JP5321250B2 - Vehicle control apparatus and vehicle control method - Google Patents

Description

  The present invention relates to a vehicle control device and a vehicle control method.

  Usually, the driver of the vehicle operates the vehicle based on at least his / her perception. The driver perceives the relative relationship between the perceived object perceived by the driver, such as the preceding vehicle preceding the vehicle, and the own vehicle driven by the driver based on stimuli in the sensory organs such as the eyes and ears. It performs acceleration / deceleration by operating the pedal, deceleration by operating the brake pedal and shift lever, and turning by operating the steering wheel. That is, the driver operates the vehicle based on his / her perception.

  Further, as shown in Patent Literature 1, a vehicle control device that performs vehicle control for controlling a vehicle using a relative relationship between a perceptual object and the host vehicle as an input value has been proposed. The conventional vehicle control device uses, for example, an actual relative distance and an actual relative speed between a vehicle and a preceding vehicle as input values, and deceleration control that decelerates the vehicle based on a relative ratio that is a ratio between the relative distance and the relative speed. And so on.

JP 2003-208602 A

  By the way, the above relative relationship based on the driver's perception causes an error with respect to the actual relative relationship. For example, regarding the relative distance, the longer the actual relative distance, the shorter the driver perceives the relative distance than the actual relative distance. Further, in terms of relative speed, the driver perceives the relative speed faster than the actual relative speed as the vehicle speed increases. Therefore, in the vehicle control by the conventional vehicle control device, the actual relative relationship that is deviated from the relative relationship perceived by the driver is used as the input value, and the control timing and control amount are acquired. There was a risk of giving.

  Therefore, the present invention has been made in view of the above, and an object thereof is to propose a vehicle control device and a vehicle control method that can suppress a driver's uncomfortable feeling in vehicle control.

In order to solve the above-described problems and achieve the object, in the present invention, the vehicle is controlled using the actual relative speed between the perceptual object existing outside the vehicle and perceivable by the driver and the vehicle as an input value. In the vehicle control apparatus that performs vehicle control, a perceived relative speed indicating a relative speed between the object to be perceived by the driver and the vehicle based on the actual relative speed is acquired, and the perceived relative speed or the perceived There line the vehicle control on the basis of either the acquired perceptual calculated value based on the relative velocity, the perceived relative speed, as the vehicle speed of the vehicle is fast, the be a value greater than the actual relative velocity It is characterized by.

  In the vehicle control device, it is preferable that at least one of a control timing and a control amount in the vehicle control is acquired based on either the perceptual relative speed or the perceptual calculation value.

In the vehicle control device, it is preferable that the perceived relative speed is acquired based on the actual relative speed and the following expression (1). Vs is the perceived relative speed, Vr is the actual relative speed, Vm is the speed of the vehicle, and β is in the range of 0 <n <1.
Vs = Vr + βVm (1)

In the vehicle control device, the perceived relative speed is preferably acquired based on the actual relative speed and the following equation (2). Vs is the perceived relative speed, Vr is the actual relative speed, Vm is the speed of the vehicle, Ap is the acceleration of the perceived object, β is in the range of 0 <n <1, and γ is a constant.
Vs = Vr + βVm + γAp (2)

  Further, in the vehicle control device, the vehicle control is further performed using an actual relative distance between the perceptual object and the vehicle as an input value, and the perceptual calculation value is obtained by calculating the actual relative distance and the perceived relative speed. It is preferably a perceptual relative ratio that is a ratio.

In the vehicle control device, the vehicle control is further performed by using an actual relative distance between the perceptual object and the vehicle as an input value, and the perceptual object based on the driver's perception based on the actual relative distance. get the perceived relative distance is relative distance between the vehicle and the perceived arithmetic value, it is preferable that the a perceived relative ratio is the ratio of the perceived relative distance between the perceived relative velocity.

  In the vehicle control device, when acquiring the control timing in the vehicle control based on the perceptual relative ratio, it is preferable to start the vehicle control when the perceptual relative ratio exceeds a threshold value.

  In the vehicle control device, it is preferable that the threshold value is changed based on either the driver or the traveling environment of the vehicle.

  Further, in the vehicle control device, when the threshold value is changed based on the driver, the threshold value is set when the operation object to be operated by the driver that is provided in the vehicle is operated. It is preferable to change based on the actual relative distance and the actual relative speed.

  In the vehicle control device, it is preferable that the perceived relative distance is a value smaller than the actual relative distance as the actual relative distance is longer.

In the vehicle control device, the perceived relative distance is preferably acquired based on the actual relative distance and the following expression (3). Ds is a perceived relative distance, Dr is an actual relative distance, and n is in a range of 0 <n <1.
Ds = Dr ⁿ (3)

In the vehicle control device, the perceived relative distance is preferably acquired based on the actual relative distance and the following equation (4). Note that Ds is a perceived relative distance, Dr is an actual relative distance, D0 is a maximum relative distance that the driver cannot allow when the vehicle and the perceived object approach, and α is a constant.
Ds = αlog (Dr / D0) (4)

Further, according to the present invention, in a vehicle control method for controlling a vehicle using an actual relative speed between the vehicle and a perceptual object that is present outside the vehicle and is perceptible to a driver as an input value, the vehicle is based on the actual relative speed. To obtain a perceived relative speed indicating a relative speed between the perceived object and the vehicle based on the driver's perception, and to obtain either the perceived relative speed or the perceived calculation value obtained based on the perceived relative speed. There line control of the vehicle based, the perceived relative speed, as the vehicle speed of the vehicle is fast, characterized in that the said value greater than the actual relative velocity.

  Since the vehicle control device and the vehicle control method according to the present invention perform vehicle control based on the perceived relative speed acquired based on the actual relative speed, the vehicle control conforming to the driver's perception is performed. There is an effect that the driver's discomfort can be suppressed.

