JP5251889B2 - Deceleration support system - Google Patents

Description

  The present invention relates to a technical field of a deceleration support system that supports a deceleration operation of a driver of a vehicle such as an automobile.

  As this type of system, for example, in Patent Document 1, when it is determined that there is a driver's request to decelerate the vehicle but pass the intersection without stopping, an appropriate deceleration is applied by the engine brake. An apparatus for entering a vehicle into an intersection is described.

Japanese Patent Laying-Open No. 2005-077674

  However, according to the background art described above, it is not disclosed at which timing the deceleration is applied to the vehicle. If a deceleration is applied to the vehicle at a unique timing for any driver, there is a technical problem that the driver may feel uncomfortable.

  The present invention has been made in view of the above problems, for example, and an object of the present invention is to provide a deceleration support system capable of performing deceleration support while suppressing the driver from feeling uncomfortable.

  In order to solve the above-described problem, the deceleration support system of the present invention is mounted on a vehicle, and when the vehicle turns right or left, the driver of the vehicle starts steering the steering wheel for right or left turn. A learning system for learning a steering start position that is a position, an intention confirmation means for confirming the driver's intention to turn left and right, and a distance between the current position of the vehicle and the learned steering start position can be calculated When the driver's intention to turn left and right is confirmed by the distance calculation means and the intention confirmation means, and the steering start position is learned by the learning system, the vehicle decelerates according to the distance calculated by the distance calculation means. Deceleration support means for providing support.

  According to the deceleration support system of the present invention, the deceleration support system is mounted on a vehicle such as an automobile.

  For example, when a vehicle turns right or left, a learning system including a memory, a processor, and the like learns a steering start position that is a position at which the driver of the vehicle starts steering a steering wheel for a right or left turn. . Here, “when the vehicle turns right or left” is not limited to the time when the vehicle starts making a right turn or left turn, or when the vehicle goes back slightly in time from the time when the vehicle starts making a right turn or left turn, or the vehicle turns right Or it may mean the time when a minute time has passed since the time when the left turn was started.

  The steering start position is based on, for example, one stop line at the target intersection or the center of the intersection based on position information indicated by GPS (Global Positioning System) and map information provided in the car navigation device, for example. It is learned as a relative position.

  For example, the intention confirmation means including a memory, a processor, etc. confirms the driver's intention to turn left or right. Specifically, the intention confirmation means confirms the driver's intention to turn left or right based on, for example, the state of the blinker switch, travel route information set on the car navigation device, and the like. Here, “intention to turn right / left” means the driver's intention to turn right or left at the intersection.

  For example, a distance calculation unit including a memory, a processor, and the like can calculate the distance between the current position of the vehicle and the learned steering start position.

  For example, the deceleration support means including a memory, a processor, etc. is a distance calculated by the distance calculation means when the intention confirmation means confirms the driver's intention to turn left and right and the learning system has learned the steering start position. Deceleration support is provided according to the situation.

  The "deceleration control" is, for example, publicly known such as forcibly changing the accelerator opening, controlling the brake device that generates braking force on the vehicle, or changing the gear ratio in the transmission that increases engine braking. This means deceleration control.

  According to the inventor's research, the following matters have been found. That is, when turning right or left at an intersection, the position (or timing) at which the driver starts steering the steering wheel to make a right or left turn differs for each driver. On the other hand, when turning right or left at an intersection, there are many systems that perform deceleration support at a uniform timing for any driver. For this reason, the driver may feel uncomfortable due to the deceleration support.

  However, in the present invention, when the driver's intention to turn left or right is confirmed by the intention confirmation unit and the steering start position is learned by the learning system, the deceleration support unit decelerates according to the distance calculated by the distance calculation unit. Support is provided. For this reason, the deceleration support system can perform deceleration support based on the position at which the driver starts steering the steering wheel. As a result, deceleration support can be performed while suppressing the driver from feeling uncomfortable.

