a transmission (not shown), and the like.
[0010]
The inter-vehicle distance detection means 101 is constituted by a laser radar, for example. The laser radar 101 is attached to a front grill part or a bumper part of the vehicle and scans infrared light pulses in the horizontal direction. The laser radar 101 measures the reflected wave of the infrared light pulse reflected by a plurality of reflectors in front (usually the rear end of the front vehicle), and determines the distance between the plurality of front vehicles from the arrival time of the reflected wave. Detect the distance and its direction. The detected inter-vehicle distance and presence direction are output to the control unit 107. The forward area scanned by the laser radar 101 is about ± 6 deg with respect to the front of the host vehicle, and a forward object existing in this range is detected. The vehicle speed detection means (vehicle speed sensor) 102 detects the traveling vehicle speed of the host vehicle from the rotation speed of the wheels and the like, and outputs the detected host vehicle speed to the control unit 107.
[0011]
The accelerator pedal operation amount detection means 104 is composed of an accelerator sensor and the like, and detects the depression amount of the accelerator pedal 103 via the link mechanism of the accelerator pedal 103. The brake pedal operation amount detection unit 105 includes a brake sensor similar to the accelerator pedal operation amount detection unit 104, and detects the depression amount of the brake pedal 105 via the link mechanism of the brake pedal 105. The detected accelerator pedal operation amount and brake pedal operation amount are output to the control unit 107. The transmission drive unit 109 changes the shift schedule of the automatic transmission according to a command signal from the control unit 107 and changes the shift schedule of the automatic transmission according to conditions such as a shift lever position (not shown) and the vehicle speed detected by the vehicle speed sensor 202. Control the speed. Note that the output shaft of the automatic transmission is connected to the drive wheels via a speed reducer and a drive shaft.
[0012]
FIG. 2 shows a schematic diagram of the driver's seat according to the first embodiment of the present invention. As shown in FIG. 2, the driver's seat 80 includes a backrest 81, a cushion 82, a seat slide assembly 83 provided below the cushion 82, and the like. The seat slide assembly 83 includes a motor that slides the driver's seat 80 in the vehicle front-rear direction, and the driver seat 80 is fixed to the vehicle body floor so as to be slidable in the vehicle front-rear direction. The seat slide driving means 108 controls the seat slide assembly 83 in response to a command signal from the control unit 107, and adjusts the position by sliding the driver's seat 80 in the vehicle front-rear direction.
[0013]
  The control unit 107 outputs a signal to the seat slide driving unit 108 based on the inter-vehicle distance signal input from the laser radar 101, and moves the driver's seat 80 in the vehicle front-rear direction.. SystemMibe107If the inter-vehicle distance L between the host vehicle and the preceding vehicle is smaller than the preset inter-vehicle distance L0, the driver's seat 80 is moved rearward to notify that the own vehicle is approaching the preceding vehicle. By moving the driver's seat 80 to the rear of the vehicle, the driver can feel the deceleration and the amount of depression of the accelerator pedal 103 can be reduced.
[0014]
FIG. 3 shows a schematic diagram of a change in the posture of the driver accompanying a change in the seat slide position. As shown in FIG. 2, the driver sits on the driver's seat 80, leans against the backrest 81, and operates the accelerator pedal 103 with the collar 84 fixed to the vehicle floor. When the vehicle is driven by depressing the accelerator pedal 103, the driver usually controls the amount of accelerator pedal operation based on the ankle angle. In a steady state in which the vehicle travels at a constant speed, the driver is driving with the ankle angle kept substantially constant.
[0015]
When the driver's seat 80 is moved backward by the seat slide assembly 83 from this state, the driver's trunk (torso) and thighs move backward together with the driver's seat 80 as shown in FIG. However, since the driver's heel 84 placed on the floor does not move back and forth due to the frictional force, the driver's legs (thigh and lower leg) move backward with respect to the vehicle with the heel 84 as a fulcrum as the knee 85 moves backward. Extend to the side. That is, the lower leg part from the driver's knee 85 rotates around the heel toward the rear of the vehicle. At this time, since the ankle angle of the leg that is depressing and operating the accelerator pedal 103 is kept substantially constant as described above, the leg 86 also rolls around the heel 84 together with the roll of the lower leg. The amount of depression of the accelerator pedal 103 decreases.