  The vehicle control device and the vehicle control method according to the present invention perform vehicle control based on a perceived relative ratio that is a ratio between a perceived relative speed and a perceived relative distance acquired based on the actual relative distance. The vehicle control is performed in accordance with the perception of the vehicle, and the driver's uncomfortable feeling in the vehicle control can be suppressed.

  In addition, even if there are a plurality of drivers who drive the vehicle, the threshold value is changed for each driver, so that an uncomfortable feeling for each driver in the vehicle control can be suppressed.

  In addition, since the threshold value can be changed between the driving environment of the vehicle, for example, the driving environment where the driver feels stress and the driving environment where the driver does not feel stress, the driver's perception of the driving environment of the vehicle. The vehicle control can be made to follow the change of the vehicle, and the driver can feel uncomfortable in the vehicle control.

FIG. 1 is a diagram illustrating a schematic configuration example of a vehicle control device according to an embodiment. FIG. 2 is a diagram illustrating the relationship between the perceived relative distance and the actual relative distance. FIG. 3 is a diagram illustrating another relationship between the perceived relative distance and the actual relative distance. FIG. 4 is a diagram illustrating the relationship between the actual relative speed and the perceived relative speed. FIG. 5 is a diagram illustrating the relationship between the actual relative distance and the actual relative speed. FIG. 6 is a diagram illustrating the relationship between the perceived relative distance and the perceived relative speed. FIG. 7 is a diagram illustrating the relationship between the perceived relative distance and the perceived relative speed for each driver. FIG. 8 is a diagram illustrating the relationship between the perceived relative ratio and the perceived relative speed for each driver. FIG. 9 is a diagram illustrating the relationship between the perceived relative ratio and the perceived relative speed of an arbitrary driver. FIG. 10 is a control flow diagram illustrating a vehicle control method by the vehicle control device according to the embodiment.

  Hereinafter, the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by the following embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

  FIG. 1 is a diagram illustrating a schematic configuration example of a vehicle control device according to an embodiment. FIG. 2 is a diagram illustrating the relationship between the perceived relative distance and the actual relative distance. FIG. 3 is a diagram illustrating another relationship between the perceived relative distance and the actual relative distance. FIG. 4 is a diagram showing the relationship between the perceived relative speed and the actual relative speed. FIG. 5 is a diagram illustrating the relationship between the actual relative distance and the actual relative speed. FIG. 6 is a diagram illustrating the relationship between the perceived relative distance and the perceived relative speed. FIG. 7 is a diagram illustrating the relationship between the perceived relative distance and the perceived relative speed for each driver. FIG. 8 is a diagram illustrating the relationship between the perceived relative ratio and the perceived relative speed for each driver. FIG. 9 is a diagram illustrating the relationship between the perceived relative ratio and the perceived relative speed of an arbitrary driver.

  As shown in FIG. 1, at least a vehicle control device 1 is mounted on a vehicle on which the driver is boarded (hereinafter simply referred to as “own vehicle CA”). The vehicle control device 1 includes a vehicle speed sensor 2, a distance sensor 3, an ECU 4, and a speed reduction device 5. The vehicle control apparatus 1 performs vehicle control for controlling the vehicle using an actual relative physical quantity that is present outside the host vehicle CA and is perceptible to the driver and indicating the relative relationship between the host vehicle CA and an actual relative physical quantity as an input value. Is what you do. Here, in the embodiment, the vehicle control is a deceleration control for decelerating the host vehicle CA (a control for decelerating the vehicle from a state in which the driver does not operate the brake pedal, a vehicle from a state in which the driver is operating the brake pedal, (Including control for further decelerating). The deceleration control is, for example, follow-up control in which the host vehicle CA typified by adaptive cruise control follows the preceding vehicle that is the perceived object TA, or the host vehicle CA typified by pre-crash safety and the self-targeted object TA. This is performed as part of the collision avoidance mitigation control for avoiding a collision with an obstacle (including a moving body and a stationary body) located in the traveling direction of the vehicle CA or for reducing an impact at the time of the collision. Here, the perceptual object TA is not limited as long as it exists outside the host vehicle CA and can be perceived directly or indirectly by the driver, such as a moving object (a vehicle traveling around the host vehicle CA, Pedestrians, etc.), stationary objects (signals (including the current state of traffic lights) around the vehicle CA, signs such as temporary stops, guardrails, structures, corners and intersections that can be distinguished from these) included.

  The vehicle speed sensor 2 detects the vehicle speed Vm [m / s] of the host vehicle CA. The vehicle speed sensor 2 is connected to the ECU 4, the detected vehicle speed Vm is output to the ECU 4, and the ECU 4 acquires the vehicle speed Vm. The acquired vehicle speed Vm is used when the perceived relative speed calculating unit 42 described later calculates the perceived relative speed Vs [m / s]. Here, in the embodiment, the vehicle speed sensor 2 is a wheel speed sensor attached to each wheel of the host vehicle CA, and the wheel speed of each wheel detected by each wheel speed sensor is output to the ECU 4. The vehicle speed Vm of the host vehicle CA is calculated based on the wheel speed of each wheel, and the vehicle speed Vm is acquired. The vehicle speed sensor 2 is not limited to a wheel speed sensor, but is a power transmission path-like rotating body that transmits power generated by a power source (for example, an engine, a motor, etc.) of the host vehicle CA to driving wheels. The vehicle speed Vm of the host vehicle CA is calculated based on the number of rotations detected by the sensor that detects the number of rotations and the position data detected by the sensor that detects the position data of the host vehicle CA represented by GPS. You may get