  In one aspect of the deceleration support system of the present invention, the deceleration support means is a case where the intention confirmation means confirms the driver's intention to turn left and right, and the learning system learns the steering start position. When the distance calculated by the distance calculating means is not more than a predetermined value, the deceleration support is not performed.

  According to this aspect, for example, it is possible to avoid a relatively large deceleration occurring in the vehicle. As a result, the driver can be prevented from feeling uncomfortable, which is very advantageous in practice.

  The “predetermined value” is a value that determines whether to perform deceleration support, and is set in advance as a fixed value or as a variable value according to some physical quantity or parameter. Such a predetermined value is determined experimentally, empirically, or by simulation, for example, by determining the relationship between the distance from the current position to the target position and the deceleration generated in the vehicle, the speed to be decelerated (ie, the current What is necessary is just to set it as a distance which becomes the deceleration which is calculated | required for every difference | difference of speed | velocity | rate and target speed | velocity | rate, and is estimated not to give a driver uncomfortable feeling based on this calculated | required relationship.

  In another aspect of the deceleration support system of the present invention, the learning system further learns a steering start speed that is a speed of the vehicle at the steering start position, and the deceleration support means is configured to perform the driving by the intention confirmation means. If the person's intention to turn left and right is confirmed and the steering start position is learned by the learning system, and the current speed of the vehicle is greater than the learned steering start speed, the distance calculation means Deceleration assistance is performed according to the distance calculated by.

  According to this aspect, when the current speed of the vehicle is smaller than the learned steering start speed, the deceleration support means does not perform the deceleration support, so that the driver feels uncomfortable due to the deceleration support. Can be suppressed.

  In this aspect, the learning system further learns a maximum deceleration that is a maximum value of the deceleration that the driver causes the vehicle to make a right turn or a left turn, and the deceleration assisting means is configured to check the intention. The driver's intention to turn left and right is confirmed and the steering start position is learned by the learning system, and the current speed of the vehicle is greater than the learned steering start speed, and If the deceleration that occurs when the vehicle decelerates from the current speed to the learned steering start speed exceeds the learned maximum deceleration, perform deceleration support according to the distance calculated by the distance calculating means. Also good.

  If comprised in this way, the deceleration assistance close | similar to the driving operation which a driver | operator performs normally can be performed, and it is very advantageous practically.

  The effect | action and other gain of this invention are clarified from the form for implementing demonstrated below.

It is a block diagram which shows the structure of the vehicle by which the deceleration assistance system which concerns on 1st Embodiment is mounted. It is a flowchart which shows the deceleration assistance process which ECU which concerns on 1st Embodiment performs. It is a flowchart which shows the deceleration assistance process which ECU which concerns on 2nd Embodiment performs. It is a flowchart which shows the deceleration assistance process which ECU which concerns on 3rd Embodiment performs.

  Hereinafter, an embodiment of a vehicle according to the present invention will be described based on the drawings.

<First Embodiment>
A driving support system according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  First, the configuration of a vehicle on which the deceleration support system according to this embodiment is mounted will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a vehicle on which the deceleration support system according to the present embodiment is mounted. In FIG. 1, for convenience of explanation, only members that are directly related to the present embodiment are shown, and other members are not shown.

  In FIG. 1, a vehicle 1 includes a GPS 101, an in-vehicle camera 102, a millimeter wave radar 103, an infrastructure communication device 104, a vehicle speed sensor 105, a display 106, an ACC (Adaptive Cruise Control) switch 107, a PCS (Pre-Crash Safety) switch 108, An ECU (Electronic Control Unit) 109, a map information database (DB) 110, a car navigation system 111, a brake actuator 112, an accelerator actuator 113, a speaker 114, and a steering sensor 115 are configured.

  The GPS 101 receives a signal from a GPS satellite, specifies the current position of the vehicle 1, and transmits a signal indicating the specified current position to the ECU 109. The in-vehicle camera 102 mainly captures an image in front of the vehicle 1 and transmits a signal indicating the captured image to the ECU 109. The ECU 109 controls the display 106 so as to display an image corresponding to the received signal.

