JP5353289B2 - Driving operation support device and driving operation support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce sense of incongruity which a driver feels with avoidance control. <P>SOLUTION: A vehicle control controller 14 detects erroneous operation of an accelerator pedal by the driver after braking force control is started, and when the erroneous operation of the accelerator pedal by the driver is detected, the operation of the accelerator pedal by the driver is restrained. With this, the driver without an intention to accelerate is prevented from acceleration pedal operation, whereby the sense of incongruity which the driver feels regarding the avoidance control can be reduced. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a driving operation support device and a driving operation support method that support a vehicle operation performed by a driver to avoid contact with an obstacle.

  2. Description of the Related Art Conventionally, there is known a vehicle control device that includes a detecting unit that detects an operation amount of an accelerator pedal, and that stops braking force control of the vehicle accompanying object detection when an increase in the operation amount of the accelerator pedal is detected.

Japanese Patent Laid-Open No. 11-202049

  When strong braking force control is generated by the operation of the vehicle control device, an erroneous operation of the accelerator pedal in which the driver reflexively operates the accelerator pedal even though there is no intention of acceleration may occur. However, since the conventional vehicle control device is not configured in consideration of such an erroneous operation of the accelerator pedal, the braking force control is stopped by increasing the amount of operation of the accelerator pedal even if the accelerator pedal is erroneously operated. As a result, the driver may feel uncomfortable with the avoidance control for avoiding the own vehicle from coming into contact with the obstacle.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a driving operation support apparatus and a driving operation support method that can reduce the uncomfortable feeling felt by the driver with respect to avoidance control.

  The driving operation support device and the driving operation support method according to the present invention detect an erroneous operation of the driver's accelerator pedal after starting the braking force control, and when an erroneous operation of the driver's accelerator pedal is detected, Suppresses accelerator pedal operation.

  According to the driving operation support device and the driving operation support method according to the present invention, it is possible to suppress a driver's accelerator pedal operation without an intention to accelerate, so that it is possible to reduce a sense of incongruity felt by the driver with respect to avoidance control.

It is a block diagram which shows the structure of the driving operation assistance apparatus used as the 1st Embodiment of this invention. It is a functional block diagram of the driving operation support device shown in FIG. It is a flowchart figure which shows the flow of the driving operation assistance process used as the 1st Embodiment of this invention. It is a figure which shows the time change of the target braking force and the operation braking force for demonstrating the process of step S4 shown in FIG. It is a flowchart figure which shows the flow of the driving operation assistance process used as the 2nd Embodiment of this invention. It is a figure which shows the time change of the target braking force and the operation braking force for demonstrating the process of step S25 shown in FIG. It is a flowchart figure which shows the flow of the driving operation assistance process used as the 3rd Embodiment of this invention.

  Hereinafter, with reference to the drawings, a driving operation support device and its operation (driving operation support method) according to an embodiment of the present invention will be described.

[Configuration of driving support device]
First, with reference to FIG. 1, FIG. 2, the structure of the driving operation assistance apparatus used as embodiment of this invention is demonstrated.

  As shown in FIG. 1, a driving operation support device according to an embodiment of the present invention is mounted on a vehicle 1, and includes a radar 2, a photographing device 3, an image processing device 4, a yaw rate sensor 5, a lateral G / front / rear G sensor 6, and the like. A wheel speed sensor 7, a steering angle sensor 8, an accelerator pedal sensor 9, a master cylinder sensor 10, a brake pedal sensor 11, a brake actuator 12, a steering actuator 13, and a vehicle control controller 14 are provided as main components.

  The radar 2 irradiates the front of the vehicle 1 with laser light, receives reflected light from an object irradiated with the laser light by a light receiving system, and detects a time difference between the laser emission time and the reflected light receiving time. Thus, the presence / absence of an obstacle, the distance between the vehicle 1 and the obstacle, and the position of the obstacle are measured. The radar 2 inputs the measurement result to the vehicle controller 14. The imaging device 3 is provided in the front part of the vehicle 1, captures an image in front of the vehicle 1, and outputs it to the image processing device 4. The image processing device 4 detects the external environment information of the vehicle 1 such as the surrounding vehicle and the road environment by performing image processing on the image photographed by the photographing device 3, and inputs the detection result to the vehicle controller 14. The laser 2, the imaging device 3, and the image processing device 4 function as the external environment detection means 21 according to the present invention shown in FIG.