  The distance sensor 3 detects an actual relative distance Dr [m] that is an actual relative distance between the host vehicle CA and the perceived object TA. The distance sensor 3 is connected to the ECU 4, and the detected actual relative distance Dr is output to the ECU 4, and the ECU 4 acquires the actual relative distance Dr. The acquired actual relative distance Dr is used when the perceived relative distance calculation unit 41 described later acquires the perceived relative distance Ds [m]. Here, in the embodiment, the distance sensor 3 has an actual relative distance Dr and an actual relative speed Vr [m] that are relative physical quantities indicating a relative relationship between the host vehicle CA and the perceived object TA by a detection method using millimeter waves. / S] is a millimeter wave radar. The millimeter wave radar is attached, for example, in the center of the front portion of the host vehicle CA, for example, in the front grill. The millimeter wave radar emits a millimeter wave, emits from a front surface of the host vehicle CA in a predetermined range in the traveling direction, and receives the millimeter wave reflected by the perceptual object TA existing in the traveling direction of the host vehicle CA. . Then, the millimeter wave radar detects the actual relative distance Dr by calculating the distance from the millimeter wave radar to the perceived object TA of the host vehicle CA by measuring the time from emission to reception, and outputs it to the ECU 4. To do. Also, the millimeter wave radar uses the Doppler effect to calculate the speed difference between the vehicle speed Vm of the host vehicle CA provided with the millimeter wave radar and the vehicle speed Vt of the perceived object existing in the traveling direction of the host vehicle CA. As a result, the actual relative speed Vr is detected and output to the ECU 4. The distance sensor 3 is not limited to the millimeter wave radar, and is based on image data obtained by imaging the traveling direction of the host vehicle CA with an imaging device such as a radar or a CCD camera using, for example, a laser or infrared rays. An image recognition device or the like that calculates the relative distance Dr may be used. When the actual relative speed Vr cannot be detected by the distance sensor 3, the ECU 4 determines the actual relative speed Vr based on the vehicle speed Vm detected by the vehicle speed sensor 2 and the actual relative distance Dr detected by the distance sensor 3. May be calculated and acquired. In this case, the detected actual relative distance Dr is used when the ECU 4 acquires the actual relative speed Vr.

  The ECU 4 acquires a perceived relative physical quantity that is a relative physical quantity between the perceived object TA and the host vehicle CA based on the driver's perception based on an actual relative physical quantity that is an input value. In the embodiment, the ECU 4 acquires a perceived relative distance Ds that is a relative distance between the perceived object TA and the host vehicle CA based on the driver's perception based on the actual relative distance Dr that is an input value. In the embodiment, the ECU 4 obtains a perceived relative speed Vs that is a relative speed between the perceived object TA and the host vehicle CA based on the driver's perception based on the actual relative speed Vr that is an input value. . The ECU 4 also acquires a perceptual relative ratio X that is a perceptual calculation value based on the acquired perceptual relative distance Ds and the acquired perceptual relative speed Vs. The ECU 4 has functions as a perceptual relative distance calculation unit 41, a perceptual relative speed calculation unit 42, a perceptual relative ratio calculation unit 43, and a control timing determination unit 44. The hardware configuration of the ECU 4 mainly includes a CPU (Central Processing Unit) that performs arithmetic processing, a memory for storing programs and information (RAM such as SRAM, ROM (Read Only Memory) such as EEPROM), an input / output interface, and the like. Since the configuration is the same as that of an ECU mounted on a known vehicle, detailed description thereof is omitted.

The perceived relative distance calculation unit 41 acquires the perceived relative distance Ds based on the acquired actual relative distance Dr. The driver of the host vehicle CA generates an illusion that the longer the actual relative distance Dr is, the closer the relative distance is than the actual relative distance Dr. For example, when the utility poles lined up at equal intervals in the traveling direction of the host vehicle CA are seen, the distance between the utility poles becomes narrower as the utility poles are located farther away, so the far utility pole position is closer to the actual position. I get the illusion. Therefore, if the vehicle control is performed based on the acquired actual relative distance Dr, for example, when the actual relative distance Dr is longer, the control is different from the vehicle operation (operation timing or operation amount) based on the perception of the driver of the host vehicle CA. There is a possibility that the vehicle control is performed at the timing and the control amount. Therefore, the perceived relative distance calculation unit 41 sets the relative distance, which is a relative physical quantity indicating the relative relationship between the perceptual object TA perceivable to the driver and the host vehicle CA, to a value based on the driver's perception. The perceived relative distance Ds is calculated to a value smaller than the actual relative distance Dr as the acquired actual relative distance Dr increases. In the embodiment, the perceived relative distance calculation unit 41 calculates the perceived relative distance Ds based on the acquired actual relative distance Dr and the following equation (5). Here, n is in the range of 0 <n <1. n is preferably about 0.7 to 0.8.
Ds = Dr ⁿ (5)

  When the perceived relative distance Ds is calculated based on the acquired actual relative distance Dr and the above equation (5), as shown in FIG. 2, the acquired actual relative distance Dr is directly used as the perceived relative distance Ds. In comparison with the case (the straight line shown in FIG. 5B), the longer the acquired actual relative distance Dr, the smaller the actual relative distance Dr (the curve shown in FIG. 5A1). That is, by performing vehicle control based on the perceived relative distance Ds that is a perceived relative physical quantity, it is possible to perform vehicle control that matches the perception of the driver of the host vehicle CA. Therefore, the vehicle control performed by the vehicle control device 1 is in the driver's sense, and the driver's uncomfortable feeling in the vehicle control can be suppressed.

  Here, in the illusion with respect to the relative distance by the driver of the own vehicle CA, when the own vehicle CA and the perceived object TA approach each other, the maximum relative distance D0 [m that the driver cannot allow the perceived object TA to approach. ] May be considered. That is, the perceived relative distance Ds is calculated such that the greater the acquired actual relative distance Dr is, the smaller the actual relative distance Dr is, and the less the maximum relative distance D0 is, and the calculated perceived relative distance Ds. If the vehicle control is performed based on the above, it is possible to further suppress the driver's uncomfortable feeling in the vehicle control.