[0016]
That is, the amount of depression of the accelerator pedal 103 can be forcibly reduced by moving the driver's seat 80 to the rear of the vehicle. As a result, the driver can feel that he has approached the preceding vehicle.
[0017]
Hereinafter, driving assistance control in the vehicle driving assistance apparatus 100 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 4 is a flowchart illustrating a processing procedure of the driving assist control in the control unit 107 according to the first embodiment.
[0018]
In step S10, it is determined whether or not the ignition switch IG (see FIG. 1) is on. If a positive determination is made in step S10, the flag FLAG = 0 is set in step S20. In subsequent step S30, the inter-vehicle distance L between the host vehicle and the preceding vehicle detected by the laser radar 101 is read. In step S40, the host vehicle speed V detected by the vehicle speed sensor 102 is read. In step S50, the current accelerator pedal operation amount AS detected by the accelerator pedal operation amount detection means 104 is read. In step S60, the current brake pedal operation amount BS detected by the brake pedal operation amount detection means 104 is read.
[0019]
In step S70, it is determined whether the inter-vehicle distance L read in step S30 is less than a predetermined inter-vehicle distance L0. The predetermined inter-vehicle distance L0 is a threshold value for determining whether or not to perform an inter-vehicle distance alarm based on the backward movement of the driver's seat 80, and is set in advance by an experiment or the like. When an affirmative determination is made in step S70 and the inter-vehicle distance L <L0, it is determined that an inter-vehicle distance warning is required due to the backward movement of the driver's seat 80, and the process proceeds to step S80. Here, a state in which the inter-vehicle distance L between the host vehicle and the preceding vehicle is a predetermined value L0, for example, 1000 m or more is referred to as a preceding vehicle non-detection state. The preceding vehicle non-detection state is when the host vehicle or the preceding vehicle changes lanes, and the preceding vehicle no longer exists in front of the host vehicle, or the distance detection target is moved to a farther preceding vehicle. including. In step S80, it is determined whether or not flag FLAG = 0. If a positive determination is made in step S80, the process proceeds to step S90.
[0020]
In step S90, it is determined whether or not the accelerator pedal operation amount AS read in step S50 is greater than or equal to a predetermined accelerator pedal operation amount AS0. The predetermined operation amount AS is a threshold value for determining whether or not the backward movement of the driver's seat 80 is effective in reducing the depression amount of the accelerator pedal 103, and is set in advance through experiments or the like. If the determination in step S90 is affirmative, the amount of depression of the accelerator pedal 103 by the driver is large, and forced deceleration as an inter-vehicle distance warning is performed by moving the driver's seat 80 backward to decrease the amount of depression of the accelerator pedal 103. The process proceeds to step S100.
[0021]
In step S100, a command signal is output to the seat slide driving means 108 in order to move the driver seat 80 backward. The seat slide driving means 108 drives the seat slide assembly 83 according to the command signal, and moves the driver's seat 80 backward. Thus, the driver can feel the deceleration accompanying the reverse of the seat and the deceleration due to the decrease in the accelerator pedal depression amount, and can recognize that the inter-vehicle distance from the preceding vehicle has become shorter. Further, since the host vehicle speed decreases due to a decrease in the accelerator pedal depression amount, a further decrease in the inter-vehicle distance can be prevented. If the seat retraction amount in step S100 is limited to, for example, about 20 mm at the maximum, an inter-vehicle distance warning can be given to the driver without deteriorating the operability of the accelerator pedal 103.
[0022]
In step S110, the flag FLAG = 1 indicating that the seat slide backward movement control is being performed is changed to step S120. In step S120, it is determined whether or not the ignition switch IG is off. If a negative determination is made in step S120 and the ignition switch IG is not OFF, the process returns to step S30.