  The yaw rate sensor 5 detects the yaw rate generated in the vehicle 1 and inputs the detected value to the vehicle controller 14. The lateral G / front / rear G sensor 6 detects a lateral acceleration G (lateral G) and a longitudinal acceleration G (longitudinal G) generated in the vehicle 1, and inputs the detected values to the vehicle controller 14. The wheel speed sensor 7 detects the rotation speed (wheel speed) of each wheel of the vehicle 1 and inputs the detected value to the vehicle controller 14. The yaw rate sensor 5, the lateral G / front / rear G sensor 6, and the wheel speed sensor 7 function as the vehicle state detection means 22 according to the present invention shown in FIG.

  The steering angle sensor 8 detects the steering angle of the steering of the vehicle 1 and inputs the detected value to the vehicle controller 14. The accelerator pedal sensor 9 detects the amount of depression of the accelerator pedal of the vehicle 1 and inputs the detected value to the vehicle controller 14. The master cylinder sensor 10 detects the brake fluid pressure supplied to the wheel cylinder by the master cylinder of the vehicle 1 and inputs the detected value to the vehicle controller 14. The master cylinder increases the brake fluid pressure according to the amount of depression of the brake pedal. The brake pedal sensor 11 detects the amount of depression of the brake pedal of the vehicle 1 and inputs the detected value to the vehicle controller 14. The steering angle sensor 8, the accelerator pedal sensor 9, the master cylinder sensor 10, and the brake pedal sensor 11 function as the driver operation detection means 24 according to the present invention shown in FIG.

  The brake actuator 12 controls the brake hydraulic pressure supplied to the wheel cylinder of the vehicle 1 to generate a braking force on the vehicle 1 to perform the braking operation of the vehicle 1. The steering actuator 13 performs a steering operation of the vehicle 1 by generating a lateral force in the vehicle 1 by controlling a steering angle of the vehicle 1. The brake actuator 12 and the steering actuator 13 function as avoidance control means 27 according to the present invention shown in FIG.

  The vehicle controller 14 includes a microcomputer, a radar 2, an image processing device 4, a yaw rate sensor 5, a lateral G / front / rear G sensor 6, a wheel speed sensor 7, a steering angle sensor 8, an accelerator pedal sensor 9, and a master cylinder sensor. 10 and the operation of the brake actuator 12 and the steering actuator 13 are controlled based on information inputted from the brake pedal sensor 11. Further, the vehicle controller 14 can adjust the opening degree of the accelerator pedal. The vehicle controller 14 functions as an emergency avoidance situation detection unit 23, an accelerator erroneous operation detection unit 25, and an accelerator operation suppression unit 26 according to the present invention shown in FIG. 2 when an internal CPU executes a control program.

[Driving operation support processing]
In the driving operation support apparatus having such a configuration, the vehicle controller 14 executes the driving operation support process described below, thereby reducing the uncomfortable feeling that the driver feels with respect to the avoidance control. Hereinafter, with reference to the flowcharts shown in FIGS. 3, 5, and 7, the vehicle control controller 14 performs the driving operation support processing according to the first, second, and third embodiments of the present invention. The operation will be described.

[First Embodiment]
First, the operation of the vehicle controller 14 when executing the driving operation support process according to the first embodiment of the present invention will be described with reference to the flowchart shown in FIG.

  The flowchart shown in FIG. 3 starts at the timing when the ignition switch of the vehicle 1 is switched from the off state to the on state, and the driving operation support process proceeds to step S1.

  In the process of step S1, the vehicle controller 14 uses the input information from the radar 2 and the image processing device 4 to detect an obstacle present in an area where the vehicle 1 can travel (hereinafter referred to as “traveling road”). To do. Since the obstacle detection method is already known at the time of filing of the present invention, a detailed description thereof will be omitted. For details of the obstacle detection method, refer to, for example, Japanese Patent Application Laid-Open No. 2000-207693. The vehicle controller 14 then determines whether the vehicle 1 is currently present based on the position information of the obstacle, the external environment information of the vehicle 1 detected by the image processing device 4, and the speed of the vehicle 1 detected by the wheel speed sensor 7. It is determined whether or not an emergency avoidance action for avoiding contact with an obstacle should be executed. Specifically, the vehicle controller 14 calculates the time for the vehicle 1 to reach the position where the obstacle exists based on the speed of the vehicle 1 and the position information of the obstacle, and the calculated time is a predetermined time (for example, It is determined whether or not the emergency avoidance action should be executed based on whether or not it is 2 seconds or less. As a result of the determination, when the calculated time is equal to or shorter than the predetermined time, the vehicle controller 14 determines that there is a need to execute the emergency avoidance action, and advances the driving operation support process to the process of step S2.