For example, the perceived relative distance Ds is the maximum relative distance D0 [m that the driver cannot allow the perceived object TA to approach when the acquired actual relative distance Dr approaches the own vehicle CA and the perceived object TA. ] And the following equation (6). Here, the maximum relative distance D0 is preferably about 4. α is preferably about 20. The maximum relative distance D0 may be set in advance as a constant value, or may be set for each driver of the host vehicle CA.
Ds = αlog (Dr / D0) (6)

  When the perceived relative distance Ds is calculated based on the acquired actual relative distance Dr, the set maximum relative distance D0, and the above equation (6), as shown in FIG. Compared with the case where the relative distance Dr is directly used as the perceived relative distance Ds (the straight line shown in FIG. 5B), the farther the acquired actual relative distance Dr is, the smaller the actual relative distance Dr becomes, and the maximum relative distance. The value does not become less than D0 (curve shown in FIG. A2). That is, if the vehicle control is performed based on the perceived relative distance Ds that is the perceived relative physical quantity, the vehicle control can be further performed at the control timing and the control amount that are perceived by the driver of the host vehicle CA. Therefore, the vehicle control performed by the vehicle control device 1 is in the driver's sense, and the driver's uncomfortable feeling in the vehicle control can be further suppressed.

The perceived relative speed calculator 42 acquires the perceived relative speed Vs based on the acquired actual relative speed Vr. The driver of the host vehicle CA has an illusion that the higher the vehicle speed Vm of the host vehicle CA is, the higher the relative speed is than the actual relative speed Vr. As shown in FIG. 4, when the host vehicle CA is stopped (Vm = 0), the perceived relative speed Vs (straight line in C1) with respect to an arbitrary actual relative speed Vr and the host vehicle CA are traveling. This is different from the perceived relative speed Vs (the straight line in C2 in the figure) for any actual relative speed Vr in the case of (Vm> 0). For example, the actual relative distance Dr is the same when the host vehicle CA is traveling on a general road at a speed of about 40 km / h and when the host vehicle CA is traveling on a highway at a speed of about 100 km / h. If there is, the illusion that the relative speed is higher when the host vehicle CA is traveling on a highway than when traveling on a general road. Therefore, if vehicle control is performed based on the acquired actual relative speed Vr, for example, when the vehicle speed Vm of the host vehicle CA increases, the operation of the host vehicle CA (operation timing and operation amount based on the perception of the driver of the host vehicle CA). There is a risk that vehicle control will be performed at a control timing or control amount that is different from. Therefore, the perceived relative speed calculating unit 42 sets the relative speed, which is a relative physical quantity indicating the relative relationship between the perceived object TA perceivable to the driver and the host vehicle CA, to a value based on the driver's perception. The perceived relative speed Vs is calculated to a value larger than the actual relative speed Vr as the vehicle speed Vm of the acquired vehicle CA increases. In the embodiment, the perceived relative speed calculation unit 42 calculates the perceived relative speed Vs based on the acquired actual relative speed Vr, the acquired vehicle speed Vm of the host vehicle CA, and the following equation (7). . Here, β is in the range of 0 <n <1. β is preferably about 0.2. In the embodiment, the actual relative speed Vr is positive in the direction in which the perceived object TA and the host vehicle CA approach each other.
Vs = Vr + βVm (7)

  The perceived relative speed Vs is calculated based on the acquired actual relative speed Vr, the acquired vehicle speed Vm of the host vehicle CA, and the above equation (7). As the vehicle speed Vm of the host vehicle CA increases, the perceived relative speed Vs increases. The value is larger than the acquired actual relative speed (see C1 and C2 in the figure). That is, by performing vehicle control based on the perceived relative speed Vs that is a perceived relative physical quantity, it is possible to perform vehicle control that matches the perception of the driver of the host vehicle CA. Therefore, the vehicle control performed by the vehicle control device 1 is in the driver's sense, and the driver's uncomfortable feeling in the vehicle control can be suppressed.

Here, the illusion of the relative speed by the driver of the host vehicle CA is mainly caused by the vehicle speed Vm of the host vehicle CA, but is also caused by the relative acceleration between the perceived object TA and the host vehicle CA, which is a relative physical quantity. . That is, the perceived relative speed Vs is calculated based on the actual relative speed Vr, the vehicle speed Vm of the host vehicle CA, and the actual relative acceleration Ar (m / s ² ), and the vehicle is calculated based on the calculated perceived relative speed Vs. If the control is performed, the driver's uncomfortable feeling in the vehicle control can be further suppressed.

For example, the perceived relative speed Vs may be calculated based on the acquired actual relative speed Vr, the acquired vehicle speed Vm of the host vehicle CA, the actual relative acceleration Ar, and the following equation (8). Here, δ is in a range of 0 <δ <3. δ is preferably about 1.0. In the embodiment, the actual relative acceleration Ar is positive in the direction in which the perceived object TA and the host vehicle CA approach each other. The actual relative acceleration Ar can be calculated by the ECU 4 based on the actual relative distance Dr, the vehicle speed Vm of the host vehicle CA, the actual relative speed Vr, the acceleration of the host vehicle CA calculated or detected by a sensor, and the like.
Vs = Vr + βVm + δAr (8)

The perceived relative speed Vs is calculated based on the acquired actual relative speed Vr, the acquired vehicle speed Vm of the host vehicle CA, the acceleration Ap of the perceived object TA, and the following equation (9). Also good. The relative acceleration causes the illusion of the relative speed by the driver of the host vehicle CA because the acceleration Ap of the perceptual object TA that changes irrespective of the operation by the driver, particularly a negative acceleration (with respect to the host vehicle CA). In other words, the actual relative acceleration Ar may be replaced with the acceleration Ap of the perceptual object TA. Here, γ is in the range of 0.5-2. γ is preferably about 1.5. In the embodiment, the acceleration Ap of the perceived object TA is positive in the direction in which the perceived object TA and the host vehicle CA approach each other. The acceleration Ap of the perceived object TA can be calculated by the ECU 4 based on the actual relative distance Dr, the vehicle speed Vm of the host vehicle CA, the actual relative speed Vr, the calculation or the acceleration of the host vehicle CA detected by a sensor, and the like. it can.
Vs = Vr + βVm + γAp (9)