  The millimeter wave radar 103 emits a millimeter wave and receives a radio wave reflected by an object (for example, a vehicle ahead). Based on a propagation time or a frequency generated due to the Doppler effect, the millimeter wave radar 103 The position and the relative speed with respect to the vehicle 1 are measured, and a signal indicating the measured position and relative speed of the object is transmitted to the ECU 109.

  For example, the infrastructure communication device 104 is connected to a traffic infrastructure such as an optical vehicle detector (a so-called optical beacon), for example, information related to a situation with poor visibility, traffic control information (for example, a traffic light). And information relating to road signs and the like) and information relating to road conditions (for example, information relating to traffic accidents, traffic jams, etc.), and a signal indicating the obtained information is transmitted to the ECU 109. The ECU 109 controls the display 106 so as to display information corresponding to the received signal.

  The vehicle speed sensor 105 detects, for example, the rotational speed of an output shaft (not shown) proportional to the vehicle speed, and transmits a signal indicating the detected rotational speed to the ECU 109.

  The ACC switch 107 and the PCS switch 108 are switches for setting an operation mode. The ACC switch 107 and the PCS switch 108 enable the ACC function and the PCS function by being turned on by the driver of the vehicle 1, respectively.

  The map information database 110 includes a map data file, an intersection data file, a road data file, and the like. The map information database 110 stores information (for example, a map, a straight road, a corner, an uphill / downhill road, an expressway, etc.) necessary for driving the vehicle.

  The car navigation system 111 has a basic function of guiding the host vehicle to a predetermined destination. The car navigation 111 cooperates with the GPS 101, the infrastructure communication device 104, the display 106, the ECU 109, the map information database 110, and the speaker 114 to give the driver map information around the current location of the vehicle 1 and the current position of the vehicle 1. Provide information such as destination position and route.

  The steering sensor 115 is provided, for example, in a combination switch section (not shown) of the vehicle 1, detects the steering amount and steering direction of a handle (not shown), and indicates the detected steering amount and steering direction. A signal is transmitted to the ECU 109.

  The deceleration support system 10 includes a GPS 101, an in-vehicle camera 102, a millimeter wave radar 103, an infrastructure communication device 104, a vehicle speed sensor 105, an ECU 109, a map information database 110, a car navigation 111, and a steering sensor 115.

  The ECU 109 in the deceleration support system 10 is operated by a driver (not shown) of the vehicle 1 to turn right or left when the vehicle 1 makes a right turn or a left turn based on signals output from the GPS 101, the steering sensor 115, and the like. 1), the steering start position, which is the position where the steering is started, is learned.

  The ECU 109 confirms the intention of the driver of the vehicle 1 to make a right / left turn based on the state of the blinker switch (not shown), the travel route set in the car navigation 111, and the like. The ECU 109 can calculate the distance between the current position of the vehicle 1 and the learned steering start position based on, for example, a signal output from the GPS 101, information stored in the map information database 110, and the like.

  When the driver's intention to turn left and right is confirmed and the steering start position of the driver is learned, the ECU 109 determines the distance between the current position of the vehicle 1 and the learned steering start position. To provide deceleration support. The ECU 109 does not perform deceleration support on the condition that the distance between the current position of the vehicle 1 and the learned steering start position is equal to or less than a predetermined value.

  The “ECU 109” according to the present embodiment is an example of the “learning system”, “intention confirmation unit”, “distance calculation unit”, and “deceleration support unit” according to the present invention. In this embodiment, a part of the ECU 109 for various electronic controls is used as a part of the deceleration support system 10.

  Next, deceleration support processing executed by the ECU 109 while the vehicle 1 equipped with the deceleration support system 10 configured as described above is running will be described with reference to the flowchart of FIG. This deceleration support process is executed at regular intervals, irregular intervals, or continuously while the vehicle 1 is traveling.

  In FIG. 2, when the vehicle 1 is traveling toward the intersection targeted by the deceleration support system 10, the ECU 109 determines whether the driver of the vehicle 1 is willing to turn right or left at the intersection. (Step S101).