[0023]
On the other hand, if the determination in step S90 is negative and the accelerator pedal operation amount AS is less than the predetermined operation amount AS0, it is determined that the deceleration required for the inter-vehicle distance alarm cannot be obtained even if the pedal depression amount is reduced. Proceed to step S140. In step S140, a command signal is output to the seat slide driving means 108, the seat slide assembly 83 is driven, and the driver's seat 80 is moved backward. Subsequent to the backward movement of the driver's seat 80, in step S150, a command signal is output to the transmission drive means 109 in order to change the shift schedule of the transmission. The transmission drive means 109 changes the shift schedule according to the command signal, performs downshifting (increase in transmission ratio), and generates deceleration.
[0024]
When the shift schedule is changed in the stepped automatic transmission, the automatic shift point of the gear with respect to the depression amount of the accelerator pedal 103 or the vehicle speed is changed. Therefore, for example, the shift schedule is changed so that the automatic gear ratio is shifted down from the current shift position to a one-step low speed side. In the continuously variable transmission, the shift schedule is changed so that the gear ratio increases. By generating the deceleration by increasing the gear ratio, the driver can experience the deceleration as an inter-vehicle distance warning. Moreover, since the host vehicle speed decreases due to the occurrence of deceleration, further reduction in the inter-vehicle distance can be prevented. Note that the changed shift schedule is set in advance by experiments or the like in accordance with the vehicle speed and the amount of accelerator pedal operation so that the driver can be given a deceleration as an inter-vehicle distance warning.
[0025]
In step S160, the flag FLAG = 2 is changed to indicate that seat slide backward movement control and shift schedule change control are being performed, and the process proceeds to step S120.
[0026]
When a negative determination is made in step S70 and the inter-vehicle distance L is equal to or greater than the predetermined inter-vehicle distance L0, the process proceeds to step S170. In step S70, a negative determination is made if the preceding vehicle is not detected. In step S170, it is determined whether or not flag FLAG = 0. If the determination in step S170 is affirmative and the flag FLAG = 0, it is determined that the inter-vehicle distance alarm is not performed by the seat slide backward movement control or the shift schedule change control, and the inter-vehicle distance alarm is not necessary, Returning to S30, the control process is continued.
[0027]
If the determination in step S170 is negative and flag FLAG ≠ 0, the inter-vehicle distance L is equal to or greater than the predetermined value L0, so it is determined that the inter-vehicle distance alarm is no longer necessary, and the process proceeds to step S180. In step S180, a command signal is output to the seat slide driving means 108, the seat slide assembly 83 is driven, and the driver's seat 80 is returned to the original position (position before the seat slide backward movement control). In step S190, it is determined whether or not flag FLAG = 2. If the determination in step S190 is affirmative and shift schedule change control is being performed, the process proceeds to step S210, and a command signal is output to the transmission drive means 109 so as to restore the shift schedule. The transmission drive means 109 controls the automatic transmission and restores the shift schedule of the automatic transmission changed in step S150 to the shift schedule before the change.
[0028]
In step S200, the flag FLAG = 0 indicating that the seat slide backward movement control and the shift schedule change control are not performed, and the process proceeds to step S120.
[0029]
If a positive determination is made in step S70 and a negative determination is made in step S80, the process proceeds to step S130. In step S130, it is determined whether or not the brake pedal operation amount BS detected in step S60 is larger than a predetermined operation amount BS0. If the determination in step S130 is affirmative, the inter-vehicle distance L is shorter than the predetermined inter-vehicle distance L0, but an inter-vehicle distance warning is issued (FLAG ≠ 0), and the driver indicates the approaching state between the host vehicle and the preceding vehicle. It is determined that the brake operation has been recognized, and the process proceeds to step S180 to return the driver's seat 80 to the original position. The predetermined operation amount BS0 is a threshold value for determining whether or not the driver has depressed the brake pedal 105 in order to perform a braking operation, and is set in advance by an experiment or the like. On the other hand, if a negative determination is made in step S130, the process returns to step S30 and the control process is continued.