  In the process of step S2, the vehicle controller 14 calculates the target braking force Bs of the vehicle 1 for avoiding contact with the obstacle detected by the process of step S1, and becomes the calculated target braking force Bs. Thus, the brake actuator 12 is controlled. Thereby, the process of step S2 is completed and the driving operation support process proceeds to the process of step S3.

  In the process of step S <b> 3, the vehicle controller 14 detects the operation braking force Bd after the braking force control is started by the brake pedal operation of the driver of the vehicle 1 via the brake pedal sensor 11. Thereby, the process of step S3 is completed and a driving operation assistance process progresses to the process of step S4.

  In step S4, the vehicle controller 14 determines whether the deviation between the target braking force Bs calculated in step S2 and the operating braking force Bd detected in step S3 is equal to or greater than a predetermined value B0. Determine. As a result of the determination, when the deviation is less than the predetermined value B0 as shown in FIG. 4B, the vehicle controller 14 advances the driving operation support process to the process of step S6. On the other hand, when the deviation is greater than or equal to the predetermined value B0 as shown in FIG. 4A, the vehicle controller 14 advances the driving operation support process to the process of step S5. Here, the predetermined value B0 corresponds to a first deviation corresponding to a driver's accelerator misoperation.

  In the process of step S5, the vehicle controller 14 sets the value of the accelerator erroneous operation flag indicating whether or not the driver has erroneously operated the accelerator pedal after starting the braking force control to 1. In this embodiment, when the value of the accelerator erroneous operation flag is 0, the driver does not detect an erroneous operation of the accelerator pedal, and when the value of the accelerator erroneous operation flag is 1, the driver detects that the accelerator pedal is erroneously operated. Indicates the state. The value of the accelerator erroneous operation flag is reset to 0 when the braking force control is started. Thereby, the process of step S5 is completed and the driving operation support process proceeds to the process of step S6.

  In the process of step S <b> 6, the vehicle controller 14 determines whether or not an accelerator pedal operation by the driver of the vehicle 1 is detected via the accelerator pedal sensor 9. As a result of the determination, when the operation of the accelerator pedal is not detected, the vehicle controller 14 advances the driving operation support process to the process of step S10. On the other hand, when the operation of the accelerator pedal is detected, the vehicle controller 14 advances the driving operation support process to the process of step S7.

  In the process of step S7, the vehicle controller 14 determines whether or not the value of the accelerator erroneous operation flag is 1. If the value of the accelerator erroneous operation flag is 0 as a result of the determination, the vehicle controller 14 advances the driving operation support process to the process of step S10. On the other hand, when the value of the accelerator erroneous operation flag is 1, the vehicle controller 14 advances the driving operation support process to step S8.

  In the process of step S8, the vehicle controller 14 determines that the operation of the accelerator pedal performed by the driver after starting the braking force control is an erroneous operation. Thereby, the process of step S8 is completed and the driving operation support process proceeds to the process of step S9.

  In the process of step S9, the vehicle controller 14 controls the accelerator pedal opening, thereby suppressing the driver's accelerator pedal operation. Thereby, the process of step S9 is completed and the driving operation support process proceeds to the process of step S10.

  In the process of step S <b> 10, the vehicle controller 14 determines whether the speed (vehicle speed) V of the vehicle 1 is 0 via the wheel speed 7. If the vehicle speed V is not 0 as a result of the determination, the vehicle controller 14 returns the driving operation support process to the process of step S3. On the other hand, when the vehicle speed V is 0, the vehicle controller 14 ends the series of driving operation support processing.

  As is apparent from the above description, according to the driving operation support process according to the first embodiment of the present invention, the vehicle controller 14 detects an erroneous operation of the driver's accelerator pedal after starting the braking force control. If an erroneous operation of the driver's accelerator pedal is detected, the driver's accelerator pedal operation is suppressed. According to such a configuration, an accelerator pedal operation by a driver who does not intend to accelerate can be suppressed, so that a sense of discomfort felt by the driver with respect to avoidance control can be reduced.

  Further, according to the driving operation support process according to the first embodiment of the present invention, the vehicle controller 14 causes the target braking force Bs of the vehicle 1 to avoid contact with an obstacle and the brake of the driver of the vehicle 1. Since an erroneous operation of the driver's accelerator pedal is detected based on whether or not the deviation of the operation braking force Bd after the start of the braking force control by the pedal operation is greater than or equal to a predetermined value B0, an erroneous depression of the brake pedal and the accelerator pedal, etc. An erroneous operation of the accelerator pedal due to a driver's reflex reaction can be suppressed.