  Whether the driver of the vehicle 1 intends to turn right or left at the intersection may be determined, for example, as follows. That is, (i) it is determined whether the travel route set in the car navigation 111 is a right turn or a left turn. (Ii) It is determined whether or not the driver operates the blinker switch to turn on the blinker. (Iii) It is determined whether the normal travel route being learned is a right turn or a left turn. (Iv) Based on the in-vehicle camera 102, infrastructure information obtained via the infrastructure communication device 104, map information used in the car navigation system 111, millimeter wave radar 103, inter-vehicle communication, etc., it was determined that deceleration is unnecessary. In this case, it is determined whether or not the driver has started deceleration. (V) Whether the driving behavior is similar to the behavior model of a normal right turn or left turn being learned (for example, whether the brake pedal was stepped on at the same timing as a normal right turn or left turn) Determine whether.

  When it is determined that there is no intention to turn right or left at the intersection (step S101: No), the ECU 109 ends the process. On the other hand, when it is determined that there is an intention to turn right or left at the intersection (step S101: Yes), the ECU 109 has already learned the steering start position, which is the position at which the driver starts steering the steering wheel for the right or left turn. It is determined whether it has been performed (step S102).

  When it is determined that the steering start position has already been learned (step S102: Yes), the ECU 109 has learned based on, for example, a signal output from the GPS 101, information stored in the map information database 110, or the like. The distance between the steering start position and the current position of the vehicle 1 is calculated, and the calculated distance is set as the distance L (step S103). On the other hand, when it is determined that the steering start position has not been learned (step S102: No), the ECU 109 determines, for example, based on a signal output from the GPS 101, information stored in the map information database 110, and the like. The distance between the current stop line and the current position of the vehicle 1 is calculated, and the calculated distance is set as the distance L (step S104).

  Next, the ECU 109 calculates an estimated arrival time obtained by dividing the distance L by the current speed of the vehicle 1 based on, for example, a signal output from the vehicle speed sensor 105, and the calculated estimated arrival time is a predetermined time (here Then, it is determined whether or not (T seconds) or less (step S105). The “product of the predetermined time and the current speed of the vehicle 1” according to the present embodiment is an example of the “predetermined value” according to the present invention.

  When it is determined that the estimated arrival time is greater than the predetermined time (step S105: No), the ECU 109 determines whether or not service is possible (step S110). In addition, what is necessary is just to determine whether service is possible by determining whether the vehicle 1 is not passing the object intersection, for example.

  When it is determined that the service is possible (step S110: Yes), the ECU 109 executes the process of step S105. On the other hand, when it is determined that the service is impossible (step S110: No), the ECU 109 executes a process of step S109 described later.

  In the process of step S105, when it is determined that the estimated arrival time is equal to or shorter than the predetermined time (step S105: Yes), the ECU 109 determines whether a right / left turn deceleration support start condition is satisfied (step S106). Here, the right / left turn deceleration support start condition is, for example, that the speed of the vehicle 1 is equal to or less than a certain value, the accelerator off, the steering start position, or the distance to the stop line is equal to or less than a certain value.

  If it is determined that the right / left turn deceleration support start condition is not satisfied (step S106: No), the ECU 109 executes the process of step S110. On the other hand, when it is determined that the right / left turn deceleration support start condition is satisfied (step S106: Yes), the ECU 109 performs the deceleration support according to the distance between the steering start position or the stop line position and the current position of the vehicle 1. Is executed (step S107).

  Next, the ECU 109 determines whether or not a right / left turn deceleration support termination condition is satisfied (step S108). Here, the right / left turn deceleration support termination condition is, for example, that the vehicle 1 passes the target intersection, the accelerator is on, the speed of the vehicle 1 is equal to or higher than a certain value, and the like.

  When it is determined that the right / left turn deceleration support termination condition is not satisfied (step S108: No), the ECU 109 executes the process of step S107. On the other hand, when it is determined that the right / left turn deceleration support end condition is satisfied (step S108: Yes), the ECU 109 learns the position at which steering of the steering wheel is started for the right turn or the left turn by the driver this time ( Step S109).