[0030]
If it is determined in step S120 that the ignition switch IG is off, this process ends.
[0031]
In the flowchart of FIG. 4 described above, the inter-vehicle distance L is compared with the predetermined inter-vehicle distance L0 to determine whether or not the inter-vehicle distance alarm is performed. The detected inter-vehicle distance L is equal to the predetermined inter-vehicle distance. When the distance is lower, an inter-vehicle distance warning corresponding to the inter-vehicle distance L may be performed. FIG. 5 shows the relationship between the moving speed / acceleration of the seat slide assembly 83, the moving amount of the seat slide assembly 83, and the deceleration by transmission control when the seat slide assembly 83 is retracted / returned. FIG. 5 shows a case where the inter-vehicle distance L = L1 and the inter-vehicle distance L = L2 (L0> L1> L2) between the host vehicle and the preceding vehicle.
[0032]
The seat slide driving means 108 includes an encoder that detects the moving distance of the driver's seat 80 by the seat slide assembly 83, a speed sensor that detects a moving speed or a moving acceleration, and an acceleration sensor, respectively, which are detected by these detectors. It has a function of storing the moving distance, moving speed and acceleration in a memory (not shown).
[0033]
As shown in FIG. 5, when generating an inter-vehicle distance alarm due to the seat slide retreat, the moving speed or acceleration of the seat slide assembly 83 is set to be high, and the driver's sensation deceleration due to the slide retreat is increased. On the other hand, when canceling the inter-vehicle distance alarm, the moving speed or acceleration of the seat slide assembly 83 is set smaller than when the slide is retracted, and the seat slide assembly 83 is returned to the original position so as not to bother the driver. ((1) in FIG. 5). Further, when the slide return is set, if the moving speed or acceleration of the seat slide assembly 83 is set to increase only at the beginning of movement and decrease thereafter ((2) in FIG. 5), the cancellation of the inter-vehicle distance alarm is clearly indicated to the driver. I can tell you.
[0034]
As shown in the lower part of FIG. 5, the moving speed / acceleration and the moving amount of the seat slide assembly 83 are set to be larger when the inter-vehicle distance L is smaller (L = L2). As a result, the deceleration felt by the driver due to the movement of the driver's seat 80 and the deceleration due to the decrease in the amount of depression of the accelerator pedal 103 are increased, causing the driver to recognize the approaching state with the preceding vehicle and reducing the own vehicle speed. Thus, further approach to the preceding vehicle can be prevented. Further, the shift schedule is changed so that the transmission gear ratio becomes larger as the inter-vehicle distance L becomes smaller (L = L2), and the deceleration by the transmission control is set to be larger. As a result, the deceleration felt by the driver increases as the inter-vehicle distance L decreases, and the approaching state with the preceding vehicle can be recognized, and the vehicle speed is reduced to prevent further approaching the preceding vehicle. Can do. When the seat slide is restored, the shift schedule of the transmission is also restored.
[0035]
In the vehicle driving operation assistance device 100 according to the first embodiment described above, the entire driver seat 80 is moved in the vehicle front-rear direction using the seat slide assembly 83. However, a mechanism for sliding the cushion 82 of the driver's seat 83 in the longitudinal direction of the vehicle may be provided so that only the cushion 82 is moved. Even if only the cushion 82 is moved to the rear of the vehicle, the lower leg portion of the driver moves in the same manner as when the entire driver's seat 80 is moved to the rear of the vehicle, so that the amount of depression of the accelerator pedal 103 is reduced. An effect can be obtained.
[0036]
<< Second Embodiment >>
A vehicle driving assistance device according to a second embodiment of the present invention will be described with reference to the drawings. Here, differences from the above-described first embodiment will be mainly described. FIG. 6 is a system diagram showing a configuration of a vehicle driving assistance device 200 according to the second embodiment of the present invention.