[Second Embodiment]
Next, with reference to the flowchart shown in FIG. 5, the operation of the vehicle controller 14 when executing the driving operation support process according to the second embodiment of the present invention will be described.

  The flowchart shown in FIG. 5 starts at the timing when the ignition switch of the vehicle 1 is switched from the off state to the on state, and the driving operation support process proceeds to the process of step S21. Since the processes in steps S21 to S23 have the same contents as the processes in steps S1 to S3 shown in FIG. 3, the description thereof is omitted below, and the description starts from the process in step S24.

  In step S24, the vehicle controller 14 determines whether the deviation between the target braking force Bs calculated in step S22 and the operating braking force Bd detected in step S23 is equal to or greater than a predetermined value B0. Determine. As a result of the determination, if the deviation is less than the predetermined value B0, the vehicle controller 14 advances the driving operation support process to the process of step S25. On the other hand, if the deviation is greater than or equal to the predetermined value B0, the vehicle controller 14 advances the driving operation support process to the process of step S26.

  In the process of step S25, the vehicle controller 14 determines whether or not the deviation calculated by the process of step S24 is equal to or longer than the predetermined time t1. As a result of the determination, when the deviation is not less than the predetermined time t1 as shown in FIG. 6A (in the example shown in FIG. 6A, the deviation is less than the predetermined value B0 by the time ta (<predetermined time t1)), The vehicle controller 14 advances the driving operation support process to step S26. On the other hand, when the deviation is not less than the predetermined time t1 as shown in FIG. 6 (b) (in the example shown in FIG. 6 (b), the deviation is less than the predetermined value B0 during the time tb (> predetermined time t1)), The vehicle controller 14 advances the driving operation support process to step S27. In addition, since the process of step S26-step S31 is the same content as the process of step S5-step S10 shown in FIG. 3, the description is abbreviate | omitted below. Here, the predetermined value B0 corresponds to the second deviation corresponding to the case where the driver's brake pedal operation is normal, and the predetermined time t1 is the time corresponding to the case where the driver's brake pedal operation is normal. Equivalent to.

  As is clear from the above description, according to the driving operation support process according to the second embodiment of the present invention, the vehicle controller 14 is configured to avoid the contact with the obstacle by the vehicle controller 14. The driver's accelerator pedal misoperation is detected based on whether or not the deviation of the operation braking force Bd after the braking force control by the driver of the vehicle 1 is started is less than a predetermined value B0 for a predetermined time t1 or more. Therefore, in addition to the effect of the driving operation support process according to the first embodiment, it is possible to suppress the erroneous operation of the accelerator pedal due to the driver's reflective reaction, such as an erroneous stepping on the brake pedal and the accelerator pedal. .

[Third Embodiment]
Finally, with reference to the flowchart shown in FIG. 7, the operation of the vehicle controller 14 when executing the driving operation support process according to the third embodiment of the present invention will be described.

  The flowchart shown in FIG. 7 starts at the timing when the ignition switch of the vehicle 1 is switched from the off state to the on state, and the driving operation support process proceeds to the process of step S41. Since the processes in steps S41 to S50 have the same contents as the processes in steps S21 to S30 shown in FIG. 5, the description thereof will be omitted below, and only the process in step S51 will be described.

  In the process of step S51, the vehicle controller 14 determines whether or not the avoidance operation for the obstacle has been completed. Specifically, the vehicle controller 14 determines the yaw angle or yaw rate of the vehicle 1 with respect to the boundary in the vehicle width direction that is determined as the position of the obstacle and the departure from the road under the situation where the avoidance control by the steering control is activated. It is determined whether or not the avoidance operation for the obstacle has been completed by determining whether or not the state has been reached. As a result of the determination, when the yaw angle or yaw rate of the vehicle 1 has not reached the position of the obstacle and the boundary line in the vehicle width direction determined to be a road departure, the vehicle controller 14 avoids the obstacle. It is determined that the operation has been completed, and the series of driving operation support processing ends. On the other hand, when the yaw angle or the yaw rate of the vehicle 1 has not reached the position of the obstacle and the boundary in the vehicle width direction determined to be a road departure, the vehicle controller 14 performs the avoidance operation for the obstacle. Is determined not to be completed, and the driving operation support process is returned to the process of step S43.

  As is apparent from the above description, according to the driving operation support process according to the third embodiment of the present invention, whether or not the vehicle controller 14 has completed the avoidance operation in the situation where the avoidance control by the steering control is activated. The accelerator pedal operation detected before the time point when it is determined that the avoidance operation is completed is determined as an erroneous operation. According to such a configuration, the operation of the accelerator pedal is not suppressed despite the obstacle being avoided, so that the driver's uncomfortable feeling with respect to the avoidance control can be further reduced.