  The perceptual relative ratio calculation unit 43 acquires a perceptual relative ratio X that is a perceptual calculation value acquired based on the perceptual relative speed Vs. In the embodiment, the perceptual relative ratio calculation unit 43 calculates the ratio between the perceptual relative distance Ds acquired by the perceptual relative distance calculation unit 41 and the perceptual relative speed Vs acquired by the perceptual relative speed calculation unit 42. Calculate as X. Here, the perceptual relative ratio X is perceived relative distance Ds / perceived relative speed Vs. As described above, the driver of the host vehicle CA creates an illusion with respect to relative physical quantities such as relative distance and relative speed. As shown in FIG. 5, when operating the host vehicle CA based on the perception of the driver of the host vehicle CA (when operating a brake pedal (not shown) that is an operation target operated by the driver of the host vehicle CA) The relationship between the actual relative distance Dr and the actual relative speed Vr is not constant depending on the vehicle speed Vm of the host vehicle CA, and is not constant even if the vehicle speed Vm of the host vehicle CA is the same (D1 (Vm = 0 in the figure)). ), D2 (Vm> 0) curve). Accordingly, even if the vehicle control is performed assuming that the actual relative ratio Y, which is the ratio between the acquired actual relative distance Dr and the acquired actual relative speed Vr, is constant (straight line shown in FIG. 5E), the operation of the host vehicle CA is performed. There is a possibility that vehicle control may be performed at a control timing or control amount that is different from a vehicle operation (operation timing or operation amount) based on the user's perception. Therefore, the perceptual relative ratio calculation unit 43 calculates the relative ratio, which is the ratio of the relative distance and the relative speed, which is a relative physical quantity indicating the relative relationship between the perceptual object TA perceivable by the driver and the host vehicle CA, to the driver. In order to obtain a value based on perception, a perceptual relative ratio X, which is a ratio between the perceptual relative distance Ds and the perceptual relative speed Vs, is calculated. As shown in FIG. 6, the perceptual relative ratio X is a constant value for the same driver. That is, the driver of the host vehicle CA operates the host vehicle CA so that the time is constant until the relative ratio, that is, the perceived object TA and the host vehicle CA approach each other. Therefore, by using the perceptual relative ratio X for vehicle control, parameters used for calculating the perceptual relative ratio, for example, the relative distance, the relative speed, the vehicle speed Vm of the host vehicle CA, the relative acceleration, and the perceptual object TA are calculated. Even if the acceleration changes, it is possible to perform vehicle control that matches the perception of the driver of the host vehicle CA. Therefore, the vehicle control performed by the vehicle control device 1 is in the driver's sense, and the driver's uncomfortable feeling in the vehicle control can be suppressed.

  The control timing determination unit 44 performs vehicle control based on the perceived relative physical quantity. In the embodiment, the control timing determination unit 44 acquires the control timing of the deceleration control based on the perceived relative distance X that is a perceived relative physical quantity and the perceived relative speed X based on the perceived relative speed Vs. That is, in the embodiment, since the control timing is determined based on the perceived relative ratio X (perceived relative distance Ds, perceived relative speed Vs), deceleration control is performed at a control timing that matches the perception of the driver of the host vehicle CA. It can be carried out. When the control timing determination unit 44 determines whether the perceptual relative ratio X calculated by the perceptual relative ratio calculation unit 43 exceeds the threshold value X0, and determines that the perceptual relative ratio X exceeds the threshold value X0, That is, in the case of deceleration control, if it is determined that the perceived relative ratio X is equal to or less than the threshold value X0, deceleration control is started.

  Here, the threshold value X0 may be set in advance as a constant value, and may be changed based on at least one of the driving environment of the driver or the host vehicle CA. When the threshold value X0 is a constant value, in the embodiment, for example, for each driver, the relative distance, the relative speed, the vehicle speed Vm of the host vehicle CA, the relative acceleration, and the acceleration of the perceived object TA are variously changed. The actual relative distance Dr and the actual relative speed Vr at the time of operating the brake pedal of the host vehicle CA are sampled, the actual perceived relative ratio Xr is calculated based on the sampling, and preset based on the average value or the like. it can.

  Further, when the threshold value X0 is changed based on the driver of the host vehicle CA, the actual relative distance Dr and the actual relative speed Vr when operating the operation target operated by the driver provided in the host vehicle CA. Based on. The operation of the brake pedal, that is, the timing of the brake operation is different for each driver. Therefore, as shown in FIG. 7, the perceived relative speed Vs for each driver is different at the same perceived relative distance Ds, and the timing of the brake operation for each driver is the relationship between the perceived relative distance Ds and the perceived relative speed Vs. Is a slope of a straight line (Xr1, Xr2, Xr3 in the figure). That is, the actual perceived relative ratio Xr is a constant value for each driver as shown in FIG. 8, but the value varies depending on the speed of the brake operation. A driver with an early brake operation has a larger actual perception relative ratio Xr than a driver with a slower brake operation. Therefore, in the embodiment, the threshold value X0 is set for each driver and is changed according to the driver driving the host vehicle CA in order to correspond to a plurality of drivers driving the host vehicle CA. Therefore, even if there are a plurality of drivers driving the host vehicle CA, the threshold value X0 is changed for each driver, so that it is possible to suppress a sense of discomfort for each driver.