  In step S107, for example, the distance between the stop line position and the steering start position at the target intersection is calculated, and the control timing is changed by a value obtained by dividing the calculated distance by the current speed of the vehicle 1. May be.

  In addition, (i) When the light color of the traffic light when the vehicle 1 arrives at the target intersection is predicted to be red or yellow, (ii) the target intersection is an intersection that needs to be stopped (ie, there is a stop sign) (Iii) When the distance between the vehicle 1 and the vehicle traveling in front of the vehicle 1 is shortened, (iv) When the vehicle 1 turns right, the traffic volume of the oncoming vehicle is In the case where the number is relatively large, the deceleration support process described above may not be executed.

Second Embodiment
A second embodiment of the deceleration support system of the present invention will be described with reference to the flowchart of FIG. The second embodiment is the same as the configuration of the first embodiment except that the deceleration support process executed by the ECU is different. Therefore, in the second embodiment, the description overlapping with that of the first embodiment is omitted, and the common portions on the drawing are denoted by the same reference numerals, and only the points that are basically different are described with reference to FIG. explain.

  In addition to the steering start position, the ECU 109 in the deceleration support system according to the present embodiment causes the vehicle 1 to cause a steering start speed that is the speed of the vehicle 1 at the steering start position and the driver to make a right or left turn. The maximum deceleration that is the maximum value of deceleration is learned.

  When the driver's intention to turn left and right is confirmed and the steering start position and the steering start speed are learned, the ECU 109 determines that the current speed of the vehicle 1 is greater than the learned steering start speed and the vehicle Between the current position of the vehicle 1 and the learned steering start position on condition that the deceleration that occurs when decelerating from the current speed of 1 to the learned steering start speed exceeds the learned maximum deceleration. Provide deceleration support according to the distance.

  Next, the deceleration support process executed by the ECU 109 while the vehicle 1 equipped with the deceleration support system 10 configured as described above is running will be described with reference to the flowchart of FIG.

  In FIG. 3, when the vehicle 1 is traveling toward the intersection targeted by the deceleration support system 10, the ECU 109 determines whether the driver of the vehicle 1 is willing to turn right or left at the intersection. (Step S201).

  When it is determined that there is no intention to turn right or left at the intersection (step S201: No), the ECU 109 ends the process. On the other hand, when it is determined that there is an intention to turn right or left at the intersection (step S201: Yes), the ECU 109 determines a steering start position, which is a position at which the driver starts steering the steering wheel for the right turn or the left turn. It is determined whether or not the steering start speed, which is the speed of the vehicle 1 at the start position, and the maximum deceleration, which is the maximum value of the deceleration generated in the vehicle 1 in order for the driver to turn right or left, have already been learned. (Step S202).

  When it is determined that the steering start position, the steering start speed, and the maximum deceleration are already learned (step S202: Yes), the ECU 109 sets the learned steering start speed as the steering start speed Vh (step S202). S203). Before and after the process of step S203, the ECU 109 determines the learned steering start position and the current position of the vehicle 1 based on, for example, a signal output from the GPS 101, information stored in the map information database 110, and the like. Is calculated, and the calculated distance is set as the distance S (step S204).

  In the process of step S202, when it is determined that the steering start position, the steering start speed, and the maximum deceleration are not learned (step S202: No), the ECU 109 sets the vehicle 1 when the vehicle 1 turns right or left. The maximum value Gmax of the generated deceleration is set to a constant value (step S205).

  Subsequently, the ECU 109 calculates the speed of the vehicle 1 when making a right or left turn based on the shape of the intersection determined according to the size of the intersection (for example, the number of lanes), the line of sight, the outflow angle, etc. (or The estimated speed is set as the steering start speed Vh (step S206). Before and after the process of step S206, the ECU 109 determines the stop line position at the target intersection and the current position of the vehicle 1 based on, for example, a signal output from the GPS 101, information stored in the map information database 110, and the like. Is calculated, and the calculated distance is set as the distance S (step S207).