  As mentioned above, although embodiment which applied the invention made by the present inventors was described, this invention is not limited by the description and drawing which make a part of indication of this invention by this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above embodiments are all included in the scope of the present invention.

1: driving support device 2: radar 3: imaging device 4: image processing device 5: yaw rate sensor 6: lateral G / front-rear G sensor 7: wheel speed sensor 8: steering angle sensor 9: accelerator pedal sensor 10: master cylinder sensor 11: Brake pedal sensor 12: Brake actuator 13: Steering actuator 14: Vehicle controller 21: External environment detection means 22: Own vehicle state detection means 23: Emergency avoidance situation detection means 24: Driver operation detection means 25: Accelerator operation error detection Means 26: Accelerator operation suppression means 27: Avoidance control means

Claims (6)

An external environment detection means for detecting information related to the external environment of the host vehicle including obstacles existing around the host vehicle;
Own vehicle state detecting means for detecting the running state of the own vehicle;
Based on the information about the external environment detected by the external environment detection means and the traveling state of the own vehicle detected by the own vehicle state detection means, the own vehicle contacts the obstacle detected by the external environment detection means. Avoidance situation detection means for determining whether or not to perform avoidance control to avoid
When the avoidance situation detection means determines that the avoidance control should be executed, at least the braking force of the own vehicle is avoided so as to avoid the vehicle from contacting the obstacle detected by the external environment detection means. Avoidance control means for controlling;
Driver operation detecting means for detecting the vehicle operation of the driver of the host vehicle;
Accelerator erroneous operation detection means for detecting an erroneous operation of the driver's accelerator pedal after the avoidance control means starts braking force control based on the driver's vehicle operation detected by the driver operation detection means;
When an erroneous operation of the driver's accelerator pedal is detected by the accelerator erroneous operation detecting means, an accelerator operation suppressing means for suppressing the driver's accelerator pedal operation ;
Braking force comparison means for comparing the target braking force of the avoidance control means and the operation braking force by the driver operating the brake pedal;
Equipped with a,
The accelerator erroneous operation detecting means detects an erroneous operation of the accelerator pedal of the driver based on a comparison result of the braking force comparing means . The driving operation support device according to claim 1 ,
When the deviation between the target braking force of the avoidance control unit and the operation braking force due to the driver's operation of the brake pedal is equal to or greater than a first deviation corresponding to the driver's erroneous accelerator operation, the avoidance control unit A driving operation support apparatus, characterized in that an accelerator pedal operation detected after starting braking force control is determined to be an erroneous operation. In the driving support device according to claim 2 ,
The accelerator erroneous operation detection means has a deviation between a target braking force of the avoidance control means and an operation braking force due to the driver's brake pedal operation being less than a second deviation corresponding to a case where the driver's brake pedal operation is based on a normal intention. When a certain state does not continue for more than the time corresponding to the case where the driver's brake pedal operation is based on a normal intention, it is determined that the accelerator pedal operation detected after the avoidance control means starts the braking force control is an erroneous operation. A driving support device characterized by the above. In the driving operation support device according to any one of claims 1 to 3 ,
The avoidance control means controls the own vehicle so as to avoid contact with the obstacle detected by the external environment detection means by the braking force control and the steering control, and the avoidance control by the steering control is activated. A determination unit configured to determine whether or not the avoidance operation is completed in a situation, wherein the accelerator erroneous operation detection unit erroneously operates the accelerator pedal operation detected before the time point when the determination unit determines that the avoidance operation is completed. A driving operation support device, characterized in that In the driving operation support device according to claim 4 ,
The determination means determines that a time point when the yaw angle or yaw rate of the host vehicle is not close to a position in the vehicle width direction determined to be the position of the obstacle and a road departure is a time point when the avoidance operation is completed. A driving operation support device. Whether or not to perform avoidance control for avoiding contact of the host vehicle with the obstacle based on the information about the external environment of the host vehicle including the obstacle existing around the host vehicle and the traveling state of the host vehicle A process of determining whether
When it is determined that the avoidance control should be executed, a process of controlling at least the braking force of the own vehicle so as to avoid the vehicle from coming into contact with the obstacle;
A process of comparing a target braking force in the process of controlling the braking force with an operation braking force by a brake pedal operation of a driver of the host vehicle;
A process of detecting an erroneous operation of the accelerator pedal of the driver after starting the braking force control based on the process of comparing ;
A driving operation support method comprising: a process of suppressing a driver's accelerator pedal operation when an erroneous operation of the driver's accelerator pedal is detected.

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