  Here, the threshold value X0 for each driver is set by, for example, the relative distance, the relative speed, the vehicle speed Vm of the host vehicle CA, the relative acceleration, and the acceleration of the perceived object TA in various states. The actual relative distance Dr and the actual relative speed Vr during the operation of the brake pedal are sampled, and a plurality of actual perceived relative ratios Xr are calculated for each driver based on the sampling result. As shown in FIG. The lower limit value Xrmin of the actual perceptual relative ratio Xr is set as the threshold value X0 for each driver. The threshold value X0 may be set based on the speed of the brake operation. For example, a threshold value X0f for a driver with a fast brake operation based on the actual perceived relative ratio Xr of a driver with a fast brake operation, and a brake operation with a normal brake operation based on a real perceived relative ratio Xr of a driver with a normal brake operation A threshold value X0m for the driver of the vehicle and a threshold value X0s for the driver of the slow brake operation based on the actual perceived relative ratio Xr of the driver with the slow brake operation are set in advance, respectively. The value X0 may be changed to any of X0f, X0m, and X0s.

  Further, when the threshold value X0 is changed based on the traveling environment of the host vehicle CA, the threshold value X0 is changed based on the stress intensity felt by the driver according to the traveling environment of the host vehicle CA. The threshold value X0 is such that when the stress felt by the driver is high, the perceived relative ratio X is likely to exceed the threshold value X0 compared to when the stress is low, and in the case of deceleration control, the threshold value X0 is increased. . Here, the traveling environment includes the type of road on which the host vehicle CA is traveling, the congestion situation, the road surface condition, the weather, the visibility, and the like. For example, the threshold value X0 is set to be large if the road on which the host vehicle CA is traveling is a general road, traffic jam, a slippery road surface, bad weather, poor visibility, and the like. That is, the threshold value X0 can be changed based on the traveling environment of the host vehicle CA, for example, the driver's stress intensity. Therefore, the vehicle control can follow the change in the driver's perception with respect to the traveling environment of the host vehicle CA, and the driver's uncomfortable feeling can be suppressed.

  The deceleration device 5 actually performs vehicle control. In the embodiment, the deceleration device 5 decelerates the host vehicle CA as deceleration control. In the embodiment, the speed reducer 5 is a brake device that causes the braking force generated by the driver's operation of the brake pedal to act on the host vehicle CA. When the control timing determination unit 44 determines that the perceptual relative ratio X is equal to or less than the threshold value X0, the speed reduction device 5 starts speed reduction control based on a control amount, for example, acceleration, braking force, or the like. Accordingly, the reduction gear 5 decelerates the host vehicle CA based on the control amount. As described above, the vehicle control device 1 determines the control timing based on the perceptual relative ratio X, and starts deceleration control at the determined control timing. Therefore, the perceptual relative distance Ds and the perceptual relative are physical perceptual relative quantities. Vehicle control is performed based on the speed Vs. Therefore, since the vehicle control apparatus 1 performs vehicle control based on the perceived relative distance Ds, the vehicle control apparatus 1 performs vehicle control based on a value smaller than the actual relative distance Dr as the actual relative distance Dr increases. The control amount is acquired by the ECU 4 based on the driving state of the host vehicle CA (the actual relative distance Dr, the actual relative speed Vr, the vehicle speed Vm of the host vehicle CA, etc.). Since the control amount acquisition method is known, its description is omitted. Note that the speed reduction device 5 is not limited to a brake device, and any device that reduces the driving force generated in the host vehicle CA and decelerates the host vehicle CA, such as a braking force, may be used. For example, an engine mounted on the host vehicle CA (the host vehicle CA can be decelerated by reducing the output by the output control), a transmission disposed in the power transmission path of the host vehicle CA (from the engine by the shift control) The output can be transmitted to the drive wheels and transmitted, and the friction generated by the engine at the time of fuel cut can be changed, so that the host vehicle CA can be decelerated), and the motor (drive) that is mounted on the host vehicle CA Even if the host vehicle CA can be decelerated by performing regenerative braking by control), and auxiliary equipment driven by engine output (the host vehicle CA can be decelerated by increasing the load applied to the engine by drive control), etc. good. Moreover, it is good also as the deceleration device 5 combining a brake device and these (an engine, a motor, auxiliary machinery, etc.).

  Next, a vehicle control method by the vehicle control device 1 will be described. FIG. 10 is a control flow diagram illustrating a vehicle control method by the vehicle control device according to the embodiment. In addition, the vehicle control method by the vehicle control apparatus 1 is implement | achieved by running the vehicle control program previously memorize | stored by ECU4, for example. The vehicle control program is executed at a predetermined control cycle. Therefore, the vehicle control method by the vehicle control device 1 is repeatedly performed while the host vehicle CA is traveling.

  First, as shown in the figure, the ECU 4 of the vehicle control device 1 acquires the vehicle speed Vm, the actual relative distance Dr, the actual relative speed Vr, and the acceleration Ap of the perceived object TA as described above ( Step ST1).

  Next, the perceptual relative distance calculation unit 41 calculates the perceptual relative distance Ds, and the perceptual relative speed calculation unit 42 calculates the perceptual relative speed Vs (step ST2). Here, as described above, the perceived relative distance calculation unit 41 calculates the perceived relative distance Ds based on, for example, the acquired actual relative distance Dr and the above equation (5). Further, as described above, the perceived relative speed calculation unit 42, for example, acquires the acquired actual relative speed Vr, the acquired vehicle speed Vm of the host vehicle CA, the acceleration Ap of the perceived object TA, and the above formula ( 9).

  Next, the perceptual relative ratio calculation unit 43 calculates the perceptual relative ratio X (step ST3). Here, the perceptual relative ratio calculation unit 43 sets perceptual relative distance Ds / perceptual relative speed Vs = perceptual relative ratio X as described above.