[0037]
As shown in FIG. 6, the vehicle driving assist device 200 includes an inter-vehicle distance detecting means (for example, a laser radar) 201 that detects an inter-vehicle distance between the own vehicle and a preceding vehicle existing in front of the own vehicle, and the own vehicle. Vehicle speed detection means 202 for detecting the vehicle speed, accelerator pedal operation amount detection means 204 for detecting the operation amount of the accelerator pedal 203, brake pedal operation amount detection means 206 for detecting the operation amount of the brake pedal 205, and vehicle driving A control unit 207 that controls the entire operation assisting device 200, a seat slide driving unit 208, a brake driving unit 209 that generates a braking force, and the like are included.
[0038]
The brake drive unit 209 includes a brake device, and can perform brake hydraulic pressure control according to a command signal from the control unit 207 to adjust the output of the brake device, that is, the braking force of the vehicle. The configurations and functions of the inter-vehicle distance detection means 201, the vehicle speed detection means 202, the accelerator pedal operation amount detection means 204, the brake pedal operation amount detection means 206, and the seat slide drive means 208 are the same as those in the first embodiment described above. .
[0039]
As in the first embodiment described above, the control unit 207 is configured to detect the inter-vehicle distance L between the host vehicle and the preceding vehicle detected by the inter-vehicle distance detector 201 and the accelerator pedal detected by the accelerator pedal operation amount detector 204. Based on the operation amount AS and the brake pedal operation amount BS detected by the brake pedal operation amount detection means 206, the seat slide backward movement and return control are performed. Further, instead of changing the shift schedule of the transmission using the transmission driving means 109, the braking force by the brake device is generated using the brake driving means 209 to generate a deceleration as an inter-vehicle distance alarm.
[0040]
Hereinafter, driving assistance control in the vehicle driving assistance apparatus 200 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 7 is a flowchart illustrating the processing procedure of the driving operation assistance control in the control unit 207 according to the second embodiment. In FIG. 7, the same processing steps as those in the first embodiment described above are denoted by the same step numbers, and detailed description thereof is omitted.
[0041]
The processing from step S10 to step S140 is the same as that in the first embodiment shown in FIG. In step S151 following step S140, a command signal is sent to the brake drive means 209 to generate a braking force in the brake device in response to the seat slide backward movement control being performed when the accelerator pedal operation amount AS is less than the predetermined value AS0. Output. By generating braking force in the brake device when the accelerator pedal operation amount AS is less than the predetermined value AS, the driver can feel the deceleration to recognize the approaching state with the preceding vehicle, and the own vehicle speed can be reduced. Further approach to the preceding vehicle can be prevented. In step S160, the flag FLAG = 2 is changed to indicate that the seat slide backward movement control and the brake control are being performed.
[0042]
The processing in steps S170 to S190 is the same as that in the first embodiment in FIG. In step S211 following step S190, a command signal is output to the brake drive unit 209 to release the braking force generated in the brake device. At this time, the braking force generated in step S151 may be released all at once, or the braking force may be gradually reduced and released after a predetermined period. In addition, the braking force generated in step S151 is set in advance through experiments or the like in accordance with the host vehicle speed V, the inter-vehicle distance D, or the like.
[0043]
As described above, according to the driving assistance device for a vehicle according to the embodiment of the present invention, the inter-vehicle distance L between the host vehicle and the preceding vehicle is detected, and the vehicle is driven by generating a deceleration according to the inter-vehicle distance. A warning is given to the person about the distance between vehicles. When the inter-vehicle distance L is less than the predetermined value L0 and the preceding vehicle is detected, the whole or a part of the driver seat 80 (for example, only the cushion 82) is moved to the vehicle rear side. By retreating the driver's seat 80, the driver can feel the deceleration and can recognize that he is approaching the preceding vehicle. Further, when the driver seat 80 is moved backward, the driver's foot 86 rolls around the heel 84, and the accelerator pedal operation amount is reduced. The driver can experience the deceleration due to the decrease in the accelerator pedal operation amount to recognize the approaching state to the preceding vehicle, and can prevent the vehicle speed from decreasing and further approaching the preceding vehicle.