Next, the ECU 109 subtracts the square of the steering start speed (Vh ² ) from the square of the current speed of the vehicle 1 (V ² ) and divides it by twice the distance S (that is, (V ^It is determined whether ( ²⁻ Vh ² ) / 2S) is greater than the maximum deceleration Gmax (step S208). If the maximum deceleration has already been learned, the maximum deceleration Gmax is the learned maximum deceleration.

When it is determined that (V ² −Vh ² ) / 2S is equal to or less than the maximum deceleration Gmax (step S208: No), the ECU 109 determines whether or not service is possible (step S213).

  When it is determined that the service is possible (step S213: Yes), the ECU 109 executes a process of step S208. On the other hand, when it is determined that the service is not possible (step S213: No), the ECU 109 executes a process of step S212 described later.

If it is determined in step S208 that (V ² −Vh ² ) / 2S is greater than the maximum deceleration Gmax (step S208: Yes), the ECU 109 determines whether the right / left turn deceleration support start condition is satisfied. Determination is made (step S209).

  If it is determined that the right / left turn deceleration support start condition is not satisfied (step S209: No), the ECU 109 executes the process of step S213. On the other hand, when it is determined that the right / left turn deceleration support start condition is satisfied (step S209: Yes), the ECU 109 performs deceleration support according to the distance between the steering start position or the stop line position and the current position of the vehicle 1. Is executed (step S210). Note that the deceleration support is, for example, a warning to the driver of the vehicle 1 or control such that the speed of the vehicle 1 becomes the steering start speed Vh.

  Next, the ECU 109 determines whether or not a right / left turn deceleration support termination condition is satisfied (step S211). When it is determined that the right / left turn deceleration support end condition is not satisfied (step S211: No), the ECU 109 executes the process of step S210. On the other hand, when it is determined that the right / left turn deceleration support termination condition is satisfied (step S211: Yes), the ECU 109 determines the position at which steering of the steering wheel is started for the right turn or the left turn by the driver this time, and the position. The speed of the vehicle 1 and so on are learned (step S212).

<Third Embodiment>
A third embodiment according to the deceleration support system of the present invention will be described with reference to the flowchart of FIG. The third embodiment is the same as the first embodiment except that the deceleration support process executed by the ECU is different. Accordingly, the description of the third embodiment that is the same as that of the first embodiment is omitted, and common portions in the drawing are denoted by the same reference numerals, and only the points that are basically different are described with reference to FIG. explain.

  In addition to the steering start position, the ECU 109 in the deceleration support system according to the present embodiment learns the steering start speed that is the speed of the vehicle 1 at the steering start position. If the driver of the vehicle 1 is confirmed to turn right and left and the steering start position and the steering start speed are learned, the ECU 109 is on condition that the current speed of the vehicle 1 is greater than the learned steering start speed. Furthermore, deceleration support is performed according to the distance between the current position of the vehicle 1 and the learned steering start position.

  Next, the deceleration support process executed by the ECU 109 while the vehicle 1 equipped with the deceleration support system 10 configured as described above is running will be described with reference to the flowchart of FIG.

  In FIG. 4, when the vehicle 1 is traveling toward an intersection targeted by the deceleration support system 10, the ECU 109 determines whether the driver of the vehicle 1 is willing to turn right or left at the intersection. (Step S301).

  When it is determined that there is no intention to turn right or left at the intersection (step S301: No), the ECU 109 ends the process. On the other hand, when it is determined that there is an intention to turn right or left at the intersection (step S301: Yes), the ECU 109 determines the steering start position, which is a position where the driver starts steering the steering wheel for the right turn or the left turn, It is determined whether or not the steering start speed, which is the speed of the vehicle 1 at the steering start position, has already been learned (step S302).

  When it is determined that the steering start position and the steering start speed have already been learned (step S302: Yes), the ECU 109 sets the learned steering start speed as the target approach speed (step S303). On the other hand, when it is determined that the steering start position and the steering start speed are not learned (step S302: No), the ECU 109 calculates (or estimates) the speed of the vehicle 1 when making a right turn or a left turn based on the intersection shape. The calculated speed is set as a target approach speed (step S304).