  Next, the control timing determination unit 44 determines whether or not the perceptual relative ratio X exceeds the threshold value X0 (step ST4). Here, the control timing determination unit 44 determines whether the deceleration control can be started based on the perceptual relative ratio X by determining whether the perceptual relative ratio X is equal to or less than the threshold value X0.

  Next, when the control timing determination unit 44 determines that the perceptual relative ratio X exceeds the threshold value (Yes in step ST4), the ECU 4 starts deceleration control (step ST5). Here, if the conditions for starting the deceleration control based on the perceptual relative ratio X are satisfied, the ECU 4 executes the deceleration control based on the control amount acquired by the ECU 4. If the control timing determination unit 44 determines that the perceptual relative ratio X does not exceed the threshold value (No at step ST4), the ECU 4 ends the current control cycle and shifts to the next deceleration control.

  As described above, in the vehicle control device 1 and the vehicle control method by the vehicle control device 1 according to the embodiment, the perceptual relative physical quantity acquired based on the actual relative physical quantity, that is, the perception acquired based on the actual relative distance Dr. Since deceleration control that is vehicle control is performed based on the perceived relative speed X based on the perceived relative speed Vs acquired based on the relative distance Ds and the actual relative speed Vr, the deceleration control that matches the driver's perception is performed. Thus, the driver's uncomfortable feeling in the deceleration control can be suppressed. Here, the driver operates the vehicle based on the perceived relative speed Vs when the perceived relative speed Vs is large, but operates the vehicle based on the perceived relative distance Ds when the perceived relative speed Vs decreases. Accordingly, the vehicle control is performed based on the perceived relative ratio X, that is, the relationship between the perceived relative distance Ds and the perceived relative speed Vs, so that the vehicle control can be adapted to the sense that the driver operates the vehicle.

  The vehicle control is not limited to the deceleration control of the above embodiment, and any vehicle control may be used as long as the vehicle control is performed based on relative physical quantities (relative distance, relative speed). For example, the vehicle control includes acceleration control for accelerating the own vehicle CA (control for accelerating the vehicle from a state where the driver does not operate the accelerator pedal, control for further accelerating the vehicle from the state where the driver operates the accelerator pedal, And turning control for turning the host vehicle CA (including control for turning the vehicle from a state in which the driver does not operate the steering wheel, and control for further turning the vehicle from a state in which the driver is operating the steering wheel) It may be. The acceleration control and the turning control are performed, for example, as part of the following control, cornering control for maintaining the host vehicle CA on the currently traveling lane, and the collision avoidance reduction control described above.

  Further, the vehicle control is not limited to the control for changing the traveling state of the host vehicle CA described above, and may be alarm control for issuing an alarm to the outside of the driver or the host vehicle CA. For example, when it is determined that the perceptual relative ratio X exceeds the threshold value X0, alarm control for issuing an alarm may be started.

  Further, the acquisition method of the actual relative distance Dr and the actual relative speed Vr by the ECU 4 is not limited to the above embodiment, and the perceived object data including the position data of the perceived object TA, the vehicle speed Vt, and the like is stored in the own vehicle. The ECU 4 of the CA acquires and acquires the actual relative distance Dr and the actual relative speed Vr based on the acquired perceptual object data and the own vehicle data including the position data of the own vehicle CA, the vehicle speed Vm, and the like. You may do it. If the perceptual object TA is a structure, acquisition of the perceptual object data is preferably performed using map data in a navigation system mounted on the host vehicle CA, road infrastructure that allows the ECU 4 of the host vehicle CA to communicate, or the like. Also, if the perceptual object TA is a preceding vehicle, it is acquired via an inter-vehicle communication device between the perceptual object TA and the own vehicle CA, or via a road infrastructure where the ECU 4 of the perceptual target TA and the own vehicle CA can communicate. Also good.

  Further, the position of the perceived object TA with respect to the host vehicle CA is not limited to the front as in the above-described embodiment, and is present if it exists outside the host vehicle CA and can be perceived by the driver. The position of the target TA with respect to the host vehicle CA may be any. For example, when the perceptual object TA is located laterally with respect to the host vehicle CA, the driver can directly perceive the vehicle control method of the present invention. Further, when the perceptual object TA is located behind the host vehicle CA, the driver can perceive it directly or through a side mirror or a rearview mirror, so the vehicle control method of the present invention is applied. Can do. Therefore, for example, when the rear vehicle traveling in the lane adjacent to the traveling lane of the own vehicle CA is the perceptual object TA, the driver changes the traveling lane of the own vehicle CA to the adjacent lane, that is, at the time of lane change or merging. The vehicle control can be performed based on the perceived relative physical quantity. Here, the vehicle control includes the deceleration control, acceleration control, turning control, alarm control, and the like.

  The perceptual relative ratio X is not limited to the ratio between the perceived relative distance Ds and the perceived relative speed Vs as in the above-described embodiment, and any perceived relative physical quantity is included in either the denominator or the numerator. For example, the ratio between the perceived relative distance Ds and the actual relative speed Vr, or the ratio between the actual relative distance Dr and the perceived relative speed Vs may be used. In the perceptual relative ratio X, the perceived relative distance Ds is a numerator and the perceived relative speed Vs is a denominator, but the perceived relative speed Vs may be a numerator and the perceived relative distance Ds may be a denominator. Further, the vehicle control is not performed based on the perceived relative ratio X as in the above embodiment, but may be performed based on either the perceived relative distance Ds or the perceived relative speed Vs. Further, the vehicle control is not limited to the control timing as in the above embodiment, but may be a control amount. For example, when the control amount for vehicle control is acquired based on one of the relative ratio, the relative distance, or the relative speed, the control amount is acquired based on the perceptual relative ratio X, the perceptual relative distance Ds, or the perceptual relative speed Vs. .