[0044]
Further, the accelerator pedal operation amount AS is detected, and when the inter-vehicle distance L is less than the predetermined value L0 and the accelerator pedal operation amount AS is less than the predetermined value AS0, the driver's seat 80 is moved backward and the transmission or the brake device is controlled. To generate deceleration. By changing the shift schedule of the transmission to increase the gear ratio, or by generating braking force with the brake device, even if the decrease in accelerator pedal operation amount does not cause effective deceleration, Deceleration can be generated. Further, since the vehicle speed decreases due to the increase in the gear ratio or the generation of the braking force, further approach to the preceding vehicle can be prevented.
[0045]
If the driver's seat 80 is moved using the seat slide assembly 83, the seat slide rearward movement control can be performed using existing components. In addition, the slide movement speed / acceleration or slide movement amount when the seat slide backward movement control is performed to move the driver's seat 80 rearward is the slide movement speed / acceleration or slide movement when the seat slide backward movement control is canceled. Set larger than the amount. Accordingly, the deceleration due to the seat slide backward movement control can be reliably transmitted to the driver, and the driver does not feel bothered when releasing the control. Also, when the seat slide backward movement control is canceled and the slide is returned, the movement speed / acceleration at the start of the slide movement is set to a large value and the slide movement speed / acceleration after a predetermined time is set to a small value to cancel the control. The driver can be clearly notified.
[0046]
  When the inter-vehicle distance L between the host vehicle and the preceding vehicle is less than a predetermined inter-vehicle distance L0, a more detailed inter-vehicle distance alarm is provided by changing the control of the backward movement and return of the driver's seat 80 according to the inter-vehicle distance L. It can be performed. When the inter-vehicle distance L is small (L = L2), the slide movement speed / acceleration and the slide movement amount at the time of sliding backward are increased as compared with the case where the inter-vehicle distance L is large (L = L1). Furthermore, the inter-vehicle distance L issmallIn this case, the inter-vehicle distance LlargeCompared with the case, the deceleration by transmission control is increased. In this way, when the inter-vehicle distance L is small, the driver can feel a greater deceleration and can accurately recognize the approaching state to the preceding vehicle.
[0047]
Although one embodiment of the vehicle driving assistance device has been described above, the vehicle driving assistance device according to the present invention is not limited to the above-described embodiment, and various modifications are possible. For example, as the inter-vehicle distance detection means, a CCD camera is installed in front of the vehicle instead of the laser radar, and the inter-vehicle distance to the preceding vehicle is detected by performing image processing on the image captured by the CCD camera. Good.
[0048]
In the above-described embodiment, a predetermined distance between vehicles serving as a threshold value when starting the seat slide backward movement control and a predetermined distance between vehicles when releasing the seat slide backward movement control are set to the same value. Although described, these may be different values. For example, if the predetermined value for starting the seat slide backward movement control is set larger than the predetermined value for starting, the seat slide backward movement control can be canceled in a state where the inter-vehicle distance is sufficiently large.
[Brief description of the drawings]
FIG. 1 is a system diagram of a vehicle driving assistance device according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of a driver seat.
FIG. 3 is a diagram showing a relationship between a sliding movement of a driver's seat and a posture change.
FIG. 4 is a flowchart showing a processing procedure of a driving assistance control program in the vehicle driving assistance device of the first embodiment.
FIG. 5 is a diagram showing a slide movement pattern and a deceleration pattern by the transmission according to the first embodiment.
FIG. 6 is a system diagram of a vehicle driving assistance device according to a second embodiment of the present invention.
FIG. 7 is a flowchart showing a processing procedure of a driving assistance control program in the vehicle driving assistance device of the second embodiment.