  Next, the ECU 109 determines whether or not the current speed of the vehicle 1 is greater than the target approach speed (step S305). When it is determined that the current speed of the vehicle 1 is smaller than the target approach speed (step S305: No), the ECU 109 determines whether or not service is possible (step S310).

  If it is determined that the service is possible (step S310: Yes), the ECU 109 executes the process of step S305. On the other hand, when it is determined that the service is not possible (step S310: No), the ECU 109 executes a process of step S309 described later.

  When it is determined in step S305 that the current speed of the vehicle 1 is greater than the target approach speed (step S305: Yes), the ECU 109 determines whether a right / left turn deceleration support start condition is satisfied (step S305). S306).

  When it is determined that the right / left-turn deceleration support start condition is not satisfied (step S306: No), the ECU 109 executes the process of step S310. On the other hand, when it is determined that the right / left turn deceleration support start condition is satisfied (step S306: Yes), the ECU 109 determines the distance between the steering start position or the stop line position at the target intersection and the current position of the vehicle 1. Accordingly, deceleration support is executed (step S307).

  Next, the ECU 109 determines whether or not a right / left turn deceleration support termination condition is satisfied (step S308). If it is determined that the right / left turn deceleration support termination condition is not satisfied (step S308: No), the ECU 109 executes the process of step S307. On the other hand, when it is determined that the right / left turn deceleration support termination condition is satisfied (step S308: Yes), the ECU 109 determines the position at which steering of the steering wheel is started for the right turn or the left turn by the driver this time, and the position. The speed of the vehicle 1 is learned (step S309).

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. A deceleration support system with such a change is also applicable. Moreover, it is included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Deceleration support system, 101 ... GPS, 102 ... Car-mounted camera, 103 ... Millimeter wave radar, 104 ... Infrastructure communication apparatus, 105 ... Vehicle speed sensor, 106 ... Display, 107 ... ACC switch, 108 ... PCS switch, 109 ... ECU, 110 ... Map information database, 111 ... Car navigation, 112 ... Brake actuator, 113 ... Accelerator actuator, 114 ... Speaker, 115 ... Steering sensor

Claims (4)

Mounted on the vehicle,
A learning system for learning a steering start position, which is a position at which a driver of the vehicle starts steering a steering wheel for a right or left turn when the vehicle turns right or left; and
Intention confirmation means for confirming the driver's intention to turn left and right;
Distance calculating means capable of calculating a distance between the current position of the vehicle and the learned steering start position;
Deceleration support means for performing deceleration support according to the distance calculated by the distance calculation means when the driver's intention to turn left and right is confirmed by the intention confirmation means and the steering start position is learned by the learning system A deceleration support system comprising: and.   The deceleration support means is a case where the driver's intention to turn left and right is confirmed by the intention confirmation means, and the steering start position is learned by the learning system, and the distance calculated by the distance calculation means is The deceleration support system according to claim 1, wherein the deceleration support is not performed when the value is equal to or less than a predetermined value. The learning system further learns a steering start speed that is a speed of the vehicle at the steering start position,
The deceleration support means is a case where the driver's intention to turn left or right is confirmed by the intention confirmation means, and a steering start position is learned by the learning system, and the current speed of the vehicle is learned. 2. The deceleration support system according to claim 1, wherein when the steering start speed is greater than the steering start speed, deceleration support is performed according to the distance calculated by the distance calculation unit. The learning system further learns a maximum deceleration that is a maximum value of the deceleration that the driver causes the vehicle to make a right turn or a left turn,
The deceleration support means is a case where the driver's intention to turn left or right is confirmed by the intention confirmation means, and a steering start position is learned by the learning system, and the current speed of the vehicle is learned. Calculated by the distance calculation means when the deceleration that occurs when decelerating from the current speed to the learned steering start speed exceeds the learned maximum deceleration. The deceleration support system according to claim 3, wherein deceleration support is performed according to a distance.

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