  When the threshold value X0 is set for each driver of the host vehicle CA, the actual relative distance Dr and the actual relative when the driver corresponding to the set threshold value X0 operates the brake pedal of the host vehicle CA. When the actual perceptual relative ratio Xr calculated based on the speed Vr exceeds the threshold value X0, it can be determined that the driver's attention is reduced. That is, the driver's state can be estimated based on the actual perceptual relative ratio Xr and the threshold value X0. Therefore, for example, when the actual perception relative ratio Xr exceeds the threshold value X0, alarm control may be performed.

  The perceived relative distance Ds, the perceived relative speed Vs, the perceived relative ratio X, the control timing, the control amount, and the like are these values and parameters for calculating these values (actual relative distance Dr, actual relative speed Vr, vehicle speed). ECU4 may acquire based on the database created by calculating | requiring the relationship with Vm etc. previously by experiment.

  As described above, the vehicle control device and the vehicle control method control the vehicle using the relative physical quantity that is present outside the vehicle and is perceptible to the driver and indicating the relative relationship between the vehicle and the vehicle as an input value. This is useful for a vehicle control apparatus and a vehicle control method for performing control, and is particularly suitable for suppressing a driver's uncomfortable feeling in vehicle control.

DESCRIPTION OF SYMBOLS 1 Vehicle control apparatus 2 Vehicle speed sensor 3 Distance sensor 4 ECU
41 Perceptual Relative Distance Calculation Unit 42 Perceptual Relative Speed Calculation Unit 43 Perceptual Relative Ratio Calculation Unit 44 Control Timing Determination Unit 5 Deceleration Device Ap Acceleration of Perceptual Object TA CA Own Vehicle (Vehicle)
D0 maximum relative distance Dr actual relative distance Ds perceived relative distance TA perceived object Vm vehicle speed Vr actual relative speed Vs perceived relative speed X perceived relative ratio X0 threshold

Claims (13)

In a vehicle control device that performs vehicle control for controlling a vehicle using an actual relative speed between the perceptual object that is present outside the vehicle and is perceptible to a driver and the vehicle as an input value,
Obtaining a perceived relative speed indicating a relative speed between the perceived object and the vehicle by the driver's perception based on the actual relative speed;
The have lines the vehicle control based on one of the perceived relative speed or the perceived relative perceptual operation value obtained based on the speed,
The perceived relative speed becomes a value larger than the actual relative speed as the vehicle speed of the vehicle increases . The vehicle control device according to claim 1,
A vehicle control device that acquires at least one of a control timing or a control amount in the vehicle control based on either the perceptual relative speed or the perceptual calculation value. The vehicle control device according to claim 1 or 2 ,
The perceived relative speed is a vehicle control device that is acquired based on the actual relative speed and the following equation (1).
Vs is the perceived relative speed, Vr is the actual relative speed, Vm is the speed of the vehicle, and β is in the range of 0 <n <1.

Vs = Vr + βVm (1)
The vehicle control device according to claim 1 or 2 ,
The perceived relative speed is a vehicle control device that is acquired based on the actual relative speed and the following expression (2).
Vs is the perceived relative speed, Vr is the actual relative speed, Vm is the speed of the vehicle, Ap is the acceleration of the perceived object, β is in the range of 0 <n <1, and γ is a constant.

Vs = Vr + βVm + γAp (2)
In the vehicle control device according to any one of claims 1 to 4 ,
The vehicle control is further performed using an actual relative distance between the perceptual object and the vehicle as an input value,
The vehicle control device, wherein the perceptual calculation value is a perceptual relative ratio that is a ratio between the actual relative distance and the perceptual relative speed. In the vehicle control device according to any one of claims 1 to 4 ,
The vehicle control is further performed using an actual relative distance between the perceptual object and the vehicle as an input value,
The Get the perceived relative distance said a relative distance between the perceived object by the driver perceived the vehicle based on the actual relative distance,
The vehicle control device, wherein the perceptual calculation value is a perceptual relative ratio that is a ratio between the perceptual relative distance and the perceptual relative speed. The vehicle control device according to claim 5 or 6 ,
When acquiring the control timing in the said vehicle control based on the said perceptual relative ratio, the vehicle control apparatus which starts vehicle control when the said perceptual relative ratio exceeds a threshold value. The vehicle control device according to claim 7 , wherein
The threshold value is a vehicle control device that is changed based on either the driver or the traveling environment of the vehicle. The vehicle control device according to claim 8 , wherein
When changing the threshold value based on the driver, the actual relative distance and the actual relative speed when operating the operation target operated by the driver, the threshold value being provided in the vehicle. The vehicle control device is changed based on. In the vehicle control device according to any one of claims 6 to 9 ,
The perceived relative distance is a vehicle control device that takes a value smaller than the actual relative distance as the actual relative distance is longer. The vehicle control device according to claim 10 , wherein
The perceived relative distance is a vehicle control device that is acquired based on the actual relative distance and the following expression (3).
Ds is a perceived relative distance, Dr is an actual relative distance, and n is in a range of 0 <n <1.

Ds = Dr ⁿ (3)
The vehicle control device according to claim 10 , wherein
The perceived relative distance is a vehicle control device that is acquired based on the actual relative distance and the following equation (4).
Note that Ds is a perceived relative distance, Dr is an actual relative distance, D0 is a maximum relative distance that the driver cannot allow when the vehicle and the perceived object approach, and α is a constant.

Ds = αlog (Dr / D0) (4)
In a vehicle control method for controlling a vehicle by using an actual relative speed between the vehicle and a perceptual object that is present outside the vehicle and can be perceived by a driver as an input value,
Obtaining a perceived relative speed indicating a relative speed between the perceived object and the vehicle by the driver's perception based on the actual relative speed;
The have line control of the vehicle on the basis of either the perceived relative speed or the perceived relative perceptual operation value obtained based on the speed,
The perceived relative speed becomes a value larger than the actual relative speed as the vehicle speed of the vehicle increases .

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