[Explanation of symbols]
101, 201: Inter-vehicle distance detection means
102, 202: Vehicle speed detection means
103, 203: Accelerator pedal
104, 204: accelerator pedal operation amount detection means
105, 205: Brake pedal
106, 206: Brake pedal operation amount detection control means
107, 207: Control means
108, 208: Seat slide driving means
109: Transmission drive means
209: Brake drive means

Claims (9)

An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and a preceding vehicle existing ahead of the host vehicle;
A driver seat moving means for moving the driver seat in the longitudinal direction of the vehicle;
When the inter-vehicle distance between the host vehicle and the preceding vehicle detected by the inter-vehicle distance detection unit is less than a predetermined value set in advance as a threshold for determining whether to perform an inter-vehicle distance alarm , have a control means for controlling the driver seat moving means to move the driver's seat in the vehicle rear,
When the inter-vehicle distance detected by the inter-vehicle distance detection unit is less than the predetermined value, the control unit is configured to increase the deceleration experienced by the driver as the inter-vehicle distance decreases. A vehicular driving operation assisting device that controls the driver seat moving means to increase a rearward moving distance and a moving speed or a moving acceleration . The vehicle driving assistance device according to claim 1,
An accelerator pedal operation amount detection means for detecting an operation amount of the accelerator pedal;
Further comprising transmission drive means for driving the transmission to change the gear ratio,
The control means, (a) said at inter-vehicle distance is less than the predetermined value, and when the operation amount of the accelerator pedal detected by the accelerator pedal operation amount detecting means is less than the predetermined value, the driver's seat moving means To move the driver's seat to the rear of the vehicle and control the transmission driving means to increase the transmission ratio of the transmission , and (b) the inter-vehicle distance is less than the predetermined value and the accelerator pedal is When the operation amount is equal to or greater than the predetermined value, the driver's seat is moved rearward by the driver's seat moving means . The vehicle driving assistance device according to claim 1,
An accelerator pedal operation amount detection means for detecting an operation amount of the accelerator pedal;
Brake drive means for driving the brake device to generate a braking force,
The control means, (a) said at inter-vehicle distance is less than the predetermined value, and when the operation amount of the accelerator pedal detected by the accelerator pedal operation amount detecting means is less than the predetermined value, the driver's seat moving means To move the driver's seat to the rear of the vehicle and control the brake driving means to generate the braking force of the brake device , and (b) the inter-vehicle distance is less than the predetermined value and the accelerator pedal is operated. When the amount is equal to or larger than the predetermined value, the driver's seat is moved rearward by the driver's seat moving means . An apparatus as claimed in any one of claims 1 to 3,
Said control means, after moving the driver's seat rearward by the driver's seat moving means, when the inter-vehicle distance detected by the inter-vehicle distance detecting means becomes the predetermined value or more, of the driver's seat A driving operation assisting device for a vehicle, wherein the driver seat moving means is controlled to return the position. An apparatus as claimed in any one of claims 1 to 3,
Brake pedal operation amount detection means for detecting the operation amount of the brake pedal is further provided,
If the control means detects that the brake pedal is depressed by the brake pedal operation amount detection means after the driver seat is moved rearward by the driver seat moving means, the position of the driver seat is determined. A driving operation assisting device for a vehicle, wherein the driver seat moving means is controlled so as to return the vehicle. An apparatus as claimed in any one of claims 5,
The driver's seat moving means, the vehicle driving assist system according to claim and TURMERIC line across the slide movement to the position adjustment in the longitudinal direction of the vehicle of the driver's seat. An apparatus as claimed in any one of claims 5,
The driver seat moving means moves at least a cushion portion on which the driver sits in the driver seat in the vehicle front-rear direction. In the driving assistance device for a vehicle according to claim 4 or 5 ,
The control means controls the driver seat moving means so that the moving speed or moving acceleration of the driver seat is smaller than when the driver seat is moved backward when returning the position of the driver seat. A driving operation assisting device for a vehicle. In the driving assistance device for a vehicle according to claim 4 or 5,
The control means controls the driver seat moving means so as to increase the moving speed or moving acceleration of the driver seat only at the start of movement and then reduce it when returning the position of the driver seat. Driving operation assist device for vehicles.

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